+ python -m lidar_slam --no-model /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters Centerline goodness [0,1] 0.45547094350293893 Centerline is valid? [0, False] SLAMing on 0.035099893 meters Centerline goodness [0,1] 0.4665935806078324 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.01 [[ 0.99990758 0.01071377 -0.00836988 0.03890599] [-0.01073664 0.99993873 -0.00269295 -0.00618251] [ 0.00834051 0.00278257 0.99996135 -0.00630712] [ 0. 0. 0. 1. ]] SLAMing on 0.06509989299999999 meters Centerline goodness [0,1] 0.46896329554835203 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99993973 0.01070738 -0.00242616 0.05210109] [-0.0107028 0.99994093 0.00189584 -0.01021307] [ 0.00244632 -0.00186976 0.99999526 -0.00359082] [ 0. 0. 0. 1. ]] SLAMing on 0.09509989299999999 meters Centerline goodness [0,1] 0.4696281033472719 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.00 [[ 0.99992394 0.01194205 -0.00308284 0.05446389] [-0.01193105 0.99992248 0.00356131 -0.01367864] [ 0.00312513 -0.00352425 0.99998891 -0.00479532] [ 0. 0. 0. 1. ]] SLAMing on 0.125099893 meters Centerline goodness [0,1] 0.4656160748647937 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.01 [[ 0.99990048 0.00925006 -0.01065215 0.06932699] [-0.00921344 0.99995149 0.0034823 -0.01623581] [ 0.01068384 -0.00338381 0.9999372 -0.01409042] [ 0. 0. 0. 1. ]] SLAMing on 0.155099893 meters Centerline goodness [0,1] 0.4586336061235292 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.02 [[ 0.99991966 -0.00782615 -0.00997113 0.09618423] [ 0.00774667 0.99993812 -0.00798428 -0.0248789 ] [ 0.010033 0.0079064 0.99991841 -0.01530274] [ 0. 0. 0. 1. ]] SLAMing on 0.185099893 meters Centerline goodness [0,1] 0.4582316385339541 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.03, Z:-0.02 [[ 0.99990172 -0.01151096 -0.00800283 0.11727613] [ 0.01148361 0.99992809 -0.00345495 -0.03032487] [ 0.00804202 0.00336271 0.99996201 -0.01641206] [ 0. 0. 0. 1. ]] SLAMing on 0.215099893 meters Centerline goodness [0,1] 0.45173939482899617 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.02 [[ 0.99998069 0.00444999 -0.00433718 0.14771539] [-0.00447407 0.99997454 -0.00555806 -0.02495319] [ 0.00431234 0.00557736 0.99997515 -0.01811127] [ 0. 0. 0. 1. ]] SLAMing on 0.24509989299999999 meters Centerline goodness [0,1] 0.448813356931147 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:-0.02 [[ 0.99989001 0.01361923 -0.00587224 0.16936173] [-0.01366941 0.99986965 -0.0085921 -0.01824129] [ 0.00575446 0.00867142 0.99994584 -0.02083332] [ 0. 0. 0. 1. ]] SLAMing on 0.27509989300000004 meters Centerline goodness [0,1] 0.44302358014890464 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.01, Z:-0.03 [[ 0.99995567 0.00805148 -0.00488168 0.18392464] [-0.00806019 0.99996596 -0.00176564 -0.01430105] [ 0.00486729 0.00180491 0.99998653 -0.02500405] [ 0. 0. 0. 1. ]] SLAMing on 0.305099893 meters Centerline goodness [0,1] 0.4425047767934688 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.03 [[ 9.99960952e-01 -8.19174488e-03 -3.31523145e-03 1.94973240e-01] [ 8.19317338e-03 9.99966348e-01 4.17538573e-04 -2.10978484e-02] [ 3.31169951e-03 -4.44684535e-04 9.99994417e-01 -2.93148457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.335099893 meters Centerline goodness [0,1] 0.4331966140151846 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:-0.03 [[ 0.99987166 -0.01537868 -0.00448909 0.20086978] [ 0.01535518 0.99986846 -0.00522291 -0.02692848] [ 0.00456883 0.00515331 0.99997628 -0.03124684] [ 0. 0. 0. 1. ]] SLAMing on 0.365099893 meters Centerline goodness [0,1] 0.4222650880227041 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.02, Z:-0.03 [[ 0.99998612 0.00367223 -0.00377934 0.22676237] [-0.00373923 0.9998332 -0.01787697 -0.02248979] [ 0.00371306 0.01789085 0.99983305 -0.03419465] [ 0. 0. 0. 1. ]] SLAMing on 0.39509989300000004 meters Centerline goodness [0,1] 0.41714769662796136 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.02, Z:-0.03 [[ 0.99993826 0.00952559 -0.00572209 0.24385193] [-0.00965298 0.99969653 -0.02266431 -0.02201646] [ 0.00550447 0.02271815 0.99972676 -0.03399137] [ 0. 0. 0. 1. ]] SLAMing on 0.425099893 meters Centerline goodness [0,1] 0.4042177691396912 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.03, Z:-0.04 [[ 0.999954 0.00824947 -0.00489423 0.26587648] [-0.00832597 0.99984016 -0.01582176 -0.02991438] [ 0.00476292 0.01586178 0.99986285 -0.03673763] [ 0. 0. 0. 1. ]] SLAMing on 0.455099893 meters Centerline goodness [0,1] 0.3981779926582505 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.05, Z:-0.04 [[ 0.9999586 0.00530512 -0.00739258 0.29294084] [-0.00532904 0.99998062 -0.00321897 -0.04695748] [ 0.00737536 0.00325823 0.99996749 -0.04138063] [ 0. 0. 0. 1. ]] SLAMing on 0.485099893 meters Centerline goodness [0,1] 0.39009384543367287 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.05 [[ 0.99995404 0.00378122 -0.00881052 0.30490995] [-0.00385319 0.99995923 -0.00816626 -0.05475063] [ 0.00877928 0.00819983 0.99992784 -0.04594715] [ 0. 0. 0. 1. ]] SLAMing on 0.515099893 meters Centerline goodness [0,1] 0.37100363556241045 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.05 [[ 0.99992687 0.00564986 -0.01069237 0.32856309] [-0.0058267 0.99984554 -0.01658141 -0.06349964] [ 0.01059704 0.0166425 0.99980535 -0.04736949] [ 0. 0. 0. 1. ]] SLAMing on 0.5450998930000001 meters Centerline goodness [0,1] 0.36826228641888326 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.07, Z:-0.05 [[ 0.99987755 0.01035856 -0.01172964 0.33720629] [-0.01051682 0.9998534 -0.01351193 -0.07151448] [ 0.01158796 0.01363363 0.99983991 -0.0476171 ] [ 0. 0. 0. 1. ]] SLAMing on 0.575099893 meters Centerline goodness [0,1] 0.35820006617403777 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.08, Z:-0.05 [[ 0.99988231 0.00924493 -0.01224347 0.34223836] [-0.00944182 0.99982545 -0.01612217 -0.07601354] [ 0.01209229 0.01623587 0.99979507 -0.04774948] [ 0. 0. 0. 1. ]] SLAMing on 0.605099893 meters Centerline goodness [0,1] 0.3557969747311358 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.08, Z:-0.05 [[ 0.9998778 0.00990007 -0.0120984 0.34500761] [-0.01009681 0.99981599 -0.01631053 -0.07769981] [ 0.0119347 0.01643069 0.99979378 -0.04955384] [ 0. 0. 0. 1. ]] SLAMing on 0.635099893 meters Centerline goodness [0,1] 0.3550491451588188 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.08, Z:-0.06 [[ 0.99981854 0.01404452 -0.01287042 0.35645427] [-0.01421424 0.99981195 -0.01319173 -0.0772785 ] [ 0.01268273 0.01337228 0.99983015 -0.05926414] [ 0. 0. 0. 1. ]] SLAMing on 0.6650998929999999 meters Centerline goodness [0,1] 0.3599782372143634 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.08, Z:-0.06 [[ 0.9997712 0.01497542 -0.0152739 0.37999396] [-0.01505467 0.99987373 -0.00508691 -0.07774313] [ 0.01519579 0.00531569 0.99987041 -0.06353005] [ 0. 0. 0. 1. ]] SLAMing on 0.695099893 meters Centerline goodness [0,1] 0.3813288038152479 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.08, Z:-0.07 [[ 0.99973177 0.01651868 -0.01623358 0.3884012 ] [-0.01658354 0.999855 -0.00386874 -0.07923142] [ 0.01616732 0.00413691 0.99986074 -0.06822033] [ 0. 0. 0. 1. ]] SLAMing on 0.725099893 meters Centerline goodness [0,1] 0.40680125229407316 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.08, Z:-0.07 [[ 0.99970011 0.01651155 -0.01808471 0.40201469] [-0.01669065 0.99981269 -0.00979812 -0.08215097] [ 0.01791954 0.01009703 0.99978845 -0.07021241] [ 0. 0. 0. 1. ]] SLAMing on 0.755099893 meters Centerline goodness [0,1] 0.41939867504671313 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.07 [[ 0.99970414 0.01097753 -0.02170534 0.4313122 ] [-0.01130654 0.99982215 -0.01509387 -0.08584219] [ 0.02153579 0.01533482 0.99965047 -0.06879469] [ 0. 0. 0. 1. ]] SLAMing on 0.785099893 meters Centerline goodness [0,1] 0.43701379909701765 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.10, Z:-0.07 [[ 0.99972296 0.01012122 -0.02125014 0.4354173 ] [-0.01043929 0.99983434 -0.01491037 -0.09513699] [ 0.02109571 0.01512807 0.999663 -0.07077003] [ 0. 0. 0. 1. ]] SLAMing on 0.815099893 meters Centerline goodness [0,1] 0.4496143795015616 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.11, Z:-0.07 [[ 0.9996764 0.01121395 -0.02283311 0.44699744] [-0.01156867 0.99981352 -0.01546275 -0.11065119] [ 0.02265545 0.01572189 0.9996197 -0.07359884] [ 0. 0. 0. 1. ]] SLAMing on 0.845099893 meters Centerline goodness [0,1] 0.44832623758243595 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.12, Z:-0.08 [[ 0.99973407 0.00830727 -0.0215124 0.46799155] [-0.00856807 0.99989057 -0.01205949 -0.11996292] [ 0.02140987 0.0122406 0.99969585 -0.0764336 ] [ 0. 0. 0. 1. ]] SLAMing on 0.875099893 meters Centerline goodness [0,1] 0.45787684170759346 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.13, Z:-0.09 [[ 0.99970188 0.01016708 -0.02219875 0.47702 ] [-0.01033826 0.9999176 -0.00761018 -0.13016266] [ 0.02211955 0.0078374 0.99972461 -0.08533635] [ 0. 0. 0. 1. ]] SLAMing on 0.9050998929999999 meters Centerline goodness [0,1] 0.6008132978388916 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.9997062 0.00838964 -0.02274034 0.48535494] [-0.00857868 0.99992935 -0.00822824 -0.13877933] [ 0.0226697 0.00842091 0.99970754 -0.09129112] [ 0. 0. 0. 1. ]] SLAMing on 0.935099893 meters Centerline goodness [0,1] 0.6008132978388916 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.09 [[ 0.9997062 0.00838964 -0.02274034 0.48535494] [-0.00857868 0.99992935 -0.00822824 -0.13877933] [ 0.0226697 0.00842091 0.99970754 -0.09129112] [ 0. 0. 0. 1. ]] SLAMing on 0.965099893 meters Centerline goodness [0,1] 0.6493047569262937 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.10 [[ 0.99968456 0.00323504 -0.02490608 0.49933676] [-0.0036483 0.99985613 -0.01656537 -0.14555338] [ 0.02484891 0.01665101 0.99955254 -0.09535757] [ 0. 0. 0. 1. ]] SLAMing on 0.995099893 meters Centerline goodness [0,1] 0.6646513168792447 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.10 [[ 0.99975399 -0.00143937 -0.0221333 0.52308606] [ 0.00107001 0.99986013 -0.01669069 -0.14963979] [ 0.02215423 0.0166629 0.9996157 -0.09869915] [ 0. 0. 0. 1. ]] SLAMing on 1.025099893 meters Centerline goodness [0,1] 0.6782722025693539 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.10 [[ 0.9998109 0.00734819 -0.01800489 0.54902132] [-0.00781526 0.99963114 -0.02600987 -0.15044193] [ 0.01780713 0.02614567 0.99949953 -0.09749905] [ 0. 0. 0. 1. ]] SLAMing on 1.055099893 meters Centerline goodness [0,1] 0.6884880505221447 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.10 [[ 0.99981287 0.00424703 -0.01887308 0.57482451] [-0.00467032 0.99973726 -0.02244105 -0.15726849] [ 0.01877282 0.02252499 0.99957001 -0.10266136] [ 0. 0. 0. 1. ]] SLAMing on 1.085099893 meters Centerline goodness [0,1] 0.6953356086461888 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.11 [[ 9.99828258e-01 -6.25664801e-04 -1.85219541e-02 5.90400144e-01] [ 3.90454421e-04 9.99919277e-01 -1.26998982e-02 -1.64834768e-01] [ 1.85284048e-02 1.26904851e-02 9.99747793e-01 -1.09108067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1150998929999998 meters Centerline goodness [0,1] 0.700337879599489 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.11 [[ 0.9998827 -0.00225488 -0.01514917 0.60440006] [ 0.00221671 0.99999433 -0.0025363 -0.16916996] [ 0.0151548 0.00250242 0.99988203 -0.11421051] [ 0. 0. 0. 1. ]] SLAMing on 1.1450998929999998 meters Centerline goodness [0,1] 0.7039986726397875 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.12 [[ 9.99870864e-01 -4.47183963e-04 -1.60641092e-02 6.13047954e-01] [ 4.18327670e-04 9.99998293e-01 -1.79963613e-03 -1.67327064e-01] [ 1.60648865e-02 1.79268367e-03 9.99869344e-01 -1.21524156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1750998929999998 meters Centerline goodness [0,1] 0.7168663402437754 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.13 [[ 0.99983835 -0.00294813 -0.01773665 0.62326773] [ 0.00286947 0.99998594 -0.00445903 -0.16565542] [ 0.01774954 0.00440742 0.99983275 -0.12894611] [ 0. 0. 0. 1. ]] SLAMing on 1.2050998929999999 meters Centerline goodness [0,1] 0.7215377238518148 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.13 [[ 0.99979328 -0.00666533 -0.01920857 0.62858099] [ 0.0065314 0.99995398 -0.00702689 -0.16761196] [ 0.01925453 0.00689997 0.9997908 -0.13145386] [ 0. 0. 0. 1. ]] SLAMing on 1.235099893 meters Centerline goodness [0,1] 0.7294913138458338 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.13 [[ 0.99964541 -0.01488859 -0.02207666 0.64074866] [ 0.01452787 0.99975979 -0.01641051 -0.17577847] [ 0.02231569 0.01608396 0.99962159 -0.13377925] [ 0. 0. 0. 1. ]] SLAMing on 1.265099893 meters Centerline goodness [0,1] 0.7357943363785139 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.14 [[ 0.99957636 -0.01828312 -0.0226458 0.64748681] [ 0.01786086 0.99966541 -0.01870998 -0.18408221] [ 0.0229803 0.01829758 0.99956846 -0.13843311] [ 0. 0. 0. 1. ]] SLAMing on 1.295099893 meters Centerline goodness [0,1] 0.7463649713541127 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.14 [[ 0.99960642 -0.01406472 -0.02427321 0.65916448] [ 0.01363221 0.99974697 -0.01789274 -0.19707409] [ 0.02451873 0.0175548 0.99954523 -0.13946214] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters Centerline goodness [0,1] 0.768004340658194 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.21, Z:-0.14 [[ 0.9996306 -0.0062803 -0.02644292 0.67290807] [ 0.00590936 0.99988337 -0.01408291 -0.21037654] [ 0.02652828 0.01392145 0.99955112 -0.14155118] [ 0. 0. 0. 1. ]] SLAMing on 1.3550998929999998 meters Centerline goodness [0,1] 0.7752404346558974 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.15 [[ 0.99962524 -0.00127008 -0.02734524 0.6805187 ] [ 0.00103141 0.99996127 -0.00874028 -0.21839251] [ 0.02735528 0.0087088 0.99958784 -0.14647253] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters Centerline goodness [0,1] 0.790455133286054 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.15 [[ 0.99953072 0.00777092 -0.02963025 0.69607644] [-0.00794446 0.99995195 -0.00574394 -0.22580384] [ 0.02958419 0.00597664 0.99954442 -0.14879803] [ 0. 0. 0. 1. ]] SLAMing on 1.4150998929999998 meters Centerline goodness [0,1] 0.8001042861612264 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.15 [[ 0.99952726 0.00943251 -0.02926241 0.70174582] [-0.00956802 0.99994413 -0.00449435 -0.229384 ] [ 0.02921838 0.00477221 0.99956166 -0.15388817] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999999 meters Centerline goodness [0,1] 0.8138700677560782 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.16 [[ 0.9995018 0.01128516 -0.02947545 0.71075635] [-0.0114022 0.99992775 -0.00380578 -0.23096815] [ 0.02943037 0.00413997 0.99955826 -0.16095728] [ 0. 0. 0. 1. ]] SLAMing on 1.4750998929999999 meters Centerline goodness [0,1] 0.8272721549535181 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.16 [[ 9.99436877e-01 1.62581475e-02 -2.93530495e-02 7.16187485e-01] [-1.62849969e-02 9.99867162e-01 -6.75863138e-04 -2.27040203e-01] [ 2.93381620e-02 1.15349686e-03 9.99568878e-01 -1.64042776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.505099893 meters Centerline goodness [0,1] 0.8424951844717736 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.22, Z:-0.16 [[ 0.99943554 0.01720734 -0.02885332 0.71771553] [-0.0172675 0.99984922 -0.00183708 -0.22339095] [ 0.02881736 0.00233427 0.99958197 -0.16396454] [ 0. 0. 0. 1. ]] SLAMing on 1.535099893 meters Centerline goodness [0,1] 0.8496384026831569 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.22, Z:-0.16 [[ 0.99929249 0.01868534 -0.03264016 0.74400255] [-0.01875388 0.99982252 -0.00179493 -0.22064028] [ 0.03260082 0.00240579 0.99946556 -0.16413166] [ 0. 0. 0. 1. ]] SLAMing on 1.565099893 meters Centerline goodness [0,1] 0.8632934798596373 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.22, Z:-0.17 [[ 9.99184197e-01 2.33763508e-02 -3.29315360e-02 7.50224367e-01] [-2.33479246e-02 9.99726622e-01 1.24752539e-03 -2.16482865e-01] [ 3.29516958e-02 -4.77624638e-04 9.99456831e-01 -1.67456062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5950998929999998 meters Centerline goodness [0,1] 0.8720505500041985 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.17 [[ 9.99159084e-01 2.40599339e-02 -3.32000624e-02 7.55337741e-01] [-2.40560307e-02 9.99710478e-01 5.17057987e-04 -2.12226762e-01] [ 3.32028906e-02 2.82038536e-04 9.99448592e-01 -1.69992383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6250998929999998 meters Centerline goodness [0,1] 0.8760287201881088 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.17 [[ 9.99142756e-01 2.32525967e-02 -3.42500994e-02 7.61052067e-01] [-2.32874652e-02 9.99728618e-01 -6.19437050e-04 -2.10492381e-01] [ 3.42264010e-02 1.41650404e-03 9.99413101e-01 -1.74049978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6550998929999998 meters Centerline goodness [0,1] 0.8839629425948644 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.18 [[ 0.99913706 0.02271646 -0.03477214 0.76283836] [-0.02278323 0.99973927 -0.00152517 -0.20803564] [ 0.03472843 0.00231608 0.9993941 -0.17513866] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999998 meters Centerline goodness [0,1] 0.8879611034774337 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.17 [[ 9.99473736e-01 9.80878963e-03 -3.09198785e-02 7.63435346e-01] [-9.78764396e-03 9.99951751e-01 8.35168014e-04 -2.01045915e-01] [ 3.09265787e-02 -5.32095733e-04 9.99521517e-01 -1.74629634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7150998929999999 meters Centerline goodness [0,1] 0.8863252910409988 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.18 [[ 9.99504064e-01 7.72361151e-04 -3.14806282e-02 7.65952136e-01] [-1.03604013e-03 9.99964514e-01 -8.36046149e-03 -1.96965099e-01] [ 3.14730538e-02 8.38893043e-03 9.99469396e-01 -1.76426968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.745099893 meters Centerline goodness [0,1] 0.88475349583879 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.19 [[ 0.99918342 -0.01522867 -0.03742426 0.77084588] [ 0.01473019 0.99979956 -0.01355959 -0.19711343] [ 0.03762325 0.01299725 0.99920747 -0.18527882] [ 0. 0. 0. 1. ]] SLAMing on 1.775099893 meters Centerline goodness [0,1] 0.8862356577331809 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.19 [[ 0.99905963 -0.01968872 -0.03862922 0.77440155] [ 0.01903321 0.99966979 -0.0172642 -0.1973973 ] [ 0.03895638 0.01651273 0.99910446 -0.18688319] [ 0. 0. 0. 1. ]] SLAMing on 1.8050998929999997 meters Centerline goodness [0,1] 0.88685601195865 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.20, Z:-0.19 [[ 0.99894473 -0.02480051 -0.03865697 0.78724466] [ 0.02447035 0.99966013 -0.00899062 -0.20253255] [ 0.0388668 0.00803518 0.99921209 -0.18893823] [ 0. 0. 0. 1. ]] SLAMing on 1.8350998929999998 meters Centerline goodness [0,1] 0.8964120736569006 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.20, Z:-0.19 [[ 0.99902469 -0.01991313 -0.03940991 0.79146799] [ 0.01976568 0.99979612 -0.0041277 -0.20276588] [ 0.03948407 0.00334471 0.9992146 -0.1911943 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8650998929999998 meters Centerline goodness [0,1] 0.8906230542526254 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.19 [[ 0.99902907 -0.01756966 -0.04040085 0.79635295] [ 0.01747473 0.99984365 -0.00270188 -0.19957308] [ 0.040442 0.00199326 0.9991799 -0.19364067] [ 0. 0. 0. 1. ]] SLAMing on 1.8950998929999998 meters Centerline goodness [0,1] 0.9075931833445265 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.19 [[ 0.99903251 -0.01714895 -0.04049632 0.79855029] [ 0.01704924 0.99985071 -0.00280638 -0.19920036] [ 0.0405384 0.00211323 0.99917575 -0.1943479 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9250998929999998 meters Centerline goodness [0,1] 0.909204915976925 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.19 [[ 0.9990421 -0.01666913 -0.04046012 0.79997722] [ 0.0165768 0.99985917 -0.00261655 -0.19928481] [ 0.04049804 0.00194334 0.99917773 -0.19486976] [ 0. 0. 0. 1. ]] SLAMing on 1.9550998929999999 meters Centerline goodness [0,1] 0.922527774257593 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.20, Z:-0.20 [[ 0.99900536 -0.01657392 -0.04139566 0.8033827 ] [ 0.01648714 0.99986111 -0.00243683 -0.1991398 ] [ 0.0414303 0.00175191 0.99913986 -0.19617666] [ 0. 0. 0. 1. ]] SLAMing on 1.985099893 meters Centerline goodness [0,1] 0.9214245217646935 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.20 [[ 0.99892466 -0.01680907 -0.04320863 0.81057937] [ 0.01672608 0.99985751 -0.00228142 -0.19940179] [ 0.04324082 0.00155625 0.99906347 -0.20019053] [ 0. 0. 0. 1. ]] SLAMing on 2.015099893 meters Centerline goodness [0,1] 0.9305809818403721 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.20, Z:-0.20 [[ 9.98908984e-01 -1.56646797e-02 -4.39938522e-02 8.13399968e-01] [ 1.56186598e-02 9.99877056e-01 -1.38960827e-03 -1.99578711e-01] [ 4.40102112e-02 7.00967172e-04 9.99030835e-01 -2.01133844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.045099893 meters Centerline goodness [0,1] 0.9403846961488388 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.19, Z:-0.20 [[ 0.99897537 -0.00560272 -0.04490892 0.82214926] [ 0.00554594 0.99998366 -0.00138873 -0.19465812] [ 0.04491597 0.00113824 0.99899012 -0.19667674] [ 0. 0. 0. 1. ]] SLAMing on 2.075099893 meters Centerline goodness [0,1] 0.948671825977829 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.19, Z:-0.19 [[ 9.99037608e-01 7.88777934e-03 -4.31467255e-02 8.31309873e-01] [-7.87407403e-03 9.99968880e-01 4.87587081e-04 -1.87772733e-01] [ 4.31492287e-02 -1.47377320e-04 9.99068627e-01 -1.93909412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.105099893 meters Centerline goodness [0,1] 0.9566146433434587 Centerline is valid? [False, True] Translation: X:0.84, Y:-0.18, Z:-0.19 [[ 0.99893705 0.01420881 -0.04385072 0.83512546] [-0.0142712 0.99989755 -0.00110996 -0.17932979] [ 0.04383046 0.00173459 0.99903748 -0.18835116] [ 0. 0. 0. 1. ]] SLAMing on 2.135099893 meters Centerline goodness [0,1] 0.9608549874266555 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.18, Z:-0.19 [[ 9.98947315e-01 1.44892072e-02 -4.35238398e-02 8.63961805e-01] [-1.45192492e-02 9.99894520e-01 -3.74189379e-04 -1.76830457e-01] [ 4.35138272e-02 1.00572895e-03 9.99052319e-01 -1.87871756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1650998930000003 meters Centerline goodness [0,1] 0.9663133196463737 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.20, Z:-0.19 [[ 9.99088728e-01 1.02987995e-02 -4.14203806e-02 8.92946929e-01] [-1.03227237e-02 9.99946653e-01 -3.63754332e-04 -1.96907020e-01] [ 4.14144247e-02 7.90993998e-04 9.99141742e-01 -1.91764324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.195099893 meters Centerline goodness [0,1] 0.9700073306105351 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.20, Z:-0.19 [[ 9.99220953e-01 6.83624974e-03 -3.88684018e-02 9.21704728e-01] [-6.85473356e-03 9.99976447e-01 -3.42300581e-04 -2.04723069e-01] [ 3.88651463e-02 6.08466451e-04 9.99244280e-01 -1.92070656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.225099893 meters Centerline goodness [0,1] 0.9729385479526425 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.20, Z:-0.18 [[ 9.99356481e-01 4.68816139e-03 -3.55618504e-02 9.48605740e-01] [-4.70255952e-03 9.99988891e-01 -3.21243804e-04 -2.03705467e-01] [ 3.55599494e-02 4.88268796e-04 9.99367426e-01 -1.80948042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.255099893 meters Centerline goodness [0,1] 0.9773817252717334 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.21, Z:-0.19 [[ 9.99244220e-01 1.19300413e-02 -3.69954542e-02 9.78422747e-01] [-1.19509003e-02 9.99928527e-01 -3.42730062e-04 -2.12124020e-01] [ 3.69887212e-02 7.84600019e-04 9.99315375e-01 -1.88227220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.285099893 meters Centerline goodness [0,1] 0.9766879352767004 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.21, Z:-0.19 [[ 9.99096156e-01 1.77256876e-02 -3.86350933e-02 1.00680366e+00] [-1.77528415e-02 9.99842341e-01 -3.59845658e-04 -2.13797966e-01] [ 3.86226236e-02 1.04540310e-03 9.99253321e-01 -1.88510110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.315099893 meters Centerline goodness [0,1] 0.976395786149147 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.19, Z:-0.17 [[ 9.99013405e-01 2.76115775e-02 -3.47824258e-02 1.03504912e+00] [-2.76396710e-02 9.99617898e-01 -3.27026851e-04 -1.89248543e-01] [ 3.47601056e-02 1.28807901e-03 9.99394855e-01 -1.73867778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.345099893 meters Centerline goodness [0,1] 0.9767016522913852 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.19, Z:-0.17 [[ 9.98933545e-01 2.97856165e-02 -3.52787569e-02 1.06414913e+00] [-2.98158240e-02 9.99555355e-01 -3.30348235e-04 -1.87100185e-01] [ 3.52532307e-02 1.38186114e-03 9.99377456e-01 -1.72485776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3750998930000002 meters Centerline goodness [0,1] 0.9779449868374687 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.20, Z:-0.18 [[ 9.98885751e-01 2.62902558e-02 -3.91928462e-02 1.09471076e+00] [-2.63249659e-02 9.99653370e-01 -3.69723268e-04 -1.95861775e-01] [ 3.91695407e-02 1.40106165e-03 9.99231597e-01 -1.79600449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.405099893 meters Centerline goodness [0,1] 0.9840090184125924 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.22, Z:-0.19 [[ 9.98936717e-01 1.84116287e-02 -4.22663762e-02 1.12529867e+00] [-1.84449648e-02 9.99829798e-01 -3.98842788e-04 -2.17067633e-01] [ 4.22518390e-02 1.17802053e-03 9.99106298e-01 -1.87252652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.435099893 meters Centerline goodness [0,1] 0.9841144260998106 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.24, Z:-0.19 [[ 9.98957145e-01 1.24732221e-02 -4.39208413e-02 1.15544087e+00] [-1.25035326e-02 9.99921741e-01 -4.15457321e-04 -2.40419571e-01] [ 4.39122220e-02 9.64189731e-04 9.99034928e-01 -1.90876255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.465099893 meters Centerline goodness [0,1] 0.98503901062417 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.25, Z:-0.19 [[ 9.99066814e-01 6.91220909e-03 -4.26347489e-02 1.18377434e+00] [-6.93576003e-03 9.99975866e-01 -4.04491979e-04 -2.46896617e-01] [ 4.26309240e-02 6.99818901e-04 9.99090644e-01 -1.88170978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.495099893 meters Centerline goodness [0,1] 0.9883868287109172 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.25, Z:-0.18 [[ 9.99260355e-01 1.09398930e-02 -3.68654614e-02 1.21182943e+00] [-1.09603050e-02 9.99939872e-01 -3.51631575e-04 -2.48672109e-01] [ 3.68593980e-02 7.55428195e-04 9.99320176e-01 -1.83170676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.525099893 meters Centerline goodness [0,1] 0.9893115829234377 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.24, Z:-0.18 [[ 9.99260270e-01 1.66037062e-02 -3.46876006e-02 1.24185575e+00] [-1.66252961e-02 9.99861734e-01 -3.34049027e-04 -2.42450439e-01] [ 3.46772580e-02 9.10493553e-04 9.99398148e-01 -1.78940313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.555099893 meters Centerline goodness [0,1] 0.9925279679412256 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.24, Z:-0.18 [[ 9.99146759e-01 2.28168655e-02 -3.44259420e-02 1.27183363e+00] [-2.28418306e-02 9.99739036e-01 -3.32014155e-04 -2.35281111e-01] [ 3.44093825e-02 1.11808240e-03 9.99407196e-01 -1.78671474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.585099893 meters Centerline goodness [0,1] 0.9925620351271954 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.24, Z:-0.18 [[ 9.99193318e-01 1.67535023e-02 -3.64970388e-02 1.30161595e+00] [-1.67775560e-02 9.99859185e-01 -3.52869466e-04 -2.36772022e-01] [ 3.64859877e-02 9.64915925e-04 9.99333699e-01 -1.78873977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.615099893 meters Centerline goodness [0,1] 0.9916198220249332 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.25, Z:-0.18 [[ 9.99235914e-01 5.10083166e-03 -3.87500925e-02 1.33233623e+00] [-5.11922236e-03 9.99986826e-01 -3.75389325e-04 -2.45038703e-01] [ 3.87476672e-02 5.73472835e-04 9.99248863e-01 -1.79160346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.645099893 meters Centerline goodness [0,1] 0.9918031090227899 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.26, Z:-0.18 [[ 9.98937258e-01 -1.56276920e-02 -4.33604617e-02 1.36150566e+00] [ 1.56241747e-02 9.99877847e-01 -4.20031499e-04 -2.62140102e-01] [ 4.33617292e-02 -2.57886317e-04 9.99059405e-01 -1.84470615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.675099893 meters Centerline goodness [0,1] 0.9928932537709265 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.27, Z:-0.18 [[ 9.98691208e-01 -2.83945830e-02 -4.25396036e-02 1.39139603e+00] [ 2.84026785e-02 9.99596477e-01 -4.14197775e-04 -2.73204491e-01] [ 4.25341989e-02 -7.94583009e-04 9.99094695e-01 -1.82730464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.705099893 meters Centerline goodness [0,1] 0.9939917542005925 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.29, Z:-0.18 [[ 9.98475580e-01 -3.91857009e-02 -3.88715433e-02 1.42104948e+00] [ 3.92006031e-02 9.99231289e-01 -3.79029142e-04 -2.85385809e-01] [ 3.88565148e-02 -1.14533660e-03 9.99244144e-01 -1.76092423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.735099893 meters Centerline goodness [0,1] 0.9938870021611609 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.28, Z:-0.17 [[ 9.98698957e-01 -3.48412990e-02 -3.72354263e-02 1.44996030e+00] [ 3.48519404e-02 9.99392420e-01 -3.63461672e-04 -2.82006884e-01] [ 3.72254663e-02 -9.34738064e-04 9.99306455e-01 -1.71861192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.765099893 meters Centerline goodness [0,1] 0.9949413610835811 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.27, Z:-0.17 [[ 9.99040891e-01 -2.42004161e-02 -3.64916277e-02 1.47967296e+00] [ 2.42034970e-02 9.99706989e-01 -3.57395369e-04 -2.68079921e-01] [ 3.64895844e-02 -5.26172413e-04 9.99333895e-01 -1.71158134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.795099893 meters Centerline goodness [0,1] 0.9955413355351429 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.24, Z:-0.17 [[ 9.99333195e-01 -2.32701328e-03 -3.64382965e-02 1.50829253e+00] [ 2.31553309e-03 9.99997255e-01 -3.57256360e-04 -2.40784798e-01] [ 3.64390278e-02 2.72644058e-04 9.99335841e-01 -1.70197751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.825099893 meters Centerline goodness [0,1] 0.9955413355351429 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.24, Z:-0.17 [[ 9.99332603e-01 -2.56905414e-03 -3.64382948e-02 1.53569317e+00] [ 2.55772736e-03 9.99996665e-01 -3.57459987e-04 -2.40397766e-01] [ 3.64390916e-02 2.64022196e-04 9.99335841e-01 -1.68893320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.855099893 meters Centerline goodness [0,1] 0.9959680754280043 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.23, Z:-0.17 [[ 9.99293796e-01 7.77630066e-03 -3.67619145e-02 1.56520055e+00] [-7.79524193e-03 9.99969547e-01 -3.71935045e-04 -2.25723767e-01] [ 3.67579028e-02 6.58240401e-04 9.99323983e-01 -1.67806235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.885099893 meters Centerline goodness [0,1] 0.9959495024261864 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.21, Z:-0.17 [[ 9.99167391e-01 1.61685696e-02 -3.74580004e-02 1.59518624e+00] [-1.61941764e-02 9.99868793e-01 -3.80286908e-04 -2.06776059e-01] [ 3.74469370e-02 9.86571746e-04 9.99298130e-01 -1.66917558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.915099893 meters Centerline goodness [0,1] 0.9968838351528159 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.21, Z:-0.17 [[ 9.99258280e-01 1.07196611e-02 -3.69861893e-02 1.62575566e+00] [-1.07409163e-02 9.99942244e-01 -3.76021884e-04 -2.08069576e-01] [ 3.69800223e-02 7.73008546e-04 9.99315706e-01 -1.71155512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.945099893 meters Centerline goodness [0,1] 0.9970124036757737 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.21, Z:-0.17 [[ 9.99335226e-01 5.92172574e-03 -3.59727592e-02 1.65326778e+00] [-5.93871795e-03 9.99982299e-01 -3.65530045e-04 -2.07021202e-01] [ 3.59699579e-02 5.78919122e-04 9.99352704e-01 -1.69003749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.975099893 meters Centerline goodness [0,1] 0.9970968538955691 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.20, Z:-0.17 [[ 9.99180760e-01 4.99239729e-03 -4.01607261e-02 1.68188802e+00] [-5.01293984e-03 9.99987351e-01 -4.10821817e-04 -1.99576286e-01] [ 4.01581671e-02 6.11808560e-04 9.99193148e-01 -1.70187039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.005099893 meters Centerline goodness [0,1] 0.9973427812223207 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.19, Z:-0.17 [[ 9.99073024e-01 7.49643193e-03 -4.23898019e-02 1.70999167e+00] [-7.52204563e-03 9.99971610e-01 -4.44771388e-04 -1.93381109e-01] [ 4.23852643e-02 7.63217120e-04 9.99101049e-01 -1.72016246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.035099893 meters Centerline goodness [0,1] 0.9976376335250616 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.18, Z:-0.17 [[ 9.99240055e-01 1.37447021e-02 -3.64745803e-02 1.73878466e+00] [-1.37679924e-02 9.99905142e-01 -3.87425706e-04 -1.84642009e-01] [ 3.64657953e-02 8.89313028e-04 9.99334506e-01 -1.65081967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.065099893 meters Centerline goodness [0,1] 0.9978230063050666 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.18, Z:-0.16 [[ 9.99246571e-01 1.74186196e-02 -3.46826032e-02 1.76669227e+00] [-1.74419093e-02 9.99847810e-01 -3.69042293e-04 -1.78234544e-01] [ 3.46708967e-02 9.73695065e-04 9.99398309e-01 -1.59782597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.095099893 meters Centerline goodness [0,1] 0.9979001111705851 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.17, Z:-0.16 [[ 9.99022356e-01 1.90327566e-02 -3.99009595e-02 1.79348818e+00] [-1.90649636e-02 9.99818156e-01 -4.26788624e-04 -1.74994123e-01] [ 3.98855808e-02 1.18708172e-03 9.99203548e-01 -1.62887773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1250998930000002 meters Centerline goodness [0,1] 0.9981694775812423 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.18, Z:-0.17 [[ 9.98953876e-01 1.50890027e-02 -4.31679975e-02 1.82224035e+00] [-1.51234135e-02 9.99885524e-01 -4.70652476e-04 -1.78364899e-01] [ 4.31559541e-02 1.12300759e-03 9.99067717e-01 -1.65229890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.155099893 meters Centerline goodness [0,1] 0.9983283387356533 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.18, Z:-0.16 [[ 9.99099469e-01 1.00159745e-02 -4.12302322e-02 1.85183186e+00] [-1.00431282e-02 9.99949465e-01 -4.51504809e-04 -1.81948301e-01] [ 4.12236264e-02 8.65178723e-04 9.99149570e-01 -1.60288936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.185099893 meters Centerline goodness [0,1] 0.9984029484029484 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.19, Z:-0.16 [[ 9.99093006e-01 -9.75350164e-04 -4.25701066e-02 1.88138331e+00] [ 9.56312483e-04 9.99999433e-01 -4.67569842e-04 -1.94126592e-01] [ 4.25705385e-02 4.26435435e-04 9.99093373e-01 -1.59949644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.215099893 meters Centerline goodness [0,1] 0.9987872559095581 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.21, Z:-0.16 [[ 9.99090681e-01 -1.25168504e-02 -4.07570730e-02 1.90946057e+00] [ 1.25089626e-02 9.99921659e-01 -4.48555718e-04 -2.05909473e-01] [ 4.07594946e-02 -6.16808655e-05 9.99168985e-01 -1.55871046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.245099893 meters Centerline goodness [0,1] 0.9984659439558192 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.21, Z:-0.16 [[ 9.98977543e-01 -1.83938269e-02 -4.12981283e-02 1.93772396e+00] [ 1.83906129e-02 9.99830774e-01 -4.57766233e-04 -2.10902906e-01] [ 4.12995596e-02 -3.02199705e-04 9.99146764e-01 -1.55243091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.275099893 meters Centerline goodness [0,1] 0.9985514638376007 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.22, Z:-0.16 [[ 9.98685352e-01 -2.70155006e-02 -4.35629380e-02 1.96612635e+00] [ 2.70199628e-02 9.99634776e-01 -4.86486750e-04 -2.20668193e-01] [ 4.35601704e-02 -6.91221773e-04 9.99050566e-01 -1.57909392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.305099893 meters Centerline goodness [0,1] 0.9988089615376717 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.23, Z:-0.16 [[ 9.98480388e-01 -3.29921915e-02 -4.41410297e-02 1.99436472e+00] [ 3.30024845e-02 9.99455147e-01 -4.95732343e-04 -2.25533464e-01] [ 4.41333346e-02 -9.61784626e-04 9.99025187e-01 -1.56869555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.335099893 meters Centerline goodness [0,1] 0.9988145604676355 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.23, Z:-0.15 [[ 9.98238865e-01 -3.88874299e-02 -4.47988391e-02 2.02384433e+00] [ 3.89038319e-02 9.99242831e-01 -5.06008327e-04 -2.25246543e-01] [ 4.47845962e-02 -1.23772933e-03 9.98995900e-01 -1.54912702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.365099893 meters Centerline goodness [0,1] 0.999011939069576 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.22, Z:-0.15 [[ 9.98148166e-01 -3.98786342e-02 -4.59340127e-02 2.05212255e+00] [ 3.98969095e-02 9.99203666e-01 -5.19232503e-04 -2.18718183e-01] [ 4.59181402e-02 -1.31435418e-03 9.98944341e-01 -1.54218063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.395099893 meters Centerline goodness [0,1] 0.9991545345815978 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.21, Z:-0.16 [[ 9.98160556e-01 -3.82310736e-02 -4.70519809e-02 2.08106860e+00] [ 3.82479472e-02 9.99268133e-01 -5.41982023e-04 -2.11464573e-01] [ 4.70382657e-02 -1.25865660e-03 9.98892295e-01 -1.55082888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.425099893 meters Centerline goodness [0,1] 0.999315693430657 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.20, Z:-0.16 [[ 9.98117169e-01 -3.60427078e-02 -4.96290171e-02 2.10971967e+00] [ 3.60582389e-02 9.99349520e-01 -5.82631209e-04 -1.97187146e-01] [ 4.96177341e-02 -1.20800074e-03 9.98767551e-01 -1.55949849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.455099893 meters Centerline goodness [0,1] 0.9992539323979857 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.19, Z:-0.15 [[ 9.98113278e-01 -3.51805434e-02 -5.03211112e-02 2.13787459e+00] [ 3.51948806e-02 9.99380287e-01 -6.01416503e-04 -1.86897944e-01] [ 5.03110847e-02 -1.17076370e-03 9.98732909e-01 -1.53695122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.485099893 meters Centerline goodness [0,1] 0.9993341517717805 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.18, Z:-0.15 [[ 9.98015667e-01 -3.61701476e-02 -5.15407556e-02 2.16579627e+00] [ 3.61859602e-02 9.99344877e-01 -6.26621498e-04 -1.77198731e-01] [ 5.15296551e-02 -1.23967366e-03 9.98670695e-01 -1.51359329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.515099893 meters Centerline goodness [0,1] 0.9994140911088326 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.17, Z:-0.16 [[ 9.97396465e-01 -4.29354761e-02 -5.79382088e-02 2.19659991e+00] [ 4.29665237e-02 9.99076260e-01 -7.10342980e-04 -1.71448975e-01] [ 5.79151878e-02 -1.78090984e-03 9.98319918e-01 -1.55871377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.545099893 meters Centerline goodness [0,1] 0.9994340690435767 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.17, Z:-0.16 [[ 9.97011904e-01 -4.87477676e-02 -5.99242780e-02 2.22602839e+00] [ 4.87914430e-02 9.98808718e-01 -7.35023861e-04 -1.70308300e-01] [ 5.98887221e-02 -2.19096446e-03 9.98202655e-01 -1.57088199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.575099893 meters Centerline goodness [0,1] 0.9993682880606444 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.17, Z:-0.16 [[ 9.96670723e-01 -5.39636663e-02 -6.11178557e-02 2.25573581e+00] [ 5.40188144e-02 9.98539636e-01 -7.50826051e-04 -1.69454734e-01] [ 6.10691187e-02 -2.55318776e-03 9.98130274e-01 -1.56411393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6050998929999998 meters Centerline goodness [0,1] 0.9993888818645426 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.16, Z:-0.15 [[ 9.96339994e-01 -5.81869174e-02 -6.26170782e-02 2.28566909e+00] [ 5.82530674e-02 9.98301551e-01 -7.70221357e-04 -1.62835924e-01] [ 6.25555431e-02 -2.88023453e-03 9.98037328e-01 -1.54989274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.635099893 meters Centerline goodness [0,1] 0.9995533910380469 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.16, Z:-0.15 [[ 9.96201278e-01 -6.05912814e-02 -6.25436710e-02 2.31503153e+00] [ 6.06619522e-02 9.98158071e-01 -7.70058565e-04 -1.56314620e-01] [ 6.24751289e-02 -3.02688786e-03 9.98041931e-01 -1.51092411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.665099893 meters Centerline goodness [0,1] 0.9995100962767317 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.15, Z:-0.15 [[ 9.96396080e-01 -6.07842490e-02 -5.91618771e-02 2.34216979e+00] [ 6.08476722e-02 9.98146796e-01 -7.30562194e-04 -1.51007670e-01] [ 5.90966448e-02 -2.87193320e-03 9.98248135e-01 -1.45155159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.695099893 meters Centerline goodness [0,1] 0.9996375189236444 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.14, Z:-0.14 [[ 9.96589861e-01 -5.99117797e-02 -5.67382434e-02 2.36974453e+00] [ 5.99684645e-02 9.98200023e-01 -7.04572535e-04 -1.44667411e-01] [ 5.66783281e-02 -2.70033549e-03 9.98388840e-01 -1.40733194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.725099893 meters Centerline goodness [0,1] 0.9996163437559946 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.14, Z:-0.14 [[ 9.96587770e-01 -5.96328269e-02 -5.70678732e-02 2.39759899e+00] [ 5.96894851e-02 9.98216739e-01 -7.12748592e-04 -1.41039994e-01] [ 5.70086095e-02 -2.69603544e-03 9.98370047e-01 -1.39939937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.755099893 meters Centerline goodness [0,1] 0.9996572481309313 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.14, Z:-0.14 [[ 9.96508739e-01 -6.07636626e-02 -5.72547874e-02 2.42503111e+00] [ 6.08223021e-02 9.98148351e-01 -7.19484824e-04 -1.39819764e-01] [ 5.71924901e-02 -2.76539506e-03 9.98359340e-01 -1.38593757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.785099893 meters Centerline goodness [0,1] 0.999528271544053 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.14, Z:-0.14 [[ 9.96539768e-01 -5.96787650e-02 -5.78527060e-02 2.45370204e+00] [ 5.97364053e-02 9.98213916e-01 -7.34111261e-04 -1.36160684e-01] [ 5.77931871e-02 -2.72434163e-03 9.98324860e-01 -1.37918939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.815099893 meters Centerline goodness [0,1] 0.9996557288864981 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.13, Z:-0.14 [[ 9.96619923e-01 -5.80321188e-02 -5.81463834e-02 2.48286448e+00] [ 5.80868971e-02 9.98311250e-01 -7.49111888e-04 -1.33161811e-01] [ 5.80916612e-02 -2.63096315e-03 9.98307787e-01 -1.36673890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.845099893 meters Centerline goodness [0,1] 0.9997845848950928 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.12, Z:-0.14 [[ 9.96916284e-01 -5.23281462e-02 -5.84780903e-02 2.51229823e+00] [ 5.23732465e-02 9.98627289e-01 -7.62207230e-04 -1.24904571e-01] [ 5.84377016e-02 -2.30283064e-03 9.98288401e-01 -1.35622421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.875099893 meters Centerline goodness [0,1] 0.9997830802603037 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.12, Z:-0.14 [[ 9.97062959e-01 -4.74000442e-02 -6.01555660e-02 2.54265490e+00] [ 4.74387690e-02 9.98873839e-01 -7.85044328e-04 -1.17313133e-01] [ 6.01250323e-02 -2.07096738e-03 9.98188705e-01 -1.36489075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.905099893 meters Centerline goodness [0,1] 0.9998914742142733 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.11, Z:-0.14 [[ 9.97294923e-01 -4.12571799e-02 -6.08332239e-02 2.57310624e+00] [ 4.12853312e-02 9.99147081e-01 -7.94625940e-04 -1.09338984e-01] [ 6.08141222e-02 -1.71904338e-03 9.98147628e-01 -1.36957465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.935099893 meters Centerline goodness [0,1] 0.9999131718329426 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.10, Z:-0.13 [[ 9.97472273e-01 -3.76671270e-02 -6.02515754e-02 2.60285372e+00] [ 3.76881733e-02 9.99289238e-01 -7.87477716e-04 -1.02985109e-01] [ 6.02384129e-02 -1.48528463e-03 9.98182913e-01 -1.33575671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.965099893 meters Centerline goodness [0,1] 0.9999350354057039 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.09, Z:-0.13 [[ 9.97424015e-01 -3.70852235e-02 -6.14004990e-02 2.63051848e+00] [ 3.71057194e-02 9.99311020e-01 -8.06783038e-04 -9.05176500e-02] [ 6.13881150e-02 -1.47360491e-03 9.98112883e-01 -1.27430957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.995099893 meters Centerline goodness [0,1] 0.9998487500270089 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.09, Z:-0.13 [[ 9.97154993e-01 -3.99952507e-02 -6.38928829e-02 2.66037215e+00] [ 4.00225549e-02 9.99198412e-01 -8.52998117e-04 -9.40023847e-02] [ 6.38757831e-02 -1.70658509e-03 9.97956398e-01 -1.30800525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters Centerline goodness [0,1] 0.9997823958219998 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.10, Z:-0.13 [[ 9.96770705e-01 -4.36991080e-02 -6.73687603e-02 2.69045674e+00] [ 4.37377921e-02 9.99042638e-01 -9.01341266e-04 -9.74944014e-02] [ 6.73436519e-02 -2.04813027e-03 9.97727737e-01 -1.33730141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0550998929999995 meters Centerline goodness [0,1] 0.9998040155045512 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.10, Z:-0.13 [[ 9.96504635e-01 -4.88616361e-02 -6.77573133e-02 2.72010001e+00] [ 4.89126003e-02 9.98802650e-01 -9.07632252e-04 -1.01010932e-01] [ 6.77205325e-02 -2.40972664e-03 9.97701420e-01 -1.31866593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.085099893 meters Centerline goodness [0,1] 0.9998481528883489 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.11, Z:-0.13 [[ 9.96344272e-01 -5.29199318e-02 -6.70639429e-02 2.74887582e+00] [ 5.29789084e-02 9.98595226e-01 -9.00025810e-04 -1.07215199e-01] [ 6.70173625e-02 -2.65623893e-03 9.97748274e-01 -1.30556293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.115099892999999 meters Centerline goodness [0,1] 0.9997836715268463 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.11, Z:-0.13 [[ 9.96281740e-01 -5.46983411e-02 -6.65641470e-02 2.77681628e+00] [ 5.47601477e-02 9.98499134e-01 -8.97043567e-04 -1.11404184e-01] [ 6.65133100e-02 -2.75135440e-03 9.97781744e-01 -1.30625579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.145099892999999 meters Centerline goodness [0,1] 0.9998282303431099 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.11, Z:-0.12 [[ 9.96473226e-01 -5.50473102e-02 -6.33316871e-02 2.80472495e+00] [ 5.51034990e-02 9.98480277e-01 -8.60424027e-04 -1.11481147e-01] [ 6.32828045e-02 -2.63240805e-03 9.97992163e-01 -1.24774724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.175099893 meters Centerline goodness [0,1] 0.9998914412262799 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.11, Z:-0.11 [[ 9.96950139e-01 -5.17835734e-02 -5.83856262e-02 2.83307720e+00] [ 5.18251422e-02 9.98655852e-01 -8.03036299e-04 -1.06241894e-01] [ 5.83487313e-02 -2.22525623e-03 9.98293781e-01 -1.14571506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.205099893 meters Centerline goodness [0,1] 0.99978369024443 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.11, Z:-0.12 [[ 9.97052898e-01 -4.95563960e-02 -5.85634937e-02 2.86098110e+00] [ 4.95942548e-02 9.98769121e-01 -8.07715431e-04 -1.05785377e-01] [ 5.85314366e-02 -2.09907781e-03 9.98283359e-01 -1.15252868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.235099892999999 meters Centerline goodness [0,1] 0.999891490700753 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.11, Z:-0.12 [[ 9.96768253e-01 -4.98106440e-02 -6.30234010e-02 2.88933548e+00] [ 4.98547034e-02 9.98756098e-01 -8.74259507e-04 -1.10774884e-01] [ 6.29885535e-02 -2.27057885e-03 9.98011667e-01 -1.21198520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2650998929999995 meters Centerline goodness [0,1] 0.999827738420792 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.11, Z:-0.12 [[ 9.96597389e-01 -5.14060290e-02 -6.44287489e-02 2.91842462e+00] [ 5.14551256e-02 9.98674904e-01 -8.98158028e-04 -1.14300281e-01] [ 6.43895453e-02 -2.42008742e-03 9.97921906e-01 -1.22928712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.295099893 meters Centerline goodness [0,1] 0.999697558868006 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.11, Z:-0.12 [[ 9.96430453e-01 -5.10865202e-02 -6.72050605e-02 2.94711390e+00] [ 5.11388114e-02 9.98691110e-01 -9.43151990e-04 -1.12537485e-01] [ 6.71652788e-02 -2.49700155e-03 9.97738739e-01 -1.24420783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.325099893 meters Centerline goodness [0,1] 0.9998062182413229 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.11, Z:-0.12 [[ 9.96525017e-01 -4.91522464e-02 -6.72454321e-02 2.97521387e+00] [ 4.91994665e-02 9.98788517e-01 -9.54713946e-04 -1.11021559e-01] [ 6.72108917e-02 -2.35704305e-03 9.97736007e-01 -1.23000581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.355099892999999 meters Centerline goodness [0,1] 0.999697506590035 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.11, Z:-0.12 [[ 9.96705183e-01 -4.83350539e-02 -6.51344814e-02 3.00409517e+00] [ 4.83773588e-02 9.98828699e-01 -9.28460064e-04 -1.11604438e-01] [ 6.51030664e-02 -2.22563322e-03 9.97876063e-01 -1.20851921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385099893 meters Centerline goodness [0,1] 0.9998487107998876 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.11, Z:-0.12 [[ 9.96828252e-01 -4.88199833e-02 -6.28493825e-02 3.03178596e+00] [ 4.88600841e-02 9.98805228e-01 -8.99646621e-04 -1.13138926e-01] [ 6.28182125e-02 -2.17403295e-03 9.98022618e-01 -1.16206749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.415099893 meters Centerline goodness [0,1] 0.9996753106195073 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.11, Z:-0.12 [[ 9.96606637e-01 -4.88305812e-02 -6.62629990e-02 3.05958159e+00] [ 4.88748737e-02 9.98804454e-01 -9.53450413e-04 -1.13630748e-01] [ 6.62303361e-02 -2.28838070e-03 9.97801737e-01 -1.21194999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.445099892999999 meters Centerline goodness [0,1] 0.9998046451052746 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.10, Z:-0.11 [[ 9.96576478e-01 -4.72105313e-02 -6.78711244e-02 3.08727008e+00] [ 4.72526785e-02 9.98882482e-01 -9.85173104e-04 -9.55084967e-02] [ 6.78417878e-02 -2.22529208e-03 9.97693610e-01 -1.12015930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.475099892999999 meters Centerline goodness [0,1] 0.9997845756139595 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.11, Z:-0.12 [[ 9.96885004e-01 -4.40173287e-02 -6.54428239e-02 3.11622178e+00] [ 4.40488137e-02 9.99028916e-01 -9.62403756e-04 -1.06464086e-01] [ 6.54216359e-02 -1.92327289e-03 9.97855857e-01 -1.16153691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.505099893 meters Centerline goodness [0,1] 0.9999132810128778 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.09, Z:-0.10 [[ 9.97217791e-01 -4.14132302e-02 -6.19808189e-02 3.14500940e+00] [ 4.14362699e-02 9.99140731e-01 -9.14146527e-04 -8.74677218e-02] [ 6.19654184e-02 -1.65665076e-03 9.98076922e-01 -9.81974935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.535099893 meters Centerline goodness [0,1] 0.9998478856099787 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.08, Z:-0.10 [[ 9.97351322e-01 -3.80474075e-02 -6.19898013e-02 3.17412901e+00] [ 3.80637000e-02 9.99274893e-01 -9.18497678e-04 -8.48180558e-02] [ 6.19797985e-02 -1.44349633e-03 9.98076360e-01 -9.72096812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.565099892999999 meters Centerline goodness [0,1] 0.9997830190726236 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.08, Z:-0.10 [[ 9.97399544e-01 -3.45594490e-02 -6.32439191e-02 3.20218816e+00] [ 3.45686035e-02 9.99401876e-01 -9.49794640e-04 -8.22578411e-02] [ 6.32389158e-02 -1.23892922e-03 9.97997648e-01 -9.91219742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5950998929999995 meters Centerline goodness [0,1] 0.9997820543556437 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.08, Z:-0.10 [[ 9.97559946e-01 -3.12377471e-02 -6.24368300e-02 3.23072059e+00] [ 3.12396771e-02 9.99511475e-01 -9.45532841e-04 -7.63600891e-02] [ 6.24358644e-02 -1.00728072e-03 9.98048470e-01 -9.70350966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099893 meters Centerline goodness [0,1] 0.9998038189903218 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.07, Z:-0.09 [[ 9.97833507e-01 -2.61026070e-02 -6.03899504e-02 3.25960038e+00] [ 2.60941441e-02 9.99659058e-01 -9.28900680e-04 -6.97978312e-02] [ 6.03936077e-02 -6.48935844e-04 9.98174429e-01 -9.34935389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.655099892999999 meters Centerline goodness [0,1] 0.9998039429256073 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.06, Z:-0.09 [[ 9.98026542e-01 -1.93167215e-02 -5.97485274e-02 3.28881828e+00] [ 1.92954574e-02 9.99813390e-01 -9.32879154e-04 -6.33879241e-02] [ 5.97553979e-02 -2.21837009e-04 9.98213025e-01 -9.33437345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters Centerline goodness [0,1] 0.9998247881031121 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.06, Z:-0.09 [[ 9.98104712e-01 -1.39837154e-02 -5.99286221e-02 3.31610487e+00] [ 1.39518362e-02 9.99902217e-01 -9.50374974e-04 -5.62388131e-02] [ 5.99360519e-02 1.12459423e-04 9.98202213e-01 -9.28371373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.715099893 meters Centerline goodness [0,1] 0.9997803356471312 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.05, Z:-0.09 [[ 9.98224751e-01 -1.22603810e-02 -5.82840493e-02 3.34380720e+00] [ 1.22264536e-02 9.99924814e-01 -9.38689835e-04 -4.97316714e-02] [ 5.82911758e-02 2.24416204e-04 9.98299599e-01 -9.17776224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099893 meters Centerline goodness [0,1] 0.9997803356471312 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.05, Z:-0.09 [[ 9.98221257e-01 -1.25421303e-02 -5.82839306e-02 3.37115025e+00] [ 1.25082560e-02 9.99921321e-01 -9.45998688e-04 -4.92241542e-02] [ 5.82912097e-02 2.15285678e-04 9.98299599e-01 -9.04748315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.775099892999999 meters Centerline goodness [0,1] 0.9998466862324237 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.05, Z:-0.09 [[ 9.98165535e-01 -1.73369933e-02 -5.80085559e-02 3.39890144e+00] [ 1.73105779e-02 9.99849702e-01 -9.57880892e-04 -4.72653495e-02] [ 5.80164441e-02 -4.80379336e-05 9.98315626e-01 -8.90535829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8050998929999995 meters Centerline goodness [0,1] 0.9998245767915095 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.05, Z:-0.09 [[ 9.97973960e-01 -2.43557569e-02 -5.87773090e-02 3.42764551e+00] [ 2.43398199e-02 9.99703255e-01 -9.87167979e-04 -5.13930603e-02] [ 5.87839103e-02 -4.45461175e-04 9.98270631e-01 -8.98816965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.835099893 meters Centerline goodness [0,1] 0.9996940760002622 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.06, Z:-0.09 [[ 9.97775867e-01 -3.15868303e-02 -5.86991644e-02 3.45561952e+00] [ 3.15826775e-02 9.99500644e-01 -9.98715514e-04 -5.56447338e-02] [ 5.87013989e-02 -8.57382543e-04 9.98275218e-01 -8.90631911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters Centerline goodness [0,1] 0.9999563994680735 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.06, Z:-0.08 [[ 9.97700407e-01 -3.78178543e-02 -5.62468426e-02 3.48413318e+00] [ 3.78235775e-02 9.99283968e-01 -9.63198139e-04 -5.77113181e-02] [ 5.62429941e-02 -1.16647363e-03 9.98416429e-01 -8.16138616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.895099892999999 meters Centerline goodness [0,1] 0.9998255522362023 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.06, Z:-0.08 [[ 9.97736262e-01 -3.73191748e-02 -5.59431015e-02 3.51248321e+00] [ 3.73232774e-02 9.99302771e-01 -9.71836293e-04 -5.81543825e-02] [ 5.59403645e-02 -1.11834358e-03 9.98433485e-01 -8.16558788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099893 meters Centerline goodness [0,1] 0.9999347159053816 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.06, Z:-0.07 [[ 9.98192761e-01 -3.41084323e-02 -4.94755082e-02 3.54123378e+00] [ 3.41071667e-02 9.99417803e-01 -8.70077686e-04 -5.75419329e-02] [ 4.94763807e-02 -8.18964159e-04 9.98774958e-01 -7.49643772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.955099893 meters Centerline goodness [0,1] 0.9998044965786901 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.06, Z:-0.07 [[ 9.98413805e-01 -3.19931528e-02 -4.63282986e-02 3.57000378e+00] [ 3.19896313e-02 9.99487866e-01 -8.17611011e-04 -5.56406900e-02] [ 4.63307302e-02 -6.65711069e-04 9.98925933e-01 -7.29824475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters Centerline goodness [0,1] 0.9998476173890328 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.06, Z:-0.08 [[ 9.97927765e-01 -3.50552461e-02 -5.39565162e-02 3.59821651e+00] [ 3.50541754e-02 9.99384946e-01 -9.66523814e-04 -5.63523094e-02] [ 5.39572117e-02 -9.26880236e-04 9.98542818e-01 -7.78813629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0150998929999995 meters Centerline goodness [0,1] 0.9998252817332052 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.06, Z:-0.08 [[ 9.97222627e-01 -4.07710079e-02 -6.23278166e-02 3.62747830e+00] [ 4.07804086e-02 9.99167503e-01 -1.12181040e-03 -5.92889087e-02] [ 6.23216662e-02 -1.42305911e-03 9.98055101e-01 -8.47237561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099893 meters Centerline goodness [0,1] 0.9998253656406898 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.06, Z:-0.09 [[ 9.96689207e-01 -4.49968932e-02 -6.77193091e-02 3.65769085e+00] [ 4.50175929e-02 9.98985448e-01 -1.22110727e-03 -6.23650669e-02] [ 6.77055503e-02 -1.83149584e-03 9.97703665e-01 -8.72163482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.075099892999999 meters Centerline goodness [0,1] 0.9997824810214692 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.07, Z:-0.09 [[ 9.96547358e-01 -4.64212504e-02 -6.88362652e-02 3.68659666e+00] [ 4.64455903e-02 9.98920042e-01 -1.24770164e-03 -6.91940845e-02] [ 6.88198448e-02 -1.95374719e-03 9.97627191e-01 -8.80221390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters Centerline goodness [0,1] 0.999804924570834 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.07, Z:-0.08 [[ 9.96510626e-01 -4.74871127e-02 -6.86407036e-02 3.71553818e+00] [ 4.75126533e-02 9.98869840e-01 -1.26136184e-03 -7.00784052e-02] [ 6.86230271e-02 -2.00434148e-03 9.97640648e-01 -8.44549201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135099893 meters Centerline goodness [0,1] 0.9998473781750791 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.07, Z:-0.08 [[ 9.96169215e-01 -5.17605674e-02 -7.04821917e-02 3.74583461e+00] [ 5.17973107e-02 9.98656762e-01 -1.30748372e-03 -6.97032654e-02] [ 7.04551935e-02 -2.34831295e-03 9.97512181e-01 -8.12113593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.165099893 meters Centerline goodness [0,1] 0.9998910438003923 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.07, Z:-0.08 [[ 9.95730018e-01 -5.70654739e-02 -7.25621312e-02 3.77482363e+00] [ 5.71184413e-02 9.98366501e-01 -1.34658233e-03 -7.15989352e-02] [ 7.25204443e-02 -2.80380338e-03 9.97362985e-01 -7.92978185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.195099892999999 meters Centerline goodness [0,1] 0.9997382256058986 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.07, Z:-0.08 [[ 9.95507478e-01 -5.86898488e-02 -7.42991423e-02 3.80398800e+00] [ 5.87497277e-02 9.98271787e-01 -1.38126736e-03 -7.19617514e-02] [ 7.42518040e-02 -2.98999240e-03 9.97235042e-01 -7.99097831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.225099892999999 meters Centerline goodness [0,1] 0.9998048103407144 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.07, Z:-0.08 [[ 9.95739104e-01 -5.78784783e-02 -7.17893979e-02 3.83323771e+00] [ 5.79318667e-02 9.98319640e-01 -1.33998368e-03 -7.35093538e-02] [ 7.17463221e-02 -2.82461968e-03 9.97418912e-01 -7.65114313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.255099893 meters Centerline goodness [0,1] 0.9997614969319832 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.07, Z:-0.07 [[ 9.96411100e-01 -5.39712650e-02 -6.52075357e-02 3.86351689e+00] [ 5.40065775e-02 9.98539832e-01 -1.22232203e-03 -7.30235143e-02] [ 6.51782920e-02 -2.30370059e-03 9.97870975e-01 -6.96718865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.285099892999999 meters Centerline goodness [0,1] 0.9997618635261517 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.07, Z:-0.07 [[ 9.96704052e-01 -5.21480276e-02 -6.21419021e-02 3.89106552e+00] [ 5.21764545e-02 9.98637200e-01 -1.16630837e-03 -7.33015353e-02] [ 6.21180358e-02 -2.07987985e-03 9.98066643e-01 -6.55250860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.315099892999999 meters Centerline goodness [0,1] 0.9998270195467912 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.07, Z:-0.06 [[ 9.96756744e-01 -5.28796969e-02 -6.06607931e-02 3.91881774e+00] [ 5.29076484e-02 9.98598751e-01 -1.14644015e-03 -7.24241851e-02] [ 6.06364157e-02 -2.06669796e-03 9.98157780e-01 -6.15031591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3450998929999995 meters Centerline goodness [0,1] 0.9998270980570144 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.08, Z:-0.06 [[ 9.96504487e-01 -5.60393975e-02 -6.19547690e-02 3.94713262e+00] [ 5.60737031e-02 9.98425928e-01 -1.18619841e-03 -7.77173813e-02] [ 6.19237215e-02 -2.29198129e-03 9.98078253e-01 -6.23784928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.375099893 meters Centerline goodness [0,1] 0.9998274411682233 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.08, Z:-0.06 [[ 9.96213192e-01 -6.11598888e-02 -6.17959800e-02 3.97753004e+00] [ 6.12035795e-02 9.98124597e-01 -1.18739257e-03 -8.45235994e-02] [ 6.17527085e-02 -2.59923903e-03 9.98088096e-01 -6.08908037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.405099892999999 meters Centerline goodness [0,1] 0.9996572187587034 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.09, Z:-0.06 [[ 9.96014098e-01 -6.67513883e-02 -5.91622191e-02 4.00666563e+00] [ 6.68011784e-02 9.97765658e-01 -1.13801413e-03 -9.30102554e-02] [ 5.91059944e-02 -2.81862783e-03 9.98247733e-01 -5.67198725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.435099892999999 meters Centerline goodness [0,1] 0.9998080122872136 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.09, Z:-0.05 [[ 9.96197480e-01 -6.67556369e-02 -5.59845146e-02 4.03522443e+00] [ 6.68000039e-02 9.97765800e-01 -1.08058258e-03 -9.20194580e-02] [ 5.59315690e-02 -2.66329215e-03 9.98431052e-01 -5.10481014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465099893 meters Centerline goodness [0,1] 0.999786893979755 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.09, Z:-0.05 [[ 9.96750547e-01 -6.12047807e-02 -5.23671850e-02 4.06497143e+00] [ 6.12353585e-02 9.98122831e-01 -1.02186051e-03 -9.22697586e-02] [ 5.23314257e-02 -2.18818333e-03 9.98627375e-01 -4.81889996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.495099893 meters Centerline goodness [0,1] 0.9998298198217362 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.08, Z:-0.04 [[ 9.97890340e-01 -4.74524336e-02 -4.43072984e-02 4.09513106e+00] [ 4.74607228e-02 9.98872730e-01 -8.65436785e-04 -8.38729610e-02] [ 4.42984191e-02 -1.23924540e-03 9.99017575e-01 -4.16804458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.525099892999999 meters Centerline goodness [0,1] 0.9997451038701729 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.08, Z:-0.04 [[ 9.98230803e-01 -4.05184653e-02 -4.35145743e-02 4.12468183e+00] [ 4.05198814e-02 9.99178371e-01 -8.49839234e-04 -7.96832883e-02] [ 4.35132556e-02 -9.14869687e-04 9.99052431e-01 -4.08578585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5550998929999995 meters Centerline goodness [0,1] 0.9997664642690332 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.08, Z:-0.04 [[ 9.98237093e-01 -3.93140763e-02 -4.44646942e-02 4.15376817e+00] [ 3.93143192e-02 9.99226515e-01 -8.69357637e-04 -8.31896165e-02] [ 4.44644795e-02 -8.80274142e-04 9.99010578e-01 -4.32253355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099893 meters Centerline goodness [0,1] 0.9998088319632957 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.09, Z:-0.05 [[ 9.97989854e-01 -4.45703866e-02 -4.50525458e-02 4.18348378e+00] [ 4.45754591e-02 9.99005622e-01 -8.92532692e-04 -9.09944048e-02] [ 4.50475270e-02 -1.11749934e-03 9.98984220e-01 -4.53573248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.615099892999999 meters Centerline goodness [0,1] 0.9998513958178538 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.10, Z:-0.05 [[ 9.97518935e-01 -5.19831072e-02 -4.74734809e-02 4.21303542e+00] [ 5.19970379e-02 9.98646794e-01 -9.42285330e-04 -1.01953763e-01] [ 4.74582224e-02 -1.52853292e-03 9.98872054e-01 -4.78531553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.645099892999999 meters Centerline goodness [0,1] 0.9997887532215134 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.11, Z:-0.05 [[ 9.96779895e-01 -5.91381129e-02 -5.41527901e-02 4.24406118e+00] [ 5.91667440e-02 9.98247534e-01 -1.07574239e-03 -1.08201555e-01] [ 5.41215065e-02 -2.13176588e-03 9.98532082e-01 -5.17336912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675099893 meters Centerline goodness [0,1] 0.9998097251585624 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.11, Z:-0.06 [[ 9.96085539e-01 -6.34461604e-02 -6.15482284e-02 4.27524771e+00] [ 6.34913905e-02 9.97981637e-01 -1.22257198e-03 -1.11977751e-01] [ 6.15015692e-02 -2.68999633e-03 9.98103362e-01 -5.56576000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.705099893 meters Centerline goodness [0,1] 0.9996626963212818 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.12, Z:-0.06 [[ 9.95705560e-01 -6.60506154e-02 -6.48672054e-02 4.30600738e+00] [ 6.61064287e-02 9.97811746e-01 -1.28788148e-03 -1.16940092e-01] [ 6.48103248e-02 -3.00578854e-03 9.97893074e-01 -5.70307762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.735099892999999 meters Centerline goodness [0,1] 0.9998315931289997 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.12, Z:-0.05 [[ 9.95941804e-01 -6.20872778e-02 -6.51543766e-02 4.33597965e+00] [ 6.21351112e-02 9.98066908e-01 -1.29389076e-03 -1.17609462e-01] [ 6.51087614e-02 -2.75973453e-03 9.97874357e-01 -5.43456743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7650998929999995 meters Centerline goodness [0,1] 0.999768201454009 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.11, Z:-0.05 [[ 9.96318873e-01 -5.38314366e-02 -6.67149174e-02 4.36649833e+00] [ 5.38630706e-02 9.98547451e-01 -1.32578983e-03 -1.09178723e-01] [ 6.66893799e-02 -2.27256089e-03 9.97771197e-01 -5.08288830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.795099893 meters Centerline goodness [0,1] 0.9997257499683557 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.10, Z:-0.05 [[ 9.97000451e-01 -4.06891239e-02 -6.58368900e-02 4.39516377e+00] [ 4.06912423e-02 9.99170911e-01 -1.30932762e-03 -9.95582617e-02] [ 6.58355807e-02 -1.37358462e-03 9.97829539e-01 -4.86274808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.825099892999999 meters Centerline goodness [0,1] 0.9998096647985619 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.09, Z:-0.04 [[ 9.97874755e-01 -2.33635959e-02 -6.08285720e-02 4.42506948e+00] [ 2.33330949e-02 9.99727012e-01 -1.21179144e-03 -8.90654041e-02] [ 6.08402783e-02 -2.10102762e-04 9.98147492e-01 -4.28205959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.855099892999999 meters Centerline goodness [0,1] 0.9998518894672253 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.08, Z:-0.04 [[ 9.98410524e-01 -6.69858531e-03 -5.59602877e-02 4.45311265e+00] [ 6.64648432e-03 9.99977288e-01 -1.11710062e-03 -7.89104297e-02] [ 5.59664998e-02 7.43385837e-04 9.98432370e-01 -3.64293327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099893 meters Centerline goodness [0,1] 0.999851506151888 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.07, Z:-0.03 [[ 9.98547757e-01 7.57499348e-03 -5.33385176e-02 4.48335912e+00] [-7.64326523e-03 9.99970211e-01 -1.07609893e-03 -6.80084238e-02] [ 5.33287772e-02 1.48221661e-03 9.98575908e-01 -3.15794676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.915099893 meters Centerline goodness [0,1] 0.9997247978322537 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.07, Z:-0.03 [[ 9.98552110e-01 6.27654496e-03 -5.34255498e-02 4.51118044e+00] [-6.34323761e-03 9.99979299e-01 -1.07885197e-03 -6.85306633e-02] [ 5.34176724e-02 1.41618087e-03 9.98571253e-01 -3.23842505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters Centerline goodness [0,1] 0.9998312770220394 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.08, Z:-0.03 [[ 9.98624868e-01 -3.81609997e-03 -5.22858438e-02 4.54098849e+00] [ 3.76571699e-03 9.99992346e-01 -1.06208714e-03 -7.69966819e-02] [ 5.22894967e-02 8.63732940e-04 9.98631595e-01 -3.14327130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.975099892999999 meters Centerline goodness [0,1] 0.9997476234541937 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.09, Z:-0.03 [[ 9.98148660e-01 -2.27299960e-02 -5.64145360e-02 4.57000556e+00] [ 2.27013674e-02 9.99741631e-01 -1.14835358e-03 -9.19225987e-02] [ 5.64260623e-02 -1.34459516e-04 9.98406772e-01 -3.39156958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099893 meters Centerline goodness [0,1] 0.9997687909870523 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.10, Z:-0.04 [[ 9.97632228e-01 -3.27141372e-02 -6.04956424e-02 4.59946643e+00] [ 3.26992708e-02 9.99464472e-01 -1.23598098e-03 -1.00378374e-01] [ 6.05036793e-02 -7.45108934e-04 9.98167696e-01 -3.54731808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.035099892999999 meters Centerline goodness [0,1] 0.999811114842176 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.10, Z:-0.03 [[ 9.97452128e-01 -3.70249828e-02 -6.09787157e-02 4.62778934e+00] [ 3.70176311e-02 9.99313830e-01 -1.25064148e-03 -1.03551177e-01] [ 6.09831790e-02 -1.00983260e-03 9.98138283e-01 -3.24777290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999999 meters Centerline goodness [0,1] 0.9997693291672783 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.09, Z:-0.02 [[ 9.98106324e-01 -2.31834575e-02 -5.69762551e-02 4.65699148e+00] [ 2.31542464e-02 9.99731216e-01 -1.17288185e-03 -9.03608709e-02] [ 5.69881323e-02 -1.48581459e-04 9.98374845e-01 -2.44129601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0950998929999995 meters Centerline goodness [0,1] 0.9998097774396043 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.07, Z:-0.02 [[ 9.98645689e-01 -5.62972267e-03 -5.17213117e-02 4.68473116e+00] [ 5.58200894e-03 9.99983851e-01 -1.06692176e-03 -7.34663151e-02] [ 5.17264830e-02 7.76767990e-04 9.98660987e-01 -1.85763360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099893 meters Centerline goodness [0,1] 0.9998295696634001 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.05, Z:-0.02 [[ 9.98483546e-01 1.35679232e-02 -5.33527816e-02 4.71463868e+00] [-1.36463029e-02 9.99906274e-01 -1.10504802e-03 -5.33597527e-02] [ 5.33327879e-02 1.83144048e-03 9.98575115e-01 -2.01769101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.155099892999999 meters Centerline goodness [0,1] 0.9998505869797225 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.05, Z:-0.02 [[ 9.98600597e-01 1.53714166e-02 -5.06020379e-02 4.74309223e+00] [-1.54443043e-02 9.99880179e-01 -1.04969504e-03 -4.68689185e-02] [ 5.05798394e-02 1.82973936e-03 9.98718345e-01 -1.76476490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.185099892999999 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.04, Z:-0.01 [[ 9.98780426e-01 9.68997795e-03 -4.84124417e-02 4.77163025e+00] [-9.75057003e-03 9.99951946e-01 -1.01556909e-03 -4.27134205e-02] [ 4.84002745e-02 1.48637943e-03 9.98826914e-01 -1.27583867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215099893 meters Centerline goodness [0,1] 0.9997010782534429 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.04, Z:-0.01 [[ 9.98703640e-01 -1.45036534e-03 -5.08815889e-02 4.80175889e+00] [ 1.39777561e-03 9.99998452e-01 -1.06913929e-03 -4.41949904e-02] [ 5.08830608e-02 9.96632259e-04 9.98704121e-01 -1.40223682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099893 meters Centerline goodness [0,1] 0.9998284035091483 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.05, Z:-0.02 [[ 9.98237425e-01 -2.07156843e-02 -5.56138811e-02 4.83193716e+00] [ 2.06826675e-02 9.99785407e-01 -1.16924337e-03 -5.25837955e-02] [ 5.56261684e-02 1.69390830e-05 9.98451666e-01 -1.76725318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.275099892999999 meters Centerline goodness [0,1] 0.9997641357720265 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.05, Z:-0.02 [[ 9.98006911e-01 -2.64269470e-02 -5.73046442e-02 4.86009174e+00] [ 2.64011452e-02 9.99650700e-01 -1.20741940e-03 -5.39285717e-02] [ 5.73165361e-02 -3.07895325e-04 9.98356009e-01 -1.81771815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3050998929999995 meters Centerline goodness [0,1] 0.9997426163052571 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.06, Z:-0.02 [[ 9.97374394e-01 -3.48938358e-02 -6.34565805e-02 4.88881088e+00] [ 3.48789564e-02 9.99390642e-01 -1.34257020e-03 -5.58419484e-02] [ 6.34647602e-02 -8.74254162e-04 9.97983697e-01 -2.03512431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.335099893 meters Centerline goodness [0,1] 0.9998058294319432 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.04, Z:-0.02 [[ 9.96949725e-01 -2.98365827e-02 -7.21181215e-02 4.91811180e+00] [ 2.98038978e-02 9.99554595e-01 -1.52951353e-03 -4.10666233e-02] [ 7.21316352e-02 -6.24553030e-04 9.97394925e-01 -2.00145871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters Centerline goodness [0,1] 0.9997395324607671 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.03, Z:-0.01 [[ 9.97532125e-01 -1.81579052e-02 -6.78229331e-02 4.94767990e+00] [ 1.81018462e-02 9.99835110e-01 -1.44107715e-03 -2.54967416e-02] [ 6.78379167e-02 2.09800456e-04 9.97696333e-01 -1.30391066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.395099892999999 meters Centerline goodness [0,1] 0.9999346063301072 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.01, Z:-0.01 [[ 9.98106341e-01 -3.19957717e-03 -6.14287836e-02 4.97473949e+00] [ 3.12508250e-03 9.99994261e-01 -1.30873744e-03 -8.03534245e-03] [ 6.14326184e-02 1.11428912e-03 9.98110611e-01 -5.18273302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099893 meters Centerline goodness [0,1] 0.9997599825441851 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.02, Z:-0.01 [[ 9.97594816e-01 -3.56172259e-02 -5.94642448e-02 5.00389877e+00] [ 3.56046228e-02 9.99365145e-01 -1.27180685e-03 -1.67893258e-02] [ 5.94717919e-02 -8.48454082e-04 9.98229626e-01 -9.11382923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.455099893 meters Centerline goodness [0,1] 0.999761672624851 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.03, Z:-0.02 [[ 9.97188271e-01 -3.76642670e-02 -6.47839138e-02 5.03370756e+00] [ 3.76533359e-02 9.99289895e-01 -1.39010651e-03 -2.91076517e-02] [ 6.47902678e-02 -1.05313255e-03 9.97898348e-01 -1.60573470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999999 meters Centerline goodness [0,1] 0.9998912570682905 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.02, Z:-0.01 [[ 9.97543417e-01 -3.34908028e-02 -6.15263944e-02 5.06252401e+00] [ 3.34726632e-02 9.99438754e-01 -1.32579460e-03 -2.29397316e-02] [ 6.15362649e-02 -7.36914607e-04 9.98104576e-01 -9.39886866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5150998929999995 meters Centerline goodness [0,1] 0.9996739910021517 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.02, Z:-0.01 [[ 9.97673258e-01 -3.10568787e-02 -6.06921851e-02 5.08981732e+00] [ 3.10339734e-02 9.99517458e-01 -1.32022034e-03 -1.73348785e-02] [ 6.07039005e-02 -5.66371136e-04 9.98155657e-01 -6.12624568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099893 meters Centerline goodness [0,1] 0.999804424355687 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.02, Z:-0.00 [[ 9.97742520e-01 -3.14938281e-02 -5.93127583e-02 5.11831977e+00] [ 3.14721964e-02 9.99503784e-01 -1.29907765e-03 -1.52512823e-02] [ 5.93242392e-02 -5.70557769e-04 9.98238603e-01 -1.53365602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.575099892999999 meters Centerline goodness [0,1] 0.9998043393191008 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.01, Z:0.00 [[ 9.97744145e-01 -3.27343423e-02 -5.86095838e-02 5.14601524e+00] [ 3.27145026e-02 9.99463894e-01 -1.29824827e-03 -1.45959307e-02] [ 5.86206601e-02 -6.22063764e-04 9.98280137e-01 9.70036183e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.605099892999999 meters Centerline goodness [0,1] 0.9998482680886115 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.01, Z:0.00 [[ 9.97701354e-01 -3.43333240e-02 -5.84228585e-02 5.17510546e+00] [ 3.43154241e-02 9.99410194e-01 -1.30991333e-03 -1.48576268e-02] [ 5.84333740e-02 -6.97902860e-04 9.98291067e-01 3.03065733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635099893 meters Centerline goodness [0,1] 0.9998482680886115 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.01, Z:0.00 [[ 9.97691774e-01 -3.46111681e-02 -5.84225280e-02 5.20244843e+00] [ 3.45928896e-02 9.99400609e-01 -1.32450697e-03 -1.41627768e-02] [ 5.84333528e-02 -6.99554349e-04 9.98291067e-01 4.33636735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099893 meters Centerline goodness [0,1] 0.9997392381407679 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.02, Z:0.00 [[ 9.97518277e-01 -3.68573378e-02 -5.99901978e-02 5.23163710e+00] [ 3.68411240e-02 9.99320187e-01 -1.37667857e-03 -1.54633124e-02] [ 6.00001564e-02 -8.36844277e-04 9.98198017e-01 3.74453679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.695099892999999 meters Centerline goodness [0,1] 0.9997826228724214 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.02, Z:0.00 [[ 9.97382342e-01 -3.93336341e-02 -6.06739648e-02 5.25919731e+00] [ 3.93208058e-02 9.99225649e-01 -1.40585340e-03 -1.72379926e-02] [ 6.06822792e-02 -9.83575832e-04 9.98156648e-01 3.52798855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.725099892999999 meters Centerline goodness [0,1] 0.9998266522210184 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.02, Z:0.00 [[ 9.97247514e-01 -4.27262538e-02 -6.05959032e-02 5.28681773e+00] [ 4.27192693e-02 9.99086118e-01 -1.41134917e-03 -2.02894563e-02] [ 6.06008274e-02 -1.18114825e-03 9.98161382e-01 3.08073579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755099893 meters Centerline goodness [0,1] 0.9998266522210184 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.02, Z:0.00 [[ 9.97236151e-01 -4.29908968e-02 -6.05957261e-02 5.31417066e+00] [ 4.29839409e-02 9.99074756e-01 -1.41891151e-03 -1.95583562e-02] [ 6.06006606e-02 -1.18965326e-03 9.98161382e-01 4.38411869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters Centerline goodness [0,1] 0.999826136091974 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.02, Z:0.01 [[ 9.97214512e-01 -4.45308913e-02 -5.98349128e-02 5.34314313e+00] [ 4.45259539e-02 9.99007224e-01 -1.41647599e-03 -1.77068317e-02] [ 5.98385871e-02 -1.25167616e-03 9.98207281e-01 7.45991727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.815099892999999 meters Centerline goodness [0,1] 0.9997606041480772 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.01, Z:0.01 [[ 9.97422755e-01 -4.41376064e-02 -5.65660651e-02 5.37177364e+00] [ 4.41318275e-02 9.99024802e-01 -1.35195122e-03 -1.30222871e-02] [ 5.65705739e-02 -1.14789692e-03 9.98397943e-01 1.08589053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8450998929999995 meters Centerline goodness [0,1] 0.9998474613205491 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.01, Z:0.01 [[ 9.97785200e-01 -2.87230187e-02 -5.99973651e-02 5.40107547e+00] [ 2.86879125e-02 9.99587370e-01 -1.44659948e-03 -7.16292037e-03] [ 6.00141591e-02 -2.77803610e-04 9.98197487e-01 1.06462329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.875099893 meters Centerline goodness [0,1] 0.9998041562397998 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.00, Z:0.01 [[ 9.97918891e-01 -2.72017170e-02 -5.84632649e-02 5.42935024e+00] [ 2.71655210e-02 9.99629949e-01 -1.41395493e-03 -4.60578839e-03] [ 5.84800925e-02 -1.77172711e-04 9.98288559e-01 1.35670840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999999 meters Centerline goodness [0,1] 0.9999345835150458 Centerline is valid? [True, True] Translation: X:5.46, Y:0.00, Z:0.02 [[ 9.98099550e-01 -2.49113433e-02 -5.63623332e-02 5.45762931e+00] [ 2.48732927e-02 9.99689664e-01 -1.37663102e-03 7.24671709e-04] [ 5.63791357e-02 -2.79020072e-05 9.98409431e-01 1.80257361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.935099892999999 meters Centerline goodness [0,1] 0.9998688495923408 Centerline is valid? [True, True] Translation: X:5.48, Y:0.00, Z:0.02 [[ 9.98093147e-01 -2.48797177e-02 -5.64895456e-02 5.48438627e+00] [ 2.48407210e-02 9.99690452e-01 -1.39251878e-03 2.52586589e-03] [ 5.65067049e-02 -1.33775939e-05 9.98402220e-01 1.82094944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099893 meters Centerline goodness [0,1] 0.9998028391167192 Centerline is valid? [True, True] Translation: X:5.51, Y:0.00, Z:0.02 [[ 9.98094099e-01 -2.57962563e-02 -5.60599976e-02 5.51220946e+00] [ 2.57588380e-02 9.99667220e-01 -1.39007586e-03 3.45931857e-03] [ 5.60772007e-02 -5.66138814e-05 9.98426434e-01 1.95192507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.995099892999999 meters Centerline goodness [0,1] 0.9997813777573731 Centerline is valid? [True, True] Translation: X:5.54, Y:0.00, Z:0.02 [[ 9.98132410e-01 -2.67223732e-02 -5.49327529e-02 5.53954260e+00] [ 2.66870905e-02 9.99642889e-01 -1.37587105e-03 4.44233688e-03] [ 5.49499024e-02 -9.26938661e-05 9.98489108e-01 2.20779275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999999 meters Centerline goodness [0,1] 0.9998251671838804 Centerline is valid? [True, True] Translation: X:5.57, Y:0.01, Z:0.02 [[ 9.98132487e-01 -2.85021426e-02 -5.40293148e-02 5.56691523e+00] [ 2.84702979e-02 9.99593715e-01 -1.35913823e-03 5.43608240e-03] [ 5.40461019e-02 -1.81630670e-04 9.98538425e-01 2.49862867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0550998929999995 meters Centerline goodness [0,1] 0.9998687807545107 Centerline is valid? [True, True] Translation: X:5.59, Y:0.01, Z:0.03 [[ 9.98079466e-01 -3.09907790e-02 -5.36372104e-02 5.59497380e+00] [ 3.09621825e-02 9.99519626e-01 -1.36422476e-03 5.38460644e-03] [ 5.36537229e-02 -2.99120379e-04 9.98559557e-01 2.73489788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099893 meters Centerline goodness [0,1] 0.9997596994058021 Centerline is valid? [True, True] Translation: X:5.62, Y:0.01, Z:0.03 [[ 9.97971040e-01 -3.32648602e-02 -5.42885987e-02 5.62406790e+00] [ 3.32381062e-02 9.99446487e-01 -1.39587726e-03 5.03572120e-03] [ 5.43049829e-02 -4.11405125e-04 9.98524311e-01 2.72474478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.115099892999999 meters Centerline goodness [0,1] 0.9998254532760238 Centerline is valid? [True, True] Translation: X:5.65, Y:0.00, Z:0.03 [[ 9.97685757e-01 -3.94422892e-02 -5.53844308e-02 5.65329375e+00] [ 3.94231802e-02 9.99221570e-01 -1.43796211e-03 1.63057199e-03] [ 5.53980344e-02 -7.48796078e-04 9.98464069e-01 2.66698874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.145099892999999 meters Centerline goodness [0,1] 0.9998254685079739 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.00, Z:0.02 [[ 9.97157740e-01 -4.45471184e-02 -6.07617930e-02 5.68209799e+00] [ 4.45327552e-02 9.99006657e-01 -1.59123512e-03 -2.77821431e-03] [ 6.07723207e-02 -1.11917764e-03 9.98151027e-01 2.25298920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175099893 meters Centerline goodness [0,1] 0.9997612743608664 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.01, Z:0.03 [[ 9.96855528e-01 -5.38753831e-02 -5.81076508e-02 5.71223442e+00] [ 5.38779113e-02 9.98546367e-01 -1.52431463e-03 -1.07157273e-02] [ 5.81053066e-02 -1.61119739e-03 9.98309159e-01 2.67425373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters Centerline goodness [0,1] 0.9997599354007988 Centerline is valid? [True, True] Translation: X:5.74, Y:0.00, Z:0.03 [[ 9.97520499e-01 -4.17615368e-02 -5.66465128e-02 5.74235703e+00] [ 4.17443697e-02 9.99127218e-01 -1.48682655e-03 4.83560530e-03] [ 5.66591649e-02 -8.81533009e-04 9.98393190e-01 3.21342138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.235099892999999 meters Centerline goodness [0,1] 0.9997832260302183 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.00, Z:0.03 [[ 9.97175463e-01 -4.69076911e-02 -5.86580313e-02 5.77254831e+00] [ 4.68981436e-02 9.98898489e-01 -1.54017768e-03 -3.22774531e-03] [ 5.86656650e-02 -1.21512538e-03 9.98276947e-01 2.91276829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2650998929999995 meters Centerline goodness [0,1] 0.9998476173890328 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.01, Z:0.03 [[ 9.96950087e-01 -5.01355852e-02 -5.98075863e-02 5.80128241e+00] [ 5.01313093e-02 9.98741397e-01 -1.57289786e-03 -8.13728506e-03] [ 5.98111704e-02 -1.43013195e-03 9.98208685e-01 2.81551978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295099893 meters Centerline goodness [0,1] 0.9998480737927292 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.01, Z:0.03 [[ 9.96629734e-01 -5.51198557e-02 -6.07533908e-02 5.83109251e+00] [ 5.51244603e-02 9.98478207e-01 -1.60153031e-03 -1.30947195e-02] [ 6.07492128e-02 -1.75286515e-03 9.98151522e-01 2.75889663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999999 meters Centerline goodness [0,1] 0.9998480737927292 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.01, Z:0.03 [[ 9.96614040e-01 -5.54030475e-02 -6.07532465e-02 5.85844563e+00] [ 5.54078455e-02 9.98462512e-01 -1.60697930e-03 -1.23048758e-02] [ 6.07488707e-02 -1.76466837e-03 9.98151522e-01 2.88915408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.355099892999999 meters Centerline goodness [0,1] 0.9998266634888306 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.01, Z:0.03 [[ 9.96530274e-01 -5.77312860e-02 -5.99542405e-02 5.88589344e+00] [ 5.77392614e-02 9.98330414e-01 -1.60082998e-03 -1.41156598e-02] [ 5.99465597e-02 -1.86643803e-03 9.98199843e-01 3.11513959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099893 meters Centerline goodness [0,1] 0.9997190404149557 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.01, Z:0.03 [[ 9.96547745e-01 -5.76113274e-02 -5.97789889e-02 5.91481477e+00] [ 5.76184820e-02 9.98337384e-01 -1.60547347e-03 -1.23006372e-02] [ 5.97720929e-02 -1.84444363e-03 9.98210346e-01 3.28446670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.415099893 meters Centerline goodness [0,1] 0.9998253351382036 Centerline is valid? [True, True] Translation: X:5.94, Y:0.01, Z:0.04 [[ 9.97552303e-01 -4.05044468e-02 -5.69981862e-02 5.94447915e+00] [ 4.04823732e-02 9.99179062e-01 -1.54233958e-03 5.38941930e-03] [ 5.70138658e-02 -7.68857445e-04 9.98373091e-01 3.68564855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999999 meters Centerline goodness [0,1] 0.999782343722793 Centerline is valid? [True, True] Translation: X:5.97, Y:0.00, Z:0.04 [[ 9.97281951e-01 -4.31471250e-02 -5.97246609e-02 5.97283256e+00] [ 4.31274477e-02 9.99068267e-01 -1.61906700e-03 4.94505781e-03] [ 5.97388715e-02 -9.61105892e-04 9.98213576e-01 3.66762501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.475099892999999 meters Centerline goodness [0,1] 0.9998037804957813 Centerline is valid? [True, True] Translation: X:6.00, Y:0.00, Z:0.03 [[ 9.96958993e-01 -4.41705646e-02 -6.42006875e-02 6.00051730e+00] [ 4.41494941e-02 9.99023407e-01 -1.74753153e-03 1.62863636e-03] [ 6.42151790e-02 -1.09221061e-03 9.97935478e-01 3.13199161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099893 meters Centerline goodness [0,1] 0.9999346177316711 Centerline is valid? [True, True] Translation: X:6.03, Y:0.01, Z:0.04 [[ 9.97560227e-01 -3.27483475e-02 -6.16533803e-02 6.02998558e+00] [ 3.27066587e-02 9.99463573e-01 -1.68552874e-03 1.44975545e-02] [ 6.16755060e-02 -3.35059629e-04 9.98096198e-01 3.99537407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.535099892999999 meters Centerline goodness [0,1] 0.9998244998244998 Centerline is valid? [True, True] Translation: X:6.06, Y:0.02, Z:0.04 [[ 9.97640967e-01 -3.14759889e-02 -6.10062594e-02 6.05890508e+00] [ 3.14325391e-02 9.99504477e-01 -1.67201235e-03 1.65962525e-02] [ 6.10286577e-02 -2.49513610e-04 9.98135983e-01 4.15063150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999999 meters Centerline goodness [0,1] 0.9999561941475381 Centerline is valid? [True, True] Translation: X:6.09, Y:0.02, Z:0.04 [[ 9.97676753e-01 -3.21064679e-02 -6.00855365e-02 6.08662171e+00] [ 3.20646978e-02 9.99484418e-01 -1.65948128e-03 1.71387348e-02] [ 6.01078375e-02 -2.70998675e-04 9.98191853e-01 4.46075584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5950998929999995 meters Centerline goodness [0,1] 0.9998465787051243 Centerline is valid? [True, True] Translation: X:6.11, Y:0.02, Z:0.05 [[ 9.97623754e-01 -3.32108059e-02 -6.03646163e-02 6.11422914e+00] [ 3.31701917e-02 9.99448314e-01 -1.67503389e-03 1.82155841e-02] [ 6.03869433e-02 -3.31252294e-04 9.98174988e-01 4.54169597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099893 meters Centerline goodness [0,1] 0.9998898095909732 Centerline is valid? [True, True] Translation: X:6.14, Y:0.02, Z:0.05 [[ 9.97578237e-01 -3.47853940e-02 -6.02298666e-02 6.14193683e+00] [ 3.47467958e-02 9.99394722e-01 -1.68839506e-03 1.90720552e-02] [ 6.02521423e-02 -4.08488713e-04 9.98183106e-01 4.76984033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.655099892999999 meters Centerline goodness [0,1] 0.9999121458379091 Centerline is valid? [True, True] Translation: X:6.17, Y:0.02, Z:0.05 [[ 9.97522492e-01 -3.64456006e-02 -6.01713918e-02 6.16952098e+00] [ 3.64092119e-02 9.99335517e-01 -1.70139625e-03 1.93137112e-02] [ 6.01934173e-02 -4.93611925e-04 9.98186610e-01 4.94559578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.685099892999999 meters Centerline goodness [0,1] 0.9998242530755712 Centerline is valid? [True, True] Translation: X:6.20, Y:0.02, Z:0.05 [[ 9.97449535e-01 -3.85964315e-02 -6.00394887e-02 6.19846399e+00] [ 3.85636532e-02 9.99254691e-01 -1.70499923e-03 1.96543657e-02] [ 6.00605476e-02 -6.14691333e-04 9.98194547e-01 5.06234444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715099893 meters Centerline goodness [0,1] 0.9998471114993994 Centerline is valid? [True, True] Translation: X:6.23, Y:0.02, Z:0.05 [[ 9.97280704e-01 -4.24911914e-02 -6.02137554e-02 6.22622629e+00] [ 4.24645214e-02 9.99096490e-01 -1.72306862e-03 1.64508374e-02] [ 6.02325669e-02 -8.38565220e-04 9.98184018e-01 5.13344467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999999 meters Centerline goodness [0,1] 0.999825327510917 Centerline is valid? [True, True] Translation: X:6.26, Y:0.02, Z:0.05 [[ 9.97162580e-01 -4.42993110e-02 -6.08634619e-02 6.25514749e+00] [ 4.42749657e-02 9.99017852e-01 -1.74921813e-03 1.63202254e-02] [ 6.08811741e-02 -9.50472826e-04 9.98144568e-01 5.27331164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.775099892999999 meters Centerline goodness [0,1] 0.9997805621996445 Centerline is valid? [True, True] Translation: X:6.28, Y:0.02, Z:0.06 [[ 9.97531380e-01 -4.44749324e-02 -5.43426808e-02 6.28392170e+00] [ 4.44551194e-02 9.99010143e-01 -1.57393752e-03 1.74263658e-02] [ 5.43588901e-02 -8.45758293e-04 9.98521104e-01 5.79807602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8050998929999995 meters Centerline goodness [0,1] 0.9998023975760769 Centerline is valid? [True, True] Translation: X:6.31, Y:0.02, Z:0.05 [[ 9.97172824e-01 -4.16421589e-02 -6.25483004e-02 6.31249887e+00] [ 4.16094156e-02 9.99132284e-01 -1.82653932e-03 2.09430389e-02] [ 6.25700873e-02 -7.81222857e-04 9.98040267e-01 5.26406285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835099893 meters Centerline goodness [0,1] 0.9997801231310466 Centerline is valid? [True, True] Translation: X:6.34, Y:0.03, Z:0.06 [[ 9.97512468e-01 -3.76592091e-02 -5.95874217e-02 6.33984785e+00] [ 3.76220811e-02 9.99290515e-01 -1.74525789e-03 2.59849411e-02] [ 5.96108703e-02 -5.00886306e-04 9.98221565e-01 5.71949870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999999 meters Centerline goodness [0,1] 0.9998680970805487 Centerline is valid? [True, True] Translation: X:6.37, Y:0.03, Z:0.06 [[ 9.97634087e-01 -3.68863343e-02 -5.80140262e-02 6.36789619e+00] [ 3.68494446e-02 9.99319373e-01 -1.70590535e-03 2.88118250e-02] [ 5.80374648e-02 -4.35915317e-04 9.98314311e-01 6.10540981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.895099892999999 meters Centerline goodness [0,1] 0.9998462856013527 Centerline is valid? [True, True] Translation: X:6.40, Y:0.03, Z:0.06 [[ 9.97697864e-01 -3.64932258e-02 -5.71595642e-02 6.39675891e+00] [ 3.64559754e-02 9.99333823e-01 -1.69466054e-03 3.05992746e-02] [ 5.71833295e-02 -3.93048471e-04 9.98363617e-01 6.39103258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099893 meters Centerline goodness [0,1] 0.9998901654108912 Centerline is valid? [True, True] Translation: X:6.43, Y:0.03, Z:0.06 [[ 9.97525349e-01 -3.94298755e-02 -5.82105065e-02 6.42593322e+00] [ 3.93953858e-02 9.99222185e-01 -1.74041326e-03 2.86580264e-02] [ 5.82338537e-02 -5.57119011e-04 9.98302814e-01 6.38105578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955099892999999 meters Centerline goodness [0,1] 0.9997809851288902 Centerline is valid? [True, True] Translation: X:6.45, Y:0.03, Z:0.07 [[ 9.98007606e-01 -3.19153728e-02 -5.44263432e-02 6.45410928e+00] [ 3.18734280e-02 9.99490570e-01 -1.63873885e-03 3.33810573e-02] [ 5.44509177e-02 -9.92802937e-05 9.98516443e-01 6.66492864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999999 meters Centerline goodness [0,1] 0.999956124956125 Centerline is valid? [True, True] Translation: X:6.48, Y:0.03, Z:0.07 [[ 9.97964271e-01 -3.27260240e-02 -5.47386630e-02 6.48200825e+00] [ 3.26845202e-02 9.99464351e-01 -1.65351004e-03 3.32376411e-02] [ 5.47634551e-02 -1.38962999e-04 9.98499346e-01 6.92686822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.015099893 meters Centerline goodness [0,1] 0.9998467198038014 Centerline is valid? [True, True] Translation: X:6.51, Y:0.03, Z:0.07 [[ 9.97734589e-01 -3.42622508e-02 -5.78946229e-02 6.51058969e+00] [ 3.42174371e-02 9.99412853e-01 -1.76550521e-03 3.16565493e-02] [ 5.79211204e-02 -2.19500001e-04 9.98321139e-01 6.66279280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters Centerline goodness [0,1] 0.9997588353941945 Centerline is valid? [True, True] Translation: X:6.54, Y:0.03, Z:0.07 [[ 9.97628365e-01 -3.14996247e-02 -6.11998274e-02 6.53932815e+00] [ 3.14433733e-02 9.99503763e-01 -1.88223237e-03 3.37182164e-02] [ 6.12287474e-02 -4.65606148e-05 9.98123759e-01 6.78321167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.075099893 meters Centerline goodness [0,1] 0.9999126179657463 Centerline is valid? [True, True] Translation: X:6.57, Y:0.03, Z:0.07 [[ 9.97392189e-01 -4.42615121e-02 -5.70064851e-02 6.56713111e+00] [ 4.42328455e-02 9.99019689e-01 -1.76519207e-03 2.89512456e-02] [ 5.70287311e-02 -7.60970264e-04 9.98372248e-01 7.20077456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters Centerline goodness [0,1] 0.9998470613939262 Centerline is valid? [True, True] Translation: X:6.60, Y:0.03, Z:0.07 [[ 9.97472637e-01 -4.25676628e-02 -5.68887818e-02 6.59598273e+00] [ 4.25359889e-02 9.99093371e-01 -1.76809409e-03 2.97818394e-02] [ 5.69124684e-02 -6.56195122e-04 9.98378956e-01 7.18104821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.135099893 meters Centerline goodness [0,1] 0.9998690928131955 Centerline is valid? [True, True] Translation: X:6.62, Y:0.03, Z:0.07 [[ 9.97487533e-01 -4.24207943e-02 -5.67370916e-02 6.62277778e+00] [ 4.23882762e-02 9.99099633e-01 -1.77702030e-03 3.09430920e-02] [ 5.67613900e-02 -6.32431909e-04 9.98387572e-01 7.38730237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099893 meters Centerline goodness [0,1] 0.9996490920256162 Centerline is valid? [True, True] Translation: X:6.65, Y:0.05, Z:0.07 [[ 9.98142865e-01 -1.58811600e-02 -5.88099490e-02 6.65148704e+00] [ 1.57995560e-02 9.99873463e-01 -1.85234678e-03 4.57363134e-02] [ 5.88319248e-02 9.19735638e-04 9.98267479e-01 7.19499183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195099893 meters Centerline goodness [0,1] 0.9998902522004434 Centerline is valid? [True, True] Translation: X:6.68, Y:0.05, Z:0.07 [[ 9.97906738e-01 -4.82071014e-03 -6.44895506e-02 6.68061340e+00] [ 4.69925272e-03 9.99986888e-01 -2.03491840e-03 5.14945095e-02] [ 6.44985148e-02 1.72760609e-03 9.97916308e-01 7.41024930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.71, Y:0.05, Z:0.08 [[ 9.98084286e-01 4.20995122e-03 -6.17254701e-02 6.71012671e+00] [-4.33845601e-03 9.99988691e-01 -1.94799919e-03 5.48779156e-02] [ 6.17165711e-02 2.21206062e-03 9.98091264e-01 8.07827214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.255099893 meters Centerline goodness [0,1] 0.9999561951069934 Centerline is valid? [True, True] Translation: X:6.74, Y:0.06, Z:0.08 [[ 9.98356665e-01 9.81855921e-03 -5.64585251e-02 6.73948952e+00] [-9.93504202e-03 9.99949057e-01 -1.78283773e-03 5.73822319e-02] [ 5.64381440e-02 2.34082575e-03 9.98403354e-01 8.47664584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters Centerline goodness [0,1] 0.9998907724571828 Centerline is valid? [True, True] Translation: X:6.77, Y:0.06, Z:0.09 [[ 9.98517720e-01 1.00451164e-02 -5.34925983e-02 6.76720993e+00] [-1.01501023e-02 9.99947056e-01 -1.69130849e-03 5.74305666e-02] [ 5.34727768e-02 2.23175684e-03 9.98566814e-01 8.70762904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.315099893000001 meters Centerline goodness [0,1] 0.999891936285634 Centerline is valid? [True, True] Translation: X:6.80, Y:0.03, Z:0.09 [[ 9.98244112e-01 -2.92440093e-02 -5.15119477e-02 6.79878178e+00] [ 2.91986645e-02 9.99572295e-01 -1.63275815e-03 2.71732718e-02] [ 5.15376641e-02 1.25811133e-04 9.98671044e-01 8.77691098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099893 meters Centerline goodness [0,1] 0.99980546429189 Centerline is valid? [True, True] Translation: X:6.83, Y:0.01, Z:0.08 [[ 9.97238458e-01 -4.93117103e-02 -5.55320841e-02 6.82842708e+00] [ 4.92900372e-02 9.98782955e-01 -1.76069593e-03 1.06320184e-02] [ 5.55513220e-02 -9.81344794e-04 9.98455351e-01 8.30055352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.375099893 meters Centerline goodness [0,1] 0.9998266296809986 Centerline is valid? [True, True] Translation: X:6.86, Y:0.02, Z:0.09 [[ 9.97303071e-01 -4.84767835e-02 -5.51052213e-02 6.85711082e+00] [ 4.84540371e-02 9.98823881e-01 -1.74954503e-03 2.10637602e-02] [ 5.51252233e-02 -9.25243804e-04 9.98479020e-01 8.68421524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893000001 meters Centerline goodness [0,1] 0.9998914341548149 Centerline is valid? [True, True] Translation: X:6.88, Y:0.03, Z:0.09 [[ 9.97756426e-01 -4.23958201e-02 -5.18141807e-02 6.88463129e+00] [ 4.23669155e-02 9.99100746e-01 -1.65655948e-03 3.49963252e-02] [ 5.18378178e-02 -5.42364154e-04 9.98655369e-01 9.03321510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435099893 meters Centerline goodness [0,1] 0.9998250180450141 Centerline is valid? [True, True] Translation: X:6.91, Y:0.04, Z:0.08 [[ 9.97543364e-01 -3.68606741e-02 -5.95695252e-02 6.91259416e+00] [ 3.68123130e-02 9.99320373e-01 -1.90943316e-03 4.11157009e-02] [ 5.95994231e-02 -2.88149633e-04 9.98222333e-01 8.43210441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters Centerline goodness [0,1] 0.9997809707376906 Centerline is valid? [True, True] Translation: X:6.94, Y:0.04, Z:0.08 [[ 9.97379556e-01 -3.88459512e-02 -6.10328813e-02 6.94136740e+00] [ 3.87984311e-02 9.99245127e-01 -1.96394991e-03 4.19362303e-02] [ 6.10631008e-02 -4.09176549e-04 9.98133824e-01 8.48656529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.495099893 meters Centerline goodness [0,1] 0.9998029168309026 Centerline is valid? [True, True] Translation: X:6.97, Y:0.05, Z:0.09 [[ 9.97697636e-01 -3.71306139e-02 -5.67516023e-02 6.96943008e+00] [ 3.70860031e-02 9.99310385e-01 -1.83942703e-03 4.55333175e-02] [ 5.67807646e-02 -2.69498098e-04 9.98386635e-01 9.19283949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters Centerline goodness [0,1] 0.9998464070213933 Centerline is valid? [True, True] Translation: X:7.00, Y:0.05, Z:0.10 [[ 9.98076059e-01 -3.04122316e-02 -5.40303231e-02 6.99726250e+00] [ 3.03612619e-02 9.99537434e-01 -1.76410654e-03 5.40815236e-02] [ 5.40589809e-02 1.20283711e-04 9.98537737e-01 9.80007208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.555099893 meters Centerline goodness [0,1] 0.9998464070213933 Centerline is valid? [True, True] Translation: X:7.02, Y:0.06, Z:0.10 [[ 9.98067373e-01 -3.06967660e-02 -5.40298728e-02 7.02458745e+00] [ 3.06454716e-02 9.99528736e-01 -1.77779973e-03 5.50454737e-02] [ 5.40589831e-02 1.18592969e-04 9.98537737e-01 9.93062440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099893 meters Centerline goodness [0,1] 0.9998681173755358 Centerline is valid? [True, True] Translation: X:7.05, Y:0.05, Z:0.10 [[ 9.98160996e-01 -2.68670452e-02 -5.43395569e-02 7.05322585e+00] [ 2.68086544e-02 9.99638957e-01 -1.80332463e-03 5.41723631e-02] [ 5.43683879e-02 3.43237908e-04 9.98520886e-01 9.71688523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615099893 meters Centerline goodness [0,1] 0.9998470513688903 Centerline is valid? [True, True] Translation: X:7.08, Y:0.06, Z:0.10 [[ 9.98305192e-01 -1.96809053e-02 -5.47668243e-02 7.08013849e+00] [ 1.96100835e-02 9.99806029e-01 -1.83029735e-03 5.92298912e-02] [ 5.47922230e-02 7.53213352e-04 9.98497494e-01 1.00713668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893000001 meters Centerline goodness [0,1] 0.9997376877172274 Centerline is valid? [True, True] Translation: X:7.11, Y:0.05, Z:0.10 [[ 9.98188280e-01 -2.32745589e-02 -5.54837995e-02 7.10948284e+00] [ 2.32070187e-02 9.99728948e-01 -1.86137627e-03 5.49628358e-02] [ 5.55120832e-02 5.70390411e-04 9.98457853e-01 9.88872730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.675099893 meters Centerline goodness [0,1] 0.9997597886139803 Centerline is valid? [True, True] Translation: X:7.14, Y:0.05, Z:0.10 [[ 9.98097363e-01 -3.08810735e-02 -5.33667821e-02 7.13721613e+00] [ 3.08288082e-02 9.99523054e-01 -1.80248380e-03 5.19338260e-02] [ 5.33969916e-02 1.53820040e-04 9.98573351e-01 1.01862650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters Centerline goodness [0,1] 0.9997817213454696 Centerline is valid? [True, True] Translation: X:7.17, Y:0.05, Z:0.10 [[ 9.97506864e-01 -4.38129687e-02 -5.53216080e-02 7.16611329e+00] [ 4.37762796e-02 9.99039599e-01 -1.87542221e-03 4.50645298e-02] [ 5.53506449e-02 -5.51027657e-04 9.98466826e-01 1.00187424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.735099893000001 meters Centerline goodness [0,1] 0.9998474712919182 Centerline is valid? [True, True] Translation: X:7.19, Y:0.04, Z:0.10 [[ 9.97308853e-01 -4.82623954e-02 -5.51887079e-02 7.19363688e+00] [ 4.82324572e-02 9.98834378e-01 -1.87507713e-03 4.15639160e-02] [ 5.52148745e-02 -7.91855975e-04 9.98474181e-01 9.99975831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099893 meters Centerline goodness [0,1] 0.9997390169638973 Centerline is valid? [True, True] Translation: X:7.22, Y:0.04, Z:0.10 [[ 9.97185626e-01 -5.09439968e-02 -5.50048810e-02 7.22245340e+00] [ 5.09179565e-02 9.98701078e-01 -1.87565662e-03 4.13285177e-02] [ 5.50289874e-02 -9.30358312e-04 9.98484324e-01 1.02581651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.795099893 meters Centerline goodness [0,1] 0.9997605520363961 Centerline is valid? [True, True] Translation: X:7.25, Y:0.04, Z:0.10 [[ 9.97160471e-01 -5.09474482e-02 -5.54558665e-02 7.25053354e+00] [ 5.09202109e-02 9.98700908e-01 -1.90496045e-03 4.23637473e-02] [ 5.54808771e-02 -9.24273164e-04 9.98459322e-01 1.03245952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099893 meters Centerline goodness [0,1] 0.9997825897904166 Centerline is valid? [True, True] Translation: X:7.28, Y:0.04, Z:0.10 [[ 9.97148931e-01 -5.10456267e-02 -5.55729583e-02 7.27820958e+00] [ 5.10175589e-02 9.98695902e-01 -1.92456783e-03 4.22763193e-02] [ 5.55987265e-02 -9.16115919e-04 9.98452774e-01 1.03377416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855099893 meters Centerline goodness [0,1] 0.9998695425291355 Centerline is valid? [True, True] Translation: X:7.31, Y:0.04, Z:0.11 [[ 9.97245186e-01 -5.19994685e-02 -5.28970104e-02 7.30599430e+00] [ 5.19746209e-02 9.98646700e-01 -1.84617323e-03 4.21202243e-02] [ 5.29214248e-02 -9.08214691e-04 9.98598267e-01 1.06534929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters Centerline goodness [0,1] 0.9997389317959317 Centerline is valid? [True, True] Translation: X:7.33, Y:0.04, Z:0.11 [[ 9.97138096e-01 -5.38162857e-02 -5.30982477e-02 7.33449509e+00] [ 5.37930383e-02 9.98550359e-01 -1.86792571e-03 4.21612980e-02] [ 5.31217991e-02 -9.93736183e-04 9.98587546e-01 1.07933409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.915099893 meters Centerline goodness [0,1] 0.9999129223267155 Centerline is valid? [True, True] Translation: X:7.36, Y:0.04, Z:0.11 [[ 9.97084443e-01 -5.49657007e-02 -5.29281176e-02 7.36294935e+00] [ 5.49435316e-02 9.98487703e-01 -1.87491467e-03 4.41106347e-02] [ 5.29511306e-02 -1.03860946e-03 9.98596565e-01 1.11421509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters Centerline goodness [0,1] 0.9996956521739131 Centerline is valid? [True, True] Translation: X:7.39, Y:0.04, Z:0.10 [[ 9.96274206e-01 -5.88117776e-02 -6.30783676e-02 7.39285959e+00] [ 5.87870575e-02 9.98268011e-01 -2.24938123e-03 3.91970343e-02] [ 6.31014067e-02 -1.46719112e-03 9.98006042e-01 1.01556432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.975099893 meters Centerline goodness [0,1] 0.9998256966686275 Centerline is valid? [True, True] Translation: X:7.42, Y:0.05, Z:0.11 [[ 9.96608547e-01 -5.59411378e-02 -6.03489258e-02 7.42082511e+00] [ 5.59130945e-02 9.98433315e-01 -2.15459863e-03 4.69744598e-02] [ 6.03749088e-02 -1.22700378e-03 9.98175017e-01 1.10697353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099893 meters Centerline goodness [0,1] 0.9999130774914164 Centerline is valid? [True, True] Translation: X:7.45, Y:0.05, Z:0.11 [[ 9.97311771e-01 -4.38335212e-02 -5.87184287e-02 7.45082100e+00] [ 4.37857897e-02 9.99038736e-01 -2.09988816e-03 5.10178655e-02] [ 5.87540302e-02 -4.76789589e-04 9.98272376e-01 1.09001839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035099893 meters Centerline goodness [0,1] 0.9998037548243606 Centerline is valid? [True, True] Translation: X:7.48, Y:0.06, Z:0.11 [[ 9.97758357e-01 -3.59444229e-02 -5.64469640e-02 7.47936917e+00] [ 3.58875231e-02 9.99353790e-01 -2.02170616e-03 5.90797471e-02] [ 5.64831565e-02 -8.56751120e-06 9.98403552e-01 1.12404953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893000001 meters Centerline goodness [0,1] 0.999803664921466 Centerline is valid? [True, True] Translation: X:7.51, Y:0.07, Z:0.12 [[ 9.97908344e-01 -3.03162148e-02 -5.70952134e-02 7.50706334e+00] [ 3.02480584e-02 9.99540305e-01 -2.05776742e-03 6.50885329e-02] [ 5.71313507e-02 3.26443929e-04 9.98366617e-01 1.16604087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.095099893 meters Centerline goodness [0,1] 0.9998477896888386 Centerline is valid? [True, True] Translation: X:7.54, Y:0.07, Z:0.12 [[ 9.98007103e-01 -2.60397477e-02 -5.74782845e-02 7.53543514e+00] [ 2.59632923e-02 9.99660740e-01 -2.07666854e-03 6.55231123e-02] [ 5.75128604e-02 5.80204456e-04 9.98344597e-01 1.16962522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters Centerline goodness [0,1] 0.9998688983087882 Centerline is valid? [True, True] Translation: X:7.56, Y:0.07, Z:0.12 [[ 9.97883431e-01 -2.69563533e-02 -5.91778023e-02 7.56447787e+00] [ 2.68764871e-02 9.99636460e-01 -2.14527051e-03 6.81157920e-02] [ 5.92141175e-02 5.50238457e-04 9.98245153e-01 1.19409611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.155099893000001 meters Centerline goodness [0,1] 0.9998908487600419 Centerline is valid? [True, True] Translation: X:7.59, Y:0.07, Z:0.12 [[ 9.97809398e-01 -2.78881901e-02 -5.99887915e-02 7.59200177e+00] [ 2.78068714e-02 9.99610915e-01 -2.19010286e-03 6.97857087e-02] [ 6.00265287e-02 5.17204608e-04 9.98196648e-01 1.21876602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099893 meters Centerline goodness [0,1] 0.9998689641616982 Centerline is valid? [True, True] Translation: X:7.62, Y:0.07, Z:0.12 [[ 9.97844962e-01 -2.95026600e-02 -5.86090931e-02 7.62133632e+00] [ 2.94269080e-02 9.99564611e-01 -2.15534712e-03 6.69784466e-02] [ 5.86471638e-02 4.26017877e-04 9.98278683e-01 1.22603154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.215099893 meters Centerline goodness [0,1] 0.9998041391917477 Centerline is valid? [True, True] Translation: X:7.65, Y:0.06, Z:0.12 [[ 9.97902116e-01 -3.56465767e-02 -5.40433943e-02 7.64933007e+00] [ 3.55906011e-02 9.99364456e-01 -1.99812679e-03 6.44208908e-02] [ 5.40802737e-02 7.04980636e-05 9.98536589e-01 1.24953650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.68, Y:0.06, Z:0.13 [[ 9.97538862e-01 -4.92344237e-02 -4.99218472e-02 7.67769740e+00] [ 4.92034357e-02 9.98787064e-01 -1.85021664e-03 6.08565054e-02] [ 4.99523896e-02 -6.10663404e-04 9.98751413e-01 1.31311364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275099893 meters Centerline goodness [0,1] 0.9998042882616448 Centerline is valid? [True, True] Translation: X:7.71, Y:0.06, Z:0.12 [[ 9.96400816e-01 -6.20539683e-02 -5.77470330e-02 7.70753764e+00] [ 6.20331890e-02 9.98071763e-01 -2.15410953e-03 5.56681993e-02] [ 5.77693540e-02 -1.43587612e-03 9.98328924e-01 1.23920767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters Centerline goodness [0,1] 0.9998699778962423 Centerline is valid? [True, True] Translation: X:7.74, Y:0.06, Z:0.12 [[ 9.96274172e-01 -6.17532284e-02 -6.02022711e-02 7.73511931e+00] [ 6.17300044e-02 9.98090355e-01 -2.24730145e-03 5.52486891e-02] [ 6.02260842e-02 -1.47735807e-03 9.98183669e-01 1.22373047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.335099893 meters Centerline goodness [0,1] 0.9997605103307134 Centerline is valid? [True, True] Translation: X:7.76, Y:0.06, Z:0.12 [[ 9.96474691e-01 -5.95019189e-02 -5.91414637e-02 7.76392023e+00] [ 5.94750039e-02 9.98227334e-01 -2.21681578e-03 5.63727058e-02] [ 5.91685304e-02 -1.30843797e-03 9.98247150e-01 1.24407070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters Centerline goodness [0,1] 0.999803895934109 Centerline is valid? [True, True] Translation: X:7.79, Y:0.06, Z:0.13 [[ 9.96658987e-01 -5.74163960e-02 -5.80880389e-02 7.79219779e+00] [ 5.73860721e-02 9.98349656e-01 -2.19140951e-03 5.93878388e-02] [ 5.81179965e-02 -1.14935641e-03 9.98309059e-01 1.27207527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.395099893 meters Centerline goodness [0,1] 0.999804041107821 Centerline is valid? [True, True] Translation: X:7.82, Y:0.06, Z:0.13 [[ 9.96708223e-01 -5.67650959e-02 -5.78830052e-02 7.82037928e+00] [ 5.67330604e-02 9.98386963e-01 -2.19794923e-03 6.21058311e-02] [ 5.79144046e-02 -1.09316595e-03 9.98320954e-01 1.27896914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099893 meters Centerline goodness [0,1] 0.9998908177748662 Centerline is valid? [True, True] Translation: X:7.85, Y:0.06, Z:0.13 [[ 9.96616235e-01 -5.95206787e-02 -5.66865816e-02 7.84752012e+00] [ 5.94936869e-02 9.98226334e-01 -2.16514446e-03 6.36756476e-02] [ 5.67149093e-02 -1.21467561e-03 9.98389675e-01 1.29769061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455099893 meters Centerline goodness [0,1] 0.9998256358841351 Centerline is valid? [True, True] Translation: X:7.88, Y:0.06, Z:0.13 [[ 9.96385301e-01 -6.24556033e-02 -5.75815113e-02 7.87640897e+00] [ 6.24322063e-02 9.98046767e-01 -2.20696363e-03 6.23292705e-02] [ 5.76068784e-02 -1.39595468e-03 9.98338369e-01 1.30584292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893000001 meters Centerline goodness [0,1] 0.9998256586832872 Centerline is valid? [True, True] Translation: X:7.91, Y:0.06, Z:0.13 [[ 9.96014394e-01 -6.53626878e-02 -6.06881062e-02 7.90634738e+00] [ 6.53413062e-02 9.97860232e-01 -2.33893164e-03 5.77197255e-02] [ 6.07111266e-02 -1.63583055e-03 9.98154038e-01 1.29262975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515099893 meters Centerline goodness [0,1] 0.9997180349202907 Centerline is valid? [True, True] Translation: X:7.94, Y:0.06, Z:0.13 [[ 9.95633129e-01 -6.70859326e-02 -6.49164800e-02 7.93628427e+00] [ 6.70649782e-02 9.97745467e-01 -2.50430996e-03 5.56673081e-02] [ 6.49381276e-02 -1.86024836e-03 9.97887558e-01 1.26295354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters Centerline goodness [0,1] 0.9998265545052467 Centerline is valid? [True, True] Translation: X:7.96, Y:0.06, Z:0.13 [[ 9.95797861e-01 -6.50756693e-02 -6.44342935e-02 7.96463558e+00] [ 6.50504414e-02 9.97878866e-01 -2.49160306e-03 6.21537950e-02] [ 6.44597625e-02 -1.71034624e-03 9.97918841e-01 1.29178251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.575099893 meters Centerline goodness [0,1] 0.9998255332141144 Centerline is valid? [True, True] Translation: X:7.99, Y:0.07, Z:0.13 [[ 9.96064513e-01 -6.25177222e-02 -6.28253239e-02 7.99328646e+00] [ 6.24878552e-02 9.98042737e-01 -2.44206487e-03 6.87186949e-02] [ 6.28550305e-02 -1.49336558e-03 9.98021550e-01 1.32423246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099893 meters Centerline goodness [0,1] 0.9998254113744489 Centerline is valid? [True, True] Translation: X:8.02, Y:0.07, Z:0.14 [[ 9.96213298e-01 -6.24457207e-02 -6.04945959e-02 8.02142759e+00] [ 6.24174920e-02 9.98047342e-01 -2.35806076e-03 6.83956185e-02] [ 6.05237214e-02 -1.42678947e-03 9.98165739e-01 1.35027736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.635099893 meters Centerline goodness [0,1] 0.999847258286238 Centerline is valid? [True, True] Translation: X:8.05, Y:0.07, Z:0.14 [[ 9.96190158e-01 -6.31383956e-02 -6.01557259e-02 8.04888073e+00] [ 6.31108032e-02 9.98003735e-01 -2.36043325e-03 6.79294686e-02] [ 6.01846731e-02 -1.44503581e-03 9.98186214e-01 1.37019638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099893 meters Centerline goodness [0,1] 0.9998047637641546 Centerline is valid? [True, True] Translation: X:8.08, Y:0.07, Z:0.14 [[ 9.96166501e-01 -6.33731345e-02 -6.03004757e-02 8.07704138e+00] [ 6.33449339e-02 9.97988853e-01 -2.38108536e-03 6.62680240e-02] [ 6.03300994e-02 -1.44777218e-03 9.98177431e-01 1.37747532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.11, Y:0.07, Z:0.14 [[ 9.96094226e-01 -6.54240163e-02 -5.92957910e-02 8.10562505e+00] [ 6.53999460e-02 9.97856368e-01 -2.34861113e-03 6.91886714e-02] [ 5.93223383e-02 -1.53850354e-03 9.98237694e-01 1.42446596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters Centerline goodness [0,1] 0.9999131737176843 Centerline is valid? [True, True] Translation: X:8.13, Y:0.07, Z:0.14 [[ 9.95983323e-01 -6.62958582e-02 -6.01837156e-02 8.13368490e+00] [ 6.62718127e-02 9.97798726e-01 -2.39770323e-03 6.97037154e-02] [ 6.02101925e-02 -1.60041149e-03 9.98184438e-01 1.40841609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.755099893 meters Centerline goodness [0,1] 0.9998258636076707 Centerline is valid? [True, True] Translation: X:8.16, Y:0.08, Z:0.15 [[ 9.96347981e-01 -6.22892236e-02 -5.84016568e-02 8.16220370e+00] [ 6.22591937e-02 9.98057282e-01 -2.33540017e-03 7.95139417e-02] [ 5.84336691e-02 -1.30916882e-03 9.98290435e-01 1.48359661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters Centerline goodness [0,1] 0.9997163553848839 Centerline is valid? [True, True] Translation: X:8.19, Y:0.08, Z:0.15 [[ 9.96347180e-01 -6.10074265e-02 -5.97527431e-02 8.19114567e+00] [ 6.09728390e-02 9.98136531e-01 -2.40365312e-03 7.91935991e-02] [ 5.97880364e-02 -1.24842138e-03 9.98210315e-01 1.46552616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.815099893000001 meters Centerline goodness [0,1] 0.9997824384300757 Centerline is valid? [True, True] Translation: X:8.22, Y:0.08, Z:0.14 [[ 9.96308697e-01 -6.04009407e-02 -6.09975937e-02 8.21936180e+00] [ 6.03627970e-02 9.98173449e-01 -2.46953550e-03 7.51851637e-02] [ 6.10353408e-02 -1.22156567e-03 9.98134858e-01 1.42135577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099893 meters Centerline goodness [0,1] 0.9998692725014707 Centerline is valid? [True, True] Translation: X:8.25, Y:0.08, Z:0.15 [[ 9.96627559e-01 -5.80194080e-02 -5.80280703e-02 8.24767388e+00] [ 5.79800691e-02 9.98314945e-01 -2.36277757e-03 7.93943272e-02] [ 5.80673768e-02 -1.00966228e-03 9.98312156e-01 1.46620632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.875099893 meters Centerline goodness [0,1] 0.9997817689806429 Centerline is valid? [True, True] Translation: X:8.28, Y:0.08, Z:0.15 [[ 9.96629547e-01 -5.83835760e-02 -5.76272876e-02 8.27543753e+00] [ 5.83450321e-02 9.98293706e-01 -2.35259359e-03 8.36547575e-02] [ 5.76663113e-02 -1.01760166e-03 9.98335395e-01 1.48743361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893000001 meters Centerline goodness [0,1] 0.9999128141415462 Centerline is valid? [True, True] Translation: X:8.30, Y:0.08, Z:0.15 [[ 9.96241470e-01 -6.26347743e-02 -5.98315834e-02 8.30486239e+00] [ 6.26000154e-02 9.98035671e-01 -2.45702380e-03 7.80205314e-02] [ 5.98679496e-02 -1.29766904e-03 9.98205462e-01 1.46600694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935099893 meters Centerline goodness [0,1] 0.9997172376291463 Centerline is valid? [True, True] Translation: X:8.33, Y:0.07, Z:0.14 [[ 9.95787105e-01 -6.73448424e-02 -6.22311235e-02 8.33431886e+00] [ 6.73162092e-02 9.97728410e-01 -2.55899813e-03 7.40763658e-02] [ 6.22620952e-02 -1.64094599e-03 9.98058485e-01 1.44210425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters Centerline goodness [0,1] 0.9998043775947139 Centerline is valid? [True, True] Translation: X:8.36, Y:0.08, Z:0.15 [[ 9.95610710e-01 -7.09285398e-02 -6.10610924e-02 8.36152459e+00] [ 7.09074700e-02 9.97479728e-01 -2.51459613e-03 7.63726249e-02] [ 6.10855584e-02 -1.82612874e-03 9.98130863e-01 1.50572949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.995099893 meters Centerline goodness [0,1] 0.9998260718323333 Centerline is valid? [True, True] Translation: X:8.39, Y:0.08, Z:0.15 [[ 9.95730653e-01 -6.95246311e-02 -6.07189604e-02 8.38947138e+00] [ 6.95008641e-02 9.97578744e-01 -2.50586325e-03 7.79608955e-02] [ 6.07461634e-02 -1.72485536e-03 9.98151756e-01 1.52253474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099893 meters Centerline goodness [0,1] 0.9997390793850971 Centerline is valid? [True, True] Translation: X:8.42, Y:0.08, Z:0.15 [[ 9.96116410e-01 -6.47085481e-02 -5.97067999e-02 8.41895052e+00] [ 6.46766514e-02 9.97903220e-01 -2.46864184e-03 8.20309920e-02] [ 5.97413502e-02 -1.40258124e-03 9.98212905e-01 1.52985461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.055099893 meters Centerline goodness [0,1] 0.9998035406343455 Centerline is valid? [True, True] Translation: X:8.45, Y:0.09, Z:0.16 [[ 9.96252208e-01 -6.27521052e-02 -5.95290776e-02 8.44722662e+00] [ 6.27166314e-02 9.98028328e-01 -2.46595720e-03 8.65817833e-02] [ 5.95664498e-02 -1.27674791e-03 9.98223526e-01 1.55050209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099893 meters Centerline goodness [0,1] 0.9997601866184133 Centerline is valid? [True, True] Translation: X:8.48, Y:0.09, Z:0.15 [[ 9.95970812e-01 -6.49639583e-02 -6.18209153e-02 8.47585049e+00] [ 6.49289797e-02 9.97886561e-01 -2.57667357e-03 8.66851891e-02] [ 6.18576515e-02 -1.44767728e-03 9.98083932e-01 1.53623477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115099893 meters Centerline goodness [0,1] 0.9998476240231612 Centerline is valid? [True, True] Translation: X:8.50, Y:0.08, Z:0.16 [[ 9.95804542e-01 -6.87213577e-02 -6.04209329e-02 8.50443757e+00] [ 6.86939602e-02 9.97634564e-01 -2.53296638e-03 8.35573919e-02] [ 6.04520799e-02 -1.62821374e-03 9.98169773e-01 1.56494816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters Centerline goodness [0,1] 0.9998473748473748 Centerline is valid? [True, True] Translation: X:8.53, Y:0.09, Z:0.16 [[ 9.95747045e-01 -6.88806581e-02 -6.11823336e-02 8.53174634e+00] [ 6.88518987e-02 9.97623554e-01 -2.58068506e-03 8.70173440e-02] [ 6.12146964e-02 -1.64281031e-03 9.98123270e-01 1.59488472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.175099893 meters Centerline goodness [0,1] 0.9997169852396918 Centerline is valid? [True, True] Translation: X:8.56, Y:0.09, Z:0.16 [[ 9.95785413e-01 -6.72958988e-02 -6.23111023e-02 8.56037682e+00] [ 6.72618885e-02 9.97731847e-01 -2.64566009e-03 8.74989016e-02] [ 6.23478132e-02 -1.55665269e-03 9.98053269e-01 1.57923892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters Centerline goodness [0,1] 0.9998470246290347 Centerline is valid? [True, True] Translation: X:8.59, Y:0.10, Z:0.16 [[ 9.96547164e-01 -5.85539172e-02 -5.88658544e-02 8.58831171e+00] [ 5.85076233e-02 9.98283803e-01 -2.51115198e-03 9.86254687e-02] [ 5.89118668e-02 -9.41619856e-04 9.98262744e-01 1.64112587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.235099893000001 meters Centerline goodness [0,1] 0.9998687060986017 Centerline is valid? [True, True] Translation: X:8.62, Y:0.10, Z:0.17 [[ 9.96664637e-01 -5.68690314e-02 -5.85278944e-02 8.61680188e+00] [ 5.68200616e-02 9.98381300e-01 -2.50190778e-03 1.01330301e-01] [ 5.85754364e-02 -8.31995552e-04 9.98282638e-01 1.65451358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099893 meters Centerline goodness [0,1] 0.9998694119183389 Centerline is valid? [True, True] Translation: X:8.64, Y:0.10, Z:0.17 [[ 9.96698936e-01 -5.68191865e-02 -5.79897533e-02 8.64444292e+00] [ 5.67701876e-02 9.98384159e-01 -2.49337360e-03 1.02625560e-01] [ 5.80377225e-02 -8.06946358e-04 9.98314065e-01 1.67355138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.295099893 meters Centerline goodness [0,1] 0.9998467332282361 Centerline is valid? [True, True] Translation: X:8.67, Y:0.10, Z:0.17 [[ 9.96691618e-01 -5.72582820e-02 -5.76828174e-02 8.67273499e+00] [ 5.72095937e-02 9.98359069e-01 -2.49645522e-03 1.03433705e-01] [ 5.77311066e-02 -8.11814549e-04 9.98331839e-01 1.68936528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099893 meters Centerline goodness [0,1] 0.9997378309883772 Centerline is valid? [True, True] Translation: X:8.70, Y:0.10, Z:0.17 [[ 9.96636056e-01 -5.78141485e-02 -5.80869693e-02 8.70100125e+00] [ 5.77647744e-02 9.98327015e-01 -2.53016142e-03 1.03828335e-01] [ 5.81360698e-02 -8.33730576e-04 9.98308320e-01 1.69622351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355099893 meters Centerline goodness [0,1] 0.9998035792230467 Centerline is valid? [True, True] Translation: X:8.73, Y:0.10, Z:0.17 [[ 9.96568637e-01 -5.89201819e-02 -5.81322989e-02 8.72999426e+00] [ 5.88717649e-02 9.98262305e-01 -2.54663967e-03 1.04146101e-01] [ 5.81813311e-02 -8.84449810e-04 9.98305640e-01 1.71216450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters Centerline goodness [0,1] 0.999759898720915 Centerline is valid? [True, True] Translation: X:8.76, Y:0.10, Z:0.17 [[ 9.96455637e-01 -5.97226151e-02 -5.92399579e-02 8.75764308e+00] [ 5.96729698e-02 9.98214573e-01 -2.60833364e-03 1.03459035e-01] [ 5.92899658e-02 -9.35935462e-04 9.98240364e-01 1.71165015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.415099893 meters Centerline goodness [0,1] 0.9998033560566335 Centerline is valid? [True, True] Translation: X:8.79, Y:0.10, Z:0.17 [[ 9.96330153e-01 -6.10982371e-02 -5.99435645e-02 8.78647243e+00] [ 6.10494505e-02 9.98131234e-01 -2.64666338e-03 1.03941006e-01] [ 5.99932505e-02 -1.02257114e-03 9.98198259e-01 1.73008599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099893 meters Centerline goodness [0,1] 0.9998033560566335 Centerline is valid? [True, True] Translation: X:8.81, Y:0.11, Z:0.17 [[ 9.96312867e-01 -6.13801426e-02 -5.99428876e-02 8.81379678e+00] [ 6.13309483e-02 9.98113936e-01 -2.66191511e-03 1.05224956e-01] [ 5.99932202e-02 -1.02425386e-03 9.98198259e-01 1.74314420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.475099893 meters Centerline goodness [0,1] 0.999804551772064 Centerline is valid? [True, True] Translation: X:8.84, Y:0.11, Z:0.18 [[ 9.96205666e-01 -6.26265643e-02 -6.04333101e-02 8.84105702e+00] [ 6.25779487e-02 9.98036431e-01 -2.69860541e-03 1.05633682e-01] [ 6.04836496e-02 -1.09342658e-03 9.98168589e-01 1.75552246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099893 meters Centerline goodness [0,1] 0.9997596311430632 Centerline is valid? [True, True] Translation: X:8.87, Y:0.11, Z:0.18 [[ 9.96062022e-01 -6.38523740e-02 -6.15087257e-02 8.86893489e+00] [ 6.38039589e-02 9.97958655e-01 -2.75292537e-03 1.06114727e-01] [ 6.15589460e-02 -1.18241580e-03 9.98102749e-01 1.76076700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535099893 meters Centerline goodness [0,1] 0.9998251442559888 Centerline is valid? [True, True] Translation: X:8.90, Y:0.12, Z:0.18 [[ 9.96651050e-01 -5.76326057e-02 -5.80100579e-02 8.89824195e+00] [ 5.75787753e-02 9.98337579e-01 -2.60039821e-03 1.16377968e-01] [ 5.80634886e-02 -7.48458486e-04 9.98312612e-01 1.81674910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters Centerline goodness [0,1] 0.9998036392197932 Centerline is valid? [True, True] Translation: X:8.93, Y:0.12, Z:0.18 [[ 9.96653898e-01 -5.67758530e-02 -5.88005974e-02 8.92640492e+00] [ 5.67188191e-02 9.98386702e-01 -2.63984673e-03 1.18608238e-01] [ 5.88556141e-02 -7.04086917e-04 9.98266258e-01 1.80867930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595099893 meters Centerline goodness [0,1] 0.9997595733519846 Centerline is valid? [True, True] Translation: X:8.95, Y:0.12, Z:0.18 [[ 9.96672896e-01 -5.60313978e-02 -5.91913865e-02 8.95436834e+00] [ 5.59713008e-02 9.98428797e-01 -2.67408152e-03 1.20385942e-01] [ 5.92482174e-02 -6.47834331e-04 9.98243071e-01 1.81325661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters Centerline goodness [0,1] 0.9998038660186981 Centerline is valid? [True, True] Translation: X:8.98, Y:0.12, Z:0.18 [[ 9.96739944e-01 -5.55408988e-02 -5.85208695e-02 8.98334405e+00] [ 5.54803807e-02 9.98456235e-01 -2.65965330e-03 1.23157491e-01] [ 5.85782466e-02 -5.95777440e-04 9.98282642e-01 1.83901937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.655099893000001 meters Centerline goodness [0,1] 0.9998470145991782 Centerline is valid? [True, True] Translation: X:9.01, Y:0.13, Z:0.19 [[ 9.96770532e-01 -5.52130484e-02 -5.83097438e-02 9.01084927e+00] [ 5.51516647e-02 9.98474438e-01 -2.66273497e-03 1.25379726e-01] [ 5.83678064e-02 -5.61743690e-04 9.98294988e-01 1.85985224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099893 meters Centerline goodness [0,1] 0.9997807065634525 Centerline is valid? [True, True] Translation: X:9.04, Y:0.13, Z:0.19 [[ 9.96693832e-01 -5.58072204e-02 -5.90504825e-02 9.03913991e+00] [ 5.57448873e-02 9.98441384e-01 -2.70367093e-03 1.27631214e-01] [ 5.91093298e-02 -5.97030352e-04 9.98251336e-01 1.87233772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.715099893 meters Centerline goodness [0,1] 0.9998249414648023 Centerline is valid? [True, True] Translation: X:9.07, Y:0.13, Z:0.19 [[ 9.96643949e-01 -5.66818123e-02 -5.90593881e-02 9.06667965e+00] [ 5.66200962e-02 9.98392093e-01 -2.71924408e-03 1.29797432e-01] [ 5.91185577e-02 -6.33830077e-04 9.98250767e-01 1.89625067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099893 meters Centerline goodness [0,1] 0.9998249414648023 Centerline is valid? [True, True] Translation: X:9.09, Y:0.13, Z:0.19 [[ 9.96627834e-01 -5.69652597e-02 -5.90586115e-02 9.09399462e+00] [ 5.69030469e-02 9.98375960e-01 -2.73601788e-03 1.31130574e-01] [ 5.91185559e-02 -6.33823364e-04 9.98250767e-01 1.90931374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775099893 meters Centerline goodness [0,1] 0.9998249261407156 Centerline is valid? [True, True] Translation: X:9.12, Y:0.13, Z:0.19 [[ 9.96546875e-01 -5.80433711e-02 -5.93741702e-02 9.12169945e+00] [ 5.79815321e-02 9.98313826e-01 -2.76526308e-03 1.31883831e-01] [ 5.94345603e-02 -6.86891079e-04 9.98231968e-01 1.92034322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters Centerline goodness [0,1] 0.9999122306578312 Centerline is valid? [True, True] Translation: X:9.15, Y:0.13, Z:0.19 [[ 9.96451369e-01 -5.96823961e-02 -5.93521833e-02 9.15066868e+00] [ 5.96230863e-02 9.98217114e-01 -2.77130978e-03 1.32467112e-01] [ 5.94117636e-02 -7.77284925e-04 9.98233258e-01 1.94140004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.835099893 meters Centerline goodness [0,1] 0.9998250869099417 Centerline is valid? [True, True] Translation: X:9.18, Y:0.13, Z:0.19 [[ 9.96317345e-01 -6.11367210e-02 -6.01169661e-02 9.17901692e+00] [ 6.10777439e-02 9.98129029e-01 -2.81984040e-03 1.32910911e-01] [ 6.01768848e-02 -8.62352764e-04 9.98187357e-01 1.93961617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099893 meters Centerline goodness [0,1] 0.999802453960798 Centerline is valid? [True, True] Translation: X:9.21, Y:0.13, Z:0.19 [[ 9.96183892e-01 -6.28194605e-02 -6.05918187e-02 9.20753567e+00] [ 6.27622028e-02 9.98024441e-01 -2.84958489e-03 1.33115706e-01] [ 6.06511254e-02 -9.64165443e-04 9.98158560e-01 1.94483259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.895099893 meters Centerline goodness [0,1] 0.9998470179426099 Centerline is valid? [True, True] Translation: X:9.24, Y:0.13, Z:0.19 [[ 9.96059096e-01 -6.43705546e-02 -6.10140051e-02 9.23533334e+00] [ 6.43146002e-02 9.97925510e-01 -2.88255083e-03 1.30628397e-01] [ 6.10729835e-02 -1.05290037e-03 9.98132748e-01 1.93232690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099893 meters Centerline goodness [0,1] 0.999912600782223 Centerline is valid? [True, True] Translation: X:9.26, Y:0.13, Z:0.20 [[ 9.96069357e-01 -6.51891692e-02 -5.99683905e-02 9.26331537e+00] [ 6.51361387e-02 9.97872343e-01 -2.84078312e-03 1.31742801e-01] [ 6.00259867e-02 -1.07649239e-03 9.98196234e-01 1.95647746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955099893 meters Centerline goodness [0,1] 0.9999124113164579 Centerline is valid? [True, True] Translation: X:9.29, Y:0.13, Z:0.20 [[ 9.96292545e-01 -6.33830037e-02 -5.81700855e-02 9.29146530e+00] [ 6.33291184e-02 9.97988849e-01 -2.77122364e-03 1.34911110e-01] [ 5.82287452e-02 -9.22910779e-04 9.98302841e-01 1.99238632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893000001 meters Centerline goodness [0,1] 0.9997811097734486 Centerline is valid? [True, True] Translation: X:9.32, Y:0.14, Z:0.20 [[ 9.96594464e-01 -5.84738271e-02 -5.81402227e-02 9.31948072e+00] [ 5.84109019e-02 9.98288748e-01 -2.78261955e-03 1.38883449e-01] [ 5.82034405e-02 -6.22879606e-04 9.98304548e-01 1.98801964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015099893 meters Centerline goodness [0,1] 0.9998034033071933 Centerline is valid? [True, True] Translation: X:9.35, Y:0.14, Z:0.20 [[ 9.96604209e-01 -5.87707675e-02 -5.76718888e-02 9.34735836e+00] [ 5.87089377e-02 9.98271307e-01 -2.76731735e-03 1.41608350e-01] [ 5.77348292e-02 -6.27935210e-04 9.98331756e-01 2.01522562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters Centerline goodness [0,1] 0.9999344749257383 Centerline is valid? [True, True] Translation: X:9.38, Y:0.14, Z:0.20 [[ 9.96551001e-01 -5.95749283e-02 -5.77661711e-02 9.37513743e+00] [ 5.95133674e-02 9.98223618e-01 -2.78700505e-03 1.43387190e-01] [ 5.78295920e-02 -6.60466696e-04 9.98326250e-01 2.04474813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.075099893 meters Centerline goodness [0,1] 0.9998249874209709 Centerline is valid? [True, True] Translation: X:9.40, Y:0.15, Z:0.21 [[ 9.97188917e-01 -4.98402925e-02 -5.59482627e-02 9.40349948e+00] [ 4.97668332e-02 9.98757197e-01 -2.70636257e-03 1.49043735e-01] [ 5.60136159e-02 -8.56130965e-05 9.98430001e-01 2.07316220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099893 meters Centerline goodness [0,1] 0.9999124343257443 Centerline is valid? [True, True] Translation: X:9.43, Y:0.15, Z:0.21 [[ 9.97104807e-01 -5.01321974e-02 -5.71731200e-02 9.43081088e+00] [ 5.00557179e-02 9.98742586e-01 -2.76989384e-03 1.51007202e-01] [ 5.72400906e-02 -9.99671023e-05 9.98360437e-01 2.09405297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.135099893 meters Centerline goodness [0,1] 0.9999121863405853 Centerline is valid? [True, True] Translation: X:9.46, Y:0.15, Z:0.21 [[ 9.96957825e-01 -5.10108187e-02 -5.89320884e-02 9.45973337e+00] [ 5.09306669e-02 9.98698090e-01 -2.86228351e-03 1.50282875e-01] [ 5.90013716e-02 -1.47874618e-04 9.98257891e-01 2.09188496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099893 meters Centerline goodness [0,1] 0.9998024019145059 Centerline is valid? [True, True] Translation: X:9.49, Y:0.15, Z:0.21 [[ 9.96818449e-01 -5.14701426e-02 -6.08588940e-02 9.48836662e+00] [ 5.13845559e-02 9.98674520e-01 -2.97157264e-03 1.49648669e-01] [ 6.09311740e-02 -1.65088810e-04 9.98141956e-01 2.07673108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195099893 meters Centerline goodness [0,1] 0.9998691641771517 Centerline is valid? [True, True] Translation: X:9.52, Y:0.15, Z:0.21 [[ 9.96882509e-01 -5.16083364e-02 -5.96811780e-02 9.51643513e+00] [ 5.15255129e-02 9.98667390e-01 -2.92688666e-03 1.51046599e-01] [ 5.97526980e-02 -1.57341187e-04 9.98213199e-01 2.10294865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters Centerline goodness [0,1] 0.9998686946055367 Centerline is valid? [True, True] Translation: X:9.54, Y:0.15, Z:0.22 [[ 9.97098039e-01 -5.18501657e-02 -5.57410097e-02 9.54480303e+00] [ 5.17779661e-02 9.98654864e-01 -2.73966329e-03 1.52807433e-01] [ 5.58080824e-02 -1.54443213e-04 9.98441503e-01 2.15683032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.255099893 meters Centerline goodness [0,1] 0.9998246267838744 Centerline is valid? [True, True] Translation: X:9.57, Y:0.15, Z:0.22 [[ 9.97030486e-01 -5.38928201e-02 -5.50070287e-02 9.57248826e+00] [ 5.38248530e-02 9.98546694e-01 -2.71743500e-03 1.52458826e-01] [ 5.50735369e-02 -2.51379688e-04 9.98482269e-01 2.17450362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099893 meters Centerline goodness [0,1] 0.9998255978722941 Centerline is valid? [True, True] Translation: X:9.60, Y:0.15, Z:0.22 [[ 9.97040971e-01 -5.46258614e-02 -5.40862091e-02 9.59975680e+00] [ 5.45604510e-02 9.98506856e-01 -2.68630390e-03 1.53058608e-01] [ 5.41521922e-02 -2.72612919e-04 9.98532656e-01 2.19048877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.315099893 meters Centerline goodness [0,1] 0.9998471014809314 Centerline is valid? [True, True] Translation: X:9.63, Y:0.15, Z:0.22 [[ 9.96981468e-01 -5.58776129e-02 -5.39040314e-02 9.62766910e+00] [ 5.58140511e-02 9.98437571e-01 -2.68501983e-03 1.54086714e-01] [ 5.39698427e-02 -3.31687356e-04 9.98542511e-01 2.20118392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099893 meters Centerline goodness [0,1] 0.9998250830855344 Centerline is valid? [True, True] Translation: X:9.66, Y:0.15, Z:0.22 [[ 9.96386590e-01 -6.41390754e-02 -5.56771325e-02 9.65743389e+00] [ 6.40833488e-02 9.97940657e-01 -2.78752971e-03 1.51230961e-01] [ 5.57412638e-02 -7.90519886e-04 9.98444934e-01 2.19437517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.375099893 meters Centerline goodness [0,1] 0.9997162439428996 Centerline is valid? [True, True] Translation: X:9.69, Y:0.15, Z:0.22 [[ 9.95634446e-01 -7.29463445e-02 -5.82312780e-02 9.68699251e+00] [ 7.29003113e-02 9.97334966e-01 -2.91731484e-03 1.46823790e-01] [ 5.82888971e-02 -1.34049914e-03 9.98298857e-01 2.17432213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893000001 meters Centerline goodness [0,1] 0.9997375959414839 Centerline is valid? [True, True] Translation: X:9.72, Y:0.15, Z:0.22 [[ 9.95611370e-01 -7.30835017e-02 -5.84534100e-02 9.71504106e+00] [ 7.30371356e-02 9.97324912e-01 -2.93215060e-03 1.50852384e-01] [ 5.85113338e-02 -1.34998716e-03 9.98285831e-01 2.18547705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435099893 meters Centerline goodness [0,1] 0.9999344720632563 Centerline is valid? [True, True] Translation: X:9.74, Y:0.16, Z:0.23 [[ 9.96507147e-01 -6.39032857e-02 -5.37575639e-02 9.74362667e+00] [ 6.38500133e-02 9.97955828e-01 -2.70960427e-03 1.61169993e-01] [ 5.38208268e-02 -7.32281145e-04 9.98550340e-01 2.25808849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters Centerline goodness [0,1] 0.9998245844844976 Centerline is valid? [True, True] Translation: X:9.77, Y:0.16, Z:0.23 [[ 9.96602813e-01 -6.14821888e-02 -5.47975733e-02 9.77228652e+00] [ 6.14229799e-02 9.98107995e-01 -2.76562641e-03 1.64485847e-01] [ 5.48639327e-02 -6.09599180e-04 9.98493654e-01 2.25716689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.495099893 meters Centerline goodness [0,1] 0.9998252244773119 Centerline is valid? [True, True] Translation: X:9.80, Y:0.16, Z:0.23 [[ 9.96541078e-01 -6.22550666e-02 -5.50471251e-02 9.80057499e+00] [ 6.21957737e-02 9.98060066e-01 -2.79128914e-03 1.64054697e-01] [ 5.51141092e-02 -6.42064245e-04 9.98479856e-01 2.25965284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099893 meters Centerline goodness [0,1] 0.9997370208849248 Centerline is valid? [True, True] Translation: X:9.83, Y:0.16, Z:0.22 [[ 9.96254437e-01 -6.48795551e-02 -5.71641583e-02 9.82989419e+00] [ 6.48193922e-02 9.97892775e-01 -2.90798065e-03 1.62513039e-01] [ 5.72323690e-02 -8.08257369e-04 9.98360557e-01 2.24483880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.555099893 meters Centerline goodness [0,1] 0.999824784265627 Centerline is valid? [True, True] Translation: X:9.86, Y:0.16, Z:0.23 [[ 9.96157437e-01 -6.61375619e-02 -5.74124020e-02 9.85780878e+00] [ 6.60782245e-02 9.97810134e-01 -2.93342143e-03 1.62282794e-01] [ 5.74806859e-02 -8.71560021e-04 9.98346238e-01 2.25361240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099893 meters Centerline goodness [0,1] 0.9998036477877651 Centerline is valid? [True, True] Translation: X:9.89, Y:0.16, Z:0.23 [[ 9.95915783e-01 -6.88473243e-02 -5.84106129e-02 9.88657807e+00] [ 6.87901507e-02 9.97626667e-01 -2.99140640e-03 1.62286315e-01] [ 5.84779354e-02 -1.03888602e-03 9.98288161e-01 2.26624125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615099893 meters Centerline goodness [0,1] 0.9998469209237228 Centerline is valid? [True, True] Translation: X:9.91, Y:0.16, Z:0.23 [[ 9.95816970e-01 -6.98938831e-02 -5.88507194e-02 9.91482038e+00] [ 6.98368068e-02 9.97553832e-01 -3.02856995e-03 1.63619190e-01] [ 5.89184392e-02 -1.09404498e-03 9.98262200e-01 2.28168195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters Centerline goodness [0,1] 0.9999344448571991 Centerline is valid? [True, True] Translation: X:9.94, Y:0.16, Z:0.23 [[ 9.95676711e-01 -7.18406739e-02 -5.88795837e-02 9.94310918e+00] [ 7.17860819e-02 9.97415404e-01 -3.04460250e-03 1.63866700e-01] [ 5.89461300e-02 -1.19529481e-03 9.98260449e-01 2.30031355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675099893 meters Centerline goodness [0,1] 0.9998248801523543 Centerline is valid? [True, True] Translation: X:9.97, Y:0.16, Z:0.23 [[ 9.95493938e-01 -7.35390624e-02 -5.98650688e-02 9.97163648e+00] [ 7.34847970e-02 9.97291487e-01 -3.11051072e-03 1.64756987e-01] [ 5.99316675e-02 -1.30267787e-03 9.98201632e-01 2.29146918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099893 meters Centerline goodness [0,1] 0.9998470981411502 Centerline is valid? [True, True] Translation: X:10.00, Y:0.17, Z:0.23 [[ 9.95457552e-01 -7.40541810e-02 -5.98351033e-02 9.99931939e+00] [ 7.39999819e-02 9.97253349e-01 -3.12423855e-03 1.65591102e-01] [ 5.99021200e-02 -1.31774970e-03 9.98203386e-01 2.29670048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.735099893000001 meters Centerline goodness [0,1] 0.9998908582904042 Centerline is valid? [True, True] Translation: X:10.03, Y:0.17, Z:0.23 [[ 9.95823193e-01 -7.06916727e-02 -5.77828387e-02 1.00278027e+01] [ 7.06346797e-02 9.97497647e-01 -3.03074272e-03 1.70022843e-01] [ 5.78524939e-02 -1.06338842e-03 9.98324576e-01 2.33394428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099893 meters Centerline goodness [0,1] 0.9999123767798467 Centerline is valid? [True, True] Translation: X:10.06, Y:0.18, Z:0.24 [[ 9.96177402e-01 -6.74735677e-02 -5.54788388e-02 1.00566978e+01] [ 6.74157613e-02 9.97720712e-01 -2.91495018e-03 1.75127234e-01] [ 5.55490687e-02 -8.36340661e-04 9.98455608e-01 2.38117303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.795099893 meters Centerline goodness [0,1] 0.999803489159152 Centerline is valid? [True, True] Translation: X:10.08, Y:0.18, Z:0.24 [[ 9.96568744e-01 -6.43757479e-02 -5.20240404e-02 1.00840146e+01] [ 6.43201411e-02 9.97925543e-01 -2.74413406e-03 1.77102682e-01] [ 5.20927745e-02 -6.11475381e-04 9.98642062e-01 2.41475696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099893 meters Centerline goodness [0,1] 0.9999562879748218 Centerline is valid? [True, True] Translation: X:10.11, Y:0.18, Z:0.24 [[ 9.96476857e-01 -6.60985282e-02 -5.16222544e-02 1.01127183e+01] [ 6.60458174e-02 9.97812862e-01 -2.72814502e-03 1.77660084e-01] [ 5.16896758e-02 -6.90900614e-04 9.98662956e-01 2.44604555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855099893 meters Centerline goodness [0,1] 0.9998472149467434 Centerline is valid? [True, True] Translation: X:10.14, Y:0.18, Z:0.24 [[ 9.96016820e-01 -6.95269931e-02 -5.58255446e-02 1.01419855e+01] [ 6.94699788e-02 9.97579640e-01 -2.96361400e-03 1.77501118e-01] [ 5.58964779e-02 -9.26390005e-04 9.98436140e-01 2.40919973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters Centerline goodness [0,1] 0.9998467432950191 Centerline is valid? [True, True] Translation: X:10.17, Y:0.18, Z:0.24 [[ 9.95854284e-01 -7.07724981e-02 -5.71445483e-02 1.01708496e+01] [ 7.07145184e-02 9.97491967e-01 -3.03864940e-03 1.77150537e-01] [ 5.72162807e-02 -1.01489720e-03 9.98361291e-01 2.39281294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.915099893 meters Centerline goodness [0,1] 0.9999343659753216 Centerline is valid? [True, True] Translation: X:10.20, Y:0.18, Z:0.24 [[ 9.95774877e-01 -7.09431343e-02 -5.83049368e-02 1.01996426e+01] [ 7.08822008e-02 9.97479829e-01 -3.11518507e-03 1.77960062e-01] [ 5.83789994e-02 -1.03075921e-03 9.98293960e-01 2.40608514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099893 meters Centerline goodness [0,1] 0.9998463901689708 Centerline is valid? [True, True] Translation: X:10.23, Y:0.18, Z:0.24 [[ 9.95733450e-01 -6.92356743e-02 -6.10026026e-02 1.02269842e+01] [ 6.91647671e-02 9.97599872e-01 -3.27572331e-03 1.81766654e-01] [ 6.10829854e-02 -9.57483526e-04 9.98132232e-01 2.40832696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.975099893 meters Centerline goodness [0,1] 0.9998250716113091 Centerline is valid? [True, True] Translation: X:10.26, Y:0.19, Z:0.24 [[ 9.95833044e-01 -6.76206405e-02 -6.11882135e-02 1.02555655e+01] [ 6.75451973e-02 9.97710748e-01 -3.30293110e-03 1.85081082e-01] [ 6.12714846e-02 -8.43802024e-04 9.98120781e-01 2.42319701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099893 meters Centerline goodness [0,1] 0.9998688123141508 Centerline is valid? [True, True] Translation: X:10.28, Y:0.19, Z:0.25 [[ 9.96249904e-01 -6.44422515e-02 -5.77349544e-02 1.02836286e+01] [ 6.43690589e-02 9.97921258e-01 -3.12850291e-03 1.87598707e-01] [ 5.78165461e-02 -5.99573955e-04 9.98327044e-01 2.45043626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035099893 meters Centerline goodness [0,1] 0.9999343415552296 Centerline is valid? [True, True] Translation: X:10.31, Y:0.19, Z:0.25 [[ 9.96947362e-01 -5.82705321e-02 -5.19663520e-02 1.03110361e+01] [ 5.82026705e-02 9.98300806e-01 -2.81952240e-03 1.90682637e-01] [ 5.20423461e-02 -2.13665041e-04 9.98644856e-01 2.49636144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters Centerline goodness [0,1] 0.999759783368274 Centerline is valid? [True, True] Translation: X:10.34, Y:0.20, Z:0.25 [[ 9.97260368e-01 -5.37245786e-02 -5.08471095e-02 1.03395169e+01] [ 5.36533607e-02 9.98555792e-01 -2.76552465e-03 1.97984530e-01] [ 5.09222523e-02 2.98298220e-05 9.98702620e-01 2.53205191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095099893 meters Centerline goodness [0,1] 0.9998685910773342 Centerline is valid? [True, True] Translation: X:10.37, Y:0.20, Z:0.26 [[ 9.97186657e-01 -5.28822431e-02 -5.31247446e-02 1.03679327e+01] [ 5.28025710e-02 9.98600751e-01 -2.90313703e-03 2.02660582e-01] [ 5.32039343e-02 8.98464151e-05 9.98583664e-01 2.55108091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099893 meters Centerline goodness [0,1] 0.999780889151822 Centerline is valid? [True, True] Translation: X:10.40, Y:0.20, Z:0.25 [[ 9.96787126e-01 -5.51767091e-02 -5.80599284e-02 1.03976231e+01] [ 5.50845120e-02 9.98476605e-01 -3.18844166e-03 1.98874449e-01] [ 5.81474079e-02 -2.00052224e-05 9.98308008e-01 2.49545467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.155099893000001 meters Centerline goodness [0,1] 0.9998028909329829 Centerline is valid? [True, True] Translation: X:10.43, Y:0.20, Z:0.25 [[ 9.96649612e-01 -5.60051839e-02 -5.96068018e-02 1.04264169e+01] [ 5.59085746e-02 9.98430476e-01 -3.28860620e-03 1.97119741e-01] [ 5.96974265e-02 -5.49432326e-05 9.98216517e-01 2.49101200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099893 meters Centerline goodness [0,1] 0.9998248609834056 Centerline is valid? [True, True] Translation: X:10.45, Y:0.20, Z:0.25 [[ 9.96865063e-01 -5.31198555e-02 -5.86372491e-02 1.04537314e+01] [ 5.30206245e-02 9.98588136e-01 -3.24792332e-03 2.01722649e-01] [ 5.87269905e-02 1.28757719e-04 9.98274073e-01 2.53362759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.215099893 meters Centerline goodness [0,1] 0.9998467801952458 Centerline is valid? [True, True] Translation: X:10.48, Y:0.21, Z:0.26 [[ 9.97144269e-01 -4.95570541e-02 -5.69860068e-02 1.04808347e+01] [ 4.94571323e-02 9.98771238e-01 -3.16330747e-03 2.05426179e-01] [ 5.70727488e-02 3.35909437e-04 9.98369966e-01 2.56696741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099893 meters Centerline goodness [0,1] 0.9997811720425401 Centerline is valid? [True, True] Translation: X:10.51, Y:0.21, Z:0.26 [[ 9.97261220e-01 -4.87478487e-02 -5.56211008e-02 1.05086245e+01] [ 4.86506245e-02 9.98811042e-01 -3.10149172e-03 2.07538293e-01] [ 5.57061607e-02 3.86996128e-04 9.98447131e-01 2.58543041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275099893 meters Centerline goodness [0,1] 0.9998906171381068 Centerline is valid? [True, True] Translation: X:10.54, Y:0.21, Z:0.26 [[ 9.97217146e-01 -5.20724860e-02 -5.33518588e-02 1.05370846e+01] [ 5.19874990e-02 9.98643288e-01 -2.98046362e-03 2.07500006e-01] [ 5.34346759e-02 1.98539723e-04 9.98571327e-01 2.62844961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters Centerline goodness [0,1] 0.9997814446508578 Centerline is valid? [True, True] Translation: X:10.56, Y:0.21, Z:0.26 [[ 9.96857095e-01 -5.72984888e-02 -5.47066214e-02 1.05647531e+01] [ 5.72162370e-02 9.98357090e-01 -3.06984249e-03 2.05250728e-01] [ 5.47926407e-02 -6.99127487e-05 9.98497752e-01 2.61645295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335099893 meters Centerline goodness [0,1] 0.999738356881214 Centerline is valid? [True, True] Translation: X:10.59, Y:0.20, Z:0.26 [[ 9.96273348e-01 -6.44418134e-02 -5.73294674e-02 1.05928579e+01] [ 6.43626672e-02 9.97921354e-01 -3.22786445e-03 2.00405880e-01] [ 5.74183092e-02 -4.74042112e-04 9.98350095e-01 2.58511856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099893 meters Centerline goodness [0,1] 0.999738356881214 Centerline is valid? [True, True] Translation: X:10.62, Y:0.20, Z:0.26 [[ 9.96254858e-01 -6.47273925e-02 -5.73290688e-02 1.06201593e+01] [ 6.46483122e-02 9.97902867e-01 -3.23492815e-03 2.02007625e-01] [ 5.74182305e-02 -4.83414646e-04 9.98350095e-01 2.59814628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.395099893 meters Centerline goodness [0,1] 0.9998474014649459 Centerline is valid? [True, True] Translation: X:10.65, Y:0.20, Z:0.26 [[ 9.95284332e-01 -7.62886168e-02 -5.99094698e-02 1.06504182e+01] [ 7.62222829e-02 9.97085070e-01 -3.39507081e-03 1.95507615e-01] [ 5.99938431e-02 -1.18737577e-03 9.98198041e-01 2.58965827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099893 meters Centerline goodness [0,1] 0.9998474347238568 Centerline is valid? [True, True] Translation: X:10.68, Y:0.20, Z:0.26 [[ 9.94828786e-01 -8.16529931e-02 -6.04026162e-02 1.06803198e+01] [ 8.15953391e-02 9.96659658e-01 -3.42455329e-03 1.95652377e-01] [ 6.04804758e-02 -1.52172776e-03 9.98168220e-01 2.61398140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455099893 meters Centerline goodness [0,1] 0.9998262569225758 Centerline is valid? [True, True] Translation: X:10.71, Y:0.20, Z:0.26 [[ 9.94665410e-01 -8.41380980e-02 -5.96783240e-02 1.07093058e+01] [ 8.40860019e-02 9.96452741e-01 -3.38817814e-03 1.96613707e-01] [ 5.97517044e-02 -1.64800807e-03 9.98211910e-01 2.64284830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893000001 meters Centerline goodness [0,1] 0.9998477665173329 Centerline is valid? [True, True] Translation: X:10.74, Y:0.20, Z:0.26 [[ 9.94806703e-01 -8.30513035e-02 -5.88396539e-02 1.07386708e+01] [ 8.29979236e-02 9.96544073e-01 -3.35477020e-03 1.96898559e-01] [ 5.89149264e-02 -1.54622122e-03 9.98261810e-01 2.63868107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515099893 meters Centerline goodness [0,1] 0.9998484389208852 Centerline is valid? [True, True] Translation: X:10.77, Y:0.20, Z:0.26 [[ 9.95091771e-01 -8.00962366e-02 -5.81116210e-02 1.07670524e+01] [ 8.00384606e-02 9.96786231e-01 -3.32484830e-03 2.00578626e-01] [ 5.81911715e-02 -1.34263551e-03 9.98304555e-01 2.64713366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099893 meters Centerline goodness [0,1] 0.9998253160687381 Centerline is valid? [True, True] Translation: X:10.79, Y:0.21, Z:0.27 [[ 9.95631243e-01 -7.45202706e-02 -5.62597226e-02 1.07947520e+01] [ 7.44570112e-02 9.97219017e-01 -3.22263194e-03 2.09919940e-01] [ 5.63434166e-02 -9.80377744e-04 9.98410967e-01 2.69800672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.575099893 meters Centerline goodness [0,1] 0.999825285548931 Centerline is valid? [True, True] Translation: X:10.82, Y:0.21, Z:0.27 [[ 9.95848652e-01 -7.18853691e-02 -5.58386536e-02 1.08233504e+01] [ 7.18186578e-02 9.97412563e-01 -3.20309791e-03 2.13442231e-01] [ 5.59244304e-02 -8.20456416e-04 9.98434667e-01 2.72080503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099893 meters Centerline goodness [0,1] 0.9998474014649459 Centerline is valid? [True, True] Translation: X:10.85, Y:0.21, Z:0.27 [[ 9.95670465e-01 -7.31852152e-02 -5.73083633e-02 1.08518565e+01] [ 7.31162560e-02 9.97317958e-01 -3.30201045e-03 2.11660197e-01] [ 5.73963182e-02 -9.02458673e-04 9.98351065e-01 2.71701772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.635099893 meters Centerline goodness [0,1] 0.9998039728175641 Centerline is valid? [True, True] Translation: X:10.88, Y:0.21, Z:0.27 [[ 9.95361737e-01 -7.65433833e-02 -5.82762632e-02 1.08805774e+01] [ 7.64769554e-02 9.97065645e-01 -3.37260248e-03 2.09530933e-01] [ 5.83634103e-02 -1.09983172e-03 9.98294797e-01 2.72181685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099893 meters Centerline goodness [0,1] 0.9997820591055706 Centerline is valid? [True, True] Translation: X:10.91, Y:0.21, Z:0.27 [[ 9.95006768e-01 -8.02879390e-02 -5.92906190e-02 1.09091734e+01] [ 8.02249193e-02 9.96770829e-01 -3.44637656e-03 2.09498064e-01] [ 5.93758619e-02 -1.32741712e-03 9.98234815e-01 2.73366854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695099893 meters Centerline goodness [0,1] 0.9998694090760692 Centerline is valid? [True, True] Translation: X:10.94, Y:0.21, Z:0.27 [[ 9.94751749e-01 -8.32609548e-02 -5.94690744e-02 1.09371664e+01] [ 8.32020724e-02 9.96526655e-01 -3.46993370e-03 2.08108716e-01] [ 5.95514277e-02 -1.49622761e-03 9.98224117e-01 2.74317227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters Centerline goodness [0,1] 0.9998696700480049 Centerline is valid? [True, True] Translation: X:10.97, Y:0.21, Z:0.28 [[ 9.94679278e-01 -8.42434734e-02 -5.92973031e-02 1.09668920e+01] [ 8.41863947e-02 9.96444001e-01 -3.46459944e-03 2.10821514e-01] [ 5.93783118e-02 -1.54586089e-03 9.98234354e-01 2.76110268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755099893 meters Centerline goodness [0,1] 0.9998482976832889 Centerline is valid? [True, True] Translation: X:11.00, Y:0.21, Z:0.28 [[ 9.94650142e-01 -8.51159116e-02 -5.85352596e-02 1.09957457e+01] [ 8.50616643e-02 9.96369811e-01 -3.42235232e-03 2.12890068e-01] [ 5.86140622e-02 -1.57506338e-03 9.98279475e-01 2.78562733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099893 meters Centerline goodness [0,1] 0.9997608019657729 Centerline is valid? [True, True] Translation: X:11.02, Y:0.22, Z:0.28 [[ 9.94590027e-01 -8.56511156e-02 -5.87755397e-02 1.10249400e+01] [ 8.55971813e-02 9.96323890e-01 -3.43935246e-03 2.16731381e-01] [ 5.88540587e-02 -1.61027487e-03 9.98265299e-01 2.80463081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.815099893 meters Centerline goodness [0,1] 0.9998474480233622 Centerline is valid? [True, True] Translation: X:11.05, Y:0.22, Z:0.28 [[ 9.94575351e-01 -8.56260082e-02 -5.90597811e-02 1.10547101e+01] [ 8.55713814e-02 9.96326041e-01 -3.45810664e-03 2.18903046e-01] [ 5.91389017e-02 -1.61447942e-03 9.98248458e-01 2.81591934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099893 meters Centerline goodness [0,1] 0.9998256624825662 Centerline is valid? [True, True] Translation: X:11.08, Y:0.22, Z:0.28 [[ 9.94539441e-01 -8.53571278e-02 -6.00454949e-02 1.10834162e+01] [ 8.53000307e-02 9.96349099e-01 -3.51820873e-03 2.19130800e-01] [ 6.01265790e-02 -1.62288522e-03 9.98189441e-01 2.80603502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.875099893 meters Centerline goodness [0,1] 0.9997827031725337 Centerline is valid? [True, True] Translation: X:11.11, Y:0.22, Z:0.28 [[ 9.94557204e-01 -8.52950828e-02 -5.98390866e-02 1.11115174e+01] [ 8.52379281e-02 9.96354437e-01 -3.51172947e-03 2.22715705e-01] [ 5.99204727e-02 -1.60794392e-03 9.98201859e-01 2.82922103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893000001 meters Centerline goodness [0,1] 0.9998259810319324 Centerline is valid? [True, True] Translation: X:11.14, Y:0.22, Z:0.29 [[ 9.94566186e-01 -8.59534771e-02 -5.87375721e-02 1.11405619e+01] [ 8.58986988e-02 9.96297863e-01 -3.46157044e-03 2.23339644e-01] [ 5.88176515e-02 -1.60272011e-03 9.98267457e-01 2.85470265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935099893 meters Centerline goodness [0,1] 0.999825977246525 Centerline is valid? [True, True] Translation: X:11.17, Y:0.22, Z:0.29 [[ 9.94449716e-01 -8.73691768e-02 -5.86207288e-02 1.11705019e+01] [ 8.73163550e-02 9.96174601e-01 -3.46686827e-03 2.22734685e-01] [ 5.86993785e-02 -1.67092220e-03 9.98274306e-01 2.86565761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099893 meters Centerline goodness [0,1] 0.9998698594482041 Centerline is valid? [True, True] Translation: X:11.20, Y:0.23, Z:0.29 [[ 9.94358329e-01 -8.85367358e-02 -5.84188248e-02 1.12003975e+01] [ 8.84861891e-02 9.96071406e-01 -3.45662194e-03 2.25214926e-01] [ 5.84953590e-02 -1.73213835e-03 9.98286178e-01 2.89482388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.995099893 meters Centerline goodness [0,1] 0.9998037633822471 Centerline is valid? [True, True] Translation: X:11.23, Y:0.23, Z:0.29 [[ 9.94245309e-01 -8.94569949e-02 -5.89382008e-02 1.12306595e+01] [ 8.94071601e-02 9.95989055e-01 -3.48735324e-03 2.26726738e-01] [ 5.90137711e-02 -1.80221255e-03 9.98255542e-01 2.90037433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099893 meters Centerline goodness [0,1] 0.999848103463241 Centerline is valid? [True, True] Translation: X:11.26, Y:0.23, Z:0.29 [[ 9.94220244e-01 -9.01430725e-02 -5.83123679e-02 1.12605675e+01] [ 9.00954558e-02 9.95927157e-01 -3.45051780e-03 2.27225982e-01] [ 5.83859111e-02 -1.82310472e-03 9.98292423e-01 2.91231846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.055099893 meters Centerline goodness [0,1] 0.999847614071752 Centerline is valid? [True, True] Translation: X:11.29, Y:0.23, Z:0.29 [[ 9.94290504e-01 -9.00351481e-02 -5.72718659e-02 1.12917827e+01] [ 8.99890075e-02 9.95936991e-01 -3.38942804e-03 2.29711615e-01] [ 5.73443375e-02 -1.78376227e-03 9.98352866e-01 2.92861809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099893 meters Centerline goodness [0,1] 0.999804916113929 Centerline is valid? [True, True] Translation: X:11.32, Y:0.23, Z:0.29 [[ 9.94288130e-01 -9.01135545e-02 -5.71896985e-02 1.13226702e+01] [ 9.00677837e-02 9.95929893e-01 -3.38267962e-03 2.29889194e-01] [ 5.72617556e-02 -1.78759120e-03 9.98357599e-01 2.93161827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115099893 meters Centerline goodness [0,1] 0.9998259734609528 Centerline is valid? [True, True] Translation: X:11.35, Y:0.23, Z:0.30 [[ 9.94152264e-01 -9.13746805e-02 -5.75494893e-02 1.13537173e+01] [ 9.13305123e-02 9.95814822e-01 -3.40273474e-03 2.33385735e-01] [ 5.76195582e-02 -1.87318789e-03 9.98336856e-01 2.95897285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters Centerline goodness [0,1] 0.999783418522048 Centerline is valid? [True, True] Translation: X:11.38, Y:0.23, Z:0.30 [[ 9.94038378e-01 -9.20990705e-02 -5.83563626e-02 1.13844736e+01] [ 9.20550176e-02 9.95747951e-01 -3.44847315e-03 2.32382481e-01] [ 5.84258297e-02 -1.94408133e-03 9.98289859e-01 2.95742456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175099893 meters Centerline goodness [0,1] 0.9996528606452453 Centerline is valid? [True, True] Translation: X:11.42, Y:0.23, Z:0.30 [[ 9.93923717e-01 -9.25563708e-02 -5.95731760e-02 1.14153212e+01] [ 9.25113498e-02 9.95705411e-01 -3.51927675e-03 2.33754773e-01] [ 5.96430652e-02 -2.01330230e-03 9.98217737e-01 2.95432425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099893 meters Centerline goodness [0,1] 0.9998260150931907 Centerline is valid? [True, True] Translation: X:11.45, Y:0.24, Z:0.30 [[ 9.93941196e-01 -9.20016588e-02 -6.01381138e-02 1.14462407e+01] [ 9.19548060e-02 9.95756846e-01 -3.55201880e-03 2.36093942e-01] [ 6.02097302e-02 -1.99949078e-03 9.98183746e-01 2.96269197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.235099893 meters Centerline goodness [0,1] 0.999847849240333 Centerline is valid? [True, True] Translation: X:11.48, Y:0.24, Z:0.30 [[ 9.94101624e-01 -9.11744409e-02 -5.87297365e-02 1.14766635e+01] [ 9.11282644e-02 9.95833119e-01 -3.46965863e-03 2.36273772e-01] [ 5.88013609e-02 -1.90274568e-03 9.98267890e-01 2.97047377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099893 meters Centerline goodness [0,1] 0.9997839752867728 Centerline is valid? [True, True] Translation: X:11.51, Y:0.24, Z:0.30 [[ 9.94418683e-01 -8.88780681e-02 -5.68521861e-02 1.15066108e+01] [ 8.88310466e-02 9.96041045e-01 -3.35873597e-03 2.38296660e-01] [ 5.69256289e-02 -1.71024940e-03 9.98376957e-01 2.99919854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.295099893 meters Centerline goodness [0,1] 0.9998697407841605 Centerline is valid? [True, True] Translation: X:11.54, Y:0.24, Z:0.30 [[ 9.94516552e-01 -8.83764298e-02 -5.59145337e-02 1.15371687e+01] [ 8.83301621e-02 9.96085775e-01 -3.30318932e-03 2.43241038e-01] [ 5.59875958e-02 -1.65386338e-03 9.98430095e-01 3.04805439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099893 meters Centerline goodness [0,1] 0.9998913822692417 Centerline is valid? [True, True] Translation: X:11.57, Y:0.25, Z:0.31 [[ 9.94654044e-01 -8.70712132e-02 -5.55151890e-02 1.15669409e+01] [ 8.70236286e-02 9.96200853e-01 -3.27861141e-03 2.48161690e-01] [ 5.55897513e-02 -1.57004909e-03 9.98452460e-01 3.08341028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355099893 meters Centerline goodness [0,1] 0.9997823816155988 Centerline is valid? [True, True] Translation: X:11.60, Y:0.25, Z:0.31 [[ 9.94536302e-01 -8.65543556e-02 -5.83599811e-02 1.15988340e+01] [ 8.65009588e-02 9.96245810e-01 -3.44534681e-03 2.50077348e-01] [ 5.84390964e-02 -1.62167185e-03 9.98289658e-01 3.05159018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099893 meters Centerline goodness [0,1] 0.9997820970975333 Centerline is valid? [True, True] Translation: X:11.63, Y:0.25, Z:0.30 [[ 9.94304532e-01 -8.75769949e-02 -6.07352184e-02 1.16284368e+01] [ 8.75211483e-02 9.96156213e-01 -3.58429750e-03 2.49031968e-01] [ 6.08156672e-02 -1.75173280e-03 9.98147477e-01 3.01957629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415099893 meters Centerline goodness [0,1] 0.9998474347238568 Centerline is valid? [True, True] Translation: X:11.66, Y:0.25, Z:0.30 [[ 9.94131044e-01 -8.95001049e-02 -6.07716988e-02 1.16572195e+01] [ 8.94474719e-02 9.95985066e-01 -3.59146236e-03 2.49103280e-01] [ 6.08491407e-02 -1.86549060e-03 9.98145231e-01 3.03443977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099893 meters Centerline goodness [0,1] 0.9998039984319874 Centerline is valid? [True, True] Translation: X:11.69, Y:0.25, Z:0.31 [[ 9.94185076e-01 -8.97991297e-02 -5.94318968e-02 1.16863023e+01] [ 8.97486066e-02 9.95958215e-01 -3.52429776e-03 2.54515529e-01] [ 5.95081648e-02 -1.83012569e-03 9.98226141e-01 3.09567648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.475099893 meters Centerline goodness [0,1] 0.9998038232665606 Centerline is valid? [True, True] Translation: X:11.72, Y:0.26, Z:0.31 [[ 9.94331907e-01 -8.83468392e-02 -5.91514508e-02 1.17159698e+01] [ 8.82941242e-02 9.96088265e-01 -3.50937827e-03 2.57801871e-01] [ 5.92301085e-02 -1.73323875e-03 9.98242851e-01 3.12514380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099893 meters Centerline goodness [0,1] 0.9997602493406856 Centerline is valid? [True, True] Translation: X:11.75, Y:0.26, Z:0.31 [[ 9.94563072e-01 -8.62586493e-02 -5.83415836e-02 1.17461963e+01] [ 8.62037792e-02 9.96271513e-01 -3.46132991e-03 2.60235537e-01] [ 5.84226274e-02 -1.58675408e-03 9.98290679e-01 3.12961088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535099893 meters Centerline goodness [0,1] 0.9998038574697614 Centerline is valid? [True, True] Translation: X:11.78, Y:0.26, Z:0.31 [[ 9.94879484e-01 -8.39228252e-02 -5.63184833e-02 1.17760839e+01] [ 8.38679203e-02 9.96471276e-01 -3.34191125e-03 2.62580792e-01] [ 5.64002136e-02 -1.39851513e-03 9.98407262e-01 3.14116142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters Centerline goodness [0,1] 0.9998474779387733 Centerline is valid? [True, True] Translation: X:11.81, Y:0.27, Z:0.32 [[ 9.94943049e-01 -8.35437807e-02 -5.57563116e-02 1.18066193e+01] [ 8.34891915e-02 9.96503180e-01 -3.31177487e-03 2.65613705e-01] [ 5.58380200e-02 -1.36002198e-03 9.98438914e-01 3.16493700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595099893 meters Centerline goodness [0,1] 0.9998471949356036 Centerline is valid? [True, True] Translation: X:11.84, Y:0.27, Z:0.32 [[ 9.95067595e-01 -8.25410056e-02 -5.50223894e-02 1.18373645e+01] [ 8.24863277e-02 9.96586838e-01 -3.26790706e-03 2.69377525e-01] [ 5.51043254e-02 -1.28680643e-03 9.98479773e-01 3.19033166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099893 meters Centerline goodness [0,1] 0.9998256890728837 Centerline is valid? [True, True] Translation: X:11.87, Y:0.27, Z:0.32 [[ 9.95141483e-01 -8.10364948e-02 -5.59152524e-02 1.18682260e+01] [ 8.09777629e-02 9.96710382e-01 -3.31903414e-03 2.72735047e-01] [ 5.60002755e-02 -1.22498349e-03 9.98430002e-01 3.20325497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.655099893000001 meters Centerline goodness [0,1] 0.9997600977056617 Centerline is valid? [True, True] Translation: X:11.90, Y:0.27, Z:0.32 [[ 9.95124079e-01 -8.00360375e-02 -5.76393894e-02 1.18974894e+01] [ 7.99720067e-02 9.96791241e-01 -3.42043146e-03 2.72734570e-01] [ 5.77281962e-02 -1.20578392e-03 9.98331609e-01 3.18703971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099893 meters Centerline goodness [0,1] 0.9998038104372847 Centerline is valid? [True, True] Translation: X:11.93, Y:0.27, Z:0.32 [[ 9.94987393e-01 -8.06227320e-02 -5.91613244e-02 1.19267532e+01] [ 8.05563004e-02 9.96743877e-01 -3.51092721e-03 2.74729665e-01] [ 5.92517484e-02 -1.27248911e-03 9.98242261e-01 3.19542219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.715099893 meters Centerline goodness [0,1] 0.9997383283543034 Centerline is valid? [True, True] Translation: X:11.96, Y:0.28, Z:0.32 [[ 9.94914427e-01 -8.11920681e-02 -5.96081411e-02 1.19559112e+01] [ 8.11255198e-02 9.96697608e-01 -3.53961543e-03 2.76313172e-01] [ 5.96986803e-02 -1.31412697e-03 9.98215578e-01 3.20051787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099893 meters Centerline goodness [0,1] 0.9998908439942366 Centerline is valid? [True, True] Translation: X:11.98, Y:0.28, Z:0.32 [[ 9.94943680e-01 -8.11651917e-02 -5.91547533e-02 1.19831456e+01] [ 8.10994416e-02 9.96699816e-01 -3.51543522e-03 2.78347715e-01] [ 5.92448627e-02 -1.29975740e-03 9.98242634e-01 3.22732690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775099893 meters Centerline goodness [0,1] 0.9998908082374266 Centerline is valid? [True, True] Translation: X:12.01, Y:0.28, Z:0.32 [[ 9.95126845e-01 -7.95090347e-02 -5.83170308e-02 1.20115649e+01] [ 7.94418906e-02 9.96833450e-01 -3.47252585e-03 2.81018140e-01] [ 5.84084642e-02 -1.17721149e-03 9.98292074e-01 3.24751754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099893 meters Centerline goodness [0,1] 0.9998469610843901 Centerline is valid? [True, True] Translation: X:12.04, Y:0.29, Z:0.33 [[ 9.95341675e-01 -7.75681687e-02 -5.72549498e-02 1.20404228e+01] [ 7.74994456e-02 9.96986519e-01 -3.42311843e-03 2.86445665e-01] [ 5.73479381e-02 -1.03005443e-03 9.98353721e-01 3.27761009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835099893 meters Centerline goodness [0,1] 0.9999347002742589 Centerline is valid? [True, True] Translation: X:12.07, Y:0.29, Z:0.33 [[ 9.95515542e-01 -7.68947265e-02 -5.50999753e-02 1.20694827e+01] [ 7.68294456e-02 9.97038772e-01 -3.30520006e-03 2.91260624e-01] [ 5.51909642e-02 -9.42922527e-04 9.98475372e-01 3.32834511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099893 meters Centerline goodness [0,1] 0.999847174919221 Centerline is valid? [True, True] Translation: X:12.10, Y:0.29, Z:0.33 [[ 9.95490183e-01 -7.74925933e-02 -5.47192210e-02 1.20991654e+01] [ 7.74290073e-02 9.96992458e-01 -3.28430300e-03 2.93702191e-01] [ 5.48091598e-02 -9.67363563e-04 9.98496380e-01 3.33232598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.895099893 meters Centerline goodness [0,1] 0.9999781583085794 Centerline is valid? [True, True] Translation: X:12.13, Y:0.29, Z:0.34 [[ 9.95336880e-01 -8.02079908e-02 -5.35833252e-02 1.21292336e+01] [ 8.01508573e-02 9.96777551e-01 -3.21779892e-03 2.93440757e-01] [ 5.36687488e-02 -1.09195551e-03 9.98558197e-01 3.36183221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099893 meters Centerline goodness [0,1] 0.9998903412580051 Centerline is valid? [True, True] Translation: X:12.16, Y:0.29, Z:0.33 [[ 9.94992090e-01 -8.29419355e-02 -5.57797160e-02 1.21605269e+01] [ 8.28843205e-02 9.96553546e-01 -3.34954535e-03 2.92517452e-01] [ 5.58652915e-02 -1.29049273e-03 9.98437481e-01 3.33129594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955099893 meters Centerline goodness [0,1] 0.9999562908407457 Centerline is valid? [True, True] Translation: X:12.19, Y:0.29, Z:0.33 [[ 9.94828029e-01 -8.44790111e-02 -5.63958228e-02 1.21912981e+01] [ 8.44226412e-02 9.96424285e-01 -3.38550788e-03 2.92595661e-01] [ 5.64801718e-02 -1.39308618e-03 9.98402749e-01 3.34675260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters Centerline goodness [0,1] 0.9998687520507492 Centerline is valid? [True, True] Translation: X:12.22, Y:0.29, Z:0.34 [[ 9.94672098e-01 -8.53017922e-02 -5.78880122e-02 1.22220720e+01] [ 8.52438753e-02 9.96354061e-01 -3.47365142e-03 2.94563255e-01] [ 5.79732648e-02 -1.47945435e-03 9.98317040e-01 3.35100941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015099893 meters Centerline goodness [0,1] 0.9998044158553546 Centerline is valid? [True, True] Translation: X:12.25, Y:0.30, Z:0.34 [[ 9.94802019e-01 -8.41968538e-02 -5.72698198e-02 1.22513115e+01] [ 8.41384714e-02 9.96448154e-01 -3.43423949e-03 2.95701261e-01] [ 5.73555584e-02 -1.40220672e-03 9.98352830e-01 3.37285549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099893 meters Centerline goodness [0,1] 0.9998255750572331 Centerline is valid? [True, True] Translation: X:12.28, Y:0.30, Z:0.34 [[ 9.95161062e-01 -8.17765424e-02 -5.44707018e-02 1.22818984e+01] [ 8.17200603e-02 9.96649967e-01 -3.26719269e-03 2.96457014e-01] [ 5.45554029e-02 -1.19996609e-03 9.98510024e-01 3.41743706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.075099893 meters Centerline goodness [0,1] 0.9998689727463312 Centerline is valid? [True, True] Translation: X:12.31, Y:0.30, Z:0.34 [[ 9.95322163e-01 -7.98143271e-02 -5.44377215e-02 1.23116613e+01] [ 7.97549884e-02 9.96809150e-01 -3.26508821e-03 3.00835218e-01] [ 5.45246197e-02 -1.09186518e-03 9.98511830e-01 3.43995160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099893 meters Centerline goodness [0,1] 0.9999780456211992 Centerline is valid? [True, True] Translation: X:12.34, Y:0.31, Z:0.35 [[ 9.95731965e-01 -7.38344467e-02 -5.53744441e-02 1.23411186e+01] [ 7.37638554e-02 9.97270208e-01 -3.32040066e-03 3.11583229e-01] [ 5.54684433e-02 -7.78403413e-04 9.98460137e-01 3.48302363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.135099893 meters Centerline goodness [0,1] 0.9998022195363147 Centerline is valid? [True, True] Translation: X:12.37, Y:0.32, Z:0.35 [[ 9.96093360e-01 -6.73605167e-02 -5.71014834e-02 1.23707117e+01] [ 6.72748000e-02 9.97728608e-01 -3.42430703e-03 3.17833372e-01] [ 5.72024466e-02 -4.30561377e-04 9.98362507e-01 3.45051422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099893 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:12.40, Y:0.31, Z:0.35 [[ 9.96773703e-01 -6.10008859e-02 -5.21639420e-02 1.23996559e+01] [ 6.09205090e-02 9.98137710e-01 -3.13095981e-03 3.09378528e-01] [ 5.22577890e-02 -5.69954920e-05 9.98633627e-01 3.49795402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195099893 meters Centerline goodness [0,1] 0.9998039685478426 Centerline is valid? [True, True] Translation: X:12.43, Y:0.31, Z:0.35 [[ 9.96842929e-01 -5.88377229e-02 -5.33131908e-02 1.24272338e+01] [ 5.87499908e-02 9.98267558e-01 -3.21265849e-03 3.10160867e-01] [ 5.34098543e-02 7.03664313e-05 9.98572673e-01 3.48816292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099893 meters Centerline goodness [0,1] 0.9999782759819256 Centerline is valid? [True, True] Translation: X:12.45, Y:0.31, Z:0.35 [[ 9.96929161e-01 -5.82175916e-02 -5.23732667e-02 1.24544383e+01] [ 5.81317812e-02 9.98303912e-01 -3.16156570e-03 3.11816201e-01] [ 5.24684957e-02 1.07305767e-04 9.98622574e-01 3.52798101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255099893 meters Centerline goodness [0,1] 0.9999782759819256 Centerline is valid? [True, True] Translation: X:12.48, Y:0.31, Z:0.35 [[ 9.96912605e-01 -5.85012252e-02 -5.23723639e-02 1.24817315e+01] [ 5.84150238e-02 9.98287331e-01 -3.17645384e-03 3.13538176e-01] [ 5.24684938e-02 1.07313995e-04 9.98622574e-01 3.54104282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099893 meters Centerline goodness [0,1] 0.9999782759819256 Centerline is valid? [True, True] Translation: X:12.51, Y:0.32, Z:0.36 [[ 9.96895968e-01 -5.87848536e-02 -5.23714574e-02 1.25090242e+01] [ 5.86982617e-02 9.98270669e-01 -3.19133350e-03 3.15267901e-01] [ 5.24684919e-02 1.07313991e-04 9.98622574e-01 3.55410459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.315099893 meters Centerline goodness [0,1] 0.9998476439220807 Centerline is valid? [True, True] Translation: X:12.54, Y:0.32, Z:0.35 [[ 9.96911076e-01 -5.78290111e-02 -5.31423714e-02 1.25372363e+01] [ 5.77377332e-02 9.98326487e-01 -3.25254091e-03 3.17704288e-01] [ 5.32415282e-02 1.74173995e-04 9.98581649e-01 3.54887848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099893 meters Centerline goodness [0,1] 0.9998475078424538 Centerline is valid? [True, True] Translation: X:12.56, Y:0.32, Z:0.36 [[ 9.96921908e-01 -5.72046639e-02 -5.36128233e-02 1.25648192e+01] [ 5.71105369e-02 9.98362449e-01 -3.28732874e-03 3.20128677e-01] [ 5.37130802e-02 2.15352919e-04 9.98556387e-01 3.57005769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.375099893 meters Centerline goodness [0,1] 0.9999129677980853 Centerline is valid? [True, True] Translation: X:12.59, Y:0.32, Z:0.36 [[ 9.96944389e-01 -5.71599177e-02 -5.32412405e-02 1.25928754e+01] [ 5.70662186e-02 9.98365009e-01 -3.27970145e-03 3.22427412e-01] [ 5.33416590e-02 2.31403687e-04 9.98576293e-01 3.58987597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters Centerline goodness [0,1] 0.9999129677980853 Centerline is valid? [True, True] Translation: X:12.62, Y:0.32, Z:0.36 [[ 9.96928117e-01 -5.74438832e-02 -5.32403029e-02 1.26201662e+01] [ 5.73497793e-02 9.98348710e-01 -3.29485633e-03 3.24181599e-01] [ 5.33416570e-02 2.31415291e-04 9.98576294e-01 3.60293790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435099893 meters Centerline goodness [0,1] 0.9998693322879917 Centerline is valid? [True, True] Translation: X:12.65, Y:0.33, Z:0.36 [[ 9.96889594e-01 -5.69998426e-02 -5.44256858e-02 1.26485782e+01] [ 5.68999860e-02 9.98374149e-01 -3.38379662e-03 3.26370349e-01] [ 5.45300737e-02 2.76450873e-04 9.98512090e-01 3.60696331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099893 meters Centerline goodness [0,1] 0.9998693322879917 Centerline is valid? [True, True] Translation: X:12.68, Y:0.33, Z:0.36 [[ 9.96873460e-01 -5.72821276e-02 -5.44248304e-02 1.26758686e+01] [ 5.71819430e-02 9.98357993e-01 -3.39750367e-03 3.28140485e-01] [ 5.45300807e-02 2.74763692e-04 9.98512090e-01 3.62001897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495099893 meters Centerline goodness [0,1] 0.9998256320836966 Centerline is valid? [True, True] Translation: X:12.70, Y:0.33, Z:0.36 [[ 9.96816755e-01 -5.74652962e-02 -5.52638817e-02 1.27037176e+01] [ 5.73613957e-02 9.98347464e-01 -3.46577824e-03 3.30065569e-01] [ 5.53717181e-02 2.84732427e-04 9.98465769e-01 3.62106897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099893 meters Centerline goodness [0,1] 0.9998256320836966 Centerline is valid? [True, True] Translation: X:12.73, Y:0.33, Z:0.36 [[ 9.96800518e-01 -5.77472039e-02 -5.52628988e-02 1.27310072e+01] [ 5.76428710e-02 9.98331197e-01 -3.48138650e-03 3.31852406e-01] [ 5.53717162e-02 2.84735727e-04 9.98465769e-01 3.63413099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.555099893 meters Centerline goodness [0,1] 0.9998697181569461 Centerline is valid? [True, True] Translation: X:12.76, Y:0.33, Z:0.36 [[ 9.96753480e-01 -5.78897386e-02 -5.59578242e-02 1.27584962e+01] [ 5.77820848e-02 9.98322939e-01 -3.54123576e-03 3.33469763e-01] [ 5.60689808e-02 2.96379323e-04 9.98426853e-01 3.64418207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099893 meters Centerline goodness [0,1] 0.9998697181569461 Centerline is valid? [True, True] Translation: X:12.79, Y:0.34, Z:0.37 [[ 9.96736861e-01 -5.81761650e-02 -5.59568044e-02 1.27857840e+01] [ 5.80680613e-02 9.98306289e-01 -3.55728354e-03 3.35266724e-01] [ 5.60689789e-02 2.96372485e-04 9.98426853e-01 3.65724436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615099893 meters Centerline goodness [0,1] 0.9998909344734317 Centerline is valid? [True, True] Translation: X:12.81, Y:0.34, Z:0.37 [[ 9.96681372e-01 -5.86535074e-02 -5.64447447e-02 1.28132403e+01] [ 5.85433453e-02 9.98278359e-01 -3.60468199e-03 3.36527899e-01] [ 5.65589944e-02 2.88255204e-04 9.98399217e-01 3.66214642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099893 meters Centerline goodness [0,1] 0.9998909344734317 Centerline is valid? [True, True] Translation: X:12.84, Y:0.34, Z:0.37 [[ 9.96664543e-01 -5.89397778e-02 -5.64437065e-02 1.28405272e+01] [ 5.88291577e-02 9.98261499e-01 -3.62087158e-03 3.38340441e-01] [ 5.65589924e-02 2.88258608e-04 9.98399217e-01 3.67520868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675099893 meters Centerline goodness [0,1] 0.9999347130639159 Centerline is valid? [True, True] Translation: X:12.87, Y:0.34, Z:0.37 [[ 9.96623270e-01 -5.97219992e-02 -5.63501595e-02 1.28686516e+01] [ 5.96120770e-02 9.98215015e-01 -3.63110138e-03 3.39109635e-01] [ 5.64664319e-02 2.59690085e-04 9.98404464e-01 3.68549061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099893 meters Centerline goodness [0,1] 0.9999347130639159 Centerline is valid? [True, True] Translation: X:12.90, Y:0.34, Z:0.37 [[ 9.96605960e-01 -6.00111650e-02 -5.63491029e-02 1.28959371e+01] [ 5.99007815e-02 9.98197672e-01 -3.64742998e-03 3.40933962e-01] [ 5.64664299e-02 2.59695149e-04 9.98404465e-01 3.69855294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.735099893 meters Centerline goodness [0,1] 0.9999347159053816 Centerline is valid? [True, True] Translation: X:12.92, Y:0.34, Z:0.37 [[ 9.96563294e-01 -6.10285219e-02 -5.60100036e-02 1.29231314e+01] [ 6.09202035e-02 9.98135999e-01 -3.64088487e-03 3.41963628e-01] [ 5.61277987e-02 2.16231404e-04 9.98423569e-01 3.70534748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099893 meters Centerline goodness [0,1] 0.9999347159053816 Centerline is valid? [True, True] Translation: X:12.95, Y:0.34, Z:0.37 [[ 9.96545800e-01 -6.13142285e-02 -5.60092366e-02 1.29504170e+01] [ 6.12056998e-02 9.98118490e-01 -3.65264843e-03 3.43803760e-01] [ 5.61278140e-02 2.11946922e-04 9.98423569e-01 3.71839373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.795099893 meters Centerline goodness [0,1] 0.9997602597912081 Centerline is valid? [True, True] Translation: X:12.98, Y:0.34, Z:0.37 [[ 9.96427458e-01 -6.36056449e-02 -5.55575677e-02 1.29781232e+01] [ 6.35016246e-02 9.97975106e-01 -3.63744906e-03 3.44941204e-01] [ 5.56764318e-02 9.64583138e-05 9.98448860e-01 3.71758043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099893 meters Centerline goodness [0,1] 0.99976011863224 Centerline is valid? [True, True] Translation: X:13.01, Y:0.35, Z:0.37 [[ 9.94894295e-01 -8.46775601e-02 -5.49094874e-02 1.30082948e+01] [ 8.46077294e-02 9.96407837e-01 -3.59932567e-03 3.47015242e-01] [ 5.50170257e-02 -1.06481847e-03 9.98484849e-01 3.73099083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855099893 meters Centerline goodness [0,1] 0.9997383226481747 Centerline is valid? [True, True] Translation: X:13.04, Y:0.35, Z:0.37 [[ 9.94994394e-01 -8.33559759e-02 -5.51174932e-02 1.30386262e+01] [ 8.32835497e-02 9.96519338e-01 -3.61367946e-03 3.49361108e-01] [ 5.52268697e-02 -9.94789683e-04 9.98473336e-01 3.73888242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099893 meters Centerline goodness [0,1] 0.9998034376569769 Centerline is valid? [True, True] Translation: X:13.07, Y:0.35, Z:0.38 [[ 9.95094651e-01 -8.24904600e-02 -5.46073296e-02 1.30692754e+01] [ 8.24181271e-02 9.96591412e-01 -3.57912804e-03 3.53575467e-01] [ 5.47164396e-02 -9.39062671e-04 9.98501492e-01 3.76518927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915099893 meters Centerline goodness [0,1] 0.9998034376569769 Centerline is valid? [True, True] Translation: X:13.10, Y:0.36, Z:0.38 [[ 9.95097643e-01 -8.24542678e-02 -5.46074594e-02 1.31000309e+01] [ 8.23819891e-02 9.96594407e-01 -3.57714729e-03 3.55561514e-01] [ 5.47164396e-02 -9.39060285e-04 9.98501492e-01 3.77984631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099893 meters Centerline goodness [0,1] 0.9998689555759402 Centerline is valid? [True, True] Translation: X:13.13, Y:0.36, Z:0.38 [[ 9.95152894e-01 -8.21658640e-02 -5.40322931e-02 1.31302281e+01] [ 8.20947748e-02 9.96618248e-01 -3.53763915e-03 3.57543068e-01] [ 5.41402425e-02 -9.15277101e-04 9.98532922e-01 3.80408793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.975099893 meters Centerline goodness [0,1] 0.9998028434357817 Centerline is valid? [True, True] Translation: X:13.16, Y:0.36, Z:0.38 [[ 9.95157647e-01 -8.21118240e-02 -5.40268933e-02 1.31614390e+01] [ 8.20407287e-02 9.96622704e-01 -3.53619243e-03 3.60148977e-01] [ 5.41347917e-02 -9.13336762e-04 9.98533219e-01 3.81297975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099893 meters Centerline goodness [0,1] 0.9998028434357817 Centerline is valid? [True, True] Translation: X:13.19, Y:0.36, Z:0.38 [[ 9.95160553e-01 -8.20765149e-02 -5.40270185e-02 1.31921940e+01] [ 8.20054715e-02 9.96625613e-01 -3.53427815e-03 3.62131333e-01] [ 5.41347917e-02 -9.13336930e-04 9.98533219e-01 3.82763660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035099893 meters Centerline goodness [0,1] 0.9997149122807018 Centerline is valid? [True, True] Translation: X:13.22, Y:0.37, Z:0.38 [[ 9.95102343e-01 -8.25421519e-02 -5.43885966e-02 1.32233178e+01] [ 8.24709556e-02 9.96587124e-01 -3.55597822e-03 3.65138362e-01] [ 5.44964932e-02 -9.46917271e-04 9.98513513e-01 3.83681830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099893 meters Centerline goodness [0,1] 0.9997149122807018 Centerline is valid? [True, True] Translation: X:13.25, Y:0.37, Z:0.39 [[ 9.95105347e-01 -8.25058474e-02 -5.43887260e-02 1.32540736e+01] [ 8.24347051e-02 9.96590131e-01 -3.55399839e-03 3.67119771e-01] [ 5.44964932e-02 -9.46915788e-04 9.98513513e-01 3.85147530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095099893 meters Centerline goodness [0,1] 0.9998471415469276 Centerline is valid? [True, True] Translation: X:13.28, Y:0.37, Z:0.39 [[ 9.95077012e-01 -8.31690513e-02 -5.38948017e-02 1.32839568e+01] [ 8.31002807e-02 9.96534975e-01 -3.51962474e-03 3.68124057e-01] [ 5.40007787e-02 -9.76375484e-04 9.98540416e-01 3.86843932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099893 meters Centerline goodness [0,1] 0.9998471415469276 Centerline is valid? [True, True] Translation: X:13.31, Y:0.37, Z:0.39 [[ 9.95080005e-01 -8.31330976e-02 -5.38949975e-02 1.33147130e+01] [ 8.30644367e-02 9.96537974e-01 -3.51662407e-03 3.70101237e-01] [ 5.40007594e-02 -9.77435307e-04 9.98540416e-01 3.88309248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.155099893 meters Centerline goodness [0,1] 0.9998905021571075 Centerline is valid? [True, True] Translation: X:13.35, Y:0.37, Z:0.39 [[ 9.94999168e-01 -8.39091236e-02 -5.41840797e-02 1.33456616e+01] [ 8.38409805e-02 9.96472882e-01 -3.53351629e-03 3.71048129e-01] [ 5.42894603e-02 -1.02700060e-03 9.98524712e-01 3.89554842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099893 meters Centerline goodness [0,1] 0.9998905021571075 Centerline is valid? [True, True] Translation: X:13.38, Y:0.37, Z:0.39 [[ 9.95002190e-01 -8.38732033e-02 -5.41842072e-02 1.33764184e+01] [ 8.38051136e-02 9.96475906e-01 -3.53155985e-03 3.73023965e-01] [ 5.42894602e-02 -1.02700385e-03 9.98524712e-01 3.91020583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.215099893 meters Centerline goodness [0,1] 0.9997602702408195 Centerline is valid? [True, True] Translation: X:13.41, Y:0.37, Z:0.39 [[ 9.94921546e-01 -8.43285759e-02 -5.49527774e-02 1.34069224e+01] [ 8.42593378e-02 9.96437429e-01 -3.57977654e-03 3.72135363e-01] [ 5.50588817e-02 -1.06868782e-03 9.98482537e-01 3.89179461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099893 meters Centerline goodness [0,1] 0.9997602702408195 Centerline is valid? [True, True] Translation: X:13.44, Y:0.37, Z:0.39 [[ 9.94924487e-01 -8.42938289e-02 -5.49528498e-02 1.34376793e+01] [ 8.42245992e-02 9.96440370e-01 -3.57866536e-03 3.74108325e-01] [ 5.50588973e-02 -1.06787995e-03 9.98482537e-01 3.90645522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275099893 meters Centerline goodness [0,1] 0.999825430423113 Centerline is valid? [True, True] Translation: X:13.47, Y:0.38, Z:0.39 [[ 9.94844717e-01 -8.48923019e-02 -5.54732906e-02 1.34693366e+01] [ 8.48227933e-02 9.96389511e-01 -3.61059227e-03 3.75519034e-01] [ 5.55795164e-02 -1.11342081e-03 9.98453643e-01 3.92175133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099893 meters Centerline goodness [0,1] 0.9998041903270022 Centerline is valid? [True, True] Translation: X:13.50, Y:0.38, Z:0.40 [[ 9.94844767e-01 -8.53115630e-02 -5.48254151e-02 1.34995447e+01] [ 8.52444037e-02 9.96353688e-01 -3.56662101e-03 3.76447076e-01] [ 5.49297786e-02 -1.12532556e-03 9.98489586e-01 3.95653995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335099893 meters Centerline goodness [0,1] 0.9997597361466046 Centerline is valid? [True, True] Translation: X:13.53, Y:0.38, Z:0.40 [[ 9.94815967e-01 -8.72254739e-02 -5.22772294e-02 1.35305118e+01] [ 8.71671030e-02 9.96187902e-01 -3.39987480e-03 3.79113796e-01] [ 5.23744992e-02 -1.17460490e-03 9.98626823e-01 4.01247687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099893 meters Centerline goodness [0,1] 0.9998475543359903 Centerline is valid? [True, True] Translation: X:13.56, Y:0.38, Z:0.40 [[ 9.94519146e-01 -9.03674932e-02 -5.25869226e-02 1.35624132e+01] [ 9.03129157e-02 9.95907573e-01 -3.41809416e-03 3.77235014e-01] [ 5.26805990e-02 -1.34991822e-03 9.98610501e-01 4.01503181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.395099893 meters Centerline goodness [0,1] 0.9999129734786676 Centerline is valid? [True, True] Translation: X:13.59, Y:0.38, Z:0.40 [[ 9.94471269e-01 -9.04295903e-02 -5.33796174e-02 1.35933485e+01] [ 9.03735551e-02 9.95901901e-01 -3.46755526e-03 3.78697758e-01] [ 5.34744320e-02 -1.37572171e-03 9.98568271e-01 4.03289277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099893 meters Centerline goodness [0,1] 0.999891453010008 Centerline is valid? [True, True] Translation: X:13.62, Y:0.38, Z:0.40 [[ 9.94564590e-01 -8.85720583e-02 -5.47381572e-02 1.36232885e+01] [ 8.85104770e-02 9.96068909e-01 -3.55304669e-03 3.83612088e-01] [ 5.48376772e-02 -1.31116598e-03 9.98494422e-01 4.03554858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455099893 meters Centerline goodness [0,1] 0.9997382084733191 Centerline is valid? [True, True] Translation: X:13.65, Y:0.39, Z:0.40 [[ 9.94655049e-01 -8.70554349e-02 -5.55219279e-02 1.36545008e+01] [ 8.69897805e-02 9.96202689e-01 -3.60279234e-03 3.87789861e-01] [ 5.56247365e-02 -1.24630473e-03 9.98450968e-01 4.03702536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099893 meters Centerline goodness [0,1] 0.9998032614873431 Centerline is valid? [True, True] Translation: X:13.69, Y:0.39, Z:0.40 [[ 9.94782836e-01 -8.52605337e-02 -5.60156225e-02 1.36852460e+01] [ 8.51909676e-02 9.96358018e-01 -3.63298651e-03 3.89619932e-01] [ 5.61213650e-02 -1.15799245e-03 9.98423283e-01 4.03315060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515099893 meters Centerline goodness [0,1] 0.999869511319893 Centerline is valid? [True, True] Translation: X:13.72, Y:0.39, Z:0.40 [[ 9.94797558e-01 -8.49433107e-02 -5.62356932e-02 1.37165939e+01] [ 8.48727556e-02 9.96385127e-01 -3.64610785e-03 3.91384119e-01] [ 5.63421208e-02 -1.14573906e-03 9.98410864e-01 4.04215747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099893 meters Centerline goodness [0,1] 0.999869511319893 Centerline is valid? [True, True] Translation: X:13.75, Y:0.39, Z:0.41 [[ 9.94800598e-01 -8.49076054e-02 -5.62358237e-02 1.37473527e+01] [ 8.48371072e-02 9.96388170e-01 -3.64409337e-03 3.93348130e-01] [ 5.63421207e-02 -1.14573834e-03 9.98410864e-01 4.05681555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575099893 meters Centerline goodness [0,1] 0.9998477400269717 Centerline is valid? [True, True] Translation: X:13.78, Y:0.39, Z:0.41 [[ 9.94754831e-01 -8.50003614e-02 -5.69013514e-02 1.37778626e+01] [ 8.49284444e-02 9.96380238e-01 -3.68532370e-03 3.92793935e-01] [ 5.70086359e-02 -1.16654970e-03 9.98373004e-01 4.05554676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099893 meters Centerline goodness [0,1] 0.9998044371047999 Centerline is valid? [True, True] Translation: X:13.81, Y:0.39, Z:0.41 [[ 9.94750087e-01 -8.51599861e-02 -5.67453982e-02 1.38083649e+01] [ 8.50887703e-02 9.96366599e-01 -3.67437852e-03 3.93714271e-01] [ 5.68521295e-02 -1.17330780e-03 9.98381920e-01 4.06527485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.635099893 meters Centerline goodness [0,1] 0.9997832072322067 Centerline is valid? [True, True] Translation: X:13.84, Y:0.40, Z:0.41 [[ 9.94709375e-01 -8.56306775e-02 -5.67507474e-02 1.38387412e+01] [ 8.55602133e-02 9.96326225e-01 -3.67472489e-03 3.95849921e-01] [ 5.68569271e-02 -1.20032276e-03 9.98381615e-01 4.08568602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099893 meters Centerline goodness [0,1] 0.9999562449408212 Centerline is valid? [True, True] Translation: X:13.87, Y:0.40, Z:0.42 [[ 9.95377552e-01 -8.08412399e-02 -5.18480798e-02 1.38688322e+01] [ 8.07759356e-02 9.96726631e-01 -3.35718657e-03 4.04996968e-01] [ 5.19497610e-02 -8.46409011e-04 9.98649341e-01 4.17763165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695099893 meters Centerline goodness [0,1] 0.9998471715826475 Centerline is valid? [True, True] Translation: X:13.90, Y:0.41, Z:0.42 [[ 9.95288031e-01 -8.09089695e-02 -5.34366301e-02 1.38996034e+01] [ 8.08397525e-02 9.96721109e-01 -3.45904496e-03 4.05390099e-01] [ 5.35412850e-02 -8.77057908e-04 9.98565252e-01 4.16522249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099893 meters Centerline goodness [0,1] 0.9999344806499519 Centerline is valid? [True, True] Translation: X:13.93, Y:0.41, Z:0.42 [[ 9.95178616e-01 -8.15762752e-02 -5.44502810e-02 1.39308872e+01] [ 8.15054658e-02 9.96666666e-01 -3.52353829e-03 4.06943603e-01] [ 5.45562171e-02 -9.31445552e-04 9.98510266e-01 4.17446919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755099893 meters Centerline goodness [0,1] 0.9998475410550159 Centerline is valid? [True, True] Translation: X:13.96, Y:0.41, Z:0.42 [[ 9.94958890e-01 -8.30101097e-02 -5.62683611e-02 1.39614666e+01] [ 8.29369052e-02 9.96548156e-01 -3.63899985e-03 4.06222090e-01] [ 5.63762053e-02 -1.04606848e-03 9.98409049e-01 4.15269133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099893 meters Centerline goodness [0,1] 0.999912739965096 Centerline is valid? [True, True] Translation: X:13.99, Y:0.41, Z:0.42 [[ 9.94766938e-01 -8.47853388e-02 -5.70104059e-02 1.39915516e+01] [ 8.47132428e-02 9.96398560e-01 -3.68452657e-03 4.07310591e-01] [ 5.71174802e-02 -1.16429115e-03 9.98366785e-01 4.16587345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.815099893 meters Centerline goodness [0,1] 0.999912739965096 Centerline is valid? [True, True] Translation: X:14.02, Y:0.41, Z:0.42 [[ 9.94766938e-01 -8.47853388e-02 -5.70104059e-02 1.40214630e+01] [ 8.47132428e-02 9.96398560e-01 -3.68452657e-03 4.09243729e-01] [ 5.71174802e-02 -1.16429115e-03 9.98366785e-01 4.18013452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099893 meters Centerline goodness [0,1] 0.9998692069581898 Centerline is valid? [True, True] Translation: X:14.05, Y:0.41, Z:0.42 [[ 9.94553011e-01 -8.67489335e-02 -5.77834866e-02 1.40515393e+01] [ 8.66781781e-02 9.96229365e-01 -3.73449001e-03 4.08511589e-01] [ 5.78895691e-02 -1.29441905e-03 9.98322154e-01 4.17883875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.875099893 meters Centerline goodness [0,1] 0.9998692069581898 Centerline is valid? [True, True] Translation: X:14.08, Y:0.41, Z:0.42 [[ 9.94553011e-01 -8.67489335e-02 -5.77834866e-02 1.40814521e+01] [ 8.66781781e-02 9.96229365e-01 -3.73449001e-03 4.10444824e-01] [ 5.78895691e-02 -1.29441905e-03 9.98322154e-01 4.19310053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099893 meters Centerline goodness [0,1] 0.999847218281424 Centerline is valid? [True, True] Translation: X:14.11, Y:0.41, Z:0.42 [[ 9.94387830e-01 -8.84995532e-02 -5.79713091e-02 1.41116699e+01] [ 8.84313075e-02 9.96075231e-01 -3.74662880e-03 4.12009597e-01] [ 5.80753601e-02 -1.40087658e-03 9.98311219e-01 4.20986496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935099893 meters Centerline goodness [0,1] 0.9998034848683348 Centerline is valid? [True, True] Translation: X:14.14, Y:0.41, Z:0.42 [[ 9.94290107e-01 -8.97762563e-02 -5.76836728e-02 1.41422193e+01] [ 8.97108417e-02 9.95960877e-01 -3.72785577e-03 4.12696081e-01] [ 5.77853543e-02 -1.46828073e-03 9.98327951e-01 4.22497264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099893 meters Centerline goodness [0,1] 0.9998259999565 Centerline is valid? [True, True] Translation: X:14.17, Y:0.41, Z:0.42 [[ 9.94245699e-01 -9.25195979e-02 -5.39964287e-02 1.41726084e+01] [ 9.24663589e-02 9.95709697e-01 -3.48877110e-03 4.08173145e-01] [ 5.40875474e-02 -1.52415749e-03 9.98535034e-01 4.24469084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995099893 meters Centerline goodness [0,1] 0.9998482483524107 Centerline is valid? [True, True] Translation: X:14.20, Y:0.41, Z:0.43 [[ 9.93857844e-01 -9.54620838e-02 -5.59783576e-02 1.42043667e+01] [ 9.54095421e-02 9.95431535e-01 -3.61651798e-03 4.07391468e-01] [ 5.60678628e-02 -1.74656470e-03 9.98425433e-01 4.25510806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099893 meters Centerline goodness [0,1] 0.9998264980806351 Centerline is valid? [True, True] Translation: X:14.24, Y:0.41, Z:0.43 [[ 9.93750215e-01 -9.60300802e-02 -5.69098666e-02 1.42360920e+01] [ 9.59768450e-02 9.95376785e-01 -3.67426899e-03 4.09193508e-01] [ 5.69996005e-02 -1.81072385e-03 9.98372559e-01 4.26094174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055099893 meters Centerline goodness [0,1] 0.9999131567520625 Centerline is valid? [True, True] Translation: X:14.27, Y:0.41, Z:0.43 [[ 9.93649991e-01 -9.68872847e-02 -5.72062012e-02 1.42674760e+01] [ 9.68351430e-02 9.95293597e-01 -3.68937454e-03 4.09230451e-01] [ 5.72944192e-02 -1.87362370e-03 9.98355567e-01 4.27913033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters Centerline goodness [0,1] 0.9998047679993058 Centerline is valid? [True, True] Translation: X:14.30, Y:0.41, Z:0.43 [[ 9.93573248e-01 -9.74986135e-02 -5.74997478e-02 1.42981760e+01] [ 9.74471182e-02 9.95233806e-01 -3.70551997e-03 4.08802897e-01] [ 5.75869759e-02 -1.92147921e-03 9.98338644e-01 4.27570609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115099893 meters Centerline goodness [0,1] 0.9998047679993058 Centerline is valid? [True, True] Translation: X:14.33, Y:0.41, Z:0.43 [[ 9.93576664e-01 -9.74637555e-02 -5.74998247e-02 1.43289456e+01] [ 9.74122709e-02 9.95237222e-01 -3.70432593e-03 4.10755057e-01] [ 5.75870033e-02 -1.92065671e-03 9.98338644e-01 4.29037230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099893 meters Centerline goodness [0,1] 0.9998485274706251 Centerline is valid? [True, True] Translation: X:14.36, Y:0.41, Z:0.43 [[ 9.93538578e-01 -9.81905954e-02 -5.69183631e-02 1.43606032e+01] [ 9.81414497e-02 9.95165727e-01 -3.66487775e-03 4.11786765e-01] [ 5.70030607e-02 -1.94485324e-03 9.98372109e-01 4.31297590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175099893 meters Centerline goodness [0,1] 0.9998485274706251 Centerline is valid? [True, True] Translation: X:14.39, Y:0.41, Z:0.43 [[ 9.93542035e-01 -9.81555421e-02 -5.69184921e-02 1.43913737e+01] [ 9.81064537e-02 9.95169185e-01 -3.66287374e-03 4.13736510e-01] [ 5.70030607e-02 -1.94485238e-03 9.98372109e-01 4.32763957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters Centerline goodness [0,1] 0.9998485274706251 Centerline is valid? [True, True] Translation: X:14.42, Y:0.42, Z:0.43 [[ 9.93545490e-01 -9.81204887e-02 -5.69186210e-02 1.44221442e+01] [ 9.80714575e-02 9.95172642e-01 -3.66086886e-03 4.15685171e-01] [ 5.70030607e-02 -1.94485238e-03 9.98372109e-01 4.34230323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235099893 meters Centerline goodness [0,1] 0.9998061556354865 Centerline is valid? [True, True] Translation: X:14.45, Y:0.42, Z:0.43 [[ 9.93326454e-01 -9.97718814e-02 -5.78630116e-02 1.44529613e+01] [ 9.97241168e-02 9.95008173e-01 -3.71971852e-03 4.17088192e-01] [ 5.79452928e-02 -2.07544293e-03 9.98317603e-01 4.34664665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters Centerline goodness [0,1] 0.9998264755005097 Centerline is valid? [True, True] Translation: X:14.48, Y:0.42, Z:0.44 [[ 9.93263853e-01 -1.00091548e-01 -5.83832187e-02 1.44832314e+01] [ 1.00043535e-01 9.94975986e-01 -3.75211334e-03 4.19540175e-01] [ 5.84654555e-02 -2.11402501e-03 9.98287194e-01 4.35513538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295099893 meters Centerline goodness [0,1] 0.999826136091974 Centerline is valid? [True, True] Translation: X:14.51, Y:0.43, Z:0.44 [[ 9.93498711e-01 -9.85447689e-02 -5.70021025e-02 1.45139567e+01] [ 9.84965225e-02 9.95130656e-01 -3.66218917e-03 4.27013829e-01] [ 5.70854293e-02 -1.97612865e-03 9.98367342e-01 4.39786312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099893 meters Centerline goodness [0,1] 0.999891205013273 Centerline is valid? [True, True] Translation: X:14.54, Y:0.43, Z:0.44 [[ 9.94074052e-01 -9.19413289e-02 -5.79963019e-02 1.45447995e+01] [ 9.18802744e-02 9.95763097e-01 -3.72413081e-03 4.31814951e-01] [ 5.80929788e-02 -1.62665433e-03 9.98309852e-01 4.38142999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:0.44, Z:0.45 [[ 9.94344973e-01 -9.03470032e-02 -5.58166006e-02 1.45754857e+01] [ 9.02880044e-02 9.95909252e-01 -3.58303786e-03 4.37488980e-01] [ 5.59119856e-02 -1.47679379e-03 9.98434609e-01 4.46230081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters Centerline goodness [0,1] 0.9998692611073584 Centerline is valid? [True, True] Translation: X:14.61, Y:0.44, Z:0.45 [[ 9.94161435e-01 -9.16230558e-02 -5.69934742e-02 1.46056781e+01] [ 9.15637475e-02 9.95792503e-01 -3.65665417e-03 4.39855989e-01] [ 5.70887082e-02 -1.58323152e-03 9.98367854e-01 4.46636199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.415099893 meters Centerline goodness [0,1] 0.9998693265963934 Centerline is valid? [True, True] Translation: X:14.64, Y:0.44, Z:0.44 [[ 9.93661071e-01 -9.53643900e-02 -5.95257088e-02 1.46370941e+01] [ 9.53064653e-02 9.95440657e-01 -3.81795853e-03 4.38763343e-01] [ 5.96184080e-02 -1.87942814e-03 9.98219471e-01 4.44789411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters Centerline goodness [0,1] 0.9998912286808215 Centerline is valid? [True, True] Translation: X:14.67, Y:0.43, Z:0.44 [[ 9.93194513e-01 -9.96143888e-02 -6.03459440e-02 1.46676159e+01] [ 9.95627344e-02 9.95023762e-01 -3.86972772e-03 4.34571094e-01] [ 6.04311288e-02 -2.16481486e-03 9.98170022e-01 4.42495753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475099893 meters Centerline goodness [0,1] 0.9997610046495459 Centerline is valid? [True, True] Translation: X:14.70, Y:0.43, Z:0.44 [[ 9.92889941e-01 -1.02398302e-01 -6.06972166e-02 1.46979531e+01] [ 1.02351169e-01 9.94740710e-01 -3.89332162e-03 4.33425925e-01] [ 6.07766619e-02 -2.34679118e-03 9.98148631e-01 4.41808317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099893 meters Centerline goodness [0,1] 0.999826241827936 Centerline is valid? [True, True] Translation: X:14.73, Y:0.44, Z:0.45 [[ 9.93116264e-01 -1.01127029e-01 -5.91050698e-02 1.47290202e+01] [ 1.01080064e-01 9.94871069e-01 -3.79155460e-03 4.36813835e-01] [ 5.91853527e-02 -2.20888970e-03 9.98244567e-01 4.46733240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535099893 meters Centerline goodness [0,1] 0.9998265056060376 Centerline is valid? [True, True] Translation: X:14.76, Y:0.44, Z:0.45 [[ 9.93387823e-01 -9.88096361e-02 -5.84575802e-02 1.47599059e+01] [ 9.87598105e-02 9.95104242e-01 -3.74792906e-03 4.40861235e-01] [ 5.85417176e-02 -2.05011245e-03 9.98282858e-01 4.49830290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters Centerline goodness [0,1] 0.9997610461832559 Centerline is valid? [True, True] Translation: X:14.79, Y:0.44, Z:0.45 [[ 9.93689058e-01 -9.61743505e-02 -5.77282511e-02 1.47913506e+01] [ 9.61214394e-02 9.95362741e-01 -3.69909923e-03 4.43733733e-01] [ 5.78163087e-02 -1.87316817e-03 9.98325481e-01 4.49741538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.595099893 meters Centerline goodness [0,1] 0.9998051652847834 Centerline is valid? [True, True] Translation: X:14.82, Y:0.44, Z:0.45 [[ 9.93621041e-01 -9.79019604e-02 -5.59681348e-02 1.48218560e+01] [ 9.78550772e-02 9.95194221e-01 -3.58420789e-03 4.41648821e-01] [ 5.60500652e-02 -1.91542177e-03 9.98426122e-01 4.50532991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099893 meters Centerline goodness [0,1] 0.9998047383493882 Centerline is valid? [True, True] Translation: X:14.85, Y:0.44, Z:0.45 [[ 9.93479054e-01 -9.93346389e-02 -5.59642559e-02 1.48524236e+01] [ 9.92901759e-02 9.95052076e-01 -3.58136903e-03 4.44563903e-01] [ 5.60431030e-02 -1.99868569e-03 9.98426350e-01 4.54713696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655099893 meters Centerline goodness [0,1] 0.9998046451052746 Centerline is valid? [True, True] Translation: X:14.88, Y:0.45, Z:0.46 [[ 9.93390899e-01 -9.89276152e-02 -5.82052211e-02 1.48843077e+01] [ 9.88789238e-02 9.95092507e-01 -3.72312962e-03 4.51326263e-01] [ 5.82878997e-02 -2.05674654e-03 9.98297696e-01 4.57525508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099893 meters Centerline goodness [0,1] 0.9998694914516901 Centerline is valid? [True, True] Translation: X:14.91, Y:0.45, Z:0.45 [[ 9.93163164e-01 -9.88937575e-02 -6.20238193e-02 1.49145420e+01] [ 9.88386532e-02 9.95095579e-01 -3.96349954e-03 4.52406391e-01] [ 6.21115937e-02 -2.19394902e-03 9.98066800e-01 4.54711005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715099893 meters Centerline goodness [0,1] 0.9998259355961706 Centerline is valid? [True, True] Translation: X:14.95, Y:0.45, Z:0.45 [[ 9.93149712e-01 -9.87849069e-02 -6.24114773e-02 1.49454255e+01] [ 9.87289513e-02 9.95106374e-01 -3.98742300e-03 4.53828379e-01] [ 6.24999561e-02 -2.20171170e-03 9.98042538e-01 4.53177025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters Centerline goodness [0,1] 0.9998050935550935 Centerline is valid? [True, True] Translation: X:14.98, Y:0.45, Z:0.46 [[ 9.93384160e-01 -9.90252435e-02 -5.81542141e-02 1.49751011e+01] [ 9.89770708e-02 9.95082778e-01 -3.71529687e-03 4.53300693e-01] [ 5.82361651e-02 -2.06521670e-03 9.98300698e-01 4.57399151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.775099893 meters Centerline goodness [0,1] 0.9998263059620478 Centerline is valid? [True, True] Translation: X:15.01, Y:0.46, Z:0.46 [[ 9.93481383e-01 -9.87443414e-02 -5.69587288e-02 1.50072209e+01] [ 9.86977383e-02 9.95110810e-01 -3.63765095e-03 4.57679793e-01] [ 5.70394442e-02 -2.00775921e-03 9.98369907e-01 4.61601063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099893 meters Centerline goodness [0,1] 0.9998045602605863 Centerline is valid? [True, True] Translation: X:15.04, Y:0.46, Z:0.46 [[ 9.93488034e-01 -9.75611593e-02 -5.88502013e-02 1.50396571e+01] [ 9.75096022e-02 9.95227504e-01 -3.75403974e-03 4.60592272e-01] [ 5.89355875e-02 -2.00886616e-03 9.98259766e-01 4.60474115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835099893 meters Centerline goodness [0,1] 0.9998047637641546 Centerline is valid? [True, True] Translation: X:15.07, Y:0.46, Z:0.46 [[ 9.93208655e-01 -9.83877051e-02 -6.21001366e-02 1.50717698e+01] [ 9.83321770e-02 9.95145780e-01 -3.95716149e-03 4.58845547e-01] [ 6.21880249e-02 -2.17615458e-03 9.98062079e-01 4.55696812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099893 meters Centerline goodness [0,1] 0.9997616881147363 Centerline is valid? [True, True] Translation: X:15.10, Y:0.46, Z:0.46 [[ 9.93175590e-01 -9.85854227e-02 -6.23150137e-02 1.51008560e+01] [ 9.85300065e-02 9.95126165e-01 -3.96912748e-03 4.60420214e-01] [ 6.24025987e-02 -2.19785818e-03 9.98048639e-01 4.57101029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895099893 meters Centerline goodness [0,1] 0.9999128198422039 Centerline is valid? [True, True] Translation: X:15.13, Y:0.47, Z:0.46 [[ 9.93274516e-01 -9.78638476e-02 -6.18740941e-02 1.51307706e+01] [ 9.78078157e-02 9.95197518e-01 -3.94102511e-03 4.67065046e-01] [ 6.19626287e-02 -2.13725018e-03 9.98076182e-01 4.63208989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters Centerline goodness [0,1] 0.9997823010776097 Centerline is valid? [True, True] Translation: X:15.16, Y:0.47, Z:0.46 [[ 9.93563806e-01 -9.55120991e-02 -6.08966450e-02 1.51606459e+01] [ 9.54534121e-02 9.95426341e-01 -3.87876721e-03 4.70028576e-01] [ 6.09885937e-02 -1.95898984e-03 9.98136541e-01 4.64644905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955099893 meters Centerline goodness [0,1] 0.9998038660186981 Centerline is valid? [True, True] Translation: X:15.19, Y:0.47, Z:0.47 [[ 9.93711992e-01 -9.43918160e-02 -6.02217682e-02 1.51908079e+01] [ 9.43323678e-02 9.95533370e-01 -3.83578143e-03 4.70499579e-01] [ 6.03148462e-02 -1.86919998e-03 9.98177652e-01 4.65272824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099893 meters Centerline goodness [0,1] 0.9998910888932453 Centerline is valid? [True, True] Translation: X:15.22, Y:0.47, Z:0.47 [[ 9.93769315e-01 -9.44861503e-02 -5.91178197e-02 1.52209927e+01] [ 9.44290265e-02 9.95524475e-01 -3.76546623e-03 4.72748572e-01] [ 5.92090208e-02 -1.84043336e-03 9.98243910e-01 4.68453371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015099893 meters Centerline goodness [0,1] 0.9998692411628819 Centerline is valid? [True, True] Translation: X:15.25, Y:0.48, Z:0.48 [[ 9.93893871e-01 -9.42719282e-02 -5.73391429e-02 1.52517664e+01] [ 9.42178526e-02 9.95544906e-01 -3.65181129e-03 4.82219511e-01] [ 5.74279550e-02 -1.77285806e-03 9.98348079e-01 4.75579349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters Centerline goodness [0,1] 0.9998032313780363 Centerline is valid? [True, True] Translation: X:15.28, Y:0.48, Z:0.48 [[ 9.93977538e-01 -9.35244680e-02 -5.71124142e-02 1.52826850e+01] [ 9.34697065e-02 9.95615487e-01 -3.63528764e-03 4.82040459e-01] [ 5.72019924e-02 -1.72488634e-03 9.98361135e-01 4.75586436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075099893 meters Centerline goodness [0,1] 0.9998693806465658 Centerline is valid? [True, True] Translation: X:15.31, Y:0.48, Z:0.47 [[ 9.94152748e-01 -9.11539261e-02 -5.78901946e-02 1.53130557e+01] [ 9.10937522e-02 9.95835510e-01 -3.68304813e-03 4.81780713e-01] [ 5.79848358e-02 -1.61192263e-03 9.98316163e-01 4.72190366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters Centerline goodness [0,1] 0.9997827881315435 Centerline is valid? [True, True] Translation: X:15.34, Y:0.48, Z:0.47 [[ 9.94005058e-01 -9.19612525e-02 -5.91360600e-02 1.53442165e+01] [ 9.18998882e-02 9.95761144e-01 -3.76231167e-03 4.80193675e-01] [ 5.92313776e-02 -1.69484047e-03 9.98242842e-01 4.70564685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135099893 meters Centerline goodness [0,1] 0.9998257270449842 Centerline is valid? [True, True] Translation: X:15.37, Y:0.48, Z:0.47 [[ 9.93418305e-01 -9.56053611e-02 -6.30847574e-02 1.53742580e+01] [ 9.55428467e-02 9.95417226e-01 -4.01381431e-03 4.83796704e-01] [ 6.31793964e-02 -2.03990070e-03 9.98000102e-01 4.73970512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099893 meters Centerline goodness [0,1] 0.99984776982798 Centerline is valid? [True, True] Translation: X:15.40, Y:0.49, Z:0.47 [[ 9.92932170e-01 -9.84648655e-02 -6.62599125e-02 1.54035287e+01] [ 9.84021313e-02 9.95137795e-01 -4.21774413e-03 4.86288546e-01] [ 6.63530428e-02 -2.33218278e-03 9.97793483e-01 4.73668381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195099893 meters Centerline goodness [0,1] 0.9998260264439806 Centerline is valid? [True, True] Translation: X:15.43, Y:0.48, Z:0.47 [[ 9.92412631e-01 -1.01627669e-01 -6.92025020e-02 1.54337847e+01] [ 1.01566705e-01 9.94818965e-01 -4.40810573e-03 4.83816965e-01] [ 6.92919469e-02 -2.65401027e-03 9.97592894e-01 4.69895269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters Centerline goodness [0,1] 0.9998037419861311 Centerline is valid? [True, True] Translation: X:15.46, Y:0.48, Z:0.47 [[ 9.92392777e-01 -1.02964323e-01 -6.74901810e-02 1.54621319e+01] [ 1.02908967e-01 9.94681460e-01 -4.30562574e-03 4.82374131e-01] [ 6.75745576e-02 -2.67247292e-03 9.97710648e-01 4.70411847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.255099893 meters Centerline goodness [0,1] 0.999912734253987 Centerline is valid? [True, True] Translation: X:15.49, Y:0.49, Z:0.48 [[ 9.92617637e-01 -1.02084331e-01 -6.54905834e-02 1.54910250e+01] [ 1.02029140e-01 9.94772563e-01 -4.19553030e-03 4.86107722e-01] [ 6.55765334e-02 -2.51739052e-03 9.97844367e-01 4.75571882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099893 meters Centerline goodness [0,1] 0.9998691128029493 Centerline is valid? [True, True] Translation: X:15.52, Y:0.49, Z:0.48 [[ 9.93535866e-01 -9.46360100e-02 -6.26937607e-02 1.55195833e+01] [ 9.45699237e-02 9.95510075e-01 -4.02735889e-03 4.93679443e-01] [ 6.27934036e-02 -1.92761866e-03 9.98024685e-01 4.81035326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315099893 meters Centerline goodness [0,1] 0.9998687175896549 Centerline is valid? [True, True] Translation: X:15.55, Y:0.50, Z:0.48 [[ 9.94124685e-01 -8.96998249e-02 -6.05809565e-02 1.55485646e+01] [ 8.96288737e-02 9.95967624e-01 -3.89306573e-03 5.00399159e-01] [ 6.06858787e-02 -1.55961016e-03 9.98155695e-01 4.84241839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099893 meters Centerline goodness [0,1] 0.9998029642927513 Centerline is valid? [True, True] Translation: X:15.58, Y:0.50, Z:0.49 [[ 9.94524954e-01 -8.72065808e-02 -5.75771478e-02 1.55780890e+01] [ 8.71382022e-02 9.96189354e-01 -3.70200417e-03 5.04568368e-01] [ 5.76805808e-02 -1.33543362e-03 9.98334196e-01 4.87549311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375099893 meters Centerline goodness [0,1] 0.9997378138041032 Centerline is valid? [True, True] Translation: X:15.61, Y:0.51, Z:0.49 [[ 9.94651701e-01 -8.70861829e-02 -5.55336932e-02 1.56081272e+01] [ 8.70222928e-02 9.96199960e-01 -3.57225268e-03 5.07478273e-01] [ 5.56337568e-02 -1.27952211e-03 9.98450423e-01 4.90380658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters Centerline goodness [0,1] 0.9999781626012709 Centerline is valid? [True, True] Translation: X:15.64, Y:0.51, Z:0.49 [[ 9.94537787e-01 -8.84771858e-02 -5.53748754e-02 1.56390662e+01] [ 8.84158296e-02 9.96077284e-01 -3.56174909e-03 5.09096921e-01] [ 5.54727890e-02 -1.35372149e-03 9.98459282e-01 4.94462161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.435099893 meters Centerline goodness [0,1] 0.9999345164036408 Centerline is valid? [True, True] Translation: X:15.67, Y:0.51, Z:0.49 [[ 9.93995825e-01 -9.15046123e-02 -5.99933823e-02 1.56701874e+01] [ 9.14382418e-02 9.95803282e-01 -3.85646976e-03 5.05509215e-01] [ 6.00944918e-02 -1.65237456e-03 9.98191325e-01 4.89513502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099893 meters Centerline goodness [0,1] 0.9998251518992874 Centerline is valid? [True, True] Translation: X:15.70, Y:0.51, Z:0.49 [[ 9.93698314e-01 -9.33181322e-02 -6.20917662e-02 1.57001184e+01] [ 9.32506592e-02 9.95634669e-01 -3.98997942e-03 5.07651061e-01] [ 6.21930525e-02 -1.82526230e-03 9.98062469e-01 4.89869275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495099893 meters Centerline goodness [0,1] 0.9998255179934569 Centerline is valid? [True, True] Translation: X:15.73, Y:0.51, Z:0.49 [[ 9.93688152e-01 -9.39146789e-02 -6.13505545e-02 1.57293573e+01] [ 9.38498075e-02 9.95578553e-01 -3.94451704e-03 5.11011832e-01] [ 6.14497443e-02 -1.83811788e-03 9.98108486e-01 4.93248592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099893 meters Centerline goodness [0,1] 0.9998238777711732 Centerline is valid? [True, True] Translation: X:15.76, Y:0.53, Z:0.50 [[ 9.95315030e-01 -7.43567537e-02 -6.17985796e-02 1.57585847e+01] [ 7.42531336e-02 9.97231504e-01 -3.97480802e-03 5.33798809e-01] [ 6.19230443e-02 -6.32552016e-04 9.98080726e-01 4.98894768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555099893 meters Centerline goodness [0,1] 0.9999118768037717 Centerline is valid? [True, True] Translation: X:15.79, Y:0.54, Z:0.50 [[ 9.95554454e-01 -7.21914031e-02 -6.04956989e-02 1.57872439e+01] [ 7.20879580e-02 9.97390679e-01 -3.89358066e-03 5.36269612e-01] [ 6.06189292e-02 -4.84739826e-04 9.98160864e-01 5.01773024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:15.82, Y:0.54, Z:0.50 [[ 9.95698908e-01 -7.05696191e-02 -6.00301034e-02 1.58164118e+01] [ 7.04639196e-02 9.97506789e-01 -3.87849219e-03 5.37879133e-01] [ 6.01541394e-02 -3.68145940e-04 9.98189032e-01 5.02115511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615099893 meters Centerline goodness [0,1] 0.999846605601087 Centerline is valid? [True, True] Translation: X:15.84, Y:0.54, Z:0.50 [[ 9.95865072e-01 -6.89118932e-02 -5.91938368e-02 1.58445510e+01] [ 6.88054792e-02 9.97622718e-01 -3.83649229e-03 5.39402725e-01] [ 5.93174963e-02 -2.52231640e-04 9.98239135e-01 5.02921866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099893 meters Centerline goodness [0,1] 0.9998680390604381 Centerline is valid? [True, True] Translation: X:15.87, Y:0.54, Z:0.51 [[ 9.95957355e-01 -6.79921370e-02 -5.87027878e-02 1.58721382e+01] [ 6.78854433e-02 9.97685839e-01 -3.81218242e-03 5.41701332e-01] [ 5.88261385e-02 -1.88293661e-04 9.98268225e-01 5.05470134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675099893 meters Centerline goodness [0,1] 0.9998244459073952 Centerline is valid? [True, True] Translation: X:15.90, Y:0.54, Z:0.51 [[ 9.96052516e-01 -6.71548839e-02 -5.80483205e-02 1.58996520e+01] [ 6.70482787e-02 9.97742555e-01 -3.78441344e-03 5.43781958e-01] [ 5.81714215e-02 -1.22565441e-04 9.98306602e-01 5.06409474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099893 meters Centerline goodness [0,1] 0.9998244459073952 Centerline is valid? [True, True] Translation: X:15.93, Y:0.55, Z:0.51 [[ 9.96033493e-01 -6.74368452e-02 -5.80478441e-02 1.59269360e+01] [ 6.73302933e-02 9.97723536e-01 -3.79170673e-03 5.45627672e-01] [ 5.81714010e-02 -1.31711466e-04 9.98306602e-01 5.07712214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735099893 meters Centerline goodness [0,1] 0.9998461775111521 Centerline is valid? [True, True] Translation: X:15.96, Y:0.55, Z:0.51 [[ 9.96106775e-01 -6.67431634e-02 -5.75902958e-02 1.59550238e+01] [ 6.66361846e-02 9.97770186e-01 -3.77812961e-03 5.48190383e-01] [ 5.77140444e-02 -7.41770805e-05 9.98333153e-01 5.10066029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters Centerline goodness [0,1] 0.9998461775111521 Centerline is valid? [True, True] Translation: X:15.98, Y:0.55, Z:0.51 [[ 9.96087573e-01 -6.70300725e-02 -5.75892050e-02 1.59823043e+01] [ 6.69226154e-02 9.97750953e-01 -3.79468958e-03 5.50050168e-01] [ 5.77140425e-02 -7.41770779e-05 9.98333153e-01 5.11372250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795099893 meters Centerline goodness [0,1] 0.9998246690628562 Centerline is valid? [True, True] Translation: X:16.01, Y:0.55, Z:0.51 [[ 9.96185025e-01 -6.58517635e-02 -5.72620357e-02 1.60093810e+01] [ 6.57427262e-02 9.97829417e-01 -3.78798038e-03 5.52397809e-01] [ 5.73871889e-02 8.96699634e-06 9.98351997e-01 5.12030647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099893 meters Centerline goodness [0,1] 0.9998023411591593 Centerline is valid? [True, True] Translation: X:16.04, Y:0.56, Z:0.51 [[ 9.96210081e-01 -6.48405514e-02 -5.79756629e-02 1.60382955e+01] [ 6.47265619e-02 9.97895634e-01 -3.84384981e-03 5.55094536e-01] [ 5.81028983e-02 7.67165942e-05 9.98310597e-01 5.13019493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855099893 meters Centerline goodness [0,1] 0.9998680274502904 Centerline is valid? [True, True] Translation: X:16.06, Y:0.56, Z:0.51 [[ 9.96302257e-01 -6.34555593e-02 -5.79241313e-02 1.60647814e+01] [ 6.33386646e-02 9.97984651e-01 -3.85365563e-03 5.57740908e-01] [ 5.80519299e-02 1.70568671e-04 9.98313550e-01 5.14572036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters Centerline goodness [0,1] 0.9998680274502904 Centerline is valid? [True, True] Translation: X:16.09, Y:0.56, Z:0.52 [[ 9.96284417e-01 -6.37355692e-02 -5.79235426e-02 1.60920623e+01] [ 6.36186340e-02 9.97966808e-01 -3.86248511e-03 5.59627367e-01] [ 5.80519506e-02 1.63117067e-04 9.98313550e-01 5.15875389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.915099893 meters Centerline goodness [0,1] 0.9998244189364177 Centerline is valid? [True, True] Translation: X:16.12, Y:0.56, Z:0.52 [[ 9.96510615e-01 -6.01065539e-02 -5.79119769e-02 1.61204150e+01] [ 5.99826089e-02 9.98191890e-01 -3.87774946e-03 5.61789822e-01] [ 5.80403439e-02 3.90507036e-04 9.98314162e-01 5.17359638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters Centerline goodness [0,1] 0.9997585283399921 Centerline is valid? [True, True] Translation: X:16.15, Y:0.56, Z:0.52 [[ 9.96661275e-01 -5.81028228e-02 -5.73617040e-02 1.61488926e+01] [ 5.79770794e-02 9.98310470e-01 -3.85529831e-03 5.63632543e-01] [ 5.74887934e-02 5.16762469e-04 9.98346018e-01 5.18315874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975099893 meters Centerline goodness [0,1] 0.9997417799965571 Centerline is valid? [True, True] Translation: X:16.18, Y:0.53, Z:0.53 [[ 9.97130085e-01 -5.06403540e-02 -5.62774132e-02 1.61801276e+01] [ 5.05067570e-02 9.98716511e-01 -3.79460832e-03 5.28515857e-01] [ 5.63973420e-02 9.41328485e-04 9.98407960e-01 5.25474873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099893 meters Centerline goodness [0,1] 0.999806750837413 Centerline is valid? [True, True] Translation: X:16.21, Y:0.53, Z:0.53 [[ 9.97114796e-01 -5.15176750e-02 -5.57495623e-02 1.62089629e+01] [ 5.13876826e-02 9.98671688e-01 -3.76370383e-03 5.27588557e-01] [ 5.58694067e-02 8.88003966e-04 9.98437690e-01 5.27313436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035099892999998 meters Centerline goodness [0,1] 0.9998500556935995 Centerline is valid? [True, True] Translation: X:16.24, Y:0.53, Z:0.53 [[ 9.97133706e-01 -5.21294301e-02 -5.48351532e-02 1.62364613e+01] [ 5.20039076e-02 9.98639973e-01 -3.71446962e-03 5.28359132e-01] [ 5.49542092e-02 8.52180613e-04 9.98488512e-01 5.29173828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters Centerline goodness [0,1] 0.9998500556935995 Centerline is valid? [True, True] Translation: X:16.26, Y:0.53, Z:0.53 [[ 9.97119329e-01 -5.24041636e-02 -5.48347272e-02 1.62637557e+01] [ 5.22787110e-02 9.98625602e-01 -3.72074828e-03 5.30281832e-01] [ 5.49543451e-02 8.43341173e-04 9.98488512e-01 5.30477135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.095099893 meters Centerline goodness [0,1] 0.9998073959938367 Centerline is valid? [True, True] Translation: X:16.29, Y:0.53, Z:0.53 [[ 9.97135495e-01 -5.30053707e-02 -5.39558719e-02 1.62926833e+01] [ 5.28840013e-02 9.98593897e-01 -3.67568706e-03 5.28340882e-01] [ 5.40748355e-02 8.11755640e-04 9.98536556e-01 5.33112925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099893 meters Centerline goodness [0,1] 0.9998077539250241 Centerline is valid? [True, True] Translation: X:16.32, Y:0.53, Z:0.53 [[ 9.97184057e-01 -5.38307598e-02 -5.22130858e-02 1.63202636e+01] [ 5.37176098e-02 9.98549789e-01 -3.56902348e-03 5.25412229e-01] [ 5.23294891e-02 7.54211143e-04 9.98629589e-01 5.34991040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155099893 meters Centerline goodness [0,1] 0.9997871208089409 Centerline is valid? [True, True] Translation: X:16.35, Y:0.52, Z:0.54 [[ 9.97170063e-01 -5.39064475e-02 -5.24019040e-02 1.63489583e+01] [ 5.37922819e-02 9.98545702e-01 -3.58762286e-03 5.20825796e-01] [ 5.25190920e-02 7.58652121e-04 9.98619632e-01 5.35860365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099893 meters Centerline goodness [0,1] 0.9998329679507255 Centerline is valid? [True, True] Translation: X:16.38, Y:0.48, Z:0.54 [[ 9.97041900e-01 -5.27416449e-02 -5.59085760e-02 1.63797837e+01] [ 5.26089878e-02 9.98607794e-01 -3.84292505e-03 4.84850906e-01] [ 5.60334220e-02 8.90263700e-04 9.98428497e-01 5.36305277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215099893 meters Centerline goodness [0,1] 0.999728504897354 Centerline is valid? [True, True] Translation: X:16.41, Y:0.49, Z:0.54 [[ 9.97009180e-01 -5.22265373e-02 -5.69656456e-02 1.64070628e+01] [ 5.20876614e-02 9.98634819e-01 -3.92099511e-03 4.86122881e-01] [ 5.70926572e-02 9.42060860e-04 9.98368440e-01 5.37059968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters Centerline goodness [0,1] 0.9998325308771195 Centerline is valid? [True, True] Translation: X:16.44, Y:0.49, Z:0.54 [[ 9.97003838e-01 -5.18931599e-02 -5.73624132e-02 1.64355551e+01] [ 5.17513453e-02 9.98652166e-01 -3.95601618e-03 4.85468743e-01] [ 5.74903884e-02 9.75581266e-04 9.98345583e-01 5.39728510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275099893 meters Centerline goodness [0,1] 0.9998325308771195 Centerline is valid? [True, True] Translation: X:16.46, Y:0.49, Z:0.54 [[ 9.96988659e-01 -5.21851202e-02 -5.73613730e-02 1.64628603e+01] [ 5.20429237e-02 9.98636953e-01 -3.97104778e-03 4.87409985e-01] [ 5.74904164e-02 9.73836046e-04 9.98345583e-01 5.41034424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099893 meters Centerline goodness [0,1] 0.9998330341862504 Centerline is valid? [True, True] Translation: X:16.49, Y:0.49, Z:0.54 [[ 9.96951039e-01 -5.15502463e-02 -5.85764273e-02 1.64903712e+01] [ 5.13999635e-02 9.98669853e-01 -4.07040584e-03 4.87198392e-01] [ 5.87083425e-02 1.04716910e-03 9.98274629e-01 5.40960538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335099893 meters Centerline goodness [0,1] 0.9997287711245566 Centerline is valid? [True, True] Translation: X:16.52, Y:0.49, Z:0.54 [[ 9.96891231e-01 -5.11748837e-02 -5.99083038e-02 1.65198250e+01] [ 5.10165495e-02 9.98689100e-01 -4.17050169e-03 4.85160073e-01] [ 6.00431949e-02 1.10122161e-03 9.98195172e-01 5.39516948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099893 meters Centerline goodness [0,1] 0.9997287711245566 Centerline is valid? [True, True] Translation: X:16.55, Y:0.49, Z:0.54 [[ 9.96876621e-01 -5.14599499e-02 -5.99072277e-02 1.65471333e+01] [ 5.13012043e-02 9.98674454e-01 -4.18590828e-03 4.87128479e-01] [ 6.00432245e-02 1.09952118e-03 9.98195172e-01 5.40822943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395099893 meters Centerline goodness [0,1] 0.9997299823449994 Centerline is valid? [True, True] Translation: X:16.58, Y:0.48, Z:0.54 [[ 9.96878435e-01 -5.16676490e-02 -5.96979125e-02 1.65758657e+01] [ 5.15093581e-02 9.98663729e-01 -4.18839903e-03 4.78665675e-01] [ 5.98345446e-02 1.10032351e-03 9.98207702e-01 5.40814892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters Centerline goodness [0,1] 0.9997299823449994 Centerline is valid? [True, True] Translation: X:16.60, Y:0.48, Z:0.54 [[ 9.96863548e-01 -5.19554607e-02 -5.96967005e-02 1.66031751e+01] [ 5.17966550e-02 9.98648797e-01 -4.20561046e-03 4.80646762e-01] [ 5.98345425e-02 1.10033037e-03 9.98207702e-01 5.42121361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455099893 meters Centerline goodness [0,1] 0.9998126054094572 Centerline is valid? [True, True] Translation: X:16.63, Y:0.48, Z:0.55 [[ 9.96783170e-01 -5.48001249e-02 -5.84829814e-02 1.66318316e+01] [ 5.46516543e-02 9.98496914e-01 -4.13635501e-03 4.76080719e-01] [ 5.86217492e-02 9.26857380e-04 9.98279836e-01 5.45287543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099893 meters Centerline goodness [0,1] 0.9997501613541254 Centerline is valid? [True, True] Translation: X:16.66, Y:0.48, Z:0.55 [[ 9.96658287e-01 -5.67348775e-02 -5.87657433e-02 1.66606953e+01] [ 5.65874424e-02 9.98388933e-01 -4.17131406e-03 4.75642037e-01] [ 5.89077268e-02 8.31971608e-04 9.98263085e-01 5.47517684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515099893 meters Centerline goodness [0,1] 0.9998125234345707 Centerline is valid? [True, True] Translation: X:16.69, Y:0.48, Z:0.55 [[ 9.96530518e-01 -5.85943915e-02 -5.91068782e-02 1.66883869e+01] [ 5.84477139e-02 9.98281599e-01 -4.20885315e-03 4.75823094e-01] [ 5.92519241e-02 7.39588705e-04 9.98242787e-01 5.49399653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099893 meters Centerline goodness [0,1] 0.9997305029230068 Centerline is valid? [True, True] Translation: X:16.72, Y:0.47, Z:0.55 [[ 9.96280544e-01 -6.21102668e-02 -5.97276598e-02 1.67164358e+01] [ 6.19664711e-02 9.98069147e-01 -4.25851953e-03 4.69032952e-01] [ 5.98768322e-02 5.41567844e-04 9.98205626e-01 5.48658826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.75, Y:0.46, Z:0.55 [[ 9.96189855e-01 -6.48490781e-02 -5.83126945e-02 1.67452733e+01] [ 6.47163013e-02 9.97895013e-01 -4.16459623e-03 4.64372312e-01] [ 5.84600172e-02 3.74946604e-04 9.98289680e-01 5.54254292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters Centerline goodness [0,1] 0.9998541545128761 Centerline is valid? [True, True] Translation: X:16.77, Y:0.46, Z:0.55 [[ 9.96009139e-01 -6.65204337e-02 -5.95048521e-02 1.67733506e+01] [ 6.63843352e-02 9.97785019e-01 -4.26331053e-03 4.60861358e-01] [ 5.96566472e-02 2.96106202e-04 9.98218912e-01 5.51506959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635099893 meters Centerline goodness [0,1] 0.9998332777592531 Centerline is valid? [True, True] Translation: X:16.80, Y:0.46, Z:0.55 [[ 9.95813423e-01 -6.91744275e-02 -5.97538656e-02 1.68010014e+01] [ 6.90414806e-02 9.97604570e-01 -4.28912557e-03 4.59007990e-01] [ 5.99074271e-02 1.45673468e-04 9.98203927e-01 5.52619369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099893 meters Centerline goodness [0,1] 0.9998129209279122 Centerline is valid? [True, True] Translation: X:16.83, Y:0.46, Z:0.56 [[ 9.95589454e-01 -7.34553630e-02 -5.83605114e-02 1.68301862e+01] [ 7.33349335e-02 9.97298501e-01 -4.20553252e-03 4.57603924e-01] [ 5.85117694e-02 -9.28803953e-05 9.98286714e-01 5.55798591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695099893 meters Centerline goodness [0,1] 0.999958426008689 Centerline is valid? [True, True] Translation: X:16.86, Y:0.46, Z:0.56 [[ 9.95544752e-01 -7.59091084e-02 -5.59325928e-02 1.68585584e+01] [ 7.58015882e-02 9.97114718e-01 -4.04443807e-03 4.57623419e-01] [ 5.60782213e-02 -2.13360273e-04 9.98426356e-01 5.60670133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters Centerline goodness [0,1] 0.9998129947846324 Centerline is valid? [True, True] Translation: X:16.89, Y:0.46, Z:0.56 [[ 9.95404493e-01 -7.78506077e-02 -5.57600045e-02 1.68864992e+01] [ 7.77460723e-02 9.96964988e-01 -4.04484278e-03 4.56320467e-01] [ 5.59056657e-02 -3.08866670e-04 9.98436008e-01 5.59994516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.755099893 meters Centerline goodness [0,1] 0.9997501821588425 Centerline is valid? [True, True] Translation: X:16.92, Y:0.45, Z:0.56 [[ 9.95090072e-01 -8.23945395e-02 -5.48351065e-02 1.69158791e+01] [ 8.23000006e-02 9.96599638e-01 -3.98384798e-03 4.48655607e-01] [ 5.49768946e-02 -5.48641727e-04 9.98487476e-01 5.60228618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters Centerline goodness [0,1] 0.9999168087849923 Centerline is valid? [True, True] Translation: X:16.94, Y:0.44, Z:0.56 [[ 9.94635663e-01 -8.75392319e-02 -5.51069892e-02 1.69444554e+01] [ 8.74509392e-02 9.96160732e-01 -4.01622995e-03 4.43419410e-01] [ 5.52469964e-02 -8.24472418e-04 9.98472378e-01 5.62809219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815099893 meters Centerline goodness [0,1] 0.9998135178815631 Centerline is valid? [True, True] Translation: X:16.97, Y:0.44, Z:0.56 [[ 9.94322595e-01 -8.97063986e-02 -5.72305772e-02 1.69729371e+01] [ 8.96143558e-02 9.95967777e-01 -4.17789763e-03 4.43974170e-01] [ 5.73745948e-02 -9.74503295e-04 9.98352246e-01 5.62288542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099893 meters Centerline goodness [0,1] 0.9997921084362397 Centerline is valid? [True, True] Translation: X:17.00, Y:0.45, Z:0.56 [[ 9.93822979e-01 -9.30976301e-02 -6.04046109e-02 1.70023752e+01] [ 9.30005553e-02 9.95656234e-01 -4.42262371e-03 4.45423783e-01] [ 6.05539632e-02 -1.22235728e-03 9.98164177e-01 5.61549433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875099893 meters Centerline goodness [0,1] 0.9997093385375576 Centerline is valid? [True, True] Translation: X:17.03, Y:0.45, Z:0.56 [[ 9.93642686e-01 -9.48007023e-02 -6.07209890e-02 1.70306907e+01] [ 9.47056058e-02 9.95495383e-01 -4.44869004e-03 4.46359125e-01] [ 6.08692031e-02 -1.33020972e-03 9.98144865e-01 5.62378746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters Centerline goodness [0,1] 0.9998545122001912 Centerline is valid? [True, True] Translation: X:17.06, Y:0.45, Z:0.57 [[ 9.93583310e-01 -9.62104448e-02 -5.94622325e-02 1.70592749e+01] [ 9.61213375e-02 9.95360059e-01 -4.36373321e-03 4.46946669e-01] [ 5.96061679e-02 -1.37985683e-03 9.98221018e-01 5.65081539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.935099893 meters Centerline goodness [0,1] 0.9997098325319185 Centerline is valid? [True, True] Translation: X:17.09, Y:0.45, Z:0.56 [[ 9.93354448e-01 -9.77222382e-02 -6.08054599e-02 1.70878945e+01] [ 9.76309282e-02 9.95212615e-01 -4.47800904e-03 4.51930155e-01] [ 6.09519618e-02 -1.48824329e-03 9.98139591e-01 5.64900893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099893 meters Centerline goodness [0,1] 0.9998128314443173 Centerline is valid? [True, True] Translation: X:17.12, Y:0.46, Z:0.57 [[ 9.93228475e-01 -9.90725858e-02 -6.06779970e-02 1.71166612e+01] [ 9.89832333e-02 9.95078998e-01 -4.48405752e-03 4.55952691e-01] [ 6.08236476e-02 -1.55241072e-03 9.98147321e-01 5.66142539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995099893 meters Centerline goodness [0,1] 0.9997503640524236 Centerline is valid? [True, True] Translation: X:17.14, Y:0.46, Z:0.57 [[ 9.93106102e-01 -1.00111334e-01 -6.09753369e-02 1.71440201e+01] [ 1.00022228e-01 9.94974938e-01 -4.51959355e-03 4.58746165e-01] [ 6.11213946e-02 -1.61045312e-03 9.98129041e-01 5.66482910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099893 meters Centerline goodness [0,1] 0.9997294203351025 Centerline is valid? [True, True] Translation: X:17.17, Y:0.47, Z:0.57 [[ 9.93158320e-01 -1.00665474e-01 -5.91862642e-02 1.71722102e+01] [ 1.00582070e-01 9.94919061e-01 -4.39424450e-03 4.66646290e-01] [ 5.93278911e-02 -1.58889647e-03 9.98237285e-01 5.71124122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055099893 meters Centerline goodness [0,1] 0.9997709240092464 Centerline is valid? [True, True] Translation: X:17.20, Y:0.47, Z:0.58 [[ 9.93160069e-01 -1.01581786e-01 -5.75692394e-02 1.71990227e+01] [ 1.01503551e-01 9.94825931e-01 -4.28911835e-03 4.74385621e-01] [ 5.77070685e-02 -1.58370117e-03 9.98332302e-01 5.76127315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters Centerline goodness [0,1] 0.9998339559983396 Centerline is valid? [True, True] Translation: X:17.23, Y:0.48, Z:0.58 [[ 9.92925173e-01 -1.03503985e-01 -5.81938568e-02 1.72261565e+01] [ 1.03426455e-01 9.94627588e-01 -4.35077527e-03 4.79842027e-01] [ 5.83315380e-02 -1.69879002e-03 9.98295821e-01 5.76574189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115099893 meters Centerline goodness [0,1] 0.9997711432435243 Centerline is valid? [True, True] Translation: X:17.26, Y:0.48, Z:0.58 [[ 9.92593396e-01 -1.06240241e-01 -5.89182625e-02 1.72553821e+01] [ 1.06165295e-01 9.94338717e-01 -4.40973128e-03 4.84398021e-01] [ 5.90532004e-02 -1.87800460e-03 9.98253070e-01 5.75715108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099893 meters Centerline goodness [0,1] 0.9997505716067345 Centerline is valid? [True, True] Translation: X:17.28, Y:0.49, Z:0.57 [[ 9.92268844e-01 -1.08956934e-01 -5.94216048e-02 1.72839603e+01] [ 1.08885420e-01 9.94044347e-01 -4.44981357e-03 4.87899733e-01] [ 5.95525484e-02 -2.05473501e-03 9.98223057e-01 5.74625447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175099893 meters Centerline goodness [0,1] 0.9997711956069556 Centerline is valid? [True, True] Translation: X:17.31, Y:0.50, Z:0.58 [[ 9.91969433e-01 -1.11270230e-01 -6.01296993e-02 1.73119168e+01] [ 1.11201026e-01 9.93787716e-01 -4.50639583e-03 5.02276799e-01] [ 6.02575842e-02 -2.21627736e-03 9.98180400e-01 5.78688376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099893 meters Centerline goodness [0,1] 0.9998126210155941 Centerline is valid? [True, True] Translation: X:17.34, Y:0.51, Z:0.58 [[ 9.92056983e-01 -1.10576571e-01 -5.99646970e-02 1.73387454e+01] [ 1.10506204e-01 9.93865253e-01 -4.49865388e-03 5.09840902e-01] [ 6.00942745e-02 -2.16355007e-03 9.98190361e-01 5.80558440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235099893 meters Centerline goodness [0,1] 0.9997919916796671 Centerline is valid? [True, True] Translation: X:17.37, Y:0.52, Z:0.58 [[ 9.92098974e-01 -1.10151095e-01 -6.00530011e-02 1.73662364e+01] [ 1.10079381e-01 9.93912561e-01 -4.51128250e-03 5.17563711e-01] [ 6.01843548e-02 -2.13495843e-03 9.98184996e-01 5.81223008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters Centerline goodness [0,1] 0.9997914668223714 Centerline is valid? [True, True] Translation: X:17.39, Y:0.53, Z:0.58 [[ 9.92262680e-01 -1.09169952e-01 -5.91328694e-02 1.73940577e+01] [ 1.09098134e-01 9.94021017e-01 -4.45132302e-03 5.32448264e-01] [ 5.92652657e-02 -2.03440401e-03 9.98240196e-01 5.83647965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295099893 meters Centerline goodness [0,1] 0.9997498019265252 Centerline is valid? [True, True] Translation: X:17.42, Y:0.54, Z:0.58 [[ 9.92320893e-01 -1.08235072e-01 -5.98699827e-02 1.74221185e+01] [ 1.08158821e-01 9.94123341e-01 -4.52237261e-03 5.42430566e-01] [ 6.00076266e-02 -1.98782189e-03 9.98195939e-01 5.83480379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099893 meters Centerline goodness [0,1] 0.9997494466947843 Centerline is valid? [True, True] Translation: X:17.45, Y:0.55, Z:0.58 [[ 9.92335471e-01 -1.07559119e-01 -6.08387128e-02 1.74497601e+01] [ 1.07478239e-01 9.94196750e-01 -4.60985506e-03 5.45905378e-01] [ 6.09814825e-02 -1.96431501e-03 9.98136965e-01 5.83172176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355099893 meters Centerline goodness [0,1] 0.9997909436802275 Centerline is valid? [True, True] Translation: X:17.48, Y:0.56, Z:0.58 [[ 9.92389283e-01 -1.05889617e-01 -6.28561798e-02 1.74773841e+01] [ 1.05799271e-01 9.94376050e-01 -4.77338510e-03 5.56441347e-01] [ 6.30081317e-02 -1.91308178e-03 9.98011180e-01 5.83762435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099893 meters Centerline goodness [0,1] 0.9999578805492376 Centerline is valid? [True, True] Translation: X:17.51, Y:0.57, Z:0.59 [[ 9.92775014e-01 -1.02909228e-01 -6.17046463e-02 1.75053023e+01] [ 1.02815474e-01 9.94689338e-01 -4.70106316e-03 5.68667159e-01] [ 6.18607365e-02 -1.67709445e-03 9.98083382e-01 5.89749990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.415099893 meters Centerline goodness [0,1] 0.9997265403142683 Centerline is valid? [True, True] Translation: X:17.53, Y:0.58, Z:0.59 [[ 9.92970958e-01 -1.00474234e-01 -6.25588078e-02 1.75330135e+01] [ 1.00372091e-01 9.94938482e-01 -4.78126854e-03 5.77991884e-01] [ 6.27225596e-02 -1.53149756e-03 9.98029827e-01 5.90417661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters Centerline goodness [0,1] 0.9997895490035146 Centerline is valid? [True, True] Translation: X:17.56, Y:0.59, Z:0.59 [[ 9.93694722e-01 -9.39746589e-02 -6.11519683e-02 1.75612337e+01] [ 9.38640012e-02 9.95574000e-01 -4.68610506e-03 5.91749211e-01] [ 6.13216848e-02 -1.08341057e-03 9.98117467e-01 5.93627524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475099893 meters Centerline goodness [0,1] 0.9998521210072672 Centerline is valid? [True, True] Translation: X:17.59, Y:0.60, Z:0.60 [[ 9.94045712e-01 -9.05142504e-02 -6.06654258e-02 1.75896610e+01] [ 9.03986028e-02 9.95894791e-01 -4.65383759e-03 5.99430862e-01] [ 6.08376201e-02 -8.57942429e-04 9.98147308e-01 5.95362714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099893 meters Centerline goodness [0,1] 0.9998295841854125 Centerline is valid? [True, True] Translation: X:17.62, Y:0.61, Z:0.60 [[ 9.94658520e-01 -8.31361297e-02 -6.11785340e-02 1.76172839e+01] [ 8.30036216e-02 9.96538122e-01 -4.70856591e-03 6.12419032e-01] [ 6.13581934e-02 -3.94624692e-04 9.98115733e-01 5.95474239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535099892999998 meters Centerline goodness [0,1] 0.9998502801899303 Centerline is valid? [True, True] Translation: X:17.64, Y:0.63, Z:0.60 [[ 9.95437178e-01 -7.51625810e-02 -5.87827393e-02 1.76447682e+01] [ 7.50255179e-02 9.97171287e-01 -4.53836816e-03 6.25698028e-01] [ 5.89575752e-02 1.07454932e-04 9.98260483e-01 5.98839901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters Centerline goodness [0,1] 0.9997843665768195 Centerline is valid? [True, True] Translation: X:17.67, Y:0.64, Z:0.60 [[ 9.96252416e-01 -6.44864854e-02 -5.76421395e-02 1.76724072e+01] [ 6.43360017e-02 9.97918307e-01 -4.46456594e-03 6.43251514e-01] [ 5.78100504e-02 7.39369824e-04 9.98327327e-01 6.01716390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.595099893 meters Centerline goodness [0,1] 0.999869994799792 Centerline is valid? [True, True] Translation: X:17.70, Y:0.65, Z:0.60 [[ 9.96520512e-01 -5.99891909e-02 -5.78633410e-02 1.77002397e+01] [ 5.98291246e-02 9.98198507e-01 -4.49630014e-03 6.53027940e-01] [ 5.80288300e-02 1.01874228e-03 9.98314388e-01 6.04814892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099893 meters Centerline goodness [0,1] 0.9996551724137931 Centerline is valid? [True, True] Translation: X:17.73, Y:0.66, Z:0.60 [[ 9.96603947e-01 -5.75748502e-02 -5.88702733e-02 1.77268804e+01] [ 5.74041442e-02 9.98340479e-01 -4.58817183e-03 6.62770506e-01] [ 5.90367402e-02 1.19319250e-03 9.98255097e-01 6.03796900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655099893 meters Centerline goodness [0,1] 0.9998047086904632 Centerline is valid? [True, True] Translation: X:17.75, Y:0.67, Z:0.61 [[ 9.96509711e-01 -5.85645345e-02 -5.94860666e-02 1.77546969e+01] [ 5.83914754e-02 9.98282956e-01 -4.64485782e-03 6.67383408e-01] [ 5.96559503e-02 1.15516672e-03 9.98218329e-01 6.05336203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099893 meters Centerline goodness [0,1] 0.9998261323133095 Centerline is valid? [True, True] Translation: X:17.78, Y:0.67, Z:0.61 [[ 9.96420858e-01 -5.95621854e-02 -5.99818241e-02 1.77818472e+01] [ 5.93871365e-02 9.98223969e-01 -4.69841628e-03 6.71138927e-01] [ 6.01551425e-02 1.11945120e-03 9.98188412e-01 6.05418253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715099893 meters Centerline goodness [0,1] 0.999912739965096 Centerline is valid? [True, True] Translation: X:17.81, Y:0.67, Z:0.61 [[ 9.96143299e-01 -6.27795398e-02 -6.12964664e-02 1.78108768e+01] [ 6.26023385e-02 9.98026964e-01 -4.80897908e-03 6.74108786e-01] [ 6.14774317e-02 9.53130150e-04 9.98108019e-01 6.05974768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters Centerline goodness [0,1] 0.9997169544296631 Centerline is valid? [True, True] Translation: X:17.84, Y:0.68, Z:0.61 [[ 9.95874134e-01 -6.61123938e-02 -6.21599674e-02 1.78397307e+01] [ 6.59357001e-02 9.97811883e-01 -4.89179632e-03 6.78543285e-01] [ 6.23473624e-02 7.73052456e-04 9.98054211e-01 6.05620537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775099893 meters Centerline goodness [0,1] 0.9997382141844281 Centerline is valid? [True, True] Translation: X:17.87, Y:0.68, Z:0.61 [[ 9.95695234e-01 -6.94537643e-02 -6.13773281e-02 1.78672693e+01] [ 6.92870271e-02 9.97585009e-01 -4.84334434e-03 6.83983508e-01] [ 6.15654909e-02 5.69842282e-04 9.98102883e-01 6.07032337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099893 meters Centerline goodness [0,1] 0.9998466694412196 Centerline is valid? [True, True] Translation: X:17.90, Y:0.69, Z:0.61 [[ 9.95564141e-01 -7.24201670e-02 -6.00613019e-02 1.78955371e+01] [ 7.22654587e-02 9.97374138e-01 -4.74685606e-03 6.87293773e-01] [ 6.02473573e-02 3.85442154e-04 9.98183404e-01 6.11026670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835099893 meters Centerline goodness [0,1] 0.9998025752955887 Centerline is valid? [True, True] Translation: X:17.92, Y:0.69, Z:0.61 [[ 9.95521977e-01 -7.42083461e-02 -5.85586446e-02 1.79241448e+01] [ 7.40635313e-02 9.97242719e-01 -4.64252125e-03 6.91279679e-01] [ 5.87416958e-02 2.84671930e-04 9.98273175e-01 6.13477568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099893 meters Centerline goodness [0,1] 0.9997592260211006 Centerline is valid? [True, True] Translation: X:17.95, Y:0.70, Z:0.62 [[ 9.95430626e-01 -7.62536246e-02 -5.74739409e-02 1.79522364e+01] [ 7.61168287e-02 9.97088439e-01 -4.56876763e-03 6.96062097e-01] [ 5.76549871e-02 1.73157103e-04 9.98336553e-01 6.15051034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895099893 meters Centerline goodness [0,1] 0.9998020063357973 Centerline is valid? [True, True] Translation: X:17.98, Y:0.70, Z:0.62 [[ 9.95336055e-01 -7.80491148e-02 -5.66963261e-02 1.79820314e+01] [ 7.79187478e-02 9.96949513e-01 -4.50977952e-03 6.98393091e-01] [ 5.68753589e-02 7.10394203e-05 9.98381284e-01 6.17519267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters Centerline goodness [0,1] 0.999846605601087 Centerline is valid? [True, True] Translation: X:18.01, Y:0.70, Z:0.62 [[ 9.95128635e-01 -7.99067588e-02 -5.77400125e-02 1.80112736e+01] [ 7.97745478e-02 9.96802342e-01 -4.59486263e-03 6.99582564e-01] [ 5.79225402e-02 -3.37040008e-05 9.98321080e-01 6.17860853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955099893 meters Centerline goodness [0,1] 0.9997585442412802 Centerline is valid? [True, True] Translation: X:18.04, Y:0.70, Z:0.61 [[ 9.94687350e-01 -8.26580079e-02 -6.13573871e-02 1.80401045e+01] [ 8.25137696e-02 9.96577951e-01 -4.88523617e-03 6.98421815e-01] [ 6.15512230e-02 -2.03546675e-04 9.98103905e-01 6.14238011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099893 meters Centerline goodness [0,1] 0.9997585442412802 Centerline is valid? [True, True] Translation: X:18.07, Y:0.70, Z:0.62 [[ 9.94667378e-01 -8.28983381e-02 -6.13569208e-02 1.80682104e+01] [ 8.27541958e-02 9.96557986e-01 -4.89108468e-03 7.00704553e-01] [ 6.15511922e-02 -2.12540261e-04 9.98103905e-01 6.15580588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015099893 meters Centerline goodness [0,1] 0.9999343631033125 Centerline is valid? [True, True] Translation: X:18.10, Y:0.70, Z:0.62 [[ 9.94333364e-01 -8.60696732e-02 -6.23952944e-02 1.80981635e+01] [ 8.59260742e-02 9.96289039e-01 -4.98610513e-03 6.98473454e-01] [ 6.25929003e-02 -4.03532015e-04 9.98039060e-01 6.17118406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099893 meters Centerline goodness [0,1] 0.9998031366887591 Centerline is valid? [True, True] Translation: X:18.13, Y:0.70, Z:0.62 [[ 9.94211216e-01 -8.65688276e-02 -6.36387964e-02 1.81270557e+01] [ 8.64200957e-02 9.96245776e-01 -5.09124061e-03 7.00417340e-01] [ 6.38406249e-02 -4.37902360e-04 9.97960011e-01 6.16231618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075099893 meters Centerline goodness [0,1] 0.9998686428618342 Centerline is valid? [True, True] Translation: X:18.16, Y:0.70, Z:0.62 [[ 9.94337683e-01 -8.53300747e-02 -6.33352285e-02 1.81551086e+01] [ 8.51792517e-02 9.96352680e-01 -5.08261843e-03 7.03036472e-01] [ 6.35379248e-02 -3.41008342e-04 9.97979366e-01 6.17559308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters Centerline goodness [0,1] 0.9998244343494196 Centerline is valid? [True, True] Translation: X:18.18, Y:0.71, Z:0.62 [[ 9.94978745e-01 -7.93050466e-02 -6.10574103e-02 1.81839045e+01] [ 7.91526607e-02 9.96850393e-01 -4.91425917e-03 7.07742996e-01] [ 6.12548290e-02 5.67269468e-05 9.98122158e-01 6.21666076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135099893 meters Centerline goodness [0,1] 0.9999127323501178 Centerline is valid? [True, True] Translation: X:18.21, Y:0.71, Z:0.62 [[ 9.95550059e-01 -7.32798332e-02 -5.92464778e-02 1.82115218e+01] [ 7.31250002e-02 9.97311328e-01 -4.78018932e-03 7.12607639e-01] [ 5.94374749e-02 4.26519059e-04 9.98231939e-01 6.24377073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099893 meters Centerline goodness [0,1] 0.9998031668270493 Centerline is valid? [True, True] Translation: X:18.24, Y:0.72, Z:0.63 [[ 9.95932721e-01 -6.77276900e-02 -5.94220128e-02 1.82398165e+01] [ 6.75616309e-02 9.97703549e-01 -4.80155103e-03 7.16041343e-01] [ 5.96107510e-02 7.67373692e-04 9.98221403e-01 6.27085692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195099893 meters Centerline goodness [0,1] 0.9998255103821323 Centerline is valid? [True, True] Translation: X:18.27, Y:0.72, Z:0.63 [[ 9.96174925e-01 -6.35154810e-02 -6.00108574e-02 1.82666731e+01] [ 6.33376379e-02 9.97980308e-01 -4.86299642e-03 7.20951266e-01] [ 6.01985295e-02 1.04344913e-03 9.98185879e-01 6.29817527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099893 meters Centerline goodness [0,1] 0.9997159959802508 Centerline is valid? [True, True] Translation: X:18.30, Y:0.72, Z:0.63 [[ 9.96243276e-01 -6.16077789e-02 -6.08589873e-02 1.82952181e+01] [ 6.14206593e-02 9.98099732e-01 -4.94238865e-03 7.23326253e-01] [ 6.10478286e-02 1.18582233e-03 9.98134138e-01 6.31183645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.255099893 meters Centerline goodness [0,1] 0.9997376533088477 Centerline is valid? [True, True] Translation: X:18.32, Y:0.73, Z:0.63 [[ 9.96314400e-01 -5.86879433e-02 -6.25567063e-02 1.83239170e+01] [ 5.84836506e-02 9.98275373e-01 -5.09338314e-03 7.25807693e-01] [ 6.27477395e-02 1.41606641e-03 9.98028414e-01 6.30655292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters Centerline goodness [0,1] 0.9997171514980092 Centerline is valid? [True, True] Translation: X:18.35, Y:0.73, Z:0.63 [[ 9.96302179e-01 -5.76801941e-02 -6.36785965e-02 1.83513763e+01] [ 5.74661849e-02 9.98333969e-01 -5.18874368e-03 7.28128355e-01] [ 6.38717938e-02 1.51019064e-03 9.97956970e-01 6.29759457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315099893 meters Centerline goodness [0,1] 0.9997385450029413 Centerline is valid? [True, True] Translation: X:18.38, Y:0.73, Z:0.63 [[ 9.96360684e-01 -5.66949949e-02 -6.36479755e-02 1.83804990e+01] [ 5.64786622e-02 9.98390294e-01 -5.19441758e-03 7.29077629e-01] [ 6.38400184e-02 1.58076095e-03 9.97958894e-01 6.31389736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099893 meters Centerline goodness [0,1] 0.9997604425279847 Centerline is valid? [True, True] Translation: X:18.41, Y:0.73, Z:0.63 [[ 9.96469284e-01 -5.70559673e-02 -6.15920613e-02 1.84076172e+01] [ 5.68533149e-02 9.98369825e-01 -5.03918853e-03 7.33544928e-01] [ 6.17791712e-02 1.51968374e-03 9.98088686e-01 6.34336251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375099893 meters Centerline goodness [0,1] 0.99967277486911 Centerline is valid? [True, True] Translation: X:18.44, Y:0.73, Z:0.64 [[ 9.96359226e-01 -5.92277972e-02 -6.13217772e-02 1.84365582e+01] [ 5.90305552e-02 9.98243530e-01 -5.02475671e-03 7.31717339e-01] [ 6.15116727e-02 1.38660415e-03 9.98105401e-01 6.38460486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters Centerline goodness [0,1] 0.9998477002741395 Centerline is valid? [True, True] Translation: X:18.46, Y:0.73, Z:0.64 [[ 9.96149555e-01 -6.36586373e-02 -6.02796916e-02 1.84642054e+01] [ 6.34753593e-02 9.97971118e-01 -4.95242126e-03 7.34380425e-01] [ 6.04726556e-02 1.10707715e-03 9.98169240e-01 6.42111695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435099893 meters Centerline goodness [0,1] 0.9997163925127623 Centerline is valid? [True, True] Translation: X:18.49, Y:0.74, Z:0.64 [[ 9.95941054e-01 -6.64144948e-02 -6.07497555e-02 1.84931832e+01] [ 6.62329977e-02 9.97791663e-01 -4.99866590e-03 7.35840721e-01] [ 6.09475834e-02 9.54738170e-04 9.98140511e-01 6.42381488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099893 meters Centerline goodness [0,1] 0.9999126275092287 Centerline is valid? [True, True] Translation: X:18.52, Y:0.74, Z:0.65 [[ 9.95755825e-01 -6.95268183e-02 -6.03022266e-02 1.85214542e+01] [ 6.93527840e-02 9.97579783e-01 -4.97675940e-03 7.36303154e-01] [ 6.05023003e-02 7.73509869e-04 9.98167758e-01 6.45600667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495099893 meters Centerline goodness [0,1] 0.9997830049474872 Centerline is valid? [True, True] Translation: X:18.55, Y:0.74, Z:0.64 [[ 9.95497662e-01 -7.22362671e-02 -6.13704119e-02 1.85495678e+01] [ 7.20603143e-02 9.97387347e-01 -5.07841575e-03 7.38055996e-01] [ 6.15769181e-02 6.33179837e-04 9.98102140e-01 6.43479995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099893 meters Centerline goodness [0,1] 0.9998256586832872 Centerline is valid? [True, True] Translation: X:18.58, Y:0.74, Z:0.64 [[ 9.94991782e-01 -7.94170409e-02 -6.06983372e-02 1.85791940e+01] [ 7.92578178e-02 9.96841460e-01 -5.03014937e-03 7.35580357e-01] [ 6.09060987e-02 1.94139530e-04 9.98143481e-01 6.43925955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555099893 meters Centerline goodness [0,1] 0.999847081440056 Centerline is valid? [True, True] Translation: X:18.61, Y:0.74, Z:0.65 [[ 9.94880813e-01 -8.14461319e-02 -5.98222008e-02 1.86075930e+01] [ 8.12942884e-02 9.96677742e-01 -4.97171775e-03 7.37097125e-01] [ 6.00283832e-02 8.30633455e-05 9.98196667e-01 6.46152408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters Centerline goodness [0,1] 0.999781992587748 Centerline is valid? [True, True] Translation: X:18.64, Y:0.74, Z:0.65 [[ 9.94655089e-01 -8.51031871e-02 -5.84696636e-02 1.86361773e+01] [ 8.49637164e-02 9.96372136e-01 -4.87177955e-03 7.39989734e-01] [ 5.86721475e-02 -1.22059594e-04 9.98277298e-01 6.49463450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615099893 meters Centerline goodness [0,1] 0.9999347627538816 Centerline is valid? [True, True] Translation: X:18.67, Y:0.74, Z:0.65 [[ 9.94537159e-01 -8.74707166e-02 -5.69623908e-02 1.86659778e+01] [ 8.73420949e-02 9.96167059e-01 -4.74853099e-03 7.42250366e-01] [ 5.71594148e-02 -2.52624029e-04 9.98365032e-01 6.53663105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099893 meters Centerline goodness [0,1] 0.9998040880297786 Centerline is valid? [True, True] Translation: X:18.70, Y:0.74, Z:0.65 [[ 9.94021527e-01 -9.20167442e-02 -5.87717837e-02 1.86971513e+01] [ 9.18878269e-02 9.95757318e-01 -4.89807057e-03 7.42779598e-01] [ 5.89731382e-02 -5.31623899e-04 9.98259428e-01 6.53732009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675099893 meters Centerline goodness [0,1] 0.9998047807036571 Centerline is valid? [True, True] Translation: X:18.73, Y:0.74, Z:0.65 [[ 9.93752266e-01 -9.43527101e-02 -5.96154392e-02 1.87275132e+01] [ 9.42243803e-02 9.95538599e-01 -4.96638829e-03 7.42493296e-01] [ 5.98180630e-02 -6.81868201e-04 9.98209063e-01 6.53146946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099893 meters Centerline goodness [0,1] 0.9998043690903162 Centerline is valid? [True, True] Translation: X:18.76, Y:0.74, Z:0.65 [[ 9.93301809e-01 -9.81658471e-02 -6.09506558e-02 1.87592315e+01] [ 9.80389532e-02 9.95169631e-01 -5.07624255e-03 7.43484061e-01] [ 6.11545553e-02 -9.33297583e-04 9.98127872e-01 6.54133981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735099893 meters Centerline goodness [0,1] 0.9998480078167409 Centerline is valid? [True, True] Translation: X:18.79, Y:0.75, Z:0.66 [[ 9.93000919e-01 -1.00711077e-01 -6.16964650e-02 1.87905602e+01] [ 1.00586119e-01 9.94915100e-01 -5.13583717e-03 7.47395480e-01] [ 6.18999803e-02 -1.10591694e-03 9.98081745e-01 6.55702687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters Centerline goodness [0,1] 0.9997821160885481 Centerline is valid? [True, True] Translation: X:18.82, Y:0.75, Z:0.66 [[ 9.93101152e-01 -9.91797846e-02 -6.25577566e-02 1.88220256e+01] [ 9.90484753e-02 9.95069000e-01 -5.20437682e-03 7.52922632e-01] [ 6.27654532e-02 -1.02777779e-03 9.98027776e-01 6.56210427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795099893 meters Centerline goodness [0,1] 0.9998690042136978 Centerline is valid? [True, True] Translation: X:18.85, Y:0.76, Z:0.66 [[ 9.93471012e-01 -9.63127696e-02 -6.11489953e-02 1.88532292e+01] [ 9.61820184e-02 9.95350773e-01 -5.08499974e-03 7.59069657e-01] [ 6.13544502e-02 -8.29633954e-04 9.98115696e-01 6.58589224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099893 meters Centerline goodness [0,1] 0.9998905860212701 Centerline is valid? [True, True] Translation: X:18.88, Y:0.76, Z:0.66 [[ 9.93670234e-01 -9.46706558e-02 -6.04725863e-02 1.88837031e+01] [ 9.45399518e-02 9.95508384e-01 -5.02534447e-03 7.63559438e-01] [ 6.06767193e-02 -7.23540184e-04 9.98157208e-01 6.60605180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855099893 meters Centerline goodness [0,1] 0.9998022977396042 Centerline is valid? [True, True] Translation: X:18.91, Y:0.78, Z:0.66 [[ 9.94339650e-01 -8.81055660e-02 -5.93807121e-02 1.89141798e+01] [ 8.79682247e-02 9.96111091e-01 -4.92816105e-03 7.75355753e-01] [ 5.95839843e-02 -3.23349888e-04 9.98223244e-01 6.64447764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099893 meters Centerline goodness [0,1] 0.9997806488407291 Centerline is valid? [True, True] Translation: X:18.95, Y:0.78, Z:0.66 [[ 9.94475859e-01 -8.49071411e-02 -6.17134038e-02 1.89452029e+01] [ 8.47527954e-02 9.96388859e-01 -5.11915518e-03 7.79808045e-01] [ 6.19252008e-02 -1.39507239e-04 9.98080783e-01 6.62983827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.915099893 meters Centerline goodness [0,1] 0.9998462923519466 Centerline is valid? [True, True] Translation: X:18.98, Y:0.78, Z:0.67 [[ 9.94075622e-01 -9.01228990e-02 -6.07578893e-02 1.89753590e+01] [ 8.99831555e-02 9.95930546e-01 -5.03781110e-03 7.77348773e-01] [ 6.09646600e-02 -4.59221403e-04 9.98139820e-01 6.66492350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters Centerline goodness [0,1] 0.9998030720756204 Centerline is valid? [True, True] Translation: X:19.01, Y:0.78, Z:0.67 [[ 9.93997040e-01 -9.17272938e-02 -5.96321016e-02 1.90066637e+01] [ 9.15954953e-02 9.95784015e-01 -4.94568765e-03 7.76606739e-01] [ 5.98343481e-02 -5.46032990e-04 9.98208171e-01 6.68337597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975099893 meters Centerline goodness [0,1] 0.9997594366443598 Centerline is valid? [True, True] Translation: X:19.04, Y:0.78, Z:0.67 [[ 9.93932141e-01 -9.25519886e-02 -5.94392851e-02 1.90384017e+01] [ 9.24226412e-02 9.95707675e-01 -4.92757878e-03 7.78188998e-01] [ 5.96402096e-02 -5.95856799e-04 9.98219761e-01 6.70487592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099893 meters Centerline goodness [0,1] 0.9998471114993994 Centerline is valid? [True, True] Translation: X:19.07, Y:0.78, Z:0.67 [[ 9.93963387e-01 -9.32207158e-02 -5.78505188e-02 1.90699691e+01] [ 9.30994663e-02 9.95645274e-01 -4.79346218e-03 7.79300275e-01] [ 5.80454456e-02 -6.21326515e-04 9.98313748e-01 6.73856310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035099892999998 meters Centerline goodness [0,1] 0.9998907175485761 Centerline is valid? [True, True] Translation: X:19.10, Y:0.78, Z:0.68 [[ 9.93986336e-01 -9.37166821e-02 -5.66422834e-02 1.91025011e+01] [ 9.36014779e-02 9.95598701e-01 -4.68937528e-03 7.80343691e-01] [ 5.68324565e-02 -6.40626487e-04 9.98383524e-01 6.76790501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099893 meters Centerline goodness [0,1] 0.9997173482921314 Centerline is valid? [True, True] Translation: X:19.14, Y:0.78, Z:0.68 [[ 9.93937665e-01 -9.38148885e-02 -5.73296189e-02 1.91350196e+01] [ 9.36972696e-02 9.95589440e-01 -4.74217304e-03 7.81298244e-01] [ 5.75216497e-02 -6.58204367e-04 9.98344042e-01 6.76665278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095099893 meters Centerline goodness [0,1] 0.9997833575250764 Centerline is valid? [True, True] Translation: X:19.17, Y:0.78, Z:0.68 [[ 9.93926738e-01 -9.39680424e-02 -5.72681915e-02 1.91668123e+01] [ 9.38511628e-02 9.95574988e-01 -4.73303812e-03 7.82179862e-01] [ 5.74595334e-02 -6.70393227e-04 9.98347611e-01 6.77988725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters Centerline goodness [0,1] 0.999782466826191 Centerline is valid? [True, True] Translation: X:19.20, Y:0.78, Z:0.68 [[ 9.94342247e-01 -8.97320993e-02 -5.68475746e-02 1.91986878e+01] [ 8.96102228e-02 9.95965847e-01 -4.69458880e-03 7.80916794e-01] [ 5.70394981e-02 -4.26095856e-04 9.98371832e-01 6.79325693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155099893 meters Centerline goodness [0,1] 0.9998914341548149 Centerline is valid? [True, True] Translation: X:19.23, Y:0.79, Z:0.68 [[ 9.95718038e-01 -7.46184117e-02 -5.45681351e-02 1.92287560e+01] [ 7.44835186e-02 9.97212072e-01 -4.50442211e-03 7.89955118e-01] [ 5.47521159e-02 4.20707642e-04 9.98499889e-01 6.82806429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099893 meters Centerline goodness [0,1] 0.9998264980806351 Centerline is valid? [True, True] Translation: X:19.26, Y:0.79, Z:0.68 [[ 9.95853963e-01 -7.14935724e-02 -5.62454711e-02 1.92575032e+01] [ 7.13453439e-02 9.97440874e-01 -4.64158094e-03 7.90554080e-01] [ 5.64333751e-02 6.09484298e-04 9.98406181e-01 6.80160501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215099893 meters Centerline goodness [0,1] 0.999739187133232 Centerline is valid? [True, True] Translation: X:19.29, Y:0.79, Z:0.68 [[ 9.95791976e-01 -7.23666327e-02 -5.62264275e-02 1.92865108e+01] [ 7.22196260e-02 9.97377938e-01 -4.64477062e-03 7.92838672e-01] [ 5.64151247e-02 5.64573749e-04 9.98407239e-01 6.82795692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters Centerline goodness [0,1] 0.999739187133232 Centerline is valid? [True, True] Translation: X:19.31, Y:0.80, Z:0.68 [[ 9.95773771e-01 -7.26176096e-02 -5.62252554e-02 1.93146079e+01] [ 7.24702038e-02 9.97359696e-01 -4.65891911e-03 7.95197874e-01] [ 5.64151232e-02 5.64573734e-04 9.98407239e-01 6.84141638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275099893 meters Centerline goodness [0,1] 0.9998483699772555 Centerline is valid? [True, True] Translation: X:19.34, Y:0.80, Z:0.69 [[ 9.95795038e-01 -7.25992828e-02 -5.58711647e-02 1.93427952e+01] [ 7.24530055e-02 9.97361025e-01 -4.64196052e-03 7.97968672e-01] [ 5.60607251e-02 5.74407443e-04 9.98427196e-01 6.85816469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099893 meters Centerline goodness [0,1] 0.9999131718329426 Centerline is valid? [True, True] Translation: X:19.37, Y:0.80, Z:0.69 [[ 9.95722707e-01 -7.32215131e-02 -5.63462653e-02 1.93711778e+01] [ 7.30734583e-02 9.97315551e-01 -4.68623829e-03 7.99423215e-01] [ 5.65381401e-02 5.48777411e-04 9.98400289e-01 6.87362743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335099893 meters Centerline goodness [0,1] 0.999934854834857 Centerline is valid? [True, True] Translation: X:19.40, Y:0.80, Z:0.69 [[ 9.95606481e-01 -7.41587275e-02 -5.71683268e-02 1.93998814e+01] [ 7.40070329e-02 9.97246316e-01 -4.76900778e-03 8.00604435e-01] [ 5.73645668e-02 5.17196818e-04 9.98353163e-01 6.87638590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099893 meters Centerline goodness [0,1] 0.999934854834857 Centerline is valid? [True, True] Translation: X:19.43, Y:0.80, Z:0.69 [[ 9.95588179e-01 -7.44049441e-02 -5.71671444e-02 1.94279782e+01] [ 7.42528435e-02 9.97227976e-01 -4.78314324e-03 8.02992821e-01] [ 5.73645652e-02 5.17217841e-04 9.98353164e-01 6.88984542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395099893 meters Centerline goodness [0,1] 0.9997392268074842 Centerline is valid? [True, True] Translation: X:19.46, Y:0.80, Z:0.69 [[ 9.95400052e-01 -7.55788882e-02 -5.88775740e-02 1.94570888e+01] [ 7.54187037e-02 9.97139711e-01 -4.94125581e-03 8.04447126e-01] [ 5.90826218e-02 4.78055979e-04 9.98252982e-01 6.87022940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters Centerline goodness [0,1] 0.9997831461161469 Centerline is valid? [True, True] Translation: X:19.49, Y:0.81, Z:0.69 [[ 9.95283019e-01 -7.72861083e-02 -5.86393098e-02 1.94858003e+01] [ 7.71293170e-02 9.97008879e-01 -4.93588130e-03 8.05900901e-01] [ 5.88453876e-02 3.89788927e-04 9.98267033e-01 6.88746660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455099893 meters Centerline goodness [0,1] 0.9997393853838636 Centerline is valid? [True, True] Translation: X:19.51, Y:0.81, Z:0.69 [[ 9.94822972e-01 -8.20443362e-02 -5.99664943e-02 1.95145117e+01] [ 8.18880625e-02 9.96628673e-01 -5.06302922e-03 8.07085736e-01] [ 6.01797205e-02 1.26277745e-04 9.98187550e-01 6.89007375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099893 meters Centerline goodness [0,1] 0.9998269072655676 Centerline is valid? [True, True] Translation: X:19.54, Y:0.81, Z:0.69 [[ 9.94686821e-01 -8.32897174e-02 -6.05057935e-02 1.95433613e+01] [ 8.31321405e-02 9.96525373e-01 -5.12136223e-03 8.09093816e-01] [ 6.07221152e-02 6.41753893e-05 9.98154708e-01 6.90630178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515099893 meters Centerline goodness [0,1] 0.9997830237805937 Centerline is valid? [True, True] Translation: X:19.57, Y:0.81, Z:0.69 [[ 9.94623381e-01 -8.42314886e-02 -6.02443838e-02 1.95716339e+01] [ 8.40766503e-02 9.96446213e-01 -5.10496687e-03 8.10670864e-01] [ 6.04602871e-02 1.23734109e-05 9.98170603e-01 6.92042058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099893 meters Centerline goodness [0,1] 0.9998044031034707 Centerline is valid? [True, True] Translation: X:19.60, Y:0.81, Z:0.69 [[ 9.94573013e-01 -8.43241685e-02 -6.09422411e-02 1.96005817e+01] [ 8.41649581e-02 9.96438374e-01 -5.17935362e-03 8.12405897e-01] [ 6.11619323e-02 2.20441676e-05 9.98127856e-01 6.92497707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575099893 meters Centerline goodness [0,1] 0.999869994799792 Centerline is valid? [True, True] Translation: X:19.63, Y:0.81, Z:0.69 [[ 9.94536635e-01 -8.39898748e-02 -6.19885682e-02 1.96302339e+01] [ 8.38237173e-02 9.96466606e-01 -5.28077661e-03 8.14470949e-01] [ 6.22130699e-02 5.58135837e-05 9.98062889e-01 6.94056822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters Centerline goodness [0,1] 0.9998044923317548 Centerline is valid? [True, True] Translation: X:19.66, Y:0.82, Z:0.69 [[ 9.94561665e-01 -8.29374858e-02 -6.29957832e-02 1.96576397e+01] [ 8.27635712e-02 9.96554744e-01 -5.36972005e-03 8.17460452e-01] [ 6.32240977e-02 1.26761724e-04 9.97999347e-01 6.93171314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635099893 meters Centerline goodness [0,1] 0.9997822726382024 Centerline is valid? [True, True] Translation: X:19.69, Y:0.82, Z:0.70 [[ 9.94660137e-01 -8.17889575e-02 -6.29426529e-02 1.96857485e+01] [ 8.16125198e-02 9.96649649e-01 -5.37339325e-03 8.21294975e-01] [ 6.31712572e-02 2.07791560e-04 9.98002680e-01 6.95823634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099893 meters Centerline goodness [0,1] 0.9999127589967285 Centerline is valid? [True, True] Translation: X:19.71, Y:0.83, Z:0.70 [[ 9.95416141e-01 -7.54976789e-02 -5.87095074e-02 1.97129138e+01] [ 7.53324271e-02 9.97145809e-01 -5.02610467e-03 8.31789453e-01] [ 5.89213985e-02 5.80336024e-04 9.98262456e-01 7.04405434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695099893 meters Centerline goodness [0,1] 0.9998051568487367 Centerline is valid? [True, True] Translation: X:19.74, Y:0.84, Z:0.70 [[ 9.95665305e-01 -7.21765286e-02 -5.86613015e-02 1.97400617e+01] [ 7.20050246e-02 9.97391561e-01 -5.03493270e-03 8.37371384e-01] [ 5.88716910e-02 7.89199350e-04 9.98265246e-01 7.03773877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099893 meters Centerline goodness [0,1] 0.9998259242335227 Centerline is valid? [True, True] Translation: X:19.77, Y:0.84, Z:0.71 [[ 9.95737829e-01 -7.21673150e-02 -5.74286901e-02 1.97683131e+01] [ 7.20025474e-02 9.97392235e-01 -4.93584993e-03 8.39530577e-01] [ 5.76351366e-02 7.79800521e-04 9.98337409e-01 7.06525574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.755099893 meters Centerline goodness [0,1] 0.9998474114441417 Centerline is valid? [True, True] Translation: X:19.80, Y:0.84, Z:0.71 [[ 9.95398784e-01 -7.69609121e-02 -5.70813315e-02 1.97961886e+01] [ 7.68051727e-02 9.97033978e-01 -4.92050331e-03 8.42753445e-01] [ 5.72907134e-02 5.13721491e-04 9.98357406e-01 7.09149550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters Centerline goodness [0,1] 0.999912928013235 Centerline is valid? [True, True] Translation: X:19.82, Y:0.84, Z:0.71 [[ 9.95224942e-01 -7.92544728e-02 -5.69740579e-02 1.98248731e+01] [ 7.91023503e-02 9.96854339e-01 -4.92387513e-03 8.44943599e-01] [ 5.71850759e-02 3.93581453e-04 9.98363517e-01 7.10753623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815099893 meters Centerline goodness [0,1] 0.9998036092260021 Centerline is valid? [True, True] Translation: X:19.85, Y:0.85, Z:0.71 [[ 9.94996025e-01 -8.12277350e-02 -5.81804539e-02 1.98547816e+01] [ 8.10722555e-02 9.96695526e-01 -5.03172595e-03 8.46399263e-01] [ 5.83969138e-02 2.89726699e-04 9.98293402e-01 7.09916564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099893 meters Centerline goodness [0,1] 0.9998041264037608 Centerline is valid? [True, True] Translation: X:19.88, Y:0.85, Z:0.71 [[ 9.94722371e-01 -8.37854233e-02 -5.92233645e-02 1.98846660e+01] [ 8.36287149e-02 9.96483809e-01 -5.12406224e-03 8.47465554e-01] [ 5.94444456e-02 1.44245476e-04 9.98231605e-01 7.10261858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875099892999998 meters Centerline goodness [0,1] 0.9998041264037608 Centerline is valid? [True, True] Translation: X:19.91, Y:0.85, Z:0.71 [[ 9.94722373e-01 -8.37855045e-02 -5.92232167e-02 1.99145226e+01] [ 8.36286945e-02 9.96483802e-01 -5.12577038e-03 8.50050453e-01] [ 5.94444414e-02 1.45958183e-04 9.98231605e-01 7.11688343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099893 meters Centerline goodness [0,1] 0.9997383226481747 Centerline is valid? [True, True] Translation: X:19.94, Y:0.85, Z:0.71 [[ 9.94192685e-01 -8.90501811e-02 -6.04232529e-02 1.99436772e+01] [ 8.88966410e-02 9.96027126e-01 -5.22986962e-03 8.51058620e-01] [ 6.06489197e-02 -1.71926092e-04 9.98159145e-01 7.11746145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935099893 meters Centerline goodness [0,1] 0.9998255217988703 Centerline is valid? [True, True] Translation: X:19.97, Y:0.85, Z:0.72 [[ 9.93720682e-01 -9.54128284e-02 -5.84431273e-02 1.99741941e+01] [ 9.52801334e-02 9.95437642e-01 -5.05930855e-03 8.52254229e-01] [ 5.86592118e-02 -5.40929431e-04 9.98277919e-01 7.16168122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099893 meters Centerline goodness [0,1] 0.9998474014649459 Centerline is valid? [True, True] Translation: X:20.01, Y:0.85, Z:0.72 [[ 9.93433091e-01 -9.88493258e-02 -5.76151414e-02 2.00063045e+01] [ 9.87261817e-02 9.95102142e-01 -4.98688395e-03 8.53331714e-01] [ 5.78259007e-02 -7.33987375e-04 9.98326413e-01 7.18442115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995099893 meters Centerline goodness [0,1] 0.9998697209857779 Centerline is valid? [True, True] Translation: X:20.04, Y:0.85, Z:0.72 [[ 9.93137022e-01 -1.01891716e-01 -5.74189401e-02 2.00379312e+01] [ 1.01774717e-01 9.94795078e-01 -4.96592157e-03 8.53508392e-01] [ 5.76260653e-02 -9.11955853e-04 9.98337821e-01 7.19588180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099893 meters Centerline goodness [0,1] 0.9998481397114655 Centerline is valid? [True, True] Translation: X:20.07, Y:0.85, Z:0.72 [[ 9.92636237e-01 -1.06880630e-01 -5.70072920e-02 2.00693166e+01] [ 1.06773693e-01 9.94271140e-01 -4.92725452e-03 8.53295997e-01] [ 5.72073333e-02 -1.19590770e-03 9.98361603e-01 7.20836132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055099893 meters Centerline goodness [0,1] 0.9997396511325176 Centerline is valid? [True, True] Translation: X:20.10, Y:0.86, Z:0.72 [[ 9.92234550e-01 -1.10520335e-01 -5.70600867e-02 2.01012717e+01] [ 1.10419391e-01 9.93872863e-01 -4.92859560e-03 8.55648112e-01] [ 5.72551817e-02 -1.41021722e-03 9.98358581e-01 7.21533014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters Centerline goodness [0,1] 0.9997825188664883 Centerline is valid? [True, True] Translation: X:20.13, Y:0.86, Z:0.72 [[ 9.91977663e-01 -1.12723487e-01 -5.72165379e-02 2.01336101e+01] [ 1.12625882e-01 9.93625194e-01 -4.93803923e-03 8.59245582e-01] [ 5.74084266e-02 -1.54563846e-03 9.98349580e-01 7.23218661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115099893 meters Centerline goodness [0,1] 0.9998478260869565 Centerline is valid? [True, True] Translation: X:20.16, Y:0.86, Z:0.72 [[ 9.91585265e-01 -1.16369275e-01 -5.67173113e-02 2.01643597e+01] [ 1.16279578e-01 9.93204482e-01 -4.89037738e-03 8.60442527e-01] [ 5.69009775e-02 -1.74583888e-03 9.98378300e-01 7.24585785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099893 meters Centerline goodness [0,1] 0.9998911054969946 Centerline is valid? [True, True] Translation: X:20.20, Y:0.86, Z:0.73 [[ 9.91152586e-01 -1.19735375e-01 -5.72712018e-02 2.01961382e+01] [ 1.19649901e-01 9.92803898e-01 -4.93158850e-03 8.63251422e-01] [ 5.74495580e-02 -1.96453693e-03 9.98346477e-01 7.25354676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175099893 meters Centerline goodness [0,1] 0.9999781659388647 Centerline is valid? [True, True] Translation: X:20.23, Y:0.87, Z:0.73 [[ 9.90899112e-01 -1.21657426e-01 -5.76057371e-02 2.02281816e+01] [ 1.21574383e-01 9.92569946e-01 -4.95707470e-03 8.65335390e-01] [ 5.77807883e-02 -2.09142105e-03 9.98327104e-01 7.28144671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099893 meters Centerline goodness [0,1] 0.9998257384333885 Centerline is valid? [True, True] Translation: X:20.26, Y:0.87, Z:0.73 [[ 9.90827749e-01 -1.21036464e-01 -6.00878270e-02 2.02601759e+01] [ 1.20945247e-01 9.92645736e-01 -5.16616103e-03 8.70889154e-01] [ 6.02712192e-02 -2.14856138e-03 9.98179725e-01 7.27173815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235099893 meters Centerline goodness [0,1] 0.9997382941137984 Centerline is valid? [True, True] Translation: X:20.29, Y:0.88, Z:0.73 [[ 9.91214989e-01 -1.17481021e-01 -6.07540495e-02 2.02905312e+01] [ 1.17381343e-01 9.93073198e-01 -5.21950638e-03 8.77089911e-01] [ 6.09464112e-02 -1.95773899e-03 9.98139120e-01 7.27307753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters Centerline goodness [0,1] 0.9997157475838545 Centerline is valid? [True, True] Translation: X:20.32, Y:0.88, Z:0.73 [[ 9.91590362e-01 -1.13939559e-01 -6.13704352e-02 2.03213777e+01] [ 1.13831213e-01 9.93486124e-01 -5.27023378e-03 8.81272242e-01] [ 6.15711640e-02 -1.75995809e-03 9.98101144e-01 7.26552280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295099893 meters Centerline goodness [0,1] 0.9998030893099374 Centerline is valid? [True, True] Translation: X:20.35, Y:0.88, Z:0.73 [[ 9.91968191e-01 -1.11292122e-01 -6.01096638e-02 2.03524839e+01] [ 1.11183459e-01 9.93786504e-01 -5.15980618e-03 8.83613804e-01] [ 6.03104184e-02 -1.56483673e-03 9.98178443e-01 7.28063535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099893 meters Centerline goodness [0,1] 0.9998251518992874 Centerline is valid? [True, True] Translation: X:20.38, Y:0.89, Z:0.73 [[ 9.92300682e-01 -1.09348004e-01 -5.81581591e-02 2.03840118e+01] [ 1.09243091e-01 9.94002540e-01 -4.98983765e-03 8.87878923e-01] [ 5.83549866e-02 -1.40195776e-03 9.98294911e-01 7.31931177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355099893 meters Centerline goodness [0,1] 0.9999122499122499 Centerline is valid? [True, True] Translation: X:20.41, Y:0.90, Z:0.74 [[ 9.92741879e-01 -1.06749127e-01 -5.53911991e-02 2.04148102e+01] [ 1.06650134e-01 9.94285271e-01 -4.74859560e-03 8.96822088e-01] [ 5.55815618e-02 -1.19334910e-03 9.98453437e-01 7.40868924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099893 meters Centerline goodness [0,1] 0.9997146056069022 Centerline is valid? [True, True] Translation: X:20.45, Y:0.90, Z:0.74 [[ 9.92938851e-01 -1.04805007e-01 -5.55729047e-02 2.04460301e+01] [ 1.04702542e-01 9.94492191e-01 -4.76022471e-03 9.01258240e-01] [ 5.57657151e-02 -1.09201232e-03 9.98443285e-01 7.41467061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.415099893 meters Centerline goodness [0,1] 0.9998241294407316 Centerline is valid? [True, True] Translation: X:20.48, Y:0.91, Z:0.74 [[ 9.93250683e-01 -1.01334281e-01 -5.64308727e-02 2.04778172e+01] [ 1.01223217e-01 9.94852013e-01 -4.83040542e-03 9.06913746e-01] [ 5.66298530e-02 -9.14310996e-04 9.98394824e-01 7.42880569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters Centerline goodness [0,1] 0.999890158172232 Centerline is valid? [True, True] Translation: X:20.51, Y:0.91, Z:0.74 [[ 9.93497672e-01 -9.84389863e-02 -5.72026309e-02 2.05095643e+01] [ 9.83203075e-02 9.95142795e-01 -4.89227943e-03 9.09113049e-01] [ 5.74063770e-02 -7.63712040e-04 9.98350602e-01 7.42106299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475099893 meters Centerline goodness [0,1] 0.9998250639609892 Centerline is valid? [True, True] Translation: X:20.54, Y:0.91, Z:0.74 [[ 9.93704358e-01 -9.62264364e-02 -5.73770183e-02 2.05414852e+01] [ 9.61035857e-02 9.95359262e-01 -4.90305790e-03 9.11421063e-01] [ 5.75825503e-02 -6.41947194e-04 9.98340542e-01 7.41404025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099893 meters Centerline goodness [0,1] 0.9998682766190999 Centerline is valid? [True, True] Translation: X:20.57, Y:0.92, Z:0.74 [[ 9.93898392e-01 -9.39315218e-02 -5.78174338e-02 2.05728566e+01] [ 9.38031275e-02 9.95578526e-01 -4.93671946e-03 9.15197712e-01] [ 5.80255091e-02 -5.16858584e-04 9.98314967e-01 7.43400055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535099892999998 meters Centerline goodness [0,1] 0.9998681144766343 Centerline is valid? [True, True] Translation: X:20.60, Y:0.92, Z:0.75 [[ 9.94069654e-01 -9.19395975e-02 -5.80743820e-02 2.06041841e+01] [ 9.18068554e-02 9.95764503e-01 -4.95534604e-03 9.20566294e-01] [ 5.82840006e-02 -4.05667266e-04 9.98299960e-01 7.46680661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099893 meters Centerline goodness [0,1] 0.9997131888982042 Centerline is valid? [True, True] Translation: X:20.64, Y:0.93, Z:0.75 [[ 9.94735488e-01 -8.37664013e-02 -5.90296477e-02 2.06359622e+01] [ 8.36151224e-02 9.96485416e-01 -5.03251680e-03 9.30720747e-01] [ 5.92437389e-02 7.02518420e-05 9.98243545e-01 7.49619463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595099893 meters Centerline goodness [0,1] 0.9998455257640958 Centerline is valid? [True, True] Translation: X:20.67, Y:0.93, Z:0.75 [[ 9.94915364e-01 -8.18243645e-02 -5.87213025e-02 2.06663453e+01] [ 8.16714977e-02 9.96646748e-01 -5.00259592e-03 9.33837888e-01] [ 5.89337294e-02 1.81302822e-04 9.98261881e-01 7.51438615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters Centerline goodness [0,1] 0.9998016616347489 Centerline is valid? [True, True] Translation: X:20.70, Y:0.93, Z:0.75 [[ 9.95175409e-01 -7.85924450e-02 -5.87293209e-02 2.06976818e+01] [ 7.84339869e-02 9.96906761e-01 -5.00201111e-03 9.33446364e-01] [ 5.89407774e-02 3.71503664e-04 9.98261412e-01 7.49286507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655099893 meters Centerline goodness [0,1] 0.9998680651758032 Centerline is valid? [True, True] Translation: X:20.73, Y:0.93, Z:0.75 [[ 9.95501489e-01 -7.58907792e-02 -5.67219080e-02 2.07273618e+01] [ 7.57386814e-02 9.97116005e-01 -4.82953441e-03 9.34317525e-01] [ 5.69248394e-02 5.11766181e-04 9.98378335e-01 7.49629495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099893 meters Centerline goodness [0,1] 0.9999122787780433 Centerline is valid? [True, True] Translation: X:20.76, Y:0.94, Z:0.76 [[ 9.95892067e-01 -7.25904877e-02 -5.41258986e-02 2.07570529e+01] [ 7.24470896e-02 9.97361606e-01 -4.60931990e-03 9.40774588e-01] [ 5.43176859e-02 6.69121291e-04 9.98523481e-01 7.55972061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715099893 meters Centerline goodness [0,1] 0.9998461267915237 Centerline is valid? [True, True] Translation: X:20.79, Y:0.95, Z:0.76 [[ 9.96174580e-01 -6.89952891e-02 -5.36270103e-02 2.07874795e+01] [ 6.88493248e-02 9.97616618e-01 -4.56672251e-03 9.46017039e-01] [ 5.38142790e-02 8.57069427e-04 9.98550594e-01 7.59770619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099893 meters Centerline goodness [0,1] 0.999671743697479 Centerline is valid? [True, True] Translation: X:20.82, Y:0.95, Z:0.76 [[ 9.96169878e-01 -6.73428675e-02 -5.57719650e-02 2.08167151e+01] [ 6.71824264e-02 9.97729407e-01 -4.74879680e-03 9.46270840e-01] [ 5.59651272e-02 9.83712393e-04 9.98432239e-01 7.56781261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775099893 meters Centerline goodness [0,1] 0.9997815449143657 Centerline is valid? [True, True] Translation: X:20.85, Y:0.94, Z:0.76 [[ 9.96049587e-01 -6.96605546e-02 -5.50692980e-02 2.08456323e+01] [ 6.95074747e-02 9.97570394e-01 -4.69255082e-03 9.40937767e-01] [ 5.52623870e-02 8.46285469e-04 9.98471508e-01 7.57321073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099893 meters Centerline goodness [0,1] 0.9997817308741679 Centerline is valid? [True, True] Translation: X:20.87, Y:0.94, Z:0.76 [[ 9.95992112e-01 -7.15049512e-02 -5.37285336e-02 2.08747178e+01] [ 7.13612192e-02 9.97439971e-01 -4.59132377e-03 9.42264041e-01] [ 5.39192894e-02 7.38788588e-04 9.98545024e-01 7.60201800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835099893 meters Centerline goodness [0,1] 0.9998038531950135 Centerline is valid? [True, True] Translation: X:20.90, Y:0.94, Z:0.76 [[ 9.95914956e-01 -7.35489921e-02 -5.23826865e-02 2.09048254e+01] [ 7.34146322e-02 9.97291411e-01 -4.48712825e-03 9.43638744e-01] [ 5.25708271e-02 6.23142464e-04 9.98617004e-01 7.64240808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099893 meters Centerline goodness [0,1] 0.9997384538262025 Centerline is valid? [True, True] Translation: X:20.94, Y:0.94, Z:0.76 [[ 9.95751926e-01 -7.49222325e-02 -5.35234532e-02 2.09357498e+01] [ 7.47839335e-02 9.97189221e-01 -4.58484692e-03 9.41180629e-01] [ 5.37165176e-02 5.62675783e-04 9.98556067e-01 7.63101554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895099893 meters Centerline goodness [0,1] 0.9998480606021142 Centerline is valid? [True, True] Translation: X:20.97, Y:0.94, Z:0.76 [[ 9.95585100e-01 -7.61841952e-02 -5.48295354e-02 2.09655854e+01] [ 7.60409624e-02 9.97093632e-01 -4.69686295e-03 9.39585619e-01] [ 5.50280074e-02 5.06836124e-04 9.98484683e-01 7.62574864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters Centerline goodness [0,1] 0.9997395437674994 Centerline is valid? [True, True] Translation: X:21.00, Y:0.94, Z:0.77 [[ 9.95378041e-01 -7.91363513e-02 -5.44058141e-02 2.09955768e+01] [ 7.89996841e-02 9.96863742e-01 -4.66142220e-03 9.41450623e-01] [ 5.46040714e-02 3.41835179e-04 9.98508026e-01 7.66847841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955099893 meters Centerline goodness [0,1] 0.9999134161652019 Centerline is valid? [True, True] Translation: X:21.03, Y:0.94, Z:0.77 [[ 9.95318948e-01 -8.05485564e-02 -5.34052520e-02 2.10259064e+01] [ 8.04189110e-02 9.96750652e-01 -4.57558442e-03 9.43564897e-01] [ 5.36002765e-02 2.59373667e-04 9.98562438e-01 7.70615037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099893 meters Centerline goodness [0,1] 0.99982720262652 Centerline is valid? [True, True] Translation: X:21.06, Y:0.94, Z:0.77 [[ 9.95015258e-01 -8.34578509e-02 -5.45840932e-02 2.10572856e+01] [ 8.33268500e-02 9.96511303e-01 -4.67543723e-03 9.40526987e-01] [ 5.47838678e-02 1.03810827e-04 9.98498231e-01 7.68627775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015099893 meters Centerline goodness [0,1] 0.999848802298205 Centerline is valid? [True, True] Translation: X:21.09, Y:0.94, Z:0.77 [[ 9.94664749e-01 -8.62573098e-02 -5.65836842e-02 2.10883161e+01] [ 8.61211821e-02 9.96272891e-01 -4.84442481e-03 9.35655141e-01] [ 5.67906577e-02 -5.44751812e-05 9.98386107e-01 7.65366419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099893 meters Centerline goodness [0,1] 0.9997848166637976 Centerline is valid? [True, True] Translation: X:21.12, Y:0.94, Z:0.77 [[ 9.94433156e-01 -8.85003377e-02 -5.71873081e-02 2.11184439e+01] [ 8.83651488e-02 9.96076129e-01 -4.89339192e-03 9.36022705e-01] [ 5.73959793e-02 -1.87213818e-04 9.98351474e-01 7.66680767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075099893 meters Centerline goodness [0,1] 0.9998060512024826 Centerline is valid? [True, True] Translation: X:21.15, Y:0.94, Z:0.77 [[ 9.94333086e-01 -8.96468682e-02 -5.71415219e-02 2.11489652e+01] [ 8.95138078e-02 9.95973581e-01 -4.88911770e-03 9.39564587e-01] [ 5.73497403e-02 -2.53543714e-04 9.98354117e-01 7.70847697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters Centerline goodness [0,1] 0.9997417855529017 Centerline is valid? [True, True] Translation: X:21.18, Y:0.94, Z:0.77 [[ 9.94373999e-01 -8.87485297e-02 -5.78277462e-02 2.11794468e+01] [ 8.86108713e-02 9.96054043e-01 -4.94546789e-03 9.39111562e-01] [ 5.80384634e-02 -2.06522294e-04 9.98314326e-01 7.70106035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.21, Y:0.94, Z:0.78 [[ 9.94549867e-01 -8.80681945e-02 -5.58082079e-02 2.12107088e+01] [ 8.79390884e-02 9.96114434e-01 -4.76974806e-03 9.41438893e-01] [ 5.60114246e-02 -1.63970638e-04 9.98430114e-01 7.76242477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099893 meters Centerline goodness [0,1] 0.9997851818435695 Centerline is valid? [True, True] Translation: X:21.24, Y:0.95, Z:0.78 [[ 9.94682624e-01 -8.63241530e-02 -5.61659945e-02 2.12421742e+01] [ 8.61907205e-02 9.96267101e-01 -4.79830644e-03 9.45358314e-01] [ 5.63705422e-02 -6.81954934e-05 9.98409914e-01 7.75635666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195099893 meters Centerline goodness [0,1] 0.9997414406067527 Centerline is valid? [True, True] Translation: X:21.27, Y:0.95, Z:0.78 [[ 9.94990783e-01 -8.32611300e-02 -5.53256286e-02 2.12720785e+01] [ 8.31270495e-02 9.96527759e-01 -4.72437793e-03 9.52889196e-01] [ 5.55268817e-02 1.01656240e-04 9.98457187e-01 7.80525113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099893 meters Centerline goodness [0,1] 0.9998711174120376 Centerline is valid? [True, True] Translation: X:21.30, Y:0.96, Z:0.78 [[ 9.95344384e-01 -7.79218172e-02 -5.67251979e-02 2.13034023e+01] [ 7.77723773e-02 9.96959390e-01 -4.84067736e-03 9.58253355e-01] [ 5.69299130e-02 4.06487537e-04 9.98378095e-01 7.82387654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255099893 meters Centerline goodness [0,1] 0.9997843014602791 Centerline is valid? [True, True] Translation: X:21.33, Y:0.96, Z:0.78 [[ 9.95503357e-01 -7.48262856e-02 -5.80869381e-02 2.13330389e+01] [ 7.46643906e-02 9.97196406e-01 -4.95552917e-03 9.59221015e-01] [ 5.82948898e-02 5.96220087e-04 9.98299229e-01 7.81033309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters Centerline goodness [0,1] 0.9998705836676589 Centerline is valid? [True, True] Translation: X:21.36, Y:0.96, Z:0.78 [[ 9.95605459e-01 -7.37054997e-02 -5.77691066e-02 2.13604822e+01] [ 7.35433065e-02 9.97279831e-01 -4.93154308e-03 9.62420380e-01] [ 5.79754467e-02 6.61340096e-04 9.98317790e-01 7.83508305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315099893 meters Centerline goodness [0,1] 0.9996765638139595 Centerline is valid? [True, True] Translation: X:21.39, Y:0.97, Z:0.79 [[ 9.96079257e-01 -6.74707862e-02 -5.72171892e-02 2.13883292e+01] [ 6.73010089e-02 9.97720727e-01 -4.89123996e-03 9.72924333e-01] [ 5.74167914e-02 1.02128811e-03 9.98349773e-01 7.86695348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099893 meters Centerline goodness [0,1] 0.9997624651795547 Centerline is valid? [True, True] Translation: X:21.42, Y:0.97, Z:0.79 [[ 9.96152164e-01 -6.61795956e-02 -5.74554375e-02 2.14167888e+01] [ 6.60059582e-02 9.97807115e-01 -4.91673708e-03 9.74634542e-01] [ 5.76548320e-02 1.10541708e-03 9.98335965e-01 7.87596305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375099892999998 meters Centerline goodness [0,1] 0.9997427211526092 Centerline is valid? [True, True] Translation: X:21.44, Y:0.98, Z:0.78 [[ 9.96207086e-01 -6.44310368e-02 -5.84814706e-02 2.14443649e+01] [ 6.42473520e-02 9.97921390e-01 -5.01769974e-03 9.75813923e-01] [ 5.86832060e-02 1.24138841e-03 9.98275884e-01 7.84988415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099893 meters Centerline goodness [0,1] 0.9998058294319432 Centerline is valid? [True, True] Translation: X:21.47, Y:0.98, Z:0.79 [[ 9.96315146e-01 -6.60421271e-02 -5.47226428e-02 2.14728815e+01] [ 6.58834278e-02 9.97816253e-01 -4.70099388e-03 9.80131261e-01] [ 5.49136060e-02 1.07835612e-03 9.98490527e-01 7.90923139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435099893 meters Centerline goodness [0,1] 0.999805904807091 Centerline is valid? [True, True] Translation: X:21.50, Y:0.98, Z:0.79 [[ 9.95996981e-01 -7.01569939e-02 -5.53896161e-02 2.15022034e+01] [ 6.99999773e-02 9.97535578e-01 -4.77221920e-03 9.80066211e-01] [ 5.55879173e-02 8.75844048e-04 9.98453412e-01 7.92023972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099893 meters Centerline goodness [0,1] 0.9998054811100545 Centerline is valid? [True, True] Translation: X:21.53, Y:0.98, Z:0.79 [[ 9.95774531e-01 -7.31858201e-02 -5.54699822e-02 2.15297141e+01] [ 7.30323685e-02 9.97318062e-01 -4.79119904e-03 9.80258873e-01] [ 5.56718630e-02 7.19849796e-04 9.98448860e-01 7.92491860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495099893 meters Centerline goodness [0,1] 0.9997626599348394 Centerline is valid? [True, True] Translation: X:21.56, Y:0.98, Z:0.79 [[ 9.95235216e-01 -8.00783632e-02 -5.56266248e-02 2.15583879e+01] [ 7.99345272e-02 9.96788513e-01 -4.80949987e-03 9.77537400e-01] [ 5.58331175e-02 3.40095683e-04 9.98440057e-01 7.91739900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099893 meters Centerline goodness [0,1] 0.9998272250178174 Centerline is valid? [True, True] Translation: X:21.59, Y:0.98, Z:0.79 [[ 9.94535700e-01 -8.80056474e-02 -5.61582338e-02 2.15889535e+01] [ 8.78715198e-02 9.96119970e-01 -4.85804885e-03 9.76504744e-01] [ 5.63678740e-02 -1.03206340e-04 9.98410062e-01 7.93636963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555099893 meters Centerline goodness [0,1] 0.9998066428909036 Centerline is valid? [True, True] Translation: X:21.62, Y:0.97, Z:0.79 [[ 9.93242598e-01 -1.00483260e-01 -5.80711273e-02 2.16196001e+01] [ 1.00361112e-01 9.94938396e-01 -5.02352645e-03 9.71485251e-01] [ 5.82819745e-02 -8.38502469e-04 9.98299809e-01 7.92345214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099893 meters Centerline goodness [0,1] 0.9997422015983501 Centerline is valid? [True, True] Translation: X:21.65, Y:0.97, Z:0.79 [[ 9.92887253e-01 -1.03786256e-01 -5.83379510e-02 2.16513513e+01] [ 1.03668699e-01 9.94599083e-01 -5.04621121e-03 9.71803586e-01] [ 5.85466000e-02 -1.03750067e-03 9.98284138e-01 7.93039795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615099893 meters Centerline goodness [0,1] 0.9998066262730437 Centerline is valid? [True, True] Translation: X:21.68, Y:0.97, Z:0.80 [[ 9.92230286e-01 -1.10479526e-01 -5.72130586e-02 2.16826428e+01] [ 1.10377682e-01 9.93877405e-01 -4.94687478e-03 9.71141648e-01] [ 5.74092946e-02 -1.40660579e-03 9.98349735e-01 7.95792600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099893 meters Centerline goodness [0,1] 0.9997418022205009 Centerline is valid? [True, True] Translation: X:21.71, Y:0.97, Z:0.80 [[ 9.91641959e-01 -1.16125883e-01 -5.62228045e-02 2.17131632e+01] [ 1.16036693e-01 9.93233040e-01 -4.85941554e-03 9.74013937e-01] [ 5.64066509e-02 -1.70510795e-03 9.98406421e-01 7.99109596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675099893 meters Centerline goodness [0,1] 0.9998072309801234 Centerline is valid? [True, True] Translation: X:21.74, Y:0.98, Z:0.80 [[ 9.91356499e-01 -1.18560662e-01 -5.61752687e-02 2.17440525e+01] [ 1.18475634e-01 9.92945099e-01 -4.85334870e-03 9.75253526e-01] [ 5.63543740e-02 -1.84400181e-03 9.98409127e-01 7.99924510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099893 meters Centerline goodness [0,1] 0.9998282561559434 Centerline is valid? [True, True] Translation: X:21.78, Y:0.98, Z:0.80 [[ 9.91027001e-01 -1.20986362e-01 -5.68135823e-02 2.17756756e+01] [ 1.20903767e-01 9.92652132e-01 -4.90152257e-03 9.78826707e-01] [ 5.69891410e-02 -2.01143489e-03 9.98372772e-01 7.99978734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735099893 meters Centerline goodness [0,1] 0.9997418188859485 Centerline is valid? [True, True] Translation: X:21.81, Y:0.98, Z:0.80 [[ 9.90862950e-01 -1.21886451e-01 -5.77434610e-02 2.18071087e+01] [ 1.21802974e-01 9.92541824e-01 -4.97625592e-03 9.79161536e-01] [ 5.79193382e-02 -2.10253767e-03 9.98319052e-01 7.99019822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters Centerline goodness [0,1] 0.999827608498901 Centerline is valid? [True, True] Translation: X:21.84, Y:0.99, Z:0.80 [[ 9.90703811e-01 -1.23027634e-01 -5.80530731e-02 2.18389738e+01] [ 1.22945410e-01 9.92400842e-01 -4.99956941e-03 9.85379434e-01] [ 5.82270038e-02 -2.18426643e-03 9.98300979e-01 8.01723040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795099893 meters Centerline goodness [0,1] 0.999827608498901 Centerline is valid? [True, True] Translation: X:21.87, Y:0.99, Z:0.80 [[ 9.90712715e-01 -1.22955745e-01 -5.80534352e-02 2.18705465e+01] [ 1.22873645e-01 9.92409751e-01 -4.99536118e-03 9.88037475e-01] [ 5.82270035e-02 -2.18426935e-03 9.98300979e-01 8.03229341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099893 meters Centerline goodness [0,1] 0.999827608498901 Centerline is valid? [True, True] Translation: X:21.90, Y:0.99, Z:0.80 [[ 9.90721613e-01 -1.22883856e-01 -5.80537968e-02 2.19021193e+01] [ 1.22801879e-01 9.92418655e-01 -4.99115584e-03 9.90693230e-01] [ 5.82270034e-02 -2.18426934e-03 9.98300979e-01 8.04735643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855099893 meters Centerline goodness [0,1] 0.999956917907072 Centerline is valid? [True, True] Translation: X:21.93, Y:0.99, Z:0.81 [[ 9.90631750e-01 -1.23923236e-01 -5.73739270e-02 2.19329421e+01] [ 1.23845134e-01 9.92289318e-01 -4.92874439e-03 9.93718073e-01] [ 5.75423208e-02 -2.22291100e-03 9.98340593e-01 8.08849817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099893 meters Centerline goodness [0,1] 0.9998489393383543 Centerline is valid? [True, True] Translation: X:21.96, Y:1.00, Z:0.81 [[ 9.90592378e-01 -1.23769166e-01 -5.83775091e-02 2.19640912e+01] [ 1.23688281e-01 9.92308470e-01 -5.01089347e-03 1.00159029e+00] [ 5.85486909e-02 -2.25686087e-03 9.98282003e-01 8.09176475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.915099893 meters Centerline goodness [0,1] 0.9998484159466424 Centerline is valid? [True, True] Translation: X:21.99, Y:1.01, Z:0.81 [[ 9.91327695e-01 -1.17087137e-01 -5.96657709e-02 2.19947650e+01] [ 1.16990951e-01 9.93119809e-01 -5.11491414e-03 1.01120606e+00] [ 5.98541497e-02 -1.90979925e-03 9.98205306e-01 8.07345404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters Centerline goodness [0,1] 0.9997830190726236 Centerline is valid? [True, True] Translation: X:22.03, Y:1.02, Z:0.81 [[ 9.91819441e-01 -1.12644999e-01 -6.00441550e-02 2.20263787e+01] [ 1.12539554e-01 9.93633921e-01 -5.14579822e-03 1.01759384e+00] [ 6.02415576e-02 -1.65363968e-03 9.98182458e-01 8.06171667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975099893 meters Centerline goodness [0,1] 0.99978165462128 Centerline is valid? [True, True] Translation: X:22.06, Y:1.03, Z:0.81 [[ 9.92192996e-01 -1.10056210e-01 -5.86573908e-02 2.20578362e+01] [ 1.09951259e-01 9.93924285e-01 -5.02360016e-03 1.02559981e+00] [ 5.88538836e-02 -1.46507307e-03 9.98265533e-01 8.10540020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099893 meters Centerline goodness [0,1] 0.9997817689806429 Centerline is valid? [True, True] Translation: X:22.09, Y:1.03, Z:0.81 [[ 9.92343147e-01 -1.09122728e-01 -5.78559234e-02 2.20891307e+01] [ 1.09019281e-01 9.94027306e-01 -4.95083445e-03 1.03172679e+00] [ 5.80506162e-02 -1.39448454e-03 9.98312667e-01 8.14202064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035099892999998 meters Centerline goodness [0,1] 0.9997817689806429 Centerline is valid? [True, True] Translation: X:22.12, Y:1.03, Z:0.82 [[ 9.92351056e-01 -1.09050592e-01 -5.78562820e-02 2.21206934e+01] [ 1.08947267e-01 9.94035223e-01 -4.94664059e-03 1.03436735e+00] [ 5.80506162e-02 -1.39447977e-03 9.98312667e-01 8.15707735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099893 meters Centerline goodness [0,1] 0.9998906912684186 Centerline is valid? [True, True] Translation: X:22.15, Y:1.04, Z:0.82 [[ 9.92703497e-01 -1.06099953e-01 -5.72936854e-02 2.21517624e+01] [ 1.05993957e-01 9.94354728e-01 -4.89439081e-03 1.04123027e+00] [ 5.74895416e-02 -1.21410557e-03 9.98345370e-01 8.19536323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095099893 meters Centerline goodness [0,1] 0.9998251824658013 Centerline is valid? [True, True] Translation: X:22.18, Y:1.05, Z:0.82 [[ 9.93321613e-01 -1.00107447e-01 -5.73643814e-02 2.21826521e+01] [ 9.99914211e-02 9.94976250e-01 -4.89663244e-03 1.04566325e+00] [ 5.75663864e-02 -8.72015176e-04 9.98341300e-01 8.18602513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters Centerline goodness [0,1] 0.9998466660825375 Centerline is valid? [True, True] Translation: X:22.21, Y:1.05, Z:0.82 [[ 9.93888655e-01 -9.44981815e-02 -5.70564234e-02 2.22142732e+01] [ 9.43742972e-02 9.95524884e-01 -4.86795146e-03 1.05194010e+00] [ 5.72611019e-02 -5.46458135e-04 9.98359087e-01 8.21507991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155099893 meters Centerline goodness [0,1] 0.9996935402666199 Centerline is valid? [True, True] Translation: X:22.25, Y:1.06, Z:0.82 [[ 9.94142836e-01 -9.17326326e-02 -5.71414542e-02 2.22465920e+01] [ 9.16040494e-02 9.95783596e-01 -4.87109365e-03 1.05671716e+00] [ 5.73473610e-02 -3.91825735e-04 9.98354209e-01 8.22946641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099893 meters Centerline goodness [0,1] 0.99986838064318 Centerline is valid? [True, True] Translation: X:22.28, Y:1.06, Z:0.83 [[ 9.94278024e-01 -9.03247647e-02 -5.70319917e-02 2.22784666e+01] [ 9.01945954e-02 9.95912315e-01 -4.85764895e-03 1.05982139e+00] [ 5.72376289e-02 -3.14123816e-04 9.98360534e-01 8.25334998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215099893 meters Centerline goodness [0,1] 0.9998463362163587 Centerline is valid? [True, True] Translation: X:22.31, Y:1.06, Z:0.83 [[ 9.94282093e-01 -8.98679323e-02 -5.76790586e-02 2.23093078e+01] [ 8.97342572e-02 9.95953647e-01 -4.90871119e-03 1.06264292e+00] [ 5.78868045e-02 -2.95143837e-04 9.98323109e-01 8.26208327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099893 meters Centerline goodness [0,1] 0.9998242955349103 Centerline is valid? [True, True] Translation: X:22.34, Y:1.07, Z:0.83 [[ 9.94342086e-01 -8.92833141e-02 -5.75526388e-02 2.23407971e+01] [ 8.91494657e-02 9.96006235e-01 -4.89415958e-03 1.06572303e+00] [ 5.77597538e-02 -2.64318147e-04 9.98330477e-01 8.27543019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275099893 meters Centerline goodness [0,1] 0.9997800892837508 Centerline is valid? [True, True] Translation: X:22.37, Y:1.07, Z:0.83 [[ 9.94709156e-01 -8.52680089e-02 -5.72980079e-02 2.23723609e+01] [ 8.51290539e-02 9.96358051e-01 -4.86609950e-03 1.07122625e+00] [ 5.75042541e-02 -3.73714718e-05 9.98345261e-01 8.30114293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099893 meters Centerline goodness [0,1] 0.9998681695339793 Centerline is valid? [True, True] Translation: X:22.40, Y:1.08, Z:0.83 [[ 9.95342288e-01 -7.84884974e-02 -5.59757560e-02 2.24024302e+01] [ 7.83453670e-02 9.96914960e-01 -4.75027700e-03 1.07540405e+00] [ 5.61759107e-02 3.42710434e-04 9.98420828e-01 8.31849918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335099893 meters Centerline goodness [0,1] 0.9998681927022692 Centerline is valid? [True, True] Translation: X:22.43, Y:1.08, Z:0.83 [[ 9.95839004e-01 -7.31431691e-02 -5.43576585e-02 2.24332820e+01] [ 7.30003002e-02 9.97321256e-01 -4.61187858e-03 1.07930808e+00] [ 5.45493756e-02 6.24563184e-04 9.98510879e-01 8.34026674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099893 meters Centerline goodness [0,1] 0.9998029384073044 Centerline is valid? [True, True] Translation: X:22.46, Y:1.08, Z:0.84 [[ 9.96077769e-01 -7.03530706e-02 -5.36611863e-02 2.24636862e+01] [ 7.02099061e-02 9.97521859e-01 -4.55075988e-03 1.08303116e+00] [ 5.38483663e-02 7.65363894e-04 9.98548831e-01 8.35002063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395099893 meters Centerline goodness [0,1] 0.9998246383165278 Centerline is valid? [True, True] Translation: X:22.49, Y:1.09, Z:0.84 [[ 9.96242333e-01 -6.81477444e-02 -5.34518439e-02 2.24931354e+01] [ 6.80026493e-02 9.97674853e-01 -4.53067438e-03 1.08670359e+00] [ 5.36363158e-02 8.78782614e-04 9.98560150e-01 8.36843089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099893 meters Centerline goodness [0,1] 0.9997163739500382 Centerline is valid? [True, True] Translation: X:22.52, Y:1.09, Z:0.84 [[ 9.96327943e-01 -6.60023082e-02 -5.45373824e-02 2.25219027e+01] [ 6.58479283e-02 9.97818952e-01 -4.62477592e-03 1.09033537e+00] [ 5.47236796e-02 1.01661984e-03 9.98501019e-01 8.36564237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455099893 meters Centerline goodness [0,1] 0.9997588776852258 Centerline is valid? [True, True] Translation: X:22.55, Y:1.09, Z:0.84 [[ 9.96330982e-01 -6.50956942e-02 -5.55619088e-02 2.25506486e+01] [ 6.49337894e-02 9.97878430e-01 -4.71623561e-03 1.09323112e+00] [ 5.57510369e-02 1.09108637e-03 9.98444105e-01 8.38004681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099893 meters Centerline goodness [0,1] 0.9998247266831716 Centerline is valid? [True, True] Translation: X:22.58, Y:1.10, Z:0.84 [[ 9.96324562e-01 -6.43792222e-02 -5.65038378e-02 2.25780109e+01] [ 6.42098995e-02 9.97924828e-01 -4.80895280e-03 1.09670292e+00] [ 5.66961793e-02 1.16317204e-03 9.98390800e-01 8.38887001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515099893 meters Centerline goodness [0,1] 0.9998026705255542 Centerline is valid? [True, True] Translation: X:22.61, Y:1.10, Z:0.84 [[ 9.96267586e-01 -6.31334844e-02 -5.88647693e-02 2.26067056e+01] [ 6.29471008e-02 9.98004254e-01 -5.01709021e-03 1.09738363e+00] [ 5.90640366e-02 1.29299778e-03 9.98253358e-01 8.39705620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099893 meters Centerline goodness [0,1] 0.9996933858957512 Centerline is valid? [True, True] Translation: X:22.63, Y:1.10, Z:0.84 [[ 9.96415040e-01 -6.15715459e-02 -5.80173564e-02 2.26344774e+01] [ 6.13871200e-02 9.98101721e-01 -4.95741839e-03 1.09801953e+00] [ 5.82124592e-02 1.37812781e-03 9.98303266e-01 8.40599640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575099893 meters Centerline goodness [0,1] 0.9997816403179317 Centerline is valid? [True, True] Translation: X:22.66, Y:1.10, Z:0.84 [[ 9.96753290e-01 -5.85004298e-02 -5.53224899e-02 2.26633573e+01] [ 5.83276988e-02 9.98286270e-01 -4.73315827e-03 1.09637220e+00] [ 5.55045739e-02 1.49095754e-03 9.98457320e-01 8.44863160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters Centerline goodness [0,1] 0.9998250830855344 Centerline is valid? [True, True] Translation: X:22.69, Y:1.10, Z:0.85 [[ 9.96948843e-01 -5.65991852e-02 -5.37544073e-02 2.26913477e+01] [ 5.64326784e-02 9.98395756e-01 -4.61158302e-03 1.09771733e+00] [ 5.39291839e-02 1.56400718e-03 9.98543538e-01 8.46901199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635099893 meters Centerline goodness [0,1] 0.9998911600165437 Centerline is valid? [True, True] Translation: X:22.72, Y:1.10, Z:0.85 [[ 9.97000717e-01 -5.62786716e-02 -5.31251441e-02 2.27199239e+01] [ 5.61151754e-02 9.98413864e-01 -4.56536899e-03 1.09863180e+00] [ 5.32978133e-02 1.57054938e-03 9.98577426e-01 8.48740401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099893 meters Centerline goodness [0,1] 0.9997829342942108 Centerline is valid? [True, True] Translation: X:22.75, Y:1.10, Z:0.85 [[ 9.97009919e-01 -5.63761298e-02 -5.28483911e-02 2.27482650e+01] [ 5.62137581e-02 9.98408366e-01 -4.55501594e-03 1.09660146e+00] [ 5.30210700e-02 1.57058940e-03 9.98592159e-01 8.48904982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695099893 meters Centerline goodness [0,1] 0.9998700370394438 Centerline is valid? [True, True] Translation: X:22.78, Y:1.10, Z:0.85 [[ 9.96950950e-01 -5.81158074e-02 -5.20706782e-02 2.27770013e+01] [ 5.79597882e-02 9.98308765e-01 -4.50261108e-03 1.09516448e+00] [ 5.22442873e-02 1.47087691e-03 9.98633251e-01 8.51708432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099893 meters Centerline goodness [0,1] 0.9998920109716852 Centerline is valid? [True, True] Translation: X:22.81, Y:1.09, Z:0.85 [[ 9.96533318e-01 -6.25054754e-02 -5.49036615e-02 2.28058049e+01] [ 6.23379255e-02 9.98043746e-01 -4.76068582e-03 1.09031912e+00] [ 5.50938250e-02 1.32160167e-03 9.98480307e-01 8.49602160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755099893 meters Centerline goodness [0,1] 0.9997629361436176 Centerline is valid? [True, True] Translation: X:22.84, Y:1.09, Z:0.85 [[ 9.96330614e-01 -6.43397196e-02 -5.64420726e-02 2.28353801e+01] [ 6.41652599e-02 9.97927258e-01 -4.89966324e-03 1.08908656e+00] [ 5.66403257e-02 1.26006423e-03 9.98393853e-01 8.47566080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters Centerline goodness [0,1] 0.9996993450016106 Centerline is valid? [True, True] Translation: X:22.86, Y:1.08, Z:0.85 [[ 9.96021416e-01 -6.80913721e-02 -5.74882954e-02 2.28648509e+01] [ 6.79158217e-02 9.97678505e-01 -5.00424219e-03 1.08455330e+00] [ 5.76955823e-02 1.07996757e-03 9.98333638e-01 8.46687338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815099893 meters Centerline goodness [0,1] 0.9997419188334731 Centerline is valid? [True, True] Translation: X:22.89, Y:1.08, Z:0.85 [[ 9.95513305e-01 -7.48784412e-02 -5.78487562e-02 2.28935698e+01] [ 7.47113799e-02 9.97192421e-01 -5.04835872e-03 1.08221542e+00] [ 5.80643545e-02 7.03747869e-04 9.98312594e-01 8.51715396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099893 meters Centerline goodness [0,1] 0.9998077703496444 Centerline is valid? [True, True] Translation: X:22.92, Y:1.07, Z:0.85 [[ 9.94962155e-01 -8.52018852e-02 -5.28294385e-02 2.29231599e+01] [ 8.50769244e-02 9.96363703e-01 -4.61382718e-03 1.07217294e+00] [ 5.30304418e-02 9.60172781e-05 9.98592892e-01 8.54802081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875099892999998 meters Centerline goodness [0,1] 0.9998934242779495 Centerline is valid? [True, True] Translation: X:22.95, Y:1.07, Z:0.86 [[ 9.94249231e-01 -9.46123580e-02 -5.01694066e-02 2.29548484e+01] [ 9.45114759e-02 9.95514116e-01 -4.38465848e-03 1.06760805e+00] [ 5.03591954e-02 -3.82141347e-04 9.98731098e-01 8.59225887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099893 meters Centerline goodness [0,1] 0.9997447405926273 Centerline is valid? [True, True] Translation: X:22.99, Y:1.06, Z:0.86 [[ 9.93466680e-01 -1.00739844e-01 -5.36231218e-02 2.29861148e+01] [ 1.00633641e-01 9.94912525e-01 -4.68386252e-03 1.06474104e+00] [ 5.38221671e-02 -7.43028645e-04 9.98550260e-01 8.56372910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935099893 meters Centerline goodness [0,1] 0.999744827439556 Centerline is valid? [True, True] Translation: X:23.02, Y:1.06, Z:0.85 [[ 9.92074463e-01 -1.11595809e-01 -5.77462973e-02 2.30172378e+01] [ 1.11491367e-01 9.93752635e-01 -5.03740504e-03 1.05902328e+00] [ 5.79476884e-02 -1.44073272e-03 9.98318581e-01 8.53661720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099893 meters Centerline goodness [0,1] 0.9997878479293958 Centerline is valid? [True, True] Translation: X:23.05, Y:1.06, Z:0.86 [[ 9.91373701e-01 -1.18005906e-01 -5.70332413e-02 2.30484100e+01] [ 1.17914655e-01 9.93011274e-01 -4.97442312e-03 1.05825370e+00] [ 5.72216629e-02 -1.79354269e-03 9.98359887e-01 8.56725922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995099893 meters Centerline goodness [0,1] 0.9998087344596749 Centerline is valid? [True, True] Translation: X:23.08, Y:1.06, Z:0.86 [[ 9.90928430e-01 -1.21714272e-01 -5.69779155e-02 2.30790669e+01] [ 1.21629373e-01 9.92563151e-01 -4.96854954e-03 1.06143616e+00] [ 5.71589227e-02 -2.00671113e-03 9.98363076e-01 8.59246386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099893 meters Centerline goodness [0,1] 0.9998298958111843 Centerline is valid? [True, True] Translation: X:23.11, Y:1.06, Z:0.86 [[ 9.90790149e-01 -1.22783602e-01 -5.70882437e-02 2.31103639e+01] [ 1.22700227e-01 9.92431301e-01 -4.97674060e-03 1.06251232e+00] [ 5.72672221e-02 -2.07383488e-03 9.98356732e-01 8.58774450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055099893 meters Centerline goodness [0,1] 0.9998298958111843 Centerline is valid? [True, True] Translation: X:23.14, Y:1.07, Z:0.86 [[ 9.90798978e-01 -1.22712204e-01 -5.70885335e-02 2.31419296e+01] [ 1.22628902e-01 9.92440133e-01 -4.97341382e-03 1.06520371e+00] [ 5.72672504e-02 -2.07305085e-03 9.98356732e-01 8.60280916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099893 meters Centerline goodness [0,1] 0.9997658478436715 Centerline is valid? [True, True] Translation: X:23.17, Y:1.07, Z:0.86 [[ 9.90841435e-01 -1.22473648e-01 -5.68634898e-02 2.31735430e+01] [ 1.22390845e-01 9.92469638e-01 -4.94968756e-03 1.06958082e+00] [ 5.70414934e-02 -2.05521506e-03 9.98369693e-01 8.61103087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115099893 meters Centerline goodness [0,1] 0.9998721227621483 Centerline is valid? [True, True] Translation: X:23.21, Y:1.07, Z:0.86 [[ 9.90925173e-01 -1.22335399e-01 -5.56897861e-02 2.32055872e+01] [ 1.22255986e-01 9.92486783e-01 -4.84349634e-03 1.07364434e+00] [ 5.58639077e-02 -2.00886724e-03 9.98436372e-01 8.64527201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099893 meters Centerline goodness [0,1] 0.9998089090831882 Centerline is valid? [True, True] Translation: X:23.24, Y:1.08, Z:0.87 [[ 9.91063743e-01 -1.21422633e-01 -5.52195777e-02 2.32368705e+01] [ 1.21343355e-01 9.92598994e-01 -4.79872719e-03 1.07741426e+00] [ 5.53935714e-02 -1.94468430e-03 9.98462704e-01 8.66467901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175099893 meters Centerline goodness [0,1] 0.9997442618758391 Centerline is valid? [True, True] Translation: X:23.27, Y:1.08, Z:0.87 [[ 9.91188339e-01 -1.20431302e-01 -5.51541308e-02 2.32673331e+01] [ 1.20350847e-01 9.92719864e-01 -4.79003984e-03 1.08270535e+00] [ 5.53294720e-02 -1.89001470e-03 9.98466363e-01 8.68246322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099893 meters Centerline goodness [0,1] 0.9997660470458123 Centerline is valid? [True, True] Translation: X:23.30, Y:1.09, Z:0.87 [[ 9.91272528e-01 -1.19562402e-01 -5.55302410e-02 2.32989908e+01] [ 1.19479659e-01 9.92824951e-01 -4.81957173e-03 1.09050392e+00] [ 5.57080484e-02 -1.85722520e-03 9.98445374e-01 8.71161616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235099893 meters Centerline goodness [0,1] 0.9998504465239499 Centerline is valid? [True, True] Translation: X:23.33, Y:1.10, Z:0.87 [[ 9.91369514e-01 -1.18538344e-01 -5.59923915e-02 2.33302816e+01] [ 1.18452819e-01 9.92947810e-01 -4.85559126e-03 1.09672052e+00] [ 5.61730962e-02 -1.81877144e-03 9.98419388e-01 8.72405453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099893 meters Centerline goodness [0,1] 0.9997427597590517 Centerline is valid? [True, True] Translation: X:23.36, Y:1.10, Z:0.87 [[ 9.91300069e-01 -1.18778715e-01 -5.67079300e-02 2.33624084e+01] [ 1.18691618e-01 9.92919008e-01 -4.91351008e-03 1.10268187e+00] [ 5.68900020e-02 -1.85999309e-03 9.98378720e-01 8.72603220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295099893 meters Centerline goodness [0,1] 0.9999356015884941 Centerline is valid? [True, True] Translation: X:23.39, Y:1.11, Z:0.88 [[ 9.91009955e-01 -1.21735545e-01 -5.54952743e-02 2.33943705e+01] [ 1.21656978e-01 9.92560576e-01 -4.80449353e-03 1.10664256e+00] [ 5.56672991e-02 -1.99008645e-03 9.98447390e-01 8.75331621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099893 meters Centerline goodness [0,1] 0.9998496725008054 Centerline is valid? [True, True] Translation: X:23.42, Y:1.11, Z:0.87 [[ 9.90428808e-01 -1.25808011e-01 -5.67725411e-02 2.34243569e+01] [ 1.25732660e-01 9.92052002e-01 -4.91153966e-03 1.10819005e+00] [ 5.69392241e-02 -2.27363225e-03 9.98375057e-01 8.73501843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355099893 meters Centerline goodness [0,1] 0.9997634662939469 Centerline is valid? [True, True] Translation: X:23.45, Y:1.11, Z:0.87 [[ 9.89909572e-01 -1.28781862e-01 -5.91123596e-02 2.34548425e+01] [ 1.28705475e-01 9.91669678e-01 -5.11374889e-03 1.11357455e+00] [ 5.92784928e-02 -2.54593537e-03 9.98238237e-01 8.73083321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099893 meters Centerline goodness [0,1] 0.9997846591153796 Centerline is valid? [True, True] Translation: X:23.49, Y:1.12, Z:0.87 [[ 9.89741725e-01 -1.29534892e-01 -6.02663263e-02 2.34870791e+01] [ 1.29456999e-01 9.91571340e-01 -5.21174853e-03 1.11815908e+00] [ 6.04334653e-02 -2.64361277e-03 9.98168727e-01 8.74063387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415099893 meters Centerline goodness [0,1] 0.9997625369686765 Centerline is valid? [True, True] Translation: X:23.52, Y:1.12, Z:0.87 [[ 9.89655990e-01 -1.29576053e-01 -6.15716541e-02 2.35184748e+01] [ 1.29495101e-01 9.91565789e-01 -5.32029493e-03 1.12295757e+00] [ 6.17417286e-02 -2.70796582e-03 9.98088486e-01 8.74445600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters Centerline goodness [0,1] 0.9998487042600558 Centerline is valid? [True, True] Translation: X:23.55, Y:1.13, Z:0.88 [[ 9.89946225e-01 -1.27358204e-01 -6.15334029e-02 2.35487221e+01] [ 1.27273272e-01 9.91853456e-01 -5.31386149e-03 1.12891925e+00] [ 6.17088822e-02 -2.57112038e-03 9.98090879e-01 8.75324259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475099893 meters Centerline goodness [0,1] 0.9997837089587749 Centerline is valid? [True, True] Translation: X:23.58, Y:1.14, Z:0.88 [[ 9.90235131e-01 -1.25142032e-01 -6.14317299e-02 2.35796955e+01] [ 1.25053263e-01 9.92135858e-01 -5.30284600e-03 1.13557147e+00] [ 6.16122310e-02 -2.43117386e-03 9.98097201e-01 8.77032928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099893 meters Centerline goodness [0,1] 0.9997831931315584 Centerline is valid? [True, True] Translation: X:23.61, Y:1.15, Z:0.88 [[ 9.91163381e-01 -1.18486922e-01 -5.96322182e-02 2.36082599e+01] [ 1.18391336e-01 9.92953680e-01 -5.14601626e-03 1.14702579e+00] [ 5.98217661e-02 -1.95939512e-03 9.98207151e-01 8.80295390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535099892999998 meters Centerline goodness [0,1] 0.9998036220816059 Centerline is valid? [True, True] Translation: X:23.64, Y:1.16, Z:0.89 [[ 9.92202660e-01 -1.10573790e-01 -5.75092967e-02 2.36378106e+01] [ 1.10471573e-01 9.93866891e-01 -4.96336502e-03 1.16155221e+00] [ 5.77054039e-02 -1.42847851e-03 9.98332633e-01 8.85271425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099893 meters Centerline goodness [0,1] 0.9999341006941393 Centerline is valid? [True, True] Translation: X:23.67, Y:1.17, Z:0.89 [[ 9.92929042e-01 -1.03937757e-01 -5.73485854e-02 2.36687722e+01] [ 1.03825104e-01 9.94583259e-01 -4.94853512e-03 1.17186564e+00] [ 5.75522827e-02 -1.04067862e-03 9.98341951e-01 8.88214601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595099893 meters Centerline goodness [0,1] 0.9998902377450443 Centerline is valid? [True, True] Translation: X:23.70, Y:1.17, Z:0.89 [[ 9.93123396e-01 -1.01082995e-01 -5.90605568e-02 2.37003345e+01] [ 1.00958717e-01 9.94877584e-01 -5.09209525e-03 1.17299284e+00] [ 5.92727483e-02 -9.05599091e-04 9.98241414e-01 8.85139084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters Centerline goodness [0,1] 0.9997807594492677 Centerline is valid? [True, True] Translation: X:23.73, Y:1.17, Z:0.88 [[ 9.92973864e-01 -1.01056311e-01 -6.15672631e-02 2.37313385e+01] [ 1.00921702e-01 9.94880253e-01 -5.30014168e-03 1.17261766e+00] [ 6.17876670e-02 -9.50570830e-04 9.98088864e-01 8.83839059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655099893 meters Centerline goodness [0,1] 0.9998904157625967 Centerline is valid? [True, True] Translation: X:23.76, Y:1.17, Z:0.89 [[ 9.92968617e-01 -1.01418461e-01 -6.10542435e-02 2.37621370e+01] [ 1.01287156e-01 9.94843381e-01 -5.24971792e-03 1.17437387e+00] [ 6.12718283e-02 -9.71205551e-04 9.98120644e-01 8.87113245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099893 meters Centerline goodness [0,1] 0.9998904157625967 Centerline is valid? [True, True] Translation: X:23.79, Y:1.18, Z:0.89 [[ 9.92972162e-01 -1.01383639e-01 -6.10544270e-02 2.37928466e+01] [ 1.01252399e-01 9.94846930e-01 -5.24758289e-03 1.17698307e+00] [ 6.12718283e-02 -9.71203498e-04 9.98120644e-01 8.88579009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715099892999998 meters Centerline goodness [0,1] 0.999759357703835 Centerline is valid? [True, True] Translation: X:23.82, Y:1.18, Z:0.89 [[ 9.92973645e-01 -1.00969254e-01 -6.17134535e-02 2.38247992e+01] [ 1.00834534e-01 9.94889085e-01 -5.30148741e-03 1.18013140e+00] [ 6.19333285e-02 -9.58610080e-04 9.98079828e-01 8.90124166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099893 meters Centerline goodness [0,1] 0.9998906721476364 Centerline is valid? [True, True] Translation: X:23.86, Y:1.18, Z:0.89 [[ 9.93208328e-01 -9.94430138e-02 -6.04011945e-02 2.38562879e+01] [ 9.93113811e-02 9.95042897e-01 -5.18489396e-03 1.18270601e+00] [ 6.06173810e-02 -8.48846181e-04 9.98160715e-01 8.93720117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775099893 meters Centerline goodness [0,1] 0.9998686629892304 Centerline is valid? [True, True] Translation: X:23.89, Y:1.19, Z:0.90 [[ 9.93864355e-01 -9.40446150e-02 -5.82173100e-02 2.38867316e+01] [ 9.39131969e-02 9.95567857e-01 -4.99536953e-03 1.18901697e+00] [ 5.84290702e-02 -5.02653992e-04 9.98291436e-01 8.97093711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099893 meters Centerline goodness [0,1] 0.9998028736639215 Centerline is valid? [True, True] Translation: X:23.92, Y:1.19, Z:0.90 [[ 9.94269636e-01 -8.98158494e-02 -5.79741659e-02 2.39172129e+01] [ 8.96784659e-02 9.95958357e-01 -4.97238882e-03 1.19492967e+00] [ 5.81864543e-02 -2.55139038e-04 9.98305700e-01 8.98892563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835099893 meters Centerline goodness [0,1] 0.9998031453006408 Centerline is valid? [True, True] Translation: X:23.95, Y:1.20, Z:0.90 [[ 9.94459286e-01 -8.78013805e-02 -5.78069649e-02 2.39477993e+01] [ 8.76615229e-02 9.96137992e-01 -4.95572305e-03 1.19845167e+00] [ 5.80188333e-02 -1.39181769e-04 9.98315479e-01 8.99582616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099893 meters Centerline goodness [0,1] 0.9998685334910932 Centerline is valid? [True, True] Translation: X:23.98, Y:1.20, Z:0.90 [[ 9.94744674e-01 -8.40653341e-02 -5.84470155e-02 2.39783301e+01] [ 8.39161522e-02 9.96460242e-01 -5.00654716e-03 1.20231499e+00] [ 5.86610043e-02 7.55874702e-05 9.98277958e-01 8.99618886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895099893 meters Centerline goodness [0,1] 0.9999562037402006 Centerline is valid? [True, True] Translation: X:24.01, Y:1.21, Z:0.90 [[ 9.94716339e-01 -8.55942770e-02 -5.66835442e-02 2.40080474e+01] [ 8.54567888e-02 9.96330075e-01 -4.84952679e-03 1.20601460e+00] [ 5.68906116e-02 -2.00901258e-05 9.98380417e-01 9.03930288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099893 meters Centerline goodness [0,1] 0.9998465955162061 Centerline is valid? [True, True] Translation: X:24.04, Y:1.20, Z:0.90 [[ 9.93445706e-01 -9.91785314e-02 -5.68264754e-02 2.40401407e+01] [ 9.90625912e-02 9.95069333e-01 -4.86057267e-03 1.20255834e+00] [ 5.70283475e-02 -8.00662858e-04 9.98372238e-01 9.04070585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955099893 meters Centerline goodness [0,1] 0.9998471515601458 Centerline is valid? [True, True] Translation: X:24.07, Y:1.20, Z:0.90 [[ 9.92567806e-01 -1.07056910e-01 -5.78616370e-02 2.40701268e+01] [ 1.06950165e-01 9.94252073e-01 -4.94739478e-03 1.20084125e+00] [ 5.80587053e-02 -1.27768682e-03 9.98312353e-01 9.03746389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099893 meters Centerline goodness [0,1] 0.9998690299484851 Centerline is valid? [True, True] Translation: X:24.10, Y:1.19, Z:0.90 [[ 9.91615074e-01 -1.13350131e-01 -6.20587791e-02 2.41025206e+01] [ 1.13239662e-01 9.93553536e-01 -5.30574377e-03 1.19433976e+00] [ 6.22601262e-02 -1.76625966e-03 9.98058394e-01 8.99716652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015099893 meters Centerline goodness [0,1] 0.9998246575342465 Centerline is valid? [True, True] Translation: X:24.13, Y:1.22, Z:0.90 [[ 9.94801125e-01 -8.11827844e-02 -6.14823404e-02 2.41313709e+01] [ 8.10129255e-02 9.96699200e-01 -5.25462868e-03 1.21847619e+00] [ 6.17059849e-02 2.46446258e-04 9.98094340e-01 9.03651338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099893 meters Centerline goodness [0,1] 0.9998031668270493 Centerline is valid? [True, True] Translation: X:24.16, Y:1.22, Z:0.91 [[ 9.95626815e-01 -7.37949773e-02 -5.72847841e-02 2.41605997e+01] [ 7.36353248e-02 9.97273218e-01 -4.89572505e-03 1.22191459e+00] [ 5.74898609e-02 6.56131453e-04 9.98345875e-01 9.10061628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:1.22, Z:0.92 [[ 9.95718225e-01 -7.57248193e-02 -5.30185701e-02 2.41891806e+01] [ 7.55907142e-02 9.97128626e-01 -4.53300235e-03 1.22099361e+00] [ 5.32095948e-02 5.05881471e-04 9.98583238e-01 9.17436951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099893 meters Centerline goodness [0,1] 0.9998485929963447 Centerline is valid? [True, True] Translation: X:24.22, Y:1.20, Z:0.91 [[ 9.94533656e-01 -8.80944009e-02 -5.60551767e-02 2.42208082e+01] [ 8.79639219e-02 9.96112117e-01 -4.79561959e-03 1.19943890e+00] [ 5.62597080e-02 -1.61428100e-04 9.98416155e-01 9.08940994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135099893 meters Centerline goodness [0,1] 0.9997845709730929 Centerline is valid? [True, True] Translation: X:24.25, Y:1.20, Z:0.91 [[ 9.94343762e-01 -9.12678028e-02 -5.43200717e-02 2.42507330e+01] [ 9.11499284e-02 9.95826330e-01 -4.64871196e-03 1.20035224e+00] [ 5.45176354e-02 -3.28852909e-04 9.98512754e-01 9.12601167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099893 meters Centerline goodness [0,1] 0.9998921018558481 Centerline is valid? [True, True] Translation: X:24.28, Y:1.20, Z:0.92 [[ 9.94157198e-01 -9.35573203e-02 -5.38376522e-02 2.42821982e+01] [ 9.34449436e-02 9.95613793e-01 -4.60635035e-03 1.20111922e+00] [ 5.40324668e-02 -4.51420009e-04 9.98539077e-01 9.16000719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195099893 meters Centerline goodness [0,1] 0.9997843944718743 Centerline is valid? [True, True] Translation: X:24.31, Y:1.20, Z:0.91 [[ 9.93682887e-01 -9.72339620e-02 -5.60346065e-02 2.43149710e+01] [ 9.71181945e-02 9.95261319e-01 -4.79192138e-03 1.20067627e+00] [ 5.62350139e-02 -6.80329539e-04 9.98417328e-01 9.14948541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099893 meters Centerline goodness [0,1] 0.9998060512024826 Centerline is valid? [True, True] Translation: X:24.35, Y:1.20, Z:0.91 [[ 9.93199210e-01 -1.00783949e-01 -5.82917190e-02 2.43460596e+01] [ 1.00664990e-01 9.94907909e-01 -4.98114202e-03 1.20040340e+00] [ 5.84969114e-02 -9.20668968e-04 9.98287165e-01 9.13796720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255099893 meters Centerline goodness [0,1] 0.9998275527580781 Centerline is valid? [True, True] Translation: X:24.38, Y:1.20, Z:0.91 [[ 9.92657416e-01 -1.05263348e-01 -5.95892813e-02 2.43759038e+01] [ 1.05147141e-01 9.94443643e-01 -5.09114273e-03 1.20109905e+00] [ 5.97940927e-02 -1.21188199e-03 9.98209997e-01 9.14796261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters Centerline goodness [0,1] 0.9997846034549606 Centerline is valid? [True, True] Translation: X:24.41, Y:1.20, Z:0.91 [[ 9.92121278e-01 -1.08777010e-01 -6.21524944e-02 2.44073573e+01] [ 1.08657502e-01 9.94065066e-01 -5.30960646e-03 1.20172813e+00] [ 6.23611865e-02 -1.48556126e-03 9.98052541e-01 9.13559660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315099893 meters Centerline goodness [0,1] 0.9998272399421254 Centerline is valid? [True, True] Translation: X:24.44, Y:1.21, Z:0.92 [[ 9.92138993e-01 -1.08905356e-01 -6.16428578e-02 2.44381902e+01] [ 1.08788184e-01 9.94051016e-01 -5.26387238e-03 1.20768827e+00] [ 6.18494093e-02 -1.48352154e-03 9.98084390e-01 9.17053571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099893 meters Centerline goodness [0,1] 0.9997406751091326 Centerline is valid? [True, True] Translation: X:24.47, Y:1.22, Z:0.92 [[ 9.92616227e-01 -1.04693696e-01 -6.12556684e-02 2.44696764e+01] [ 1.04570131e-01 9.94503772e-01 -5.22835615e-03 1.21500400e+00] [ 6.14663692e-02 -1.21576212e-03 9.98108415e-01 9.17954436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375099892999998 meters Centerline goodness [0,1] 0.9998701804491756 Centerline is valid? [True, True] Translation: X:24.50, Y:1.22, Z:0.92 [[ 9.93140075e-01 -1.01342673e-01 -5.83305500e-02 2.45004723e+01] [ 1.01225024e-01 9.94851112e-01 -4.97582992e-03 1.22178350e+00] [ 5.85344765e-02 -9.62815227e-04 9.98284923e-01 9.22719602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099893 meters Centerline goodness [0,1] 0.9998051779374838 Centerline is valid? [True, True] Translation: X:24.53, Y:1.23, Z:0.93 [[ 9.93343017e-01 -9.97709552e-02 -5.75795632e-02 2.45301366e+01] [ 9.96537897e-02 9.95010058e-01 -4.90986245e-03 1.22635253e+00] [ 5.77821062e-02 -8.60844101e-04 9.98328847e-01 9.25026326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435099893 meters Centerline goodness [0,1] 0.9998264416192997 Centerline is valid? [True, True] Translation: X:24.56, Y:1.23, Z:0.93 [[ 9.93566235e-01 -9.82068800e-02 -5.64051891e-02 2.45614826e+01] [ 9.80920142e-02 9.95165734e-01 -4.80821924e-03 1.23329915e+00] [ 5.66047117e-02 -7.55614324e-04 9.98396382e-01 9.29948390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters Centerline goodness [0,1] 0.9997396793717596 Centerline is valid? [True, True] Translation: X:24.59, Y:1.24, Z:0.93 [[ 9.93745434e-01 -9.66036854e-02 -5.60155331e-02 2.45918386e+01] [ 9.64880779e-02 9.95322705e-01 -4.77108045e-03 1.23855369e+00] [ 5.62144359e-02 -6.63591709e-04 9.98418498e-01 9.31948519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495099893 meters Centerline goodness [0,1] 0.9998258787680923 Centerline is valid? [True, True] Translation: X:24.62, Y:1.24, Z:0.93 [[ 9.93860801e-01 -9.52854242e-02 -5.62263029e-02 2.46239329e+01] [ 9.51670192e-02 9.95449815e-01 -4.78580355e-03 1.24365445e+00] [ 5.64264802e-02 -5.94467098e-04 9.98406580e-01 9.34484170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099893 meters Centerline goodness [0,1] 0.9998255788601579 Centerline is valid? [True, True] Translation: X:24.66, Y:1.25, Z:0.94 [[ 9.93900027e-01 -9.42469761e-02 -5.72734207e-02 2.46558757e+01] [ 9.41226329e-02 9.95548696e-01 -4.87078898e-03 1.24836219e+00] [ 5.74775364e-02 -5.49647854e-04 9.98346649e-01 9.35802120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555099893 meters Centerline goodness [0,1] 0.9998258636076707 Centerline is valid? [True, True] Translation: X:24.69, Y:1.25, Z:0.93 [[ 9.93929281e-01 -9.32806633e-02 -5.83378239e-02 2.46866088e+01] [ 9.31502754e-02 9.95639724e-01 -4.95643405e-03 1.25078429e+00] [ 5.85457944e-02 -5.07839435e-04 9.98284595e-01 9.34796248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099893 meters Centerline goodness [0,1] 0.9998258636076707 Centerline is valid? [True, True] Translation: X:24.72, Y:1.25, Z:0.94 [[ 9.93932557e-01 -9.32454308e-02 -5.83383402e-02 2.47173178e+01] [ 9.31153393e-02 9.95643022e-01 -4.95034988e-03 1.25335844e+00] [ 5.85457589e-02 -5.11880430e-04 9.98284595e-01 9.36260352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615099893 meters Centerline goodness [0,1] 0.9997820543556437 Centerline is valid? [True, True] Translation: X:24.75, Y:1.26, Z:0.94 [[ 9.93914006e-01 -9.25185085e-02 -5.97935982e-02 2.47485402e+01] [ 9.23806571e-02 9.95710848e-01 -5.07167249e-03 1.25635199e+00] [ 6.00063580e-02 -4.82965579e-04 9.98197878e-01 9.35617270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099893 meters Centerline goodness [0,1] 0.9999124860524646 Centerline is valid? [True, True] Translation: X:24.78, Y:1.27, Z:0.94 [[ 9.94305231e-01 -8.88395054e-02 -5.88612710e-02 2.47788206e+01] [ 8.86996025e-02 9.96045920e-01 -4.99051678e-03 1.26627360e+00] [ 5.90718839e-02 -2.58874395e-04 9.98253698e-01 9.39256531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675099893 meters Centerline goodness [0,1] 0.999868256373098 Centerline is valid? [True, True] Translation: X:24.81, Y:1.27, Z:0.94 [[ 9.94383356e-01 -8.76992374e-02 -5.92501903e-02 2.48088891e+01] [ 8.75555991e-02 9.96146980e-01 -5.02108249e-03 1.27090559e+00] [ 5.94622433e-02 -1.94805050e-04 9.98230536e-01 9.39704583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099893 meters Centerline goodness [0,1] 0.9999561336170026 Centerline is valid? [True, True] Translation: X:24.84, Y:1.27, Z:0.94 [[ 9.94440837e-01 -8.68857766e-02 -5.94834672e-02 2.48404074e+01] [ 8.67397441e-02 9.96218269e-01 -5.03760471e-03 1.27469509e+00] [ 5.96962130e-02 -1.49980885e-04 9.98216580e-01 9.42322892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735099893 meters Centerline goodness [0,1] 0.9998242762377543 Centerline is valid? [True, True] Translation: X:24.87, Y:1.28, Z:0.94 [[ 9.94359370e-01 -8.62307715e-02 -6.17551347e-02 2.48713443e+01] [ 8.60722270e-02 9.96275183e-01 -5.22794021e-03 1.27715473e+00] [ 6.19759174e-02 -1.16950642e-04 9.98077638e-01 9.39656867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099893 meters Centerline goodness [0,1] 0.9998684181670651 Centerline is valid? [True, True] Translation: X:24.90, Y:1.28, Z:0.94 [[ 9.93893633e-01 -9.23566866e-02 -6.03795322e-02 2.49005188e+01] [ 9.22164571e-02 9.95725868e-01 -5.11087628e-03 1.27898374e+00] [ 6.05934857e-02 -4.88319143e-04 9.98162407e-01 9.43994427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795099893 meters Centerline goodness [0,1] 0.9999124496585536 Centerline is valid? [True, True] Translation: X:24.93, Y:1.28, Z:0.95 [[ 9.93635923e-01 -9.61227032e-02 -5.87203391e-02 2.49315500e+01] [ 9.59966223e-02 9.95369248e-01 -4.97085757e-03 1.27750029e+00] [ 5.89262320e-02 -6.97731561e-04 9.98262096e-01 9.46709711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099893 meters Centerline goodness [0,1] 0.9997815878562848 Centerline is valid? [True, True] Translation: X:24.96, Y:1.28, Z:0.95 [[ 9.93211207e-01 -1.00717381e-01 -5.82022928e-02 2.49634415e+01] [ 1.00601553e-01 9.94914609e-01 -4.92425707e-03 1.27512305e+00] [ 5.84022697e-02 -9.64413767e-04 9.98292665e-01 9.48052175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855099893 meters Centerline goodness [0,1] 0.9998036006546644 Centerline is valid? [True, True] Translation: X:25.00, Y:1.28, Z:0.95 [[ 9.93066005e-01 -1.02115508e-01 -5.82437321e-02 2.49956326e+01] [ 1.02002233e-01 9.94771991e-01 -4.92236628e-03 1.27749736e+00] [ 5.84418833e-02 -1.05275612e-03 9.98290257e-01 9.50642521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099893 meters Centerline goodness [0,1] 0.9998473648633915 Centerline is valid? [True, True] Translation: X:25.03, Y:1.28, Z:0.95 [[ 9.93004417e-01 -1.02836529e-01 -5.80247921e-02 2.50272621e+01] [ 1.02725609e-01 9.94697666e-01 -4.89913983e-03 1.27944260e+00] [ 5.82209359e-02 -1.09576463e-03 9.98303121e-01 9.52722014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915099893 meters Centerline goodness [0,1] 0.9998038617443229 Centerline is valid? [True, True] Translation: X:25.06, Y:1.28, Z:0.95 [[ 9.92907668e-01 -1.03457842e-01 -5.85733537e-02 2.50579516e+01] [ 1.03346254e-01 9.94633176e-01 -4.93935161e-03 1.28057268e+00] [ 5.87700155e-02 -1.14901660e-03 9.98270888e-01 9.53045551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099893 meters Centerline goodness [0,1] 0.9998260415760634 Centerline is valid? [True, True] Translation: X:25.09, Y:1.28, Z:0.95 [[ 9.92777380e-01 -1.04336007e-01 -5.92205287e-02 2.50902031e+01] [ 1.04223652e-01 9.94541360e-01 -4.99134605e-03 1.28232492e+00] [ 5.94180422e-02 -1.21688430e-03 9.98232446e-01 9.54335710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975099893 meters Centerline goodness [0,1] 0.9998692069581898 Centerline is valid? [True, True] Translation: X:25.12, Y:1.28, Z:0.96 [[ 9.92704410e-01 -1.04567596e-01 -6.00297530e-02 2.51228207e+01] [ 1.04452832e-01 9.94516994e-01 -5.05523699e-03 1.28423756e+00] [ 6.02292235e-02 -1.25192165e-03 9.98183787e-01 9.55271202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099893 meters Centerline goodness [0,1] 0.9998692069581898 Centerline is valid? [True, True] Translation: X:25.15, Y:1.29, Z:0.96 [[ 9.92711794e-01 -1.04497274e-01 -6.00301099e-02 2.51543846e+01] [ 1.04382638e-01 9.94524385e-01 -5.05099643e-03 1.28683330e+00] [ 6.02292235e-02 -1.25191748e-03 9.98183787e-01 9.56776801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035099892999998 meters Centerline goodness [0,1] 0.9997822015071656 Centerline is valid? [True, True] Translation: X:25.19, Y:1.29, Z:0.96 [[ 9.92660589e-01 -1.03755732e-01 -6.21265124e-02 2.51861763e+01] [ 1.03631763e-01 9.94602019e-01 -5.22310858e-03 1.28875276e+00] [ 6.23330821e-02 -1.25350596e-03 9.98054616e-01 9.55024870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099893 meters Centerline goodness [0,1] 0.9998033302740265 Centerline is valid? [True, True] Translation: X:25.22, Y:1.29, Z:0.96 [[ 9.93089857e-01 -9.97889567e-02 -6.17632637e-02 2.52169611e+01] [ 9.96589586e-02 9.95008121e-01 -5.18951431e-03 1.29466988e+00] [ 6.19728052e-02 -1.00160852e-03 9.98077336e-01 9.57807985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095099893 meters Centerline goodness [0,1] 0.9999125013671661 Centerline is valid? [True, True] Translation: X:25.25, Y:1.30, Z:0.96 [[ 9.93657810e-01 -9.47941058e-02 -6.04833414e-02 2.52469332e+01] [ 9.46603138e-02 9.95496669e-01 -5.08001767e-03 1.30140903e+00] [ 6.06925206e-02 -6.77572845e-04 9.98156280e-01 9.61484799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters Centerline goodness [0,1] 0.9998030806931559 Centerline is valid? [True, True] Translation: X:25.28, Y:1.31, Z:0.96 [[ 9.94306190e-01 -8.79456706e-02 -6.01727520e-02 2.52771795e+01] [ 8.78007933e-02 9.96125239e-01 -5.05261669e-03 1.30857805e+00] [ 6.03839527e-02 -2.59367310e-04 9.98175191e-01 9.62238749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155099893 meters Centerline goodness [0,1] 0.9998900252941824 Centerline is valid? [True, True] Translation: X:25.31, Y:1.32, Z:0.97 [[ 9.95512024e-01 -7.45988986e-02 -5.82307050e-02 2.53068091e+01] [ 7.44404877e-02 9.97213479e-01 -4.88791294e-03 1.31852123e+00] [ 5.84330769e-02 5.31254026e-04 9.98291187e-01 9.66658559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099893 meters Centerline goodness [0,1] 0.9998031237695235 Centerline is valid? [True, True] Translation: X:25.33, Y:1.32, Z:0.97 [[ 9.95714357e-01 -7.18271679e-02 -5.82561403e-02 2.53348833e+01] [ 7.16638310e-02 9.97416851e-01 -4.89085321e-03 1.32212636e+00] [ 5.84569521e-02 6.95034565e-04 9.98289688e-01 9.66716999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215099892999998 meters Centerline goodness [0,1] 0.9998033216783216 Centerline is valid? [True, True] Translation: X:25.36, Y:1.32, Z:0.97 [[ 9.95717538e-01 -7.07891191e-02 -5.94599472e-02 2.53634687e+01] [ 7.06167142e-02 9.97491000e-01 -4.99846421e-03 1.32311522e+00] [ 5.96645991e-02 7.78192381e-04 9.98218178e-01 9.66603827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099893 meters Centerline goodness [0,1] 0.9999781492406861 Centerline is valid? [True, True] Translation: X:25.39, Y:1.32, Z:0.97 [[ 9.95626971e-01 -7.12310308e-02 -6.04406758e-02 2.53927005e+01] [ 7.10527824e-02 9.97459540e-01 -5.09598454e-03 1.32312184e+00] [ 6.06501209e-02 7.79221462e-04 9.98158783e-01 9.68520377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275099893 meters Centerline goodness [0,1] 0.9998248264687206 Centerline is valid? [True, True] Translation: X:25.42, Y:1.32, Z:0.97 [[ 9.95418312e-01 -7.22531472e-02 -6.26248101e-02 2.54218003e+01] [ 7.20627846e-02 9.97386037e-01 -5.29605892e-03 1.32397574e+00] [ 6.28437681e-02 7.58875833e-04 9.98023088e-01 9.66491775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099893 meters Centerline goodness [0,1] 0.999781363417727 Centerline is valid? [True, True] Translation: X:25.45, Y:1.32, Z:0.97 [[ 9.95341340e-01 -7.33568765e-02 -6.25650502e-02 2.54505547e+01] [ 7.31680823e-02 9.97305506e-01 -5.30647395e-03 1.32490413e+00] [ 6.27857355e-02 7.03988147e-04 9.98026781e-01 9.68199292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335099893 meters Centerline goodness [0,1] 0.9998467567153396 Centerline is valid? [True, True] Translation: X:25.48, Y:1.33, Z:0.97 [[ 9.95289195e-01 -7.45945380e-02 -6.19279710e-02 2.54789358e+01] [ 7.44110057e-02 9.97213744e-01 -5.26787113e-03 1.32504842e+00] [ 6.21483783e-02 6.34932610e-04 9.98066719e-01 9.71599201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099893 meters Centerline goodness [0,1] 0.999825342764824 Centerline is valid? [True, True] Translation: X:25.51, Y:1.33, Z:0.97 [[ 9.95154181e-01 -7.64262477e-02 -6.18642404e-02 2.55077933e+01] [ 7.62456510e-02 9.97075093e-01 -5.27816491e-03 1.32555507e+00] [ 6.20866836e-02 5.35708596e-04 9.98070617e-01 9.72883906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395099893 meters Centerline goodness [0,1] 0.999847244953628 Centerline is valid? [True, True] Translation: X:25.54, Y:1.33, Z:0.97 [[ 9.94917389e-01 -7.94233302e-02 -6.18976797e-02 2.55363998e+01] [ 7.92473459e-02 9.96840911e-01 -5.29684339e-03 1.32562136e+00] [ 6.21228324e-02 3.64694755e-04 9.98068445e-01 9.73881390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099893 meters Centerline goodness [0,1] 0.9998474912307458 Centerline is valid? [True, True] Translation: X:25.56, Y:1.33, Z:0.97 [[ 9.94750699e-01 -8.14850372e-02 -6.18969788e-02 2.55639725e+01] [ 8.13122024e-02 9.96674534e-01 -5.31029745e-03 1.32728154e+00] [ 6.21238522e-02 2.49442433e-04 9.98068417e-01 9.74064412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455099893 meters Centerline goodness [0,1] 0.9998267610818771 Centerline is valid? [True, True] Translation: X:25.59, Y:1.33, Z:0.97 [[ 9.94591309e-01 -8.37907798e-02 -6.13777971e-02 2.55918837e+01] [ 8.36248456e-02 9.96483363e-01 -5.27183079e-03 1.32869371e+00] [ 6.16036844e-02 1.10608277e-04 9.98100683e-01 9.74935784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099893 meters Centerline goodness [0,1] 0.9998259431704452 Centerline is valid? [True, True] Translation: X:25.62, Y:1.33, Z:0.98 [[ 9.94449708e-01 -8.62224119e-02 -6.02948872e-02 2.56209917e+01] [ 8.60663624e-02 9.96275913e-01 -5.18523552e-03 1.33009965e+00] [ 6.05174273e-02 -3.29056636e-05 9.98167140e-01 9.77469030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515099893 meters Centerline goodness [0,1] 0.9997832260302183 Centerline is valid? [True, True] Translation: X:25.65, Y:1.33, Z:0.98 [[ 9.94176440e-01 -9.08793134e-02 -5.79150724e-02 2.56501721e+01] [ 9.07431251e-02 9.95861868e-01 -4.98256698e-03 1.33061681e+00] [ 5.81282244e-02 -3.01843950e-04 9.98309080e-01 9.80925820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099893 meters Centerline goodness [0,1] 0.9998260075251746 Centerline is valid? [True, True] Translation: X:25.68, Y:1.33, Z:0.98 [[ 9.93531683e-01 -9.81315780e-02 -5.71400755e-02 2.56813014e+01] [ 9.80109116e-02 9.95173192e-01 -4.91721029e-03 1.32954684e+00] [ 5.73468049e-02 -7.14946675e-04 9.98354062e-01 9.83263913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575099893 meters Centerline goodness [0,1] 0.9998265469840857 Centerline is valid? [True, True] Translation: X:25.71, Y:1.32, Z:0.98 [[ 9.91909841e-01 -1.12428177e-01 -5.89471984e-02 2.57112743e+01] [ 1.12325019e-01 9.93658580e-01 -5.07115519e-03 1.32478180e+00] [ 5.91435302e-02 -1.59111646e-03 9.98248221e-01 9.84005585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099893 meters Centerline goodness [0,1] 0.9998265469840857 Centerline is valid? [True, True] Translation: X:25.74, Y:1.33, Z:0.99 [[ 9.91917720e-01 -1.12358642e-01 -5.89472080e-02 2.57428362e+01] [ 1.12255368e-01 9.93666451e-01 -5.07104372e-03 1.32743808e+00] [ 5.91436386e-02 -1.58708243e-03 9.98248221e-01 9.85512809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635099893 meters Centerline goodness [0,1] 0.9998482483524107 Centerline is valid? [True, True] Translation: X:25.77, Y:1.33, Z:0.99 [[ 9.91570110e-01 -1.15093433e-01 -5.95165406e-02 2.57749426e+01] [ 1.14993324e-01 9.93353091e-01 -5.11578693e-03 1.33031622e+00] [ 5.97097330e-02 -1.77134345e-03 9.98214211e-01 9.87096201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099893 meters Centerline goodness [0,1] 0.9997826701149675 Centerline is valid? [True, True] Translation: X:25.81, Y:1.34, Z:0.99 [[ 9.91792628e-01 -1.13326751e-01 -5.91982361e-02 2.58069957e+01] [ 1.13224828e-01 9.93556385e-01 -5.08404944e-03 1.33824663e+00] [ 5.93929443e-02 -1.66038736e-03 9.98233300e-01 9.90044572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695099893 meters Centerline goodness [0,1] 0.9998042031066441 Centerline is valid? [True, True] Translation: X:25.84, Y:1.34, Z:0.99 [[ 9.91984211e-01 -1.11915825e-01 -5.86700412e-02 2.58388345e+01] [ 1.11813546e-01 9.93716455e-01 -5.03364158e-03 1.34454999e+00] [ 5.88647295e-02 -1.56681240e-03 9.98264739e-01 9.93173200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099893 meters Centerline goodness [0,1] 0.9998042031066441 Centerline is valid? [True, True] Translation: X:25.87, Y:1.35, Z:0.99 [[ 9.91992263e-01 -1.11844237e-01 -5.86704031e-02 2.58703985e+01] [ 1.11742083e-01 9.93724515e-01 -5.02942106e-03 1.34719687e+00] [ 5.88647296e-02 -1.56680627e-03 9.98264739e-01 9.94678987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755099893 meters Centerline goodness [0,1] 0.99984677013331 Centerline is valid? [True, True] Translation: X:25.90, Y:1.36, Z:1.00 [[ 9.92314205e-01 -1.08794776e-01 -5.89594291e-02 2.59014517e+01] [ 1.08686491e-01 9.94063250e-01 -5.04990452e-03 1.35653639e+00] [ 5.91588050e-02 -1.39700150e-03 9.98247607e-01 9.97842567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999998 meters Centerline goodness [0,1] 0.9997370496976071 Centerline is valid? [True, True] Translation: X:25.93, Y:1.38, Z:1.00 [[ 9.96399316e-01 -6.08123322e-02 -5.90784539e-02 2.59314722e+01] [ 6.06192980e-02 9.98148155e-01 -5.05582160e-03 1.38239221e+00] [ 5.92765060e-02 1.45632278e-03 9.98240540e-01 9.99634168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815099893 meters Centerline goodness [0,1] 0.9998252664686353 Centerline is valid? [True, True] Translation: X:25.96, Y:1.38, Z:1.00 [[ 9.96389711e-01 -6.24576841e-02 -5.75028874e-02 2.59609118e+01] [ 6.22776132e-02 9.98046739e-01 -4.92001306e-03 1.38010017e+00] [ 5.76978618e-02 1.32110781e-03 9.98333217e-01 1.00163292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099893 meters Centerline goodness [0,1] 0.9997162934834796 Centerline is valid? [True, True] Translation: X:25.99, Y:1.38, Z:1.00 [[ 9.96222815e-01 -6.41120893e-02 -5.85640115e-02 2.59901574e+01] [ 6.39273317e-02 9.97941906e-01 -5.02482994e-03 1.37936778e+00] [ 5.87656336e-02 1.26200924e-03 9.98271009e-01 1.00222735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875099892999998 meters Centerline goodness [0,1] 0.9997403384255853 Centerline is valid? [True, True] Translation: X:26.02, Y:1.38, Z:1.00 [[ 9.95538369e-01 -7.16866084e-02 -6.13545908e-02 2.60182607e+01] [ 7.14972671e-02 9.97426827e-01 -5.27872053e-03 1.37525464e+00] [ 6.15751284e-02 8.68483266e-04 9.98102074e-01 9.99759464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099893 meters Centerline goodness [0,1] 0.9997822726382024 Centerline is valid? [True, True] Translation: X:26.05, Y:1.37, Z:1.00 [[ 9.95288533e-01 -7.52895752e-02 -6.10918611e-02 2.60470942e+01] [ 7.51080539e-02 9.97161499e-01 -5.26552603e-03 1.37427322e+00] [ 6.13148910e-02 6.52226876e-04 9.98118259e-01 1.00316775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935099893 meters Centerline goodness [0,1] 0.999934943834844 Centerline is valid? [True, True] Translation: X:26.08, Y:1.37, Z:1.01 [[ 9.94478187e-01 -8.63859660e-02 -5.95869073e-02 2.60752444e+01] [ 8.62323958e-02 9.96261745e-01 -5.14872497e-03 1.36909717e+00] [ 5.98089338e-02 -1.80270935e-05 9.98209843e-01 1.00661417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters Centerline goodness [0,1] 0.999784473468684 Centerline is valid? [True, True] Translation: X:26.11, Y:1.37, Z:1.01 [[ 9.93787461e-01 -9.29230492e-02 -6.12518548e-02 2.61064878e+01] [ 9.27728950e-02 9.95673205e-01 -5.29699060e-03 1.36618113e+00] [ 6.14790431e-02 -4.18429053e-04 9.98108287e-01 1.00528944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995099893 meters Centerline goodness [0,1] 0.9997837931332699 Centerline is valid? [True, True] Translation: X:26.14, Y:1.37, Z:1.01 [[ 9.93387877e-01 -9.73363101e-02 -6.08783044e-02 2.61367159e+01] [ 9.71962585e-02 9.95251310e-01 -5.26468639e-03 1.36737032e+00] [ 6.11016574e-02 -6.87267779e-04 9.98131312e-01 1.00824972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099893 meters Centerline goodness [0,1] 0.9997616416390388 Centerline is valid? [True, True] Translation: X:26.17, Y:1.37, Z:1.01 [[ 9.93225838e-01 -9.87184390e-02 -6.12952313e-02 2.61666321e+01] [ 9.85791054e-02 9.95115101e-01 -5.30049191e-03 1.36958745e+00] [ 6.15190666e-02 -7.77843553e-04 9.98105605e-01 1.00917227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055099893 meters Centerline goodness [0,1] 0.9997613313371955 Centerline is valid? [True, True] Translation: X:26.20, Y:1.37, Z:1.01 [[ 9.92955985e-01 -1.00676081e-01 -6.24719054e-02 2.61975002e+01] [ 1.00535301e-01 9.94918833e-01 -5.40082951e-03 1.37257938e+00] [ 6.26982096e-02 -9.17845806e-04 9.98032110e-01 1.01032170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099893 meters Centerline goodness [0,1] 0.9998242260453057 Centerline is valid? [True, True] Translation: X:26.23, Y:1.41, Z:1.01 [[ 9.95112676e-01 -7.63074581e-02 -6.26732275e-02 2.62256207e+01] [ 7.61175501e-02 9.97084143e-01 -5.41566970e-03 1.40560636e+00] [ 6.29037374e-02 6.18669039e-04 9.98019407e-01 1.01411274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115099893 meters Centerline goodness [0,1] 0.9997590361445783 Centerline is valid? [True, True] Translation: X:26.25, Y:1.41, Z:1.01 [[ 9.94947546e-01 -7.79838596e-02 -6.32289300e-02 2.62537563e+01] [ 7.77939811e-02 9.96954488e-01 -5.46313576e-03 1.40660786e+00] [ 6.34624020e-02 5.16703336e-04 9.97984096e-01 1.01359219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099893 meters Centerline goodness [0,1] 0.9997366052810641 Centerline is valid? [True, True] Translation: X:26.28, Y:1.40, Z:1.02 [[ 9.94834673e-01 -8.13656341e-02 -6.06927321e-02 2.62823160e+01] [ 8.11964185e-02 9.96684275e-01 -5.25327590e-03 1.40473733e+00] [ 6.09189278e-02 2.98108536e-04 9.98142673e-01 1.01525026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175099893 meters Centerline goodness [0,1] 0.9999124496585536 Centerline is valid? [True, True] Translation: X:26.31, Y:1.40, Z:1.02 [[ 9.93600343e-01 -9.43677862e-02 -6.20731744e-02 2.63128279e+01] [ 9.42152884e-02 9.95537279e-01 -5.38567875e-03 1.39865474e+00] [ 6.23043937e-02 -4.97029776e-04 9.98057070e-01 1.01729972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099893 meters Centerline goodness [0,1] 0.999802748372674 Centerline is valid? [True, True] Translation: X:26.34, Y:1.40, Z:1.02 [[ 9.93126709e-01 -9.77195198e-02 -6.44223245e-02 2.63430240e+01] [ 9.75621977e-02 9.95213725e-01 -5.59096686e-03 1.39999820e+00] [ 6.46603282e-02 -7.32645043e-04 9.97907062e-01 1.01626362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235099893 meters Centerline goodness [0,1] 0.9998029384073044 Centerline is valid? [True, True] Translation: X:26.37, Y:1.40, Z:1.02 [[ 9.93122387e-01 -9.78510149e-02 -6.42892211e-02 2.63736717e+01] [ 9.76947127e-02 9.95200799e-01 -5.57794820e-03 1.40316992e+00] [ 6.45264921e-02 -7.41131757e-04 9.97915719e-01 1.01818362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099893 meters Centerline goodness [0,1] 0.9998467063770147 Centerline is valid? [True, True] Translation: X:26.40, Y:1.41, Z:1.02 [[ 9.93248297e-01 -9.71369087e-02 -6.34211478e-02 2.64045540e+01] [ 9.69835126e-02 9.95270791e-01 -5.50004610e-03 1.40634294e+00] [ 6.36554734e-02 -6.87894267e-04 9.97971697e-01 1.01957542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295099893 meters Centerline goodness [0,1] 0.9998688094457199 Centerline is valid? [True, True] Translation: X:26.44, Y:1.41, Z:1.02 [[ 9.93347693e-01 -9.64801976e-02 -6.28643986e-02 2.64357166e+01] [ 9.63284547e-02 9.95334695e-01 -5.44727759e-03 1.40986429e+00] [ 6.30966715e-02 -6.44589757e-04 9.98007212e-01 1.02115348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099893 meters Centerline goodness [0,1] 0.9998025103133503 Centerline is valid? [True, True] Translation: X:26.47, Y:1.41, Z:1.02 [[ 9.93415233e-01 -9.57932254e-02 -6.28476900e-02 2.64676586e+01] [ 9.56406318e-02 9.95401069e-01 -5.43883912e-03 1.41430982e+00] [ 6.30796618e-02 -6.07767145e-04 9.98008310e-01 1.02335997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355099893 meters Centerline goodness [0,1] 0.9998460083155509 Centerline is valid? [True, True] Translation: X:26.50, Y:1.42, Z:1.02 [[ 9.93582050e-01 -9.33862175e-02 -6.38257377e-02 2.64984836e+01] [ 9.32241345e-02 9.95629849e-01 -5.51938767e-03 1.42068470e+00] [ 6.40622444e-02 -4.66134641e-04 9.97945796e-01 1.02342665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099893 meters Centerline goodness [0,1] 0.9998019714838937 Centerline is valid? [True, True] Translation: X:26.53, Y:1.42, Z:1.03 [[ 9.93784448e-01 -9.13702567e-02 -6.35920397e-02 2.65289689e+01] [ 9.12054095e-02 9.95816932e-01 -5.49646130e-03 1.42423723e+00] [ 6.38282430e-02 -3.37640265e-04 9.97960842e-01 1.02515860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415099893 meters Centerline goodness [0,1] 0.9997153305450325 Centerline is valid? [True, True] Translation: X:26.56, Y:1.43, Z:1.03 [[ 9.95114597e-01 -7.54904153e-02 -6.36249645e-02 2.65585756e+01] [ 7.52931197e-02 9.97146296e-01 -5.49635712e-03 1.43217362e+00] [ 6.38583200e-02 6.78983131e-04 9.97958744e-01 1.02821835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099893 meters Centerline goodness [0,1] 0.9998244266432569 Centerline is valid? [True, True] Translation: X:26.59, Y:1.44, Z:1.03 [[ 9.95344409e-01 -7.13258990e-02 -6.48237937e-02 2.65859601e+01] [ 7.11121640e-02 9.97452597e-01 -5.60146692e-03 1.43643071e+00] [ 6.50581910e-02 9.65628536e-04 9.97881005e-01 1.02958184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475099893 meters Centerline goodness [0,1] 0.9997146745094596 Centerline is valid? [True, True] Translation: X:26.61, Y:1.44, Z:1.03 [[ 9.95570223e-01 -6.87506616e-02 -6.41348359e-02 2.66147657e+01] [ 6.85355735e-02 9.97633234e-01 -5.55031582e-03 1.43923592e+00] [ 6.43646316e-02 1.13021141e-03 9.97925807e-01 1.03183218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099893 meters Centerline goodness [0,1] 0.9998247996145592 Centerline is valid? [True, True] Translation: X:26.64, Y:1.44, Z:1.04 [[ 9.95463815e-01 -7.27638266e-02 -6.12961626e-02 2.66429263e+01] [ 7.25742124e-02 9.97348842e-01 -5.31706891e-03 1.44082312e+00] [ 6.15205471e-02 8.44428975e-04 9.98105460e-01 1.03615566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535099892999998 meters Centerline goodness [0,1] 0.9999125778603432 Centerline is valid? [True, True] Translation: X:26.67, Y:1.43, Z:1.04 [[ 9.95011215e-01 -8.11581079e-02 -5.80176146e-02 2.66729697e+01] [ 8.10022936e-02 9.96701191e-01 -5.03626874e-03 1.43408150e+00] [ 5.82349597e-02 3.11584030e-04 9.98302856e-01 1.04146247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.70, Y:1.42, Z:1.05 [[ 9.93754625e-01 -9.68323380e-02 -5.54548821e-02 2.67045477e+01] [ 9.67142619e-02 9.95300540e-01 -4.81532363e-03 1.42420387e+00] [ 5.56605531e-02 -5.78027864e-04 9.98449582e-01 1.04556172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595099893 meters Centerline goodness [0,1] 0.999761781011781 Centerline is valid? [True, True] Translation: X:26.74, Y:1.42, Z:1.04 [[ 9.93551954e-01 -9.66493452e-02 -5.92741067e-02 2.67366587e+01] [ 9.65142020e-02 9.95318308e-01 -5.14539509e-03 1.42311515e+00] [ 5.94939026e-02 -6.08575761e-04 9.98228483e-01 1.03855549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999998 meters Centerline goodness [0,1] 0.9998913067107237 Centerline is valid? [True, True] Translation: X:26.77, Y:1.43, Z:1.04 [[ 9.94699202e-01 -8.38436214e-02 -5.95293545e-02 2.67673992e+01] [ 8.36845522e-02 9.96478912e-01 -5.16456628e-03 1.43440635e+00] [ 5.97527623e-02 1.55502584e-04 9.98213195e-01 1.03980237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655099893 meters Centerline goodness [0,1] 0.9998695992349822 Centerline is valid? [True, True] Translation: X:26.80, Y:1.44, Z:1.04 [[ 9.95305304e-01 -7.62630141e-02 -5.95928299e-02 2.67975702e+01] [ 7.60901234e-02 9.97087549e-01 -5.16838129e-03 1.44217562e+00] [ 5.98134251e-02 6.09691531e-04 9.98209388e-01 1.04157495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099893 meters Centerline goodness [0,1] 0.9998695992349822 Centerline is valid? [True, True] Translation: X:26.83, Y:1.44, Z:1.04 [[ 9.95286503e-01 -7.65081937e-02 -5.95925677e-02 2.68256589e+01] [ 7.63355613e-02 9.97068773e-01 -5.17140021e-03 1.44464590e+00] [ 5.98135429e-02 5.97992716e-04 9.98209388e-01 1.04291652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715099892999998 meters Centerline goodness [0,1] 0.9998040667044019 Centerline is valid? [True, True] Translation: X:26.85, Y:1.45, Z:1.04 [[ 9.95840861e-01 -6.81105433e-02 -6.05139039e-02 2.68545992e+01] [ 6.79162746e-02 9.97677138e-01 -5.26375702e-03 1.45360894e+00] [ 6.07318558e-02 1.13198541e-03 9.98153475e-01 1.04443178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099893 meters Centerline goodness [0,1] 0.9997381742014313 Centerline is valid? [True, True] Translation: X:26.88, Y:1.46, Z:1.05 [[ 9.95970740e-01 -6.57926222e-02 -6.09394378e-02 2.68834796e+01] [ 6.55909616e-02 9.97832488e-01 -5.30587876e-03 1.45685977e+00] [ 6.11564384e-02 1.28742367e-03 9.98127363e-01 1.04588583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775099893 meters Centerline goodness [0,1] 0.9997818023128955 Centerline is valid? [True, True] Translation: X:26.91, Y:1.46, Z:1.05 [[ 9.96065065e-01 -6.43183426e-02 -6.09716155e-02 2.69119581e+01] [ 6.41127708e-02 9.97928458e-01 -5.32400632e-03 1.46000465e+00] [ 6.11877415e-02 1.39399749e-03 9.98125301e-01 1.04720203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters Centerline goodness [0,1] 0.999716219166121 Centerline is valid? [True, True] Translation: X:26.94, Y:1.46, Z:1.05 [[ 9.96087394e-01 -6.33049592e-02 -6.16634908e-02 2.69407352e+01] [ 6.30917795e-02 9.97993119e-01 -5.40007476e-03 1.46154139e+00] [ 6.18815910e-02 1.48848703e-03 9.98082388e-01 1.04829796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835099893 meters Centerline goodness [0,1] 0.99978245262906 Centerline is valid? [True, True] Translation: X:26.97, Y:1.46, Z:1.05 [[ 9.96136109e-01 -6.25995716e-02 -6.15966341e-02 2.69678512e+01] [ 6.23846247e-02 9.98037528e-01 -5.40848339e-03 1.46429493e+00] [ 6.18143212e-02 1.54490270e-03 9.98086471e-01 1.04889765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099893 meters Centerline goodness [0,1] 0.9997382655731984 Centerline is valid? [True, True] Translation: X:27.00, Y:1.47, Z:1.05 [[ 9.96092052e-01 -6.24731364e-02 -6.24318161e-02 2.69962497e+01] [ 6.22513633e-02 9.98045387e-01 -5.49299149e-03 1.46545564e+00] [ 6.26529505e-02 1.58505949e-03 9.98034115e-01 1.05016709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895099893 meters Centerline goodness [0,1] 0.999847358206677 Centerline is valid? [True, True] Translation: X:27.02, Y:1.47, Z:1.05 [[ 9.96137917e-01 -6.24444053e-02 -6.17247692e-02 2.70239170e+01] [ 6.22267549e-02 9.98047190e-01 -5.44405910e-03 1.46898122e+00] [ 6.19441835e-02 1.58210161e-03 9.98078361e-01 1.05112510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099893 meters Centerline goodness [0,1] 0.999673544006268 Centerline is valid? [True, True] Translation: X:27.05, Y:1.47, Z:1.05 [[ 9.96143646e-01 -6.24371364e-02 -6.16395978e-02 2.70517532e+01] [ 6.22195561e-02 9.98047634e-01 -5.44488895e-03 1.47014875e+00] [ 6.18592181e-02 1.58870311e-03 9.98083620e-01 1.05187535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955099893 meters Centerline goodness [0,1] 0.9998259280212368 Centerline is valid? [True, True] Translation: X:27.08, Y:1.47, Z:1.06 [[ 9.96172860e-01 -6.30306675e-02 -6.05538409e-02 2.70804630e+01] [ 6.28207820e-02 9.98010401e-01 -5.36553348e-03 1.47110186e+00] [ 6.07715562e-02 1.54095919e-03 9.98150511e-01 1.05571214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099893 meters Centerline goodness [0,1] 0.9998259280212368 Centerline is valid? [True, True] Translation: X:27.11, Y:1.47, Z:1.06 [[ 9.96154834e-01 -6.33162462e-02 -6.05524522e-02 2.71077047e+01] [ 6.31059378e-02 9.97992326e-01 -5.38116582e-03 1.47358028e+00] [ 6.07715978e-02 1.53925506e-03 9.98150511e-01 1.05701817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015099893 meters Centerline goodness [0,1] 0.999761682951665 Centerline is valid? [True, True] Translation: X:27.13, Y:1.48, Z:1.06 [[ 9.96127958e-01 -6.35690810e-02 -6.07294327e-02 2.71343567e+01] [ 6.33570704e-02 9.97976247e-01 -5.41226318e-03 1.47603186e+00] [ 6.09505839e-02 1.54366772e-03 9.98139591e-01 1.05792497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099893 meters Centerline goodness [0,1] 0.999761682951665 Centerline is valid? [True, True] Translation: X:27.16, Y:1.48, Z:1.06 [[ 9.96110093e-01 -6.38492269e-02 -6.07285728e-02 2.71615993e+01] [ 6.36371493e-02 9.97958374e-01 -5.42189585e-03 1.47852658e+00] [ 6.09507716e-02 1.53621192e-03 9.98139591e-01 1.05922881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075099893 meters Centerline goodness [0,1] 0.9998041690238914 Centerline is valid? [True, True] Translation: X:27.19, Y:1.48, Z:1.06 [[ 9.96071740e-01 -6.43565543e-02 -6.08220636e-02 2.71891745e+01] [ 6.41438728e-02 9.97925807e-01 -5.44485653e-03 1.48091555e+00] [ 6.10463192e-02 1.52210501e-03 9.98133774e-01 1.06095232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099893 meters Centerline goodness [0,1] 0.9998261436488102 Centerline is valid? [True, True] Translation: X:27.22, Y:1.48, Z:1.06 [[ 9.95981734e-01 -6.56468689e-02 -6.09169481e-02 2.72178248e+01] [ 6.54354698e-02 9.97841860e-01 -5.46089561e-03 1.48116111e+00] [ 6.11439715e-02 1.45282316e-03 9.98127900e-01 1.06318750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135099893 meters Centerline goodness [0,1] 0.9998261436488102 Centerline is valid? [True, True] Translation: X:27.25, Y:1.48, Z:1.06 [[ 9.95963169e-01 -6.59292123e-02 -6.09155504e-02 2.72450649e+01] [ 6.57173898e-02 9.97823247e-01 -5.47644754e-03 1.48367308e+00] [ 6.11440102e-02 1.45112907e-03 9.98127900e-01 1.06449351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099893 meters Centerline goodness [0,1] 0.9997401022264576 Centerline is valid? [True, True] Translation: X:27.27, Y:1.48, Z:1.06 [[ 9.95896102e-01 -6.69124549e-02 -6.09399557e-02 2.72743542e+01] [ 6.67012801e-02 9.97757857e-01 -5.49528948e-03 1.48442551e+00] [ 6.11710229e-02 1.40796431e-03 9.98126306e-01 1.06488904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195099893 meters Centerline goodness [0,1] 0.9998482713774791 Centerline is valid? [True, True] Translation: X:27.30, Y:1.48, Z:1.07 [[ 9.95821162e-01 -6.87715222e-02 -6.00890311e-02 2.73026431e+01] [ 6.85687504e-02 9.97631603e-01 -5.43245879e-03 1.48498711e+00] [ 6.03203149e-02 1.28952765e-03 9.98178239e-01 1.06715577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099893 meters Centerline goodness [0,1] 0.9997186268992684 Centerline is valid? [True, True] Translation: X:27.33, Y:1.48, Z:1.07 [[ 9.95714779e-01 -7.05481598e-02 -5.97916127e-02 2.73320465e+01] [ 7.03497213e-02 9.97507664e-01 -5.42004084e-03 1.48499700e+00] [ 6.00249659e-02 1.19049147e-03 9.98196166e-01 1.06782776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255099893 meters Centerline goodness [0,1] 0.9998702814891685 Centerline is valid? [True, True] Translation: X:27.36, Y:1.49, Z:1.07 [[ 9.95612343e-01 -7.27667635e-02 -5.88307847e-02 2.73611840e+01] [ 7.25777358e-02 9.97348429e-01 -5.34631165e-03 1.48542834e+00] [ 5.90638245e-02 1.05304873e-03 9.98253653e-01 1.07046457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999998 meters Centerline goodness [0,1] 0.999784133837021 Centerline is valid? [True, True] Translation: X:27.39, Y:1.49, Z:1.07 [[ 9.95439876e-01 -7.51256460e-02 -5.87842702e-02 2.73896834e+01] [ 7.49402147e-02 9.97173646e-01 -5.35579118e-03 1.48577502e+00] [ 5.90204823e-02 9.26062281e-04 9.98256342e-01 1.07119426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315099893 meters Centerline goodness [0,1] 0.9997434581836839 Centerline is valid? [True, True] Translation: X:27.42, Y:1.46, Z:1.07 [[ 9.92998759e-01 -1.03270180e-01 -5.73474909e-02 2.74215845e+01] [ 1.03139789e-01 9.94653085e-01 -5.23684796e-03 1.45793207e+00] [ 5.75816690e-02 -7.14624617e-04 9.98340543e-01 1.07202324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099893 meters Centerline goodness [0,1] 0.9998078770413065 Centerline is valid? [True, True] Translation: X:27.45, Y:1.46, Z:1.07 [[ 9.92752109e-01 -1.05972094e-01 -5.66847864e-02 2.74540720e+01] [ 1.05848996e-01 9.94368733e-01 -5.17815918e-03 1.45666605e+00] [ 5.69143196e-02 -8.59399292e-04 9.98378697e-01 1.07387972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375099892999998 meters Centerline goodness [0,1] 0.9998082454458294 Centerline is valid? [True, True] Translation: X:27.48, Y:1.46, Z:1.08 [[ 9.92669944e-01 -1.06785376e-01 -5.65974046e-02 2.74847611e+01] [ 1.06664194e-01 9.94281680e-01 -5.16637344e-03 1.45754916e+00] [ 5.68254556e-02 -9.08412919e-04 9.98383715e-01 1.07509511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099893 meters Centerline goodness [0,1] 0.9997868576422192 Centerline is valid? [True, True] Translation: X:27.52, Y:1.46, Z:1.08 [[ 9.92578693e-01 -1.07760600e-01 -5.63488303e-02 2.75164302e+01] [ 1.07642176e-01 9.94176406e-01 -5.14147109e-03 1.45786836e+00] [ 5.65747256e-02 -9.62196049e-04 9.98397904e-01 1.07719219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435099893 meters Centerline goodness [0,1] 0.9998934696921274 Centerline is valid? [True, True] Translation: X:27.55, Y:1.46, Z:1.08 [[ 9.92466651e-01 -1.07625600e-01 -5.85378230e-02 2.75482749e+01] [ 1.07497762e-01 9.94190998e-01 -5.33772908e-03 1.45951380e+00] [ 5.87722530e-02 -9.95166858e-04 9.98270921e-01 1.07767300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999998 meters Centerline goodness [0,1] 0.9997864434288644 Centerline is valid? [True, True] Translation: X:27.58, Y:1.46, Z:1.08 [[ 9.92639112e-01 -1.05647655e-01 -5.92128862e-02 2.75791741e+01] [ 1.05513565e-01 9.94403227e-01 -5.39539682e-03 1.46454347e+00] [ 5.94514961e-02 -8.92080823e-04 9.98230797e-01 1.07877927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495099893 meters Centerline goodness [0,1] 0.9997864434288644 Centerline is valid? [True, True] Translation: X:27.61, Y:1.47, Z:1.08 [[ 9.92642862e-01 -1.05612310e-01 -5.92130780e-02 2.76098677e+01] [ 1.05478284e-01 9.94406981e-01 -5.39329150e-03 1.46730968e+00] [ 5.94514961e-02 -8.92081529e-04 9.98230797e-01 1.08024499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099893 meters Centerline goodness [0,1] 0.9997865346027409 Centerline is valid? [True, True] Translation: X:27.64, Y:1.47, Z:1.08 [[ 9.92763614e-01 -1.04430045e-01 -5.92855071e-02 2.76409985e+01] [ 1.04293712e-01 9.94531893e-01 -5.39775471e-03 1.47181879e+00] [ 5.95250153e-02 -8.24411111e-04 9.98226474e-01 1.08210361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555099892999998 meters Centerline goodness [0,1] 0.9998717098933054 Centerline is valid? [True, True] Translation: X:27.67, Y:1.48, Z:1.08 [[ 9.93052748e-01 -1.01264597e-01 -5.99309625e-02 2.76712258e+01] [ 1.01119635e-01 9.94859320e-01 -5.45455071e-03 1.47677509e+00] [ 6.01752295e-02 -6.43540490e-04 9.98187621e-01 1.08323499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099893 meters Centerline goodness [0,1] 0.9997651579846285 Centerline is valid? [True, True] Translation: X:27.70, Y:1.48, Z:1.08 [[ 9.93148483e-01 -9.95081484e-02 -6.12716865e-02 2.77011439e+01] [ 9.93533376e-02 9.95036595e-01 -5.57570099e-03 1.48105428e+00] [ 6.15223980e-02 -5.50047579e-04 9.98105552e-01 1.08299793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615099893 meters Centerline goodness [0,1] 0.9997858809926558 Centerline is valid? [True, True] Translation: X:27.73, Y:1.49, Z:1.09 [[ 9.93926035e-01 -9.19607426e-02 -6.04504677e-02 2.77298338e+01] [ 9.17961118e-02 9.95762630e-01 -5.50079379e-03 1.49298106e+00] [ 6.07001738e-02 -8.17357328e-05 9.98156041e-01 1.08652226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099893 meters Centerline goodness [0,1] 0.9998497305884121 Centerline is valid? [True, True] Translation: X:27.76, Y:1.50, Z:1.09 [[ 9.93980461e-01 -9.04957983e-02 -6.17523581e-02 2.77595189e+01] [ 9.03212088e-02 9.95896837e-01 -5.61861110e-03 1.49846514e+00] [ 6.20074388e-02 7.24201426e-06 9.98075687e-01 1.08725983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675099893 meters Centerline goodness [0,1] 0.9998280937748458 Centerline is valid? [True, True] Translation: X:27.79, Y:1.50, Z:1.09 [[ 9.94001663e-01 -9.08107686e-02 -6.09434058e-02 2.77887113e+01] [ 9.06412892e-02 9.95868166e-01 -5.54549698e-03 1.50223627e+00] [ 6.11951887e-02 -1.17556549e-05 9.98125818e-01 1.08874759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099893 meters Centerline goodness [0,1] 0.9999571073174917 Centerline is valid? [True, True] Translation: X:27.82, Y:1.51, Z:1.09 [[ 9.94061289e-01 -9.10974969e-02 -5.95264667e-02 2.78179114e+01] [ 9.09362328e-02 9.95841978e-01 -5.41814037e-03 1.50593902e+00] [ 5.97725334e-02 -2.71490333e-05 9.98212023e-01 1.09221443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735099893 meters Centerline goodness [0,1] 0.9997850802725182 Centerline is valid? [True, True] Translation: X:27.85, Y:1.51, Z:1.09 [[ 9.94059107e-01 -9.09038154e-02 -5.98580625e-02 2.78480667e+01] [ 9.07404170e-02 9.95859677e-01 -5.44799356e-03 1.51221230e+00] [ 6.01054742e-02 -1.59179370e-05 9.98192031e-01 1.09391448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099893 meters Centerline goodness [0,1] 0.9998713053923041 Centerline is valid? [True, True] Translation: X:27.88, Y:1.52, Z:1.10 [[ 9.94066881e-01 -9.13345022e-02 -5.90681430e-02 2.78777461e+01] [ 9.11761638e-02 9.95820268e-01 -5.37588955e-03 1.51630881e+00] [ 5.93122582e-02 -4.16129257e-05 9.98239477e-01 1.09642237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795099893 meters Centerline goodness [0,1] 0.9997415297133134 Centerline is valid? [True, True] Translation: X:27.91, Y:1.52, Z:1.10 [[ 9.93998476e-01 -9.16784849e-02 -5.96832028e-02 2.79087800e+01] [ 9.15175266e-02 9.95788658e-01 -5.43056518e-03 1.52015201e+00] [ 5.99297224e-02 -6.40855876e-05 9.98202597e-01 1.09802026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099893 meters Centerline goodness [0,1] 0.9998064141446732 Centerline is valid? [True, True] Translation: X:27.94, Y:1.52, Z:1.10 [[ 9.93943942e-01 -9.23121336e-02 -5.96146768e-02 2.79387122e+01] [ 9.21528309e-02 9.95730114e-01 -5.42187330e-03 1.52327508e+00] [ 5.98606336e-02 -1.04623113e-04 9.98206739e-01 1.09930139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855099893 meters Centerline goodness [0,1] 0.9998272884283247 Centerline is valid? [True, True] Translation: X:27.97, Y:1.53, Z:1.10 [[ 9.93235639e-01 -9.90509113e-02 -6.05960541e-02 2.79692725e+01] [ 9.88990273e-02 9.95082230e-01 -5.50800088e-03 1.52754051e+00] [ 6.08436291e-02 -5.22148032e-04 9.98147174e-01 1.10050808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099893 meters Centerline goodness [0,1] 0.9997842456147921 Centerline is valid? [True, True] Translation: X:28.00, Y:1.54, Z:1.11 [[ 9.93379469e-01 -1.00006703e-01 -5.65322052e-02 2.79990822e+01] [ 9.98761219e-02 9.94986615e-01 -5.13763791e-03 1.53532568e+00] [ 5.67625857e-02 -5.42593394e-04 9.98387557e-01 1.10558757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915099893 meters Centerline goodness [0,1] 0.99982673857016 Centerline is valid? [True, True] Translation: X:28.03, Y:1.54, Z:1.11 [[ 9.93467785e-01 -9.91676687e-02 -5.64582463e-02 2.80310014e+01] [ 9.90361621e-02 9.95070615e-01 -5.12939090e-03 1.54131765e+00] [ 5.66886115e-02 -4.95523414e-04 9.98391785e-01 1.10655468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099893 meters Centerline goodness [0,1] 0.9998260680508751 Centerline is valid? [True, True] Translation: X:28.06, Y:1.55, Z:1.11 [[ 9.93716547e-01 -9.72374637e-02 -5.54283359e-02 2.80618214e+01] [ 9.71079279e-02 9.95261136e-01 -5.03197244e-03 1.55076169e+00] [ 5.56549648e-02 -3.82176564e-04 9.98449988e-01 1.10915327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975099893 meters Centerline goodness [0,1] 0.9996709516079498 Centerline is valid? [True, True] Translation: X:28.09, Y:1.58, Z:1.11 [[ 9.94887817e-01 -8.03524055e-02 -6.11696201e-02 2.80911252e+01] [ 8.01629135e-02 9.96766326e-01 -5.54958625e-03 1.57867484e+00] [ 6.14177401e-02 6.17680783e-04 9.98111957e-01 1.10500555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099893 meters Centerline goodness [0,1] 0.9998461098775474 Centerline is valid? [True, True] Translation: X:28.12, Y:1.58, Z:1.11 [[ 9.94981409e-01 -7.97690179e-02 -6.04061265e-02 2.81214954e+01] [ 7.95833110e-02 9.96813167e-01 -5.47779577e-03 1.58041880e+00] [ 6.06505806e-02 6.42985406e-04 9.98158852e-01 1.10741602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035099892999998 meters Centerline goodness [0,1] 0.9996925847038932 Centerline is valid? [True, True] Translation: X:28.15, Y:1.58, Z:1.11 [[ 9.95002103e-01 -7.91012851e-02 -6.09409724e-02 2.81523949e+01] [ 7.89110203e-02 9.96866346e-01 -5.52629709e-03 1.58242694e+00] [ 6.11871416e-02 6.89762921e-04 9.98126073e-01 1.10729557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099893 meters Centerline goodness [0,1] 0.9996925847038932 Centerline is valid? [True, True] Translation: X:28.18, Y:1.59, Z:1.11 [[ 9.94999320e-01 -7.91363133e-02 -6.09409289e-02 2.81813957e+01] [ 7.89460848e-02 9.96863567e-01 -5.52677658e-03 1.58508557e+00] [ 6.11871605e-02 6.88091205e-04 9.98126073e-01 1.10868117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095099893 meters Centerline goodness [0,1] 0.9996921859197045 Centerline is valid? [True, True] Translation: X:28.21, Y:1.59, Z:1.11 [[ 9.95012350e-01 -7.91736921e-02 -6.06790648e-02 2.82108400e+01] [ 7.89850345e-02 9.96860601e-01 -5.50518397e-03 1.58659440e+00] [ 6.09244347e-02 6.84988011e-04 9.98142146e-01 1.11027071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999998 meters Centerline goodness [0,1] 0.9997145115952214 Centerline is valid? [True, True] Translation: X:28.24, Y:1.59, Z:1.11 [[ 9.95075211e-01 -7.90698431e-02 -5.97769477e-02 2.82406968e+01] [ 7.88864440e-02 9.96868845e-01 -5.42547178e-03 1.58906524e+00] [ 6.00187680e-02 6.83161643e-04 9.98197015e-01 1.11253469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155099893 meters Centerline goodness [0,1] 0.9997145115952214 Centerline is valid? [True, True] Translation: X:28.27, Y:1.59, Z:1.11 [[ 9.95075214e-01 -7.90699233e-02 -5.97767944e-02 2.82705443e+01] [ 7.88864230e-02 9.96868837e-01 -5.42715979e-03 1.59177590e+00] [ 6.00187487e-02 6.84854703e-04 9.98197015e-01 1.11396130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099893 meters Centerline goodness [0,1] 0.99980211951981 Centerline is valid? [True, True] Translation: X:28.30, Y:1.59, Z:1.12 [[ 9.95122549e-01 -7.91828527e-02 -5.88318676e-02 2.83007563e+01] [ 7.90053112e-02 9.96859885e-01 -5.34136949e-03 1.59447286e+00] [ 5.90700736e-02 6.67287214e-04 9.98253616e-01 1.11764686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215099892999998 meters Centerline goodness [0,1] 0.9997365763709005 Centerline is valid? [True, True] Translation: X:28.33, Y:1.60, Z:1.12 [[ 9.95154782e-01 -7.89381293e-02 -5.86151199e-02 2.83312038e+01] [ 7.87614831e-02 9.96879286e-01 -5.32148569e-03 1.59863815e+00] [ 5.88522670e-02 6.79088160e-04 9.98266472e-01 1.11951564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099893 meters Centerline goodness [0,1] 0.9997365763709005 Centerline is valid? [True, True] Translation: X:28.36, Y:1.60, Z:1.12 [[ 9.95157573e-01 -7.89028503e-02 -5.86152336e-02 2.83618987e+01] [ 7.87262167e-02 9.96882078e-01 -5.32023253e-03 1.60139567e+00] [ 5.88522574e-02 6.79914112e-04 9.98266472e-01 1.12098159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275099893 meters Centerline goodness [0,1] 0.9999341310791525 Centerline is valid? [True, True] Translation: X:28.39, Y:1.60, Z:1.12 [[ 9.95208536e-01 -7.78433248e-02 -5.91640631e-02 2.83925264e+01] [ 7.76616079e-02 9.96965324e-01 -5.36813062e-03 1.60454993e+00] [ 5.94023925e-02 7.47633143e-04 9.98233839e-01 1.12339797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999998 meters Centerline goodness [0,1] 0.9997142229061332 Centerline is valid? [True, True] Translation: X:28.42, Y:1.61, Z:1.12 [[ 9.95321078e-01 -7.52239401e-02 -6.06408300e-02 2.84229924e+01] [ 7.50282233e-02 9.97166236e-01 -5.50126048e-03 1.60633644e+00] [ 6.08828147e-02 9.25746771e-04 9.98144491e-01 1.12163511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335099893 meters Centerline goodness [0,1] 0.999845960874062 Centerline is valid? [True, True] Translation: X:28.45, Y:1.61, Z:1.13 [[ 9.95859953e-01 -7.09215817e-02 -5.68602018e-02 2.84521585e+01] [ 7.07425061e-02 9.97481271e-01 -5.15862799e-03 1.61128214e+00] [ 5.70828444e-02 1.11483786e-03 9.98368823e-01 1.12632290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099893 meters Centerline goodness [0,1] 0.9998244266432569 Centerline is valid? [True, True] Translation: X:28.48, Y:1.61, Z:1.13 [[ 9.96003763e-01 -6.87886970e-02 -5.69615521e-02 2.84808179e+01] [ 6.86053708e-02 9.97630480e-01 -5.17003468e-03 1.61391240e+00] [ 5.71822205e-02 1.24150559e-03 9.98362986e-01 1.12684266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395099893 meters Centerline goodness [0,1] 0.9996942630647944 Centerline is valid? [True, True] Translation: X:28.51, Y:1.61, Z:1.13 [[ 9.95573200e-01 -7.28130780e-02 -5.94328110e-02 2.85103578e+01] [ 7.26203021e-02 9.97345042e-01 -5.39997550e-03 1.60994697e+00] [ 5.96682082e-02 1.06004219e-03 9.98217702e-01 1.12602382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099893 meters Centerline goodness [0,1] 0.9997603694667131 Centerline is valid? [True, True] Translation: X:28.54, Y:1.61, Z:1.13 [[ 9.95554210e-01 -7.30226162e-02 -5.94938021e-02 2.85398293e+01] [ 7.28289286e-02 9.97329718e-01 -5.42037637e-03 1.60592148e+00] [ 5.97307469e-02 1.06340865e-03 9.98213959e-01 1.12661992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455099893 meters Centerline goodness [0,1] 0.9999347457258451 Centerline is valid? [True, True] Translation: X:28.57, Y:1.61, Z:1.13 [[ 9.95637532e-01 -7.31168728e-02 -5.79640296e-02 2.85685238e+01] [ 7.29324724e-02 9.97322834e-01 -5.29328283e-03 1.60877039e+00] [ 5.81958786e-02 1.04273106e-03 9.98304639e-01 1.13081784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099893 meters Centerline goodness [0,1] 0.9997388067823172 Centerline is valid? [True, True] Translation: X:28.60, Y:1.61, Z:1.13 [[ 9.95672092e-01 -7.25685863e-02 -5.80593225e-02 2.85971151e+01] [ 7.23824645e-02 9.97362840e-01 -5.30511695e-03 1.61308777e+00] [ 5.82911956e-02 1.07968005e-03 9.98299039e-01 1.13072892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515099893 meters Centerline goodness [0,1] 0.9997391190921344 Centerline is valid? [True, True] Translation: X:28.63, Y:1.61, Z:1.13 [[ 9.95703398e-01 -7.20117617e-02 -5.82155441e-02 2.86263528e+01] [ 7.18235139e-02 9.97403156e-01 -5.32231658e-03 1.61406503e+00] [ 5.84476369e-02 1.11820375e-03 9.98289849e-01 1.13341665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099893 meters Centerline goodness [0,1] 0.9997391190921344 Centerline is valid? [True, True] Translation: X:28.66, Y:1.62, Z:1.13 [[ 9.95700848e-01 -7.20471624e-02 -5.82153550e-02 2.86553542e+01] [ 7.18588542e-02 9.97400600e-01 -5.32438508e-03 1.61674614e+00] [ 5.84476368e-02 1.11820604e-03 9.98289849e-01 1.13480302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575099893 meters Centerline goodness [0,1] 0.9997823579341415 Centerline is valid? [True, True] Translation: X:28.68, Y:1.62, Z:1.14 [[ 9.95753817e-01 -7.12150441e-02 -5.83331226e-02 2.86849451e+01] [ 7.10244233e-02 9.97460297e-01 -5.33725048e-03 1.61882762e+00] [ 5.85650664e-02 1.17151115e-03 9.98282906e-01 1.13599048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099893 meters Centerline goodness [0,1] 0.9997823579341415 Centerline is valid? [True, True] Translation: X:28.71, Y:1.62, Z:1.14 [[ 9.95735950e-01 -7.14647562e-02 -5.83327146e-02 2.87130230e+01] [ 7.12743025e-02 9.97442449e-01 -5.34170516e-03 1.62142485e+00] [ 5.85652694e-02 1.16130432e-03 9.98282906e-01 1.13733274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635099893 meters Centerline goodness [0,1] 0.9997826086956522 Centerline is valid? [True, True] Translation: X:28.74, Y:1.62, Z:1.14 [[ 9.95770590e-01 -7.06776296e-02 -5.86992789e-02 2.87415430e+01] [ 7.04825259e-02 9.97498451e-01 -5.39017817e-03 1.62379715e+00] [ 5.89334048e-02 1.23010745e-03 9.98261159e-01 1.13806987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099893 meters Centerline goodness [0,1] 0.9997400853386471 Centerline is valid? [True, True] Translation: X:28.77, Y:1.63, Z:1.14 [[ 9.96028723e-01 -6.68415042e-02 -5.88132268e-02 2.87698040e+01] [ 6.66382081e-02 9.97762519e-01 -5.41337993e-03 1.62612478e+00] [ 5.90434718e-02 1.47267386e-03 9.98254326e-01 1.13818185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695099893 meters Centerline goodness [0,1] 0.9997618325899623 Centerline is valid? [True, True] Translation: X:28.80, Y:1.63, Z:1.14 [[ 9.96330217e-01 -6.38440802e-02 -5.70090487e-02 2.87979267e+01] [ 6.36478558e-02 9.97958595e-01 -5.25296482e-03 1.62965589e+00] [ 5.72280408e-02 1.60518387e-03 9.98359842e-01 1.14193413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099893 meters Centerline goodness [0,1] 0.9997187121343257 Centerline is valid? [True, True] Translation: X:28.83, Y:1.63, Z:1.14 [[ 9.96351971e-01 -6.31616066e-02 -5.73878108e-02 2.88271118e+01] [ 6.29608079e-02 9.98001916e-01 -5.30215930e-03 1.62747096e+00] [ 5.76080380e-02 1.66963393e-03 9.98337882e-01 1.14433925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755099893 meters Centerline goodness [0,1] 0.9997200447928332 Centerline is valid? [True, True] Translation: X:28.86, Y:1.62, Z:1.14 [[ 9.96100838e-01 -6.61847535e-02 -5.83326499e-02 2.88553702e+01] [ 6.59816742e-02 9.97806208e-01 -5.40275436e-03 1.62465068e+00] [ 5.85622601e-02 1.53280225e-03 9.98282581e-01 1.14400700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999998 meters Centerline goodness [0,1] 0.9998279162812709 Centerline is valid? [True, True] Translation: X:28.88, Y:1.62, Z:1.15 [[ 9.95760822e-01 -7.06362620e-02 -5.89143828e-02 2.88844562e+01] [ 7.04365783e-02 9.97501307e-01 -5.46180047e-03 1.62101775e+00] [ 5.91529750e-02 1.28891939e-03 9.98248098e-01 1.14596461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815099893 meters Centerline goodness [0,1] 0.999763816721776 Centerline is valid? [True, True] Translation: X:28.91, Y:1.62, Z:1.15 [[ 9.95142880e-01 -7.82378692e-02 -5.97451622e-02 2.89147018e+01] [ 7.80459459e-02 9.96934355e-01 -5.54274634e-03 1.61595243e+00] [ 5.99956575e-02 8.52956854e-04 9.98198274e-01 1.14663550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099893 meters Centerline goodness [0,1] 0.9998928372412019 Centerline is valid? [True, True] Translation: X:28.94, Y:1.61, Z:1.15 [[ 9.94548094e-01 -8.62347642e-02 -5.86315138e-02 2.89441989e+01] [ 8.60636624e-02 9.96274777e-01 -5.44193946e-03 1.60845169e+00] [ 5.88823827e-02 3.66227711e-04 9.98264860e-01 1.14845074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875099892999998 meters Centerline goodness [0,1] 0.9998506284275441 Centerline is valid? [True, True] Translation: X:28.97, Y:1.60, Z:1.15 [[ 9.93864803e-01 -9.49421953e-02 -5.67338754e-02 2.89746972e+01] [ 9.47959515e-02 9.95482777e-01 -5.26952554e-03 1.60307234e+00] [ 5.69778961e-02 -1.40945736e-04 9.98375430e-01 1.14989582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099893 meters Centerline goodness [0,1] 0.9999573515300139 Centerline is valid? [True, True] Translation: X:29.01, Y:1.60, Z:1.15 [[ 9.93407581e-01 -9.93383328e-02 -5.72125358e-02 2.90064734e+01] [ 9.91968108e-02 9.95053637e-01 -5.31536580e-03 1.60014218e+00] [ 5.74575614e-02 -3.94976400e-04 9.98347872e-01 1.14977383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935099893 meters Centerline goodness [0,1] 0.9998298741068391 Centerline is valid? [True, True] Translation: X:29.04, Y:1.60, Z:1.15 [[ 9.93475491e-01 -9.92062958e-02 -5.62544157e-02 2.90376417e+01] [ 9.90694263e-02 9.95066814e-01 -5.22351240e-03 1.60176428e+00] [ 5.64951075e-02 -3.83661148e-04 9.98402802e-01 1.15092795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999998 meters Centerline goodness [0,1] 0.9997870301352358 Centerline is valid? [True, True] Translation: X:29.07, Y:1.61, Z:1.15 [[ 9.93849214e-01 -9.44634470e-02 -5.77961755e-02 2.90680689e+01] [ 9.43113273e-02 9.95528323e-01 -5.36019030e-03 1.60831685e+00] [ 5.80440717e-02 -1.23613108e-04 9.98314014e-01 1.15274718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995099893 meters Centerline goodness [0,1] 0.9998291839262075 Centerline is valid? [True, True] Translation: X:29.10, Y:1.61, Z:1.15 [[ 9.94241385e-01 -8.99494417e-02 -5.82508987e-02 2.90988489e+01] [ 8.97872990e-02 9.95946323e-01 -5.40021291e-03 1.61235485e+00] [ 5.85005145e-02 1.38924303e-04 9.98287369e-01 1.15383626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099893 meters Centerline goodness [0,1] 0.9997649321508708 Centerline is valid? [True, True] Translation: X:29.13, Y:1.62, Z:1.15 [[ 9.94790969e-01 -8.31557703e-02 -5.89579950e-02 2.91280163e+01] [ 8.29778381e-02 9.96536413e-01 -5.46404306e-03 1.61997527e+00] [ 5.92081555e-02 5.43373725e-04 9.98245510e-01 1.15490708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055099892999998 meters Centerline goodness [0,1] 0.9997439399112324 Centerline is valid? [True, True] Translation: X:29.16, Y:1.63, Z:1.16 [[ 9.95223391e-01 -7.74408178e-02 -5.94417450e-02 2.91567113e+01] [ 7.72497090e-02 9.96996552e-01 -5.50978059e-03 1.62733813e+00] [ 5.96898967e-02 8.91605020e-04 9.98216570e-01 1.15609525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099893 meters Centerline goodness [0,1] 0.9996367909411388 Centerline is valid? [True, True] Translation: X:29.19, Y:1.63, Z:1.16 [[ 9.95134057e-01 -7.73435010e-02 -6.10425412e-02 2.91850227e+01] [ 7.71413894e-02 9.97004073e-01 -5.66427602e-03 1.63032152e+00] [ 6.12977572e-02 9.27807532e-04 9.98119093e-01 1.15680818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115099893 meters Centerline goodness [0,1] 0.999764246983433 Centerline is valid? [True, True] Translation: X:29.21, Y:1.63, Z:1.16 [[ 9.94377306e-01 -8.67433545e-02 -6.07401285e-02 2.92141455e+01] [ 8.65599525e-02 9.96230626e-01 -5.64921290e-03 1.62929025e+00] [ 6.10012080e-02 3.59786465e-04 9.98137627e-01 1.15858026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099893 meters Centerline goodness [0,1] 0.9997862791194699 Centerline is valid? [True, True] Translation: X:29.24, Y:1.63, Z:1.16 [[ 9.93724610e-01 -9.37150551e-02 -6.10646224e-02 2.92426098e+01] [ 9.35425579e-02 9.95599058e-01 -5.68379316e-03 1.62815826e+00] [ 6.13285375e-02 -6.40158405e-05 9.98117632e-01 1.15833393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175099893 meters Centerline goodness [0,1] 0.9997653032921547 Centerline is valid? [True, True] Translation: X:29.27, Y:1.63, Z:1.16 [[ 9.93937927e-01 -9.29833160e-02 -5.86642989e-02 2.92727000e+01] [ 9.28226699e-02 9.95667667e-01 -5.46344439e-03 1.63351448e+00] [ 5.89181548e-02 -1.50522530e-05 9.98262817e-01 1.16270622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099893 meters Centerline goodness [0,1] 0.9998076635394183 Centerline is valid? [True, True] Translation: X:29.30, Y:1.64, Z:1.17 [[ 9.94438623e-01 -8.94255952e-02 -5.56317241e-02 2.93027055e+01] [ 8.92755767e-02 9.95993488e-01 -5.18101873e-03 1.63862779e+00] [ 5.58721507e-02 1.85650880e-04 9.98437914e-01 1.16704611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235099893 meters Centerline goodness [0,1] 0.9999143652322843 Centerline is valid? [True, True] Translation: X:29.33, Y:1.64, Z:1.17 [[ 9.94846602e-01 -8.66131701e-02 -5.27105084e-02 2.93321677e+01] [ 8.64745638e-02 9.96241965e-01 -4.90886700e-03 1.64327098e+00] [ 5.29375930e-02 3.25451427e-04 9.98597770e-01 1.17125416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099893 meters Centerline goodness [0,1] 0.999850068540096 Centerline is valid? [True, True] Translation: X:29.36, Y:1.65, Z:1.17 [[ 9.94979588e-01 -8.50483002e-02 -5.27485129e-02 2.93639705e+01] [ 8.49073622e-02 9.96376746e-01 -4.91115823e-03 1.64758769e+00] [ 5.29750774e-02 4.07765103e-04 9.98595751e-01 1.17307432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295099893 meters Centerline goodness [0,1] 0.9998074248421953 Centerline is valid? [True, True] Translation: X:29.40, Y:1.65, Z:1.17 [[ 9.94579930e-01 -8.78693030e-02 -5.55855038e-02 2.93953081e+01] [ 8.77174042e-02 9.96131976e-01 -5.17136082e-03 1.64849863e+00] [ 5.58249017e-02 2.67515576e-04 9.98440538e-01 1.17155272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099893 meters Centerline goodness [0,1] 0.9997655334114889 Centerline is valid? [True, True] Translation: X:29.43, Y:1.65, Z:1.17 [[ 9.93953331e-01 -9.30074316e-02 -5.83643140e-02 2.94272317e+01] [ 9.28489266e-02 9.95665414e-01 -5.42768230e-03 1.64842605e+00] [ 5.86161436e-02 -2.42009990e-05 9.98280595e-01 1.17152155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355099893 meters Centerline goodness [0,1] 0.999807486631016 Centerline is valid? [True, True] Translation: X:29.46, Y:1.65, Z:1.17 [[ 9.93423368e-01 -9.67311628e-02 -6.12624967e-02 2.94572526e+01] [ 9.65637097e-02 9.95310512e-01 -5.69512340e-03 1.65049151e+00] [ 6.15261029e-02 -2.58065279e-04 9.98105441e-01 1.17005367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099893 meters Centerline goodness [0,1] 0.9998713633342624 Centerline is valid? [True, True] Translation: X:29.49, Y:1.65, Z:1.17 [[ 9.93134961e-01 -9.91994911e-02 -6.19871786e-02 2.94876757e+01] [ 9.90329059e-02 9.95067479e-01 -5.76161680e-03 1.65313143e+00] [ 6.22529750e-02 -4.16707343e-04 9.98060316e-01 1.17113656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415099893 meters Centerline goodness [0,1] 0.9998713633342624 Centerline is valid? [True, True] Translation: X:29.52, Y:1.66, Z:1.17 [[ 9.93138582e-01 -9.91632036e-02 -6.19872284e-02 2.95183631e+01] [ 9.89965812e-02 9.95071096e-01 -5.76108055e-03 1.65595646e+00] [ 6.22529865e-02 -4.14972325e-04 9.98060316e-01 1.17260279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099893 meters Centerline goodness [0,1] 0.9998281971437775 Centerline is valid? [True, True] Translation: X:29.55, Y:1.66, Z:1.17 [[ 9.93108020e-01 -9.95994071e-02 -6.17771724e-02 2.95483687e+01] [ 9.94348806e-02 9.95027518e-01 -5.73955505e-03 1.66033521e+00] [ 6.20416428e-02 -4.42807609e-04 9.98073463e-01 1.17298320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475099893 meters Centerline goodness [0,1] 0.9998065472991854 Centerline is valid? [True, True] Translation: X:29.58, Y:1.66, Z:1.17 [[ 9.93223775e-01 -9.96021272e-02 -5.98827926e-02 2.95793330e+01] [ 9.94476271e-02 9.95027251e-01 -5.56225251e-03 1.66391552e+00] [ 6.01390227e-02 -4.30640194e-04 9.98189918e-01 1.17413995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099893 meters Centerline goodness [0,1] 0.9997223230877673 Centerline is valid? [True, True] Translation: X:29.61, Y:1.67, Z:1.18 [[ 9.93490462e-01 -9.84295670e-02 -5.73439004e-02 2.96095310e+01] [ 9.82860538e-02 9.95143960e-01 -5.32457800e-03 1.66940907e+00] [ 5.75895320e-02 -3.46188224e-04 9.98340286e-01 1.17715719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535099892999998 meters Centerline goodness [0,1] 0.9998495076751086 Centerline is valid? [True, True] Translation: X:29.64, Y:1.68, Z:1.18 [[ 9.93766545e-01 -9.63890576e-02 -5.60107483e-02 2.96405311e+01] [ 9.62489701e-02 9.95343709e-01 -5.19963900e-03 1.67630276e+00] [ 5.62511343e-02 -2.23749554e-04 9.98416626e-01 1.18072578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099893 meters Centerline goodness [0,1] 0.9998710980299482 Centerline is valid? [True, True] Translation: X:29.67, Y:1.68, Z:1.18 [[ 9.93805284e-01 -9.50489136e-02 -5.75913310e-02 2.96724379e+01] [ 9.48986953e-02 9.95472591e-01 -5.34392048e-03 1.68092595e+00] [ 5.78385253e-02 -1.54525762e-04 9.98325939e-01 1.18012104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595099893 meters Centerline goodness [0,1] 0.9997627520759194 Centerline is valid? [True, True] Translation: X:29.70, Y:1.68, Z:1.18 [[ 9.93727476e-01 -9.52053015e-02 -5.86656166e-02 2.97043044e+01] [ 9.50499437e-02 9.95457644e-01 -5.43937922e-03 1.68460039e+00] [ 5.89169943e-02 -1.70902976e-04 9.98262870e-01 1.17975325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999998 meters Centerline goodness [0,1] 0.9998276122136747 Centerline is valid? [True, True] Translation: X:29.73, Y:1.69, Z:1.18 [[ 9.93760707e-01 -9.56424127e-02 -5.73775776e-02 2.97347085e+01] [ 9.54947588e-02 9.95415737e-01 -5.31607879e-03 1.68896462e+00] [ 5.76229863e-02 -1.96347723e-04 9.98338396e-01 1.18255153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:1.69, Z:1.19 [[ 9.93808451e-01 -9.56565931e-02 -5.65205998e-02 2.97660320e+01] [ 9.55135230e-02 9.95414375e-01 -5.23351459e-03 1.69335270e+00] [ 5.67620377e-02 -1.97370581e-04 9.98387716e-01 1.18734286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099893 meters Centerline goodness [0,1] 0.9997842223373037 Centerline is valid? [True, True] Translation: X:29.80, Y:1.70, Z:1.19 [[ 9.93850562e-01 -9.39400847e-02 -5.86201480e-02 2.97976177e+01] [ 9.37834523e-02 9.95577847e-01 -5.42357119e-03 1.69949913e+00] [ 5.88704114e-02 -1.07380583e-04 9.98265628e-01 1.18593687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715099892999998 meters Centerline goodness [0,1] 0.9999134217874072 Centerline is valid? [True, True] Translation: X:29.83, Y:1.71, Z:1.19 [[ 9.94099005e-01 -9.17224242e-02 -5.79151520e-02 2.98296861e+01] [ 9.15660243e-02 9.95784614e-01 -5.35412767e-03 1.70596886e+00] [ 5.81621108e-02 1.94727815e-05 9.98307151e-01 1.18885045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099893 meters Centerline goodness [0,1] 0.9997611655123 Centerline is valid? [True, True] Translation: X:29.86, Y:1.71, Z:1.19 [[ 9.94362515e-01 -8.88142734e-02 -5.79242036e-02 2.98612391e+01] [ 8.86531422e-02 9.96048187e-01 -5.35069138e-03 1.71222209e+00] [ 5.81705158e-02 1.85364273e-04 9.98306645e-01 1.18907619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775099893 meters Centerline goodness [0,1] 0.9998914459400782 Centerline is valid? [True, True] Translation: X:29.89, Y:1.72, Z:1.19 [[ 9.94530059e-01 -8.77150252e-02 -5.67100982e-02 2.98917020e+01] [ 8.75590211e-02 9.96145580e-01 -5.23462624e-03 1.71706061e+00] [ 5.69506691e-02 2.40512456e-04 9.98376965e-01 1.19180158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999998 meters Centerline goodness [0,1] 0.9998480638999826 Centerline is valid? [True, True] Translation: X:29.92, Y:1.72, Z:1.19 [[ 9.94532149e-01 -8.81869391e-02 -5.59362899e-02 2.99233225e+01] [ 8.80360830e-02 9.96103921e-01 -5.16017530e-03 1.72020024e+00] [ 5.61734178e-02 2.07548375e-04 9.98421005e-01 1.19407333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835099893 meters Centerline goodness [0,1] 0.9998052158857267 Centerline is valid? [True, True] Translation: X:29.95, Y:1.72, Z:1.20 [[ 9.94331521e-01 -9.05344668e-02 -5.57524618e-02 2.99544098e+01] [ 9.03884597e-02 9.95893320e-01 -5.14015234e-03 1.72280625e+00] [ 5.59888652e-02 7.16363490e-05 9.98431391e-01 1.19508161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.99, Y:1.73, Z:1.20 [[ 9.94171277e-01 -9.30114700e-02 -5.45191521e-02 2.99861574e+01] [ 9.28757457e-02 9.95665035e-01 -5.02336950e-03 1.72581816e+00] [ 5.47500444e-02 -6.94172259e-05 9.98500089e-01 1.20022623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895099893 meters Centerline goodness [0,1] 0.9999134349030471 Centerline is valid? [True, True] Translation: X:30.02, Y:1.73, Z:1.20 [[ 9.94178667e-01 -9.29610155e-02 -5.44704211e-02 3.00175653e+01] [ 9.28256711e-02 9.95669747e-01 -5.01499226e-03 1.72922326e+00] [ 5.47007491e-02 -7.04550728e-05 9.98502791e-01 1.20065476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099893 meters Centerline goodness [0,1] 0.9998047510575985 Centerline is valid? [True, True] Translation: X:30.05, Y:1.73, Z:1.20 [[ 9.94250439e-01 -9.16747500e-02 -5.53335791e-02 3.00496541e+01] [ 9.15332672e-02 9.95789004e-01 -5.09124620e-03 1.73372936e+00] [ 5.55673083e-02 -2.88950805e-06 9.98454944e-01 1.20116721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955099893 meters Centerline goodness [0,1] 0.9998920203001835 Centerline is valid? [True, True] Translation: X:30.08, Y:1.74, Z:1.20 [[ 9.94437883e-01 -8.91121179e-02 -5.61455952e-02 3.00805217e+01] [ 8.89625867e-02 9.96021592e-01 -5.16206470e-03 1.74063975e+00] [ 5.63822276e-02 1.38495312e-04 9.98409247e-01 1.20283184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099893 meters Centerline goodness [0,1] 0.9997604112214672 Centerline is valid? [True, True] Translation: X:30.11, Y:1.75, Z:1.20 [[ 9.94518760e-01 -8.72316097e-02 -5.76461831e-02 3.01125866e+01] [ 8.70710078e-02 9.96188027e-01 -5.29669853e-03 1.74502321e+00] [ 5.78884769e-02 2.48354802e-04 9.98323025e-01 1.20174852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.015099893 meters Centerline goodness [0,1] 0.9998033990126262 Centerline is valid? [True, True] Translation: X:30.14, Y:1.75, Z:1.20 [[ 9.94621347e-01 -8.62600295e-02 -5.73374469e-02 3.01448587e+01] [ 8.60997697e-02 9.96272612e-01 -5.26420308e-03 1.74938769e+00] [ 5.75778183e-02 2.99147783e-04 9.98340976e-01 1.20285270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.045099893 meters Centerline goodness [0,1] 0.9996945832151661 Centerline is valid? [True, True] Translation: X:30.18, Y:1.75, Z:1.20 [[ 9.94697901e-01 -8.48170650e-02 -5.81562672e-02 3.01758805e+01] [ 8.46499638e-02 9.96396466e-01 -5.33532413e-03 1.75433264e+00] [ 5.83992256e-02 3.84109800e-04 9.98293235e-01 1.20342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.075099893 meters Centerline goodness [0,1] 0.9997373547243319 Centerline is valid? [True, True] Translation: X:30.21, Y:1.76, Z:1.20 [[ 9.94674910e-01 -8.45598211e-02 -5.89190967e-02 3.02068719e+01] [ 8.43880303e-02 9.96418324e-01 -5.40230147e-03 1.75801442e+00] [ 5.91648852e-02 4.01467207e-04 9.98248143e-01 1.20476181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099893 meters Centerline goodness [0,1] 0.9997812247041065 Centerline is valid? [True, True] Translation: X:30.24, Y:1.76, Z:1.21 [[ 9.94666895e-01 -8.44292684e-02 -5.92407548e-02 3.02367565e+01] [ 8.42554788e-02 9.96429391e-01 -5.42985960e-03 1.76291228e+00] [ 5.94876683e-02 4.09543424e-04 9.98228957e-01 1.20646052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.135099892999996 meters Centerline goodness [0,1] 0.999802921146561 Centerline is valid? [True, True] Translation: X:30.27, Y:1.77, Z:1.21 [[ 9.94691313e-01 -8.48073617e-02 -5.82829504e-02 3.02680198e+01] [ 8.46398728e-02 9.96397294e-01 -5.34083138e-03 1.76563319e+00] [ 5.85259159e-02 3.79417068e-04 9.98285817e-01 1.20917265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters Centerline goodness [0,1] 0.9997592892467941 Centerline is valid? [True, True] Translation: X:30.30, Y:1.77, Z:1.21 [[ 9.94582002e-01 -8.68806083e-02 -5.70823997e-02 3.02990189e+01] [ 8.67234843e-02 9.96218700e-01 -5.22875731e-03 1.76770105e+00] [ 5.73208316e-02 2.50043327e-04 9.98355778e-01 1.21036264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.195099893 meters Centerline goodness [0,1] 0.9998466291273197 Centerline is valid? [True, True] Translation: X:30.33, Y:1.77, Z:1.21 [[ 9.94392352e-01 -9.02744588e-02 -5.50851368e-02 3.03301897e+01] [ 9.01334645e-02 9.95916924e-01 -5.04371054e-03 1.76902074e+00] [ 5.53155383e-02 5.04129581e-05 9.98468922e-01 1.21343934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225099893 meters Centerline goodness [0,1] 0.9998034805773304 Centerline is valid? [True, True] Translation: X:30.36, Y:1.77, Z:1.22 [[ 9.94256015e-01 -9.20541546e-02 -5.45986256e-02 3.03610938e+01] [ 9.19184853e-02 9.95754001e-01 -4.99620468e-03 1.77146917e+00] [ 5.48267213e-02 -5.11164078e-05 9.98495883e-01 1.21520560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.255099893 meters Centerline goodness [0,1] 0.9997812582028174 Centerline is valid? [True, True] Translation: X:30.39, Y:1.77, Z:1.22 [[ 9.93739519e-01 -9.79961230e-02 -5.36519188e-02 3.03928138e+01] [ 9.78739289e-02 9.95186726e-01 -4.90662322e-03 1.77324651e+00] [ 5.38745074e-02 -3.75218684e-04 9.98547644e-01 1.21891897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099893 meters Centerline goodness [0,1] 0.999846914228229 Centerline is valid? [True, True] Translation: X:30.42, Y:1.77, Z:1.22 [[ 9.93294340e-01 -1.02088090e-01 -5.42620967e-02 3.04243872e+01] [ 1.01969402e-01 9.94775177e-01 -4.95866590e-03 1.77371587e+00] [ 5.44848076e-02 -6.07658776e-04 9.98514415e-01 1.22001268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.315099893 meters Centerline goodness [0,1] 0.9998688495923408 Centerline is valid? [True, True] Translation: X:30.46, Y:1.77, Z:1.22 [[ 9.92805891e-01 -1.06351474e-01 -5.50075132e-02 3.04567136e+01] [ 1.06236207e-01 9.94328231e-01 -5.02369526e-03 1.77439121e+00] [ 5.52298007e-02 -8.56235307e-04 9.98473303e-01 1.22118727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters Centerline goodness [0,1] 0.9998469945355192 Centerline is valid? [True, True] Translation: X:30.49, Y:1.78, Z:1.22 [[ 9.92558048e-01 -1.08438615e-01 -5.54038594e-02 3.04891719e+01] [ 1.08325151e-01 9.94102661e-01 -5.05588755e-03 1.77563115e+00] [ 5.56253774e-02 -9.83369546e-04 9.98451226e-01 1.22188444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.375099893 meters Centerline goodness [0,1] 0.9999563385508765 Centerline is valid? [True, True] Translation: X:30.52, Y:1.78, Z:1.22 [[ 9.92349541e-01 -1.10567466e-01 -5.49292660e-02 3.05200333e+01] [ 1.10459403e-01 9.93868015e-01 -5.00881382e-03 1.77657647e+00] [ 5.51462525e-02 -1.09695981e-03 9.98477685e-01 1.22481713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters Centerline goodness [0,1] 0.9999563966163775 Centerline is valid? [True, True] Translation: X:30.55, Y:1.78, Z:1.23 [[ 9.91919241e-01 -1.13537558e-01 -5.66166258e-02 3.05518876e+01] [ 1.13427768e-01 9.93532849e-01 -5.15940854e-03 1.77926291e+00] [ 5.68362642e-02 -1.30418090e-03 9.98382661e-01 1.22594892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.435099893 meters Centerline goodness [0,1] 0.9998469309658656 Centerline is valid? [True, True] Translation: X:30.58, Y:1.78, Z:1.23 [[ 9.91844565e-01 -1.13526138e-01 -5.79325118e-02 3.05833617e+01] [ 1.13411400e-01 9.93534109e-01 -5.27526678e-03 1.78386448e+00] [ 5.81568072e-02 -1.33796259e-03 9.98306564e-01 1.22529918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099893 meters Centerline goodness [0,1] 0.9997368998026749 Centerline is valid? [True, True] Translation: X:30.61, Y:1.79, Z:1.23 [[ 9.92093778e-01 -1.11643348e-01 -5.73210120e-02 3.06139254e+01] [ 1.11528112e-01 9.93747593e-01 -5.21557401e-03 1.78903549e+00] [ 5.75449018e-02 -1.21856572e-03 9.98342175e-01 1.22634844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.495099893 meters Centerline goodness [0,1] 0.9998682332271879 Centerline is valid? [True, True] Translation: X:30.64, Y:1.80, Z:1.23 [[ 9.92623124e-01 -1.07730592e-01 -5.56188287e-02 3.06446415e+01] [ 1.07616360e-01 9.94179652e-01 -5.05359090e-03 1.79854236e+00] [ 5.58395341e-02 -9.69184701e-04 9.98439286e-01 1.23168650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters Centerline goodness [0,1] 0.9998455700670668 Centerline is valid? [True, True] Translation: X:30.68, Y:1.81, Z:1.23 [[ 9.93126300e-01 -1.02742931e-01 -5.60717662e-02 3.06766041e+01] [ 1.02619077e-01 9.94707697e-01 -5.09133698e-03 1.80790038e+00] [ 5.62981164e-02 -6.97692223e-04 9.98413760e-01 1.23386286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.555099893 meters Centerline goodness [0,1] 0.999845522355122 Centerline is valid? [True, True] Translation: X:30.71, Y:1.81, Z:1.24 [[ 9.93501336e-01 -9.92041423e-02 -5.57999466e-02 3.07089256e+01] [ 9.90761942e-02 9.95066977e-01 -5.06155899e-03 1.81357200e+00] [ 5.60268118e-02 -4.99780722e-04 9.98429139e-01 1.23506004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters Centerline goodness [0,1] 0.9998683459867468 Centerline is valid? [True, True] Translation: X:30.74, Y:1.82, Z:1.24 [[ 9.93815648e-01 -9.60516170e-02 -5.57184468e-02 3.07396994e+01] [ 9.59193578e-02 9.95376301e-01 -5.04939624e-03 1.81731252e+00] [ 5.59458241e-02 -3.26308640e-04 9.98433753e-01 1.23602244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.615099893 meters Centerline goodness [0,1] 0.9999557805832541 Centerline is valid? [True, True] Translation: X:30.77, Y:1.82, Z:1.24 [[ 9.93928532e-01 -9.47586438e-02 -5.59184411e-02 3.07717325e+01] [ 9.46235684e-02 9.95500243e-01 -5.06431188e-03 1.82065914e+00] [ 5.61467090e-02 -2.57638359e-04 9.98422496e-01 1.23903127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099893 meters Centerline goodness [0,1] 0.9998012718600954 Centerline is valid? [True, True] Translation: X:30.80, Y:1.82, Z:1.24 [[ 9.94076054e-01 -9.26713636e-02 -5.67874702e-02 3.08044980e+01] [ 9.25289071e-02 9.95696739e-01 -5.13852276e-03 1.82392371e+00] [ 5.70192929e-02 -1.46400129e-04 9.98373066e-01 1.23801047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.675099893 meters Centerline goodness [0,1] 0.9998231809742728 Centerline is valid? [True, True] Translation: X:30.84, Y:1.83, Z:1.24 [[ 9.94234800e-01 -9.06604753e-02 -5.72524366e-02 3.08367576e+01] [ 9.05126841e-02 9.95881859e-01 -5.17466751e-03 1.82789294e+00] [ 5.74858008e-02 -3.72371842e-05 9.98346323e-01 1.23974232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters Centerline goodness [0,1] 0.9997350232958686 Centerline is valid? [True, True] Translation: X:30.87, Y:1.83, Z:1.24 [[ 9.94750455e-01 -8.45144513e-02 -5.76961013e-02 3.08682507e+01] [ 8.43542679e-02 9.96422203e-01 -5.21056687e-03 1.83328019e+00] [ 5.79300446e-02 3.16301375e-04 9.98320595e-01 1.24059060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.735099893 meters Centerline goodness [0,1] 0.9997792543210967 Centerline is valid? [True, True] Translation: X:30.90, Y:1.84, Z:1.24 [[ 9.95484141e-01 -7.54075820e-02 -5.76630087e-02 3.08985198e+01] [ 7.52325830e-02 9.97152440e-01 -5.20283630e-03 1.83992944e+00] [ 5.78911432e-02 8.41203936e-04 9.98322547e-01 1.24227209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters Centerline goodness [0,1] 0.9998456041289867 Centerline is valid? [True, True] Translation: X:30.93, Y:1.85, Z:1.24 [[ 9.95953584e-01 -6.92881134e-02 -5.72330012e-02 3.09275860e+01] [ 6.91059510e-02 9.97595990e-01 -5.15829221e-03 1.84530894e+00] [ 5.74528209e-02 1.18227863e-03 9.98347522e-01 1.24417561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.795099893 meters Centerline goodness [0,1] 0.999801521667218 Centerline is valid? [True, True] Translation: X:30.96, Y:1.85, Z:1.25 [[ 9.96123862e-01 -6.67467753e-02 -5.72897792e-02 3.09571185e+01] [ 6.65599852e-02 9.97769059e-01 -5.16458149e-03 1.84880999e+00] [ 5.75066882e-02 1.33135601e-03 9.98344233e-01 1.24524969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099893 meters Centerline goodness [0,1] 0.9997793176501744 Centerline is valid? [True, True] Translation: X:30.99, Y:1.85, Z:1.25 [[ 9.96390379e-01 -6.31530186e-02 -5.67266159e-02 3.09867824e+01] [ 6.29639578e-02 9.98002690e-01 -5.11577598e-03 1.84937855e+00] [ 5.69363920e-02 1.52557772e-03 9.98376642e-01 1.24764828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.855099893 meters Centerline goodness [0,1] 0.999845699422475 Centerline is valid? [True, True] Translation: X:31.02, Y:1.85, Z:1.25 [[ 9.96437887e-01 -6.28294369e-02 -5.62494398e-02 3.10157066e+01] [ 6.26428082e-02 9.98023099e-01 -5.07670539e-03 1.85040217e+00] [ 5.64572067e-02 1.53499872e-03 9.98403840e-01 1.25016842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters Centerline goodness [0,1] 0.9998240714270006 Centerline is valid? [True, True] Translation: X:31.04, Y:1.85, Z:1.25 [[ 9.96415955e-01 -6.38819514e-02 -5.54467439e-02 3.10432578e+01] [ 6.37015406e-02 9.97956384e-01 -5.01688383e-03 1.85164996e+00] [ 5.56539204e-02 1.46686009e-03 9.98449042e-01 1.25175010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.915099893 meters Centerline goodness [0,1] 0.9997369805365597 Centerline is valid? [True, True] Translation: X:31.07, Y:1.85, Z:1.25 [[ 9.96070844e-01 -6.88865519e-02 -5.56553432e-02 3.10729922e+01] [ 6.87123224e-02 9.97623783e-01 -5.04033556e-03 1.84874713e+00] [ 5.58703053e-02 1.19632341e-03 9.98437318e-01 1.25262541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters Centerline goodness [0,1] 0.9997827078942222 Centerline is valid? [True, True] Translation: X:31.10, Y:1.84, Z:1.25 [[ 9.95200471e-01 -7.98594962e-02 -5.65551284e-02 3.11031607e+01] [ 7.96971494e-02 9.96805954e-01 -5.12386262e-03 1.84067022e+00] [ 5.67836778e-02 5.91987982e-04 9.98386330e-01 1.25271428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975099893 meters Centerline goodness [0,1] 0.999825977246525 Centerline is valid? [True, True] Translation: X:31.13, Y:1.83, Z:1.25 [[ 9.94508574e-01 -8.73340726e-02 -5.76667669e-02 3.11344862e+01] [ 8.71777219e-02 9.96179066e-01 -5.22628326e-03 1.83440190e+00] [ 5.79028586e-02 1.70326146e-04 9.98322207e-01 1.25240231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.005099893 meters Centerline goodness [0,1] 0.9997828683096298 Centerline is valid? [True, True] Translation: X:31.17, Y:1.83, Z:1.25 [[ 9.93870916e-01 -9.34840083e-02 -5.90029069e-02 3.11663175e+01] [ 9.33311685e-02 9.95620763e-01 -5.34695260e-03 1.82953501e+00] [ 5.92443737e-02 -1.92629572e-04 9.98243491e-01 1.25189205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.035099893 meters Centerline goodness [0,1] 0.999804916113929 Centerline is valid? [True, True] Translation: X:31.20, Y:1.83, Z:1.25 [[ 9.93480285e-01 -9.79082496e-02 -5.84028908e-02 3.11981451e+01] [ 9.77663161e-02 9.95195342e-01 -5.28957304e-03 1.82641347e+00] [ 5.86401777e-02 -4.54748947e-04 9.98279081e-01 1.25287170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099893 meters Centerline goodness [0,1] 0.9997614607277616 Centerline is valid? [True, True] Translation: X:31.23, Y:1.83, Z:1.26 [[ 9.93382853e-01 -9.91280363e-02 -5.80012035e-02 3.12305410e+01] [ 9.89904958e-02 9.95074546e-01 -5.24686676e-03 1.82785988e+00] [ 5.82356329e-02 -5.29420418e-04 9.98302725e-01 1.25537260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.095099893 meters Centerline goodness [0,1] 0.9998271802294183 Centerline is valid? [True, True] Translation: X:31.26, Y:1.83, Z:1.26 [[ 9.93363625e-01 -1.00590779e-01 -5.57692082e-02 3.12616896e+01] [ 1.00466144e-01 9.94927706e-01 -5.04113411e-03 1.82677736e+00] [ 5.59934220e-02 -5.95238064e-04 9.98430960e-01 1.25774082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters Centerline goodness [0,1] 0.9998274076630997 Centerline is valid? [True, True] Translation: X:31.29, Y:1.83, Z:1.26 [[ 9.93570695e-01 -9.92912912e-02 -5.43922165e-02 3.12936661e+01] [ 9.91709589e-02 9.95058278e-01 -4.91362014e-03 1.82892106e+00] [ 5.46113050e-02 -5.12099289e-04 9.98507558e-01 1.26035915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155099893 meters Centerline goodness [0,1] 0.9997843340234644 Centerline is valid? [True, True] Translation: X:31.33, Y:1.83, Z:1.26 [[ 9.93917955e-01 -9.65225234e-02 -5.30141528e-02 3.13256647e+01] [ 9.64044756e-02 9.95330737e-01 -4.78542216e-03 1.83255855e+00] [ 5.32285169e-02 -3.54484598e-04 9.98582295e-01 1.26300751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.185099893 meters Centerline goodness [0,1] 0.9998705501618123 Centerline is valid? [True, True] Translation: X:31.36, Y:1.84, Z:1.26 [[ 9.94119975e-01 -9.43497290e-02 -5.31375907e-02 3.13576000e+01] [ 9.42282339e-02 9.95539085e-01 -4.79271563e-03 1.83545412e+00] [ 5.33527398e-02 -2.42526978e-04 9.98575699e-01 1.26484465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.215099893 meters Centerline goodness [0,1] 0.9997640193933153 Centerline is valid? [True, True] Translation: X:31.39, Y:1.84, Z:1.26 [[ 9.94196252e-01 -9.29063808e-02 -5.42422132e-02 3.13888069e+01] [ 9.27778430e-02 9.95674834e-01 -4.88847207e-03 1.83740478e+00] [ 5.44617768e-02 -1.72374922e-04 9.98515841e-01 1.26445825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099893 meters Centerline goodness [0,1] 0.9998497692885503 Centerline is valid? [True, True] Translation: X:31.42, Y:1.84, Z:1.27 [[ 9.94176147e-01 -9.23849532e-02 -5.54870173e-02 3.14205521e+01] [ 9.22498106e-02 9.95723354e-01 -4.99746087e-03 1.84022347e+00] [ 5.57114092e-02 -1.50310446e-04 9.98446902e-01 1.26664804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.275099893 meters Centerline goodness [0,1] 0.9998062516145699 Centerline is valid? [True, True] Translation: X:31.45, Y:1.84, Z:1.27 [[ 9.93944574e-01 -9.25756395e-02 -5.91940372e-02 3.14525930e+01] [ 9.24224251e-02 9.95705639e-01 -5.32685899e-03 1.84146084e+00] [ 5.94329741e-02 -1.76253881e-04 9.98232283e-01 1.26517936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters Centerline goodness [0,1] 0.9998062516145699 Centerline is valid? [True, True] Translation: X:31.48, Y:1.84, Z:1.27 [[ 9.93947928e-01 -9.25394008e-02 -5.91943861e-02 3.14832875e+01] [ 9.23863533e-02 9.95709008e-01 -5.32297911e-03 1.84419212e+00] [ 5.94329688e-02 -1.77989414e-04 9.98232283e-01 1.26664429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.335099893 meters Centerline goodness [0,1] 0.9998060010346611 Centerline is valid? [True, True] Translation: X:31.51, Y:1.84, Z:1.27 [[ 9.93646883e-01 -9.40312223e-02 -6.18385052e-02 3.15144724e+01] [ 9.38672305e-02 9.95569209e-01 -5.55816461e-03 1.84344883e+00] [ 6.20871527e-02 -2.81756281e-04 9.98070692e-01 1.26503853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.365099893 meters Centerline goodness [0,1] 0.9998059424727241 Centerline is valid? [True, True] Translation: X:31.54, Y:1.84, Z:1.27 [[ 9.93451949e-01 -9.54264954e-02 -6.28252204e-02 3.15445561e+01] [ 9.52601548e-02 9.95436408e-01 -5.64456916e-03 1.84342968e+00] [ 6.30771532e-02 -3.77131986e-04 9.98008582e-01 1.26540281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.395099893 meters Centerline goodness [0,1] 0.9998492970785162 Centerline is valid? [True, True] Translation: X:31.57, Y:1.85, Z:1.27 [[ 9.93577782e-01 -9.51345425e-02 -6.12585555e-02 3.15737996e+01] [ 9.49758011e-02 9.95464363e-01 -5.50455149e-03 1.84633841e+00] [ 6.15043819e-02 -3.48880326e-04 9.98106752e-01 1.26783009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099893 meters Centerline goodness [0,1] 0.9997206043542737 Centerline is valid? [True, True] Translation: X:31.60, Y:1.85, Z:1.27 [[ 9.93739588e-01 -9.45224511e-02 -5.95578494e-02 3.16049734e+01] [ 9.43713555e-02 9.95522684e-01 -5.35097044e-03 1.84978380e+00] [ 5.97969769e-02 -3.03083818e-04 9.98210514e-01 1.27116493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.455099892999996 meters Centerline goodness [0,1] 0.9998287524616833 Centerline is valid? [True, True] Translation: X:31.64, Y:1.85, Z:1.27 [[ 9.93863559e-01 -9.48681340e-02 -5.68793801e-02 3.16367372e+01] [ 9.47310231e-02 9.95489799e-01 -5.10814077e-03 1.85118013e+00] [ 5.71074425e-02 -3.11446911e-04 9.98367990e-01 1.27444142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters Centerline goodness [0,1] 0.9997852510415325 Centerline is valid? [True, True] Translation: X:31.67, Y:1.85, Z:1.28 [[ 9.93916676e-01 -9.49457537e-02 -5.58116867e-02 3.16674335e+01] [ 9.48140694e-02 9.95482398e-01 -5.00866207e-03 1.85334373e+00] [ 5.60351029e-02 -3.13540373e-04 9.98428750e-01 1.27603837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.515099893 meters Centerline goodness [0,1] 0.999785066414478 Centerline is valid? [True, True] Translation: X:31.70, Y:1.86, Z:1.28 [[ 9.93966441e-01 -9.48056917e-02 -5.51597185e-02 3.16992784e+01] [ 9.46772054e-02 9.95495749e-01 -4.94379032e-03 1.85712367e+00] [ 5.53799647e-02 -3.08406323e-04 9.98465305e-01 1.27904496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.545099893 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:31.73, Y:1.86, Z:1.28 [[ 9.94204186e-01 -9.33579412e-02 -5.33135201e-02 3.17302940e+01] [ 9.32360553e-02 9.95632585e-01 -4.77424647e-03 1.86178958e+00] [ 5.35263916e-02 -2.24166479e-04 9.98566410e-01 1.28418554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.575099893 meters Centerline goodness [0,1] 0.999849540022354 Centerline is valid? [True, True] Translation: X:31.76, Y:1.87, Z:1.28 [[ 9.94363022e-01 -9.12774950e-02 -5.39499698e-02 3.17620932e+01] [ 9.11499716e-02 9.95825489e-01 -4.82474616e-03 1.86545005e+00] [ 5.41651458e-02 -1.19989041e-04 9.98531984e-01 1.28405343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099893 meters Centerline goodness [0,1] 0.9998065722452664 Centerline is valid? [True, True] Translation: X:31.79, Y:1.87, Z:1.28 [[ 9.94586397e-01 -8.85015751e-02 -5.44552071e-02 3.17944893e+01] [ 8.83677096e-02 9.96076036e-01 -4.86594969e-03 1.86844804e+00] [ 5.46721710e-02 2.75254509e-05 9.98504358e-01 1.28457270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.635099892999996 meters Centerline goodness [0,1] 0.9998926209088567 Centerline is valid? [True, True] Translation: X:31.83, Y:1.87, Z:1.29 [[ 9.94851049e-01 -8.59775798e-02 -5.36586091e-02 3.18251679e+01] [ 8.58441321e-02 9.96297059e-01 -4.79112341e-03 1.87175754e+00] [ 5.38718436e-02 1.60177420e-04 9.98547845e-01 1.28664795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters Centerline goodness [0,1] 0.9997415686781238 Centerline is valid? [True, True] Translation: X:31.86, Y:1.88, Z:1.29 [[ 9.94944724e-01 -8.42329288e-02 -5.46791613e-02 3.18565525e+01] [ 8.40918305e-02 9.96446058e-01 -4.88022955e-03 1.87511613e+00] [ 5.48959108e-02 2.57487876e-04 9.98492049e-01 1.28666871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.695099893 meters Centerline goodness [0,1] 0.9997415185783521 Centerline is valid? [True, True] Translation: X:31.89, Y:1.88, Z:1.29 [[ 9.94919351e-01 -8.36982482e-02 -5.59471856e-02 3.18882144e+01] [ 8.35497955e-02 9.96491103e-01 -4.99133731e-03 1.87660189e+00] [ 5.61686389e-02 2.91602161e-04 9.98421253e-01 1.28586125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725099893 meters Centerline goodness [0,1] 0.9998065015479877 Centerline is valid? [True, True] Translation: X:31.92, Y:1.88, Z:1.29 [[ 9.94834948e-01 -8.47167761e-02 -5.59150689e-02 3.19174549e+01] [ 8.45701885e-02 9.96405045e-01 -4.98692137e-03 1.87736366e+00] [ 5.61365327e-02 2.32415735e-04 9.98423074e-01 1.28654985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.755099893 meters Centerline goodness [0,1] 0.9997635984612409 Centerline is valid? [True, True] Translation: X:31.95, Y:1.88, Z:1.29 [[ 9.94778266e-01 -8.53062590e-02 -5.60271641e-02 3.19483065e+01] [ 8.51599690e-02 9.96354757e-01 -4.99776610e-03 1.87909500e+00] [ 5.62492722e-02 2.00397533e-04 9.98416736e-01 1.28803018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099893 meters Centerline goodness [0,1] 0.9998067674338715 Centerline is valid? [True, True] Translation: X:31.98, Y:1.88, Z:1.29 [[ 9.94628980e-01 -8.67449301e-02 -5.64668802e-02 3.19785093e+01] [ 8.65986491e-02 9.96230547e-01 -5.03698989e-03 1.88082990e+00] [ 5.66909643e-02 1.19980574e-04 9.98391767e-01 1.28903673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.815099893 meters Centerline goodness [0,1] 0.999806937383358 Centerline is valid? [True, True] Translation: X:32.01, Y:1.88, Z:1.29 [[ 9.94404679e-01 -8.83750817e-02 -5.78720896e-02 3.20084271e+01] [ 8.82241698e-02 9.96087267e-01 -5.16252846e-03 1.88310836e+00] [ 5.81018904e-02 2.79254000e-05 9.98310658e-01 1.28902464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters Centerline goodness [0,1] 0.9997856469176026 Centerline is valid? [True, True] Translation: X:32.04, Y:1.88, Z:1.29 [[ 9.94298982e-01 -9.01252750e-02 -5.69821904e-02 3.20378245e+01] [ 8.99817757e-02 9.95930434e-01 -5.08432980e-03 1.88389927e+00] [ 5.72085242e-02 -7.20147337e-05 9.98362249e-01 1.29021311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.875099893 meters Centerline goodness [0,1] 0.9998926439644437 Centerline is valid? [True, True] Translation: X:32.07, Y:1.89, Z:1.30 [[ 9.94768363e-01 -8.65806015e-02 -5.42190274e-02 3.20678229e+01] [ 8.64453414e-02 9.96244841e-01 -4.83938747e-03 1.88779260e+00] [ 5.44344234e-02 1.27087220e-04 9.98517340e-01 1.29541210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905099893 meters Centerline goodness [0,1] 0.9996992093502922 Centerline is valid? [True, True] Translation: X:32.10, Y:1.90, Z:1.30 [[ 9.95630900e-01 -7.62898446e-02 -5.38420807e-02 3.20980309e+01] [ 7.61414121e-02 9.97085448e-01 -4.80574262e-03 1.89587073e+00] [ 5.40517845e-02 6.85133795e-04 9.98537899e-01 1.29734659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.935099893 meters Centerline goodness [0,1] 0.9997853155860884 Centerline is valid? [True, True] Translation: X:32.13, Y:1.90, Z:1.30 [[ 9.96025286e-01 -7.13328122e-02 -5.33409814e-02 3.21276594e+01] [ 7.11800162e-02 9.97452122e-01 -4.76123598e-03 1.89807269e+00] [ 5.35447074e-02 9.45499505e-04 9.98565006e-01 1.29843699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099893 meters Centerline goodness [0,1] 0.9998076840890636 Centerline is valid? [True, True] Translation: X:32.16, Y:1.90, Z:1.30 [[ 9.96228224e-01 -6.86558485e-02 -5.30631775e-02 3.21563715e+01] [ 6.85007388e-02 9.97639813e-01 -4.73847277e-03 1.90126188e+00] [ 5.32632623e-02 1.08573345e-03 9.98579915e-01 1.29988344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.995099893 meters Centerline goodness [0,1] 0.9996807016050065 Centerline is valid? [True, True] Translation: X:32.18, Y:1.90, Z:1.30 [[ 9.96230986e-01 -6.83087918e-02 -5.34577631e-02 3.21844817e+01] [ 6.81506966e-02 9.97663603e-01 -4.77684872e-03 1.90428296e+00] [ 5.36591653e-02 1.11566091e-03 9.98558686e-01 1.30064914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters Centerline goodness [0,1] 0.9998290379108433 Centerline is valid? [True, True] Translation: X:32.21, Y:1.90, Z:1.30 [[ 9.96228375e-01 -6.89116475e-02 -5.27276928e-02 3.22122794e+01] [ 6.87583842e-02 9.97622189e-01 -4.71735386e-03 1.90431730e+00] [ 5.29273969e-02 1.07409081e-03 9.98597785e-01 1.30345388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.055099893 meters Centerline goodness [0,1] 0.9997008610927117 Centerline is valid? [True, True] Translation: X:32.24, Y:1.91, Z:1.30 [[ 9.96063952e-01 -7.02053541e-02 -5.41092512e-02 3.22399541e+01] [ 7.00450403e-02 9.97532011e-01 -4.85588612e-03 1.90712747e+00] [ 5.43166193e-02 1.04668844e-03 9.98523214e-01 1.30290899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters Centerline goodness [0,1] 0.9997008610927117 Centerline is valid? [True, True] Translation: X:32.27, Y:1.91, Z:1.30 [[ 9.96044405e-01 -7.04825637e-02 -5.41086973e-02 3.22671989e+01] [ 7.03223238e-02 9.97512472e-01 -4.86204954e-03 1.90964200e+00] [ 5.43167901e-02 1.03776791e-03 9.98523214e-01 1.30421227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.115099893 meters Centerline goodness [0,1] 0.9997649472199667 Centerline is valid? [True, True] Translation: X:32.30, Y:1.90, Z:1.31 [[ 9.95704917e-01 -7.46289808e-02 -5.47926456e-02 3.22965182e+01] [ 7.44700835e-02 9.97211018e-01 -4.93886699e-03 1.90496898e+00] [ 5.50084125e-02 8.37241252e-04 9.98485540e-01 1.30507693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099893 meters Centerline goodness [0,1] 0.9999145700738968 Centerline is valid? [True, True] Translation: X:32.33, Y:1.90, Z:1.31 [[ 9.95458420e-01 -7.78540349e-02 -5.47839646e-02 3.23255025e+01] [ 7.76992932e-02 9.96964541e-01 -4.95211586e-03 1.90456631e+00] [ 5.50032123e-02 6.72950096e-04 9.98485951e-01 1.30733998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.175099893 meters Centerline goodness [0,1] 0.9998092048080388 Centerline is valid? [True, True] Translation: X:32.35, Y:1.90, Z:1.31 [[ 9.94864119e-01 -8.42110537e-02 -5.61594455e-02 3.23538535e+01] [ 8.40577824e-02 9.96447882e-01 -5.09005060e-03 1.90194790e+00] [ 5.63885990e-02 3.43270260e-04 9.98408838e-01 1.30727216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters Centerline goodness [0,1] 0.9998300475866757 Centerline is valid? [True, True] Translation: X:32.38, Y:1.90, Z:1.31 [[ 9.94294298e-01 -9.09031035e-02 -5.58164461e-02 3.23835805e+01] [ 9.07618571e-02 9.95859742e-01 -5.06560604e-03 1.89956156e+00] [ 5.60458309e-02 -2.93011001e-05 9.98428197e-01 1.30982244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.235099893 meters Centerline goodness [0,1] 0.9997883284296086 Centerline is valid? [True, True] Translation: X:32.41, Y:1.89, Z:1.31 [[ 9.93349069e-01 -1.00235302e-01 -5.66613675e-02 3.24143497e+01] [ 1.00104789e-01 9.94963602e-01 -5.14421429e-03 1.89222829e+00] [ 5.68916302e-02 -5.62073751e-04 9.98380201e-01 1.30871385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters Centerline goodness [0,1] 0.9997667465383065 Centerline is valid? [True, True] Translation: X:32.45, Y:1.89, Z:1.31 [[ 9.93133306e-01 -1.02369548e-01 -5.66278466e-02 3.24459049e+01] [ 1.02242625e-01 9.94746203e-01 -5.14169307e-03 1.89244986e+00] [ 5.68566882e-02 -6.83393038e-04 9.98382116e-01 1.30988172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.295099893 meters Centerline goodness [0,1] 0.9997889137501583 Centerline is valid? [True, True] Translation: X:32.48, Y:1.89, Z:1.31 [[ 9.92788838e-01 -1.06171082e-01 -5.56598970e-02 3.24759286e+01] [ 1.06054525e-01 9.94347481e-01 -5.05211541e-03 1.89161244e+00] [ 5.58816669e-02 -8.87300122e-04 9.98437005e-01 1.31176898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099893 meters Centerline goodness [0,1] 0.9998523736212751 Centerline is valid? [True, True] Translation: X:32.51, Y:1.89, Z:1.32 [[ 9.92500971e-01 -1.10127586e-01 -5.30446732e-02 3.25074537e+01] [ 1.10027381e-01 9.93916896e-01 -4.81453438e-03 1.89198469e+00] [ 5.32522100e-02 -1.05793644e-03 9.98580534e-01 1.31530926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.355099893 meters Centerline goodness [0,1] 0.9997463645586744 Centerline is valid? [True, True] Translation: X:32.54, Y:1.89, Z:1.32 [[ 9.92282193e-01 -1.11811997e-01 -5.36108781e-02 3.25391728e+01] [ 1.11712213e-01 9.93728698e-01 -4.86375826e-03 1.89435685e+00] [ 5.38184946e-02 -1.16276910e-03 9.98550058e-01 1.31565535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters Centerline goodness [0,1] 0.9997680352586407 Centerline is valid? [True, True] Translation: X:32.57, Y:1.89, Z:1.32 [[ 9.91660140e-01 -1.17450814e-01 -5.30610293e-02 3.25698645e+01] [ 1.17361313e-01 9.93077632e-01 -4.81030653e-03 1.89281231e+00] [ 5.32586958e-02 -1.45712283e-03 9.98579685e-01 1.31738837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.415099893 meters Centerline goodness [0,1] 0.9997689755114042 Centerline is valid? [True, True] Translation: X:32.60, Y:1.90, Z:1.32 [[ 9.91255637e-01 -1.20088598e-01 -5.46899549e-02 3.26019781e+01] [ 1.19997601e-01 9.92761808e-01 -4.95656836e-03 1.89545264e+00] [ 5.48893259e-02 -1.64943708e-03 9.98491082e-01 1.31782600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters Centerline goodness [0,1] 0.9997890606872403 Centerline is valid? [True, True] Translation: X:32.63, Y:1.90, Z:1.32 [[ 9.91190150e-01 -1.20172006e-01 -5.56846028e-02 3.26330898e+01] [ 1.20078016e-01 9.92751650e-01 -5.04288260e-03 1.89855990e+00] [ 5.58869946e-02 -1.68804106e-03 9.98435674e-01 1.31850933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475099893 meters Centerline goodness [0,1] 0.9997884493336154 Centerline is valid? [True, True] Translation: X:32.66, Y:1.90, Z:1.32 [[ 9.91225347e-01 -1.19755598e-01 -5.59545242e-02 3.26649247e+01] [ 1.19660206e-01 9.92801989e-01 -5.06423604e-03 1.90254464e+00] [ 5.61582335e-02 -1.67573074e-03 9.98420475e-01 1.31968640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.505099893 meters Centerline goodness [0,1] 0.999809994299829 Centerline is valid? [True, True] Translation: X:32.70, Y:1.91, Z:1.32 [[ 9.91354214e-01 -1.18655582e-01 -5.60149576e-02 3.26962735e+01] [ 1.18558450e-01 9.92934153e-01 -5.06580246e-03 1.90934029e+00] [ 5.62202502e-02 -1.61904194e-03 9.98417078e-01 1.32189003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.535099893 meters Centerline goodness [0,1] 0.9997878614310868 Centerline is valid? [True, True] Translation: X:32.73, Y:1.91, Z:1.32 [[ 9.91529164e-01 -1.16898346e-01 -5.66100109e-02 3.27270528e+01] [ 1.16796503e-01 9.93142692e-01 -5.11569289e-03 1.91232232e+00] [ 5.68198347e-02 -1.53949260e-03 9.98383261e-01 1.32257786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099893 meters Centerline goodness [0,1] 0.9998511335119731 Centerline is valid? [True, True] Translation: X:32.76, Y:1.92, Z:1.33 [[ 9.92114466e-01 -1.12017384e-01 -5.62227073e-02 3.27577844e+01] [ 1.11909269e-01 9.93705456e-01 -5.07769485e-03 1.92407796e+00] [ 5.64376011e-02 -1.25418755e-03 9.98405341e-01 1.32656776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.595099893 meters Centerline goodness [0,1] 0.9998077990859778 Centerline is valid? [True, True] Translation: X:32.79, Y:1.94, Z:1.33 [[ 9.93249754e-01 -1.00684114e-01 -5.75989155e-02 3.27867787e+01] [ 1.00551735e-01 9.94918246e-01 -5.19932917e-03 1.93908234e+00] [ 5.78297018e-02 -6.27438461e-04 9.98326265e-01 1.32910419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters Centerline goodness [0,1] 0.9998077498184303 Centerline is valid? [True, True] Translation: X:32.82, Y:1.95, Z:1.33 [[ 9.93986786e-01 -9.31418535e-02 -5.75748617e-02 3.28167268e+01] [ 9.29969566e-02 9.95652831e-01 -5.19678370e-03 1.94865070e+00] [ 5.78086121e-02 -1.88752586e-04 9.98327666e-01 1.33109689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655099893 meters Centerline goodness [0,1] 0.9998501134855038 Centerline is valid? [True, True] Translation: X:32.85, Y:1.95, Z:1.33 [[ 9.94305372e-01 -9.00654049e-02 -5.69653488e-02 3.28467417e+01] [ 8.99186137e-02 9.95935853e-01 -5.14005796e-03 1.95457564e+00] [ 5.71967746e-02 -1.14579559e-05 9.98362924e-01 1.33374442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.685099893 meters Centerline goodness [0,1] 0.9997001306573564 Centerline is valid? [True, True] Translation: X:32.88, Y:1.96, Z:1.33 [[ 9.94548494e-01 -8.70120761e-02 -5.74647028e-02 3.28777348e+01] [ 8.68576257e-02 9.96207243e-01 -5.18474152e-03 1.95976397e+00] [ 5.76978883e-02 1.65229223e-04 9.98334076e-01 1.33464397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.715099893 meters Centerline goodness [0,1] 0.9997208922858922 Centerline is valid? [True, True] Translation: X:32.91, Y:1.97, Z:1.34 [[ 9.94992032e-01 -8.15145673e-02 -5.78466182e-02 3.29079557e+01] [ 8.13488706e-02 9.96672032e-01 -5.21744249e-03 1.96655316e+00] [ 5.80794040e-02 4.85556657e-04 9.98311849e-01 1.33551140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099893 meters Centerline goodness [0,1] 0.9997856147497052 Centerline is valid? [True, True] Translation: X:32.94, Y:1.97, Z:1.34 [[ 9.95247022e-01 -7.74647059e-02 -5.90134203e-02 3.29364474e+01] [ 7.72851103e-02 9.96994823e-01 -5.32310906e-03 1.97329615e+00] [ 5.92484276e-02 7.36949746e-04 9.98242997e-01 1.33598454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.775099893 meters Centerline goodness [0,1] 0.9996992739614211 Centerline is valid? [True, True] Translation: X:32.96, Y:1.98, Z:1.34 [[ 9.95317124e-01 -7.58363628e-02 -5.99388756e-02 3.29644891e+01] [ 7.56478347e-02 9.97119913e-01 -5.41154913e-03 1.97899256e+00] [ 6.01766386e-02 8.51961365e-04 9.98187380e-01 1.33611384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters Centerline goodness [0,1] 0.9998273555181493 Centerline is valid? [True, True] Translation: X:32.99, Y:1.98, Z:1.34 [[ 9.95265768e-01 -7.71627004e-02 -5.90928841e-02 3.29926421e+01] [ 7.69809156e-02 9.97018212e-01 -5.35001052e-03 1.98278210e+00] [ 5.93295029e-02 7.75658007e-04 9.98238152e-01 1.33882800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.835099893 meters Centerline goodness [0,1] 0.9996780217657286 Centerline is valid? [True, True] Translation: X:33.02, Y:1.98, Z:1.34 [[ 9.95007328e-01 -8.09304192e-02 -5.84010716e-02 3.30203918e+01] [ 8.07585672e-02 9.96719597e-01 -5.30073590e-03 1.98431300e+00] [ 5.86384833e-02 5.57884201e-04 9.98279128e-01 1.33951678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.865099893 meters Centerline goodness [0,1] 0.9997205082450068 Centerline is valid? [True, True] Translation: X:33.05, Y:1.98, Z:1.34 [[ 9.94539802e-01 -8.70263047e-02 -5.75934440e-02 3.30488778e+01] [ 8.68689914e-02 9.96205993e-01 -5.23422059e-03 1.98324597e+00] [ 5.78304490e-02 2.02556316e-04 9.98326399e-01 1.34050765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.895099893 meters Centerline goodness [0,1] 0.9998069622289428 Centerline is valid? [True, True] Translation: X:33.08, Y:1.98, Z:1.34 [[ 9.93944969e-01 -9.43362878e-02 -5.63388335e-02 3.30796083e+01] [ 9.41973459e-02 9.95540365e-01 -5.12265396e-03 1.98206562e+00] [ 5.65708350e-02 -2.15332459e-04 9.98398565e-01 1.34344552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099893 meters Centerline goodness [0,1] 0.9997644842204427 Centerline is valid? [True, True] Translation: X:33.11, Y:1.98, Z:1.34 [[ 9.93304589e-01 -1.01444677e-01 -5.52717919e-02 3.31105386e+01] [ 1.01321956e-01 9.94840996e-01 -5.02534253e-03 1.98056784e+00] [ 5.54964387e-02 -6.08550241e-04 9.98458700e-01 1.34472165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.955099892999996 meters Centerline goodness [0,1] 0.9997646605763676 Centerline is valid? [True, True] Translation: X:33.14, Y:1.98, Z:1.35 [[ 9.93029823e-01 -1.04445375e-01 -5.46162436e-02 3.31421830e+01] [ 1.04330197e-01 9.94530327e-01 -4.96364389e-03 1.98122163e+00] [ 5.48359403e-02 -7.69077062e-04 9.98495082e-01 1.34661564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters Centerline goodness [0,1] 0.9997859589041096 Centerline is valid? [True, True] Translation: X:33.17, Y:1.98, Z:1.35 [[ 9.92527795e-01 -1.09462459e-01 -5.39123940e-02 3.31740662e+01] [ 1.09357783e-01 9.93990391e-01 -4.89669962e-03 1.98151504e+00] [ 5.41244064e-02 -1.03562942e-03 9.98533663e-01 1.34969245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.015099893 meters Centerline goodness [0,1] 0.999828840393667 Centerline is valid? [True, True] Translation: X:33.21, Y:1.98, Z:1.35 [[ 9.92022765e-01 -1.13853510e-01 -5.41129586e-02 3.32056729e+01] [ 1.13754784e-01 9.93496719e-01 -4.91109481e-03 1.98095664e+00] [ 5.43201922e-02 -1.28369006e-03 9.98522743e-01 1.35153368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045099893 meters Centerline goodness [0,1] 0.9998072681328565 Centerline is valid? [True, True] Translation: X:33.24, Y:1.98, Z:1.35 [[ 9.91558641e-01 -1.17597616e-01 -5.46100908e-02 3.32378512e+01] [ 1.17502906e-01 9.93060186e-01 -4.95308630e-03 1.98393835e+00] [ 5.48135781e-02 -1.50556885e-03 9.98495471e-01 1.35283177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.075099893 meters Centerline goodness [0,1] 0.9998081596112035 Centerline is valid? [True, True] Translation: X:33.27, Y:1.98, Z:1.35 [[ 9.91145257e-01 -1.21201594e-01 -5.42333225e-02 3.32694199e+01] [ 1.21113781e-01 9.92626463e-01 -4.91506470e-03 1.98305011e+00] [ 5.44291448e-02 -1.69685967e-03 9.98516194e-01 1.35381195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099893 meters Centerline goodness [0,1] 0.9997436007008248 Centerline is valid? [True, True] Translation: X:33.30, Y:1.98, Z:1.35 [[ 9.90662202e-01 -1.24634160e-01 -5.52695829e-02 3.33001665e+01] [ 1.24548444e-01 9.92200899e-01 -5.00618218e-03 1.98427935e+00] [ 5.54624711e-02 -1.92430509e-03 9.98458918e-01 1.35335312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.135099892999996 meters Centerline goodness [0,1] 0.9997652231447293 Centerline is valid? [True, True] Translation: X:33.33, Y:1.99, Z:1.35 [[ 9.90252677e-01 -1.26877776e-01 -5.74601258e-02 3.33324684e+01] [ 1.26788994e-01 9.91916065e-01 -5.20296660e-03 1.98680175e+00] [ 5.76557627e-02 -2.13305994e-03 9.98334244e-01 1.35291524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters Centerline goodness [0,1] 0.9998498884885916 Centerline is valid? [True, True] Translation: X:33.36, Y:1.99, Z:1.35 [[ 9.90011754e-01 -1.28283028e-01 -5.84824092e-02 3.33644886e+01] [ 1.28193761e-01 9.91735027e-01 -5.29119971e-03 1.99120094e+00] [ 5.86778248e-02 -2.25873009e-03 9.98274417e-01 1.35375475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.195099893 meters Centerline goodness [0,1] 0.9998932217144322 Centerline is valid? [True, True] Translation: X:33.40, Y:1.99, Z:1.35 [[ 9.89930451e-01 -1.28929668e-01 -5.84366646e-02 3.33955034e+01] [ 1.28841904e-01 9.91651075e-01 -5.28298214e-03 1.99367966e+00] [ 5.86299144e-02 -2.29930623e-03 9.98277139e-01 1.35432302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225099893 meters Centerline goodness [0,1] 0.9998932217144322 Centerline is valid? [True, True] Translation: X:33.43, Y:2.00, Z:1.36 [[ 9.89939595e-01 -1.28859301e-01 -5.84369678e-02 3.34270655e+01] [ 1.28771612e-01 9.91660223e-01 -5.27962661e-03 1.99647080e+00] [ 5.86299455e-02 -2.29851113e-03 9.98277139e-01 1.35582969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.255099893 meters Centerline goodness [0,1] 0.9997423787033062 Centerline is valid? [True, True] Translation: X:33.46, Y:2.00, Z:1.36 [[ 9.89893426e-01 -1.28776483e-01 -5.93937900e-02 3.34587361e+01] [ 1.28686011e-01 9.91670894e-01 -5.36174588e-03 2.00223538e+00] [ 5.95895596e-02 -2.33559290e-03 9.98220231e-01 1.35648475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099893 meters Centerline goodness [0,1] 0.9998064307990107 Centerline is valid? [True, True] Translation: X:33.49, Y:2.01, Z:1.36 [[ 9.89900264e-01 -1.29285090e-01 -5.81621200e-02 3.34899429e+01] [ 1.29199438e-01 9.91604749e-01 -5.24657018e-03 2.00728793e+00] [ 5.83521377e-02 -2.32093198e-03 9.98293364e-01 1.35798566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.315099892999996 meters Centerline goodness [0,1] 0.9997416465725112 Centerline is valid? [True, True] Translation: X:33.52, Y:2.02, Z:1.36 [[ 9.89858123e-01 -1.29527904e-01 -5.83388187e-02 3.35213500e+01] [ 1.29442350e-01 9.91573003e-01 -5.25911879e-03 2.01617019e+00] [ 5.85284002e-02 -2.34573231e-03 9.98282988e-01 1.36060374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters Centerline goodness [0,1] 0.9997843805252491 Centerline is valid? [True, True] Translation: X:33.55, Y:2.02, Z:1.36 [[ 9.89847922e-01 -1.29742805e-01 -5.80335831e-02 3.35529849e+01] [ 1.29658757e-01 9.91544896e-01 -5.22741249e-03 2.02062745e+00] [ 5.82211223e-02 -2.35021883e-03 9.98300945e-01 1.36262102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.375099893 meters Centerline goodness [0,1] 0.9997617500541477 Centerline is valid? [True, True] Translation: X:33.58, Y:2.03, Z:1.36 [[ 9.89905861e-01 -1.29196716e-01 -5.82631521e-02 3.35849668e+01] [ 1.29111317e-01 9.91616242e-01 -5.24366662e-03 2.02939143e+00] [ 5.84521524e-02 -2.33169596e-03 9.98287488e-01 1.36415675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405099893 meters Centerline goodness [0,1] 0.9997833856817936 Centerline is valid? [True, True] Translation: X:33.62, Y:2.04, Z:1.37 [[ 9.90107777e-01 -1.27849863e-01 -5.78014008e-02 3.36159967e+01] [ 1.27763813e-01 9.91791005e-01 -5.19710123e-03 2.03669241e+00] [ 5.79913580e-02 -2.23923700e-03 9.98314574e-01 1.36693183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.435099893 meters Centerline goodness [0,1] 0.9998476770753999 Centerline is valid? [True, True] Translation: X:33.65, Y:2.05, Z:1.37 [[ 9.90894425e-01 -1.21790222e-01 -5.74054016e-02 3.36455089e+01] [ 1.21695401e-01 9.92554092e-01 -5.15786570e-03 2.04936827e+00] [ 5.76061439e-02 -1.87507297e-03 9.98337626e-01 1.37005467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099893 meters Centerline goodness [0,1] 0.9998034677031925 Centerline is valid? [True, True] Translation: X:33.68, Y:2.05, Z:1.37 [[ 9.91275972e-01 -1.18395081e-01 -5.79185027e-02 3.36756596e+01] [ 1.18292849e-01 9.92965123e-01 -5.20260183e-03 2.05486152e+00] [ 5.81270156e-02 -1.69413051e-03 9.98307758e-01 1.37012291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.495099893 meters Centerline goodness [0,1] 0.9998030462184874 Centerline is valid? [True, True] Translation: X:33.71, Y:2.06, Z:1.37 [[ 9.91513475e-01 -1.16152427e-01 -5.83921375e-02 3.37077624e+01] [ 1.16044732e-01 9.93230148e-01 -5.24345990e-03 2.06090357e+00] [ 5.86058720e-02 -1.57713880e-03 9.98279953e-01 1.37130733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters Centerline goodness [0,1] 0.9998469744665968 Centerline is valid? [True, True] Translation: X:33.74, Y:2.06, Z:1.37 [[ 9.91588888e-01 -1.15549050e-01 -5.83086158e-02 3.37389548e+01] [ 1.15440858e-01 9.93300577e-01 -5.23190830e-03 2.06355383e+00] [ 5.85225237e-02 -1.54329453e-03 9.98284895e-01 1.37305607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.555099893 meters Centerline goodness [0,1] 0.9998464676595091 Centerline is valid? [True, True] Translation: X:33.77, Y:2.07, Z:1.37 [[ 9.91774015e-01 -1.14006656e-01 -5.81960972e-02 3.37701874e+01] [ 1.13896415e-01 9.93478924e-01 -5.21866355e-03 2.06699686e+00] [ 5.84115584e-02 -1.45259191e-03 9.98291530e-01 1.37357768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.585099893 meters Centerline goodness [0,1] 0.9998907509777788 Centerline is valid? [True, True] Translation: X:33.80, Y:2.07, Z:1.38 [[ 9.91947573e-01 -1.12801113e-01 -5.75840427e-02 3.38022497e+01] [ 1.12691336e-01 9.93616642e-01 -5.16055192e-03 2.07056201e+00] [ 5.77985792e-02 -1.37022576e-03 9.98327324e-01 1.37531686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.615099893 meters Centerline goodness [0,1] 0.9998250830855344 Centerline is valid? [True, True] Translation: X:33.83, Y:2.07, Z:1.38 [[ 9.92184163e-01 -1.10698330e-01 -5.75887612e-02 3.38332849e+01] [ 1.10585267e-01 9.93853264e-01 -5.15631652e-03 2.07332132e+00] [ 5.78055739e-02 -1.25245296e-03 9.98327074e-01 1.37566357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099893 meters Centerline goodness [0,1] 0.9999122499122499 Centerline is valid? [True, True] Translation: X:33.86, Y:2.08, Z:1.38 [[ 9.92342658e-01 -1.09538599e-01 -5.70731567e-02 3.38649714e+01] [ 1.09426009e-01 9.93981841e-01 -5.10366470e-03 2.07676643e+00] [ 5.72887297e-02 -1.18070355e-03 9.98356954e-01 1.37866103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.675099893 meters Centerline goodness [0,1] 0.9998028952497755 Centerline is valid? [True, True] Translation: X:33.90, Y:2.08, Z:1.38 [[ 9.92657270e-01 -1.06484991e-01 -5.73802384e-02 3.38971155e+01] [ 1.06366327e-01 9.94313793e-01 -5.12699737e-03 2.08164474e+00] [ 5.75999107e-02 -1.01397396e-03 9.98339232e-01 1.37963357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters Centerline goodness [0,1] 0.9998025276461295 Centerline is valid? [True, True] Translation: X:33.93, Y:2.09, Z:1.38 [[ 9.92949555e-01 -1.03497993e-01 -5.77870882e-02 3.39278326e+01] [ 1.03372817e-01 9.94629299e-01 -5.15934000e-03 2.08641779e+00] [ 5.80107123e-02 -8.50649751e-04 9.98315598e-01 1.38077810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.735099893 meters Centerline goodness [0,1] 0.999781013905617 Centerline is valid? [True, True] Translation: X:33.96, Y:2.09, Z:1.38 [[ 9.93230508e-01 -1.00248824e-01 -5.86799126e-02 3.39596573e+01] [ 1.00114283e-01 9.94962169e-01 -5.23565192e-03 2.09168055e+00] [ 5.89091611e-02 -6.74488139e-04 9.98263120e-01 1.38232355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters Centerline goodness [0,1] 0.9998679664634817 Centerline is valid? [True, True] Translation: X:33.99, Y:2.10, Z:1.38 [[ 9.93591200e-01 -9.64122168e-02 -5.90017888e-02 3.39911259e+01] [ 9.62696875e-02 9.95341388e-01 -5.26010002e-03 2.09664624e+00] [ 5.92340602e-02 -4.53694679e-04 9.98244018e-01 1.38403572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795099893 meters Centerline goodness [0,1] 0.9998244805721933 Centerline is valid? [True, True] Translation: X:34.02, Y:2.10, Z:1.38 [[ 9.93995244e-01 -9.20484588e-02 -5.91653255e-02 3.40220379e+01] [ 9.18976569e-02 9.95754509e-01 -5.27055217e-03 2.10170497e+00] [ 5.93992858e-02 -1.98250991e-04 9.98234284e-01 1.38460663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099893 meters Centerline goodness [0,1] 0.9997583904410473 Centerline is valid? [True, True] Translation: X:34.05, Y:2.11, Z:1.39 [[ 9.94647653e-01 -8.59431625e-02 -5.73569489e-02 3.40523818e+01] [ 8.57914620e-02 9.96300029e-01 -5.10660117e-03 2.10837632e+00] [ 5.75836073e-02 1.58532366e-04 9.98340675e-01 1.38884925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.855099893 meters Centerline goodness [0,1] 0.999780417645638 Centerline is valid? [True, True] Translation: X:34.08, Y:2.11, Z:1.39 [[ 9.94928511e-01 -8.35992252e-02 -5.59323446e-02 3.40846289e+01] [ 8.34513971e-02 9.96499417e-01 -4.97753010e-03 2.11134350e+00] [ 5.61526665e-02 2.84654307e-04 9.98422154e-01 1.39158167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters Centerline goodness [0,1] 0.9997807209893869 Centerline is valid? [True, True] Translation: X:34.12, Y:2.11, Z:1.39 [[ 9.94983662e-01 -8.30383906e-02 -5.57865315e-02 3.41168361e+01] [ 8.28906743e-02 9.96546300e-01 -4.96059189e-03 2.11321299e+00] [ 5.60057811e-02 3.11524680e-04 9.98430396e-01 1.39291145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.915099893 meters Centerline goodness [0,1] 0.9996271357445222 Centerline is valid? [True, True] Translation: X:34.15, Y:2.11, Z:1.39 [[ 9.94857255e-01 -8.38365283e-02 -5.68372966e-02 3.41481988e+01] [ 8.36847073e-02 9.96479485e-01 -5.05024627e-03 2.11313150e+00] [ 5.70605952e-02 2.67861615e-04 9.98370681e-01 1.39152358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters Centerline goodness [0,1] 0.9999344032885819 Centerline is valid? [True, True] Translation: X:34.18, Y:2.11, Z:1.39 [[ 9.94408115e-01 -8.85430048e-02 -5.75555054e-02 3.41793141e+01] [ 8.83953124e-02 9.96072355e-01 -5.11199286e-03 2.11114451e+00] [ 5.77820791e-02 -4.22969210e-06 9.98329220e-01 1.39284828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975099893 meters Centerline goodness [0,1] 0.9996730102674776 Centerline is valid? [True, True] Translation: X:34.21, Y:2.11, Z:1.39 [[ 9.94169759e-01 -9.00869883e-02 -5.92522088e-02 3.42109444e+01] [ 8.99333189e-02 9.95933896e-01 -5.26054896e-03 2.11247556e+00] [ 5.94851902e-02 -9.88691042e-05 9.98229183e-01 1.39142664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.005099893 meters Centerline goodness [0,1] 0.9998466123236042 Centerline is valid? [True, True] Translation: X:34.24, Y:2.11, Z:1.39 [[ 9.93699241e-01 -9.46653554e-02 -6.00024074e-02 3.42427667e+01] [ 9.45162310e-02 9.95509079e-01 -5.32501468e-03 2.11199876e+00] [ 6.02370357e-02 -3.79738352e-04 9.98184029e-01 1.39331483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.035099893 meters Centerline goodness [0,1] 0.9997818213553258 Centerline is valid? [True, True] Translation: X:34.28, Y:2.11, Z:1.39 [[ 9.93163505e-01 -9.96546378e-02 -6.07882030e-02 3.42755983e+01] [ 9.95110758e-02 9.95021845e-01 -5.39204433e-03 2.11048567e+00] [ 6.10229321e-02 -6.93917829e-04 9.98136123e-01 1.39311994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters Centerline goodness [0,1] 0.9998472516202239 Centerline is valid? [True, True] Translation: X:34.31, Y:2.11, Z:1.39 [[ 9.92918439e-01 -1.02551310e-01 -5.99683377e-02 3.43067323e+01] [ 1.02417121e-01 9.94727340e-01 -5.31521411e-03 2.10990715e+00] [ 6.01972273e-02 -8.64210384e-04 9.98186128e-01 1.39467858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.095099893 meters Centerline goodness [0,1] 0.9998038147138965 Centerline is valid? [True, True] Translation: X:34.34, Y:2.11, Z:1.40 [[ 9.92468875e-01 -1.08346667e-01 -5.71535854e-02 3.43389683e+01] [ 1.08234561e-01 9.94112494e-01 -5.06254805e-03 2.11027721e+00] [ 5.73656035e-02 -1.16157185e-03 9.98352562e-01 1.39916869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters Centerline goodness [0,1] 0.9997168866239818 Centerline is valid? [True, True] Translation: X:34.37, Y:2.11, Z:1.40 [[ 9.92371282e-01 -1.09979286e-01 -5.57117073e-02 3.43705253e+01] [ 1.09875552e-01 9.93933121e-01 -4.93097215e-03 2.11032413e+00] [ 5.59160159e-02 -1.22799944e-03 9.98434721e-01 1.40067115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155099893 meters Centerline goodness [0,1] 0.9997824431632764 Centerline is valid? [True, True] Translation: X:34.40, Y:2.11, Z:1.40 [[ 9.92378545e-01 -1.11144761e-01 -5.32133988e-02 3.44024289e+01] [ 1.11051952e-01 9.93803456e-01 -4.70694590e-03 2.11167499e+00] [ 5.34068120e-02 -1.23837971e-03 9.98572070e-01 1.40408305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.185099893 meters Centerline goodness [0,1] 0.9998262342796325 Centerline is valid? [True, True] Translation: X:34.43, Y:2.11, Z:1.41 [[ 9.92366726e-01 -1.12258605e-01 -5.10517974e-02 3.44348754e+01] [ 1.12174840e-01 9.93678240e-01 -4.51217721e-03 2.11243842e+00] [ 5.12355909e-02 -1.24899268e-03 9.98685814e-01 1.40683959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.215099893 meters Centerline goodness [0,1] 0.9997615176151762 Centerline is valid? [True, True] Translation: X:34.47, Y:2.11, Z:1.41 [[ 9.92143926e-01 -1.13889424e-01 -5.17651336e-02 3.44666177e+01] [ 1.13805713e-01 9.93492507e-01 -4.57147289e-03 2.11199753e+00] [ 5.19489148e-02 -1.35560887e-03 9.98648823e-01 1.40696908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099893 meters Centerline goodness [0,1] 0.9997829107328934 Centerline is valid? [True, True] Translation: X:34.50, Y:2.11, Z:1.41 [[ 9.91756205e-01 -1.15740144e-01 -5.49895284e-02 3.44974756e+01] [ 1.15648685e-01 9.93278324e-01 -4.85320560e-03 2.11186526e+00] [ 5.51816173e-02 -1.54626987e-03 9.98475136e-01 1.40555929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.275099893 meters Centerline goodness [0,1] 0.9997837650823855 Centerline is valid? [True, True] Translation: X:34.53, Y:2.11, Z:1.40 [[ 9.91440829e-01 -1.16530212e-01 -5.88709789e-02 3.45296445e+01] [ 1.16426932e-01 9.93185683e-01 -5.19311435e-03 2.11370447e+00] [ 5.90749681e-02 -1.70550187e-03 9.98252092e-01 1.40354497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters Centerline goodness [0,1] 0.9997824904839586 Centerline is valid? [True, True] Translation: X:34.56, Y:2.12, Z:1.40 [[ 9.91357012e-01 -1.15437830e-01 -6.23328408e-02 3.45611881e+01] [ 1.15320227e-01 9.93313179e-01 -5.49312565e-03 2.11768938e+00] [ 6.25501467e-02 -1.74258871e-03 9.98040301e-01 1.40276055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.335099893 meters Centerline goodness [0,1] 0.9996741184905168 Centerline is valid? [True, True] Translation: X:34.59, Y:2.12, Z:1.40 [[ 9.91673226e-01 -1.11636930e-01 -6.41982062e-02 3.45931107e+01] [ 1.11504678e-01 9.93747844e-01 -5.65053752e-03 2.12324681e+00] [ 6.44276376e-02 -1.55491355e-03 9.97921170e-01 1.40250444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.365099893 meters Centerline goodness [0,1] 0.9998476737607173 Centerline is valid? [True, True] Translation: X:34.62, Y:2.13, Z:1.41 [[ 9.92422539e-01 -1.05302762e-01 -6.33153478e-02 3.46239674e+01] [ 1.05161514e-01 9.94439564e-01 -5.56857258e-03 2.13275124e+00] [ 6.35496730e-02 -1.13196092e-03 9.97978035e-01 1.40724868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.395099893 meters Centerline goodness [0,1] 0.9998472616190268 Centerline is valid? [True, True] Translation: X:34.65, Y:2.14, Z:1.41 [[ 9.93528580e-01 -9.52008425e-02 -6.19496613e-02 3.46532343e+01] [ 9.50462446e-02 9.95457970e-01 -5.44437211e-03 2.14345064e+00] [ 6.21865929e-02 -4.78943368e-04 9.98064426e-01 1.41005353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099893 meters Centerline goodness [0,1] 0.9996497526378004 Centerline is valid? [True, True] Translation: X:34.68, Y:2.16, Z:1.41 [[ 9.94593198e-01 -8.42596637e-02 -6.07015593e-02 3.46838491e+01] [ 8.40911886e-02 9.96443812e-01 -5.32929114e-03 2.15549175e+00] [ 6.09347374e-02 1.96010447e-04 9.98141733e-01 1.41254714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.455099892999996 meters Centerline goodness [0,1] 0.9997809227533628 Centerline is valid? [True, True] Translation: X:34.71, Y:2.17, Z:1.42 [[ 9.95511729e-01 -7.45146833e-02 -5.83434538e-02 3.47125948e+01] [ 7.43424077e-02 9.97219627e-01 -5.12081132e-03 2.16634870e+00] [ 5.85628129e-02 7.60434897e-04 9.98283436e-01 1.41653450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters Centerline goodness [0,1] 0.999890148519202 Centerline is valid? [True, True] Translation: X:34.74, Y:2.17, Z:1.42 [[ 9.96251521e-01 -6.69152335e-02 -5.48202424e-02 3.47420616e+01] [ 6.67516046e-02 9.97758018e-01 -4.81251248e-03 2.17250804e+00] [ 5.50193668e-02 1.13513373e-03 9.98484642e-01 1.42165306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.515099893 meters Centerline goodness [0,1] 0.9998023455000659 Centerline is valid? [True, True] Translation: X:34.77, Y:2.18, Z:1.42 [[ 9.96599848e-01 -6.24914254e-02 -5.36988423e-02 3.47705221e+01] [ 6.23279494e-02 9.98044585e-01 -4.71525633e-03 2.17751653e+00] [ 5.38885018e-02 1.35228501e-03 9.98546043e-01 1.42289120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545099893 meters Centerline goodness [0,1] 0.9997364780288557 Centerline is valid? [True, True] Translation: X:34.80, Y:2.18, Z:1.42 [[ 9.96406489e-01 -6.33446039e-02 -5.62278469e-02 3.47992148e+01] [ 6.31664284e-02 9.97990770e-01 -4.94222937e-03 2.17756565e+00] [ 5.64279358e-02 1.37275715e-03 9.98405731e-01 1.42320148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.575099893 meters Centerline goodness [0,1] 0.9996937279866991 Centerline is valid? [True, True] Translation: X:34.83, Y:2.18, Z:1.42 [[ 9.96008981e-01 -6.76861368e-02 -5.81781411e-02 3.48284886e+01] [ 6.75018890e-02 9.97705965e-01 -5.12863965e-03 2.17545662e+00] [ 5.83918162e-02 1.18103673e-03 9.98293044e-01 1.42287589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099893 meters Centerline goodness [0,1] 0.9997599877811961 Centerline is valid? [True, True] Translation: X:34.86, Y:2.18, Z:1.42 [[ 9.95762036e-01 -7.05234066e-02 -5.90289547e-02 3.48561140e+01] [ 7.03378871e-02 9.97509579e-01 -5.21737294e-03 2.17523637e+00] [ 5.92498947e-02 1.04328995e-03 9.98242637e-01 1.42310070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.635099892999996 meters Centerline goodness [0,1] 0.9997162810999564 Centerline is valid? [True, True] Translation: X:34.89, Y:2.17, Z:1.42 [[ 9.95215897e-01 -7.66567947e-02 -6.05727141e-02 3.48858001e+01] [ 7.64721681e-02 9.97057289e-01 -5.36377645e-03 2.16951069e+00] [ 6.08056360e-02 7.05988810e-04 9.98149376e-01 1.42251841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters Centerline goodness [0,1] 0.9997382084733191 Centerline is valid? [True, True] Translation: X:34.91, Y:2.17, Z:1.42 [[ 9.94994658e-01 -7.94965699e-02 -6.05468840e-02 3.49135395e+01] [ 7.93165047e-02 9.96834990e-01 -5.37540431e-03 2.16892709e+00] [ 6.07825788e-02 5.46131362e-04 9.98150880e-01 1.42274804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.695099893 meters Centerline goodness [0,1] 0.9996512869690299 Centerline is valid? [True, True] Translation: X:34.94, Y:2.17, Z:1.42 [[ 9.94781825e-01 -8.23988482e-02 -6.01626952e-02 3.49419970e+01] [ 8.22257730e-02 9.96599362e-01 -5.35107323e-03 2.16870068e+00] [ 6.03990259e-02 3.76226279e-04 9.98174241e-01 1.42447505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725099893 meters Centerline goodness [0,1] 0.9997393570807993 Centerline is valid? [True, True] Translation: X:34.97, Y:2.17, Z:1.43 [[ 9.94293042e-01 -8.90401731e-02 -5.87638811e-02 3.49716681e+01] [ 8.88859329e-02 9.96028035e-01 -5.23866202e-03 2.16516364e+00] [ 5.89969245e-02 -1.45171988e-05 9.98258164e-01 1.42785509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.755099893 meters Centerline goodness [0,1] 0.9997395607257574 Centerline is valid? [True, True] Translation: X:35.00, Y:2.16, Z:1.43 [[ 9.93965744e-01 -9.33234251e-02 -5.76440689e-02 3.50026603e+01] [ 9.31821185e-02 9.95635812e-01 -5.14034481e-03 2.16238481e+00] [ 5.78722140e-02 -2.62069808e-04 9.98323965e-01 1.42805408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099893 meters Centerline goodness [0,1] 0.999783418522048 Centerline is valid? [True, True] Translation: X:35.03, Y:2.16, Z:1.43 [[ 9.93593010e-01 -9.82945454e-02 -5.57773476e-02 3.50343221e+01] [ 9.81701350e-02 9.95157222e-01 -4.97274974e-03 2.15928971e+00] [ 5.59960245e-02 -5.34780359e-04 9.98430849e-01 1.43072286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.815099892999996 meters Centerline goodness [0,1] 0.9997626138374552 Centerline is valid? [True, True] Translation: X:35.07, Y:2.16, Z:1.43 [[ 9.93095238e-01 -1.03998805e-01 -5.42779646e-02 3.50664678e+01] [ 1.03889621e-01 9.94577071e-01 -4.83693166e-03 2.15630392e+00] [ 5.44866542e-02 -8.35383388e-04 9.98514149e-01 1.43344009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters Centerline goodness [0,1] 0.9998707676402171 Centerline is valid? [True, True] Translation: X:35.10, Y:2.15, Z:1.44 [[ 9.92423861e-01 -1.10798239e-01 -5.30907777e-02 3.50980720e+01] [ 1.10703681e-01 9.93842213e-01 -4.72760882e-03 2.15412447e+00] [ 5.32876668e-02 -1.18555271e-03 9.98578499e-01 1.43723354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.875099893 meters Centerline goodness [0,1] 0.9999139969898947 Centerline is valid? [True, True] Translation: X:35.13, Y:2.15, Z:1.44 [[ 9.92066461e-01 -1.14177168e-01 -5.26090406e-02 3.51304230e+01] [ 1.14089172e-01 9.93459478e-01 -4.68262740e-03 2.15369009e+00] [ 5.27995992e-02 -1.35664430e-03 9.98604207e-01 1.43985448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905099893 meters Centerline goodness [0,1] 0.9999147121535181 Centerline is valid? [True, True] Translation: X:35.16, Y:2.15, Z:1.44 [[ 9.90816516e-01 -1.24492983e-01 -5.27648400e-02 3.51605884e+01] [ 1.24419235e-01 9.92218640e-01 -4.69300065e-03 2.14600595e+00] [ 5.29385034e-02 -1.91505848e-03 9.98595938e-01 1.44154721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.935099893 meters Centerline goodness [0,1] 0.9997434088139072 Centerline is valid? [True, True] Translation: X:35.19, Y:2.14, Z:1.44 [[ 9.89963784e-01 -1.29964839e-01 -5.55053760e-02 3.51905158e+01] [ 1.29891823e-01 9.91515883e-01 -4.93647853e-03 2.14080300e+00] [ 5.56760305e-02 -2.32275951e-03 9.98446185e-01 1.43892944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099893 meters Centerline goodness [0,1] 0.9998074660391486 Centerline is valid? [True, True] Translation: X:35.22, Y:2.14, Z:1.44 [[ 9.89322208e-01 -1.33802412e-01 -5.77796131e-02 3.52213314e+01] [ 1.33729794e-01 9.91004506e-01 -5.13914619e-03 2.14297501e+00] [ 5.79474871e-02 -2.64258429e-03 9.98316135e-01 1.43958729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.995099893 meters Centerline goodness [0,1] 0.9997858213750268 Centerline is valid? [True, True] Translation: X:35.25, Y:2.14, Z:1.44 [[ 9.89115480e-01 -1.34686719e-01 -5.92457209e-02 3.52531402e+01] [ 1.34612046e-01 9.90884375e-01 -5.26800848e-03 2.14247917e+00] [ 5.94151899e-02 -2.76451895e-03 9.98229529e-01 1.43922837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters Centerline goodness [0,1] 0.9998289867464728 Centerline is valid? [True, True] Translation: X:35.29, Y:2.15, Z:1.44 [[ 9.89077870e-01 -1.34183405e-01 -6.09900027e-02 3.52853439e+01] [ 1.34103545e-01 9.90952506e-01 -5.41945560e-03 2.14838129e+00] [ 6.11653970e-02 -2.81871196e-03 9.98123664e-01 1.44030435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.055099893 meters Centerline goodness [0,1] 0.9999785467573423 Centerline is valid? [True, True] Translation: X:35.32, Y:2.15, Z:1.45 [[ 9.89366430e-01 -1.32685540e-01 -5.95702525e-02 3.53173059e+01] [ 1.32606911e-01 9.91154597e-01 -5.28884068e-03 2.15468291e+00] [ 5.97450823e-02 -2.66682572e-03 9.98210105e-01 1.44522799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.085099893 meters Centerline goodness [0,1] 0.9997858672376874 Centerline is valid? [True, True] Translation: X:35.35, Y:2.16, Z:1.44 [[ 9.89721491e-01 -1.29794734e-01 -6.00391271e-02 3.53481119e+01] [ 1.29709847e-01 9.91537691e-01 -5.32565504e-03 2.15920969e+00] [ 6.02222994e-02 -2.51675077e-03 9.98181817e-01 1.44426257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.115099893 meters Centerline goodness [0,1] 0.9997858672376874 Centerline is valid? [True, True] Translation: X:35.38, Y:2.16, Z:1.45 [[ 9.89730721e-01 -1.29724225e-01 -6.00393594e-02 3.53796820e+01] [ 1.29639368e-01 9.91546923e-01 -5.32303451e-03 2.16194903e+00] [ 6.02223686e-02 -2.51509380e-03 9.98181817e-01 1.44576969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099893 meters Centerline goodness [0,1] 0.9999355656264095 Centerline is valid? [True, True] Translation: X:35.41, Y:2.17, Z:1.45 [[ 9.90293628e-01 -1.26090487e-01 -5.84783760e-02 3.54105956e+01] [ 1.26003888e-01 9.92016220e-01 -5.18072582e-03 2.17098958e+00] [ 5.86647377e-02 -2.23806297e-03 9.98275232e-01 1.45019902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.175099893 meters Centerline goodness [0,1] 0.9997855871695362 Centerline is valid? [True, True] Translation: X:35.44, Y:2.18, Z:1.45 [[ 9.90599325e-01 -1.23265631e-01 -5.93174700e-02 3.54404298e+01] [ 1.23171644e-01 9.92371483e-01 -5.25223757e-03 2.17543367e+00] [ 5.95123860e-02 -2.10336730e-03 9.98225351e-01 1.44901570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters Centerline goodness [0,1] 0.9997856423227798 Centerline is valid? [True, True] Translation: X:35.47, Y:2.18, Z:1.45 [[ 9.91015645e-01 -1.20181579e-01 -5.86888383e-02 3.54717545e+01] [ 1.20084260e-01 9.92750110e-01 -5.19511411e-03 2.18232481e+00] [ 5.88877077e-02 -1.89916634e-03 9.98262807e-01 1.45128671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.235099893 meters Centerline goodness [0,1] 0.9997413904573079 Centerline is valid? [True, True] Translation: X:35.50, Y:2.19, Z:1.45 [[ 9.91838866e-01 -1.13516513e-01 -5.80488235e-02 3.55003576e+01] [ 1.13410037e-01 9.93534994e-01 -5.13611504e-03 2.19132055e+00] [ 5.82565714e-02 -1.48912071e-03 9.98300533e-01 1.45265219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.265099893 meters Centerline goodness [0,1] 0.9997192467173462 Centerline is valid? [True, True] Translation: X:35.53, Y:2.20, Z:1.45 [[ 9.92707375e-01 -1.05888700e-01 -5.76164081e-02 3.55299860e+01] [ 1.05770915e-01 9.94377452e-01 -5.09869183e-03 2.20228224e+00] [ 5.78323509e-02 -1.03263122e-03 9.98325775e-01 1.45453865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295099893 meters Centerline goodness [0,1] 0.9998481858205557 Centerline is valid? [True, True] Translation: X:35.56, Y:2.21, Z:1.46 [[ 9.93473600e-01 -9.87777312e-02 -5.70365275e-02 3.55594899e+01] [ 9.86506005e-02 9.95109333e-01 -5.04720337e-03 2.21254372e+00] [ 5.72561322e-02 -6.12424389e-04 9.98359334e-01 1.45786424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099893 meters Centerline goodness [0,1] 0.9997823863512719 Centerline is valid? [True, True] Translation: X:35.59, Y:2.22, Z:1.46 [[ 9.94037145e-01 -9.28802660e-02 -5.71262643e-02 3.55907995e+01] [ 9.27430876e-02 9.95677247e-01 -5.05360456e-03 2.22246676e+00] [ 5.73487017e-02 -2.74595477e-04 9.98354171e-01 1.45988358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.355099893 meters Centerline goodness [0,1] 0.9999563452219845 Centerline is valid? [True, True] Translation: X:35.62, Y:2.23, Z:1.46 [[ 9.94443804e-01 -8.79197340e-02 -5.78933596e-02 3.56224820e+01] [ 8.77706833e-02 9.96127562e-01 -5.11730763e-03 2.23215277e+00] [ 5.81190835e-02 7.53512643e-06 9.98309657e-01 1.46254488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters Centerline goodness [0,1] 0.9997812055573788 Centerline is valid? [True, True] Translation: X:35.65, Y:2.24, Z:1.46 [[ 9.94410130e-01 -8.71037738e-02 -5.96776887e-02 3.56540285e+01] [ 8.69441515e-02 9.96199242e-01 -5.27112360e-03 2.23611624e+00] [ 5.99100030e-02 5.30326967e-05 9.98203781e-01 1.46176448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.415099893 meters Centerline goodness [0,1] 0.9997805959015315 Centerline is valid? [True, True] Translation: X:35.69, Y:2.24, Z:1.46 [[ 9.94321650e-01 -8.70830658e-02 -6.11636875e-02 3.56850210e+01] [ 8.69154878e-02 9.96201052e-01 -5.40010847e-03 2.24015384e+00] [ 6.14015879e-02 5.33730245e-05 9.98113141e-01 1.46178487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters Centerline goodness [0,1] 0.9998903773212602 Centerline is valid? [True, True] Translation: X:35.72, Y:2.24, Z:1.46 [[ 9.94033511e-01 -9.04402668e-02 -6.09748922e-02 3.57150475e+01] [ 9.02801399e-02 9.95901870e-01 -5.38166290e-03 2.24014438e+00] [ 6.12117281e-02 -1.55268527e-04 9.98124792e-01 1.46267567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475099893 meters Centerline goodness [0,1] 0.9997381399205691 Centerline is valid? [True, True] Translation: X:35.75, Y:2.24, Z:1.46 [[ 9.93658749e-01 -9.41786572e-02 -6.14220790e-02 3.57455651e+01] [ 9.40233631e-02 9.95555237e-01 -5.42016791e-03 2.24013964e+00] [ 6.16595365e-02 -3.89313178e-04 9.98097165e-01 1.46184868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.505099893 meters Centerline goodness [0,1] 0.999825193925489 Centerline is valid? [True, True] Translation: X:35.78, Y:2.24, Z:1.47 [[ 9.93352788e-01 -9.83692222e-02 -5.97807279e-02 3.57763170e+01] [ 9.82298665e-02 9.95149784e-01 -5.27257762e-03 2.23987799e+00] [ 6.00094379e-02 -6.34723243e-04 9.98197608e-01 1.46514462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.535099893 meters Centerline goodness [0,1] 0.9999130207880317 Centerline is valid? [True, True] Translation: X:35.81, Y:2.24, Z:1.47 [[ 9.93011007e-01 -1.02701634e-01 -5.81507846e-02 3.58082509e+01] [ 1.02577288e-01 9.94711823e-01 -5.12725402e-03 2.23949603e+00] [ 5.83698503e-02 -8.73530103e-04 9.98294645e-01 1.46877326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters Centerline goodness [0,1] 0.9999129602228218 Centerline is valid? [True, True] Translation: X:35.84, Y:2.24, Z:1.47 [[ 9.92496720e-01 -1.07425205e-01 -5.83959384e-02 3.58400584e+01] [ 1.07308203e-01 9.94212492e-01 -5.14490048e-03 2.23871814e+00] [ 5.86106634e-02 -1.16006635e-03 9.98280243e-01 1.46952571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.595099893 meters Centerline goodness [0,1] 0.9997397471209525 Centerline is valid? [True, True] Translation: X:35.87, Y:2.24, Z:1.47 [[ 9.91951224e-01 -1.12340284e-01 -5.84160042e-02 3.58706140e+01] [ 1.12231891e-01 9.93668731e-01 -5.14354660e-03 2.23734536e+00] [ 5.86239842e-02 -1.45399129e-03 9.98279076e-01 1.46936323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters Centerline goodness [0,1] 0.9998041264037608 Centerline is valid? [True, True] Translation: X:35.90, Y:2.24, Z:1.47 [[ 9.91480788e-01 -1.17129654e-01 -5.69779903e-02 3.59020146e+01] [ 1.17034592e-01 9.93115182e-01 -5.01401848e-03 2.23869775e+00] [ 5.71729974e-02 -1.69709284e-03 9.98362844e-01 1.47330814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655099893 meters Centerline goodness [0,1] 0.9997830567306649 Centerline is valid? [True, True] Translation: X:35.93, Y:2.24, Z:1.47 [[ 9.91273219e-01 -1.18337975e-01 -5.80820955e-02 3.59338826e+01] [ 1.18241451e-01 9.92971736e-01 -5.10795889e-03 2.23802024e+00] [ 5.82783447e-02 -1.80432839e-03 9.98298742e-01 1.47324900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.685099893 meters Centerline goodness [0,1] 0.9997832354280016 Centerline is valid? [True, True] Translation: X:35.97, Y:2.24, Z:1.47 [[ 9.91296218e-01 -1.18372718e-01 -5.76169020e-02 3.59655063e+01] [ 1.18277974e-01 9.92967612e-01 -5.06390830e-03 2.23881787e+00] [ 5.78111462e-02 -1.79497728e-03 9.98325923e-01 1.47456196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.715099893 meters Centerline goodness [0,1] 0.9998481397114655 Centerline is valid? [True, True] Translation: X:36.00, Y:2.24, Z:1.48 [[ 9.91344849e-01 -1.18186509e-01 -5.71606500e-02 3.59967751e+01] [ 1.18093128e-01 9.92989832e-01 -5.02071284e-03 2.24094966e+00] [ 5.73533248e-02 -1.77302218e-03 9.98352369e-01 1.47736974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099893 meters Centerline goodness [0,1] 0.9997830096560703 Centerline is valid? [True, True] Translation: X:36.03, Y:2.25, Z:1.48 [[ 9.91402650e-01 -1.17797524e-01 -5.69607647e-02 3.60289219e+01] [ 1.17704351e-01 9.93036096e-01 -4.99972096e-03 2.24735866e+00] [ 5.71530501e-02 -1.74779322e-03 9.98363899e-01 1.48036345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.775099893 meters Centerline goodness [0,1] 0.9998263851212049 Centerline is valid? [True, True] Translation: X:36.06, Y:2.25, Z:1.48 [[ 9.91376125e-01 -1.17855838e-01 -5.73007865e-02 3.60596391e+01] [ 1.17761931e-01 9.93029144e-01 -5.02462600e-03 2.25029391e+00] [ 5.74935325e-02 -1.76655699e-03 9.98344316e-01 1.48201190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters Centerline goodness [0,1] 0.9998696898618713 Centerline is valid? [True, True] Translation: X:36.09, Y:2.25, Z:1.48 [[ 9.91392326e-01 -1.17606747e-01 -5.75318086e-02 3.60917899e+01] [ 1.17511868e-01 9.93058682e-01 -5.04133695e-03 2.25126206e+00] [ 5.77253573e-02 -1.76272752e-03 9.98330945e-01 1.48243968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.835099893 meters Centerline goodness [0,1] 0.9999132076290494 Centerline is valid? [True, True] Translation: X:36.12, Y:2.26, Z:1.48 [[ 9.91386195e-01 -1.17463515e-01 -5.79287072e-02 3.61246742e+01] [ 1.17367399e-01 9.93075618e-01 -5.07060029e-03 2.25576759e+00] [ 5.81231972e-02 -1.77201859e-03 9.98307845e-01 1.48477015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.865099893 meters Centerline goodness [0,1] 0.9997831084891338 Centerline is valid? [True, True] Translation: X:36.16, Y:2.26, Z:1.48 [[ 9.91382384e-01 -1.16511241e-01 -5.98840439e-02 3.61554457e+01] [ 1.16407159e-01 9.93187777e-01 -5.23568747e-03 2.25898010e+00] [ 6.00861169e-02 -1.78036307e-03 9.98191609e-01 1.48416130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.895099893 meters Centerline goodness [0,1] 0.9998693493598119 Centerline is valid? [True, True] Translation: X:36.19, Y:2.27, Z:1.49 [[ 9.91552701e-01 -1.14785906e-01 -6.03940143e-02 3.61870124e+01] [ 1.14677065e-01 9.93388810e-01 -5.27670233e-03 2.26602021e+00] [ 6.06004291e-02 -1.69367985e-03 9.98160668e-01 1.48720806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099893 meters Centerline goodness [0,1] 0.9997823626708453 Centerline is valid? [True, True] Translation: X:36.22, Y:2.27, Z:1.49 [[ 9.91844035e-01 -1.11955806e-01 -6.09205000e-02 3.62176830e+01] [ 1.11839992e-01 9.93711996e-01 -5.31838899e-03 2.27014929e+00] [ 6.11328562e-02 -1.53833583e-03 9.98128452e-01 1.48728492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.955099892999996 meters Centerline goodness [0,1] 0.999760677066336 Centerline is valid? [True, True] Translation: X:36.25, Y:2.28, Z:1.49 [[ 9.92182745e-01 -1.08605742e-01 -6.14670037e-02 3.62501699e+01] [ 1.08481677e-01 9.94083988e-01 -5.36192310e-03 2.27525891e+00] [ 6.16856998e-02 -1.34803607e-03 9.98094714e-01 1.48787756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters Centerline goodness [0,1] 0.9998251136761105 Centerline is valid? [True, True] Translation: X:36.28, Y:2.28, Z:1.49 [[ 9.92555096e-01 -1.05180496e-01 -6.14120894e-02 3.62819861e+01] [ 1.05050480e-01 9.94452494e-01 -5.35101524e-03 2.28122728e+00] [ 6.16342279e-02 -1.14019204e-03 9.98098152e-01 1.49050163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.015099893 meters Centerline goodness [0,1] 0.9999563737893726 Centerline is valid? [True, True] Translation: X:36.31, Y:2.29, Z:1.49 [[ 9.93281113e-01 -9.87125438e-02 -6.04025193e-02 3.63121686e+01] [ 9.85750522e-02 9.95115722e-01 -5.25916316e-03 2.28796333e+00] [ 6.06266420e-02 -7.30354061e-04 9.98160246e-01 1.49400189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045099893 meters Centerline goodness [0,1] 0.9997809179537737 Centerline is valid? [True, True] Translation: X:36.34, Y:2.29, Z:1.49 [[ 9.93805322e-01 -9.24862442e-02 -6.16220522e-02 3.63433877e+01] [ 9.23313176e-02 9.95713897e-01 -5.36307837e-03 2.29469404e+00] [ 6.18539447e-02 -3.59789455e-04 9.98085147e-01 1.49324759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.075099893 meters Centerline goodness [0,1] 0.9998469878464632 Centerline is valid? [True, True] Translation: X:36.37, Y:2.30, Z:1.50 [[ 9.94342145e-01 -8.74838389e-02 -6.02517749e-02 3.63740817e+01] [ 8.73266796e-02 9.96165938e-01 -5.24171213e-03 2.29913983e+00] [ 6.04793309e-02 -4.95321616e-05 9.98169449e-01 1.49601877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099893 meters Centerline goodness [0,1] 0.9998469209237228 Centerline is valid? [True, True] Translation: X:36.41, Y:2.30, Z:1.50 [[ 9.94740520e-01 -8.30965736e-02 -5.98853721e-02 3.64053449e+01] [ 8.29335032e-02 9.96541476e-01 -5.20771633e-03 2.30371439e+00] [ 6.01110005e-02 2.13822751e-04 9.98191676e-01 1.49917834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.135099892999996 meters Centerline goodness [0,1] 0.9997808123095807 Centerline is valid? [True, True] Translation: X:36.44, Y:2.31, Z:1.50 [[ 9.94899657e-01 -8.09513235e-02 -6.01793656e-02 3.64354020e+01] [ 8.07828287e-02 9.96717997e-01 -5.23156723e-03 2.30720928e+00] [ 6.04053590e-02 3.43425056e-04 9.98173870e-01 1.50115400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters Centerline goodness [0,1] 0.9997809611425067 Centerline is valid? [True, True] Translation: X:36.46, Y:2.31, Z:1.50 [[ 9.95118636e-01 -7.79768381e-02 -6.04856499e-02 3.64647451e+01] [ 7.78011170e-02 9.96955032e-01 -5.25843166e-03 2.31180596e+00] [ 6.07115089e-02 5.26912209e-04 9.98155216e-01 1.50227715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.195099893 meters Centerline goodness [0,1] 0.9998248494800219 Centerline is valid? [True, True] Translation: X:36.49, Y:2.31, Z:1.51 [[ 9.95221552e-01 -7.71345423e-02 -5.98692360e-02 3.64943676e+01] [ 7.69607869e-02 9.97020528e-01 -5.20615190e-03 2.31345674e+00] [ 6.00924314e-02 5.73691063e-04 9.98192652e-01 1.50521893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225099893 meters Centerline goodness [0,1] 0.9996076721883174 Centerline is valid? [True, True] Translation: X:36.52, Y:2.31, Z:1.50 [[ 9.95203038e-01 -7.70807144e-02 -6.02451306e-02 3.65231135e+01] [ 7.69045207e-02 9.97024686e-01 -5.24129328e-03 2.31327259e+00] [ 6.04698850e-02 5.83028111e-04 9.98169852e-01 1.50432016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.255099893 meters Centerline goodness [0,1] 0.9998471815919312 Centerline is valid? [True, True] Translation: X:36.55, Y:2.31, Z:1.51 [[ 9.95119875e-01 -7.91781980e-02 -5.88833300e-02 3.65519057e+01] [ 7.90133696e-02 9.96860377e-01 -5.12596352e-03 2.31076343e+00] [ 5.91043231e-02 4.48377860e-04 9.98251711e-01 1.50650546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099893 meters Centerline goodness [0,1] 0.999739045340872 Centerline is valid? [True, True] Translation: X:36.58, Y:2.31, Z:1.51 [[ 9.94825612e-01 -8.29291211e-02 -5.86920918e-02 3.65820741e+01] [ 8.27717089e-02 9.96555422e-01 -5.11226007e-03 2.30849061e+00] [ 5.89138775e-02 2.27762514e-04 9.98263043e-01 1.50796920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.315099892999996 meters Centerline goodness [0,1] 0.999696397978878 Centerline is valid? [True, True] Translation: X:36.61, Y:2.31, Z:1.51 [[ 9.94640103e-01 -8.52292033e-02 -5.85409909e-02 3.66112688e+01] [ 8.50764672e-02 9.96361367e-01 -5.10103077e-03 2.30885338e+00] [ 5.87627385e-02 9.32290791e-05 9.98271973e-01 1.50912919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:2.31, Z:1.51 [[ 9.94226325e-01 -9.12329743e-02 -5.64850265e-02 3.66409179e+01] [ 9.11004066e-02 9.95829544e-01 -4.92287415e-03 2.30511083e+00] [ 5.66985867e-02 -2.51357807e-04 9.98391310e-01 1.51392347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.375099893 meters Centerline goodness [0,1] 0.9997840825668265 Centerline is valid? [True, True] Translation: X:36.67, Y:2.30, Z:1.51 [[ 9.93620226e-01 -9.69199164e-02 -5.76660833e-02 3.66728620e+01] [ 9.67912779e-02 9.95292010e-01 -5.02629952e-03 2.30137232e+00] [ 5.78817405e-02 -5.87341035e-04 9.98323274e-01 1.51174371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405099893 meters Centerline goodness [0,1] 0.9998706004140787 Centerline is valid? [True, True] Translation: X:36.70, Y:2.30, Z:1.51 [[ 9.93097523e-01 -1.02905528e-01 -5.62828801e-02 3.67043211e+01] [ 1.02792698e-01 9.94690713e-01 -4.90379091e-03 2.29890710e+00] [ 5.64886853e-02 -9.15526499e-04 9.98402820e-01 1.51491729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.435099893 meters Centerline goodness [0,1] 0.9998065306648897 Centerline is valid? [True, True] Translation: X:36.74, Y:2.30, Z:1.52 [[ 9.92802974e-01 -1.05593820e-01 -5.64995664e-02 3.67355367e+01] [ 1.05484591e-01 9.94408764e-01 -4.92047163e-03 2.29860533e+00] [ 5.67032354e-02 -1.07477477e-03 9.98390499e-01 1.51510096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099893 meters Centerline goodness [0,1] 0.9997857341818259 Centerline is valid? [True, True] Translation: X:36.77, Y:2.30, Z:1.51 [[ 9.92213817e-01 -1.10611290e-01 -5.72440729e-02 3.67667878e+01] [ 1.10507673e-01 9.93862783e-01 -4.98224375e-03 2.29593254e+00] [ 5.74438460e-02 -1.38245821e-03 9.98347782e-01 1.51465256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.495099893 meters Centerline goodness [0,1] 0.9997423178509309 Centerline is valid? [True, True] Translation: X:36.80, Y:2.29, Z:1.52 [[ 9.91728463e-01 -1.14859546e-01 -5.72882168e-02 3.67981804e+01] [ 1.14762998e-01 9.93380400e-01 -4.98339630e-03 2.29412561e+00] [ 5.74813824e-02 -1.63239157e-03 9.98345244e-01 1.51514007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters Centerline goodness [0,1] 0.9998289062834167 Centerline is valid? [True, True] Translation: X:36.83, Y:2.29, Z:1.52 [[ 9.91103670e-01 -1.20881615e-01 -5.56879709e-02 3.68291858e+01] [ 1.20799968e-01 9.92665059e-01 -4.84239883e-03 2.29225831e+00] [ 5.58648599e-02 -1.92778587e-03 9.98436478e-01 1.51845088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.555099893 meters Centerline goodness [0,1] 0.9998066553524243 Centerline is valid? [True, True] Translation: X:36.86, Y:2.29, Z:1.52 [[ 9.90736974e-01 -1.23750601e-01 -5.59109793e-02 3.68610431e+01] [ 1.23672931e-01 9.92311132e-01 -4.86047373e-03 2.29380124e+00] [ 5.60825737e-02 -2.09922367e-03 9.98423927e-01 1.51995583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.585099893 meters Centerline goodness [0,1] 0.9998284954765682 Centerline is valid? [True, True] Translation: X:36.89, Y:2.29, Z:1.52 [[ 9.90555905e-01 -1.25388255e-01 -5.54687673e-02 3.68921318e+01] [ 1.25314536e-01 9.92105359e-01 -4.81902919e-03 2.29328354e+00] [ 5.56351110e-02 -2.17752502e-03 9.98448793e-01 1.52085348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615099893 meters Centerline goodness [0,1] 0.9998285763263907 Centerline is valid? [True, True] Translation: X:36.92, Y:2.30, Z:1.52 [[ 9.90411422e-01 -1.26323300e-01 -5.59252958e-02 3.69244018e+01] [ 1.26250031e-01 9.91986569e-01 -4.85548775e-03 2.29572103e+00] [ 5.60905036e-02 -2.25163978e-03 9.98423150e-01 1.52245180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099893 meters Centerline goodness [0,1] 0.9997640447028036 Centerline is valid? [True, True] Translation: X:36.96, Y:2.30, Z:1.52 [[ 9.90301195e-01 -1.26322811e-01 -5.78454076e-02 3.69556615e+01] [ 1.26244664e-01 9.91986443e-01 -5.01810927e-03 2.29937350e+00] [ 5.80157619e-02 -2.33323442e-03 9.98312941e-01 1.52247112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.675099893 meters Centerline goodness [0,1] 0.9997854169348955 Centerline is valid? [True, True] Translation: X:36.99, Y:2.31, Z:1.52 [[ 9.90257516e-01 -1.25390823e-01 -6.05573649e-02 3.69873538e+01] [ 1.25303663e-01 9.92104547e-01 -5.24975754e-03 2.30513025e+00] [ 6.07375085e-02 -2.38944779e-03 9.98150913e-01 1.52213535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters Centerline goodness [0,1] 0.9998279125795905 Centerline is valid? [True, True] Translation: X:37.02, Y:2.31, Z:1.52 [[ 9.90269265e-01 -1.24580615e-01 -6.20197868e-02 3.70184492e+01] [ 1.24487881e-01 9.92206585e-01 -5.37221713e-03 2.30712670e+00] [ 6.22057150e-02 -2.40077032e-03 9.98060462e-01 1.52220062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.735099893 meters Centerline goodness [0,1] 0.9998713053923041 Centerline is valid? [True, True] Translation: X:37.05, Y:2.31, Z:1.52 [[ 9.90440904e-01 -1.22742659e-01 -6.29369102e-02 3.70494168e+01] [ 1.22643661e-01 9.92435815e-01 -5.44850744e-03 2.31270896e+00] [ 6.31296080e-02 -2.32238842e-03 9.98002635e-01 1.52326756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.765099893 meters Centerline goodness [0,1] 0.9998492646267146 Centerline is valid? [True, True] Translation: X:37.08, Y:2.32, Z:1.53 [[ 9.90889183e-01 -1.19667669e-01 -6.17922039e-02 3.70793360e+01] [ 1.19566403e-01 9.92811806e-01 -5.34725797e-03 2.32020022e+00] [ 6.19879234e-02 -2.08973146e-03 9.98074712e-01 1.52647011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795099893 meters Centerline goodness [0,1] 0.9997840872287596 Centerline is valid? [True, True] Translation: X:37.11, Y:2.33, Z:1.53 [[ 9.91507846e-01 -1.15678161e-01 -5.94201504e-02 3.71094902e+01] [ 1.15577487e-01 9.93285168e-01 -5.13995227e-03 2.33064302e+00] [ 5.96157343e-02 -1.77132865e-03 9.98219829e-01 1.53051090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099893 meters Centerline goodness [0,1] 0.9998267910884014 Centerline is valid? [True, True] Translation: X:37.14, Y:2.34, Z:1.54 [[ 9.92330737e-01 -1.10235319e-01 -5.59274842e-02 3.71392601e+01] [ 1.10137595e-01 9.93904584e-01 -4.83605688e-03 2.34211106e+00] [ 5.61196872e-02 -1.36075071e-03 9.98423121e-01 1.53533520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.855099893 meters Centerline goodness [0,1] 0.9997393231090064 Centerline is valid? [True, True] Translation: X:37.17, Y:2.35, Z:1.54 [[ 9.92539574e-01 -1.08407160e-01 -5.57949931e-02 3.71700835e+01] [ 1.08307094e-01 9.94105784e-01 -4.82314498e-03 2.34712916e+00] [ 5.59889888e-02 -1.25583132e-03 9.98430596e-01 1.53540795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters Centerline goodness [0,1] 0.9998263210455473 Centerline is valid? [True, True] Translation: X:37.20, Y:2.35, Z:1.54 [[ 9.92580606e-01 -1.07962719e-01 -5.59266660e-02 3.72023313e+01] [ 1.07861656e-01 9.94154174e-01 -4.83131984e-03 2.35121689e+00] [ 5.61213308e-02 -1.23686844e-03 9.98423190e-01 1.53712923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.915099893 meters Centerline goodness [0,1] 0.9998475410550159 Centerline is valid? [True, True] Translation: X:37.23, Y:2.36, Z:1.54 [[ 9.92472598e-01 -1.08456944e-01 -5.68791175e-02 3.72343352e+01] [ 1.08353457e-01 9.94100310e-01 -4.90944663e-03 2.35578830e+00] [ 5.70760119e-02 -1.29055774e-03 9.98369002e-01 1.53876368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.945099893 meters Centerline goodness [0,1] 0.9998255864655097 Centerline is valid? [True, True] Translation: X:37.27, Y:2.36, Z:1.54 [[ 9.92364461e-01 -1.09032265e-01 -5.76605814e-02 3.72662649e+01] [ 1.08927126e-01 9.94037300e-01 -4.97271445e-03 2.36051914e+00] [ 5.78589549e-02 -1.34605630e-03 9.98323860e-01 1.53945645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975099893 meters Centerline goodness [0,1] 0.9997605207584961 Centerline is valid? [True, True] Translation: X:37.30, Y:2.36, Z:1.54 [[ 9.92259926e-01 -1.09194182e-01 -5.91343422e-02 3.72981393e+01] [ 1.09084144e-01 9.94019459e-01 -5.09545742e-03 2.36405747e+00] [ 5.93370812e-02 -1.39460092e-03 9.98237029e-01 1.53937282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.005099893 meters Centerline goodness [0,1] 0.9997599249219756 Centerline is valid? [True, True] Translation: X:37.33, Y:2.37, Z:1.54 [[ 9.92189044e-01 -1.09391716e-01 -5.99529195e-02 3.73300803e+01] [ 1.09279234e-01 9.93997689e-01 -5.16161943e-03 2.36879069e+00] [ 6.01577019e-02 -1.43030689e-03 9.98187861e-01 1.54021384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.035099893 meters Centerline goodness [0,1] 0.9998250486583419 Centerline is valid? [True, True] Translation: X:37.36, Y:2.37, Z:1.54 [[ 9.92338285e-01 -1.08278262e-01 -5.95024942e-02 3.73610392e+01] [ 1.08165764e-01 9.94119699e-01 -5.11783637e-03 2.37317520e+00] [ 5.97067520e-02 -1.35750781e-03 9.98215037e-01 1.54172100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters Centerline goodness [0,1] 0.9998250486583419 Centerline is valid? [True, True] Translation: X:37.39, Y:2.38, Z:1.54 [[ 9.92345994e-01 -1.08207258e-01 -5.95030907e-02 3.73926005e+01] [ 1.08095049e-01 9.94127426e-01 -5.11089241e-03 2.37582543e+00] [ 5.97066901e-02 -1.36021591e-03 9.98215037e-01 1.54322566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.095099893 meters Centerline goodness [0,1] 0.999846645927354 Centerline is valid? [True, True] Translation: X:37.42, Y:2.38, Z:1.55 [[ 9.92752250e-01 -1.04944681e-01 -5.85626566e-02 3.74240945e+01] [ 1.04830566e-01 9.94477397e-01 -5.02594112e-03 2.38373752e+00] [ 5.87666841e-02 -1.14964211e-03 9.98271083e-01 1.54671283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters Centerline goodness [0,1] 0.9998246921155279 Centerline is valid? [True, True] Translation: X:37.46, Y:2.39, Z:1.55 [[ 9.93022122e-01 -1.02433731e-01 -5.84328267e-02 3.74552073e+01] [ 1.02316020e-01 9.94739325e-01 -5.01070221e-03 2.38788278e+00] [ 5.86386955e-02 -1.00287611e-03 9.98278767e-01 1.54804127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155099893 meters Centerline goodness [0,1] 0.9998908106219427 Centerline is valid? [True, True] Translation: X:37.49, Y:2.39, Z:1.55 [[ 9.93646554e-01 -9.68651899e-02 -5.73032404e-02 3.74856328e+01] [ 9.67428998e-02 9.95297289e-01 -4.91092618e-03 2.39258746e+00] [ 5.75094577e-02 -6.63956772e-04 9.98344741e-01 1.54961119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.185099893 meters Centerline goodness [0,1] 0.9999561739892626 Centerline is valid? [True, True] Translation: X:37.52, Y:2.40, Z:1.56 [[ 9.94527313e-01 -8.90377150e-02 -5.46599465e-02 3.75166593e+01] [ 8.89147432e-02 9.96028235e-01 -4.68235998e-03 2.40057231e+00] [ 5.48597566e-02 -2.03340212e-04 9.98494049e-01 1.55501181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.215099893 meters Centerline goodness [0,1] 0.999846605601087 Centerline is valid? [True, True] Translation: X:37.55, Y:2.41, Z:1.56 [[ 9.94719101e-01 -8.67217242e-02 -5.48931072e-02 3.75489999e+01] [ 8.65943464e-02 9.96232571e-01 -4.69924081e-03 2.40532028e+00] [ 5.50938276e-02 -7.90081531e-05 9.98481179e-01 1.55592456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099893 meters Centerline goodness [0,1] 0.9998021325711773 Centerline is valid? [True, True] Translation: X:37.58, Y:2.41, Z:1.56 [[ 9.94993846e-01 -8.30893940e-02 -5.55283630e-02 3.75807004e+01] [ 8.29536184e-02 9.96542091e-01 -4.74961932e-03 2.40997950e+00] [ 5.57309939e-02 1.19563363e-04 9.98445813e-01 1.55748260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.275099893 meters Centerline goodness [0,1] 0.9997362637362638 Centerline is valid? [True, True] Translation: X:37.61, Y:2.41, Z:1.56 [[ 9.95113559e-01 -8.07739997e-02 -5.67852526e-02 3.76122518e+01] [ 8.06284994e-02 9.96732411e-01 -4.85249831e-03 2.41141592e+00] [ 5.69916574e-02 2.50277154e-04 9.98374623e-01 1.55666226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters Centerline goodness [0,1] 0.9997587084320435 Centerline is valid? [True, True] Translation: X:37.64, Y:2.41, Z:1.56 [[ 9.95247531e-01 -7.88607993e-02 -5.71255313e-02 3.76438951e+01] [ 7.87107393e-02 9.96885574e-01 -4.87565312e-03 2.41216952e+00] [ 5.73321160e-02 3.56088928e-04 9.98355098e-01 1.55778849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.335099893 meters Centerline goodness [0,1] 0.9998904589768869 Centerline is valid? [True, True] Translation: X:37.67, Y:2.41, Z:1.56 [[ 9.95498529e-01 -7.60537964e-02 -5.65552709e-02 3.76737557e+01] [ 7.59022890e-02 9.97103585e-01 -4.82529651e-03 2.41490891e+00] [ 5.67584455e-02 5.10901059e-04 9.98387809e-01 1.56134005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365099893 meters Centerline goodness [0,1] 0.9996935402666199 Centerline is valid? [True, True] Translation: X:37.70, Y:2.42, Z:1.56 [[ 9.95808131e-01 -7.15548487e-02 -5.69742915e-02 3.77032448e+01] [ 7.13937267e-02 9.97436367e-01 -4.86104736e-03 2.42063476e+00] [ 5.71760619e-02 7.73063482e-04 9.98363812e-01 1.56194798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.395099893 meters Centerline goodness [0,1] 0.99971593392186 Centerline is valid? [True, True] Translation: X:37.73, Y:2.42, Z:1.56 [[ 9.96160707e-01 -6.67715139e-02 -5.66163558e-02 3.77316482e+01] [ 6.66045598e-02 9.97767747e-01 -4.83283671e-03 2.42362072e+00] [ 5.68126696e-02 1.04337458e-03 9.98384311e-01 1.56381406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099893 meters Centerline goodness [0,1] 0.9998469443533399 Centerline is valid? [True, True] Translation: X:37.76, Y:2.43, Z:1.57 [[ 9.96507958e-01 -6.28461141e-02 -5.49750533e-02 3.77595453e+01] [ 6.26820659e-02 9.98022456e-01 -4.70496406e-03 2.42607229e+00] [ 5.51620264e-02 1.24258422e-03 9.98476643e-01 1.56552083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.455099892999996 meters Centerline goodness [0,1] 0.9998253846993342 Centerline is valid? [True, True] Translation: X:37.79, Y:2.43, Z:1.57 [[ 9.96701569e-01 -6.06014193e-02 -5.39763888e-02 3.77881582e+01] [ 6.04396815e-02 9.98161135e-01 -4.62528372e-03 2.42721433e+00] [ 5.41574322e-02 1.34771180e-03 9.98531500e-01 1.56760910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters Centerline goodness [0,1] 0.9998039471964449 Centerline is valid? [True, True] Translation: X:37.82, Y:2.43, Z:1.57 [[ 9.96703781e-01 -6.00762684e-02 -5.45198663e-02 3.78168234e+01] [ 5.99097131e-02 9.98192802e-01 -4.68565355e-03 2.42766525e+00] [ 5.47028347e-02 1.40393906e-03 9.98501692e-01 1.56824838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.515099893 meters Centerline goodness [0,1] 0.999782466826191 Centerline is valid? [True, True] Translation: X:37.84, Y:2.43, Z:1.57 [[ 9.96525201e-01 -6.14328222e-02 -5.62452772e-02 3.78444808e+01] [ 6.12569625e-02 9.98110260e-01 -4.84704269e-03 2.42729272e+00] [ 5.64367558e-02 1.38478536e-03 9.98405216e-01 1.56629982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545099893 meters Centerline goodness [0,1] 0.9998481528883489 Centerline is valid? [True, True] Translation: X:37.87, Y:2.42, Z:1.57 [[ 9.96331393e-01 -6.44070725e-02 -5.63514387e-02 3.78739430e+01] [ 6.42349405e-02 9.97922957e-01 -4.86249429e-03 2.42412582e+00] [ 5.65475733e-02 1.22492440e-03 9.98399154e-01 1.56743335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.575099893 meters Centerline goodness [0,1] 0.9997835497835498 Centerline is valid? [True, True] Translation: X:37.90, Y:2.42, Z:1.57 [[ 9.96007493e-01 -6.83897235e-02 -5.73752494e-02 3.79026630e+01] [ 6.82170877e-02 9.97658150e-01 -4.96441467e-03 2.42175530e+00] [ 5.75804001e-02 1.03062179e-03 9.98340340e-01 1.56769053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099893 meters Centerline goodness [0,1] 0.9996968909673508 Centerline is valid? [True, True] Translation: X:37.93, Y:2.42, Z:1.57 [[ 9.95656160e-01 -7.28296872e-02 -5.80055770e-02 3.79321405e+01] [ 7.26599196e-02 9.97344074e-01 -5.03331522e-03 2.41860507e+00] [ 5.82180933e-02 7.96770745e-04 9.98303570e-01 1.56879943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.635099892999996 meters Centerline goodness [0,1] 0.9996756896999048 Centerline is valid? [True, True] Translation: X:37.96, Y:2.42, Z:1.57 [[ 9.95320973e-01 -7.69759383e-02 -5.84026229e-02 3.79615214e+01] [ 7.68101427e-02 9.97032787e-01 -5.08176492e-03 2.41662893e+00] [ 5.86205035e-02 5.72073411e-04 9.98280176e-01 1.56946403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters Centerline goodness [0,1] 0.999805615550756 Centerline is valid? [True, True] Translation: X:37.99, Y:2.42, Z:1.57 [[ 9.95078468e-01 -8.09512769e-02 -5.71465961e-02 3.79905190e+01] [ 8.07982771e-02 9.96718000e-01 -4.98663281e-03 2.41506312e+00] [ 5.73627153e-02 3.44744427e-04 9.98353344e-01 1.57258785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.695099893 meters Centerline goodness [0,1] 0.9998710121248603 Centerline is valid? [True, True] Translation: X:38.02, Y:2.41, Z:1.58 [[ 9.94941010e-01 -8.41753595e-02 -5.48351668e-02 3.80188311e+01] [ 8.40387278e-02 9.96450943e-01 -4.79691619e-03 2.41384770e+00] [ 5.50443358e-02 1.64370988e-04 9.98483898e-01 1.57580945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725099893 meters Centerline goodness [0,1] 0.9998063849926857 Centerline is valid? [True, True] Translation: X:38.05, Y:2.41, Z:1.58 [[ 9.94832870e-01 -8.57883137e-02 -5.42948105e-02 3.80497586e+01] [ 8.56566252e-02 9.96313384e-01 -4.75218309e-03 2.41440385e+00] [ 5.45023281e-02 7.69177076e-05 9.98513641e-01 1.57762114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.755099893 meters Centerline goodness [0,1] 0.9998069125313768 Centerline is valid? [True, True] Translation: X:38.08, Y:2.41, Z:1.58 [[ 9.94559616e-01 -8.98239198e-02 -5.27525720e-02 3.80808137e+01] [ 8.97052876e-02 9.95957652e-01 -4.61709890e-03 2.41222699e+00] [ 5.29540536e-02 -1.40204533e-04 9.98596940e-01 1.57890449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099893 meters Centerline goodness [0,1] 0.9997647260127476 Centerline is valid? [True, True] Translation: X:38.11, Y:2.41, Z:1.58 [[ 9.94147623e-01 -9.47134452e-02 -5.19602427e-02 3.81120698e+01] [ 9.46050761e-02 9.95504499e-01 -4.54672997e-03 2.41012952e+00] [ 5.21572919e-02 -3.95581927e-04 9.98638804e-01 1.58129636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.815099892999996 meters Centerline goodness [0,1] 0.9998077990859778 Centerline is valid? [True, True] Translation: X:38.14, Y:2.41, Z:1.58 [[ 9.93645742e-01 -9.98614310e-02 -5.19214229e-02 3.81439954e+01] [ 9.97603463e-02 9.95001130e-01 -4.54135203e-03 2.40779559e+00] [ 5.21153803e-02 -6.67204012e-04 9.98640847e-01 1.58260449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters Centerline goodness [0,1] 0.9997865664952085 Centerline is valid? [True, True] Translation: X:38.18, Y:2.40, Z:1.58 [[ 9.93036206e-01 -1.04774902e-01 -5.38638428e-02 3.81759027e+01] [ 1.04673492e-01 9.94495497e-01 -4.70818447e-03 2.40421218e+00] [ 5.40606487e-02 -9.62718863e-04 9.98537190e-01 1.58117382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.875099893 meters Centerline goodness [0,1] 0.9997869393842548 Centerline is valid? [True, True] Translation: X:38.21, Y:2.40, Z:1.58 [[ 9.92730748e-01 -1.07282706e-01 -5.45534868e-02 3.82073582e+01] [ 1.07182628e-01 9.94227929e-01 -4.76545034e-03 2.40372216e+00] [ 5.47498506e-02 -1.11637701e-03 9.98499478e-01 1.58147517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905099893 meters Centerline goodness [0,1] 0.9997246054443385 Centerline is valid? [True, True] Translation: X:38.24, Y:2.40, Z:1.58 [[ 9.92056867e-01 -1.13139849e-01 -5.49776954e-02 3.82389203e+01] [ 1.13047343e-01 9.93578010e-01 -4.79963584e-03 2.40221654e+00] [ 5.51676592e-02 -1.45357071e-03 9.98476047e-01 1.58261423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.935099893 meters Centerline goodness [0,1] 0.9998298487781015 Centerline is valid? [True, True] Translation: X:38.27, Y:2.40, Z:1.59 [[ 9.91931487e-01 -1.14393745e-01 -5.46442779e-02 3.82711068e+01] [ 1.14304381e-01 9.93434332e-01 -4.76826591e-03 2.40383801e+00] [ 5.48309615e-02 -1.51628728e-03 9.98494500e-01 1.58501691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099893 meters Centerline goodness [0,1] 0.999809346269542 Centerline is valid? [True, True] Translation: X:38.30, Y:2.40, Z:1.58 [[ 9.91676878e-01 -1.16014014e-01 -5.58365300e-02 3.83020401e+01] [ 1.15923531e-01 9.93246213e-01 -4.86767355e-03 2.40415570e+00] [ 5.60241403e-02 -1.64560843e-03 9.98428058e-01 1.58447406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.995099893 meters Centerline goodness [0,1] 0.9998512473968294 Centerline is valid? [True, True] Translation: X:38.33, Y:2.40, Z:1.58 [[ 9.91461376e-01 -1.17158520e-01 -5.72557505e-02 3.83345687e+01] [ 1.17065681e-01 9.93111666e-01 -4.98450468e-03 2.40474165e+00] [ 5.74453310e-02 -1.76073955e-03 9.98347101e-01 1.58431816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters Centerline goodness [0,1] 0.9998726574272555 Centerline is valid? [True, True] Translation: X:38.37, Y:2.41, Z:1.58 [[ 9.91432421e-01 -1.17173295e-01 -5.77249862e-02 3.83661527e+01] [ 1.17079226e-01 9.93109887e-01 -5.02066873e-03 2.40597902e+00] [ 5.79155428e-02 -1.78074294e-03 9.98319898e-01 1.58446038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.055099893 meters Centerline goodness [0,1] 0.9998511841489859 Centerline is valid? [True, True] Translation: X:38.40, Y:2.41, Z:1.59 [[ 9.91548878e-01 -1.16442577e-01 -5.72009448e-02 3.83975611e+01] [ 1.16349350e-01 9.93195922e-01 -4.96888382e-03 2.41200612e+00] [ 5.73903347e-02 -1.72840158e-03 9.98350320e-01 1.58790175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.085099893 meters Centerline goodness [0,1] 0.9998088482042351 Centerline is valid? [True, True] Translation: X:38.43, Y:2.41, Z:1.59 [[ 9.91805912e-01 -1.14254686e-01 -5.71568006e-02 3.84284078e+01] [ 1.14158195e-01 9.93450196e-01 -4.96122429e-03 2.41429853e+00] [ 5.73492780e-02 -1.60434560e-03 9.98352887e-01 1.58801900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115099893 meters Centerline goodness [0,1] 0.999808596159163 Centerline is valid? [True, True] Translation: X:38.46, Y:2.42, Z:1.59 [[ 9.92118778e-01 -1.12070646e-01 -5.60401732e-02 3.84598723e+01] [ 1.11974528e-01 9.93699182e-01 -4.86217120e-03 2.41937004e+00] [ 5.62319810e-02 -1.45122062e-03 9.98416676e-01 1.59060205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099893 meters Centerline goodness [0,1] 0.9997449955374219 Centerline is valid? [True, True] Translation: X:38.49, Y:2.42, Z:1.59 [[ 9.92251716e-01 -1.10975648e-01 -5.58653527e-02 3.84914331e+01] [ 1.10878568e-01 9.93822157e-01 -4.84395559e-03 2.42313871e+00] [ 5.60577865e-02 -1.38784705e-03 9.98426561e-01 1.59248809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.175099893 meters Centerline goodness [0,1] 0.9998092128972081 Centerline is valid? [True, True] Translation: X:38.52, Y:2.43, Z:1.60 [[ 9.92542360e-01 -1.08726276e-01 -5.51204162e-02 3.85215747e+01] [ 1.08628501e-01 9.94070943e-01 -4.77578469e-03 2.42768514e+00] [ 5.53128574e-02 -1.24747957e-03 9.98468293e-01 1.59504619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters Centerline goodness [0,1] 0.9997449521785334 Centerline is valid? [True, True] Translation: X:38.55, Y:2.43, Z:1.60 [[ 9.92636502e-01 -1.07660616e-01 -5.55154647e-02 3.85528983e+01] [ 1.07559834e-01 9.94186983e-01 -4.80885246e-03 2.43198101e+00] [ 5.57104763e-02 -1.19779165e-03 9.98446247e-01 1.59615561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.235099893 meters Centerline goodness [0,1] 0.9998723241264842 Centerline is valid? [True, True] Translation: X:38.58, Y:2.44, Z:1.60 [[ 9.92821676e-01 -1.06495657e-01 -5.44407397e-02 3.85846983e+01] [ 1.06397111e-01 9.94312545e-01 -4.71356386e-03 2.43725137e+00] [ 5.46330845e-02 -1.11260903e-03 9.98505878e-01 1.59932910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.265099893 meters Centerline goodness [0,1] 0.9997441691894428 Centerline is valid? [True, True] Translation: X:38.62, Y:2.44, Z:1.60 [[ 9.92896696e-01 -1.05473592e-01 -5.50588125e-02 3.86156074e+01] [ 1.05371475e-01 9.94421525e-01 -4.76254346e-03 2.44085134e+00] [ 5.52539909e-02 -1.07291464e-03 9.98471755e-01 1.59991930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295099893 meters Centerline goodness [0,1] 0.9998512758408227 Centerline is valid? [True, True] Translation: X:38.65, Y:2.44, Z:1.60 [[ 9.93004007e-01 -1.04565023e-01 -5.48561514e-02 3.86476708e+01] [ 1.04462633e-01 9.94517524e-01 -4.73848737e-03 2.44491277e+00] [ 5.50508839e-02 -1.02508104e-03 9.98483024e-01 1.60200675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099893 meters Centerline goodness [0,1] 0.999786438868126 Centerline is valid? [True, True] Translation: X:38.68, Y:2.45, Z:1.60 [[ 9.93160107e-01 -1.02425736e-01 -5.60532886e-02 3.86789090e+01] [ 1.02315635e-01 9.94740219e-01 -4.83810256e-03 2.45160723e+00] [ 5.62540068e-02 -9.30117390e-04 9.98416056e-01 1.60294383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.355099893 meters Centerline goodness [0,1] 0.9998501263220999 Centerline is valid? [True, True] Translation: X:38.71, Y:2.46, Z:1.61 [[ 9.93510222e-01 -9.93182858e-02 -5.54375078e-02 3.87099345e+01] [ 9.92058671e-02 9.95055435e-01 -4.78299090e-03 2.45936770e+00] [ 5.56384319e-02 -7.47775684e-04 9.98450703e-01 1.60622094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters Centerline goodness [0,1] 0.9998077949813134 Centerline is valid? [True, True] Translation: X:38.74, Y:2.47, Z:1.61 [[ 9.93818478e-01 -9.61232242e-02 -5.55441958e-02 3.87409734e+01] [ 9.60054956e-02 9.95369278e-01 -4.79021511e-03 2.46678818e+00] [ 5.57474369e-02 -5.71943754e-04 9.98444739e-01 1.60773583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.415099893 meters Centerline goodness [0,1] 0.9998064724223202 Centerline is valid? [True, True] Translation: X:38.77, Y:2.47, Z:1.61 [[ 9.93998773e-01 -9.35059761e-02 -5.67720947e-02 3.87716192e+01] [ 9.33788329e-02 9.95618623e-01 -4.89405581e-03 2.47367458e+00] [ 5.69809782e-02 -4.36626464e-04 9.98375169e-01 1.60844287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.445099893 meters Centerline goodness [0,1] 0.999784839813241 Centerline is valid? [True, True] Translation: X:38.80, Y:2.48, Z:1.61 [[ 9.94147583e-01 -9.20773919e-02 -5.65007763e-02 3.88027622e+01] [ 9.19492722e-02 9.95751790e-01 -4.86862668e-03 2.47936464e+00] [ 5.67090396e-02 -3.55071809e-04 9.98390684e-01 1.61005834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475099893 meters Centerline goodness [0,1] 0.9997854307477738 Centerline is valid? [True, True] Translation: X:38.83, Y:2.48, Z:1.61 [[ 9.94220471e-01 -9.16856739e-02 -5.58515259e-02 3.88330441e+01] [ 9.15599709e-02 9.95787943e-01 -4.81081404e-03 2.48361531e+00] [ 5.60573589e-02 -3.30754288e-04 9.98427495e-01 1.61147940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.505099893 meters Centerline goodness [0,1] 0.9997837136368551 Centerline is valid? [True, True] Translation: X:38.86, Y:2.49, Z:1.61 [[ 9.94033995e-01 -9.36705750e-02 -5.58770180e-02 3.88644551e+01] [ 9.35479554e-02 9.95603147e-01 -4.81184364e-03 2.48612958e+00] [ 5.60820631e-02 -4.44044629e-04 9.98426064e-01 1.61164182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.535099893 meters Centerline goodness [0,1] 0.9998270494638534 Centerline is valid? [True, True] Translation: X:38.90, Y:2.49, Z:1.61 [[ 9.93827078e-01 -9.57535278e-02 -5.60267896e-02 3.88967075e+01] [ 9.56336876e-02 9.95404914e-01 -4.82240376e-03 2.48874777e+00] [ 5.62311038e-02 -5.65413055e-04 9.98417620e-01 1.61332064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters Centerline goodness [0,1] 0.9998271279469283 Centerline is valid? [True, True] Translation: X:38.93, Y:2.49, Z:1.62 [[ 9.93693422e-01 -9.68936106e-02 -5.64358969e-02 3.89291523e+01] [ 9.67740846e-02 9.95294539e-01 -4.85347449e-03 2.49155918e+00] [ 5.66406106e-02 -6.38666583e-04 9.98394428e-01 1.61508791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.595099893 meters Centerline goodness [0,1] 0.9998059843062861 Centerline is valid? [True, True] Translation: X:38.96, Y:2.49, Z:1.62 [[ 9.93548614e-01 -9.80989529e-02 -5.69012121e-02 3.89612545e+01] [ 9.79796603e-02 9.95176407e-01 -4.88931211e-03 2.49427506e+00] [ 5.71063802e-02 -7.17392168e-04 9.98367841e-01 1.61631141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.625099893 meters Centerline goodness [0,1] 0.9997627776579685 Centerline is valid? [True, True] Translation: X:38.99, Y:2.50, Z:1.62 [[ 9.93546777e-01 -9.73984550e-02 -5.81235117e-02 3.89922555e+01] [ 9.72730214e-02 9.95245224e-01 -4.99024120e-03 2.49779851e+00] [ 5.83331892e-02 -6.95811530e-04 9.98296927e-01 1.61621443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655099893 meters Centerline goodness [0,1] 0.9997837837837837 Centerline is valid? [True, True] Translation: X:39.02, Y:2.51, Z:1.62 [[ 9.93913027e-01 -9.30792936e-02 -5.89333544e-02 3.90230083e+01] [ 9.29429287e-02 9.95658597e-01 -5.05675123e-03 2.50578047e+00] [ 5.91481798e-02 -4.51467633e-04 9.98249112e-01 1.61698055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.685099893 meters Centerline goodness [0,1] 0.9998697266430727 Centerline is valid? [True, True] Translation: X:39.05, Y:2.51, Z:1.62 [[ 9.94329425e-01 -8.90121036e-02 -5.81879721e-02 3.90531597e+01] [ 8.88723182e-02 9.96030523e-01 -4.99091059e-03 2.51304037e+00] [ 5.84012477e-02 -2.08690711e-04 9.98293169e-01 1.61961412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.715099893 meters Centerline goodness [0,1] 0.9998473981382573 Centerline is valid? [True, True] Translation: X:39.08, Y:2.52, Z:1.62 [[ 9.94964681e-01 -8.19776078e-02 -5.76624184e-02 3.90835011e+01] [ 8.18285979e-02 9.96634151e-01 -4.94461899e-03 2.52334906e+00] [ 5.78736834e-02 2.01286407e-04 9.98323893e-01 1.62231589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099893 meters Centerline goodness [0,1] 0.9998473981382573 Centerline is valid? [True, True] Translation: X:39.11, Y:2.53, Z:1.62 [[ 9.94964680e-01 -8.19775271e-02 -5.76625640e-02 3.91133596e+01] [ 8.18286155e-02 9.96634158e-01 -4.94292012e-03 2.52590776e+00] [ 5.78736893e-02 1.99583153e-04 9.98323893e-01 1.62374108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.775099893 meters Centerline goodness [0,1] 0.9997824384300757 Centerline is valid? [True, True] Translation: X:39.14, Y:2.53, Z:1.63 [[ 9.95413469e-01 -7.71323942e-02 -5.65916956e-02 3.91432852e+01] [ 7.69811498e-02 9.97020747e-01 -4.85095819e-03 2.53370564e+00] [ 5.67972607e-02 4.72215316e-04 9.98385621e-01 1.62623423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters Centerline goodness [0,1] 0.9997817927904338 Centerline is valid? [True, True] Translation: X:39.17, Y:2.54, Z:1.63 [[ 9.95794121e-01 -7.32589400e-02 -5.50199548e-02 3.91723768e+01] [ 7.31101089e-02 9.97312726e-01 -4.71567951e-03 2.53979352e+00] [ 5.52175668e-02 6.73331046e-04 9.98474119e-01 1.62933935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.835099893 meters Centerline goodness [0,1] 0.9998473215843657 Centerline is valid? [True, True] Translation: X:39.20, Y:2.54, Z:1.63 [[ 9.95884635e-01 -7.24517677e-02 -5.44475374e-02 3.92013700e+01] [ 7.23047098e-02 9.97371663e-01 -4.66853851e-03 2.54331817e+00] [ 5.46426748e-02 7.12512378e-04 9.98505719e-01 1.63141612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865099893 meters Centerline goodness [0,1] 0.9997163677619234 Centerline is valid? [True, True] Translation: X:39.23, Y:2.55, Z:1.63 [[ 9.95822280e-01 -7.27423315e-02 -5.51954722e-02 3.92312786e+01] [ 7.25915372e-02 9.97350516e-01 -4.73465846e-03 2.54511429e+00] [ 5.53936428e-02 7.08154211e-04 9.98464342e-01 1.63076264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.895099893 meters Centerline goodness [0,1] 0.9998468639933495 Centerline is valid? [True, True] Translation: X:39.26, Y:2.54, Z:1.63 [[ 9.95536532e-01 -7.60341941e-02 -5.59089874e-02 3.92615425e+01] [ 7.58845514e-02 9.97105068e-01 -4.79774510e-03 2.54462688e+00] [ 5.61119274e-02 5.33702084e-04 9.98424342e-01 1.63171774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099893 meters Centerline goodness [0,1] 0.999825308439786 Centerline is valid? [True, True] Translation: X:39.29, Y:2.54, Z:1.63 [[ 9.94710964e-01 -8.42390611e-02 -5.87697010e-02 3.92905596e+01] [ 8.40879047e-02 9.96445570e-01 -5.04475168e-03 2.54166856e+00] [ 5.89857734e-02 7.62487838e-05 9.98258821e-01 1.62948220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.955099892999996 meters Centerline goodness [0,1] 0.999825308439786 Centerline is valid? [True, True] Translation: X:39.32, Y:2.54, Z:1.63 [[ 9.94708093e-01 -8.42731318e-02 -5.87694495e-02 3.93195710e+01] [ 8.41218617e-02 9.96442689e-01 -5.04768067e-03 2.54419168e+00] [ 5.89857722e-02 7.71733105e-05 9.98258821e-01 1.63086867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters Centerline goodness [0,1] 0.9997608591677899 Centerline is valid? [True, True] Translation: X:39.35, Y:2.54, Z:1.63 [[ 9.94014750e-01 -9.11958476e-02 -6.01497726e-02 3.93503429e+01] [ 9.10499356e-02 9.95832919e-01 -5.16790298e-03 2.54129327e+00] [ 6.03704149e-02 -3.39661135e-04 9.98175985e-01 1.63153046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.015099893 meters Centerline goodness [0,1] 0.999804454101032 Centerline is valid? [True, True] Translation: X:39.38, Y:2.54, Z:1.63 [[ 9.93263599e-01 -9.88450474e-02 -6.04737884e-02 3.93804447e+01] [ 9.87116957e-02 9.95102509e-01 -5.19597804e-03 2.53800932e+00] [ 6.06912152e-02 -8.08494351e-04 9.98156262e-01 1.63227662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045099893 meters Centerline goodness [0,1] 0.9998267085454349 Centerline is valid? [True, True] Translation: X:39.41, Y:2.54, Z:1.63 [[ 9.92598164e-01 -1.05416917e-01 -6.03005765e-02 3.94114287e+01] [ 1.05296395e-01 9.94427383e-01 -5.18171054e-03 2.53776328e+00] [ 6.05107844e-02 -1.20607695e-03 9.98166815e-01 1.63471562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.075099893 meters Centerline goodness [0,1] 0.9999132697311361 Centerline is valid? [True, True] Translation: X:39.44, Y:2.54, Z:1.64 [[ 9.92116197e-01 -1.10282877e-01 -5.95242628e-02 3.94433582e+01] [ 1.10174284e-01 9.93899131e-01 -5.11326438e-03 2.53839597e+00] [ 5.97250186e-02 -1.48509063e-03 9.98213763e-01 1.63774727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099893 meters Centerline goodness [0,1] 0.9998491086633183 Centerline is valid? [True, True] Translation: X:39.47, Y:2.54, Z:1.64 [[ 9.91904432e-01 -1.11946583e-01 -5.99463141e-02 3.94740591e+01] [ 1.11839715e-01 9.93712937e-01 -5.14558803e-03 2.53945503e+00] [ 6.01454588e-02 -1.60044708e-03 9.98188340e-01 1.63746749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.135099892999996 meters Centerline goodness [0,1] 0.9997832871012483 Centerline is valid? [True, True] Translation: X:39.51, Y:2.54, Z:1.64 [[ 9.91690584e-01 -1.13417233e-01 -6.07150473e-02 3.95059778e+01] [ 1.13310523e-01 9.93545969e-01 -5.20885744e-03 2.54245371e+00] [ 6.09139647e-02 -1.71407891e-03 9.98141548e-01 1.63831669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters Centerline goodness [0,1] 0.9997833293610383 Centerline is valid? [True, True] Translation: X:39.54, Y:2.54, Z:1.64 [[ 9.91508877e-01 -1.15123675e-01 -6.04705434e-02 3.95382993e+01] [ 1.15021256e-01 9.93349506e-01 -5.18350019e-03 2.54315752e+00] [ 6.06651280e-02 -1.81591139e-03 9.98156523e-01 1.63882901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.195099893 meters Centerline goodness [0,1] 0.9997401303679321 Centerline is valid? [True, True] Translation: X:39.57, Y:2.54, Z:1.64 [[ 9.91480227e-01 -1.16119650e-01 -5.90185182e-02 3.95703450e+01] [ 1.16024103e-01 9.93233536e-01 -5.05480893e-03 2.54466019e+00] [ 5.92061341e-02 -1.83582750e-03 9.98244090e-01 1.64184004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225099893 meters Centerline goodness [0,1] 0.9998706227358979 Centerline is valid? [True, True] Translation: X:39.60, Y:2.55, Z:1.65 [[ 9.91610692e-01 -1.16395080e-01 -5.62176240e-02 3.96009406e+01] [ 1.16309041e-01 9.93201420e-01 -4.81113536e-03 2.54649725e+00] [ 5.63954164e-02 -1.76784465e-03 9.98406947e-01 1.64681038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.255099893 meters Centerline goodness [0,1] 0.9997408711049688 Centerline is valid? [True, True] Translation: X:39.63, Y:2.55, Z:1.65 [[ 9.91595495e-01 -1.16731667e-01 -5.57861312e-02 3.96318648e+01] [ 1.16647644e-01 9.93161902e-01 -4.77119427e-03 2.54850218e+00] [ 5.59616096e-02 -1.77622604e-03 9.98431341e-01 1.64882260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099893 meters Centerline goodness [0,1] 0.9998706729318446 Centerline is valid? [True, True] Translation: X:39.66, Y:2.55, Z:1.65 [[ 9.91530078e-01 -1.17287213e-01 -5.57836285e-02 3.96638938e+01] [ 1.17204252e-01 9.93096386e-01 -4.76781805e-03 2.55004228e+00] [ 5.59577239e-02 -1.81064343e-03 9.98431497e-01 1.65103776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.315099892999996 meters Centerline goodness [0,1] 0.9998057539982302 Centerline is valid? [True, True] Translation: X:39.70, Y:2.55, Z:1.65 [[ 9.91435787e-01 -1.17145933e-01 -5.77227091e-02 3.96961059e+01] [ 1.17057115e-01 9.93112951e-01 -4.92926849e-03 2.55226576e+00] [ 5.79026138e-02 -1.86980060e-03 9.98320485e-01 1.64982255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters Centerline goodness [0,1] 0.9998484356392768 Centerline is valid? [True, True] Translation: X:39.73, Y:2.56, Z:1.65 [[ 9.91454519e-01 -1.15496006e-01 -6.06515330e-02 3.97278471e+01] [ 1.15395144e-01 9.93306187e-01 -5.17480017e-03 2.55617723e+00] [ 6.08432118e-02 -1.86831339e-03 9.98145587e-01 1.64918729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.375099893 meters Centerline goodness [0,1] 0.9997831790290757 Centerline is valid? [True, True] Translation: X:39.76, Y:2.56, Z:1.65 [[ 9.91565656e-01 -1.13772378e-01 -6.20757249e-02 3.97594323e+01] [ 1.13663640e-01 9.93505196e-01 -5.29172227e-03 2.56118069e+00] [ 6.22746070e-02 -1.80866277e-03 9.98057414e-01 1.65002741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405099893 meters Centerline goodness [0,1] 0.9998695623817909 Centerline is valid? [True, True] Translation: X:39.79, Y:2.57, Z:1.65 [[ 9.92036259e-01 -1.09397280e-01 -6.24203137e-02 3.97904788e+01] [ 1.09278951e-01 9.93996903e-01 -5.31679912e-03 2.56960644e+00] [ 6.26272419e-02 -1.54676888e-03 9.98035789e-01 1.65339829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.435099893 meters Centerline goodness [0,1] 0.9998693009780644 Centerline is valid? [True, True] Translation: X:39.82, Y:2.58, Z:1.65 [[ 9.92651926e-01 -1.03544195e-01 -6.26159250e-02 3.98202906e+01] [ 1.03413669e-01 9.94624149e-01 -5.33059171e-03 2.57673986e+00] [ 6.28312630e-02 -1.18392040e-03 9.98023462e-01 1.65467294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099893 meters Centerline goodness [0,1] 0.9998255712541427 Centerline is valid? [True, True] Translation: X:39.85, Y:2.58, Z:1.66 [[ 9.93276488e-01 -9.76482600e-02 -6.21822789e-02 3.98512200e+01] [ 9.75080764e-02 9.95220662e-01 -5.29228449e-03 2.58268132e+00] [ 6.24018712e-02 -8.06572653e-04 9.98050778e-01 1.65575186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.495099893 meters Centerline goodness [0,1] 0.9999564440959973 Centerline is valid? [True, True] Translation: X:39.88, Y:2.59, Z:1.66 [[ 9.93935096e-01 -9.21081582e-02 -6.00758811e-02 3.98812232e+01] [ 9.19673149e-02 9.95748909e-01 -5.11113631e-03 2.58882514e+00] [ 6.02912704e-02 -4.44879722e-04 9.98180728e-01 1.66004288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters Centerline goodness [0,1] 0.9997819640676784 Centerline is valid? [True, True] Translation: X:39.91, Y:2.60, Z:1.66 [[ 9.94470385e-01 -8.62729999e-02 -5.98800700e-02 3.99124420e+01] [ 8.61225778e-02 9.96271530e-01 -5.09318843e-03 2.59522950e+00] [ 6.00962136e-02 -9.20009263e-05 9.98192585e-01 1.66076228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.555099893 meters Centerline goodness [0,1] 0.9998249874209709 Centerline is valid? [True, True] Translation: X:39.94, Y:2.60, Z:1.66 [[ 9.94982309e-01 -8.12220502e-02 -5.84224474e-02 3.99424492e+01] [ 8.10702628e-02 9.96696010e-01 -4.96754458e-03 2.60042805e+00] [ 5.86328943e-02 2.06295817e-04 9.98279591e-01 1.66414283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.585099893 meters Centerline goodness [0,1] 0.9998034677031925 Centerline is valid? [True, True] Translation: X:39.97, Y:2.60, Z:1.67 [[ 9.95253128e-01 -7.87020871e-02 -5.72467735e-02 3.99724385e+01] [ 7.85521866e-02 9.96898119e-01 -4.86757936e-03 2.60407023e+00] [ 5.74522895e-02 3.47614353e-04 9.98348193e-01 1.66652119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615099893 meters Centerline goodness [0,1] 0.9998043988524733 Centerline is valid? [True, True] Translation: X:40.00, Y:2.61, Z:1.67 [[ 9.95691729e-01 -7.45418459e-02 -5.51497457e-02 4.00013974e+01] [ 7.43963498e-02 9.97217726e-01 -4.68941288e-03 2.60855519e+00] [ 5.53458615e-02 5.66269849e-04 9.98467083e-01 1.66947376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099893 meters Centerline goodness [0,1] 0.9999782040104621 Centerline is valid? [True, True] Translation: X:40.03, Y:2.61, Z:1.67 [[ 9.95906899e-01 -7.19437720e-02 -5.47132699e-02 4.00304897e+01] [ 7.17965928e-02 9.97408439e-01 -4.65341000e-03 2.60985214e+00] [ 5.49062610e-02 7.06136763e-04 9.98491264e-01 1.67389996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.675099893 meters Centerline goodness [0,1] 0.9997163863254576 Centerline is valid? [True, True] Translation: X:40.06, Y:2.61, Z:1.67 [[ 9.95852221e-01 -6.98187624e-02 -5.83411975e-02 4.00592970e+01] [ 6.96476089e-02 9.97559304e-01 -4.96441715e-03 2.61256829e+00] [ 5.85454138e-02 8.80500932e-04 9.98284358e-01 1.67083433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters Centerline goodness [0,1] 0.9998262908759282 Centerline is valid? [True, True] Translation: X:40.09, Y:2.61, Z:1.67 [[ 9.95867144e-01 -6.85456351e-02 -5.95829416e-02 4.00881519e+01] [ 6.83644907e-02 9.97647499e-01 -5.07580359e-03 2.61378977e+00] [ 5.97906969e-02 9.81468573e-04 9.98210453e-01 1.67173932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.735099893 meters Centerline goodness [0,1] 0.9998914624351488 Centerline is valid? [True, True] Translation: X:40.12, Y:2.61, Z:1.67 [[ 9.95795649e-01 -6.85991425e-02 -6.07057164e-02 4.01173985e+01] [ 6.84102491e-02 9.97643791e-01 -5.18699433e-03 2.61389464e+00] [ 6.09185043e-02 1.01229320e-03 9.98142230e-01 1.67202275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.765099893 meters Centerline goodness [0,1] 0.9998269222448185 Centerline is valid? [True, True] Translation: X:40.15, Y:2.61, Z:1.67 [[ 9.95664063e-01 -7.00642501e-02 -6.11888378e-02 4.01452555e+01] [ 6.98742818e-02 9.97542035e-01 -5.24153203e-03 2.61355408e+00] [ 6.14056818e-02 9.43278981e-04 9.98112445e-01 1.67075487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795099893 meters Centerline goodness [0,1] 0.9998481759423936 Centerline is valid? [True, True] Translation: X:40.17, Y:2.61, Z:1.67 [[ 9.95571645e-01 -7.29561104e-02 -5.92832742e-02 4.01743003e+01] [ 7.27824985e-02 9.97334872e-01 -5.08543592e-03 2.61110558e+00] [ 5.94962902e-02 7.48130991e-04 9.98228246e-01 1.67418125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099893 meters Centerline goodness [0,1] 0.9998918193816396 Centerline is valid? [True, True] Translation: X:40.20, Y:2.61, Z:1.68 [[ 9.95493773e-01 -7.61625369e-02 -5.64926174e-02 4.02033352e+01] [ 7.60092722e-02 9.97095267e-01 -4.85988987e-03 2.61052071e+00] [ 5.66986630e-02 5.44027373e-04 9.98391189e-01 1.67730807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.855099893 meters Centerline goodness [0,1] 0.9997850987471257 Centerline is valid? [True, True] Translation: X:40.23, Y:2.61, Z:1.68 [[ 9.95353071e-01 -7.95797209e-02 -5.42156112e-02 4.02319187e+01] [ 7.94429829e-02 9.96828444e-01 -4.67600345e-03 2.60881463e+00] [ 5.44157784e-02 3.47224523e-04 9.98518304e-01 1.67890045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters Centerline goodness [0,1] 0.9998059717581115 Centerline is valid? [True, True] Translation: X:40.26, Y:2.61, Z:1.68 [[ 9.95031511e-01 -8.47154077e-02 -5.23028803e-02 4.02630573e+01] [ 8.45950877e-02 9.96405186e-01 -4.51397002e-03 2.60604408e+00] [ 5.24972640e-02 6.69756638e-05 9.98621066e-01 1.68178302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.915099893 meters Centerline goodness [0,1] 0.9997849970974608 Centerline is valid? [True, True] Translation: X:40.29, Y:2.60, Z:1.68 [[ 9.94538777e-01 -9.07439708e-02 -5.15572693e-02 4.02944040e+01] [ 9.06351761e-02 9.95874224e-01 -4.44911589e-03 2.60354473e+00] [ 5.17482860e-02 -2.48083905e-04 9.98660129e-01 1.68336365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.945099893 meters Centerline goodness [0,1] 0.9997641205987048 Centerline is valid? [True, True] Translation: X:40.33, Y:2.60, Z:1.69 [[ 9.93973101e-01 -9.67699046e-02 -5.15078589e-02 4.03258702e+01] [ 9.66697041e-02 9.95306618e-01 -4.43895224e-03 2.60113035e+00] [ 5.16956699e-02 -5.67050360e-04 9.98662724e-01 1.68515910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975099893 meters Centerline goodness [0,1] 0.999850116694859 Centerline is valid? [True, True] Translation: X:40.36, Y:2.60, Z:1.69 [[ 9.93691913e-01 -9.95093716e-02 -5.17133101e-02 4.03584779e+01] [ 9.94122282e-02 9.95036368e-01 -4.45371698e-03 2.60198150e+00] [ 5.18998109e-02 -7.15312843e-04 9.98652040e-01 1.68742256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.005099893 meters Centerline goodness [0,1] 0.9998713964205337 Centerline is valid? [True, True] Translation: X:40.39, Y:2.60, Z:1.69 [[ 9.93202907e-01 -1.03371910e-01 -5.34998460e-02 4.03893894e+01] [ 1.03273738e-01 9.94642318e-01 -4.60373528e-03 2.59990814e+00] [ 5.36891077e-02 -9.52685816e-04 9.98557245e-01 1.68723066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.035099893 meters Centerline goodness [0,1] 0.9998075401492633 Centerline is valid? [True, True] Translation: X:40.42, Y:2.60, Z:1.69 [[ 9.92894811e-01 -1.05176095e-01 -5.56586237e-02 4.04207865e+01] [ 1.05072795e-01 9.94453010e-01 -4.78724234e-03 2.59976470e+00] [ 5.58533894e-02 -1.09497909e-03 9.98438381e-01 1.68662153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters Centerline goodness [0,1] 0.9997431781701445 Centerline is valid? [True, True] Translation: X:40.45, Y:2.61, Z:1.69 [[ 9.93038570e-01 -1.03810039e-01 -5.56585544e-02 4.04523951e+01] [ 1.03704773e-01 9.94596618e-01 -4.78407386e-03 2.60534271e+00] [ 5.58544449e-02 -1.02128787e-03 9.98438400e-01 1.68953277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.095099893 meters Centerline goodness [0,1] 0.9997425279464458 Centerline is valid? [True, True] Translation: X:40.48, Y:2.61, Z:1.69 [[ 9.93208497e-01 -1.02120394e-01 -5.57521982e-02 4.04842603e+01] [ 1.02012344e-01 9.94771610e-01 -4.78800435e-03 2.60883522e+00] [ 5.59496569e-02 -9.31925823e-04 9.98433156e-01 1.69172488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.125099893 meters Centerline goodness [0,1] 0.9998499399759904 Centerline is valid? [True, True] Translation: X:40.51, Y:2.61, Z:1.69 [[ 9.94082633e-01 -9.34765774e-02 -5.53339667e-02 4.05139071e+01] [ 9.33569542e-02 9.95621379e-01 -4.74847829e-03 2.61488116e+00] [ 5.55355517e-02 -4.45430792e-04 9.98456611e-01 1.69352577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.155099893 meters Centerline goodness [0,1] 0.9997853616655935 Centerline is valid? [True, True] Translation: X:40.54, Y:2.62, Z:1.69 [[ 9.94450787e-01 -8.93994677e-02 -5.54560002e-02 4.05435838e+01] [ 8.92730362e-02 9.95995827e-01 -4.75792875e-03 2.61943009e+00] [ 5.56593010e-02 -2.19199518e-04 9.98449796e-01 1.69436914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.185099893 meters Centerline goodness [0,1] 0.9999570446735395 Centerline is valid? [True, True] Translation: X:40.57, Y:2.63, Z:1.70 [[ 9.95501023e-01 -7.72879291e-02 -5.48113990e-02 4.05724938e+01] [ 7.71461044e-02 9.97008712e-01 -4.70181104e-03 2.62915098e+00] [ 5.50108355e-02 4.52171794e-04 9.98485655e-01 1.69775761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.215099893 meters Centerline goodness [0,1] 0.999787111745045 Centerline is valid? [True, True] Translation: X:40.60, Y:2.63, Z:1.70 [[ 9.95954186e-01 -7.03737993e-02 -5.58819124e-02 4.06013838e+01] [ 7.02154611e-02 9.97520328e-01 -4.79426937e-03 2.63391740e+00] [ 5.60807345e-02 8.51098396e-04 9.98425874e-01 1.69592087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters Centerline goodness [0,1] 0.9996994676283703 Centerline is valid? [True, True] Translation: X:40.63, Y:2.63, Z:1.70 [[ 9.96131020e-01 -6.64328659e-02 -5.75296848e-02 4.06302567e+01] [ 6.62581763e-02 9.97790280e-01 -4.94080743e-03 2.63411257e+00] [ 5.77307922e-02 1.10987956e-03 9.98331570e-01 1.69596372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.275099893 meters Centerline goodness [0,1] 0.999785899329865 Centerline is valid? [True, True] Translation: X:40.66, Y:2.63, Z:1.70 [[ 9.96157002e-01 -6.50613318e-02 -5.86365950e-02 4.06590757e+01] [ 6.48765763e-02 9.97880512e-01 -5.05110048e-03 2.63412485e+00] [ 5.88409467e-02 1.22754758e-03 9.98266616e-01 1.69830461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.305099893 meters Centerline goodness [0,1] 0.9997439399112324 Centerline is valid? [True, True] Translation: X:40.69, Y:2.63, Z:1.70 [[ 9.96097521e-01 -6.62032802e-02 -5.83682691e-02 4.06872650e+01] [ 6.60213993e-02 9.97805473e-01 -5.04114827e-03 2.63479455e+00] [ 5.85739189e-02 1.16792049e-03 9.98282391e-01 1.69925471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.335099893 meters Centerline goodness [0,1] 0.9996592917527309 Centerline is valid? [True, True] Translation: X:40.72, Y:2.63, Z:1.70 [[ 9.96008130e-01 -6.83622200e-02 -5.73969708e-02 4.07164559e+01] [ 6.81895354e-02 9.97660035e-01 -4.96407938e-03 2.63234246e+00] [ 5.76020194e-02 1.03039064e-03 9.98339094e-01 1.70147122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.365099893 meters Centerline goodness [0,1] 0.999765483423942 Centerline is valid? [True, True] Translation: X:40.75, Y:2.63, Z:1.70 [[ 9.95930846e-01 -7.15606403e-02 -5.47797903e-02 4.07455717e+01] [ 7.14074507e-02 9.97435914e-01 -4.75120227e-03 2.62911863e+00] [ 5.49793293e-02 8.20183722e-04 9.98487156e-01 1.70479989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.395099893 meters Centerline goodness [0,1] 0.9998092088527092 Centerline is valid? [True, True] Translation: X:40.78, Y:2.63, Z:1.71 [[ 9.95740712e-01 -7.59690995e-02 -5.22410825e-02 4.07751811e+01] [ 7.58351803e-02 9.97110014e-01 -4.54380782e-03 2.62572233e+00] [ 5.24352954e-02 5.62742527e-04 9.98624165e-01 1.70820658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099893 meters Centerline goodness [0,1] 0.999851493550577 Centerline is valid? [True, True] Translation: X:40.80, Y:2.62, Z:1.71 [[ 9.95587920e-01 -7.87716576e-02 -5.09874444e-02 4.08045677e+01] [ 7.86471509e-02 9.96892598e-01 -4.44676205e-03 2.62496996e+00] [ 5.11792848e-02 4.17125343e-04 9.98689395e-01 1.71028323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.455099892999996 meters Centerline goodness [0,1] 0.999809958190802 Centerline is valid? [True, True] Translation: X:40.83, Y:2.62, Z:1.71 [[ 9.95337105e-01 -8.17913657e-02 -5.11294467e-02 4.08341414e+01] [ 8.16695557e-02 9.96649436e-01 -4.47060049e-03 2.62447614e+00] [ 5.13237907e-02 2.74035349e-04 9.98682028e-01 1.71122653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters Centerline goodness [0,1] 0.999767682527614 Centerline is valid? [True, True] Translation: X:40.86, Y:2.62, Z:1.71 [[ 9.95055806e-01 -8.51735200e-02 -5.10824194e-02 4.08635868e+01] [ 8.50563986e-02 9.96366128e-01 -4.46625401e-03 2.62344619e+00] [ 5.12771990e-02 9.92853592e-05 9.98684454e-01 1.71203261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.515099893 meters Centerline goodness [0,1] 0.9997686451015858 Centerline is valid? [True, True] Translation: X:40.89, Y:2.61, Z:1.71 [[ 9.93881430e-01 -9.73362639e-02 -5.22049390e-02 4.08947473e+01] [ 9.72305876e-02 9.95251407e-01 -4.56620045e-03 2.61308284e+00] [ 5.24014958e-02 -5.37655064e-04 9.98625953e-01 1.71110689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.545099893 meters Centerline goodness [0,1] 0.9997904398667198 Centerline is valid? [True, True] Translation: X:40.93, Y:2.61, Z:1.71 [[ 9.92920431e-01 -1.06251845e-01 -5.30995643e-02 4.09254607e+01] [ 1.06155216e-01 9.94338723e-01 -4.64489251e-03 2.60524825e+00] [ 5.32924813e-02 -1.02478703e-03 9.98578420e-01 1.71022473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.575099893 meters Centerline goodness [0,1] 0.9998325589183306 Centerline is valid? [True, True] Translation: X:40.96, Y:2.60, Z:1.71 [[ 9.92495314e-01 -1.10420356e-01 -5.25394768e-02 4.09554860e+01] [ 1.10331581e-01 9.93884208e-01 -4.59599115e-03 2.60265080e+00] [ 5.27256472e-02 -1.23526383e-03 9.98608272e-01 1.71159415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099893 meters Centerline goodness [0,1] 0.9998329644631896 Centerline is valid? [True, True] Translation: X:40.99, Y:2.60, Z:1.71 [[ 9.91634474e-01 -1.17889905e-01 -5.25646198e-02 4.09872142e+01] [ 1.17811481e-01 9.93025330e-01 -4.59883893e-03 2.60013580e+00] [ 5.27401556e-02 -1.63234849e-03 9.98606935e-01 1.71409464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.635099892999996 meters Centerline goodness [0,1] 0.9997904969412553 Centerline is valid? [True, True] Translation: X:41.02, Y:2.60, Z:1.71 [[ 9.90896648e-01 -1.22366270e-01 -5.61277935e-02 4.10182646e+01] [ 1.22284137e-01 9.92482996e-01 -4.90845159e-03 2.59797111e+00] [ 5.63065096e-02 -1.99977057e-03 9.98411527e-01 1.71180631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters Centerline goodness [0,1] 0.999874754728009 Centerline is valid? [True, True] Translation: X:41.05, Y:2.60, Z:1.71 [[ 9.91015823e-01 -1.21867599e-01 -5.50992394e-02 4.10488527e+01] [ 1.21787779e-01 9.92544476e-01 -4.81669443e-03 2.59950547e+00] [ 5.52754446e-02 -1.93699358e-03 9.98469265e-01 1.71351753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.695099893 meters Centerline goodness [0,1] 0.9998531571218796 Centerline is valid? [True, True] Translation: X:41.08, Y:2.61, Z:1.72 [[ 9.91642252e-01 -1.16939202e-01 -5.45056693e-02 4.10784590e+01] [ 1.16853815e-01 9.93137710e-01 -4.76190162e-03 2.61074877e+00] [ 5.46884885e-02 -1.64709257e-03 9.98502106e-01 1.71677438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.725099893 meters Centerline goodness [0,1] 0.9998530183727035 Centerline is valid? [True, True] Translation: X:41.11, Y:2.62, Z:1.72 [[ 9.91702090e-01 -1.16948862e-01 -5.33847247e-02 4.11090577e+01] [ 1.16866984e-01 9.93136626e-01 -4.66363273e-03 2.61652336e+00] [ 5.35637319e-02 -1.61397743e-03 9.98563129e-01 1.71919969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.755099893 meters Centerline goodness [0,1] 0.9997686694286135 Centerline is valid? [True, True] Translation: X:41.14, Y:2.62, Z:1.72 [[ 9.91707922e-01 -1.16856443e-01 -5.34786771e-02 4.11398940e+01] [ 1.16774302e-01 9.93147504e-01 -4.66885531e-03 2.61965560e+00] [ 5.36578004e-02 -1.61479441e-03 9.98558077e-01 1.71982868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099893 meters Centerline goodness [0,1] 0.9997902728550156 Centerline is valid? [True, True] Translation: X:41.17, Y:2.62, Z:1.72 [[ 9.91739446e-01 -1.16572496e-01 -5.35137808e-02 4.11709551e+01] [ 1.16489993e-01 9.93180891e-01 -4.66898010e-03 2.62301464e+00] [ 5.36931392e-02 -1.60340821e-03 9.98556196e-01 1.72119014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.815099892999996 meters Centerline goodness [0,1] 0.9999369919979837 Centerline is valid? [True, True] Translation: X:41.20, Y:2.63, Z:1.72 [[ 9.91861595e-01 -1.15587635e-01 -5.33861013e-02 4.12022407e+01] [ 1.15504255e-01 9.93296078e-01 -4.65494292e-03 2.62909184e+00] [ 5.35662589e-02 -1.54926277e-03 9.98563096e-01 1.72478152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters Centerline goodness [0,1] 0.9999369919979837 Centerline is valid? [True, True] Translation: X:41.23, Y:2.63, Z:1.73 [[ 9.91869955e-01 -1.15515753e-01 -5.33863626e-02 4.12337967e+01] [ 1.15432431e-01 9.93304441e-01 -4.65194373e-03 2.63178354e+00] [ 5.35662839e-02 -1.54839440e-03 9.98563096e-01 1.72628759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.875099893 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:41.27, Y:2.64, Z:1.73 [[ 9.91970764e-01 -1.14106739e-01 -5.45312281e-02 4.12650626e+01] [ 1.14017887e-01 9.93467352e-01 -4.74791381e-03 2.63731053e+00] [ 5.47167637e-02 -1.50774369e-03 9.98500777e-01 1.72635893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.905099893 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:41.30, Y:2.64, Z:1.73 [[ 9.91974887e-01 -1.14070813e-01 -5.45313999e-02 4.12957729e+01] [ 1.13982015e-01 9.93471477e-01 -4.74593948e-03 2.63995431e+00] [ 5.47167636e-02 -1.50774607e-03 9.98500777e-01 1.72782496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.935099893 meters Centerline goodness [0,1] 0.9998108568186117 Centerline is valid? [True, True] Translation: X:41.33, Y:2.65, Z:1.73 [[ 9.92199523e-01 -1.11853903e-01 -5.50346377e-02 4.13269677e+01] [ 1.11760164e-01 9.93723676e-01 -4.78771524e-03 2.64583037e+00] [ 5.52247471e-02 -1.40031134e-03 9.98472967e-01 1.72892275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099893 meters Centerline goodness [0,1] 0.9998103546368291 Centerline is valid? [True, True] Translation: X:41.36, Y:2.65, Z:1.73 [[ 9.92506722e-01 -1.09075769e-01 -5.50716268e-02 4.13568651e+01] [ 1.08977761e-01 9.94032654e-01 -4.78858866e-03 2.65152126e+00] [ 5.52653143e-02 -1.24887615e-03 9.98470924e-01 1.73036511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.995099892999995 meters Centerline goodness [0,1] 0.9998312841386001 Centerline is valid? [True, True] Translation: X:41.39, Y:2.66, Z:1.73 [[ 9.93299719e-01 -1.01942763e-01 -5.44365786e-02 4.13876522e+01] [ 1.01836523e-01 9.94789906e-01 -4.72921924e-03 2.66147616e+00] [ 5.46350686e-02 -8.46099742e-04 9.98506031e-01 1.73217508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters Centerline goodness [0,1] 0.9998304761501133 Centerline is valid? [True, True] Translation: X:41.42, Y:2.67, Z:1.73 [[ 9.94135624e-01 -9.38280890e-02 -5.37647735e-02 4.14188855e+01] [ 9.37127603e-02 9.95588334e-01 -4.66769023e-03 2.67135815e+00] [ 5.39655417e-02 -3.98128199e-04 9.98542719e-01 1.73308548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.055099893 meters Centerline goodness [0,1] 0.9999575497728913 Centerline is valid? [True, True] Translation: X:41.45, Y:2.68, Z:1.74 [[ 9.94815540e-01 -8.67739810e-02 -5.30312947e-02 4.14494365e+01] [ 8.66519060e-02 9.96228024e-01 -4.60122715e-03 2.68074953e+00] [ 5.32305287e-02 -1.78904958e-05 9.98582250e-01 1.73601772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.085099893 meters Centerline goodness [0,1] 0.9998515722737007 Centerline is valid? [True, True] Translation: X:41.48, Y:2.69, Z:1.74 [[ 9.95200931e-01 -8.23291484e-02 -5.28868349e-02 4.14796966e+01] [ 8.22015620e-02 9.96605170e-01 -4.58684738e-03 2.68787627e+00] [ 5.30849243e-02 2.17454346e-04 9.98589978e-01 1.73600324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.115099893 meters Centerline goodness [0,1] 0.9998934424482663 Centerline is valid? [True, True] Translation: X:41.51, Y:2.69, Z:1.74 [[ 9.95290705e-01 -8.08171524e-02 -5.35257071e-02 4.15094375e+01] [ 8.06843125e-02 9.96728899e-01 -4.64160410e-03 2.69260240e+00] [ 5.37257403e-02 3.01060534e-04 9.98555684e-01 1.73736084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099893 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:41.54, Y:2.69, Z:1.74 [[ 9.95169139e-01 -8.20433054e-02 -5.39192075e-02 4.15376572e+01] [ 8.19101883e-02 9.96628737e-01 -4.67781872e-03 2.69425239e+00] [ 5.41212154e-02 2.38688393e-04 9.98534344e-01 1.73796249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.175099893 meters Centerline goodness [0,1] 0.9997663501773615 Centerline is valid? [True, True] Translation: X:41.57, Y:2.70, Z:1.74 [[ 9.95007317e-01 -8.35474353e-02 -5.45918091e-02 4.15676972e+01] [ 8.34130785e-02 9.96503788e-01 -4.73903356e-03 2.69603147e+00] [ 5.47968787e-02 1.61702214e-04 9.98497509e-01 1.73771955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters Centerline goodness [0,1] 0.9998721554589619 Centerline is valid? [True, True] Translation: X:41.60, Y:2.70, Z:1.74 [[ 9.94661093e-01 -8.83511276e-02 -5.33234387e-02 4.15965089e+01] [ 8.82297330e-02 9.96089388e-01 -4.63094686e-03 2.69692121e+00] [ 5.35240608e-02 -9.84900970e-05 9.98566555e-01 1.74032015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.235099893 meters Centerline goodness [0,1] 0.999893635125936 Centerline is valid? [True, True] Translation: X:41.63, Y:2.70, Z:1.74 [[ 9.94166945e-01 -9.47455889e-02 -5.15301825e-02 4.16267539e+01] [ 9.46406767e-02 9.95501428e-01 -4.47769934e-03 2.69676489e+00] [ 5.17226125e-02 -4.25270667e-04 9.98661399e-01 1.74401839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.265099893 meters Centerline goodness [0,1] 0.9998725790010193 Centerline is valid? [True, True] Translation: X:41.66, Y:2.70, Z:1.75 [[ 9.93396422e-01 -1.02554863e-01 -5.14397680e-02 4.16575713e+01] [ 1.02460781e-01 9.94727003e-01 -4.46966001e-03 2.69507151e+00] [ 5.16269116e-02 -8.30414527e-04 9.98666097e-01 1.74529724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.295099893 meters Centerline goodness [0,1] 0.9998302927450149 Centerline is valid? [True, True] Translation: X:41.69, Y:2.69, Z:1.75 [[ 9.92371916e-01 -1.11573841e-01 -5.24333638e-02 4.16885330e+01] [ 1.11488769e-01 9.93755260e-01 -4.55374823e-03 2.69257656e+00] [ 5.26140103e-02 -1.32671933e-03 9.98614042e-01 1.74506373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099893 meters Centerline goodness [0,1] 0.9998515848616559 Centerline is valid? [True, True] Translation: X:41.72, Y:2.68, Z:1.75 [[ 9.89822426e-01 -1.32770096e-01 -5.12217332e-02 4.17195843e+01] [ 1.32717200e-01 9.91143967e-01 -4.44768873e-03 2.68364821e+00] [ 5.13586319e-02 -2.39558295e-03 9.98677401e-01 1.74705361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.355099893 meters Centerline goodness [0,1] 0.9998099220680479 Centerline is valid? [True, True] Translation: X:41.75, Y:2.68, Z:1.75 [[ 9.89448309e-01 -1.35573425e-01 -5.11066498e-02 4.17502955e+01] [ 1.35524495e-01 9.90764058e-01 -4.43765967e-03 2.68080951e+00] [ 5.12362604e-02 -2.53536805e-03 9.98683342e-01 1.74766313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters Centerline goodness [0,1] 0.9998099220680479 Centerline is valid? [True, True] Translation: X:41.78, Y:2.68, Z:1.75 [[ 9.89457687e-01 -1.35504929e-01 -5.11067458e-02 4.17818771e+01] [ 1.35455965e-01 9.90773435e-01 -4.43655301e-03 2.68348871e+00] [ 5.12363809e-02 -2.53293208e-03 9.98683342e-01 1.74917087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.415099893 meters Centerline goodness [0,1] 0.9998939577103348 Centerline is valid? [True, True] Translation: X:41.81, Y:2.69, Z:1.75 [[ 9.89174630e-01 -1.37763137e-01 -5.05457173e-02 4.18132634e+01] [ 1.37718361e-01 9.90461726e-01 -4.38425806e-03 2.68796006e+00] [ 5.06675876e-02 -2.62427650e-03 9.98712125e-01 1.75178563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.445099893 meters Centerline goodness [0,1] 0.9999154029989636 Centerline is valid? [True, True] Translation: X:41.84, Y:2.69, Z:1.75 [[ 9.88974608e-01 -1.39206794e-01 -5.05043917e-02 4.18448494e+01] [ 1.39164223e-01 9.90259649e-01 -4.37563197e-03 2.69237493e+00] [ 5.06215790e-02 -2.70101551e-03 9.98714254e-01 1.75356398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.475099893 meters Centerline goodness [0,1] 0.9998728678885476 Centerline is valid? [True, True] Translation: X:41.88, Y:2.69, Z:1.75 [[ 9.88847665e-01 -1.40035001e-01 -5.07000361e-02 4.18764888e+01] [ 1.39993373e-01 9.90142714e-01 -4.38887629e-03 2.69295816e+00] [ 5.08148676e-02 -2.75773897e-03 9.98704283e-01 1.75358733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.505099893 meters Centerline goodness [0,1] 0.9997888558096324 Centerline is valid? [True, True] Translation: X:41.91, Y:2.70, Z:1.75 [[ 9.89251532e-01 -1.36961659e-01 -5.12143662e-02 4.19078496e+01] [ 1.36915223e-01 9.90572860e-01 -4.43054826e-03 2.70101920e+00] [ 5.13383765e-02 -2.62909972e-03 9.98677855e-01 1.75431730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.535099893 meters Centerline goodness [0,1] 0.9997872657263812 Centerline is valid? [True, True] Translation: X:41.94, Y:2.71, Z:1.76 [[ 9.89984569e-01 -1.31361334e-01 -5.17180137e-02 4.19372268e+01] [ 1.31306494e-01 9.91331736e-01 -4.47148734e-03 2.71084952e+00] [ 5.18570888e-02 -2.36420758e-03 9.98651717e-01 1.75538284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters Centerline goodness [0,1] 0.9998935558725225 Centerline is valid? [True, True] Translation: X:41.97, Y:2.72, Z:1.76 [[ 9.90361701e-01 -1.28396991e-01 -5.19414524e-02 4.19672262e+01] [ 1.28337632e-01 9.91720368e-01 -4.49036915e-03 2.71516775e+00] [ 5.20879462e-02 -2.21895337e-03 9.98640036e-01 1.75706923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.595099893 meters Centerline goodness [0,1] 0.9998074413230921 Centerline is valid? [True, True] Translation: X:42.00, Y:2.73, Z:1.76 [[ 9.91552455e-01 -1.18463841e-01 -5.28209083e-02 4.19961574e+01] [ 1.18388421e-01 9.92956866e-01 -4.56551780e-03 2.73145820e+00] [ 5.29897324e-02 -1.72643354e-03 9.98593565e-01 1.75717781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.625099893 meters Centerline goodness [0,1] 0.9997643429452847 Centerline is valid? [True, True] Translation: X:42.03, Y:2.74, Z:1.76 [[ 9.91968366e-01 -1.14873054e-01 -5.29428208e-02 4.20266463e+01] [ 1.14792186e-01 9.93378989e-01 -4.57589818e-03 2.73679486e+00] [ 5.31179332e-02 -1.53827590e-03 9.98587061e-01 1.75834886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.655099893 meters Centerline goodness [0,1] 0.9998280974687352 Centerline is valid? [True, True] Translation: X:42.06, Y:2.75, Z:1.76 [[ 9.92735296e-01 -1.07586877e-01 -5.38673929e-02 4.20555544e+01] [ 1.07492536e-01 9.94194998e-01 -4.65403153e-03 2.74847037e+00] [ 5.40554053e-02 -1.17012128e-03 9.98537252e-01 1.76034183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.685099893 meters Centerline goodness [0,1] 0.9998068213526798 Centerline is valid? [True, True] Translation: X:42.08, Y:2.76, Z:1.76 [[ 9.93709179e-01 -9.59097313e-02 -5.78220677e-02 4.20849395e+01] [ 9.57812665e-02 9.95389870e-01 -4.99551925e-03 2.76376223e+00] [ 5.80346194e-02 -5.74177547e-04 9.98314406e-01 1.75736728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.12, Y:2.78, Z:1.76 [[ 9.94439039e-01 -8.82291017e-02 -5.75032468e-02 4.21154182e+01] [ 8.80892820e-02 9.96100201e-01 -4.96676310e-03 2.77605283e+00] [ 5.77172087e-02 -1.26276597e-04 9.98332964e-01 1.76229001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters Centerline goodness [0,1] 0.9998035792230467 Centerline is valid? [True, True] Translation: X:42.15, Y:2.79, Z:1.76 [[ 9.95094485e-01 -8.01662948e-02 -5.79683571e-02 4.21459136e+01] [ 8.00106470e-02 9.96781444e-01 -5.00482625e-03 2.78908007e+00] [ 5.81830011e-02 3.42189247e-04 9.98305876e-01 1.76249772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.775099893 meters Centerline goodness [0,1] 0.9997157040698056 Centerline is valid? [True, True] Translation: X:42.17, Y:2.80, Z:1.76 [[ 9.95693165e-01 -7.24618924e-02 -5.78307429e-02 4.21746803e+01] [ 7.22940822e-02 9.97370870e-01 -4.99141349e-03 2.80097248e+00] [ 5.80403856e-02 7.89095820e-04 9.98313924e-01 1.76333352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.805099893 meters Centerline goodness [0,1] 0.9996960618297078 Centerline is valid? [True, True] Translation: X:42.20, Y:2.81, Z:1.76 [[ 9.96084117e-01 -6.90829581e-02 -5.51722449e-02 4.22016200e+01] [ 6.89249441e-02 9.97610473e-01 -4.76399750e-03 2.80578923e+00] [ 5.53695204e-02 9.42598342e-04 9.98465486e-01 1.76466079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.835099893 meters Centerline goodness [0,1] 0.9997817404020342 Centerline is valid? [True, True] Translation: X:42.23, Y:2.81, Z:1.77 [[ 9.96178089e-01 -6.91301881e-02 -5.33875655e-02 4.22298334e+01] [ 6.89818439e-02 9.97607224e-01 -4.61856010e-03 2.80899769e+00] [ 5.35791030e-02 9.18135662e-04 9.98563186e-01 1.76857155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.865099893 meters Centerline goodness [0,1] 0.999869041382923 Centerline is valid? [True, True] Translation: X:42.26, Y:2.81, Z:1.77 [[ 9.96168993e-01 -6.98717145e-02 -5.25859341e-02 4.22586760e+01] [ 6.97282104e-02 9.97555600e-01 -4.56089634e-03 2.81268606e+00] [ 5.27760707e-02 8.76700435e-04 9.98605987e-01 1.77161683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.895099893 meters Centerline goodness [0,1] 0.9997815544584735 Centerline is valid? [True, True] Translation: X:42.29, Y:2.82, Z:1.77 [[ 9.96036035e-01 -7.16460450e-02 -5.27167995e-02 4.22886190e+01] [ 7.15042098e-02 9.97429810e-01 -4.57409081e-03 2.81505588e+00] [ 5.29090229e-02 7.86486181e-04 9.98599027e-01 1.77319743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099893 meters Centerline goodness [0,1] 0.9998240830328086 Centerline is valid? [True, True] Translation: X:42.32, Y:2.82, Z:1.77 [[ 9.95790384e-01 -7.43517618e-02 -5.36034266e-02 4.23188896e+01] [ 7.42089359e-02 9.97231862e-01 -4.65270742e-03 2.81546876e+00] [ 5.38009819e-02 6.55268060e-04 9.98551463e-01 1.77432715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.955099892999996 meters Centerline goodness [0,1] 0.9999342897820611 Centerline is valid? [True, True] Translation: X:42.35, Y:2.81, Z:1.77 [[ 9.95495690e-01 -7.79368909e-02 -5.39830823e-02 4.23501941e+01] [ 7.77973046e-02 9.96958186e-01 -4.68554236e-03 2.81296243e+00] [ 5.41840524e-02 4.64698931e-04 9.98530857e-01 1.77485824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.985099893 meters Centerline goodness [0,1] 0.9997595891159436 Centerline is valid? [True, True] Translation: X:42.38, Y:2.81, Z:1.77 [[ 9.95305359e-01 -7.98273337e-02 -5.47251240e-02 4.23804161e+01] [ 7.96867821e-02 9.96808639e-01 -4.74909083e-03 2.81317488e+00] [ 5.49295837e-02 3.65926518e-04 9.98490164e-01 1.77392205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.015099893 meters Centerline goodness [0,1] 0.9998910081743869 Centerline is valid? [True, True] Translation: X:42.41, Y:2.81, Z:1.78 [[ 9.95018095e-01 -8.35856510e-02 -5.43362644e-02 4.24110529e+01] [ 8.34526960e-02 9.96500584e-01 -4.71521962e-03 2.81264388e+00] [ 5.45402439e-02 1.57221089e-04 9.98511561e-01 1.77624870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.045099893 meters Centerline goodness [0,1] 0.9998475310927665 Centerline is valid? [True, True] Translation: X:42.44, Y:2.81, Z:1.78 [[ 9.94743027e-01 -8.69314716e-02 -5.41223484e-02 4.24426348e+01] [ 8.68045687e-02 9.96214293e-01 -4.69556642e-03 2.81175625e+00] [ 5.43256496e-02 -2.71851491e-05 9.98523271e-01 1.77767264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.075099893 meters Centerline goodness [0,1] 0.999891110239993 Centerline is valid? [True, True] Translation: X:42.47, Y:2.81, Z:1.78 [[ 9.94670776e-01 -8.84521540e-02 -5.29741758e-02 4.24748374e+01] [ 8.83328470e-02 9.96080421e-01 -4.59388512e-03 2.81187535e+00] [ 5.31728783e-02 -1.09956482e-04 9.98585316e-01 1.78089093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099893 meters Centerline goodness [0,1] 0.9998273964918337 Centerline is valid? [True, True] Translation: X:42.51, Y:2.81, Z:1.78 [[ 9.94770512e-01 -8.78643180e-02 -5.20719772e-02 4.25061661e+01] [ 8.77484294e-02 9.96132449e-01 -4.51199006e-03 2.81182134e+00] [ 5.22670291e-02 -8.08395544e-05 9.98633141e-01 1.78091347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.135099892999996 meters Centerline goodness [0,1] 0.9998269596816058 Centerline is valid? [True, True] Translation: X:42.54, Y:2.81, Z:1.78 [[ 9.94929766e-01 -8.62583289e-02 -5.17132589e-02 4.25379337e+01] [ 8.61420136e-02 9.96272804e-01 -4.47803429e-03 2.81375064e+00] [ 5.19067812e-02 6.45349706e-07 9.98651934e-01 1.78253013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters Centerline goodness [0,1] 0.9998484815688651 Centerline is valid? [True, True] Translation: X:42.57, Y:2.82, Z:1.78 [[ 9.95128309e-01 -8.38246503e-02 -5.18948556e-02 4.25703455e+01] [ 8.37044040e-02 9.96480513e-01 -4.49001187e-03 2.81760850e+00] [ 5.20885860e-02 1.24309966e-04 9.98642460e-01 1.78445015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.195099893 meters Centerline goodness [0,1] 0.9998044923317548 Centerline is valid? [True, True] Translation: X:42.60, Y:2.82, Z:1.79 [[ 9.95292540e-01 -8.14242623e-02 -5.25628213e-02 4.26028086e+01] [ 8.12977545e-02 9.96679501e-01 -4.54398414e-03 2.82129600e+00] [ 5.27582771e-02 2.49354168e-04 9.98607281e-01 1.78558409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.225099893 meters Centerline goodness [0,1] 0.9998045729919874 Centerline is valid? [True, True] Translation: X:42.63, Y:2.82, Z:1.79 [[ 9.95379128e-01 -7.98655555e-02 -5.33093321e-02 4.26331462e+01] [ 7.97333879e-02 9.96805589e-01 -4.60485839e-03 2.82416614e+00] [ 5.35068098e-02 3.33046273e-04 9.98567429e-01 1.78609011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.255099893 meters Centerline goodness [0,1] 0.9999783451352346 Centerline is valid? [True, True] Translation: X:42.66, Y:2.83, Z:1.79 [[ 9.95296477e-01 -7.96031941e-02 -5.52109951e-02 4.26634852e+01] [ 7.94610670e-02 9.96826566e-01 -4.76822803e-03 2.82545556e+00] [ 5.54153529e-02 3.58675977e-04 9.98463324e-01 1.78784937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099893 meters Centerline goodness [0,1] 0.999891292531797 Centerline is valid? [True, True] Translation: X:42.69, Y:2.83, Z:1.79 [[ 9.95199757e-01 -8.00666472e-02 -5.62741082e-02 4.26927684e+01] [ 7.99197201e-02 9.96789455e-01 -4.86020236e-03 2.82753634e+00] [ 5.64825777e-02 3.39461233e-04 9.98403527e-01 1.78686867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.315099892999996 meters Centerline goodness [0,1] 0.9999130774914164 Centerline is valid? [True, True] Translation: X:42.72, Y:2.83, Z:1.79 [[ 9.95236227e-01 -8.03485295e-02 -5.52174450e-02 4.27223836e+01] [ 8.02074447e-02 9.96766779e-01 -4.77005710e-03 2.83138287e+00] [ 5.54221819e-02 3.18483463e-04 9.98462959e-01 1.79054323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters Centerline goodness [0,1] 0.99986965872309 Centerline is valid? [True, True] Translation: X:42.75, Y:2.83, Z:1.79 [[ 9.95104692e-01 -8.09953341e-02 -5.66251475e-02 4.27523435e+01] [ 8.08478851e-02 9.96714438e-01 -4.89374515e-03 2.83287863e+00] [ 5.68354725e-02 2.91765346e-04 9.98383515e-01 1.78971000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.375099893 meters Centerline goodness [0,1] 0.9998474879079698 Centerline is valid? [True, True] Translation: X:42.78, Y:2.83, Z:1.79 [[ 9.95010699e-01 -8.15976231e-02 -5.74067608e-02 4.27805597e+01] [ 8.14469417e-02 9.96665319e-01 -4.96357229e-03 2.83478337e+00] [ 5.76203433e-02 2.63202427e-04 9.98338533e-01 1.78897065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.405099893 meters Centerline goodness [0,1] 0.9998695056438809 Centerline is valid? [True, True] Translation: X:42.81, Y:2.84, Z:1.79 [[ 9.94964502e-01 -8.28397667e-02 -5.64199667e-02 4.28097555e+01] [ 8.26960600e-02 9.96562861e-01 -4.88108705e-03 2.83634130e+00] [ 5.66303916e-02 1.90799388e-04 9.98395193e-01 1.79221875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.435099893 meters Centerline goodness [0,1] 0.9998696134037421 Centerline is valid? [True, True] Translation: X:42.84, Y:2.84, Z:1.80 [[ 9.94940549e-01 -8.35688632e-02 -5.57633354e-02 4.28396475e+01] [ 8.34295332e-02 9.96501993e-01 -4.82598760e-03 2.83932498e+00] [ 5.59715772e-02 1.49261706e-04 9.98432351e-01 1.79508247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.87, Y:2.84, Z:1.80 [[ 9.94873994e-01 -8.49063851e-02 -5.49239557e-02 4.28692326e+01] [ 8.47732841e-02 9.96388930e-01 -4.75287213e-03 2.84255328e+00] [ 5.51291707e-02 7.24247749e-05 9.98479228e-01 1.79929874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.495099892999995 meters Centerline goodness [0,1] 0.9998914482968237 Centerline is valid? [True, True] Translation: X:42.90, Y:2.84, Z:1.80 [[ 9.94670000e-01 -8.61687059e-02 -5.66263680e-02 4.29008989e+01] [ 8.60294549e-02 9.96280560e-01 -4.89681062e-03 2.84464877e+00] [ 5.68377014e-02 -8.24949080e-07 9.98383431e-01 1.79745478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters Centerline goodness [0,1] 0.999847961599444 Centerline is valid? [True, True] Translation: X:42.93, Y:2.85, Z:1.80 [[ 9.94504517e-01 -8.85966389e-02 -5.57799392e-02 4.29308968e+01] [ 8.84654425e-02 9.96067576e-01 -4.82175652e-03 2.84596576e+00] [ 5.59877803e-02 -1.39338371e-04 9.98431444e-01 1.79834177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.555099893 meters Centerline goodness [0,1] 0.9998046154180145 Centerline is valid? [True, True] Translation: X:42.96, Y:2.85, Z:1.80 [[ 9.94228591e-01 -9.23065228e-02 -5.46718779e-02 4.29614582e+01] [ 9.21861632e-02 9.95730580e-01 -4.72470290e-03 2.84746731e+00] [ 5.48745816e-02 -3.42555954e-04 9.98493196e-01 1.80026638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.585099893 meters Centerline goodness [0,1] 0.9998485733445822 Centerline is valid? [True, True] Translation: X:42.99, Y:2.85, Z:1.80 [[ 9.93818267e-01 -9.65334159e-02 -5.48320269e-02 4.29931015e+01] [ 9.64189503e-02 9.95329575e-01 -4.73536569e-03 2.84917525e+00] [ 5.50330590e-02 -5.80753554e-04 9.98484364e-01 1.80231581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.615099893 meters Centerline goodness [0,1] 0.9998914600790171 Centerline is valid? [True, True] Translation: X:43.02, Y:2.85, Z:1.80 [[ 9.93576548e-01 -9.87072824e-02 -5.53399965e-02 4.30237918e+01] [ 9.85942120e-02 9.95116258e-01 -4.77637788e-03 2.85073056e+00] [ 5.55411935e-02 -7.10506296e-04 9.98456144e-01 1.80349898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099893 meters Centerline goodness [0,1] 0.9999565868588421 Centerline is valid? [True, True] Translation: X:43.06, Y:2.85, Z:1.80 [[ 9.93114326e-01 -1.03200022e-01 -5.54408716e-02 4.30556501e+01] [ 1.03093656e-01 9.94660154e-01 -4.78280820e-03 2.85220341e+00] [ 5.56384119e-02 -9.65726799e-04 9.98450517e-01 1.80489076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.675099893 meters Centerline goodness [0,1] 0.9998914647911783 Centerline is valid? [True, True] Translation: X:43.09, Y:2.85, Z:1.81 [[ 9.93038809e-01 -1.04144281e-01 -5.50262896e-02 4.30876301e+01] [ 1.04041166e-01 9.94561682e-01 -4.74309458e-03 2.85449916e+00] [ 5.52210053e-02 -1.01492236e-03 9.98473640e-01 1.80511207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters Centerline goodness [0,1] 0.9998481594759333 Centerline is valid? [True, True] Translation: X:43.12, Y:2.86, Z:1.81 [[ 9.93002123e-01 -1.04627567e-01 -5.47709371e-02 4.31194243e+01] [ 1.04526360e-01 9.94510929e-01 -4.71714296e-03 2.85753022e+00] [ 5.49638388e-02 -1.04087369e-03 9.98487803e-01 1.80654870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.735099893 meters Centerline goodness [0,1] 0.9998481594759333 Centerline is valid? [True, True] Translation: X:43.15, Y:2.86, Z:1.81 [[ 9.93009648e-01 -1.04555952e-01 -5.47712763e-02 4.31509805e+01] [ 1.04454853e-01 9.94518461e-01 -4.71320212e-03 2.86018746e+00] [ 5.49638387e-02 -1.04087043e-03 9.98487803e-01 1.80805417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.765099893 meters Centerline goodness [0,1] 0.9997610150343269 Centerline is valid? [True, True] Translation: X:43.18, Y:2.86, Z:1.81 [[ 9.92972843e-01 -1.04958037e-01 -5.46694099e-02 4.31823633e+01] [ 1.04858133e-01 9.94476081e-01 -4.70060534e-03 2.86470041e+00] [ 5.48607869e-02 -1.06495879e-03 9.98493445e-01 1.80957471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.795099893 meters Centerline goodness [0,1] 0.9999564478899002 Centerline is valid? [True, True] Translation: X:43.21, Y:2.87, Z:1.81 [[ 9.92891593e-01 -1.05036185e-01 -5.59793141e-02 4.32143591e+01] [ 1.04931744e-01 9.94467794e-01 -4.80994123e-03 2.86857542e+00] [ 5.61748429e-02 -1.09825683e-03 9.98420343e-01 1.81204869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099893 meters Centerline goodness [0,1] 0.9998257346374191 Centerline is valid? [True, True] Translation: X:43.25, Y:2.87, Z:1.81 [[ 9.92868061e-01 -1.03801384e-01 -5.86368929e-02 4.32464874e+01] [ 1.03684897e-01 9.94597457e-01 -5.03385953e-03 2.87244189e+00] [ 5.88426262e-02 -1.08180185e-03 9.98266685e-01 1.80940816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.855099893 meters Centerline goodness [0,1] 0.9997821303296368 Centerline is valid? [True, True] Translation: X:43.28, Y:2.88, Z:1.81 [[ 9.92970334e-01 -1.02600803e-01 -5.90168704e-02 4.32775353e+01] [ 1.02480928e-01 9.94722088e-01 -5.06234889e-03 2.87536036e+00] [ 5.92247856e-02 -1.02134138e-03 9.98244149e-01 1.80975173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters Centerline goodness [0,1] 0.9998473715195255 Centerline is valid? [True, True] Translation: X:43.31, Y:2.88, Z:1.81 [[ 9.93252896e-01 -1.00296935e-01 -5.82169192e-02 4.33089401e+01] [ 1.00176519e-01 9.94957164e-01 -4.99059005e-03 2.88016038e+00] [ 5.84238817e-02 -8.75050299e-04 9.98291483e-01 1.81304672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.915099893 meters Centerline goodness [0,1] 0.9998257498203045 Centerline is valid? [True, True] Translation: X:43.34, Y:2.88, Z:1.82 [[ 9.93619446e-01 -9.69519383e-02 -5.76256791e-02 4.33394491e+01] [ 9.68285161e-02 9.95288836e-01 -4.93678107e-03 2.88371747e+00] [ 5.78328256e-02 -6.74527330e-04 9.98326054e-01 1.81591867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.945099893 meters Centerline goodness [0,1] 0.9997822773786197 Centerline is valid? [True, True] Translation: X:43.37, Y:2.89, Z:1.82 [[ 9.94022048e-01 -9.36044741e-02 -5.61993813e-02 4.33700446e+01] [ 9.34819027e-02 9.95609352e-01 -4.81174960e-03 2.88804664e+00] [ 5.64030309e-02 -4.70639903e-04 9.98407971e-01 1.81967784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.975099893 meters Centerline goodness [0,1] 0.999803964277935 Centerline is valid? [True, True] Translation: X:43.40, Y:2.89, Z:1.82 [[ 9.94264116e-01 -9.08415420e-02 -5.64507019e-02 4.34011153e+01] [ 9.07135473e-02 9.95865309e-01 -4.83103613e-03 2.89050131e+00] [ 5.66561545e-02 -3.17517550e-04 9.98393700e-01 1.82072531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.005099893 meters Centerline goodness [0,1] 0.9998471315323972 Centerline is valid? [True, True] Translation: X:43.43, Y:2.89, Z:1.82 [[ 9.94471574e-01 -8.82226417e-02 -5.69478225e-02 4.34327212e+01] [ 8.80882790e-02 9.96100766e-01 -4.87027431e-03 2.89444749e+00] [ 5.71554380e-02 -1.73086320e-04 9.98365277e-01 1.82277138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.035099893 meters Centerline goodness [0,1] 0.999912694255282 Centerline is valid? [True, True] Translation: X:43.46, Y:2.90, Z:1.82 [[ 9.94779946e-01 -8.46299716e-02 -5.70142613e-02 4.34624615e+01] [ 8.44896057e-02 9.96412448e-01 -4.87232146e-03 2.89927098e+00] [ 5.72220642e-02 2.97752236e-05 9.98361475e-01 1.82426610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters Centerline goodness [0,1] 0.9998691413491527 Centerline is valid? [True, True] Translation: X:43.49, Y:2.90, Z:1.82 [[ 9.94923717e-01 -8.21344214e-02 -5.81440852e-02 4.34932053e+01] [ 8.19842244e-02 9.96621245e-01 -4.96800296e-03 2.90317803e+00] [ 5.83556746e-02 1.75886240e-04 9.98295840e-01 1.82490607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.095099893 meters Centerline goodness [0,1] 0.9999346234309623 Centerline is valid? [True, True] Translation: X:43.52, Y:2.91, Z:1.83 [[ 9.95133718e-01 -7.95554362e-02 -5.81361780e-02 4.35227387e+01] [ 7.94008595e-02 9.96830389e-01 -4.96771421e-03 2.90691329e+00] [ 5.83471176e-02 3.27477417e-04 9.98296302e-01 1.82677967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.125099893 meters Centerline goodness [0,1] 0.9997601081694073 Centerline is valid? [True, True] Translation: X:43.55, Y:2.91, Z:1.83 [[ 9.95526536e-01 -7.39807639e-02 -5.87687272e-02 4.35517242e+01] [ 7.38129555e-02 9.97259448e-01 -5.02409852e-03 2.91176355e+00] [ 5.89793551e-02 6.63729949e-04 9.98258982e-01 1.82643315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.155099893 meters Centerline goodness [0,1] 0.9996301936045247 Centerline is valid? [True, True] Translation: X:43.58, Y:2.92, Z:1.83 [[ 9.95897868e-01 -6.92378856e-02 -5.82541984e-02 4.35793033e+01] [ 6.90646620e-02 9.97599735e-01 -4.98413381e-03 2.91752806e+00] [ 5.84594638e-02 9.40381718e-04 9.98289340e-01 1.82806799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.185099893 meters Centerline goodness [0,1] 0.9997598934800166 Centerline is valid? [True, True] Translation: X:43.61, Y:2.92, Z:1.83 [[ 9.96153932e-01 -6.65256443e-02 -5.70235200e-02 4.36075254e+01] [ 6.63547297e-02 9.97784126e-01 -4.88757908e-03 2.92047896e+00] [ 5.72223124e-02 1.08500087e-03 9.98360871e-01 1.83146841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.215099893 meters Centerline goodness [0,1] 0.9998255141878776 Centerline is valid? [True, True] Translation: X:43.64, Y:2.92, Z:1.83 [[ 9.96198717e-01 -6.63601717e-02 -5.64308822e-02 4.36350197e+01] [ 6.61917182e-02 9.97795131e-01 -4.85109308e-03 2.92130032e+00] [ 5.66283789e-02 1.09739565e-03 9.98394723e-01 1.83265114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters Centerline goodness [0,1] 0.9997823389852644 Centerline is valid? [True, True] Translation: X:43.66, Y:2.92, Z:1.83 [[ 9.96111319e-01 -6.75161690e-02 -5.66021905e-02 4.36635211e+01] [ 6.73476456e-02 9.97717627e-01 -4.88178791e-03 2.92205101e+00] [ 5.68026028e-02 1.05077993e-03 9.98384876e-01 1.83363233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.275099893 meters Centerline goodness [0,1] 0.999804679022527 Centerline is valid? [True, True] Translation: X:43.69, Y:2.92, Z:1.83 [[ 9.95842921e-01 -7.12979902e-02 -5.66875093e-02 4.36917449e+01] [ 7.11343454e-02 9.97454698e-01 -4.90197960e-03 2.92145039e+00] [ 5.68927237e-02 8.49172819e-04 9.98379936e-01 1.83376798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.305099893 meters Centerline goodness [0,1] 0.9997178513293543 Centerline is valid? [True, True] Translation: X:43.72, Y:2.92, Z:1.84 [[ 9.95442185e-01 -7.68398833e-02 -5.64844164e-02 4.37207082e+01] [ 7.66859494e-02 9.97043301e-01 -4.89093924e-03 2.91920191e+00] [ 5.66932281e-02 5.37086149e-04 9.98391501e-01 1.83550217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.335099893 meters Centerline goodness [0,1] 0.9998261134175234 Centerline is valid? [True, True] Translation: X:43.75, Y:2.92, Z:1.84 [[ 9.94918249e-01 -8.33970132e-02 -5.64146840e-02 4.37491061e+01] [ 8.32531840e-02 9.96516386e-01 -4.89904625e-03 2.91728166e+00] [ 5.66267228e-02 1.77448458e-04 9.98395404e-01 1.83745771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.365099893 meters Centerline goodness [0,1] 0.9998482417725361 Centerline is valid? [True, True] Translation: X:43.78, Y:2.92, Z:1.84 [[ 9.94568472e-01 -8.71506250e-02 -5.69062738e-02 4.37798151e+01] [ 8.70097317e-02 9.96195146e-01 -4.95364814e-03 2.91700326e+00] [ 5.71214673e-02 -2.46573560e-05 9.98367236e-01 1.83952841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.395099893 meters Centerline goodness [0,1] 0.9999133279885593 Centerline is valid? [True, True] Translation: X:43.81, Y:2.91, Z:1.84 [[ 9.93300481e-01 -9.99967815e-02 -5.79206215e-02 4.38110016e+01] [ 9.98726092e-02 9.94987458e-01 -5.04194634e-03 2.90893617e+00] [ 5.81344703e-02 -7.76515869e-04 9.98308460e-01 1.83893230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099893 meters Centerline goodness [0,1] 0.9998057581905296 Centerline is valid? [True, True] Translation: X:43.84, Y:2.91, Z:1.84 [[ 9.92827366e-01 -1.04351214e-01 -5.83493445e-02 4.38423578e+01] [ 1.04232728e-01 9.94539966e-01 -5.07886080e-03 2.90823428e+00] [ 5.85607404e-02 -1.03947934e-03 9.98283306e-01 1.83862461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.455099892999996 meters Centerline goodness [0,1] 0.9998921623603503 Centerline is valid? [True, True] Translation: X:43.87, Y:2.90, Z:1.84 [[ 9.91995027e-01 -1.12276051e-01 -5.77923367e-02 4.38726970e+01] [ 1.12173336e-01 9.93675931e-01 -5.02864981e-03 2.90443630e+00] [ 5.79914509e-02 -1.49436361e-03 9.98315961e-01 1.84094999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.485099893 meters Centerline goodness [0,1] 0.9999140080832402 Centerline is valid? [True, True] Translation: X:43.90, Y:2.90, Z:1.84 [[ 9.91676931e-01 -1.15093182e-01 -5.77098309e-02 4.39036235e+01] [ 1.14995598e-01 9.93353316e-01 -5.02016879e-03 2.90443905e+00] [ 5.79040391e-02 -1.65799092e-03 9.98320777e-01 1.84260138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.515099893 meters Centerline goodness [0,1] 0.9998494656028902 Centerline is valid? [True, True] Translation: X:43.93, Y:2.90, Z:1.84 [[ 9.90963066e-01 -1.20893847e-01 -5.81109191e-02 4.39343603e+01] [ 1.20805210e-01 9.92663392e-01 -5.04888117e-03 2.90215143e+00] [ 5.82949608e-02 -2.01684703e-03 9.98297365e-01 1.84278322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.545099893 meters Centerline goodness [0,1] 0.9998067715825407 Centerline is valid? [True, True] Translation: X:43.97, Y:2.91, Z:1.85 [[ 9.90642524e-01 -1.23641761e-01 -5.77936409e-02 4.39660004e+01] [ 1.23558859e-01 9.92324550e-01 -5.01949820e-03 2.90508137e+00] [ 5.79706683e-02 -2.16838795e-03 9.98315932e-01 1.84524610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.575099893 meters Centerline goodness [0,1] 0.9998069580884561 Centerline is valid? [True, True] Translation: X:44.00, Y:2.91, Z:1.85 [[ 9.90502528e-01 -1.24980451e-01 -5.73116732e-02 4.39976061e+01] [ 1.24901446e-01 9.92156692e-01 -4.97268736e-03 2.90557848e+00] [ 5.74836488e-02 -2.23285145e-03 9.98343951e-01 1.84696716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099893 meters Centerline goodness [0,1] 0.9998278533310381 Centerline is valid? [True, True] Translation: X:44.03, Y:2.91, Z:1.85 [[ 9.90243347e-01 -1.27009546e-01 -5.73296494e-02 4.40291683e+01] [ 1.26934072e-01 9.91898700e-01 -4.97095030e-03 2.91096367e+00] [ 5.74965628e-02 -2.35463539e-03 9.98342928e-01 1.85001952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.635099892999996 meters Centerline goodness [0,1] 0.9998058922486305 Centerline is valid? [True, True] Translation: X:44.06, Y:2.91, Z:1.85 [[ 9.90165249e-01 -1.27171651e-01 -5.83108135e-02 4.40612556e+01] [ 1.27094108e-01 9.91877799e-01 -5.05170481e-03 2.91341973e+00] [ 5.84796350e-02 -2.40893826e-03 9.98285695e-01 1.85014835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.665099893 meters Centerline goodness [0,1] 0.9998275044201992 Centerline is valid? [True, True] Translation: X:44.09, Y:2.92, Z:1.85 [[ 9.90211408e-01 -1.26660229e-01 -5.86391893e-02 4.40934951e+01] [ 1.26581168e-01 9.91943266e-01 -5.07585919e-03 2.91816313e+00] [ 5.88096585e-02 -2.39644342e-03 9.98266338e-01 1.85158584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.695099893 meters Centerline goodness [0,1] 0.9998708483113417 Centerline is valid? [True, True] Translation: X:44.12, Y:2.92, Z:1.85 [[ 9.90401317e-01 -1.24902509e-01 -5.91996119e-02 4.41242965e+01] [ 1.24819046e-01 9.92166311e-01 -5.12020289e-03 2.92121883e+00] [ 5.93753867e-02 -2.31818338e-03 9.98233034e-01 1.85248481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.725099893 meters Centerline goodness [0,1] 0.9998271466228772 Centerline is valid? [True, True] Translation: X:44.16, Y:2.93, Z:1.85 [[ 9.90915951e-01 -1.19940350e-01 -6.08267211e-02 4.41553101e+01] [ 1.19843129e-01 9.92778921e-01 -5.25726995e-03 2.92934875e+00] [ 6.10180453e-02 -2.08015195e-03 9.98134496e-01 1.85271614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.755099893 meters Centerline goodness [0,1] 0.999956664933264 Centerline is valid? [True, True] Translation: X:44.19, Y:2.93, Z:1.86 [[ 9.91235751e-01 -1.17566998e-01 -6.02468869e-02 4.41862756e+01] [ 1.17467483e-01 9.93063098e-01 -5.20323623e-03 2.93453912e+00] [ 6.04406890e-02 -1.91941638e-03 9.98169945e-01 1.85608742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099893 meters Centerline goodness [0,1] 0.9999133899185865 Centerline is valid? [True, True] Translation: X:44.22, Y:2.94, Z:1.86 [[ 9.91564159e-01 -1.14440768e-01 -6.08590858e-02 4.42177821e+01] [ 1.14333493e-01 9.93428534e-01 -5.25361855e-03 2.94050347e+00] [ 6.10603805e-02 -1.74893199e-03 9.98132542e-01 1.85687397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.815099892999996 meters Centerline goodness [0,1] 0.999804262722923 Centerline is valid? [True, True] Translation: X:44.25, Y:2.95, Z:1.86 [[ 9.92315143e-01 -1.07178575e-01 -6.18337298e-02 4.42489277e+01] [ 1.07053962e-01 9.94238902e-01 -5.33431846e-03 2.95042990e+00] [ 6.20492243e-02 -1.32622080e-03 9.98072209e-01 1.85725964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters Centerline goodness [0,1] 0.9998041605013491 Centerline is valid? [True, True] Translation: X:44.28, Y:2.96, Z:1.86 [[ 9.93108618e-01 -9.93768598e-02 -6.21249697e-02 4.42785007e+01] [ 9.92359926e-02 9.95049509e-01 -5.35655885e-03 2.95831905e+00] [ 6.23497386e-02 -8.45388270e-04 9.98054004e-01 1.85723745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.875099893 meters Centerline goodness [0,1] 0.9998688524590164 Centerline is valid? [True, True] Translation: X:44.31, Y:2.97, Z:1.86 [[ 9.93956350e-01 -9.13631047e-02 -6.08568531e-02 4.43091720e+01] [ 9.12130149e-02 9.95817588e-01 -5.24560903e-03 2.96974768e+00] [ 6.10815798e-02 -3.37030636e-04 9.98132720e-01 1.86259920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.905099893 meters Centerline goodness [0,1] 0.9997816593886463 Centerline is valid? [True, True] Translation: X:44.34, Y:2.98, Z:1.86 [[ 9.94347164e-01 -8.73156820e-02 -6.04126610e-02 4.43387814e+01] [ 8.71604692e-02 9.96180688e-01 -5.20471750e-03 2.97552653e+00] [ 6.06363797e-02 -9.02998050e-05 9.98159918e-01 1.86325120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.935099893 meters Centerline goodness [0,1] 0.9998027872732054 Centerline is valid? [True, True] Translation: X:44.37, Y:2.98, Z:1.87 [[ 9.95091893e-01 -7.86574575e-02 -6.00427250e-02 4.43681956e+01] [ 7.84883834e-02 9.96901608e-01 -5.17284649e-03 2.98469712e+00] [ 6.02635721e-02 4.34801178e-04 9.98182405e-01 1.86566021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099893 meters Centerline goodness [0,1] 0.9997588882556662 Centerline is valid? [True, True] Translation: X:44.40, Y:2.99, Z:1.87 [[ 9.95899435e-01 -6.81468791e-02 -5.95005787e-02 4.43956894e+01] [ 6.79620327e-02 9.97674734e-01 -5.12716887e-03 2.99473902e+00] [ 5.97116246e-02 1.06236430e-03 9.98215104e-01 1.86742068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.995099892999995 meters Centerline goodness [0,1] 0.9998249031495546 Centerline is valid? [True, True] Translation: X:44.42, Y:3.00, Z:1.87 [[ 9.96151616e-01 -6.49354222e-02 -5.88672111e-02 4.44226962e+01] [ 6.47485866e-02 9.97888690e-01 -5.07777032e-03 2.99806187e+00] [ 5.90726513e-02 1.24666040e-03 9.98252908e-01 1.86994204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters Centerline goodness [0,1] 0.9998689899122233 Centerline is valid? [True, True] Translation: X:44.45, Y:3.00, Z:1.87 [[ 9.96217286e-01 -6.31107035e-02 -5.97340677e-02 4.44518205e+01] [ 6.29145522e-02 9.98005574e-01 -5.16069725e-03 2.99791459e+00] [ 5.99406277e-02 1.38303369e-03 9.98200986e-01 1.87067977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.055099893 meters Centerline goodness [0,1] 0.9998909273357911 Centerline is valid? [True, True] Translation: X:44.48, Y:2.99, Z:1.87 [[ 9.96167666e-01 -6.52037813e-02 -5.82962117e-02 4.44814658e+01] [ 6.50197194e-02 9.97871198e-01 -5.05063971e-03 2.99452702e+00] [ 5.85014314e-02 1.24088064e-03 9.98286553e-01 1.87237907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.085099893 meters Centerline goodness [0,1] 0.9996530488333767 Centerline is valid? [True, True] Translation: X:44.51, Y:2.99, Z:1.87 [[ 9.96031269e-01 -6.67389283e-02 -5.88865602e-02 4.45094098e+01] [ 6.65530664e-02 9.97769781e-01 -5.11408140e-03 2.99472640e+00] [ 5.90965386e-02 1.17470383e-03 9.98251581e-01 1.87171436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.115099893 meters Centerline goodness [0,1] 0.9998260075251746 Centerline is valid? [True, True] Translation: X:44.54, Y:2.99, Z:1.87 [[ 9.95891547e-01 -6.92070408e-02 -5.83987313e-02 4.45376415e+01] [ 6.90281821e-02 9.97601792e-01 -5.07690553e-03 2.99434789e+00] [ 5.86100365e-02 1.02488905e-03 9.98280428e-01 1.87395226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099893 meters Centerline goodness [0,1] 0.9998044456032853 Centerline is valid? [True, True] Translation: X:44.57, Y:2.99, Z:1.88 [[ 9.95683750e-01 -7.16781742e-02 -5.89585320e-02 4.45661956e+01] [ 7.14997647e-02 9.97427410e-01 -5.13278889e-03 2.99230113e+00] [ 5.91747648e-02 8.95113326e-04 9.98247237e-01 1.87502386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.175099893 meters Centerline goodness [0,1] 0.9998041860667508 Centerline is valid? [True, True] Translation: X:44.60, Y:2.99, Z:1.88 [[ 9.95473823e-01 -7.43360479e-02 -5.92116531e-02 4.45950153e+01] [ 7.41598899e-02 9.97232962e-01 -5.17006642e-03 2.99186316e+00] [ 5.94321345e-02 7.55536116e-04 9.98232062e-01 1.87590911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters Centerline goodness [0,1] 0.9998050259965338 Centerline is valid? [True, True] Translation: X:44.62, Y:2.99, Z:1.88 [[ 9.95267477e-01 -7.67029622e-02 -5.96599150e-02 4.46236802e+01] [ 7.65274511e-02 9.97053787e-01 -5.22454197e-03 2.99196046e+00] [ 5.98848820e-02 6.34195474e-04 9.98205088e-01 1.87691066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.235099893 meters Centerline goodness [0,1] 0.9998486748238142 Centerline is valid? [True, True] Translation: X:44.65, Y:2.99, Z:1.88 [[ 9.94970963e-01 -8.03027259e-02 -5.98686433e-02 4.46525544e+01] [ 8.01315715e-02 9.96770427e-01 -5.25810326e-03 2.99109865e+00] [ 6.00975331e-02 4.34291601e-04 9.98192415e-01 1.87960887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.265099893 meters Centerline goodness [0,1] 0.9998269222448185 Centerline is valid? [True, True] Translation: X:44.68, Y:2.99, Z:1.88 [[ 9.94766159e-01 -8.26911951e-02 -6.00204564e-02 4.46806976e+01] [ 8.25227165e-02 9.96575172e-01 -5.28463546e-03 2.99025247e+00] [ 6.02518895e-02 3.03925415e-04 9.98183158e-01 1.88076609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.295099893 meters Centerline goodness [0,1] 0.999828204522516 Centerline is valid? [True, True] Translation: X:44.71, Y:2.99, Z:1.88 [[ 9.94590292e-01 -8.49517435e-02 -5.97775282e-02 4.47083719e+01] [ 8.47883844e-02 9.96385052e-01 -5.26859206e-03 2.98766437e+00] [ 6.00090116e-02 1.71650484e-04 9.98197821e-01 1.88104437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099893 meters Centerline goodness [0,1] 0.9998280087715526 Centerline is valid? [True, True] Translation: X:44.74, Y:2.98, Z:1.88 [[ 9.94353700e-01 -8.76097500e-02 -5.98769623e-02 4.47377330e+01] [ 8.74502124e-02 9.96154873e-01 -5.28478765e-03 2.98490361e+00] [ 6.01097267e-02 1.86950846e-05 9.98191775e-01 1.88197013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.355099893 meters Centerline goodness [0,1] 0.9998709621919223 Centerline is valid? [True, True] Translation: X:44.77, Y:2.98, Z:1.88 [[ 9.94328296e-01 -8.89201732e-02 -5.83475965e-02 4.47664292e+01] [ 8.87702168e-02 9.96038755e-01 -5.16216863e-03 2.98411144e+00] [ 5.85754883e-02 -4.66384526e-05 9.98282981e-01 1.88405646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters Centerline goodness [0,1] 0.9998285065060344 Centerline is valid? [True, True] Translation: X:44.79, Y:2.98, Z:1.89 [[ 9.94475970e-01 -8.76515365e-02 -5.77473164e-02 4.47948353e+01] [ 8.75022158e-02 9.96151197e-01 -5.11421223e-03 2.98440100e+00] [ 5.79733270e-02 3.29430288e-05 9.98318132e-01 1.88625571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.415099893 meters Centerline goodness [0,1] 0.9998496918683301 Centerline is valid? [True, True] Translation: X:44.82, Y:2.99, Z:1.89 [[ 9.94519971e-01 -8.71392421e-02 -5.77648590e-02 4.48238716e+01] [ 8.69882435e-02 9.96196139e-01 -5.12822209e-03 2.98616685e+00] [ 5.79919989e-02 7.52556608e-05 9.98317045e-01 1.88749767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.445099893 meters Centerline goodness [0,1] 0.9998072268511577 Centerline is valid? [True, True] Translation: X:44.85, Y:2.99, Z:1.89 [[ 9.94571485e-01 -8.65057708e-02 -5.78300290e-02 4.48522910e+01] [ 8.63530630e-02 9.96251343e-01 -5.13913207e-03 2.98657683e+00] [ 5.80578086e-02 1.17434079e-04 9.98313216e-01 1.88789634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.475099893 meters Centerline goodness [0,1] 0.9998718003504123 Centerline is valid? [True, True] Translation: X:44.88, Y:2.99, Z:1.89 [[ 9.94565402e-01 -8.69058386e-02 -5.73326757e-02 4.48811256e+01] [ 8.67555981e-02 9.96216525e-01 -5.10906162e-03 2.98784311e+00] [ 5.75597662e-02 1.07365362e-04 9.98342057e-01 1.89006298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.505099893 meters Centerline goodness [0,1] 0.9998288989648387 Centerline is valid? [True, True] Translation: X:44.91, Y:2.99, Z:1.89 [[ 9.94474630e-01 -8.76372308e-02 -5.77920850e-02 4.49093751e+01] [ 8.74850539e-02 9.96152453e-01 -5.16291752e-03 2.98912950e+00] [ 5.80221910e-02 7.84468241e-05 9.98315290e-01 1.89064219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.535099893 meters Centerline goodness [0,1] 0.9998083801737353 Centerline is valid? [True, True] Translation: X:44.94, Y:2.99, Z:1.89 [[ 9.94223549e-01 -8.98092045e-02 -5.87693965e-02 4.49375834e+01] [ 8.96552810e-02 9.95958988e-01 -5.25601453e-03 2.98810620e+00] [ 5.90039472e-02 -4.33333426e-05 9.98257748e-01 1.89063357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters Centerline goodness [0,1] 0.9998294752099587 Centerline is valid? [True, True] Translation: X:44.97, Y:2.99, Z:1.89 [[ 9.93884942e-01 -9.26182381e-02 -6.01214032e-02 4.49666848e+01] [ 9.24616965e-02 9.95701672e-01 -5.38654412e-03 2.98656015e+00] [ 6.03618740e-02 -2.05321845e-04 9.98176539e-01 1.89158692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.595099893 meters Centerline goodness [0,1] 0.9998292750592203 Centerline is valid? [True, True] Translation: X:45.00, Y:2.99, Z:1.89 [[ 9.93672323e-01 -9.48719963e-02 -6.01217022e-02 4.49953690e+01] [ 9.47186551e-02 9.95489426e-01 -5.40176080e-03 2.98700198e+00] [ 6.03629946e-02 -3.27066574e-04 9.98176438e-01 1.89422052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.625099893 meters Centerline goodness [0,1] 0.9997866939698385 Centerline is valid? [True, True] Translation: X:45.02, Y:2.99, Z:1.90 [[ 9.93552984e-01 -9.57743230e-02 -6.06609159e-02 4.50232864e+01] [ 9.56190801e-02 9.95403004e-01 -5.46359039e-03 2.98904312e+00] [ 6.09053296e-02 -3.71974437e-04 9.98143478e-01 1.89529496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.655099893 meters Centerline goodness [0,1] 0.9997866939698385 Centerline is valid? [True, True] Translation: X:45.05, Y:2.99, Z:1.90 [[ 9.93529010e-01 -9.60231297e-02 -6.06602332e-02 4.50513775e+01] [ 9.58678880e-02 9.95379031e-01 -5.47115994e-03 2.99160932e+00] [ 6.09052820e-02 -3.79612318e-04 9.98143478e-01 1.89663843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.685099893 meters Centerline goodness [0,1] 0.9998296458763655 Centerline is valid? [True, True] Translation: X:45.08, Y:2.99, Z:1.90 [[ 9.93327670e-01 -9.73380699e-02 -6.18501481e-02 4.50796046e+01] [ 9.71783381e-02 9.95251271e-01 -5.59264092e-03 2.99281238e+00] [ 6.21008154e-02 -4.55169636e-04 9.98069778e-01 1.89821470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.715099893 meters Centerline goodness [0,1] 0.9999147866470676 Centerline is valid? [True, True] Translation: X:45.11, Y:2.99, Z:1.90 [[ 9.93198205e-01 -9.85057564e-02 -6.20801147e-02 4.51079622e+01] [ 9.83464765e-02 9.95136345e-01 -5.62361014e-03 2.99291167e+00] [ 6.23321365e-02 -5.20001045e-04 9.98055326e-01 1.89971573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters Centerline goodness [0,1] 0.9998296386209247 Centerline is valid? [True, True] Translation: X:45.14, Y:2.99, Z:1.90 [[ 9.93073678e-01 -9.95092861e-02 -6.24705627e-02 4.51365274e+01] [ 9.93489866e-02 9.95036470e-01 -5.67475559e-03 2.99351959e+00] [ 6.27251790e-02 -5.70936692e-04 9.98030674e-01 1.90051817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.775099893 meters Centerline goodness [0,1] 0.9998294679399727 Centerline is valid? [True, True] Translation: X:45.16, Y:3.00, Z:1.90 [[ 9.93055694e-01 -1.00245585e-01 -6.15728193e-02 4.51647503e+01] [ 1.00090322e-01 9.94962547e-01 -5.60862385e-03 2.99514967e+00] [ 6.18248889e-02 -5.93167446e-04 9.98086836e-01 1.90204803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.805099893 meters Centerline goodness [0,1] 0.9998090712376426 Centerline is valid? [True, True] Translation: X:45.19, Y:3.00, Z:1.90 [[ 9.93142721e-01 -9.97242569e-02 -6.10131817e-02 4.51921885e+01] [ 9.95700206e-02 9.95014964e-01 -5.57070952e-03 2.99602616e+00] [ 6.12645636e-02 -5.42574149e-04 9.98121415e-01 1.90306338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.835099893 meters Centerline goodness [0,1] 0.9997883732249804 Centerline is valid? [True, True] Translation: X:45.22, Y:3.00, Z:1.91 [[ 9.93376426e-01 -9.75817439e-02 -6.06719010e-02 4.52204899e+01] [ 9.74247766e-02 9.95227433e-01 -5.54708429e-03 2.99960952e+00] [ 6.09236344e-02 -4.00603629e-04 9.98142350e-01 1.90517820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.865099893 meters Centerline goodness [0,1] 0.9998936238112461 Centerline is valid? [True, True] Translation: X:45.25, Y:3.00, Z:1.91 [[ 9.93827150e-01 -9.40720914e-02 -5.88050853e-02 4.52483456e+01] [ 9.39176573e-02 9.95565374e-01 -5.39067636e-03 3.00478689e+00] [ 5.90514189e-02 -1.65435324e-04 9.98254929e-01 1.90932933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.895099893 meters Centerline goodness [0,1] 0.9999150544713202 Centerline is valid? [True, True] Translation: X:45.28, Y:3.01, Z:1.91 [[ 9.94392751e-01 -8.90160805e-02 -5.70893492e-02 4.52774282e+01] [ 8.88615320e-02 9.96030179e-01 -5.24509781e-03 3.01110240e+00] [ 5.73296127e-02 1.42640209e-04 9.98355295e-01 1.91400447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099893 meters Centerline goodness [0,1] 0.9998081432530377 Centerline is valid? [True, True] Translation: X:45.31, Y:3.02, Z:1.92 [[ 9.94814417e-01 -8.43275238e-02 -5.68607543e-02 4.53055668e+01] [ 8.41663183e-02 9.96438004e-01 -5.22825704e-03 3.01679268e+00] [ 5.70991025e-02 4.15385128e-04 9.98368429e-01 1.91505523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.955099892999996 meters Centerline goodness [0,1] 0.9997443926129466 Centerline is valid? [True, True] Translation: X:45.33, Y:3.02, Z:1.92 [[ 9.95063046e-01 -8.11158269e-02 -5.71817832e-02 4.53338719e+01] [ 8.09466489e-02 9.96704490e-01 -5.27248227e-03 3.02135471e+00] [ 5.74210218e-02 6.17778549e-04 9.98349861e-01 1.91566895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.985099893 meters Centerline goodness [0,1] 0.9997868212922894 Centerline is valid? [True, True] Translation: X:45.36, Y:3.03, Z:1.92 [[ 9.95108703e-01 -7.98091162e-02 -5.82166103e-02 4.53625825e+01] [ 7.96306318e-02 9.96809904e-01 -5.38304732e-03 3.02534193e+00] [ 5.84605100e-02 7.20891777e-04 9.98289462e-01 1.91748391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.015099893 meters Centerline goodness [0,1] 0.999872185416356 Centerline is valid? [True, True] Translation: X:45.39, Y:3.03, Z:1.92 [[ 9.94947589e-01 -8.03937434e-02 -6.01343642e-02 4.53908136e+01] [ 8.02034009e-02 9.96762921e-01 -5.57621567e-03 3.02844274e+00] [ 6.03879974e-02 7.25061810e-04 9.98174716e-01 1.91764598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.045099893 meters Centerline goodness [0,1] 0.9998503793951052 Centerline is valid? [True, True] Translation: X:45.42, Y:3.03, Z:1.92 [[ 9.94768940e-01 -8.11506215e-02 -6.20429876e-02 4.54190020e+01] [ 8.09485536e-02 9.96701593e-01 -5.76772400e-03 3.03101423e+00] [ 6.23063990e-02 7.15262586e-04 9.98056813e-01 1.91755993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.075099893 meters Centerline goodness [0,1] 0.999765047631253 Centerline is valid? [True, True] Translation: X:45.45, Y:3.03, Z:1.92 [[ 9.94432950e-01 -8.36978239e-02 -6.40139213e-02 4.54473111e+01] [ 8.34872203e-02 9.96491010e-01 -5.96255055e-03 3.03244813e+00] [ 6.42883495e-02 5.85012389e-04 9.97931193e-01 1.91698806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099893 meters Centerline goodness [0,1] 0.9998716989201326 Centerline is valid? [True, True] Translation: X:45.48, Y:3.03, Z:1.92 [[ 9.94192916e-01 -8.70057408e-02 -6.33280850e-02 4.54762224e+01] [ 8.68051971e-02 9.96207736e-01 -5.91649105e-03 3.03329492e+00] [ 6.36026969e-02 3.84926587e-04 9.97975225e-01 1.91920665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.135099892999996 meters Centerline goodness [0,1] 0.9997865163741941 Centerline is valid? [True, True] Translation: X:45.50, Y:3.03, Z:1.92 [[ 9.93830876e-01 -9.07523806e-02 -6.37510357e-02 4.55044807e+01] [ 9.05557483e-02 9.95873475e-01 -5.97307919e-03 3.03413703e+00] [ 6.40300366e-02 1.63207781e-04 9.97947958e-01 1.92036021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.165099893 meters Centerline goodness [0,1] 0.9998934628824683 Centerline is valid? [True, True] Translation: X:45.53, Y:3.04, Z:1.92 [[ 9.93662362e-01 -9.30229830e-02 -6.31017871e-02 4.55321445e+01] [ 9.28339419e-02 9.95663961e-01 -5.92753148e-03 3.03584556e+00] [ 6.33795719e-02 3.19772993e-05 9.97989493e-01 1.92241811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.195099893 meters Centerline goodness [0,1] 0.9998083271217123 Centerline is valid? [True, True] Translation: X:45.56, Y:3.04, Z:1.92 [[ 9.93151615e-01 -9.83969195e-02 -6.29914021e-02 4.55606145e+01] [ 9.82189694e-02 9.95147202e-01 -5.92288934e-03 3.03502424e+00] [ 6.32685116e-02 -3.04623480e-04 9.97996494e-01 1.92260332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.225099893 meters Centerline goodness [0,1] 0.9998298198217362 Centerline is valid? [True, True] Translation: X:45.59, Y:3.03, Z:1.93 [[ 9.92595478e-01 -1.04963744e-01 -6.11296158e-02 4.55891848e+01] [ 1.04808129e-01 9.94475807e-01 -5.75546299e-03 3.03315882e+00] [ 6.13960389e-02 -6.94034088e-04 9.98113242e-01 1.92547948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.255099893 meters Centerline goodness [0,1] 0.9998300150861611 Centerline is valid? [True, True] Translation: X:45.62, Y:3.03, Z:1.93 [[ 9.92306945e-01 -1.08465457e-01 -5.96839261e-02 4.56181426e+01] [ 1.08322699e-01 9.94099832e-01 -5.63177219e-03 3.03334486e+00] [ 5.99426337e-02 -8.76677281e-04 9.98201439e-01 1.92732546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099893 meters Centerline goodness [0,1] 0.999766523750902 Centerline is valid? [True, True] Translation: X:45.65, Y:3.03, Z:1.93 [[ 9.91701156e-01 -1.14192387e-01 -5.90670425e-02 4.56489930e+01] [ 1.14062568e-01 9.93457921e-01 -5.57588092e-03 3.03426272e+00] [ 5.93173444e-02 -1.20773100e-03 9.98238445e-01 1.93035267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.315099892999996 meters Centerline goodness [0,1] 0.9997879918588873 Centerline is valid? [True, True] Translation: X:45.68, Y:3.03, Z:1.93 [[ 9.91047864e-01 -1.19584079e-01 -5.93614348e-02 4.56799585e+01] [ 1.19462679e-01 9.92822884e-01 -5.60257465e-03 3.03390680e+00] [ 5.96053696e-02 -1.53905639e-03 9.98220833e-01 1.93186873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters Centerline goodness [0,1] 0.999809483488569 Centerline is valid? [True, True] Translation: X:45.71, Y:3.03, Z:1.93 [[ 9.90355965e-01 -1.24707157e-01 -6.03588295e-02 4.57099130e+01] [ 1.24591189e-01 9.92191813e-01 -5.69582880e-03 3.03255331e+00] [ 6.05978471e-02 -1.87928030e-03 9.98160493e-01 1.93267048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.375099893 meters Centerline goodness [0,1] 0.9998092695021934 Centerline is valid? [True, True] Translation: X:45.74, Y:3.03, Z:1.93 [[ 9.89778375e-01 -1.28647863e-01 -6.15507511e-02 4.57414041e+01] [ 1.28534902e-01 9.91687980e-01 -5.80778021e-03 3.03464321e+00] [ 6.17862985e-02 -2.16300447e-03 9.98087058e-01 1.93350713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.405099893 meters Centerline goodness [0,1] 0.9998513232233125 Centerline is valid? [True, True] Translation: X:45.77, Y:3.04, Z:1.93 [[ 9.89458637e-01 -1.30444003e-01 -6.28964776e-02 4.57727360e+01] [ 1.30329818e-01 9.91452947e-01 -5.93239370e-03 3.03849987e+00] [ 6.31327433e-02 -2.32742830e-03 9.98002425e-01 1.93446481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.435099893 meters Centerline goodness [0,1] 0.9998300511970769 Centerline is valid? [True, True] Translation: X:45.80, Y:3.04, Z:1.93 [[ 9.89391544e-01 -1.30617249e-01 -6.35885757e-02 4.58039314e+01] [ 1.30501067e-01 9.91430044e-01 -5.99497886e-03 3.04225953e+00] [ 6.38266720e-02 -2.36699562e-03 9.97958192e-01 1.93482130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099893 meters Centerline goodness [0,1] 0.9997662260381689 Centerline is valid? [True, True] Translation: X:45.83, Y:3.05, Z:1.94 [[ 9.89546174e-01 -1.29664083e-01 -6.31315669e-02 4.58343412e+01] [ 1.29547833e-01 9.91555330e-01 -5.94869342e-03 3.04705806e+00] [ 6.33697735e-02 -2.29205088e-03 9.97987484e-01 1.93654756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.495099892999995 meters Centerline goodness [0,1] 0.999914920769967 Centerline is valid? [True, True] Translation: X:45.86, Y:3.05, Z:1.94 [[ 9.89693177e-01 -1.29024947e-01 -6.21287311e-02 4.58645743e+01] [ 1.28911274e-01 9.91638868e-01 -5.85146154e-03 3.05074374e+00] [ 6.23642491e-02 -2.21794235e-03 9.98050991e-01 1.93942551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters Centerline goodness [0,1] 0.9998086287184503 Centerline is valid? [True, True] Translation: X:45.90, Y:3.06, Z:1.94 [[ 9.89739304e-01 -1.28024022e-01 -6.34504448e-02 4.58955761e+01] [ 1.27903663e-01 9.91768616e-01 -5.97198549e-03 3.05739298e+00] [ 6.36927175e-02 -2.20483554e-03 9.97967122e-01 1.93982257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.555099893 meters Centerline goodness [0,1] 0.9997874104466506 Centerline is valid? [True, True] Translation: X:45.93, Y:3.06, Z:1.94 [[ 9.89704297e-01 -1.27601900e-01 -6.48317808e-02 4.59274827e+01] [ 1.27475539e-01 9.91822963e-01 -6.09893777e-03 3.06383496e+00] [ 6.50798850e-02 -2.22832132e-03 9.97877569e-01 1.94063570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.585099893 meters Centerline goodness [0,1] 0.9998289867464728 Centerline is valid? [True, True] Translation: X:45.96, Y:3.07, Z:1.94 [[ 9.89691555e-01 -1.27224979e-01 -6.57604063e-02 4.59579144e+01] [ 1.27094521e-01 9.91871354e-01 -6.18059757e-03 3.06990385e+00] [ 6.60121897e-02 -2.24090212e-03 9.97816300e-01 1.94185061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.615099893 meters Centerline goodness [0,1] 0.9998717373180274 Centerline is valid? [True, True] Translation: X:45.99, Y:3.07, Z:1.94 [[ 9.89756591e-01 -1.26723026e-01 -6.57507768e-02 4.59886635e+01] [ 1.26591910e-01 9.91935671e-01 -6.17351413e-03 3.07436138e+00] [ 6.60028674e-02 -2.21324010e-03 9.97816979e-01 1.94340924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099893 meters Centerline goodness [0,1] 0.9998070284525826 Centerline is valid? [True, True] Translation: X:46.02, Y:3.08, Z:1.94 [[ 9.89854362e-01 -1.25616635e-01 -6.63988158e-02 4.60183256e+01] [ 1.25480576e-01 9.92076501e-01 -6.23228573e-03 3.08139178e+00] [ 6.66555836e-02 -2.16270642e-03 9.97773700e-01 1.94443937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.675099893 meters Centerline goodness [0,1] 0.9998066096523271 Centerline is valid? [True, True] Translation: X:46.05, Y:3.09, Z:1.95 [[ 9.90238595e-01 -1.23126921e-01 -6.53244729e-02 4.60492799e+01] [ 1.22989940e-01 9.92388987e-01 -6.12963207e-03 3.08972875e+00] [ 6.55820102e-02 -1.96445476e-03 9.97845249e-01 1.94676906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters Centerline goodness [0,1] 0.9998281750037586 Centerline is valid? [True, True] Translation: X:46.08, Y:3.10, Z:1.95 [[ 9.90691043e-01 -1.19452764e-01 -6.52862554e-02 4.60788649e+01] [ 1.19308167e-01 9.92838390e-01 -6.12315722e-03 3.09660520e+00] [ 6.55501288e-02 -1.72302646e-03 9.97847790e-01 1.94662084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.735099893 meters Centerline goodness [0,1] 0.9998062432723358 Centerline is valid? [True, True] Translation: X:46.11, Y:3.10, Z:1.95 [[ 9.90905852e-01 -1.17457731e-01 -6.56450634e-02 4.61098758e+01] [ 1.17307268e-01 9.93076592e-01 -6.15529116e-03 3.10342882e+00] [ 6.59135623e-02 -1.60132904e-03 9.97824052e-01 1.94833836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.765099893 meters Centerline goodness [0,1] 0.999827392767757 Centerline is valid? [True, True] Translation: X:46.14, Y:3.11, Z:1.95 [[ 9.91470134e-01 -1.12831946e-01 -6.52374455e-02 4.61395796e+01] [ 1.12673455e-01 9.93613252e-01 -6.11538477e-03 3.11464747e+00] [ 6.55108011e-02 -1.28730699e-03 9.97851030e-01 1.95038384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.795099893 meters Centerline goodness [0,1] 0.9997405461503535 Centerline is valid? [True, True] Translation: X:46.17, Y:3.13, Z:1.95 [[ 9.91950098e-01 -1.08091212e-01 -6.59643318e-02 4.61698162e+01] [ 1.07918737e-01 9.94140492e-01 -6.18286438e-03 3.12578279e+00] [ 6.62461266e-02 -9.85694446e-04 9.97802826e-01 1.95133560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099893 meters Centerline goodness [0,1] 0.9998253198829643 Centerline is valid? [True, True] Translation: X:46.20, Y:3.13, Z:1.95 [[ 9.92326933e-01 -1.04976868e-01 -6.53231623e-02 4.61997536e+01] [ 1.04801099e-01 9.94474364e-01 -6.12111237e-03 3.13457747e+00] [ 6.56047855e-02 -7.71794552e-04 9.97845387e-01 1.95350038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.855099893 meters Centerline goodness [0,1] 0.9997166830118775 Centerline is valid? [True, True] Translation: X:46.23, Y:3.14, Z:1.96 [[ 9.92453719e-01 -1.03812354e-01 -6.52580347e-02 4.62309719e+01] [ 1.03634464e-01 9.94596658e-01 -6.11436663e-03 3.14195518e+00] [ 6.55401700e-02 -6.94755520e-04 9.97849690e-01 1.95518643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters Centerline goodness [0,1] 0.9998691270776077 Centerline is valid? [True, True] Translation: X:46.26, Y:3.15, Z:1.96 [[ 9.92473970e-01 -1.04788630e-01 -6.33621481e-02 4.62619512e+01] [ 1.04623062e-01 9.94494242e-01 -5.93451299e-03 3.14752257e+00] [ 6.36351609e-02 -7.39292260e-04 9.97972955e-01 1.95874380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.915099893 meters Centerline goodness [0,1] 0.9998464609243052 Centerline is valid? [True, True] Translation: X:46.29, Y:3.15, Z:1.96 [[ 9.92462783e-01 -1.05895215e-01 -6.16751719e-02 4.62932914e+01] [ 1.05740635e-01 9.94376980e-01 -5.77410556e-03 3.15304984e+00] [ 6.19398214e-02 -7.90986970e-04 9.98079572e-01 1.96236898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.945099893 meters Centerline goodness [0,1] 0.9998243186859038 Centerline is valid? [True, True] Translation: X:46.32, Y:3.16, Z:1.97 [[ 9.92274886e-01 -1.07459235e-01 -6.19924449e-02 4.63245758e+01] [ 1.07306372e-01 9.94209086e-01 -5.79956889e-03 3.15820364e+00] [ 6.22566692e-02 -8.97417802e-04 9.98059769e-01 1.96527627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.975099893 meters Centerline goodness [0,1] 0.9999122864723812 Centerline is valid? [True, True] Translation: X:46.36, Y:3.16, Z:1.97 [[ 9.92033933e-01 -1.09809106e-01 -6.17303467e-02 4.63570798e+01] [ 1.09662484e-01 9.93952144e-01 -5.76848429e-03 3.16014817e+00] [ 6.19904426e-02 -1.04697101e-03 9.98076194e-01 1.96698522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.005099893 meters Centerline goodness [0,1] 0.999736882496108 Centerline is valid? [True, True] Translation: X:46.39, Y:3.16, Z:1.97 [[ 9.91609430e-01 -1.12999623e-01 -6.27839464e-02 4.63879757e+01] [ 1.12854681e-01 9.93594215e-01 -5.86146653e-03 3.16042664e+00] [ 6.30441094e-02 -1.27317674e-03 9.98009929e-01 1.96645733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.035099893 meters Centerline goodness [0,1] 0.999846776841414 Centerline is valid? [True, True] Translation: X:46.42, Y:3.16, Z:1.97 [[ 9.91187484e-01 -1.16514245e-01 -6.30222353e-02 4.64192522e+01] [ 1.16375726e-01 9.93187874e-01 -5.87685296e-03 3.15899707e+00] [ 6.32776569e-02 -1.50919529e-03 9.97994820e-01 1.96676247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters Centerline goodness [0,1] 0.9997594050743657 Centerline is valid? [True, True] Translation: X:46.45, Y:3.16, Z:1.97 [[ 9.90636648e-01 -1.19774421e-01 -6.55219073e-02 4.64507072e+01] [ 1.19632026e-01 9.92799520e-01 -6.10663896e-03 3.15893885e+00] [ 6.57815373e-02 -1.78905816e-03 9.97832445e-01 1.96579363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.095099893 meters Centerline goodness [0,1] 0.9997810234961788 Centerline is valid? [True, True] Translation: X:46.48, Y:3.16, Z:1.96 [[ 9.90286398e-01 -1.21454207e-01 -6.76884466e-02 4.64816421e+01] [ 1.21306323e-01 9.92595088e-01 -6.30606748e-03 3.15816021e+00] [ 6.79531181e-02 -1.96622370e-03 9.97686578e-01 1.96441173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.125099893 meters Centerline goodness [0,1] 0.9998037676609105 Centerline is valid? [True, True] Translation: X:46.51, Y:3.16, Z:1.97 [[ 9.90314320e-01 -1.21161851e-01 -6.78037877e-02 4.65134285e+01] [ 1.21012995e-01 9.92630844e-01 -6.31364110e-03 3.16142499e+00] [ 6.80691035e-02 -1.95265021e-03 9.97678698e-01 1.96609867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.155099893 meters Centerline goodness [0,1] 0.9999342148542859 Centerline is valid? [True, True] Translation: X:46.54, Y:3.17, Z:1.97 [[ 9.90486227e-01 -1.20212878e-01 -6.69768413e-02 4.65448658e+01] [ 1.20065788e-01 9.92746378e-01 -6.23185960e-03 3.16620553e+00] [ 6.72401664e-02 -1.86905611e-03 9.97735068e-01 1.97035338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.185099893 meters Centerline goodness [0,1] 0.999846713090702 Centerline is valid? [True, True] Translation: X:46.58, Y:3.17, Z:1.97 [[ 9.90726001e-01 -1.18215646e-01 -6.69854557e-02 4.65757250e+01] [ 1.18064266e-01 9.92986425e-01 -6.22812112e-03 3.16942001e+00] [ 6.72519095e-02 -1.73822709e-03 9.97734513e-01 1.97086979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.215099893 meters Centerline goodness [0,1] 0.9998471382088966 Centerline is valid? [True, True] Translation: X:46.61, Y:3.18, Z:1.97 [[ 9.91423762e-01 -1.13679410e-01 -6.44663991e-02 4.66069746e+01] [ 1.13529847e-01 9.93516526e-01 -5.99048852e-03 3.17612921e+00] [ 6.47294281e-02 -1.37974775e-03 9.97901898e-01 1.97477385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters Centerline goodness [0,1] 0.9999562391965516 Centerline is valid? [True, True] Translation: X:46.64, Y:3.18, Z:1.98 [[ 9.92159791e-01 -1.08682805e-01 -6.17008671e-02 4.66381154e+01] [ 1.08536355e-01 9.94075965e-01 -5.73018864e-03 3.18144764e+00] [ 6.19581220e-02 -1.01152442e-03 9.98078237e-01 1.97929348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.275099893 meters Centerline goodness [0,1] 0.9998903989478299 Centerline is valid? [True, True] Translation: X:46.67, Y:3.19, Z:1.98 [[ 9.92441952e-01 -1.06271253e-01 -6.13627996e-02 4.66697159e+01] [ 1.06122036e-01 9.94336805e-01 -5.69494949e-03 3.18602373e+00] [ 6.16204995e-02 -8.60038426e-04 9.98099281e-01 1.98100291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.305099893 meters Centerline goodness [0,1] 0.9999780436930509 Centerline is valid? [True, True] Translation: X:46.70, Y:3.19, Z:1.98 [[ 9.93114633e-01 -1.00407532e-01 -6.03461051e-02 4.67005985e+01] [ 1.00252723e-01 9.94946272e-01 -5.59528573e-03 3.19188750e+00] [ 6.06029411e-02 -4.93101212e-04 9.98161831e-01 1.98379771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.335099893 meters Centerline goodness [0,1] 0.9998249223092748 Centerline is valid? [True, True] Translation: X:46.73, Y:3.20, Z:1.98 [[ 9.93311505e-01 -9.74545757e-02 -6.19262502e-02 4.67326878e+01] [ 9.72863132e-02 9.95239919e-01 -5.73375403e-03 3.19707135e+00] [ 6.21902568e-02 -3.29172732e-04 9.98064258e-01 1.98394856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.365099893 meters Centerline goodness [0,1] 0.9997803501219057 Centerline is valid? [True, True] Translation: X:46.76, Y:3.20, Z:1.98 [[ 9.93352480e-01 -9.59441924e-02 -6.36047420e-02 4.67638772e+01] [ 9.57638449e-02 9.95386685e-01 -5.88507586e-03 3.19959226e+00] [ 6.38759522e-02 -2.45079955e-04 9.97957816e-01 1.98311837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.395099893 meters Centerline goodness [0,1] 0.999912524329171 Centerline is valid? [True, True] Translation: X:46.79, Y:3.20, Z:1.98 [[ 9.93260862e-01 -9.64136945e-02 -6.43215394e-02 4.67946198e+01] [ 9.62303493e-02 9.95341309e-01 -5.94969046e-03 3.20050789e+00] [ 6.45955168e-02 -2.80089533e-04 9.97911489e-01 1.98327862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099893 meters Centerline goodness [0,1] 0.9998466694412196 Centerline is valid? [True, True] Translation: X:46.82, Y:3.20, Z:1.98 [[ 9.93043106e-01 -9.80686946e-02 -6.51760682e-02 4.68249110e+01] [ 9.78840007e-02 9.95179570e-01 -6.02873369e-03 3.20205808e+00] [ 6.54531216e-02 -3.92901882e-04 9.97855568e-01 1.98361481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.455099892999996 meters Centerline goodness [0,1] 0.9997800312355646 Centerline is valid? [True, True] Translation: X:46.86, Y:3.20, Z:1.99 [[ 9.92698396e-01 -1.00903260e-01 -6.60940730e-02 4.68551481e+01] [ 1.00719596e-01 9.94896068e-01 -6.11364839e-03 3.20460318e+00] [ 6.63736204e-02 -5.87959363e-04 9.97794667e-01 1.98534880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.485099893 meters Centerline goodness [0,1] 0.9998245113738565 Centerline is valid? [True, True] Translation: X:46.89, Y:3.21, Z:1.99 [[ 9.92364885e-01 -1.04280928e-01 -6.58591212e-02 4.68865158e+01] [ 1.04106039e-01 9.94547550e-01 -6.09124168e-03 3.20581566e+00] [ 6.61352279e-02 -8.11597904e-04 9.97810339e-01 1.98684578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.515099893 meters Centerline goodness [0,1] 0.9999340412901524 Centerline is valid? [True, True] Translation: X:46.92, Y:3.21, Z:1.99 [[ 9.92169518e-01 -1.06558085e-01 -6.51538421e-02 4.69166574e+01] [ 1.06391959e-01 9.94306021e-01 -6.02398850e-03 3.20694291e+00] [ 6.54247622e-02 -9.55027166e-04 9.97857048e-01 1.98884779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.545099893 meters Centerline goodness [0,1] 0.9999340412901524 Centerline is valid? [True, True] Translation: X:46.95, Y:3.21, Z:1.99 [[ 9.92173316e-01 -1.06522625e-01 -6.51539792e-02 4.69473511e+01] [ 1.06356520e-01 9.94309821e-01 -6.02250520e-03 3.20975124e+00] [ 6.54247745e-02 -9.54181562e-04 9.97857048e-01 1.99031393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.575099893 meters Centerline goodness [0,1] 0.999978038871198 Centerline is valid? [True, True] Translation: X:46.98, Y:3.21, Z:1.99 [[ 9.92009434e-01 -1.08521685e-01 -6.43453631e-02 4.69795717e+01] [ 1.08364069e-01 9.94093500e-01 -5.94484601e-03 3.21110512e+00] [ 6.46104519e-02 -1.07538204e-03 9.97909982e-01 1.99210528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099893 meters Centerline goodness [0,1] 0.999846356453029 Centerline is valid? [True, True] Translation: X:47.01, Y:3.21, Z:1.99 [[ 9.91487221e-01 -1.13325109e-01 -6.41132663e-02 4.70097769e+01] [ 1.13178963e-01 9.93556990e-01 -5.91857560e-03 3.21077068e+00] [ 6.43709071e-02 -1.38808091e-03 9.97925077e-01 1.99245258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.635099892999996 meters Centerline goodness [0,1] 0.9998027181060938 Centerline is valid? [True, True] Translation: X:47.04, Y:3.21, Z:2.00 [[ 9.91005353e-01 -1.18525561e-01 -6.21295477e-02 4.70419124e+01] [ 1.18398829e-01 9.92949585e-01 -5.73050895e-03 3.21334940e+00] [ 6.23707204e-02 -1.67710061e-03 9.98051642e-01 1.99744453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.665099893 meters Centerline goodness [0,1] 0.9998032915874369 Centerline is valid? [True, True] Translation: X:47.07, Y:3.21, Z:2.00 [[ 9.90489800e-01 -1.23287935e-01 -6.10740565e-02 4.70730617e+01] [ 1.23174742e-01 9.92369031e-01 -5.62927528e-03 3.21449800e+00] [ 6.13020240e-02 -1.94704142e-03 9.98117363e-01 2.00042764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.695099893 meters Centerline goodness [0,1] 0.99978167845603 Centerline is valid? [True, True] Translation: X:47.10, Y:3.22, Z:2.00 [[ 9.90224076e-01 -1.25417373e-01 -6.10472107e-02 4.71042458e+01] [ 1.25308469e-01 9.92101887e-01 -5.62432974e-03 3.21507258e+00] [ 6.12704416e-02 -2.08038580e-03 9.98119033e-01 2.00103692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.725099893 meters Centerline goodness [0,1] 0.9998249108139459 Centerline is valid? [True, True] Translation: X:47.13, Y:3.22, Z:2.00 [[ 9.89750364e-01 -1.28859989e-01 -6.15574583e-02 4.71349888e+01] [ 1.28756074e-01 9.91660094e-01 -5.66848095e-03 3.21559074e+00] [ 6.17745153e-02 -2.31551559e-03 9.98087445e-01 2.00205875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.755099893 meters Centerline goodness [0,1] 0.999869007073618 Centerline is valid? [True, True] Translation: X:47.17, Y:3.22, Z:2.00 [[ 9.89629479e-01 -1.29702258e-01 -6.17318193e-02 4.71665487e+01] [ 1.29599492e-01 9.91550138e-01 -5.68287354e-03 3.21763454e+00] [ 6.19472755e-02 -2.37647326e-03 9.98076594e-01 2.00376090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099893 meters Centerline goodness [0,1] 0.9998035320570193 Centerline is valid? [True, True] Translation: X:47.20, Y:3.22, Z:2.00 [[ 9.89632171e-01 -1.29174897e-01 -6.27854420e-02 4.71981830e+01] [ 1.29067757e-01 9.91618953e-01 -5.77635144e-03 3.21782111e+00] [ 6.30053938e-02 -2.38711298e-03 9.98010332e-01 2.00366124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.815099892999996 meters Centerline goodness [0,1] 0.9997377507758206 Centerline is valid? [True, True] Translation: X:47.23, Y:3.22, Z:2.00 [[ 9.89705174e-01 -1.27900830e-01 -6.42265165e-02 4.72302278e+01] [ 1.27786294e-01 9.91784147e-01 -5.90501275e-03 3.22249388e+00] [ 6.44540969e-02 -2.36304688e-03 9.97917875e-01 2.00471559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.845099893 meters Centerline goodness [0,1] 0.9998909297151084 Centerline is valid? [True, True] Translation: X:47.26, Y:3.22, Z:2.01 [[ 9.89734830e-01 -1.27983576e-01 -6.36016596e-02 4.72612587e+01] [ 1.27871708e-01 9.91773504e-01 -5.84317964e-03 3.22334402e+00] [ 6.38262718e-02 -2.34965444e-03 9.97958259e-01 2.00685223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.875099893 meters Centerline goodness [0,1] 0.9998260075251746 Centerline is valid? [True, True] Translation: X:47.29, Y:3.23, Z:2.01 [[ 9.89778623e-01 -1.28128271e-01 -6.26212690e-02 4.72932686e+01] [ 1.28020345e-01 9.91754877e-01 -5.74942900e-03 3.22528230e+00] [ 6.28416133e-02 -2.32613453e-03 9.98020802e-01 2.00864310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.905099893 meters Centerline goodness [0,1] 0.9998692354633424 Centerline is valid? [True, True] Translation: X:47.32, Y:3.23, Z:2.01 [[ 9.89913387e-01 -1.26844870e-01 -6.31020225e-02 4.73240642e+01] [ 1.26732954e-01 9.91919978e-01 -5.78924978e-03 3.22766434e+00] [ 6.33264934e-02 -2.26624982e-03 9.97990290e-01 2.00969515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.935099893 meters Centerline goodness [0,1] 0.9998471682459281 Centerline is valid? [True, True] Translation: X:47.36, Y:3.23, Z:2.01 [[ 9.90272848e-01 -1.23530467e-01 -6.40305407e-02 4.73554099e+01] [ 1.23408545e-01 9.92338583e-01 -5.87090796e-03 3.23454518e+00] [ 6.42652121e-02 -2.08811513e-03 9.97930670e-01 2.01096534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099893 meters Centerline goodness [0,1] 0.9997155734476874 Centerline is valid? [True, True] Translation: X:47.38, Y:3.24, Z:2.01 [[ 9.91320409e-01 -1.14331490e-01 -6.49011378e-02 4.73847661e+01] [ 1.14186704e-01 9.93441502e-01 -5.94807723e-03 3.24340523e+00] [ 6.51555363e-02 -1.51439664e-03 9.97873971e-01 2.01162420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.995099892999995 meters Centerline goodness [0,1] 0.9998908630549613 Centerline is valid? [True, True] Translation: X:47.41, Y:3.25, Z:2.02 [[ 9.91796202e-01 -1.10681159e-01 -6.39529059e-02 4.74148541e+01] [ 1.10533011e-01 9.93855172e-01 -5.86090127e-03 3.24914231e+00] [ 6.42086176e-02 -1.25608761e-03 9.97935707e-01 2.01516813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters Centerline goodness [0,1] 0.9998244189364177 Centerline is valid? [True, True] Translation: X:47.45, Y:3.26, Z:2.02 [[ 9.92743428e-01 -1.02347810e-01 -6.31301123e-02 4.74456643e+01] [ 1.02186716e-01 9.94748422e-01 -5.78380423e-03 3.25909600e+00] [ 6.33905393e-02 -7.09225204e-04 9.97988545e-01 2.01803486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.055099893 meters Centerline goodness [0,1] 0.999802497311769 Centerline is valid? [True, True] Translation: X:47.48, Y:3.27, Z:2.02 [[ 9.93528581e-01 -9.43264519e-02 -6.32730452e-02 4.74762649e+01] [ 9.41485648e-02 9.95541300e-01 -5.79375542e-03 3.26656928e+00] [ 6.35374341e-02 -2.00804797e-04 9.97979436e-01 2.01934716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.085099893 meters Centerline goodness [0,1] 0.9998461200263794 Centerline is valid? [True, True] Translation: X:47.51, Y:3.27, Z:2.02 [[ 9.93918907e-01 -9.04293575e-02 -6.28310283e-02 4.75068407e+01] [ 9.02462751e-02 9.95902871e-01 -5.75158089e-03 3.27147640e+00] [ 6.30937133e-02 4.63387256e-05 9.98007606e-01 2.02137394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.115099893 meters Centerline goodness [0,1] 0.999802497311769 Centerline is valid? [True, True] Translation: X:47.54, Y:3.28, Z:2.02 [[ 9.94825790e-01 -8.10514118e-02 -6.12561550e-02 4.75353702e+01] [ 8.08596109e-02 9.96709726e-01 -5.60766677e-03 3.27969578e+00] [ 6.15091147e-02 6.25502665e-04 9.98106326e-01 2.02320405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099893 meters Centerline goodness [0,1] 0.9998464373464373 Centerline is valid? [True, True] Translation: X:47.56, Y:3.28, Z:2.02 [[ 9.95091170e-01 -7.71417032e-02 -6.19896807e-02 4.75640278e+01] [ 7.69374136e-02 9.97019749e-01 -5.67934228e-03 3.28262272e+00] [ 6.22430500e-02 8.82137660e-04 9.98060632e-01 2.02429225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.175099893 meters Centerline goodness [0,1] 0.9999563576057783 Centerline is valid? [True, True] Translation: X:47.59, Y:3.28, Z:2.03 [[ 9.94919258e-01 -7.90299199e-02 -6.23694001e-02 4.75932433e+01] [ 7.88258416e-02 9.96871936e-01 -5.72975460e-03 3.28107587e+00] [ 6.26271266e-02 7.84322747e-04 9.98036687e-01 2.02574932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters Centerline goodness [0,1] 0.9997810426747827 Centerline is valid? [True, True] Translation: X:47.62, Y:3.28, Z:2.02 [[ 9.94477210e-01 -8.29962390e-02 -6.42394139e-02 4.76218430e+01] [ 8.27868963e-02 9.96549699e-01 -5.91841123e-03 3.27968863e+00] [ 6.45089745e-02 5.67543384e-04 9.97916966e-01 2.02445108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.235099893 meters Centerline goodness [0,1] 0.9999344892343975 Centerline is valid? [True, True] Translation: X:47.65, Y:3.28, Z:2.03 [[ 9.94010527e-01 -8.85959657e-02 -6.39830182e-02 4.76508700e+01] [ 8.83987436e-02 9.96067621e-01 -5.91236681e-03 3.27696736e+00] [ 6.42552246e-02 2.20936433e-04 9.97933473e-01 2.02820920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.265099893 meters Centerline goodness [0,1] 0.9998911007535828 Centerline is valid? [True, True] Translation: X:47.68, Y:3.28, Z:2.03 [[ 9.93761454e-01 -9.13710556e-02 -6.39492208e-02 4.76799779e+01] [ 9.11789455e-02 9.95816915e-01 -5.92221694e-03 3.27727893e+00] [ 6.42228349e-02 5.44484003e-05 9.97935581e-01 2.02875946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.295099893 meters Centerline goodness [0,1] 0.9997833199713982 Centerline is valid? [True, True] Translation: X:47.71, Y:3.27, Z:2.03 [[ 9.93341612e-01 -9.66815333e-02 -6.26507981e-02 4.77086743e+01] [ 9.65074893e-02 9.95315328e-01 -5.80530575e-03 3.27496586e+00] [ 6.29185655e-02 -2.79619450e-04 9.98018625e-01 2.03005411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099893 meters Centerline goodness [0,1] 0.9998478459331391 Centerline is valid? [True, True] Translation: X:47.74, Y:3.28, Z:2.03 [[ 9.93180598e-01 -9.92974756e-02 -6.10926416e-02 4.77399768e+01] [ 9.91368102e-02 9.95057699e-01 -5.66289467e-03 3.27581484e+00] [ 6.13530145e-02 -4.32252493e-04 9.98116036e-01 2.03344591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.355099893 meters Centerline goodness [0,1] 0.9997833481378773 Centerline is valid? [True, True] Translation: X:47.77, Y:3.28, Z:2.04 [[ 9.92977965e-01 -1.01423443e-01 -6.08937281e-02 4.77701897e+01] [ 1.01267934e-01 9.94843187e-01 -5.64251733e-03 3.27645754e+00] [ 6.11519941e-02 -5.63686652e-04 9.98128306e-01 2.03505926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters Centerline goodness [0,1] 0.9997828258697824 Centerline is valid? [True, True] Translation: X:47.80, Y:3.28, Z:2.04 [[ 9.92607360e-01 -1.05356538e-01 -6.02546969e-02 4.78025216e+01] [ 1.05211623e-01 9.94434191e-01 -5.58151182e-03 3.27629271e+00] [ 6.05073795e-02 -7.99244745e-04 9.98167430e-01 2.03811263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.415099893 meters Centerline goodness [0,1] 0.9998479814102982 Centerline is valid? [True, True] Translation: X:47.83, Y:3.28, Z:2.04 [[ 9.92450725e-01 -1.07062868e-01 -5.98255837e-02 4.78348954e+01] [ 1.06923371e-01 9.94251844e-01 -5.53737180e-03 3.27708751e+00] [ 6.00745438e-02 -9.01184428e-04 9.98193487e-01 2.03989007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.445099893 meters Centerline goodness [0,1] 0.999762280379487 Centerline is valid? [True, True] Translation: X:47.87, Y:3.28, Z:2.04 [[ 9.92265558e-01 -1.08571662e-01 -6.01768812e-02 4.78665497e+01] [ 1.08433547e-01 9.94088119e-01 -5.56568314e-03 3.27678741e+00] [ 6.04253981e-02 -1.00255700e-03 9.98172213e-01 2.04071936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.475099893 meters Centerline goodness [0,1] 0.9998260718323333 Centerline is valid? [True, True] Translation: X:47.90, Y:3.29, Z:2.04 [[ 9.94564484e-01 -8.15252298e-02 -6.47697738e-02 4.78976744e+01] [ 8.13080486e-02 9.96671041e-01 -5.98640670e-03 3.29104973e+00] [ 6.50422011e-02 6.87563576e-04 9.97882277e-01 2.03972998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.505099893 meters Centerline goodness [0,1] 0.9998479748072537 Centerline is valid? [True, True] Translation: X:47.93, Y:3.30, Z:2.04 [[ 9.94924677e-01 -7.66101412e-02 -6.52362909e-02 4.79256344e+01] [ 7.63793807e-02 9.97060609e-01 -6.02767791e-03 3.29649885e+00] [ 6.55063172e-02 1.01437800e-03 9.97851639e-01 2.04234963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.535099893 meters Centerline goodness [0,1] 0.9998481397114655 Centerline is valid? [True, True] Translation: X:47.95, Y:3.30, Z:2.04 [[ 9.95043668e-01 -7.44157513e-02 -6.59575213e-02 4.79528229e+01] [ 7.41746354e-02 9.97226609e-01 -6.10037984e-03 3.30137132e+00] [ 6.62285596e-02 1.17776924e-03 9.97803784e-01 2.04143774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters Centerline goodness [0,1] 0.9998047552933009 Centerline is valid? [True, True] Translation: X:47.98, Y:3.30, Z:2.04 [[ 9.95107892e-01 -7.29313512e-02 -6.66430922e-02 4.79814267e+01] [ 7.26812464e-02 9.97336117e-01 -6.17301340e-03 3.30295999e+00] [ 6.69157690e-02 1.29911134e-03 9.97757782e-01 2.04319303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.595099893 meters Centerline goodness [0,1] 0.9997405685871797 Centerline is valid? [True, True] Translation: X:48.01, Y:3.31, Z:2.04 [[ 9.95139179e-01 -7.13637895e-02 -6.78617946e-02 4.80088016e+01] [ 7.10997747e-02 9.97449307e-01 -6.30090896e-03 3.30537498e+00] [ 6.81383568e-02 1.44532306e-03 9.97674834e-01 2.04255453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.625099893 meters Centerline goodness [0,1] 0.9998265131307874 Centerline is valid? [True, True] Translation: X:48.04, Y:3.31, Z:2.04 [[ 9.95123899e-01 -7.17284301e-02 -6.77012348e-02 4.80363562e+01] [ 7.14656667e-02 9.97423175e-01 -6.29834112e-03 3.30704720e+00] [ 6.79785506e-02 1.42931589e-03 9.97685759e-01 2.04488773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.655099893 meters Centerline goodness [0,1] 0.9998916764157892 Centerline is valid? [True, True] Translation: X:48.06, Y:3.31, Z:2.05 [[ 9.95140454e-01 -7.23872953e-02 -6.67499474e-02 4.80635602e+01] [ 7.21323365e-02 9.97375644e-01 -6.22501166e-03 3.30960784e+00] [ 6.70253836e-02 1.37993127e-03 9.97750316e-01 2.04709908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.685099893 meters Centerline goodness [0,1] 0.9998490403277982 Centerline is valid? [True, True] Translation: X:48.09, Y:3.31, Z:2.05 [[ 9.95048147e-01 -7.49139309e-02 -6.53229560e-02 4.80926698e+01] [ 7.46746635e-02 9.97189291e-01 -6.10021522e-03 3.31104672e+00] [ 6.55963433e-02 1.19203809e-03 9.97845529e-01 2.05030922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.715099893 meters Centerline goodness [0,1] 0.9998274560552141 Centerline is valid? [True, True] Translation: X:48.12, Y:3.30, Z:2.05 [[ 9.93863019e-01 -8.97377403e-02 -6.46794936e-02 4.81233620e+01] [ 8.95337393e-02 9.95965405e-01 -6.05156872e-03 3.29972183e+00] [ 6.49615922e-02 2.23433439e-04 9.97887740e-01 2.05232309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters Centerline goodness [0,1] 0.9998713412672885 Centerline is valid? [True, True] Translation: X:48.15, Y:3.29, Z:2.05 [[ 9.92903004e-01 -1.00747633e-01 -6.31944475e-02 4.81509960e+01] [ 1.00574919e-01 9.94911897e-01 -5.91634099e-03 3.29312772e+00] [ 6.34689650e-02 -4.81423689e-04 9.97983697e-01 2.05468721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.775099893 meters Centerline goodness [0,1] 0.999806717635942 Centerline is valid? [True, True] Translation: X:48.18, Y:3.30, Z:2.06 [[ 9.92817010e-01 -1.01315550e-01 -6.36360324e-02 4.81814496e+01] [ 1.01141187e-01 9.94854207e-01 -5.96375772e-03 3.29520342e+00] [ 6.39127959e-02 -5.15303753e-04 9.97955354e-01 2.05594999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.805099893 meters Centerline goodness [0,1] 0.9998069083887577 Centerline is valid? [True, True] Translation: X:48.21, Y:3.30, Z:2.06 [[ 9.92798339e-01 -1.01667159e-01 -6.33659747e-02 4.82120515e+01] [ 1.01494990e-01 9.94818326e-01 -5.93844881e-03 3.29776040e+00] [ 6.36413781e-02 -5.35646852e-04 9.97972689e-01 2.05768552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.835099893 meters Centerline goodness [0,1] 0.9997852233676976 Centerline is valid? [True, True] Translation: X:48.24, Y:3.30, Z:2.06 [[ 9.92932187e-01 -1.01165746e-01 -6.20577504e-02 4.82422486e+01] [ 1.00999640e-01 9.94869463e-01 -5.81584637e-03 3.30189468e+00] [ 6.23277252e-02 -4.93069396e-04 9.98055615e-01 2.06099374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.865099893 meters Centerline goodness [0,1] 0.9998497628399116 Centerline is valid? [True, True] Translation: X:48.27, Y:3.31, Z:2.06 [[ 9.93055889e-01 -1.00286331e-01 -6.15032755e-02 4.82717027e+01] [ 1.00121481e-01 9.94958524e-01 -5.76414012e-03 3.30537696e+00] [ 6.17712727e-02 -4.33685750e-04 9.98090237e-01 2.06311263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.895099893 meters Centerline goodness [0,1] 0.9998281233215168 Centerline is valid? [True, True] Translation: X:48.30, Y:3.31, Z:2.07 [[ 9.93153097e-01 -9.93358079e-02 -6.14762079e-02 4.83032373e+01] [ 9.91692631e-02 9.95053897e-01 -5.76193750e-03 3.30904080e+00] [ 6.17445070e-02 -3.74064168e-04 9.98091918e-01 2.06514839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099893 meters Centerline goodness [0,1] 0.9997638268636208 Centerline is valid? [True, True] Translation: X:48.33, Y:3.31, Z:2.07 [[ 9.93203388e-01 -9.85529103e-02 -6.19221622e-02 4.83339609e+01] [ 9.83825831e-02 9.95131757e-01 -5.80108795e-03 3.31141504e+00] [ 6.21924242e-02 -3.30402067e-04 9.98064123e-01 2.06518687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.955099892999996 meters Centerline goodness [0,1] 0.9998066802706477 Centerline is valid? [True, True] Translation: X:48.36, Y:3.31, Z:2.07 [[ 9.93226893e-01 -9.78326382e-02 -6.26826520e-02 4.83643244e+01] [ 9.76568483e-02 9.95202839e-01 -5.86942665e-03 3.31314748e+00] [ 6.29561747e-02 -2.91717838e-04 9.98016250e-01 2.06594136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.985099893 meters Centerline goodness [0,1] 0.9997872928764384 Centerline is valid? [True, True] Translation: X:48.39, Y:3.30, Z:2.07 [[ 9.92389394e-01 -1.07161627e-01 -6.06603368e-02 4.83948759e+01] [ 1.07014371e-01 9.94241246e-01 -5.68054280e-03 3.30271969e+00] [ 6.09197451e-02 -8.54217337e-04 9.98142302e-01 2.06986844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.015099893 meters Centerline goodness [0,1] 0.9997871615869232 Centerline is valid? [True, True] Translation: X:48.43, Y:3.30, Z:2.07 [[ 9.91777947e-01 -1.12216134e-01 -6.15145783e-02 4.84256956e+01] [ 1.12074296e-01 9.93683123e-01 -5.76226392e-03 3.29883756e+00] [ 6.17726172e-02 -1.17931678e-03 9.98089552e-01 2.06901772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.045099893 meters Centerline goodness [0,1] 0.9998086938038049 Centerline is valid? [True, True] Translation: X:48.46, Y:3.30, Z:2.07 [[ 9.91054733e-01 -1.18751087e-01 -6.08990573e-02 4.84558817e+01] [ 1.18624370e-01 9.92922813e-01 -5.70485395e-03 3.29692208e+00] [ 6.11455209e-02 -1.57028981e-03 9.98127627e-01 2.07072948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.075099893 meters Centerline goodness [0,1] 0.9997884851305047 Centerline is valid? [True, True] Translation: X:48.49, Y:3.29, Z:2.07 [[ 9.89769392e-01 -1.29645007e-01 -5.95711544e-02 4.84867710e+01] [ 1.29543379e-01 9.91558048e-01 -5.58120694e-03 3.28959305e+00] [ 5.97918332e-02 -2.19294080e-03 9.98208459e-01 2.07371475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099893 meters Centerline goodness [0,1] 0.9997668898872595 Centerline is valid? [True, True] Translation: X:48.52, Y:3.29, Z:2.07 [[ 9.89546723e-01 -1.30978145e-01 -6.03490502e-02 4.85177824e+01] [ 1.30876385e-01 9.91382578e-01 -5.65299366e-03 3.29081252e+00] [ 6.05694156e-02 -2.30436419e-03 9.98161328e-01 2.07471804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.135099892999996 meters Centerline goodness [0,1] 0.9998099060090823 Centerline is valid? [True, True] Translation: X:48.55, Y:3.29, Z:2.08 [[ 9.89177315e-01 -1.33137016e-01 -6.16666480e-02 4.85484881e+01] [ 1.33035130e-01 9.91094507e-01 -5.77350525e-03 3.29093568e+00] [ 6.18861433e-02 -2.49281009e-03 9.98080103e-01 2.07513260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.165099893 meters Centerline goodness [0,1] 0.9998099060090823 Centerline is valid? [True, True] Translation: X:48.58, Y:3.29, Z:2.08 [[ 9.89182003e-01 -1.33102116e-01 -6.16667742e-02 4.85791960e+01] [ 1.33000246e-01 9.91099196e-01 -5.77215669e-03 3.29377969e+00] [ 6.18861766e-02 -2.49198264e-03 9.98080103e-01 2.07659962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.195099893 meters Centerline goodness [0,1] 0.9998725898241739 Centerline is valid? [True, True] Translation: X:48.61, Y:3.30, Z:2.08 [[ 9.88650343e-01 -1.36194769e-01 -6.34151727e-02 4.86097801e+01] [ 1.36093515e-01 9.90678225e-01 -5.93378239e-03 3.29804505e+00] [ 6.36321808e-02 -2.76395775e-03 9.97969592e-01 2.07767863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.225099893 meters Centerline goodness [0,1] 0.9998725898241739 Centerline is valid? [True, True] Translation: X:48.64, Y:3.30, Z:2.08 [[ 9.88660354e-01 -1.36121990e-01 -6.34153648e-02 4.86413390e+01] [ 1.36020718e-01 9.90688235e-01 -5.93172848e-03 3.30094093e+00] [ 6.36322945e-02 -2.76133869e-03 9.97969592e-01 2.07918619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.255099893 meters Centerline goodness [0,1] 0.9997455578643824 Centerline is valid? [True, True] Translation: X:48.67, Y:3.30, Z:2.08 [[ 9.88438802e-01 -1.37452597e-01 -6.39962354e-02 4.86727664e+01] [ 1.37352510e-01 9.90504167e-01 -5.98190361e-03 3.30268745e+00] [ 6.42107660e-02 -2.87729794e-03 9.97932211e-01 2.07925762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099893 meters Centerline goodness [0,1] 0.9997889092943237 Centerline is valid? [True, True] Translation: X:48.70, Y:3.30, Z:2.08 [[ 9.88292782e-01 -1.38802411e-01 -6.33345728e-02 4.87029968e+01] [ 1.38707272e-01 9.90315742e-01 -5.91804050e-03 3.30238191e+00] [ 6.35426628e-02 -2.93620911e-03 9.97974804e-01 2.08053093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.315099892999996 meters Centerline goodness [0,1] 0.9997889092943237 Centerline is valid? [True, True] Translation: X:48.73, Y:3.31, Z:2.08 [[ 9.88297676e-01 -1.38767502e-01 -6.33347057e-02 4.87337139e+01] [ 1.38672383e-01 9.90320637e-01 -5.91661822e-03 3.30522132e+00] [ 6.35427004e-02 -2.93539452e-03 9.97974804e-01 2.08199836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.345099893 meters Centerline goodness [0,1] 0.9998519771621908 Centerline is valid? [True, True] Translation: X:48.77, Y:3.31, Z:2.09 [[ 9.88221056e-01 -1.39826830e-01 -6.21900422e-02 4.87653738e+01] [ 1.39737377e-01 9.90171573e-01 -5.80694554e-03 3.30975046e+00] [ 6.23907787e-02 -2.95172750e-03 9.98047433e-01 2.08524404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.375099893 meters Centerline goodness [0,1] 0.9998304581867503 Centerline is valid? [True, True] Translation: X:48.80, Y:3.31, Z:2.09 [[ 9.88141058e-01 -1.40475816e-01 -6.19983458e-02 4.87967169e+01] [ 1.40388451e-01 9.90079602e-01 -5.78478606e-03 3.31406853e+00] [ 6.21959201e-02 -2.98766711e-03 9.98059488e-01 2.08723437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.405099893 meters Centerline goodness [0,1] 0.999851253718657 Centerline is valid? [True, True] Translation: X:48.83, Y:3.32, Z:2.09 [[ 9.88171408e-01 -1.40525823e-01 -6.13983780e-02 4.88287769e+01] [ 1.40440460e-01 9.90072573e-01 -5.72516317e-03 3.31762172e+00] [ 6.15933833e-02 -2.96537389e-03 9.98096920e-01 2.08906503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.435099893 meters Centerline goodness [0,1] 0.9998515187510606 Centerline is valid? [True, True] Translation: X:48.86, Y:3.32, Z:2.09 [[ 9.88180697e-01 -1.40462238e-01 -6.13943822e-02 4.88598225e+01] [ 1.40377028e-01 9.90081596e-01 -5.72051751e-03 3.31923620e+00] [ 6.15889646e-02 -2.96545591e-03 9.98097192e-01 2.09003400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099893 meters Centerline goodness [0,1] 0.9998302135065156 Centerline is valid? [True, True] Translation: X:48.89, Y:3.33, Z:2.09 [[ 9.88380883e-01 -1.39235988e-01 -6.09636709e-02 4.88915117e+01] [ 1.39149862e-01 9.90255063e-01 -5.67680220e-03 3.32611910e+00] [ 6.11599989e-02 -2.87224361e-03 9.98123842e-01 2.09207816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.495099892999995 meters Centerline goodness [0,1] 0.9998302135065156 Centerline is valid? [True, True] Translation: X:48.92, Y:3.33, Z:2.09 [[ 9.88390929e-01 -1.39164483e-01 -6.09640808e-02 4.89230761e+01] [ 1.39078492e-01 9.90265114e-01 -5.67239681e-03 3.32899655e+00] [ 6.11599986e-02 -2.87224688e-03 9.98123842e-01 2.09358511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.525099893 meters Centerline goodness [0,1] 0.9998299138939087 Centerline is valid? [True, True] Translation: X:48.95, Y:3.33, Z:2.10 [[ 9.88532143e-01 -1.38429240e-01 -6.03452352e-02 4.89545579e+01] [ 1.38343883e-01 9.90368362e-01 -5.61046406e-03 3.33268707e+00] [ 6.05406640e-02 -2.80227008e-03 9.98161798e-01 2.09546017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.555099893 meters Centerline goodness [0,1] 0.9998086816036733 Centerline is valid? [True, True] Translation: X:48.99, Y:3.34, Z:2.10 [[ 9.88705685e-01 -1.37474148e-01 -5.96818782e-02 4.89856424e+01] [ 1.37389178e-01 9.90501627e-01 -5.54449812e-03 3.34084831e+00] [ 5.98772226e-02 -2.71776736e-03 9.98202050e-01 2.09811634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.585099893 meters Centerline goodness [0,1] 0.9997873019249176 Centerline is valid? [True, True] Translation: X:49.02, Y:3.35, Z:2.10 [[ 9.88759255e-01 -1.37140910e-01 -5.95609543e-02 4.90174602e+01] [ 1.37055943e-01 9.90547879e-01 -5.52888168e-03 3.34508105e+00] [ 5.97562128e-02 -2.69644982e-03 9.98209359e-01 2.09943609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.615099893 meters Centerline goodness [0,1] 0.9998296567583681 Centerline is valid? [True, True] Translation: X:49.05, Y:3.35, Z:2.10 [[ 9.88743204e-01 -1.37003252e-01 -6.01413735e-02 4.90481809e+01] [ 1.36916624e-01 9.90566867e-01 -5.57853856e-03 3.34839192e+00] [ 6.03383298e-02 -2.71861173e-03 9.98174281e-01 2.10090926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.08, Y:3.35, Z:2.11 [[ 9.88734345e-01 -1.37323124e-01 -5.95546338e-02 4.90796346e+01] [ 1.37238962e-01 9.90522584e-01 -5.52064580e-03 3.35330904e+00] [ 5.97483221e-02 -2.71476402e-03 9.98209782e-01 2.10526437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.675099892999995 meters Centerline goodness [0,1] 0.999786839468804 Centerline is valid? [True, True] Translation: X:49.11, Y:3.36, Z:2.10 [[ 9.88722837e-01 -1.36762916e-01 -6.10168481e-02 4.91107442e+01] [ 1.36673775e-01 9.90599988e-01 -5.65188195e-03 3.35627776e+00] [ 6.12162568e-02 -2.75125821e-03 9.98120734e-01 2.10260760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters Centerline goodness [0,1] 0.9998512726809161 Centerline is valid? [True, True] Translation: X:49.14, Y:3.36, Z:2.10 [[ 9.88781591e-01 -1.36612375e-01 -6.03988780e-02 4.91419320e+01] [ 1.36524948e-01 9.90620853e-01 -5.59137426e-03 3.35963720e+00] [ 6.05962389e-02 -2.71730574e-03 9.98158661e-01 2.10456192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.735099893 meters Centerline goodness [0,1] 0.9998512726809161 Centerline is valid? [True, True] Translation: X:49.17, Y:3.36, Z:2.11 [[ 9.88791271e-01 -1.36542149e-01 -6.03991976e-02 4.91734948e+01] [ 1.36454802e-01 9.90630538e-01 -5.58791980e-03 3.36249668e+00] [ 6.05962761e-02 -2.71647421e-03 9.98158661e-01 2.10606896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.765099893 meters Centerline goodness [0,1] 0.9998719180275376 Centerline is valid? [True, True] Translation: X:49.20, Y:3.37, Z:2.11 [[ 9.88849456e-01 -1.36468221e-01 -5.96085462e-02 4.92045090e+01] [ 1.36383295e-01 9.90640821e-01 -5.51001238e-03 3.36522507e+00] [ 5.98026007e-02 -2.68103717e-03 9.98206622e-01 2.10809561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.795099893 meters Centerline goodness [0,1] 0.9998719180275376 Centerline is valid? [True, True] Translation: X:49.24, Y:3.37, Z:2.11 [[ 9.88858909e-01 -1.36399453e-01 -5.96091249e-02 4.92360722e+01] [ 1.36314779e-01 9.90650286e-01 -5.50374517e-03 3.36807540e+00] [ 5.98025045e-02 -2.68317726e-03 9.98206622e-01 2.10960172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099893 meters Centerline goodness [0,1] 0.9998292021605927 Centerline is valid? [True, True] Translation: X:49.27, Y:3.37, Z:2.11 [[ 9.88860539e-01 -1.36360848e-01 -5.96703798e-02 4.92680938e+01] [ 1.36276181e-01 9.90655589e-01 -5.50520685e-03 3.37447753e+00] [ 5.98634899e-02 -2.68776969e-03 9.98202955e-01 2.11184896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.855099893 meters Centerline goodness [0,1] 0.9998292021605927 Centerline is valid? [True, True] Translation: X:49.30, Y:3.38, Z:2.11 [[ 9.88870198e-01 -1.36290609e-01 -5.96707698e-02 4.92996577e+01] [ 1.36206070e-01 9.90665254e-01 -5.50097752e-03 3.37732633e+00] [ 5.98634899e-02 -2.68776829e-03 9.98202955e-01 2.11335574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters Centerline goodness [0,1] 0.9998079754208539 Centerline is valid? [True, True] Translation: X:49.33, Y:3.38, Z:2.11 [[ 9.88770943e-01 -1.36854891e-01 -6.00230068e-02 4.93310026e+01] [ 1.36770635e-01 9.90587310e-01 -5.52935411e-03 3.38250490e+00] [ 6.02147480e-02 -2.74212010e-03 9.98181679e-01 2.11485534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.915099893 meters Centerline goodness [0,1] 0.9998294133953132 Centerline is valid? [True, True] Translation: X:49.36, Y:3.39, Z:2.12 [[ 9.88641065e-01 -1.37400120e-01 -6.09101858e-02 4.93626334e+01] [ 1.37314609e-01 9.90511612e-01 -5.60748237e-03 3.38589111e+00] [ 6.11027151e-02 -2.82007101e-03 9.98127500e-01 2.11547359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.945099893 meters Centerline goodness [0,1] 0.9997642772956177 Centerline is valid? [True, True] Translation: X:49.39, Y:3.39, Z:2.12 [[ 9.88456387e-01 -1.38185972e-01 -6.21177033e-02 4.93941186e+01] [ 1.38098857e-01 9.90401965e-01 -5.71433817e-03 3.39099046e+00] [ 6.23111368e-02 -2.93000973e-03 9.98052472e-01 2.11595648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.975099893 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:49.43, Y:3.39, Z:2.12 [[ 9.88256868e-01 -1.39597415e-01 -6.21363378e-02 4.94254329e+01] [ 1.39513290e-01 9.90203725e-01 -5.71185466e-03 3.39100406e+00] [ 6.23249933e-02 -3.02406532e-03 9.98051326e-01 2.11753459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.005099893 meters Centerline goodness [0,1] 0.9998501070663811 Centerline is valid? [True, True] Translation: X:49.46, Y:3.39, Z:2.12 [[ 9.88067440e-01 -1.40574122e-01 -6.29416432e-02 4.94566036e+01] [ 1.40490153e-01 9.90065204e-01 -5.77997015e-03 3.39296219e+00] [ 6.31288450e-02 -3.13168077e-03 9.98000472e-01 2.11713890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.035099893 meters Centerline goodness [0,1] 0.9999140985718887 Centerline is valid? [True, True] Translation: X:49.49, Y:3.40, Z:2.12 [[ 9.87932475e-01 -1.41653160e-01 -6.26403056e-02 4.94877491e+01] [ 1.41572364e-01 9.89911216e-01 -5.74894993e-03 3.39996531e+00] [ 6.28226980e-02 -3.18856179e-03 9.98019610e-01 2.12072857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters Centerline goodness [0,1] 0.9998071483671895 Centerline is valid? [True, True] Translation: X:49.52, Y:3.41, Z:2.12 [[ 9.87802917e-01 -1.42617865e-01 -6.24943401e-02 4.95191380e+01] [ 1.42539601e-01 9.89772503e-01 -5.73184415e-03 3.40618735e+00] [ 6.26726428e-02 -3.24598592e-03 9.98028859e-01 2.12254920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.095099893 meters Centerline goodness [0,1] 0.9999570787818959 Centerline is valid? [True, True] Translation: X:49.55, Y:3.41, Z:2.13 [[ 9.87916237e-01 -1.42517797e-01 -6.09113029e-02 4.95506963e+01] [ 1.42443520e-01 9.89787190e-01 -5.58226853e-03 3.41064906e+00] [ 6.10848000e-02 -3.16160667e-03 9.98127573e-01 2.12728030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.125099893 meters Centerline goodness [0,1] 0.9998495076751086 Centerline is valid? [True, True] Translation: X:49.58, Y:3.42, Z:2.13 [[ 9.88073258e-01 -1.41423351e-01 -6.09152943e-02 4.95831793e+01] [ 1.41347279e-01 9.89944359e-01 -5.57795160e-03 3.41523461e+00] [ 6.10916046e-02 -3.09878628e-03 9.98127353e-01 2.12786146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.155099893 meters Centerline goodness [0,1] 0.9997855181880576 Centerline is valid? [True, True] Translation: X:49.61, Y:3.42, Z:2.13 [[ 9.88369740e-01 -1.39803079e-01 -5.98360853e-02 4.96142573e+01] [ 1.39727009e-01 9.90174932e-01 -5.47423733e-03 3.42312952e+00] [ 6.00135070e-02 -2.95014669e-03 9.98193206e-01 2.13008289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.185099893 meters Centerline goodness [0,1] 0.9998276307851418 Centerline is valid? [True, True] Translation: X:49.65, Y:3.43, Z:2.13 [[ 9.88540020e-01 -1.38884409e-01 -5.91586797e-02 4.96465131e+01] [ 1.38808629e-01 9.90304454e-01 -5.40858029e-03 3.42910458e+00] [ 5.93362715e-02 -2.86513714e-03 9.98233939e-01 2.13236594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.215099893 meters Centerline goodness [0,1] 0.9998276307851418 Centerline is valid? [True, True] Translation: X:49.68, Y:3.43, Z:2.13 [[ 9.88555433e-01 -1.38774440e-01 -5.91591987e-02 4.96789342e+01] [ 1.38698803e-01 9.90319873e-01 -5.40289791e-03 3.43198013e+00] [ 5.93363143e-02 -2.86424595e-03 9.98233939e-01 2.13391303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters Centerline goodness [0,1] 0.9998705082550987 Centerline is valid? [True, True] Translation: X:49.71, Y:3.44, Z:2.14 [[ 9.88729850e-01 -1.37759575e-01 -5.86138561e-02 4.97101866e+01] [ 1.37683892e-01 9.90461788e-01 -5.34721474e-03 3.43525190e+00] [ 5.87914148e-02 -2.78323302e-03 9.98266409e-01 2.13579468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.275099893 meters Centerline goodness [0,1] 0.9997632168073015 Centerline is valid? [True, True] Translation: X:49.74, Y:3.44, Z:2.14 [[ 9.88930739e-01 -1.36268529e-01 -5.87101539e-02 4.97421766e+01] [ 1.36190181e-01 9.90668252e-01 -5.35254686e-03 3.44038145e+00] [ 5.88916692e-02 -2.70244838e-03 9.98260721e-01 2.13670093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.305099893 meters Centerline goodness [0,1] 0.9998706924419732 Centerline is valid? [True, True] Translation: X:49.77, Y:3.45, Z:2.14 [[ 9.89192181e-01 -1.34629713e-01 -5.80832883e-02 4.97733774e+01] [ 1.34550454e-01 9.90892617e-01 -5.29123304e-03 3.44553337e+00] [ 5.82666588e-02 -2.58108644e-03 9.98297718e-01 2.13962109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.335099893 meters Centerline goodness [0,1] 0.9998706924419732 Centerline is valid? [True, True] Translation: X:49.81, Y:3.45, Z:2.14 [[ 9.89206590e-01 -1.34523630e-01 -5.80837002e-02 4.98057923e+01] [ 1.34444453e-01 9.90907029e-01 -5.28670816e-03 3.44839370e+00] [ 5.82667340e-02 -2.57938475e-03 9.98297718e-01 2.14116815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.365099893 meters Centerline goodness [0,1] 0.9999351098806022 Centerline is valid? [True, True] Translation: X:49.84, Y:3.45, Z:2.14 [[ 9.89479992e-01 -1.32809084e-01 -5.73680458e-02 4.98376023e+01] [ 1.32729303e-01 9.91138602e-01 -5.21580426e-03 3.45382243e+00] [ 5.75523909e-02 -2.45348674e-03 9.98339473e-01 2.14399278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.395099893 meters Centerline goodness [0,1] 0.9997837089587749 Centerline is valid? [True, True] Translation: X:49.87, Y:3.46, Z:2.14 [[ 9.89766034e-01 -1.30319994e-01 -5.81368785e-02 4.98688397e+01] [ 1.30234023e-01 9.91469215e-01 -5.28149064e-03 3.46067095e+00] [ 5.83292092e-02 -2.34395954e-03 9.98294650e-01 2.14399733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters Centerline goodness [0,1] 0.9997837089587749 Centerline is valid? [True, True] Translation: X:49.90, Y:3.46, Z:2.15 [[ 9.89780161e-01 -1.30212472e-01 -5.81372974e-02 4.99012509e+01] [ 1.30126587e-01 9.91483346e-01 -5.27687613e-03 3.46352471e+00] [ 5.83292773e-02 -2.34226076e-03 9.98294651e-01 2.14554414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.455099892999996 meters Centerline goodness [0,1] 0.9998487075300424 Centerline is valid? [True, True] Translation: X:49.93, Y:3.47, Z:2.15 [[ 9.90025797e-01 -1.28312045e-01 -5.81802341e-02 4.99334664e+01] [ 1.28223119e-01 9.91731320e-01 -5.27461017e-03 3.46855348e+00] [ 5.83759564e-02 -2.23805092e-03 9.98292161e-01 2.14721082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.485099893 meters Centerline goodness [0,1] 0.9998267310649542 Centerline is valid? [True, True] Translation: X:49.96, Y:3.47, Z:2.15 [[ 9.90249301e-01 -1.26583661e-01 -5.81626949e-02 4.99644577e+01] [ 1.26492097e-01 9.91953626e-01 -5.26816066e-03 3.47269409e+00] [ 5.83615592e-02 -2.14032884e-03 9.98293217e-01 2.14834272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.515099893 meters Centerline goodness [0,1] 0.9998260453586727 Centerline is valid? [True, True] Translation: X:50.00, Y:3.48, Z:2.15 [[ 9.90448816e-01 -1.25151108e-01 -5.78648703e-02 4.99963800e+01] [ 1.25058231e-01 9.92135577e-01 -5.23787777e-03 3.47950637e+00] [ 5.80653227e-02 -2.04862849e-03 9.98310684e-01 2.15054558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.545099893 meters Centerline goodness [0,1] 0.9997606562370809 Centerline is valid? [True, True] Translation: X:50.03, Y:3.48, Z:2.15 [[ 9.90658495e-01 -1.23515663e-01 -5.77895077e-02 5.00277445e+01] [ 1.23420496e-01 9.92340698e-01 -5.22684386e-03 3.48493408e+00] [ 5.79924775e-02 -1.95439245e-03 9.98315107e-01 2.15105768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.575099893 meters Centerline goodness [0,1] 0.9998037933289732 Centerline is valid? [True, True] Translation: X:50.06, Y:3.49, Z:2.15 [[ 9.90747029e-01 -1.22842413e-01 -5.77067298e-02 5.00590613e+01] [ 1.22746621e-01 9.92424339e-01 -5.21516240e-03 3.49062818e+00] [ 5.79102063e-02 -1.91639947e-03 9.98319956e-01 2.15336707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099893 meters Centerline goodness [0,1] 0.9998471014809314 Centerline is valid? [True, True] Translation: X:50.09, Y:3.49, Z:2.15 [[ 9.90826689e-01 -1.22164560e-01 -5.77779560e-02 5.00903372e+01] [ 1.22067618e-01 9.92508073e-01 -5.21752430e-03 3.49435558e+00] [ 5.79824843e-02 -1.88315514e-03 9.98315824e-01 2.15491542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.635099892999996 meters Centerline goodness [0,1] 0.9998475543359903 Centerline is valid? [True, True] Translation: X:50.12, Y:3.50, Z:2.16 [[ 9.90967556e-01 -1.20438252e-01 -5.89739796e-02 5.01210943e+01] [ 1.20334398e-01 9.92719148e-01 -5.32223987e-03 3.49893115e+00] [ 5.91856001e-02 -1.82243133e-03 9.98245332e-01 2.15503994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.665099893 meters Centerline goodness [0,1] 0.9998030634573304 Centerline is valid? [True, True] Translation: X:50.15, Y:3.50, Z:2.16 [[ 9.90995372e-01 -1.19689987e-01 -6.00206632e-02 5.01527189e+01] [ 1.19581259e-01 9.92809660e-01 -5.41315268e-03 3.50363786e+00] [ 6.02369943e-02 -1.81293723e-03 9.98182457e-01 2.15531882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.695099893 meters Centerline goodness [0,1] 0.9998028045574058 Centerline is valid? [True, True] Translation: X:50.18, Y:3.51, Z:2.15 [[ 9.91111061e-01 -1.18184316e-01 -6.10846346e-02 5.01836506e+01] [ 1.18069106e-01 9.92990122e-01 -5.50485944e-03 3.50795518e+00] [ 6.13070268e-02 -1.75628109e-03 9.98117410e-01 2.15482875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.725099893 meters Centerline goodness [0,1] 0.9998684960329637 Centerline is valid? [True, True] Translation: X:50.22, Y:3.51, Z:2.16 [[ 9.91341027e-01 -1.16547241e-01 -6.04955247e-02 5.02156256e+01] [ 1.16431412e-01 9.93183791e-01 -5.44826249e-03 3.51411141e+00] [ 6.07181545e-02 -1.64249322e-03 9.98153599e-01 2.15803535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.755099893 meters Centerline goodness [0,1] 0.9998901798853478 Centerline is valid? [True, True] Translation: X:50.25, Y:3.52, Z:2.16 [[ 9.91735431e-01 -1.14139192e-01 -5.85924865e-02 5.02467541e+01] [ 1.14026561e-01 9.93463707e-01 -5.27309743e-03 3.51990727e+00] [ 5.88113760e-02 -1.45158221e-03 9.98268058e-01 2.16156434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099893 meters Centerline goodness [0,1] 0.9998019932677711 Centerline is valid? [True, True] Translation: X:50.28, Y:3.53, Z:2.16 [[ 9.92071832e-01 -1.11477754e-01 -5.80188880e-02 5.02782387e+01] [ 1.11362918e-01 9.93766101e-01 -5.21896082e-03 3.52618153e+00] [ 5.82390021e-02 -1.28356866e-03 9.98301844e-01 2.16422981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.815099892999996 meters Centerline goodness [0,1] 0.9998678588732767 Centerline is valid? [True, True] Translation: X:50.31, Y:3.53, Z:2.17 [[ 9.92220796e-01 -1.10380769e-01 -5.75671598e-02 5.03105452e+01] [ 1.10266115e-01 9.93888632e-01 -5.17411029e-03 3.53018660e+00] [ 5.77864679e-02 -1.21384725e-03 9.98328228e-01 2.16683357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.845099893 meters Centerline goodness [0,1] 0.9997798520605847 Centerline is valid? [True, True] Translation: X:50.34, Y:3.53, Z:2.17 [[ 9.92306808e-01 -1.09338292e-01 -5.80718189e-02 5.03419781e+01] [ 1.09220129e-01 9.94003910e-01 -5.21445707e-03 3.53297735e+00] [ 5.82937549e-02 -1.16827027e-03 9.98298790e-01 2.16662317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.875099893 meters Centerline goodness [0,1] 0.9998016965957915 Centerline is valid? [True, True] Translation: X:50.37, Y:3.54, Z:2.17 [[ 9.92405586e-01 -1.08676864e-01 -5.76237026e-02 5.03741050e+01] [ 1.08559827e-01 9.94076489e-01 -5.16691138e-03 3.53597056e+00] [ 5.78438917e-02 -1.12794749e-03 9.98325003e-01 2.16816884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.905099893 meters Centerline goodness [0,1] 0.9998682274394395 Centerline is valid? [True, True] Translation: X:50.41, Y:3.54, Z:2.17 [[ 9.92456319e-01 -1.08775327e-01 -5.65542445e-02 5.04063300e+01] [ 1.08662980e-01 9.94065733e-01 -5.06706539e-03 3.53854770e+00] [ 5.67698082e-02 -1.11651167e-03 9.98386670e-01 2.17108565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.935099893 meters Centerline goodness [0,1] 0.9997799441058028 Centerline is valid? [True, True] Translation: X:50.44, Y:3.54, Z:2.17 [[ 9.92465138e-01 -1.08977438e-01 -5.60077508e-02 5.04388167e+01] [ 1.08867816e-01 9.94043591e-01 -5.01381205e-03 3.54179365e+00] [ 5.62205381e-02 -1.12140784e-03 9.98417745e-01 2.17340522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099893 meters Centerline goodness [0,1] 0.9998022716787135 Centerline is valid? [True, True] Translation: X:50.47, Y:3.54, Z:2.17 [[ 9.92426530e-01 -1.09200303e-01 -5.62572412e-02 5.04694627e+01] [ 1.09090381e-01 9.94019106e-01 -5.03044200e-03 3.54367230e+00] [ 5.64700984e-02 -1.14477980e-03 9.98403635e-01 2.17490831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.995099892999995 meters Centerline goodness [0,1] 0.9998463092258376 Centerline is valid? [True, True] Translation: X:50.50, Y:3.54, Z:2.18 [[ 9.92200155e-01 -1.10751126e-01 -5.72104889e-02 5.05010248e+01] [ 1.10640201e-01 9.93847377e-01 -5.11253475e-03 3.54412939e+00] [ 5.74247133e-02 -1.25712225e-03 9.98349048e-01 2.17587928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.025099893 meters Centerline goodness [0,1] 0.9998464103914341 Centerline is valid? [True, True] Translation: X:50.53, Y:3.55, Z:2.18 [[ 9.91921029e-01 -1.12834276e-01 -5.79749775e-02 5.05334319e+01] [ 1.12724115e-01 9.93612836e-01 -5.17748853e-03 3.54573994e+00] [ 5.81888800e-02 -1.39951831e-03 9.98304611e-01 2.17688778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.055099893 meters Centerline goodness [0,1] 0.9997371591282445 Centerline is valid? [True, True] Translation: X:50.56, Y:3.54, Z:2.18 [[ 9.91616766e-01 -1.15423155e-01 -5.80834362e-02 5.05648523e+01] [ 1.15317252e-01 9.93315190e-01 -5.18311369e-03 3.54467508e+00] [ 5.82934108e-02 -1.55835980e-03 9.98298277e-01 2.17719537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.085099893 meters Centerline goodness [0,1] 0.9997586872586872 Centerline is valid? [True, True] Translation: X:50.60, Y:3.55, Z:2.18 [[ 9.91549207e-01 -1.16331771e-01 -5.74202868e-02 5.05962756e+01] [ 1.16229973e-01 9.93209127e-01 -5.12082621e-03 3.54788890e+00] [ 5.76260677e-02 -1.59640721e-03 9.98336961e-01 2.17998065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.115099893 meters Centerline goodness [0,1] 0.9997591522157996 Centerline is valid? [True, True] Translation: X:50.63, Y:3.55, Z:2.18 [[ 9.91392849e-01 -1.18095927e-01 -5.65116805e-02 5.06277331e+01] [ 1.18000361e-01 9.93000779e-01 -5.03672113e-03 3.54856456e+00] [ 5.67109590e-02 -1.67502937e-03 9.98389233e-01 2.18271557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099893 meters Centerline goodness [0,1] 0.9999126141477694 Centerline is valid? [True, True] Translation: X:50.66, Y:3.55, Z:2.19 [[ 9.91322171e-01 -1.18925006e-01 -5.60106758e-02 5.06589000e+01] [ 1.18832619e-01 9.92901767e-01 -4.98902510e-03 3.54787373e+00] [ 5.62064188e-02 -1.71016412e-03 9.98417705e-01 2.18584326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.175099892999995 meters Centerline goodness [0,1] 0.9998690099334134 Centerline is valid? [True, True] Translation: X:50.69, Y:3.55, Z:2.19 [[ 9.91144252e-01 -1.19650982e-01 -5.75909208e-02 5.06913515e+01] [ 1.19554727e-01 9.92814377e-01 -5.12639815e-03 3.55039531e+00] [ 5.77904728e-02 -1.80426677e-03 9.98327104e-01 2.18589541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.205099892999996 meters Centerline goodness [0,1] 0.9998689956331878 Centerline is valid? [True, True] Translation: X:50.72, Y:3.55, Z:2.19 [[ 9.91063849e-01 -1.20138461e-01 -5.79585818e-02 5.07224479e+01] [ 1.20042040e-01 9.92755425e-01 -5.15511692e-03 3.55106835e+00] [ 5.81580243e-02 -1.84841635e-03 9.98305678e-01 2.18655109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.235099893 meters Centerline goodness [0,1] 0.9997385506993769 Centerline is valid? [True, True] Translation: X:50.75, Y:3.55, Z:2.19 [[ 9.90900965e-01 -1.21274745e-01 -5.83756264e-02 5.07545139e+01] [ 1.21179095e-01 9.92617098e-01 -5.18886187e-03 3.55270265e+00] [ 5.85739227e-02 -1.93225734e-03 9.98281204e-01 2.18710105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.265099893 meters Centerline goodness [0,1] 0.9997384196185286 Centerline is valid? [True, True] Translation: X:50.79, Y:3.56, Z:2.19 [[ 9.90857120e-01 -1.21726643e-01 -5.81789627e-02 5.07869875e+01] [ 1.21632657e-01 9.92561734e-01 -5.16722038e-03 3.55522039e+00] [ 5.83752005e-02 -1.95648473e-03 9.98292797e-01 2.18968205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.295099893 meters Centerline goodness [0,1] 0.9998257877659459 Centerline is valid? [True, True] Translation: X:50.82, Y:3.56, Z:2.19 [[ 9.90595790e-01 -1.23645232e-01 -5.85818833e-02 5.08191479e+01] [ 1.23553537e-01 9.92324290e-01 -5.19875696e-03 3.55667312e+00] [ 5.87750273e-02 -2.08813216e-03 9.98269070e-01 2.19179764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099893 meters Centerline goodness [0,1] 0.9998475377344107 Centerline is valid? [True, True] Translation: X:50.85, Y:3.56, Z:2.19 [[ 9.90571645e-01 -1.23541774e-01 -5.92051219e-02 5.08505114e+01] [ 1.23448242e-01 9.92337131e-01 -5.24890682e-03 3.55712961e+00] [ 5.93999001e-02 -2.10934993e-03 9.98232038e-01 2.19226671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.355099893 meters Centerline goodness [0,1] 0.9999782201507166 Centerline is valid? [True, True] Translation: X:50.88, Y:3.56, Z:2.20 [[ 9.90611005e-01 -1.23379908e-01 -5.88832398e-02 5.08824311e+01] [ 1.23287544e-01 9.92357298e-01 -5.21292163e-03 3.56094970e+00] [ 5.90763825e-02 -2.09559251e-03 9.98251266e-01 2.19626753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters Centerline goodness [0,1] 0.9999782201507166 Centerline is valid? [True, True] Translation: X:50.91, Y:3.56, Z:2.20 [[ 9.90624546e-01 -1.23270938e-01 -5.88836569e-02 5.09148450e+01] [ 1.23178662e-01 9.92370844e-01 -5.20820610e-03 3.56373001e+00] [ 5.90764448e-02 -2.09383327e-03 9.98251266e-01 2.19781413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.415099893 meters Centerline goodness [0,1] 0.9998045602605863 Centerline is valid? [True, True] Translation: X:50.95, Y:3.57, Z:2.20 [[ 9.90767638e-01 -1.21968445e-01 -5.91877134e-02 5.09468160e+01] [ 1.21873260e-01 9.92531897e-01 -5.22895914e-03 3.56669694e+00] [ 5.93834615e-02 -2.03271609e-03 9.98233175e-01 2.19612033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.445099893 meters Centerline goodness [0,1] 0.9998480836841876 Centerline is valid? [True, True] Translation: X:50.98, Y:3.57, Z:2.20 [[ 9.90805483e-01 -1.21857641e-01 -5.87810406e-02 5.09782637e+01] [ 1.21763805e-01 9.92545541e-01 -5.18895191e-03 3.56919451e+00] [ 5.89751732e-02 -2.01616119e-03 9.98257414e-01 2.19815266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.01, Y:3.57, Z:2.20 [[ 9.90885289e-01 -1.21440068e-01 -5.82979736e-02 5.10088034e+01] [ 1.21347232e-01 9.92596795e-01 -5.14315181e-03 3.57151707e+00] [ 5.84909665e-02 -1.97802426e-03 9.98285978e-01 2.20210586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.505099893 meters Centerline goodness [0,1] 0.9998911647547942 Centerline is valid? [True, True] Translation: X:51.04, Y:3.58, Z:2.20 [[ 9.90968448e-01 -1.20500507e-01 -5.88316528e-02 5.10414015e+01] [ 1.20404525e-01 9.92711363e-01 -5.18661967e-03 3.57536440e+00] [ 5.90278405e-02 -1.94382075e-03 9.98254444e-01 2.20052883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.535099893 meters Centerline goodness [0,1] 0.9998473349036029 Centerline is valid? [True, True] Translation: X:51.07, Y:3.58, Z:2.20 [[ 9.91014717e-01 -1.20279280e-01 -5.85040601e-02 5.10737527e+01] [ 1.20184275e-01 9.92738228e-01 -5.15269461e-03 3.57902415e+00] [ 5.86989793e-02 -1.92487188e-03 9.98273873e-01 2.20233414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters Centerline goodness [0,1] 0.9998043605851792 Centerline is valid? [True, True] Translation: X:51.10, Y:3.58, Z:2.20 [[ 9.90986110e-01 -1.20440387e-01 -5.86569994e-02 5.11048600e+01] [ 1.20345407e-01 9.92718659e-01 -5.16209449e-03 3.58052061e+00] [ 5.88516224e-02 -1.94353651e-03 9.98264849e-01 2.20337492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.595099893 meters Centerline goodness [0,1] 0.9999129431736566 Centerline is valid? [True, True] Translation: X:51.14, Y:3.58, Z:2.21 [[ 9.90828870e-01 -1.21661456e-01 -5.87931949e-02 5.11369143e+01] [ 1.21568381e-01 9.92569591e-01 -5.17067705e-03 3.58254635e+00] [ 5.89854095e-02 -2.02413741e-03 9.98256793e-01 2.20586508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.625099893 meters Centerline goodness [0,1] 0.9997821588062302 Centerline is valid? [True, True] Translation: X:51.17, Y:3.58, Z:2.21 [[ 9.90682236e-01 -1.22389905e-01 -5.97446103e-02 5.11686630e+01] [ 1.22295420e-01 9.92479861e-01 -5.24927097e-03 3.58432809e+00] [ 5.99377803e-02 -2.10613270e-03 9.98199893e-01 2.20550854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.655099893 meters Centerline goodness [0,1] 0.9998266108931706 Centerline is valid? [True, True] Translation: X:51.20, Y:3.59, Z:2.21 [[ 9.90729869e-01 -1.22061046e-01 -5.96274141e-02 5.12006233e+01] [ 1.21966753e-01 9.92520396e-01 -5.23202447e-03 3.58667190e+00] [ 5.98200511e-02 -2.08903918e-03 9.98206991e-01 2.20714872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.685099893 meters Centerline goodness [0,1] 0.9998265244166884 Centerline is valid? [True, True] Translation: X:51.23, Y:3.59, Z:2.21 [[ 9.90870338e-01 -1.20956004e-01 -5.95450924e-02 5.12317589e+01] [ 1.20860228e-01 9.92655806e-01 -5.22066028e-03 3.58950123e+00] [ 5.97392519e-02 -2.02363600e-03 9.98211965e-01 2.20877943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.715099893 meters Centerline goodness [0,1] 0.9998258294870679 Centerline is valid? [True, True] Translation: X:51.26, Y:3.59, Z:2.21 [[ 9.91224339e-01 -1.18369184e-01 -5.88476454e-02 5.12619838e+01] [ 1.18271309e-01 9.92967933e-01 -5.15574243e-03 3.59393905e+00] [ 5.90441059e-02 -1.84949071e-03 9.98253662e-01 2.21129576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:3.60, Z:2.22 [[ 9.91655670e-01 -1.16035078e-01 -5.61684256e-02 5.12923928e+01] [ 1.15942459e-01 9.93243766e-01 -4.91594644e-03 3.60017262e+00] [ 5.63593609e-02 -1.63737925e-03 9.98409205e-01 2.21846863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.775099893 meters Centerline goodness [0,1] 0.9998047637641546 Centerline is valid? [True, True] Translation: X:51.32, Y:3.60, Z:2.22 [[ 9.91926010e-01 -1.13739026e-01 -5.60912149e-02 5.13233842e+01] [ 1.13643118e-01 9.93509518e-01 -4.90700545e-03 3.60358082e+00] [ 5.62852739e-02 -1.50699422e-03 9.98413590e-01 2.21700560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.805099893 meters Centerline goodness [0,1] 0.9998475144861239 Centerline is valid? [True, True] Translation: X:51.35, Y:3.61, Z:2.22 [[ 9.92332512e-01 -1.10444633e-01 -5.54812381e-02 5.13547072e+01] [ 1.10345822e-01 9.93881417e-01 -4.85068286e-03 3.60940428e+00] [ 5.56775034e-02 -1.30863249e-03 9.98447947e-01 2.22047796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.835099893 meters Centerline goodness [0,1] 0.9999563547486033 Centerline is valid? [True, True] Translation: X:51.39, Y:3.62, Z:2.22 [[ 9.92761153e-01 -1.06431936e-01 -5.56555087e-02 5.13852011e+01] [ 1.06326362e-01 9.94319393e-01 -4.86305827e-03 3.61666636e+00] [ 5.58569363e-02 -1.08979244e-03 9.98438188e-01 2.22422341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.865099893 meters Centerline goodness [0,1] 0.999956167265714 Centerline is valid? [True, True] Translation: X:51.42, Y:3.62, Z:2.23 [[ 9.93097927e-01 -1.02647837e-01 -5.67444233e-02 5.14170674e+01] [ 1.02532057e-01 9.94717356e-01 -4.95576199e-03 3.62321235e+00] [ 5.69533610e-02 -8.96565508e-04 9.98376437e-01 2.22562309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.895099893 meters Centerline goodness [0,1] 0.9998684672044896 Centerline is valid? [True, True] Translation: X:51.45, Y:3.63, Z:2.23 [[ 9.93336253e-01 -9.93769920e-02 -5.83721022e-02 5.14485366e+01] [ 9.92490832e-02 9.95049584e-01 -5.09356654e-03 3.62897188e+00] [ 5.85893194e-02 -7.33753325e-04 9.98281901e-01 2.22534334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters Centerline goodness [0,1] 0.9998243186859038 Centerline is valid? [True, True] Translation: X:51.48, Y:3.63, Z:2.23 [[ 9.93506205e-01 -9.73386448e-02 -5.89118728e-02 5.14809103e+01] [ 9.72050356e-02 9.95251124e-01 -5.13631031e-03 3.63284330e+00] [ 5.91320691e-02 -6.23574527e-04 9.98249973e-01 2.22585001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.955099892999996 meters Centerline goodness [0,1] 0.9999340035638076 Centerline is valid? [True, True] Translation: X:51.51, Y:3.64, Z:2.23 [[ 9.93849983e-01 -9.38085123e-02 -5.88402392e-02 5.15123999e+01] [ 9.36692998e-02 9.95590171e-01 -5.12575700e-03 3.63739170e+00] [ 5.90616035e-02 -4.17290501e-04 9.98254253e-01 2.22818667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.985099893 meters Centerline goodness [0,1] 0.9999120995033622 Centerline is valid? [True, True] Translation: X:51.54, Y:3.64, Z:2.23 [[ 9.94042173e-01 -9.16565542e-02 -5.89850289e-02 5.15439077e+01] [ 9.15131127e-02 9.95790635e-01 -5.13426750e-03 3.64065309e+00] [ 5.92073287e-02 -2.94225170e-04 9.98245664e-01 2.22829981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.015099893 meters Centerline goodness [0,1] 0.9998679374023287 Centerline is valid? [True, True] Translation: X:51.58, Y:3.65, Z:2.23 [[ 9.94421249e-01 -8.76834211e-02 -5.86344401e-02 5.15758503e+01] [ 8.75349776e-02 9.96148390e-01 -5.10036285e-03 3.64579545e+00] [ 5.88558203e-02 -6.06552071e-05 9.98266492e-01 2.22971683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.045099893 meters Centerline goodness [0,1] 0.9998239436619718 Centerline is valid? [True, True] Translation: X:51.61, Y:3.65, Z:2.23 [[ 9.94735534e-01 -8.45383150e-02 -5.79179645e-02 5.16073264e+01] [ 8.43883960e-02 9.96420222e-01 -5.03385133e-03 3.65069818e+00] [ 5.81361844e-02 1.19746659e-04 9.98308655e-01 2.23129687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.075099893 meters Centerline goodness [0,1] 0.9998024322781753 Centerline is valid? [True, True] Translation: X:51.64, Y:3.65, Z:2.23 [[ 9.94929004e-01 -8.24154695e-02 -5.76538552e-02 5.16381274e+01] [ 8.22635847e-02 9.96598030e-01 -5.00691872e-03 3.65399564e+00] [ 5.78703661e-02 2.38715855e-04 9.98324078e-01 2.23180222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099893 meters Centerline goodness [0,1] 0.9998022499560556 Centerline is valid? [True, True] Translation: X:51.67, Y:3.66, Z:2.23 [[ 9.94945707e-01 -8.24204731e-02 -5.73576980e-02 5.16684864e+01] [ 8.22703114e-02 9.96597617e-01 -4.97847539e-03 3.65541069e+00] [ 5.75728734e-02 2.34477046e-04 9.98341279e-01 2.23171570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.135099892999996 meters Centerline goodness [0,1] 0.9999560120526976 Centerline is valid? [True, True] Translation: X:51.70, Y:3.66, Z:2.24 [[ 9.94931557e-01 -8.35660525e-02 -5.59277457e-02 5.16995473e+01] [ 8.34251632e-02 9.96502227e-01 -4.85322529e-03 3.65550469e+00] [ 5.61376880e-02 1.62845680e-04 9.98423023e-01 2.23654971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.165099893 meters Centerline goodness [0,1] 0.9998461606083249 Centerline is valid? [True, True] Translation: X:51.73, Y:3.66, Z:2.24 [[ 9.94771393e-01 -8.55998856e-02 -5.57004143e-02 5.17310671e+01] [ 8.54634476e-02 9.96329593e-01 -4.83131783e-03 3.65587336e+00] [ 5.59095313e-02 4.57073312e-05 9.98435838e-01 2.23634440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.195099893 meters Centerline goodness [0,1] 0.9999561720684592 Centerline is valid? [True, True] Translation: X:51.76, Y:3.66, Z:2.24 [[ 9.94639433e-01 -8.72904923e-02 -5.54325641e-02 5.17627896e+01] [ 8.71581638e-02 9.96182898e-01 -4.80491891e-03 3.65697781e+00] [ 5.56403961e-02 -5.22386919e-05 9.98450872e-01 2.23950736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.225099893 meters Centerline goodness [0,1] 0.9998909106776629 Centerline is valid? [True, True] Translation: X:51.79, Y:3.66, Z:2.24 [[ 9.94206014e-01 -9.13559202e-02 -5.66435995e-02 5.17937877e+01] [ 9.12246005e-02 9.95818262e-01 -4.90518349e-03 3.65595730e+00] [ 5.68548484e-02 -2.90526813e-04 9.98382413e-01 2.23905150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.255099893 meters Centerline goodness [0,1] 0.9997817261099228 Centerline is valid? [True, True] Translation: X:51.83, Y:3.65, Z:2.24 [[ 9.93730792e-01 -9.59962988e-02 -5.73046500e-02 5.18260651e+01] [ 9.58699898e-02 9.95381528e-01 -4.95564690e-03 3.65467436e+00] [ 5.75157138e-02 -5.69217293e-04 9.98344439e-01 2.23917860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099893 meters Centerline goodness [0,1] 0.9997814494273976 Centerline is valid? [True, True] Translation: X:51.86, Y:3.65, Z:2.24 [[ 9.93352459e-01 -1.00298156e-01 -5.64904572e-02 5.18574668e+01] [ 1.00182605e-01 9.94957096e-01 -4.88091408e-03 3.65232926e+00] [ 5.66951280e-02 -8.10893164e-04 9.98391208e-01 2.24033321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.315099892999996 meters Centerline goodness [0,1] 0.999869786015018 Centerline is valid? [True, True] Translation: X:51.89, Y:3.65, Z:2.24 [[ 9.93141268e-01 -1.03009960e-01 -5.53115735e-02 5.18897319e+01] [ 1.02903676e-01 9.94679870e-01 -4.77380382e-03 3.65111440e+00] [ 5.55090581e-02 -9.50702646e-04 9.98457731e-01 2.24298505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.345099893 meters Centerline goodness [0,1] 0.9997163615735387 Centerline is valid? [True, True] Translation: X:51.92, Y:3.66, Z:2.24 [[ 9.95023129e-01 -8.21656816e-02 -5.63717364e-02 5.19201554e+01] [ 8.20220137e-02 9.96618661e-01 -4.86149389e-03 3.66095317e+00] [ 5.65805724e-02 2.13575533e-04 9.98398013e-01 2.24294896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.375099893 meters Centerline goodness [0,1] 0.9999127190207074 Centerline is valid? [True, True] Translation: X:51.95, Y:3.67, Z:2.25 [[ 9.95259639e-01 -7.97339496e-02 -5.56843547e-02 5.19496961e+01] [ 7.95900668e-02 9.96816120e-01 -4.80036332e-03 3.66521280e+00] [ 5.58898143e-02 3.45686364e-04 9.98436883e-01 2.24705852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.405099893 meters Centerline goodness [0,1] 0.9998689641616982 Centerline is valid? [True, True] Translation: X:51.98, Y:3.67, Z:2.25 [[ 9.95591651e-01 -7.57032866e-02 -5.53739722e-02 5.19805561e+01] [ 7.55548365e-02 9.97130227e-01 -4.77247671e-03 3.67043764e+00] [ 5.55763536e-02 5.67666555e-04 9.98454279e-01 2.24875379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.435099893 meters Centerline goodness [0,1] 0.999847071417648 Centerline is valid? [True, True] Translation: X:52.01, Y:3.67, Z:2.25 [[ 9.95706483e-01 -7.43320601e-02 -5.51665140e-02 5.20104068e+01] [ 7.41827123e-02 9.97233340e-01 -4.75290233e-03 3.67381900e+00] [ 5.53671800e-02 6.40094032e-04 9.98465856e-01 2.25042708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099893 meters Centerline goodness [0,1] 0.9997818879776653 Centerline is valid? [True, True] Translation: X:52.04, Y:3.67, Z:2.25 [[ 9.95663568e-01 -7.38347359e-02 -5.65905486e-02 5.20398168e+01] [ 7.36767490e-02 9.97270255e-01 -4.87592181e-03 3.67458101e+00] [ 5.67960833e-02 6.85370065e-04 9.98385564e-01 2.25003284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.495099892999995 meters Centerline goodness [0,1] 0.9997819212735798 Centerline is valid? [True, True] Translation: X:52.07, Y:3.67, Z:2.25 [[ 9.95414137e-01 -7.74365338e-02 -5.61629694e-02 5.20695627e+01] [ 7.72865412e-02 9.96997169e-01 -4.84107748e-03 3.67475403e+00] [ 5.63691978e-02 4.78235310e-04 9.98409878e-01 2.25255965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.525099893 meters Centerline goodness [0,1] 0.9998481166464156 Centerline is valid? [True, True] Translation: X:52.10, Y:3.68, Z:2.26 [[ 9.95256204e-01 -7.98398729e-02 -5.55939094e-02 5.20991618e+01] [ 7.96965430e-02 9.96807644e-01 -4.79399079e-03 3.67591510e+00] [ 5.57991854e-02 3.40606686e-04 9.98441954e-01 2.25508640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.555099893 meters Centerline goodness [0,1] 0.9998475543359903 Centerline is valid? [True, True] Translation: X:52.13, Y:3.68, Z:2.26 [[ 9.95032424e-01 -8.24425579e-02 -5.58005328e-02 5.21306901e+01] [ 8.23021702e-02 9.96595799e-01 -4.81319611e-03 3.67684502e+00] [ 5.60073888e-02 1.96781243e-04 9.98430335e-01 2.25781193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.585099893 meters Centerline goodness [0,1] 0.9998258673980236 Centerline is valid? [True, True] Translation: X:52.16, Y:3.68, Z:2.26 [[ 9.94786877e-01 -8.51181531e-02 -5.61602158e-02 5.21607157e+01] [ 8.49803160e-02 9.96370864e-01 -4.84229950e-03 3.67719711e+00] [ 5.63685703e-02 4.45431080e-05 9.98410027e-01 2.25757750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.615099893 meters Centerline goodness [0,1] 0.9998043775947139 Centerline is valid? [True, True] Translation: X:52.19, Y:3.68, Z:2.26 [[ 9.94509187e-01 -8.81382057e-02 -5.64192651e-02 5.21917313e+01] [ 8.80040154e-02 9.96108247e-01 -4.86344159e-03 3.67697896e+00] [ 5.66283503e-02 -1.28384539e-04 9.98395319e-01 2.25811004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099893 meters Centerline goodness [0,1] 0.9998263512046885 Centerline is valid? [True, True] Translation: X:52.22, Y:3.68, Z:2.26 [[ 9.94173677e-01 -9.17036176e-02 -5.66493338e-02 5.22234452e+01] [ 9.15742269e-02 9.95786290e-01 -4.88124486e-03 3.67665869e+00] [ 5.68582577e-02 -3.34813796e-04 9.98382205e-01 2.25938748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.675099892999995 meters Centerline goodness [0,1] 0.9998699299789721 Centerline is valid? [True, True] Translation: X:52.26, Y:3.68, Z:2.26 [[ 9.93810939e-01 -9.57090330e-02 -5.63879302e-02 5.22556398e+01] [ 9.55874095e-02 9.95409194e-01 -4.85632620e-03 3.67577669e+00] [ 5.65938585e-02 -5.63706074e-04 9.98397124e-01 2.26056495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.705099892999996 meters Centerline goodness [0,1] 0.9999353043928317 Centerline is valid? [True, True] Translation: X:52.29, Y:3.67, Z:2.26 [[ 9.93415095e-01 -1.00186411e-01 -5.55799611e-02 5.22878540e+01] [ 1.00075473e-01 9.94968354e-01 -4.78270622e-03 3.67463912e+00] [ 5.57794645e-02 -8.10978351e-04 9.98442784e-01 2.26277925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.735099893 meters Centerline goodness [0,1] 0.9997846080944278 Centerline is valid? [True, True] Translation: X:52.32, Y:3.67, Z:2.26 [[ 9.92932676e-01 -1.04862931e-01 -5.55739715e-02 5.23192442e+01] [ 1.04759549e-01 9.94486101e-01 -4.77827975e-03 3.67285802e+00] [ 5.57686067e-02 -1.07739409e-03 9.98443139e-01 2.26189605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.765099893 meters Centerline goodness [0,1] 0.9997847193817141 Centerline is valid? [True, True] Translation: X:52.35, Y:3.67, Z:2.26 [[ 9.92402874e-01 -1.09866871e-01 -5.53697271e-02 5.23511484e+01] [ 1.09772190e-01 9.93945386e-01 -4.75770806e-03 3.67293082e+00] [ 5.55571993e-02 -1.35649304e-03 9.98454585e-01 2.26367234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.795099893 meters Centerline goodness [0,1] 0.9997831743278404 Centerline is valid? [True, True] Translation: X:52.38, Y:3.68, Z:2.26 [[ 9.91889765e-01 -1.13687253e-01 -5.68322343e-02 5.23813348e+01] [ 1.13593983e-01 9.93515273e-01 -4.87950569e-03 3.68409884e+00] [ 5.70184304e-02 -1.61586811e-03 9.98371818e-01 2.26218173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099893 meters Centerline goodness [0,1] 0.9998274039395051 Centerline is valid? [True, True] Translation: X:52.41, Y:3.69, Z:2.26 [[ 9.92365337e-01 -1.09101170e-01 -5.75149731e-02 5.24120065e+01] [ 1.08998323e-01 9.94029700e-01 -4.93169501e-03 3.69398608e+00] [ 5.77096452e-02 -1.37499243e-03 9.98332463e-01 2.26385269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.855099893 meters Centerline goodness [0,1] 0.9998031668270493 Centerline is valid? [True, True] Translation: X:52.44, Y:3.70, Z:2.26 [[ 9.92605429e-01 -1.06406422e-01 -5.84134894e-02 5.24436855e+01] [ 1.06295823e-01 9.94321948e-01 -5.00620314e-03 3.70128780e+00] [ 5.86145067e-02 -1.23992550e-03 9.98279922e-01 2.26474423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.885099892999996 meters Centerline goodness [0,1] 0.9998054979253111 Centerline is valid? [True, True] Translation: X:52.47, Y:3.70, Z:2.26 [[ 9.92772005e-01 -1.04876100e-01 -5.83502376e-02 5.24748994e+01] [ 1.04763339e-01 9.94484628e-01 -4.99671661e-03 3.70413878e+00] [ 5.85524505e-02 -1.15236536e-03 9.98283668e-01 2.26484783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.915099893 meters Centerline goodness [0,1] 0.9997601447853296 Centerline is valid? [True, True] Translation: X:52.51, Y:3.71, Z:2.27 [[ 9.92839611e-01 -1.04143327e-01 -5.85121647e-02 5.25065329e+01] [ 1.04028868e-01 9.94561674e-01 -5.00718951e-03 3.70955433e+00] [ 5.87154218e-02 -1.11561815e-03 9.98274138e-01 2.26657505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.945099893 meters Centerline goodness [0,1] 0.9997812199177387 Centerline is valid? [True, True] Translation: X:52.54, Y:3.71, Z:2.27 [[ 9.92900924e-01 -1.03837219e-01 -5.80136813e-02 5.25385557e+01] [ 1.03724420e-01 9.94593705e-01 -4.96041261e-03 3.71426097e+00] [ 5.82151177e-02 -1.09223719e-03 9.98303464e-01 2.26888770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.975099893 meters Centerline goodness [0,1] 0.9998903580904765 Centerline is valid? [True, True] Translation: X:52.57, Y:3.72, Z:2.27 [[ 9.92925223e-01 -1.04087392e-01 -5.71429421e-02 5.25699582e+01] [ 1.03978593e-01 9.94567553e-01 -4.88205518e-03 3.71729988e+00] [ 5.73406765e-02 -1.09412700e-03 9.98354070e-01 2.27200996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.005099893 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:52.60, Y:3.72, Z:2.28 [[ 9.92907363e-01 -1.04511810e-01 -5.66767201e-02 5.26016418e+01] [ 1.04405653e-01 9.94523023e-01 -4.83901726e-03 3.72192504e+00] [ 5.68720375e-02 -1.11267409e-03 9.98380856e-01 2.27505584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.035099893 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:52.63, Y:3.72, Z:2.28 [[ 9.92914803e-01 -1.04440913e-01 -5.66770652e-02 5.26332016e+01] [ 1.04334871e-01 9.94530471e-01 -4.83497235e-03 3.72455831e+00] [ 5.68720373e-02 -1.11267869e-03 9.98380856e-01 2.27656133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters Centerline goodness [0,1] 0.9998690042136978 Centerline is valid? [True, True] Translation: X:52.66, Y:3.73, Z:2.28 [[ 9.92861753e-01 -1.04937754e-01 -5.66886926e-02 5.26642852e+01] [ 1.04832700e-01 9.94478133e-01 -4.83206382e-03 3.72754961e+00] [ 5.68827311e-02 -1.14525738e-03 9.98380210e-01 2.27738189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.095099893 meters Centerline goodness [0,1] 0.9998030462184874 Centerline is valid? [True, True] Translation: X:52.70, Y:3.73, Z:2.28 [[ 9.92410731e-01 -1.08655878e-01 -5.75746495e-02 5.26964128e+01] [ 1.08553952e-01 9.94078462e-01 -4.90427140e-03 3.72884866e+00] [ 5.77665969e-02 -1.38290416e-03 9.98329158e-01 2.27749577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.125099893 meters Centerline goodness [0,1] 0.999780773868245 Centerline is valid? [True, True] Translation: X:52.73, Y:3.73, Z:2.28 [[ 9.92192037e-01 -1.09593380e-01 -5.95336315e-02 5.27288289e+01] [ 1.09486346e-01 9.93975386e-01 -5.06672921e-03 3.72769544e+00] [ 5.97302443e-02 -1.49095143e-03 9.98213442e-01 2.27734919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.155099893 meters Centerline goodness [0,1] 0.9998904589768869 Centerline is valid? [True, True] Translation: X:52.76, Y:3.73, Z:2.28 [[ 9.92117799e-01 -1.10461997e-01 -5.91643418e-02 5.27612295e+01] [ 1.10358084e-01 9.93879159e-01 -5.03102336e-03 3.72891921e+00] [ 5.93579431e-02 -1.53789556e-03 9.98235578e-01 2.28049239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.185099893 meters Centerline goodness [0,1] 0.9998904589768869 Centerline is valid? [True, True] Translation: X:52.79, Y:3.73, Z:2.28 [[ 9.92125813e-01 -1.10389801e-01 -5.91647072e-02 5.27927957e+01] [ 1.10286017e-01 9.93887180e-01 -5.02672274e-03 3.73154339e+00] [ 5.93579429e-02 -1.53789849e-03 9.98235578e-01 2.28199815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.215099893 meters Centerline goodness [0,1] 0.9998025623025623 Centerline is valid? [True, True] Translation: X:52.82, Y:3.73, Z:2.28 [[ 9.92070957e-01 -1.10449329e-01 -5.99680040e-02 5.28247369e+01] [ 1.10343083e-01 9.93880521e-01 -5.09053070e-03 3.73434907e+00] [ 6.01632767e-02 -1.56688677e-03 9.98187320e-01 2.28242117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters Centerline goodness [0,1] 0.9997812677719935 Centerline is valid? [True, True] Translation: X:52.86, Y:3.74, Z:2.28 [[ 9.92012449e-01 -1.11175840e-01 -5.95922343e-02 5.28554627e+01] [ 1.11072478e-01 9.93799455e-01 -5.05449246e-03 3.73564349e+00] [ 5.97846674e-02 -1.60493769e-03 9.98210007e-01 2.28319166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.275099893 meters Centerline goodness [0,1] 0.9997812677719935 Centerline is valid? [True, True] Translation: X:52.89, Y:3.74, Z:2.28 [[ 9.92020407e-01 -1.11104646e-01 -5.95925274e-02 5.28870300e+01] [ 1.11001364e-01 9.93807418e-01 -5.05103408e-03 3.73826004e+00] [ 5.97846892e-02 -1.60412292e-03 9.98210007e-01 2.28469776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.305099893 meters Centerline goodness [0,1] 0.9998247497206949 Centerline is valid? [True, True] Translation: X:52.92, Y:3.74, Z:2.29 [[ 9.92076663e-01 -1.11747596e-01 -5.74140149e-02 5.29194073e+01] [ 1.11653035e-01 9.93735356e-01 -4.86235728e-03 3.74109333e+00] [ 5.75976933e-02 -1.58661781e-03 9.98338614e-01 2.28785123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.335099893 meters Centerline goodness [0,1] 0.9998249567862066 Centerline is valid? [True, True] Translation: X:52.95, Y:3.74, Z:2.29 [[ 9.92183882e-01 -1.11603824e-01 -5.58187303e-02 5.29511679e+01] [ 1.11514440e-01 9.93751589e-01 -4.72328260e-03 3.74253689e+00] [ 5.59970883e-02 -1.53822959e-03 9.98429747e-01 2.29010845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.365099893 meters Centerline goodness [0,1] 0.9997594366443598 Centerline is valid? [True, True] Translation: X:52.98, Y:3.74, Z:2.29 [[ 9.92219151e-01 -1.11194555e-01 -5.60082762e-02 5.29836804e+01] [ 1.11104141e-01 9.93797488e-01 -4.73524857e-03 3.74487154e+00] [ 5.61874181e-02 -1.52434708e-03 9.98419076e-01 2.29085488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.395099893 meters Centerline goodness [0,1] 0.9998689756076257 Centerline is valid? [True, True] Translation: X:53.01, Y:3.75, Z:2.29 [[ 9.92299802e-01 -1.11086743e-01 -5.47799083e-02 5.30148653e+01] [ 1.11000295e-01 9.93809599e-01 -4.62763009e-03 3.74610383e+00] [ 5.49548670e-02 -1.48858956e-03 9.98487730e-01 2.29352480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters Centerline goodness [0,1] 0.9998246844319776 Centerline is valid? [True, True] Translation: X:53.05, Y:3.75, Z:2.30 [[ 9.92371027e-01 -1.10698134e-01 -5.42740144e-02 5.30465181e+01] [ 1.10612860e-01 9.93853008e-01 -4.58185481e-03 3.75019201e+00] [ 5.44475953e-02 -1.45650401e-03 9.98515567e-01 2.29608108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.455099892999996 meters Centerline goodness [0,1] 0.9997815210504468 Centerline is valid? [True, True] Translation: X:53.08, Y:3.75, Z:2.30 [[ 9.92281963e-01 -1.11107614e-01 -5.50600045e-02 5.30782276e+01] [ 1.11020729e-01 9.93807242e-01 -4.64374196e-03 3.75196016e+00] [ 5.52349863e-02 -1.50490047e-03 9.98472249e-01 2.29632791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.485099893 meters Centerline goodness [0,1] 0.9998470212858953 Centerline is valid? [True, True] Translation: X:53.11, Y:3.75, Z:2.30 [[ 9.92204474e-01 -1.11678817e-01 -5.53003125e-02 5.31102185e+01] [ 1.11592431e-01 9.93743145e-01 -4.65727729e-03 3.75487401e+00] [ 5.54744257e-02 -1.55012496e-03 9.98458905e-01 2.29823415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.515099893 meters Centerline goodness [0,1] 0.9998032657879206 Centerline is valid? [True, True] Translation: X:53.14, Y:3.76, Z:2.30 [[ 9.91919001e-01 -1.13241559e-01 -5.72105277e-02 5.31408816e+01] [ 1.13151923e-01 9.93566035e-01 -4.81423033e-03 3.75631178e+00] [ 5.73876081e-02 -1.69815466e-03 9.98350529e-01 2.29815236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.545099893 meters Centerline goodness [0,1] 0.9998465618903575 Centerline is valid? [True, True] Translation: X:53.17, Y:3.76, Z:2.30 [[ 9.91698479e-01 -1.14274210e-01 -5.89536461e-02 5.31726814e+01] [ 1.14181005e-01 9.93447590e-01 -4.95829176e-03 3.76148603e+00] [ 5.91339625e-02 -1.81425617e-03 9.98248407e-01 2.29926334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.575099893 meters Centerline goodness [0,1] 0.9999123652615897 Centerline is valid? [True, True] Translation: X:53.20, Y:3.76, Z:2.30 [[ 9.91667238e-01 -1.14352688e-01 -5.93258177e-02 5.32033521e+01] [ 1.14258690e-01 9.93438522e-01 -4.98543578e-03 3.76412790e+00] [ 5.95066506e-02 -1.83459691e-03 9.98226223e-01 2.30106041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099893 meters Centerline goodness [0,1] 0.9998031280761238 Centerline is valid? [True, True] Translation: X:53.24, Y:3.77, Z:2.30 [[ 9.91787297e-01 -1.13111109e-01 -5.96978606e-02 5.32350327e+01] [ 1.13013895e-01 9.93580760e-01 -5.01317996e-03 3.76894281e+00] [ 5.98816921e-02 -1.77467954e-03 9.98203904e-01 2.30130679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.635099892999996 meters Centerline goodness [0,1] 0.9998029470365424 Centerline is valid? [True, True] Translation: X:53.27, Y:3.77, Z:2.30 [[ 9.92113373e-01 -1.10600733e-01 -5.89790906e-02 5.32658468e+01] [ 1.10501660e-01 9.93863619e-01 -4.94871894e-03 3.77180041e+00] [ 5.91645044e-02 -1.60759715e-03 9.98246952e-01 2.30269248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.665099893 meters Centerline goodness [0,1] 0.999847218281424 Centerline is valid? [True, True] Translation: X:53.30, Y:3.77, Z:2.30 [[ 9.92420400e-01 -1.08082885e-01 -5.84793912e-02 5.32973323e+01] [ 1.07981317e-01 9.94140831e-01 -4.90339923e-03 3.77421831e+00] [ 5.86667241e-02 -1.44844825e-03 9.98276574e-01 2.30431196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.695099893 meters Centerline goodness [0,1] 0.9998683864174783 Centerline is valid? [True, True] Translation: X:53.33, Y:3.78, Z:2.31 [[ 9.92886247e-01 -1.04652747e-01 -5.67864684e-02 5.33280205e+01] [ 1.04551579e-01 9.94508085e-01 -4.75779588e-03 3.78056856e+00] [ 5.69725184e-02 -1.21316485e-03 9.98375010e-01 2.30839404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.725099893 meters Centerline goodness [0,1] 0.9998462788501657 Centerline is valid? [True, True] Translation: X:53.36, Y:3.79, Z:2.31 [[ 9.93131016e-01 -1.02105298e-01 -5.71427415e-02 5.33597890e+01] [ 1.01998782e-01 9.94773014e-01 -4.78523145e-03 3.78683705e+00] [ 5.73326547e-02 -1.07612824e-03 9.98354551e-01 2.31031146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.755099893 meters Centerline goodness [0,1] 0.9998683950779759 Centerline is valid? [True, True] Translation: X:53.39, Y:3.79, Z:2.31 [[ 9.93088190e-01 -1.02601217e-01 -5.69985634e-02 5.33908195e+01] [ 1.02496281e-01 9.94721955e-01 -4.76919694e-03 3.78870548e+00] [ 5.71870478e-02 -1.10590758e-03 9.98362869e-01 2.31281648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099893 meters Centerline goodness [0,1] 0.9998461775111521 Centerline is valid? [True, True] Translation: X:53.42, Y:3.79, Z:2.31 [[ 9.93031225e-01 -1.02840191e-01 -5.75576289e-02 5.34233090e+01] [ 1.02733779e-01 9.94697245e-01 -4.81264946e-03 3.79122532e+00] [ 5.77473487e-02 -1.13400151e-03 9.98330585e-01 2.31402051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.815099892999996 meters Centerline goodness [0,1] 0.9998463800557421 Centerline is valid? [True, True] Translation: X:53.46, Y:3.79, Z:2.32 [[ 9.92989843e-01 -1.03083077e-01 -5.78364151e-02 5.34556383e+01] [ 1.02976285e-01 9.94672076e-01 -4.83178366e-03 3.79330792e+00] [ 5.80263422e-02 -1.15786705e-03 9.98314381e-01 2.31515474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.845099893 meters Centerline goodness [0,1] 0.9997588036661843 Centerline is valid? [True, True] Translation: X:53.49, Y:3.79, Z:2.32 [[ 9.92826178e-01 -1.04396107e-01 -5.82892273e-02 5.34876609e+01] [ 1.04290144e-01 9.94535014e-01 -4.86537146e-03 3.79466205e+00] [ 5.84786034e-02 -1.24852375e-03 9.98287881e-01 2.31588976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.875099893 meters Centerline goodness [0,1] 0.9997588036661843 Centerline is valid? [True, True] Translation: X:53.52, Y:3.80, Z:2.32 [[ 9.92833743e-01 -1.04323933e-01 -5.82895803e-02 5.35192277e+01] [ 1.04218094e-01 9.94542587e-01 -4.86113994e-03 3.79723691e+00] [ 5.84786032e-02 -1.24852521e-03 9.98287881e-01 2.31739534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.905099893 meters Centerline goodness [0,1] 0.999912424740011 Centerline is valid? [True, True] Translation: X:53.55, Y:3.80, Z:2.32 [[ 9.92864392e-01 -1.04913961e-01 -5.66865112e-02 5.35510914e+01] [ 1.04815056e-01 9.94480514e-01 -4.72340733e-03 3.79828803e+00] [ 5.68691822e-02 -1.25189690e-03 9.98380854e-01 2.32103182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.935099893 meters Centerline goodness [0,1] 0.9998466257668711 Centerline is valid? [True, True] Translation: X:53.58, Y:3.80, Z:2.32 [[ 9.92842595e-01 -1.04920019e-01 -5.70558673e-02 5.35835557e+01] [ 1.04820069e-01 9.94479859e-01 -4.75001933e-03 3.80067900e+00] [ 5.72392830e-02 -1.26457845e-03 9.98359687e-01 2.32108322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099893 meters Centerline goodness [0,1] 0.9997146306662277 Centerline is valid? [True, True] Translation: X:53.62, Y:3.80, Z:2.32 [[ 9.92765622e-01 -1.05061309e-01 -5.81252216e-02 5.36159241e+01] [ 1.04958069e-01 9.94464896e-01 -4.83474629e-03 3.80380131e+00] [ 5.83114372e-02 -1.30094113e-03 9.98297593e-01 2.32170449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.995099892999995 meters Centerline goodness [0,1] 0.9998905764432967 Centerline is valid? [True, True] Translation: X:53.65, Y:3.80, Z:2.32 [[ 9.92448411e-01 -1.08565819e-01 -5.70930312e-02 5.36477921e+01] [ 1.08472230e-01 9.94088155e-01 -4.74493665e-03 3.80324453e+00] [ 5.72706440e-02 -1.48390358e-03 9.98357587e-01 2.32478237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.025099893 meters Centerline goodness [0,1] 0.9997399614276118 Centerline is valid? [True, True] Translation: X:53.68, Y:3.80, Z:2.32 [[ 9.91675098e-01 -1.15805416e-01 -5.62992433e-02 5.36780820e+01] [ 1.15726194e-01 9.93270144e-01 -4.67640141e-03 3.79650428e+00] [ 5.64619102e-02 -1.87782631e-03 9.98402988e-01 2.32486147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.055099893 meters Centerline goodness [0,1] 0.9998478988309939 Centerline is valid? [True, True] Translation: X:53.71, Y:3.80, Z:2.33 [[ 9.91652650e-01 -1.16198381e-01 -5.58834356e-02 5.37101605e+01] [ 1.16120982e-01 9.93224233e-01 -4.64124787e-03 3.79844212e+00] [ 5.60440880e-02 -1.88673365e-03 9.98426512e-01 2.32697279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.085099893 meters Centerline goodness [0,1] 0.9998913067107237 Centerline is valid? [True, True] Translation: X:53.74, Y:3.80, Z:2.33 [[ 9.91522462e-01 -1.16903058e-01 -5.67175582e-02 5.37425587e+01] [ 1.16824718e-01 9.93141397e-01 -4.70638326e-03 3.79721661e+00] [ 5.68787456e-02 -1.95952803e-03 9.98379171e-01 2.32704709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.115099893 meters Centerline goodness [0,1] 0.9998474546722455 Centerline is valid? [True, True] Translation: X:53.78, Y:3.80, Z:2.33 [[ 9.91509084e-01 -1.16701204e-01 -5.73634467e-02 5.37754259e+01] [ 1.16620995e-01 9.93165107e-01 -4.75543369e-03 3.80208973e+00] [ 5.75263385e-02 -1.97472654e-03 9.98342036e-01 2.32829037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099893 meters Centerline goodness [0,1] 0.9998045475275262 Centerline is valid? [True, True] Translation: X:53.81, Y:3.80, Z:2.33 [[ 9.91628665e-01 -1.15702842e-01 -5.73187815e-02 5.38065803e+01] [ 1.15621426e-01 9.93282015e-01 -4.74594134e-03 3.80352596e+00] [ 5.74828337e-02 -1.92106781e-03 9.98344647e-01 2.32901610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.175099892999995 meters Centerline goodness [0,1] 0.9999564564237661 Centerline is valid? [True, True] Translation: X:53.84, Y:3.81, Z:2.33 [[ 9.91707401e-01 -1.15680685e-01 -5.59857988e-02 5.38382256e+01] [ 1.15603154e-01 9.93284678e-01 -4.63240253e-03 3.80732728e+00] [ 5.61457157e-02 -1.87814704e-03 9.98420819e-01 2.33349141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.205099892999996 meters Centerline goodness [0,1] 0.9999782703172534 Centerline is valid? [True, True] Translation: X:53.87, Y:3.81, Z:2.34 [[ 9.91732124e-01 -1.15690769e-01 -5.55251245e-02 5.38699951e+01] [ 1.15614795e-01 9.93283523e-01 -4.58943214e-03 3.80796495e+00] [ 5.56831462e-02 -1.86803858e-03 9.98446743e-01 2.33562966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.235099893 meters Centerline goodness [0,1] 0.9998043350653304 Centerline is valid? [True, True] Translation: X:53.90, Y:3.81, Z:2.33 [[ 9.91740696e-01 -1.15349090e-01 -5.60801232e-02 5.39022812e+01] [ 1.15271551e-01 9.93323244e-01 -4.62631347e-03 3.81144926e+00] [ 5.62393309e-02 -1.87633946e-03 9.98415553e-01 2.33482458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.265099893 meters Centerline goodness [0,1] 0.9998275713423571 Centerline is valid? [True, True] Translation: X:53.93, Y:3.81, Z:2.34 [[ 9.91725355e-01 -1.15705758e-01 -5.56147249e-02 5.39331289e+01] [ 1.15630277e-01 9.93281745e-01 -4.58403457e-03 3.81065247e+00] [ 5.57714902e-02 -1.88464274e-03 9.98441780e-01 2.33635188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.295099893 meters Centerline goodness [0,1] 0.9998481100551143 Centerline is valid? [True, True] Translation: X:53.97, Y:3.82, Z:2.34 [[ 9.91696102e-01 -1.15886363e-01 -5.57601317e-02 5.39650840e+01] [ 1.15810951e-01 9.93260655e-01 -4.59282072e-03 3.81591214e+00] [ 5.59165902e-02 -1.90295148e-03 9.98433630e-01 2.33882588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099893 meters Centerline goodness [0,1] 0.9998486846371674 Centerline is valid? [True, True] Translation: X:54.00, Y:3.82, Z:2.34 [[ 9.91632358e-01 -1.15899908e-01 -5.68548788e-02 5.39964450e+01] [ 1.15821759e-01 9.93258993e-01 -4.67895629e-03 3.81803761e+00] [ 5.70139102e-02 -1.94522762e-03 9.98371489e-01 2.33956920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.355099893 meters Centerline goodness [0,1] 0.9998486846371674 Centerline is valid? [True, True] Translation: X:54.03, Y:3.82, Z:2.34 [[ 9.91640608e-01 -1.15829170e-01 -5.68551447e-02 5.40280239e+01] [ 1.15751090e-01 9.93267246e-01 -4.67572311e-03 3.82057520e+00] [ 5.70139381e-02 -1.94440808e-03 9.98371489e-01 2.34107559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.385099892999996 meters Centerline goodness [0,1] 0.99984776982798 Centerline is valid? [True, True] Translation: X:54.06, Y:3.83, Z:2.34 [[ 9.91537306e-01 -1.15787641e-01 -5.87110978e-02 5.40602219e+01] [ 1.15704565e-01 9.93271958e-01 -4.82402079e-03 3.82523086e+00] [ 5.88746491e-02 -2.00994548e-03 9.98263360e-01 2.34197878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.415099893 meters Centerline goodness [0,1] 0.9997614193380471 Centerline is valid? [True, True] Translation: X:54.09, Y:3.83, Z:2.34 [[ 9.91568357e-01 -1.15266480e-01 -5.92100643e-02 5.40916254e+01] [ 1.15181354e-01 9.93332591e-01 -4.86008364e-03 3.82795677e+00] [ 5.93754913e-02 -2.00079020e-03 9.98233714e-01 2.34267729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.445099893 meters Centerline goodness [0,1] 0.9999563604625791 Centerline is valid? [True, True] Translation: X:54.12, Y:3.83, Z:2.35 [[ 9.91935660e-01 -1.13500838e-01 -5.64021799e-02 5.41215785e+01] [ 1.13421065e-01 9.93536251e-01 -4.62388960e-03 3.83176526e+00] [ 5.65624257e-02 -1.81059435e-03 9.98397423e-01 2.34890820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.475099893 meters Centerline goodness [0,1] 0.9998475941650338 Centerline is valid? [True, True] Translation: X:54.15, Y:3.84, Z:2.35 [[ 9.92059180e-01 -1.12365449e-01 -5.65030040e-02 5.41536199e+01] [ 1.12283638e-01 9.93665407e-01 -4.63064804e-03 3.83558827e+00] [ 5.66654054e-02 -1.75048598e-03 9.98391690e-01 2.34867546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.505099893 meters Centerline goodness [0,1] 0.9997821682967739 Centerline is valid? [True, True] Translation: X:54.19, Y:3.84, Z:2.35 [[ 9.92093510e-01 -1.12161659e-01 -5.63047950e-02 5.41860254e+01] [ 1.12080326e-01 9.93688455e-01 -4.61030349e-03 3.83845516e+00] [ 5.64665241e-02 -1.73680760e-03 9.98402982e-01 2.34966440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.535099893 meters Centerline goodness [0,1] 0.9998474879079698 Centerline is valid? [True, True] Translation: X:54.22, Y:3.84, Z:2.35 [[ 9.92132789e-01 -1.11975736e-01 -5.59818137e-02 5.42169589e+01] [ 1.11895259e-01 9.93709452e-01 -4.57990406e-03 3.84018063e+00] [ 5.61424955e-02 -1.72022655e-03 9.98421284e-01 2.35168372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.565099892999996 meters Centerline goodness [0,1] 0.9998911505388048 Centerline is valid? [True, True] Translation: X:54.25, Y:3.84, Z:2.35 [[ 9.92231499e-01 -1.11279164e-01 -5.56201352e-02 5.42475593e+01] [ 1.11198801e-01 9.93787779e-01 -4.54727539e-03 3.84246631e+00] [ 5.57806276e-02 -1.67294246e-03 9.98441647e-01 2.35407317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.595099893 meters Centerline goodness [0,1] 0.9997610669446979 Centerline is valid? [True, True] Translation: X:54.28, Y:3.84, Z:2.35 [[ 9.92288631e-01 -1.10593581e-01 -5.59672378e-02 5.42785340e+01] [ 1.10511295e-01 9.93864349e-01 -4.57259850e-03 3.84440157e+00] [ 5.61295424e-02 -1.64767442e-03 9.98422135e-01 2.35388177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.625099893 meters Centerline goodness [0,1] 0.9999128881919944 Centerline is valid? [True, True] Translation: X:54.31, Y:3.85, Z:2.36 [[ 9.92342290e-01 -1.10409640e-01 -5.53759115e-02 5.43110171e+01] [ 1.10328977e-01 9.93884841e-01 -4.52104612e-03 3.84685436e+00] [ 5.55364460e-02 -1.62314243e-03 9.98455341e-01 2.35707880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.655099893 meters Centerline goodness [0,1] 0.9998912594332442 Centerline is valid? [True, True] Translation: X:54.34, Y:3.85, Z:2.36 [[ 9.92390186e-01 -1.09617794e-01 -5.60861665e-02 5.43433332e+01] [ 1.09534063e-01 9.93972518e-01 -4.57412024e-03 3.84936763e+00] [ 5.62495131e-02 -1.60403367e-03 9.98415454e-01 2.35763792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.685099893 meters Centerline goodness [0,1] 0.9999127951339685 Centerline is valid? [True, True] Translation: X:54.38, Y:3.85, Z:2.36 [[ 9.92387517e-01 -1.09377624e-01 -5.65999262e-02 5.43759377e+01] [ 1.09292197e-01 9.93998967e-01 -4.61190516e-03 3.85119673e+00] [ 5.67647074e-02 -1.60913318e-03 9.98386287e-01 2.35882142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.715099893 meters Centerline goodness [0,1] 0.9997612018061827 Centerline is valid? [True, True] Translation: X:54.41, Y:3.85, Z:2.36 [[ 9.92813025e-01 -1.04274869e-01 -5.87286090e-02 5.44072967e+01] [ 1.04174210e-01 9.94547572e-01 -4.78139957e-03 3.85494260e+00] [ 5.89069752e-02 -1.37097069e-03 9.98262535e-01 2.35890376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters Centerline goodness [0,1] 0.9999782561426397 Centerline is valid? [True, True] Translation: X:54.44, Y:3.86, Z:2.36 [[ 9.92944870e-01 -1.03166496e-01 -5.84564664e-02 5.44387333e+01] [ 1.03064998e-01 9.94663249e-01 -4.75673195e-03 3.85826973e+00] [ 5.86352342e-02 -1.30164299e-03 9.98278626e-01 2.36349237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.775099893 meters Centerline goodness [0,1] 0.9998260680508751 Centerline is valid? [True, True] Translation: X:54.47, Y:3.86, Z:2.36 [[ 9.93072109e-01 -1.01429245e-01 -5.93286921e-02 5.44713807e+01] [ 1.01321870e-01 9.94842006e-01 -4.82313684e-03 3.86096676e+00] [ 5.95118821e-02 -1.22157132e-03 9.98226850e-01 2.36213275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.805099893 meters Centerline goodness [0,1] 0.999825977246525 Centerline is valid? [True, True] Translation: X:54.50, Y:3.86, Z:2.36 [[ 9.93199218e-01 -1.00418339e-01 -5.89191867e-02 5.45027240e+01] [ 1.00311004e-01 9.94944629e-01 -4.78411631e-03 3.86276437e+00] [ 5.91017414e-02 -1.15866218e-03 9.98251292e-01 2.36355069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.835099893 meters Centerline goodness [0,1] 0.9997822868588347 Centerline is valid? [True, True] Translation: X:54.53, Y:3.87, Z:2.37 [[ 9.93373910e-01 -9.89670880e-02 -5.84276594e-02 5.45344012e+01] [ 9.88594138e-02 9.95090132e-01 -4.73765828e-03 3.86585674e+00] [ 5.86096595e-02 -1.06985803e-03 9.98280403e-01 2.36518305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.865099893 meters Centerline goodness [0,1] 0.9998477300907094 Centerline is valid? [True, True] Translation: X:54.57, Y:3.87, Z:2.37 [[ 9.93580111e-01 -9.77193361e-02 -5.70043344e-02 5.45665900e+01] [ 9.76149791e-02 9.95213535e-01 -4.61902096e-03 3.86843216e+00] [ 5.71828528e-02 -9.75109551e-04 9.98363246e-01 2.36835304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.895099893 meters Centerline goodness [0,1] 0.9997400909681612 Centerline is valid? [True, True] Translation: X:54.60, Y:3.87, Z:2.37 [[ 9.93746172e-01 -9.65439892e-02 -5.61052864e-02 5.45978340e+01] [ 9.64412465e-02 9.95328314e-01 -4.54228884e-03 3.87031153e+00] [ 5.62817108e-02 -8.96981608e-04 9.98414525e-01 2.36971298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters Centerline goodness [0,1] 0.9998698001432198 Centerline is valid? [True, True] Translation: X:54.63, Y:3.87, Z:2.37 [[ 9.93943367e-01 -9.53595141e-02 -5.46181845e-02 5.46294960e+01] [ 9.52605273e-02 9.95442568e-01 -4.41886239e-03 3.87334303e+00] [ 5.47906463e-02 -8.10858089e-04 9.98497535e-01 2.37386539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.955099892999996 meters Centerline goodness [0,1] 0.9998262229559475 Centerline is valid? [True, True] Translation: X:54.66, Y:3.88, Z:2.38 [[ 9.94169605e-01 -9.35128783e-02 -5.36855508e-02 5.46617435e+01] [ 9.34147586e-02 9.95617824e-01 -4.33961623e-03 3.87557769e+00] [ 5.38561012e-02 -7.00708209e-04 9.98548461e-01 2.37594678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.985099893 meters Centerline goodness [0,1] 0.9997411003236246 Centerline is valid? [True, True] Translation: X:54.69, Y:3.87, Z:2.37 [[ 9.93484224e-01 -9.94706897e-02 -5.56298364e-02 5.46946453e+01] [ 9.93748851e-02 9.95039923e-01 -4.49267588e-03 3.86637751e+00] [ 5.58007977e-02 -1.06480600e-03 9.98441354e-01 2.37458123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.015099893 meters Centerline goodness [0,1] 0.999784505979959 Centerline is valid? [True, True] Translation: X:54.73, Y:3.87, Z:2.38 [[ 9.93287611e-01 -1.01349090e-01 -5.57501831e-02 5.47269029e+01] [ 1.01256053e-01 9.94850228e-01 -4.49832575e-03 3.86630715e+00] [ 5.59189836e-02 -1.17691226e-03 9.98434616e-01 2.37641376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.045099893 meters Centerline goodness [0,1] 0.9997633441621308 Centerline is valid? [True, True] Translation: X:54.76, Y:3.86, Z:2.38 [[ 9.92901442e-01 -1.04762505e-01 -5.63164537e-02 5.47581862e+01] [ 1.04673269e-01 9.94496302e-01 -4.54013688e-03 3.86244972e+00] [ 5.64821411e-02 -1.38691885e-03 9.98402646e-01 2.37629481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.075099893 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:54.79, Y:3.86, Z:2.38 [[ 9.92737248e-01 -1.06481311e-01 -5.59864829e-02 5.47904649e+01] [ 1.06395979e-01 9.94313605e-01 -4.51117014e-03 3.86273989e+00] [ 5.61484769e-02 -1.47833004e-03 9.98421335e-01 2.38040912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099893 meters Centerline goodness [0,1] 0.9998067591359986 Centerline is valid? [True, True] Translation: X:54.82, Y:3.86, Z:2.38 [[ 9.92590972e-01 -1.07070971e-01 -5.74366633e-02 5.48226152e+01] [ 1.06982392e-01 9.94250164e-01 -4.62376570e-03 3.86275078e+00] [ 5.76014830e-02 -1.55520357e-03 9.98338445e-01 2.37832590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.135099892999996 meters Centerline goodness [0,1] 0.9998712031769883 Centerline is valid? [True, True] Translation: X:54.85, Y:3.86, Z:2.38 [[ 9.92497285e-01 -1.08054713e-01 -5.72129271e-02 5.48544949e+01] [ 1.07968692e-01 9.94143645e-01 -4.60162604e-03 3.86396308e+00] [ 5.73750953e-02 -1.61010358e-03 9.98351394e-01 2.38063322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.165099893 meters Centerline goodness [0,1] 0.9998712031769883 Centerline is valid? [True, True] Translation: X:54.89, Y:3.87, Z:2.38 [[ 9.92505107e-01 -1.07982660e-01 -5.72132603e-02 5.48860715e+01] [ 1.07896759e-01 9.94151474e-01 -4.59747938e-03 3.86644260e+00] [ 5.73750951e-02 -1.61010357e-03 9.98351394e-01 2.38213904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.195099893 meters Centerline goodness [0,1] 0.9997855595822701 Centerline is valid? [True, True] Translation: X:54.92, Y:3.87, Z:2.38 [[ 9.92443807e-01 -1.08544972e-01 -5.72125816e-02 5.49176687e+01] [ 1.08460235e-01 9.94090176e-01 -4.59343446e-03 3.86653647e+00] [ 5.73730595e-02 -1.64656446e-03 9.98351452e-01 2.38281387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.225099893 meters Centerline goodness [0,1] 0.9998073465193937 Centerline is valid? [True, True] Translation: X:54.95, Y:3.87, Z:2.39 [[ 9.92448291e-01 -1.08933953e-01 -5.63895768e-02 5.49497960e+01] [ 1.08852444e-01 9.94047623e-01 -4.52416732e-03 3.86888332e+00] [ 5.65467602e-02 -1.64814111e-03 9.98398592e-01 2.38605752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.255099893 meters Centerline goodness [0,1] 0.9998079221444426 Centerline is valid? [True, True] Translation: X:54.98, Y:3.87, Z:2.39 [[ 9.92701865e-01 -1.07443415e-01 -5.47623976e-02 5.49816966e+01] [ 1.07364489e-01 9.94210036e-01 -4.38975145e-03 3.86782759e+00] [ 5.49169752e-02 -1.52182240e-03 9.98489765e-01 2.38984090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099893 meters Centerline goodness [0,1] 0.9997863476124346 Centerline is valid? [True, True] Translation: X:55.01, Y:3.87, Z:2.39 [[ 9.92915340e-01 -1.05101773e-01 -5.54323480e-02 5.50136908e+01] [ 1.05017487e-01 9.94460466e-01 -4.43937990e-03 3.86994556e+00] [ 5.55918654e-02 -1.41343746e-03 9.98452576e-01 2.39068758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.315099892999996 meters Centerline goodness [0,1] 0.9997863476124346 Centerline is valid? [True, True] Translation: X:55.05, Y:3.87, Z:2.39 [[ 9.92922882e-01 -1.05030328e-01 -5.54326664e-02 5.50452648e+01] [ 1.04946152e-01 9.94468015e-01 -4.43540069e-03 3.87241283e+00] [ 5.55918653e-02 -1.41343422e-03 9.98452576e-01 2.39219327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.345099893 meters Centerline goodness [0,1] 0.9997863476124346 Centerline is valid? [True, True] Translation: X:55.08, Y:3.87, Z:2.39 [[ 9.92930419e-01 -1.04958882e-01 -5.54329848e-02 5.50768390e+01] [ 1.04874817e-01 9.94475558e-01 -4.43141822e-03 3.87487783e+00] [ 5.55918652e-02 -1.41343422e-03 9.98452576e-01 2.39369895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.375099893 meters Centerline goodness [0,1] 0.999808016382602 Centerline is valid? [True, True] Translation: X:55.11, Y:3.88, Z:2.39 [[ 9.93050042e-01 -1.03584823e-01 -5.58730612e-02 5.51081776e+01] [ 1.03497456e-01 9.94619706e-01 -4.46283950e-03 3.87785295e+00] [ 5.60347301e-02 -1.35089676e-03 9.98427906e-01 2.39475889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.405099893 meters Centerline goodness [0,1] 0.999808016382602 Centerline is valid? [True, True] Translation: X:55.14, Y:3.88, Z:2.40 [[ 9.93057480e-01 -1.03513387e-01 -5.58732457e-02 5.51397509e+01] [ 1.03426038e-01 9.94627145e-01 -4.46052834e-03 3.88031574e+00] [ 5.60347713e-02 -1.34918738e-03 9.98427906e-01 2.39626509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.435099893 meters Centerline goodness [0,1] 0.999808016382602 Centerline is valid? [True, True] Translation: X:55.17, Y:3.88, Z:2.40 [[ 9.93064914e-01 -1.03441870e-01 -5.58735661e-02 5.51713245e+01] [ 1.03354633e-01 9.94634586e-01 -4.45651084e-03 3.88277546e+00] [ 5.60347711e-02 -1.34918738e-03 9.98427906e-01 2.39777072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099893 meters Centerline goodness [0,1] 0.9998505486997736 Centerline is valid? [True, True] Translation: X:55.20, Y:3.89, Z:2.40 [[ 9.93190420e-01 -1.02074438e-01 -5.61569096e-02 5.52025260e+01] [ 1.01984344e-01 9.94775937e-01 -4.47535002e-03 3.88550133e+00] [ 5.63203612e-02 -1.28225079e-03 9.98411925e-01 2.39911421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.495099892999995 meters Centerline goodness [0,1] 0.9998505486997736 Centerline is valid? [True, True] Translation: X:55.23, Y:3.89, Z:2.40 [[ 9.93194056e-01 -1.02038969e-01 -5.61570691e-02 5.52332525e+01] [ 1.01948931e-01 9.94779576e-01 -4.47334775e-03 3.88791940e+00] [ 5.63203612e-02 -1.28225079e-03 9.98411925e-01 2.40058008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.525099893 meters Centerline goodness [0,1] 0.9998080900697273 Centerline is valid? [True, True] Translation: X:55.26, Y:3.89, Z:2.40 [[ 9.93310932e-01 -1.00526565e-01 -5.68137497e-02 5.52649373e+01] [ 1.00432065e-01 9.94933635e-01 -4.52343140e-03 3.89091562e+00] [ 5.69806356e-02 -1.21274833e-03 9.98374547e-01 2.40124165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.555099893 meters Centerline goodness [0,1] 0.9997868576422192 Centerline is valid? [True, True] Translation: X:55.30, Y:3.90, Z:2.40 [[ 9.93986884e-01 -9.37955835e-02 -5.65018814e-02 5.52950066e+01] [ 9.36913920e-02 9.95591135e-01 -4.49607386e-03 3.89707802e+00] [ 5.66744841e-02 -8.24701472e-04 9.98392369e-01 2.40285398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.585099893 meters Centerline goodness [0,1] 0.9997865391593912 Centerline is valid? [True, True] Translation: X:55.33, Y:3.90, Z:2.41 [[ 9.94033167e-01 -9.36467235e-02 -5.59316975e-02 5.53264868e+01] [ 9.35444070e-02 9.95605162e-01 -4.45039447e-03 3.90055767e+00] [ 5.61026516e-02 -8.08257768e-04 9.98424679e-01 2.40509567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.615099893 meters Centerline goodness [0,1] 0.9998929909042269 Centerline is valid? [True, True] Translation: X:55.36, Y:3.90, Z:2.41 [[ 9.94067586e-01 -9.38070976e-02 -5.50441956e-02 5.53572515e+01] [ 9.37083573e-02 9.95590065e-01 -4.37782686e-03 3.90319478e+00] [ 5.52121255e-02 -8.06245364e-04 9.98474322e-01 2.40831489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099893 meters Centerline goodness [0,1] 0.9997437540038437 Centerline is valid? [True, True] Translation: X:55.39, Y:3.91, Z:2.41 [[ 9.94023860e-01 -9.39650276e-02 -5.55620263e-02 5.53883472e+01] [ 9.38647788e-02 9.95575157e-01 -4.41699856e-03 3.90604061e+00] [ 5.57312165e-02 -8.24715345e-04 9.98445467e-01 2.40855789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.675099892999995 meters Centerline goodness [0,1] 0.9998290086778095 Centerline is valid? [True, True] Translation: X:55.42, Y:3.91, Z:2.41 [[ 9.93856160e-01 -9.60643717e-02 -5.49688039e-02 5.54190909e+01] [ 9.59695625e-02 9.95374685e-01 -4.36798312e-03 3.90593485e+00] [ 5.51341634e-02 -9.34185137e-04 9.98478518e-01 2.41004445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.705099892999996 meters Centerline goodness [0,1] 0.9998290086778095 Centerline is valid? [True, True] Translation: X:55.45, Y:3.91, Z:2.41 [[ 9.93859514e-01 -9.60296117e-02 -5.49688930e-02 5.54498141e+01] [ 9.59348115e-02 9.95378040e-01 -4.36686161e-03 3.90834576e+00] [ 5.51341770e-02 -9.33383425e-04 9.98478518e-01 2.41151041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.735099893 meters Centerline goodness [0,1] 0.9997864571099105 Centerline is valid? [True, True] Translation: X:55.48, Y:3.91, Z:2.41 [[ 9.93736509e-01 -9.74051091e-02 -5.47722217e-02 5.54806452e+01] [ 9.73131793e-02 9.95244306e-01 -4.34930570e-03 3.91101499e+00] [ 5.49353863e-02 -1.00799516e-03 9.98489403e-01 2.41334919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.765099893 meters Centerline goodness [0,1] 0.9998293042012504 Centerline is valid? [True, True] Translation: X:55.51, Y:3.91, Z:2.42 [[ 9.93605299e-01 -9.91216717e-02 -5.40685084e-02 5.55117922e+01] [ 9.90347410e-02 9.95074723e-01 -4.29134417e-03 3.91132226e+00] [ 5.42275712e-02 -1.09075842e-03 9.98528007e-01 2.41556040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.795099893 meters Centerline goodness [0,1] 0.9997867212660225 Centerline is valid? [True, True] Translation: X:55.54, Y:3.91, Z:2.42 [[ 9.93434735e-01 -1.00891379e-01 -5.39291854e-02 5.55434731e+01] [ 1.00807659e-01 9.94896738e-01 -4.27734136e-03 3.91287533e+00] [ 5.40855175e-02 -1.18721547e-03 9.98535601e-01 2.41702240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099893 meters Centerline goodness [0,1] 0.9997867212660225 Centerline is valid? [True, True] Translation: X:55.58, Y:3.92, Z:2.42 [[ 9.93441892e-01 -1.00820754e-01 -5.39294227e-02 5.55750456e+01] [ 1.00737093e-01 9.94903899e-01 -4.27434723e-03 3.91531851e+00] [ 5.40855358e-02 -1.18637769e-03 9.98535601e-01 2.41852821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.855099893 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:55.61, Y:3.92, Z:2.42 [[ 9.93271378e-01 -1.02532293e-01 -5.38432848e-02 5.56065299e+01] [ 1.02451612e-01 9.94728851e-01 -4.26378992e-03 3.91746069e+00] [ 5.39966450e-02 -1.28123084e-03 9.98540295e-01 2.42127002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.885099892999996 meters Centerline goodness [0,1] 0.999871890680047 Centerline is valid? [True, True] Translation: X:55.64, Y:3.92, Z:2.42 [[ 9.93278699e-01 -1.02461221e-01 -5.38435227e-02 5.56381045e+01] [ 1.02380598e-01 9.94736175e-01 -4.26078297e-03 3.91990065e+00] [ 5.39966649e-02 -1.28038711e-03 9.98540295e-01 2.42277591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.915099893 meters Centerline goodness [0,1] 0.9997654434185556 Centerline is valid? [True, True] Translation: X:55.67, Y:3.92, Z:2.42 [[ 9.93024192e-01 -1.04257440e-01 -5.50757762e-02 5.56690253e+01] [ 1.04176051e-01 9.94549339e-01 -4.35452996e-03 3.92216606e+00] [ 5.52295690e-02 -1.41342328e-03 9.98472682e-01 2.42275452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.945099893 meters Centerline goodness [0,1] 0.9998076717598035 Centerline is valid? [True, True] Translation: X:55.70, Y:3.92, Z:2.42 [[ 9.92809199e-01 -1.05893404e-01 -5.58254512e-02 5.57000881e+01] [ 1.05812481e-01 9.94376315e-01 -4.41176133e-03 3.92370566e+00] [ 5.59786829e-02 -1.52699225e-03 9.98430796e-01 2.42384890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.975099893 meters Centerline goodness [0,1] 0.9997865482721082 Centerline is valid? [True, True] Translation: X:55.73, Y:3.92, Z:2.42 [[ 9.92325661e-01 -1.09447441e-01 -5.75416415e-02 5.57317866e+01] [ 1.09367552e-01 9.93990985e-01 -4.54526176e-03 3.92495133e+00] [ 5.76933402e-02 -1.78280858e-03 9.98332760e-01 2.42336664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.005099893 meters Centerline goodness [0,1] 0.9998904349731565 Centerline is valid? [True, True] Translation: X:55.76, Y:3.98, Z:2.43 [[ 9.93863876e-01 -9.49234456e-02 -5.67814702e-02 5.57572773e+01] [ 9.48220337e-02 9.95484143e-01 -4.48369745e-03 3.97720517e+00] [ 5.69506612e-02 -9.27949552e-04 9.98376563e-01 2.42981273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.035099893 meters Centerline goodness [0,1] 0.9998245460128081 Centerline is valid? [True, True] Translation: X:55.79, Y:3.98, Z:2.43 [[ 9.93822940e-01 -9.46198818e-02 -5.79917461e-02 5.57896868e+01] [ 9.45135744e-02 9.95513040e-01 -4.57940798e-03 3.98177387e+00] [ 5.81648425e-02 -9.29886507e-04 9.98306559e-01 2.43038795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.065099892999996 meters Centerline goodness [0,1] 0.9998901726485964 Centerline is valid? [True, True] Translation: X:55.82, Y:3.99, Z:2.43 [[ 9.93844514e-01 -9.47126699e-02 -5.74681752e-02 5.58208096e+01] [ 9.46086570e-02 9.95504216e-01 -4.53411652e-03 3.98528967e+00] [ 5.76392490e-02 -9.30780047e-04 9.98337043e-01 2.43308786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.095099893 meters Centerline goodness [0,1] 0.9999342263927561 Centerline is valid? [True, True] Translation: X:55.85, Y:3.99, Z:2.44 [[ 9.93827691e-01 -9.49704865e-02 -5.73334762e-02 5.58524688e+01] [ 9.48675773e-02 9.95479638e-01 -4.52022618e-03 3.98945620e+00] [ 5.75035962e-02 -9.46762033e-04 9.98344850e-01 2.43608900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.125099893 meters Centerline goodness [0,1] 0.9998457776113155 Centerline is valid? [True, True] Translation: X:55.88, Y:3.99, Z:2.44 [[ 9.93812922e-01 -9.46902673e-02 -5.80485050e-02 5.58841747e+01] [ 9.45845412e-02 9.95506332e-01 -4.57240722e-03 3.99447446e+00] [ 5.82206168e-02 -9.46373835e-04 9.98303293e-01 2.43655695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.155099893 meters Centerline goodness [0,1] 0.9998239087847505 Centerline is valid? [True, True] Translation: X:55.92, Y:4.00, Z:2.44 [[ 9.93899344e-01 -9.41487777e-02 -5.74465066e-02 5.59151683e+01] [ 9.40445602e-02 9.95557724e-01 -4.52100757e-03 3.99736011e+00] [ 5.76169607e-02 -9.09104988e-04 9.98338349e-01 2.43796917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.185099893 meters Centerline goodness [0,1] 0.9999119931354645 Centerline is valid? [True, True] Translation: X:55.95, Y:4.00, Z:2.44 [[ 9.94058798e-01 -9.32734138e-02 -5.60997077e-02 5.59470021e+01] [ 9.31728129e-02 9.95640177e-01 -4.41185616e-03 4.00249887e+00] [ 5.62666318e-02 -8.41323140e-04 9.98415424e-01 2.44211881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.215099893 meters Centerline goodness [0,1] 0.9998679519345042 Centerline is valid? [True, True] Translation: X:55.98, Y:4.01, Z:2.44 [[ 9.94085262e-01 -9.26289610e-02 -5.66953873e-02 5.59789043e+01] [ 9.25254018e-02 9.95700360e-01 -4.45453485e-03 4.00615149e+00] [ 5.68642365e-02 -8.17576047e-04 9.98381585e-01 2.44319544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.245099892999995 meters Centerline goodness [0,1] 0.9997578106078954 Centerline is valid? [True, True] Translation: X:56.01, Y:4.01, Z:2.44 [[ 9.94087810e-01 -9.20605140e-02 -5.75698569e-02 5.60101553e+01] [ 9.19530182e-02 9.95753092e-01 -4.51915361e-03 4.00892052e+00] [ 5.77413986e-02 -8.01286577e-04 9.98331252e-01 2.44294077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.275099893 meters Centerline goodness [0,1] 0.9999339628871425 Centerline is valid? [True, True] Translation: X:56.04, Y:4.01, Z:2.45 [[ 9.94098756e-01 -9.17602797e-02 -5.78594408e-02 5.60422842e+01] [ 9.16513865e-02 9.95780812e-01 -4.53852616e-03 4.01240934e+00] [ 5.80317774e-02 -7.91154766e-04 9.98314423e-01 2.44577957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.305099893 meters Centerline goodness [0,1] 0.9998229422570436 Centerline is valid? [True, True] Translation: X:56.07, Y:4.02, Z:2.44 [[ 9.94011818e-01 -9.10416100e-02 -6.04312141e-02 5.60733069e+01] [ 9.09217488e-02 9.95846778e-01 -4.73598438e-03 4.01569558e+00] [ 6.06114015e-02 -7.86887222e-04 9.98161129e-01 2.44329579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.335099893 meters Centerline goodness [0,1] 0.9998008761449622 Centerline is valid? [True, True] Translation: X:56.10, Y:4.02, Z:2.44 [[ 9.93954548e-01 -9.12851394e-02 -6.10031055e-02 5.61049078e+01] [ 9.11636736e-02 9.95824464e-01 -4.77724759e-03 4.01848019e+00] [ 6.11844765e-02 -8.12900221e-04 9.98126144e-01 2.44486583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.365099893 meters Centerline goodness [0,1] 0.9998009289980093 Centerline is valid? [True, True] Translation: X:56.14, Y:4.02, Z:2.45 [[ 9.93892916e-01 -9.16187589e-02 -6.15050797e-02 5.61374589e+01] [ 9.14961991e-02 9.95793799e-01 -4.81208729e-03 4.02034734e+00] [ 6.16872544e-02 -8.44781546e-04 9.98095170e-01 2.44629312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.395099893 meters Centerline goodness [0,1] 0.9998454575560216 Centerline is valid? [True, True] Translation: X:56.17, Y:4.02, Z:2.45 [[ 9.93926933e-01 -9.14634910e-02 -6.11856375e-02 5.61688535e+01] [ 9.13421652e-02 9.95808080e-01 -4.78290909e-03 4.02187098e+00] [ 6.13666138e-02 -8.34966455e-04 9.98114944e-01 2.44761486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.20, Y:4.02, Z:2.45 [[ 9.93969545e-01 -9.15027871e-02 -6.04299927e-02 5.62012451e+01] [ 9.13847260e-02 9.95804474e-01 -4.72034274e-03 4.02384695e+00] [ 6.06083816e-02 -8.30501394e-04 9.98161277e-01 2.45193529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.455099892999996 meters Centerline goodness [0,1] 0.9998452936106261 Centerline is valid? [True, True] Translation: X:56.23, Y:4.03, Z:2.45 [[ 9.94752194e-01 -8.42277882e-02 -5.80840144e-02 5.62317473e+01] [ 8.41065373e-02 9.96446455e-01 -4.53340721e-03 4.03068525e+00] [ 5.82594491e-02 -3.75628557e-04 9.98301405e-01 2.45446537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:4.03, Z:2.46 [[ 9.94981724e-01 -8.21686295e-02 -5.70936549e-02 5.62626809e+01] [ 8.20482209e-02 9.96618409e-01 -4.45388402e-03 4.03476073e+00] [ 5.72665571e-02 -2.52899614e-04 9.98358892e-01 2.45930236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.515099893 meters Centerline goodness [0,1] 0.9998896758676993 Centerline is valid? [True, True] Translation: X:56.29, Y:4.04, Z:2.46 [[ 9.95331667e-01 -7.73168164e-02 -5.77666252e-02 5.62941999e+01] [ 7.71856061e-02 9.97006574e-01 -4.50253529e-03 4.03944682e+00] [ 5.79418268e-02 2.27639770e-05 9.98319961e-01 2.45743822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.545099893 meters Centerline goodness [0,1] 0.9998452730929909 Centerline is valid? [True, True] Translation: X:56.33, Y:4.04, Z:2.46 [[ 9.95604440e-01 -7.29144154e-02 -5.87816910e-02 5.63256874e+01] [ 7.27712470e-02 9.97338163e-01 -4.57544654e-03 4.04302358e+00] [ 5.89588397e-02 2.77717937e-04 9.98260376e-01 2.45727021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.575099893 meters Centerline goodness [0,1] 0.9998899986799842 Centerline is valid? [True, True] Translation: X:56.35, Y:4.05, Z:2.46 [[ 9.95730069e-01 -7.08604561e-02 -5.91643917e-02 5.63539908e+01] [ 7.07118557e-02 9.97486158e-01 -4.60417365e-03 4.04613858e+00] [ 5.93419156e-02 4.00890220e-04 9.98237635e-01 2.45802341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters Centerline goodness [0,1] 0.9998238467466696 Centerline is valid? [True, True] Translation: X:56.38, Y:4.05, Z:2.46 [[ 9.95861685e-01 -6.79033935e-02 -6.04039133e-02 5.63827385e+01] [ 6.77427111e-02 9.97691724e-01 -4.70637259e-03 4.04904330e+00] [ 6.05840630e-02 5.94971299e-04 9.98162921e-01 2.45867753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.635099892999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.41, Y:4.05, Z:2.46 [[ 9.95895959e-01 -6.64944510e-02 -6.13980964e-02 5.64112005e+01] [ 6.63248122e-02 9.97786544e-01 -4.79910716e-03 4.05107564e+00] [ 6.15813084e-02 7.07194223e-04 9.98101820e-01 2.46176156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.665099893 meters Centerline goodness [0,1] 0.9998896490840874 Centerline is valid? [True, True] Translation: X:56.44, Y:4.05, Z:2.46 [[ 9.95838913e-01 -6.62393254e-02 -6.25876329e-02 5.64400756e+01] [ 6.60615512e-02 9.97803480e-01 -4.90777533e-03 4.04972936e+00] [ 6.27752457e-02 7.52717531e-04 9.98027405e-01 2.46186977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.695099893 meters Centerline goodness [0,1] 0.9998022803664404 Centerline is valid? [True, True] Translation: X:56.47, Y:4.05, Z:2.46 [[ 9.95869491e-01 -6.67304605e-02 -6.15711102e-02 5.64683272e+01] [ 6.65585450e-02 9.97770777e-01 -4.84121615e-03 4.04964954e+00] [ 6.17569110e-02 7.23135962e-04 9.98090958e-01 2.46243378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.725099893 meters Centerline goodness [0,1] 0.9999121458379091 Centerline is valid? [True, True] Translation: X:56.50, Y:4.05, Z:2.47 [[ 9.95793805e-01 -7.00932629e-02 -5.90053625e-02 5.64964292e+01] [ 6.99408746e-02 9.97540317e-01 -4.64646152e-03 4.04866809e+00] [ 5.91859137e-02 5.00030938e-04 9.98246852e-01 2.46651534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.755099893 meters Centerline goodness [0,1] 0.9998027743080665 Centerline is valid? [True, True] Translation: X:56.53, Y:4.04, Z:2.47 [[ 9.95235701e-01 -7.91128683e-02 -5.69829167e-02 5.65252776e+01] [ 7.89847253e-02 9.96865665e-01 -4.50105993e-03 4.04320427e+00] [ 5.71604049e-02 -2.11644895e-05 9.98365007e-01 2.46945676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099893 meters Centerline goodness [0,1] 0.9998031496062992 Centerline is valid? [True, True] Translation: X:56.56, Y:4.04, Z:2.47 [[ 9.94552115e-01 -8.71172221e-02 -5.72423011e-02 5.65574577e+01] [ 8.70004674e-02 9.96197956e-01 -4.53335743e-03 4.03830469e+00] [ 5.74195969e-02 -4.71446732e-04 9.98350023e-01 2.46990386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.815099892999996 meters Centerline goodness [0,1] 0.9998475908467417 Centerline is valid? [True, True] Translation: X:56.59, Y:4.03, Z:2.47 [[ 9.93697478e-01 -9.64404076e-02 -5.71364244e-02 5.65878158e+01] [ 9.63395668e-02 9.95338248e-01 -4.52324128e-03 4.03224328e+00] [ 5.73062918e-02 -1.00976493e-03 9.98356133e-01 2.47031470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:4.03, Z:2.47 [[ 9.92767245e-01 -1.06628980e-01 -5.51675447e-02 5.66178992e+01] [ 1.06550665e-01 9.94297683e-01 -4.36737367e-03 4.02584147e+00] [ 5.53186505e-02 -1.54235306e-03 9.98467560e-01 2.47494058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.875099893 meters Centerline goodness [0,1] 0.9998917491177554 Centerline is valid? [True, True] Translation: X:56.65, Y:4.02, Z:2.47 [[ 9.92250950e-01 -1.11035422e-01 -5.57600883e-02 5.66497006e+01] [ 1.10962375e-01 9.93814806e-01 -4.41398311e-03 4.02401064e+00] [ 5.59053098e-02 -1.80749290e-03 9.98434439e-01 2.47405429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.68, Y:4.02, Z:2.48 [[ 9.91220285e-01 -1.19831456e-01 -5.58817414e-02 5.66802231e+01] [ 1.19772119e-01 9.92791562e-01 -4.42191244e-03 4.01961451e+00] [ 5.60088056e-02 -2.30998529e-03 9.98427603e-01 2.47777813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.935099893 meters Centerline goodness [0,1] 0.9998921134966016 Centerline is valid? [True, True] Translation: X:56.71, Y:4.01, Z:2.48 [[ 9.90412463e-01 -1.25871959e-01 -5.69157574e-02 5.67101696e+01] [ 1.25820357e-01 9.92042820e-01 -4.50355342e-03 4.01426706e+00] [ 5.70297395e-02 -2.70078548e-03 9.98368827e-01 2.47594893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099893 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:56.74, Y:4.01, Z:2.48 [[ 9.89984266e-01 -1.29386817e-01 -5.64819002e-02 5.67414795e+01] [ 1.29341759e-01 9.91590009e-01 -4.46812326e-03 4.01433607e+00] [ 5.65850042e-02 -2.88209660e-03 9.98393625e-01 2.47735151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.995099892999995 meters Centerline goodness [0,1] 0.9998275564752543 Centerline is valid? [True, True] Translation: X:56.77, Y:4.02, Z:2.48 [[ 9.91128105e-01 -1.20374867e-01 -5.63468782e-02 5.67706000e+01] [ 1.20315583e-01 9.92725696e-01 -4.45574003e-03 4.02457431e+00] [ 5.64733530e-02 -2.36319835e-03 9.98401310e-01 2.47807479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.025099893 meters Centerline goodness [0,1] 0.999913606911447 Centerline is valid? [True, True] Translation: X:56.80, Y:4.03, Z:2.48 [[ 9.91336953e-01 -1.18586039e-01 -5.64658896e-02 5.68028085e+01] [ 1.18523652e-01 9.92941193e-01 -4.46440909e-03 4.03004410e+00] [ 5.65967244e-02 -2.26680975e-03 9.98394547e-01 2.48095497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.055099893 meters Centerline goodness [0,1] 0.9999566912083153 Centerline is valid? [True, True] Translation: X:56.83, Y:4.03, Z:2.48 [[ 9.91464675e-01 -1.17365050e-01 -5.67736115e-02 5.68349467e+01] [ 1.17300267e-01 9.93086372e-01 -4.48379337e-03 4.03447388e+00] [ 5.69073405e-02 -2.21403704e-03 9.98377009e-01 2.48237130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.085099893 meters Centerline goodness [0,1] 0.9999566912083153 Centerline is valid? [True, True] Translation: X:56.87, Y:4.04, Z:2.48 [[ 9.91473031e-01 -1.17294286e-01 -5.67739302e-02 5.68665390e+01] [ 1.17229618e-01 9.93094733e-01 -4.47975382e-03 4.03690616e+00] [ 5.69073406e-02 -2.21403104e-03 9.98377009e-01 2.48387765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.115099893 meters Centerline goodness [0,1] 0.9998481166464156 Centerline is valid? [True, True] Translation: X:56.90, Y:4.04, Z:2.48 [[ 9.91502441e-01 -1.16619150e-01 -5.76444529e-02 5.68982297e+01] [ 1.16551589e-01 9.93174243e-01 -4.54425054e-03 4.04119535e+00] [ 5.77809325e-02 -2.21291710e-03 9.98326834e-01 2.48331497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099893 meters Centerline goodness [0,1] 0.9997828070023023 Centerline is valid? [True, True] Translation: X:56.93, Y:4.05, Z:2.48 [[ 9.91624666e-01 -1.15358736e-01 -5.80765355e-02 5.69288250e+01] [ 1.15288238e-01 9.93321548e-01 -4.57428192e-03 4.04620978e+00] [ 5.82163575e-02 -2.15957063e-03 9.98301654e-01 2.48294170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.175099892999995 meters Centerline goodness [0,1] 0.9998049287990116 Centerline is valid? [True, True] Translation: X:56.96, Y:4.05, Z:2.48 [[ 9.91690288e-01 -1.14794852e-01 -5.80733504e-02 5.69605996e+01] [ 1.14723590e-01 9.93386937e-01 -4.57070739e-03 4.05074318e+00] [ 5.82140013e-02 -2.12965710e-03 9.98301855e-01 2.48406115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.205099892999996 meters Centerline goodness [0,1] 0.9998909820338392 Centerline is valid? [True, True] Translation: X:56.99, Y:4.05, Z:2.49 [[ 9.91767694e-01 -1.14164414e-01 -5.79942127e-02 5.69922596e+01] [ 1.14092513e-01 9.93459663e-01 -4.56031469e-03 4.05489369e+00] [ 5.81355367e-02 -2.09393266e-03 9.98306503e-01 2.48630602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.235099893 meters Centerline goodness [0,1] 0.9997382084733191 Centerline is valid? [True, True] Translation: X:57.02, Y:4.06, Z:2.49 [[ 9.91809928e-01 -1.13515898e-01 -5.85423658e-02 5.70239141e+01] [ 1.13441753e-01 9.93534003e-01 -4.59918441e-03 4.05887734e+00] [ 5.86859116e-02 -2.07963186e-03 9.98274330e-01 2.48616902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.265099893 meters Centerline goodness [0,1] 0.9998259545306212 Centerline is valid? [True, True] Translation: X:57.06, Y:4.06, Z:2.49 [[ 9.91757369e-01 -1.13730764e-01 -5.90138550e-02 5.70561615e+01] [ 1.13656053e-01 9.93509359e-01 -4.63197996e-03 4.06423148e+00] [ 5.91576159e-02 -2.11348156e-03 9.98246417e-01 2.48770638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.295099893 meters Centerline goodness [0,1] 0.9999342465753425 Centerline is valid? [True, True] Translation: X:57.09, Y:4.07, Z:2.49 [[ 9.91601878e-01 -1.15089376e-01 -5.89927965e-02 5.70881683e+01] [ 1.15017366e-01 9.93352709e-01 -4.62611625e-03 4.06932367e+00] [ 5.91330711e-02 -2.19793051e-03 9.98247689e-01 2.49059822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.12, Y:4.08, Z:2.50 [[ 9.91514498e-01 -1.16151668e-01 -5.83762815e-02 5.71197991e+01] [ 1.16083233e-01 9.93228959e-01 -4.57362599e-03 4.07589008e+00] [ 5.85122476e-02 -2.24169101e-03 9.98284174e-01 2.49598447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.355099892999995 meters Centerline goodness [0,1] 0.9999120124942258 Centerline is valid? [True, True] Translation: X:57.15, Y:4.08, Z:2.49 [[ 9.91588409e-01 -1.14958594e-01 -5.94722550e-02 5.71505297e+01] [ 1.14885673e-01 9.93367812e-01 -4.65536790e-03 4.07981840e+00] [ 5.96129984e-02 -2.21630117e-03 9.98219103e-01 2.49487438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.385099892999996 meters Centerline goodness [0,1] 0.9997800215578874 Centerline is valid? [True, True] Translation: X:57.18, Y:4.09, Z:2.49 [[ 9.92098108e-01 -1.09856487e-01 -6.06044201e-02 5.71803187e+01] [ 1.09771418e-01 9.93945549e-01 -4.74140244e-03 4.08974477e+00] [ 6.07583674e-02 -1.94869674e-03 9.98150602e-01 2.49427665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.415099893 meters Centerline goodness [0,1] 0.9998455836936381 Centerline is valid? [True, True] Translation: X:57.21, Y:4.09, Z:2.50 [[ 9.92375848e-01 -1.07824169e-01 -5.97002966e-02 5.72120898e+01] [ 1.07738001e-01 9.94168354e-01 -4.66976788e-03 4.09489242e+00] [ 5.98556594e-02 -1.79782576e-03 9.98205424e-01 2.49743876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.445099893 meters Centerline goodness [0,1] 0.9998234112531179 Centerline is valid? [True, True] Translation: X:57.24, Y:4.10, Z:2.50 [[ 9.92485239e-01 -1.06982605e-01 -5.93950541e-02 5.72429522e+01] [ 1.06896109e-01 9.94259365e-01 -4.64090495e-03 4.09696939e+00] [ 5.95505848e-02 -1.74307050e-03 9.98223767e-01 2.49913670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.475099893 meters Centerline goodness [0,1] 0.999801455989411 Centerline is valid? [True, True] Translation: X:57.28, Y:4.10, Z:2.50 [[ 9.92508911e-01 -1.06897703e-01 -5.91518531e-02 5.72759973e+01] [ 1.06812200e-01 9.94268505e-01 -4.61454512e-03 4.10095765e+00] [ 5.93061088e-02 -1.73816244e-03 9.98238330e-01 2.50171469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.505099893 meters Centerline goodness [0,1] 0.9999117348514939 Centerline is valid? [True, True] Translation: X:57.31, Y:4.10, Z:2.50 [[ 9.92519846e-01 -1.07137340e-01 -5.85315787e-02 5.73074619e+01] [ 1.07054400e-01 9.94242708e-01 -4.55998105e-03 4.10216955e+00] [ 5.86831396e-02 -1.74019133e-03 9.98275143e-01 2.50475155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.535099893 meters Centerline goodness [0,1] 0.9998456517904393 Centerline is valid? [True, True] Translation: X:57.34, Y:4.10, Z:2.50 [[ 9.92453131e-01 -1.07506714e-01 -5.89837985e-02 5.73387492e+01] [ 1.07423433e-01 9.94202764e-01 -4.59024039e-03 4.10275651e+00] [ 5.91353371e-02 -1.78064366e-03 9.98248387e-01 2.50453804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.565099892999996 meters Centerline goodness [0,1] 0.9998012981851901 Centerline is valid? [True, True] Translation: X:57.37, Y:4.11, Z:2.51 [[ 9.92350670e-01 -1.08028009e-01 -5.97502939e-02 5.73711627e+01] [ 1.07943702e-01 9.94146150e-01 -4.64640995e-03 4.10669517e+00] [ 5.99024671e-02 -1.83879991e-03 9.98202541e-01 2.50577289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.595099893 meters Centerline goodness [0,1] 0.9998676431659754 Centerline is valid? [True, True] Translation: X:57.40, Y:4.11, Z:2.51 [[ 9.92097517e-01 -1.09703648e-01 -6.08902824e-02 5.74019317e+01] [ 1.09619490e-01 9.93962366e-01 -4.73102688e-03 4.10698861e+00] [ 6.10416601e-02 -1.98112168e-03 9.98133253e-01 2.50640282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.625099893 meters Centerline goodness [0,1] 0.9998459032272267 Centerline is valid? [True, True] Translation: X:57.43, Y:4.11, Z:2.51 [[ 9.92882678e-01 -1.05834717e-01 -5.46168480e-02 5.74314702e+01] [ 1.05761240e-01 9.94382504e-01 -4.24204510e-03 4.11105663e+00] [ 5.47589937e-02 -1.56449247e-03 9.98498375e-01 2.51329669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.655099893 meters Centerline goodness [0,1] 0.9998898047339886 Centerline is valid? [True, True] Translation: X:57.46, Y:4.12, Z:2.51 [[ 9.93272596e-01 -9.93849263e-02 -5.94322088e-02 5.74627762e+01] [ 9.92864148e-02 9.95048192e-01 -4.61561629e-03 4.11541756e+00] [ 5.95966346e-02 -1.31624576e-03 9.98221673e-01 2.51214782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.685099893 meters Centerline goodness [0,1] 0.9998895588982396 Centerline is valid? [True, True] Translation: X:57.49, Y:4.13, Z:2.52 [[ 9.95422622e-01 -7.80200125e-02 -5.51967465e-02 5.74918617e+01] [ 7.79022581e-02 9.96951792e-01 -4.28505798e-03 4.13079546e+00] [ 5.53628157e-02 -3.45075477e-05 9.98466303e-01 2.51671312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.715099893 meters Centerline goodness [0,1] 0.9998233488639123 Centerline is valid? [True, True] Translation: X:57.52, Y:4.13, Z:2.52 [[ 9.95601128e-01 -7.57622238e-02 -5.51224100e-02 5.75233928e+01] [ 7.56413724e-02 9.97125908e-01 -4.27848865e-03 4.13435789e+00] [ 5.52881309e-02 9.01333835e-05 9.98470437e-01 2.51768781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.745099892999995 meters Centerline goodness [0,1] 0.9998013639674237 Centerline is valid? [True, True] Translation: X:57.56, Y:4.14, Z:2.52 [[ 9.95711033e-01 -7.43263504e-02 -5.50920364e-02 5.75550514e+01] [ 7.42036382e-02 9.97233958e-01 -4.27247504e-03 4.13730411e+00] [ 5.52572069e-02 1.66121003e-04 9.98472140e-01 2.51935025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.775099893 meters Centerline goodness [0,1] 0.9997797356828194 Centerline is valid? [True, True] Translation: X:57.59, Y:4.14, Z:2.52 [[ 9.95810806e-01 -7.34346496e-02 -5.44811067e-02 5.75850902e+01] [ 7.33134108e-02 9.97300009e-01 -4.22329866e-03 4.13930020e+00] [ 5.46441446e-02 2.11410691e-04 9.98505870e-01 2.52054779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.805099893 meters Centerline goodness [0,1] 0.9997361187465641 Centerline is valid? [True, True] Translation: X:57.62, Y:4.14, Z:2.52 [[ 9.95567814e-01 -7.62088319e-02 -5.51084550e-02 5.76172154e+01] [ 7.60890908e-02 9.97091877e-01 -4.27080380e-03 4.13622259e+00] [ 5.52736658e-02 5.87225657e-05 9.98471241e-01 2.52057822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.835099893 meters Centerline goodness [0,1] 0.9999563737893726 Centerline is valid? [True, True] Translation: X:57.65, Y:4.12, Z:2.52 [[ 9.93869218e-01 -9.65767162e-02 -5.38229951e-02 5.76492779e+01] [ 9.64923833e-02 9.95324990e-01 -4.16939876e-03 4.11671477e+00] [ 5.39740389e-02 -1.04967199e-03 9.98541787e-01 2.52381994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.865099893 meters Centerline goodness [0,1] 0.9998911268372346 Centerline is valid? [True, True] Translation: X:57.68, Y:4.11, Z:2.52 [[ 9.93281152e-01 -1.01877293e-01 -5.48959979e-02 5.76804866e+01] [ 1.01797713e-01 9.94796036e-01 -4.25125654e-03 4.11493382e+00] [ 5.50434276e-02 -1.36559407e-03 9.98483028e-01 2.52355699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.895099893 meters Centerline goodness [0,1] 0.9998261814231396 Centerline is valid? [True, True] Translation: X:57.71, Y:4.11, Z:2.52 [[ 9.92986656e-01 -1.04337839e-01 -5.55978182e-02 5.77120795e+01] [ 1.04260227e-01 9.94540744e-01 -4.30265315e-03 4.11363409e+00] [ 5.57432250e-02 -1.52416396e-03 9.98443974e-01 2.52340269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.925099892999995 meters Centerline goodness [0,1] 0.9998260831757212 Centerline is valid? [True, True] Translation: X:57.74, Y:4.11, Z:2.52 [[ 9.92706499e-01 -1.06944541e-01 -5.56477499e-02 5.77443658e+01] [ 1.06871056e-01 9.94263576e-01 -4.30331882e-03 4.11332890e+00] [ 5.57887472e-02 -1.67520121e-03 9.98441190e-01 2.52447080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.955099892999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.78, Y:4.11, Z:2.53 [[ 9.92494350e-01 -1.09584170e-01 -5.42796064e-02 5.77769030e+01] [ 1.09518400e-01 9.93975922e-01 -4.19370182e-03 4.11243732e+00] [ 5.44121851e-02 -1.78239030e-03 9.98516969e-01 2.52906909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.985099893 meters Centerline goodness [0,1] 0.9998915895145378 Centerline is valid? [True, True] Translation: X:57.81, Y:4.11, Z:2.53 [[ 9.92057316e-01 -1.13207286e-01 -5.48305826e-02 5.78081111e+01] [ 1.13145905e-01 9.93569369e-01 -4.23246727e-03 4.11100500e+00] [ 5.49571334e-02 -2.00500577e-03 9.98486702e-01 2.52827129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.015099893 meters Centerline goodness [0,1] 0.9998483765460178 Centerline is valid? [True, True] Translation: X:57.84, Y:4.11, Z:2.53 [[ 9.91870197e-01 -1.14574558e-01 -5.53731273e-02 5.78403821e+01] [ 1.14514252e-01 9.93412423e-01 -4.27130834e-03 4.11157119e+00] [ 5.54977358e-02 -2.10442879e-03 9.98456595e-01 2.52925205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.045099893 meters Centerline goodness [0,1] 0.9998054474708171 Centerline is valid? [True, True] Translation: X:57.87, Y:4.11, Z:2.53 [[ 9.91707833e-01 -1.15678130e-01 -5.59834218e-02 5.78726673e+01] [ 1.15618472e-01 9.93284328e-01 -4.31430483e-03 4.11466083e+00] [ 5.61065262e-02 -2.19418779e-03 9.98422377e-01 2.53118831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.075099893 meters Centerline goodness [0,1] 0.9998266747551781 Centerline is valid? [True, True] Translation: X:57.90, Y:4.12, Z:2.53 [[ 9.91914460e-01 -1.13801996e-01 -5.61676950e-02 5.79043258e+01] [ 1.13739180e-01 9.93501233e-01 -4.32431324e-03 4.11671559e+00] [ 5.62947897e-02 -2.09911872e-03 9.98411984e-01 2.53137080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters Centerline goodness [0,1] 0.999978349823551 Centerline is valid? [True, True] Translation: X:57.93, Y:4.12, Z:2.53 [[ 9.92315261e-01 -1.10411108e-01 -5.58552506e-02 5.79343547e+01] [ 1.10343829e-01 9.93884188e-01 -4.29662383e-03 4.11915735e+00] [ 5.59880453e-02 -1.89967681e-03 9.98429632e-01 2.53419567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.135099892999996 meters Centerline goodness [0,1] 0.999848327266424 Centerline is valid? [True, True] Translation: X:57.97, Y:4.12, Z:2.53 [[ 9.92542483e-01 -1.07716096e-01 -5.70671708e-02 5.79668412e+01] [ 1.07641521e-01 9.94180088e-01 -4.38808336e-03 4.12435082e+00] [ 5.72077122e-02 -1.78743793e-03 9.98360698e-01 2.53312910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.00, Y:4.13, Z:2.54 [[ 9.93097002e-01 -1.02324948e-01 -5.73406368e-02 5.79978362e+01] [ 1.02240965e-01 9.94749912e-01 -4.40415816e-03 4.13111551e+00] [ 5.74902487e-02 -1.48880579e-03 9.98344958e-01 2.53659141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.03, Y:4.14, Z:2.54 [[ 9.93837377e-01 -9.32399769e-02 -5.99464270e-02 5.80290003e+01] [ 9.31319073e-02 9.95643151e-01 -4.60033934e-03 4.14314656e+00] [ 6.01141850e-02 -1.01093590e-03 9.98190995e-01 2.53834240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.225099893 meters Centerline goodness [0,1] 0.9998474480233622 Centerline is valid? [True, True] Translation: X:58.06, Y:4.15, Z:2.54 [[ 9.94011010e-01 -9.10737800e-02 -6.03960141e-02 5.80599929e+01] [ 9.09603444e-02 9.95843749e-01 -4.63061580e-03 4.14713615e+00] [ 6.05667208e-02 -8.90759149e-04 9.98163754e-01 2.53733895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.255099893 meters Centerline goodness [0,1] 0.9999781716580809 Centerline is valid? [True, True] Translation: X:58.09, Y:4.15, Z:2.54 [[ 9.94224131e-01 -8.94615533e-02 -5.92875027e-02 5.80904689e+01] [ 8.93497597e-02 9.95989968e-01 -4.53927609e-03 4.15160229e+00] [ 5.94558486e-02 -7.84266296e-04 9.98230628e-01 2.54220128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.12, Y:4.17, Z:2.55 [[ 9.95205798e-01 -7.88015222e-02 -5.79287473e-02 5.81203404e+01] [ 7.86768588e-02 9.96890314e-01 -4.43317217e-03 4.16549683e+00] [ 5.80979478e-02 -1.45733224e-04 9.98310877e-01 2.54628675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.315099892999996 meters Centerline goodness [0,1] 0.9998239436619718 Centerline is valid? [True, True] Translation: X:58.15, Y:4.17, Z:2.55 [[ 9.95638997e-01 -7.51000493e-02 -5.53441147e-02 5.81509040e+01] [ 7.49806544e-02 9.97176002e-01 -4.23357483e-03 4.17206675e+00] [ 5.55057646e-02 6.53742641e-05 9.98458365e-01 2.54657032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.345099893 meters Centerline goodness [0,1] 0.9999120434505354 Centerline is valid? [True, True] Translation: X:58.18, Y:4.18, Z:2.55 [[ 9.95741610e-01 -7.45776712e-02 -5.41924009e-02 5.81819334e+01] [ 7.44624843e-02 9.97215204e-01 -4.14437424e-03 4.17652542e+00] [ 5.43505639e-02 9.14250832e-05 9.98521912e-01 2.55003603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.375099893 meters Centerline goodness [0,1] 0.999934028235915 Centerline is valid? [True, True] Translation: X:58.21, Y:4.18, Z:2.55 [[ 9.95728923e-01 -7.44499158e-02 -5.45996464e-02 5.82117239e+01] [ 7.43329171e-02 9.97224749e-01 -4.17334400e-03 4.18016337e+00] [ 5.47588238e-02 9.69683374e-05 9.98499605e-01 2.55074081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.405099893 meters Centerline goodness [0,1] 0.9998015523019933 Centerline is valid? [True, True] Translation: X:58.24, Y:4.18, Z:2.55 [[ 9.95630058e-01 -7.43621399e-02 -5.64894596e-02 5.82419397e+01] [ 7.42369296e-02 9.97231298e-01 -4.31469455e-03 4.18498235e+00] [ 5.66539070e-02 1.02235555e-04 9.98393872e-01 2.54891108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.435099893 meters Centerline goodness [0,1] 0.9998452354631882 Centerline is valid? [True, True] Translation: X:58.27, Y:4.19, Z:2.55 [[ 9.95588587e-01 -7.42528591e-02 -5.73574576e-02 5.82725487e+01] [ 7.41236358e-02 9.97239440e-01 -4.38014062e-03 4.18853807e+00] [ 5.75243569e-02 1.09274714e-04 9.98344097e-01 2.55012533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.30, Y:4.19, Z:2.55 [[ 9.95550402e-01 -7.45040102e-02 -5.76935901e-02 5.83023748e+01] [ 7.43736880e-02 9.97220709e-01 -4.40580960e-03 4.19282859e+00] [ 5.78614933e-02 9.53204505e-05 9.98324616e-01 2.55389938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.495099892999995 meters Centerline goodness [0,1] 0.9998006644518272 Centerline is valid? [True, True] Translation: X:58.33, Y:4.20, Z:2.55 [[ 9.95584921e-01 -7.39647905e-02 -5.77916579e-02 5.83330717e+01] [ 7.38331168e-02 9.97260845e-01 -4.41329862e-03 4.19693689e+00] [ 5.79597863e-02 1.26875328e-04 9.98318911e-01 2.55263518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.525099893 meters Centerline goodness [0,1] 0.9998230166806779 Centerline is valid? [True, True] Translation: X:58.36, Y:4.20, Z:2.56 [[ 9.95694406e-01 -7.53250630e-02 -5.40257765e-02 5.83632621e+01] [ 7.52120043e-02 9.97159031e-01 -4.12571456e-03 4.20011449e+00] [ 5.41830606e-02 4.45639809e-05 9.98531018e-01 2.55708865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.555099893 meters Centerline goodness [0,1] 0.9998031883487503 Centerline is valid? [True, True] Translation: X:58.40, Y:4.18, Z:2.56 [[ 9.93454173e-01 -1.00209731e-01 -5.48344360e-02 5.83955871e+01] [ 1.00131044e-01 9.94965446e-01 -4.18744511e-03 4.17922488e+00] [ 5.49779918e-02 -1.33059452e-03 9.98486680e-01 2.55534539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.585099893 meters Centerline goodness [0,1] 0.9999123921328136 Centerline is valid? [True, True] Translation: X:58.43, Y:4.17, Z:2.56 [[ 9.92346706e-01 -1.09110933e-01 -5.78171237e-02 5.84265404e+01] [ 1.09038531e-01 9.94027719e-01 -4.41503052e-03 4.17464508e+00] [ 5.79535517e-02 -1.92305324e-03 9.98317428e-01 2.55598699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.46, Y:4.17, Z:2.56 [[ 9.92082757e-01 -1.11315580e-01 -5.81433077e-02 5.84579815e+01] [ 1.11246180e-01 9.93782965e-01 -4.43920871e-03 4.17330505e+00] [ 5.82759818e-02 -2.06415845e-03 9.98298377e-01 2.55876976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099893 meters Centerline goodness [0,1] 0.9998690356659536 Centerline is valid? [True, True] Translation: X:58.49, Y:4.18, Z:2.56 [[ 9.91877217e-01 -1.12436676e-01 -5.94775626e-02 5.84896741e+01] [ 1.12366263e-01 9.93656496e-01 -4.53779869e-03 4.17578999e+00] [ 5.96104814e-02 -2.18233232e-03 9.98219329e-01 2.55708314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.675099892999995 meters Centerline goodness [0,1] 0.9998688209186908 Centerline is valid? [True, True] Translation: X:58.52, Y:4.18, Z:2.56 [[ 9.91781642e-01 -1.13014642e-01 -5.99738640e-02 5.85220697e+01] [ 1.12944315e-01 9.93590800e-01 -4.57216918e-03 4.17841743e+00] [ 6.01062016e-02 -2.23911352e-03 9.98189476e-01 2.55841546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.705099892999996 meters Centerline goodness [0,1] 0.9998257308412843 Centerline is valid? [True, True] Translation: X:58.55, Y:4.18, Z:2.56 [[ 9.91773687e-01 -1.12980252e-01 -6.01698970e-02 5.85533354e+01] [ 1.12909703e-01 9.93594688e-01 -4.58212287e-03 4.17882417e+00] [ 6.03021794e-02 -2.24933628e-03 9.98177633e-01 2.55863518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.735099893 meters Centerline goodness [0,1] 0.9998475244505435 Centerline is valid? [True, True] Translation: X:58.58, Y:4.18, Z:2.56 [[ 9.92149118e-01 -1.10656305e-01 -5.82692791e-02 5.85840970e+01] [ 1.10586482e-01 9.93856625e-01 -4.43150509e-03 4.18387778e+00] [ 5.84016831e-02 -2.04708074e-03 9.98291066e-01 2.56184616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.765099893 meters Centerline goodness [0,1] 0.999825239749219 Centerline is valid? [True, True] Translation: X:58.62, Y:4.19, Z:2.56 [[ 9.92511967e-01 -1.08376236e-01 -5.63434683e-02 5.86155543e+01] [ 1.08307403e-01 9.94108225e-01 -4.28290840e-03 4.18883553e+00] [ 5.64756708e-02 -1.85157687e-03 9.98402259e-01 2.56495244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.795099893 meters Centerline goodness [0,1] 0.9998031022336957 Centerline is valid? [True, True] Translation: X:58.64, Y:4.20, Z:2.57 [[ 9.93353120e-01 -1.01922463e-01 -5.34919644e-02 5.86447751e+01] [ 1.01851201e-01 9.94791345e-01 -4.06371268e-03 4.19587239e+00] [ 5.36275268e-02 -1.41151914e-03 9.98560011e-01 2.56887440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099893 meters Centerline goodness [0,1] 0.9998902618352611 Centerline is valid? [True, True] Translation: X:58.68, Y:4.20, Z:2.57 [[ 9.93767830e-01 -9.85620976e-02 -5.20673849e-02 5.86760758e+01] [ 9.84899858e-02 9.95130182e-01 -3.95523174e-03 4.20237759e+00] [ 5.22036621e-02 -1.19753393e-03 9.98635741e-01 2.57252640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.855099892999995 meters Centerline goodness [0,1] 0.9999116588263876 Centerline is valid? [True, True] Translation: X:58.71, Y:4.21, Z:2.57 [[ 9.94863784e-01 -8.68634299e-02 -5.19691848e-02 5.87051819e+01] [ 8.67757630e-02 9.96220057e-01 -3.94516928e-03 4.21343934e+00] [ 5.21154352e-02 -5.84759622e-04 9.98640896e-01 2.57375197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.885099892999996 meters Centerline goodness [0,1] 0.9999558469655827 Centerline is valid? [True, True] Translation: X:58.74, Y:4.22, Z:2.58 [[ 9.95122326e-01 -8.27778349e-02 -5.36599217e-02 5.87367771e+01] [ 8.26784555e-02 9.96567952e-01 -4.07306804e-03 4.21886515e+00] [ 5.38129180e-02 -3.83318503e-04 9.98550962e-01 2.57505047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.915099893 meters Centerline goodness [0,1] 0.9998458115817529 Centerline is valid? [True, True] Translation: X:58.77, Y:4.22, Z:2.57 [[ 9.94817106e-01 -8.34290845e-02 -5.81249757e-02 5.87688321e+01] [ 8.33138271e-02 9.96513612e-01 -4.40770717e-03 4.21872537e+00] [ 5.82900604e-02 -4.57751677e-04 9.98299584e-01 2.57107223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.945099893 meters Centerline goodness [0,1] 0.9998675964339306 Centerline is valid? [True, True] Translation: X:58.80, Y:4.22, Z:2.57 [[ 9.94671324e-01 -8.49823647e-02 -5.83691206e-02 5.87990077e+01] [ 8.48689728e-02 9.96382302e-01 -4.42341035e-03 4.22029588e+00] [ 5.85338706e-02 -5.53887875e-04 9.98285269e-01 2.57227896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.975099893 meters Centerline goodness [0,1] 0.9998675964339306 Centerline is valid? [True, True] Translation: X:58.83, Y:4.22, Z:2.57 [[ 9.94674301e-01 -8.49474480e-02 -5.83692143e-02 5.88297393e+01] [ 8.48340686e-02 9.96385279e-01 -4.42217353e-03 4.22259465e+00] [ 5.85338783e-02 -5.53075565e-04 9.98285269e-01 2.57374487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.005099893 meters Centerline goodness [0,1] 0.9998895320577968 Centerline is valid? [True, True] Translation: X:58.86, Y:4.23, Z:2.58 [[ 9.94565832e-01 -8.57140789e-02 -5.90923138e-02 5.88607611e+01] [ 8.55993480e-02 9.96319591e-01 -4.47485025e-03 4.22538641e+00] [ 5.92583876e-02 -6.07730370e-04 9.98242493e-01 2.57560611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.035099893 meters Centerline goodness [0,1] 0.9997797211269467 Centerline is valid? [True, True] Translation: X:58.89, Y:4.23, Z:2.58 [[ 9.94535968e-01 -8.58690435e-02 -5.93693122e-02 5.88905818e+01] [ 8.57536226e-02 9.96306238e-01 -4.49393155e-03 4.22788443e+00] [ 5.95359057e-02 -6.21757024e-04 9.98225971e-01 2.57619949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.065099892999996 meters Centerline goodness [0,1] 0.9998237769015573 Centerline is valid? [True, True] Translation: X:58.92, Y:4.23, Z:2.58 [[ 9.94606019e-01 -8.61115533e-02 -5.78244604e-02 5.89220057e+01] [ 8.60025426e-02 9.96285308e-01 -4.37581133e-03 4.23077780e+00] [ 5.79864683e-02 -6.20842330e-04 9.98317176e-01 2.57960742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:4.23, Z:2.59 [[ 9.94667299e-01 -8.66003598e-02 -5.60119791e-02 5.89540613e+01] [ 8.64989805e-02 9.96242932e-01 -4.23639837e-03 4.23325508e+00] [ 5.61684119e-02 -6.31172166e-04 9.98421109e-01 2.58537558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.125099893 meters Centerline goodness [0,1] 0.9999338347191283 Centerline is valid? [True, True] Translation: X:58.99, Y:4.24, Z:2.59 [[ 9.94647094e-01 -8.72060577e-02 -5.54279949e-02 5.89858593e+01] [ 8.71079411e-02 9.96190075e-01 -4.18829258e-03 4.23571985e+00] [ 5.55820629e-02 -6.62345476e-04 9.98453903e-01 2.58554205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.155099893 meters Centerline goodness [0,1] 0.9998014866444626 Centerline is valid? [True, True] Translation: X:59.02, Y:4.24, Z:2.58 [[ 9.94374858e-01 -9.02604998e-02 -5.54227689e-02 5.90174746e+01] [ 9.01673559e-02 9.95917839e-01 -4.18402290e-03 4.23591643e+00] [ 5.55741763e-02 -8.36837355e-04 9.98454211e-01 2.58495128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.05, Y:4.24, Z:2.59 [[ 9.93964019e-01 -9.56143651e-02 -5.37905399e-02 5.90492444e+01] [ 9.55346097e-02 9.95417838e-01 -4.05796197e-03 4.23577900e+00] [ 5.39320624e-02 -1.10539005e-03 9.98543995e-01 2.58997856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.215099893 meters Centerline goodness [0,1] 0.9998240714270006 Centerline is valid? [True, True] Translation: X:59.08, Y:4.23, Z:2.59 [[ 9.93288285e-01 -1.01237842e-01 -5.59399954e-02 5.90805423e+01] [ 1.01160644e-01 9.94861165e-01 -4.21728502e-03 4.23338137e+00] [ 5.60794778e-02 -1.46994618e-03 9.98425226e-01 2.58676679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.245099892999995 meters Centerline goodness [0,1] 0.999868259265765 Centerline is valid? [True, True] Translation: X:59.11, Y:4.23, Z:2.59 [[ 9.93279060e-01 -1.01423692e-01 -5.57668736e-02 5.91115332e+01] [ 1.01347337e-01 9.94842225e-01 -4.20293095e-03 4.23099579e+00] [ 5.59055173e-02 -1.47714081e-03 9.98434971e-01 2.58763356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.275099893 meters Centerline goodness [0,1] 0.9998241990067244 Centerline is valid? [True, True] Translation: X:59.14, Y:4.23, Z:2.59 [[ 9.93116292e-01 -1.02139007e-01 -5.73380614e-02 5.91435346e+01] [ 1.02059671e-01 9.94768907e-01 -4.31800702e-03 4.23058096e+00] [ 5.74791576e-02 -1.56362056e-03 9.98345482e-01 2.58774933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.18, Y:4.23, Z:2.59 [[ 9.93023090e-01 -1.03271007e-01 -5.69231297e-02 5.91757929e+01] [ 1.03194903e-01 9.94651934e-01 -4.28272054e-03 4.23296805e+00] [ 5.70609820e-02 -1.62133647e-03 9.98369378e-01 2.59281952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.21, Y:4.23, Z:2.59 [[ 9.92821194e-01 -1.04733829e-01 -5.77659179e-02 5.92073912e+01] [ 1.04658161e-01 9.94498776e-01 -4.34209547e-03 4.23428110e+00] [ 5.79028989e-02 -1.73475030e-03 9.98320712e-01 2.59422147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.365099893 meters Centerline goodness [0,1] 0.9998462315752477 Centerline is valid? [True, True] Translation: X:59.24, Y:4.24, Z:2.59 [[ 9.92727969e-01 -1.04840050e-01 -5.91586357e-02 5.92386645e+01] [ 1.04761071e-01 9.94487493e-01 -4.44352776e-03 4.23704759e+00] [ 5.92983830e-02 -1.78630777e-03 9.98238704e-01 2.59281342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.395099893 meters Centerline goodness [0,1] 0.9998471515601458 Centerline is valid? [True, True] Translation: X:59.27, Y:4.24, Z:2.60 [[ 9.92950457e-01 -1.03002019e-01 -5.86512883e-02 5.92696023e+01] [ 1.02921371e-01 9.94679753e-01 -4.40230112e-03 4.24020792e+00] [ 5.87926949e-02 -1.66520408e-03 9.98268825e-01 2.59518819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.425099892999995 meters Centerline goodness [0,1] 0.999801749014252 Centerline is valid? [True, True] Translation: X:59.30, Y:4.26, Z:2.60 [[ 9.94686266e-01 -8.59776163e-02 -5.66310984e-02 5.92988900e+01] [ 8.58749632e-02 9.96296865e-01 -4.24824957e-03 4.25589463e+00] [ 5.67866402e-02 -6.37517991e-04 9.98386133e-01 2.60054158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.455099892999996 meters Centerline goodness [0,1] 0.9998233215547703 Centerline is valid? [True, True] Translation: X:59.33, Y:4.26, Z:2.60 [[ 9.95144850e-01 -8.09287017e-02 -5.60113543e-02 5.93299765e+01] [ 8.08203049e-02 9.96719833e-01 -4.20150236e-03 4.26140167e+00] [ 5.61676498e-02 -3.45751294e-04 9.98421292e-01 2.60277480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.36, Y:4.26, Z:2.61 [[ 9.95402179e-01 -7.86231416e-02 -5.47074361e-02 5.93612507e+01] [ 7.85163701e-02 9.96904387e-01 -4.10161488e-03 4.26469919e+00] [ 5.48605649e-02 -2.12672913e-04 9.98494003e-01 2.60721582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.515099893 meters Centerline goodness [0,1] 0.9998674823862005 Centerline is valid? [True, True] Translation: X:59.39, Y:4.27, Z:2.60 [[ 9.95962894e-01 -7.00290253e-02 -5.61591378e-02 5.93920075e+01] [ 6.99030147e-02 9.97544919e-01 -4.20749826e-03 4.27025217e+00] [ 5.63159096e-02 2.64819110e-04 9.98412965e-01 2.60488626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.545099893 meters Centerline goodness [0,1] 0.9998234969663541 Centerline is valid? [True, True] Translation: X:59.42, Y:4.28, Z:2.61 [[ 9.96772307e-01 -5.85865460e-02 -5.48870155e-02 5.94210613e+01] [ 5.84489247e-02 9.98281937e-01 -4.11064682e-03 4.27828725e+00] [ 5.50335447e-02 8.89291883e-04 9.98484110e-01 2.60678252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.575099893 meters Centerline goodness [0,1] 0.9997796337512946 Centerline is valid? [True, True] Translation: X:59.45, Y:4.28, Z:2.61 [[ 9.97120858e-01 -5.47197524e-02 -5.24951735e-02 5.94491281e+01] [ 5.45884537e-02 9.98501194e-01 -3.93278518e-03 4.28103193e+00] [ 5.26316945e-02 1.05583179e-03 9.98613434e-01 2.60951415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.605099892999995 meters Centerline goodness [0,1] 0.9998244613156625 Centerline is valid? [True, True] Translation: X:59.48, Y:4.28, Z:2.61 [[ 9.97320688e-01 -5.25645324e-02 -5.08764624e-02 5.94764868e+01] [ 5.24381786e-02 9.98616881e-01 -3.81608697e-03 4.28371723e+00] [ 5.10066850e-02 1.13799347e-03 9.98697663e-01 2.61231702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.635099892999996 meters Centerline goodness [0,1] 0.9998265620257556 Centerline is valid? [True, True] Translation: X:59.51, Y:4.24, Z:2.61 [[ 9.94791023e-01 -8.62849963e-02 -5.42744887e-02 5.95099136e+01] [ 8.61908259e-02 9.96270301e-01 -4.07777860e-03 4.24228326e+00] [ 5.44239123e-02 -6.21425462e-04 9.98517727e-01 2.60534001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.665099893 meters Centerline goodness [0,1] 0.9998068462281361 Centerline is valid? [True, True] Translation: X:59.54, Y:4.24, Z:2.60 [[ 9.94295556e-01 -9.18951879e-02 -5.41444536e-02 5.95407080e+01] [ 9.18097453e-02 9.95768255e-01 -4.06854546e-03 4.23535309e+00] [ 5.42892078e-02 -9.25651823e-04 9.98524824e-01 2.60483287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.695099893 meters Centerline goodness [0,1] 0.999828510182208 Centerline is valid? [True, True] Translation: X:59.57, Y:4.23, Z:2.61 [[ 9.94160533e-01 -9.40075713e-02 -5.29850065e-02 5.95720532e+01] [ 9.39288718e-02 9.95570959e-01 -3.97906166e-03 4.23423798e+00] [ 5.31243957e-02 -1.02099583e-03 9.98587380e-01 2.60712751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.725099893 meters Centerline goodness [0,1] 0.9998715175913832 Centerline is valid? [True, True] Translation: X:59.60, Y:4.23, Z:2.61 [[ 9.93983009e-01 -9.70428004e-02 -5.07983519e-02 5.96043221e+01] [ 9.69745171e-02 9.95279561e-01 -3.81298694e-03 4.23220448e+00] [ 5.09285843e-02 -1.13610141e-03 9.98701651e-01 2.61122031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.64, Y:4.23, Z:2.62 [[ 9.93969206e-01 -9.80842347e-02 -4.90377499e-02 5.96362412e+01] [ 9.80220361e-02 9.95177450e-01 -3.67743749e-03 4.23302262e+00] [ 4.91619616e-02 -1.15152047e-03 9.98790156e-01 2.61690038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099893 meters Centerline goodness [0,1] 0.9997860001283999 Centerline is valid? [True, True] Translation: X:59.67, Y:4.23, Z:2.62 [[ 9.93886315e-01 -9.87236259e-02 -4.94331708e-02 5.96681633e+01] [ 9.86613921e-02 9.95114172e-01 -3.70341925e-03 4.23220879e+00] [ 4.95572638e-02 -1.19636773e-03 9.98770567e-01 2.61633452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.815099892999996 meters Centerline goodness [0,1] 0.9998287891109875 Centerline is valid? [True, True] Translation: X:59.70, Y:4.23, Z:2.62 [[ 9.93859454e-01 -9.93268869e-02 -4.87601776e-02 5.97003470e+01] [ 9.92673355e-02 9.95054115e-01 -3.64739697e-03 4.23208103e+00] [ 4.88812999e-02 -1.21529294e-03 9.98803855e-01 2.61870119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.73, Y:4.23, Z:2.62 [[ 9.93846271e-01 -1.00037942e-01 -4.75604877e-02 5.97328484e+01] [ 9.99822579e-02 9.94982872e-01 -3.55431402e-03 4.23270003e+00] [ 4.76774369e-02 -1.22276321e-03 9.98862036e-01 2.62373914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:4.24, Z:2.63 [[ 9.93857255e-01 -9.99286365e-02 -4.75607477e-02 5.97652818e+01] [ 9.98729936e-02 9.94993858e-01 -3.55083229e-03 4.23503648e+00] [ 4.76774816e-02 -1.22101382e-03 9.98862036e-01 2.62528510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.905099893 meters Centerline goodness [0,1] 0.9998932467920661 Centerline is valid? [True, True] Translation: X:59.80, Y:4.23, Z:2.62 [[ 9.93809294e-01 -9.99911013e-02 -4.84238331e-02 5.97972116e+01] [ 9.99337567e-02 9.94987544e-01 -3.60987845e-03 4.23328007e+00] [ 4.85420665e-02 -1.25164480e-03 9.98820355e-01 2.62362273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.935099893 meters Centerline goodness [0,1] 0.9998305264272852 Centerline is valid? [True, True] Translation: X:59.83, Y:4.23, Z:2.62 [[ 9.93753322e-01 -1.00231767e-01 -4.90706515e-02 5.98292988e+01] [ 1.00173309e-01 9.94963289e-01 -3.65534698e-03 4.23462724e+00] [ 4.91898787e-02 -1.28305634e-03 9.98788621e-01 2.62453042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099893 meters Centerline goodness [0,1] 0.9998510353046328 Centerline is valid? [True, True] Translation: X:59.86, Y:4.24, Z:2.63 [[ 9.93707289e-01 -1.00412526e-01 -4.96301101e-02 5.98617472e+01] [ 1.00353133e-01 9.94945027e-01 -3.69338580e-03 4.23551929e+00] [ 4.97500935e-02 -1.31039265e-03 9.98760838e-01 2.62613850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.995099892999995 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:59.89, Y:4.24, Z:2.63 [[ 9.93732294e-01 -9.98092306e-02 -5.03412872e-02 5.98942168e+01] [ 9.97475379e-02 9.95005739e-01 -3.74260794e-03 4.23603668e+00] [ 5.04634166e-02 -1.30226908e-03 9.98725061e-01 2.62834115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.025099893 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:59.93, Y:4.24, Z:2.63 [[ 9.93739471e-01 -9.97376178e-02 -5.03415565e-02 5.99258033e+01] [ 9.96760168e-02 9.95012920e-01 -3.73898295e-03 4.23832414e+00] [ 5.04634164e-02 -1.30227089e-03 9.98725061e-01 2.62984680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:4.24, Z:2.63 [[ 9.93861529e-01 -9.81454104e-02 -5.10562377e-02 5.99583759e+01] [ 9.80801447e-02 9.95171309e-01 -3.78825234e-03 4.23986678e+00] [ 5.11815025e-02 -1.24260492e-03 9.98688595e-01 2.63268761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.085099893 meters Centerline goodness [0,1] 0.9998729486500794 Centerline is valid? [True, True] Translation: X:59.99, Y:4.24, Z:2.63 [[ 9.94380796e-01 -9.21992364e-02 -5.20205038e-02 5.99890832e+01] [ 9.21235839e-02 9.95740118e-01 -3.85532185e-03 4.23848823e+00] [ 5.21543603e-02 -9.58657236e-04 9.98638575e-01 2.62885971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.115099893 meters Centerline goodness [0,1] 0.9999363705777552 Centerline is valid? [True, True] Translation: X:60.02, Y:4.24, Z:2.63 [[ 9.94577707e-01 -9.05625341e-02 -5.11235001e-02 6.00204526e+01] [ 9.04873587e-02 9.95890401e-01 -3.78785899e-03 4.24166789e+00] [ 5.12564411e-02 -8.58710379e-04 9.98685156e-01 2.63195841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099893 meters Centerline goodness [0,1] 0.9999574114690913 Centerline is valid? [True, True] Translation: X:60.05, Y:4.25, Z:2.63 [[ 9.94766454e-01 -8.85824850e-02 -5.09199903e-02 6.00520220e+01] [ 8.85054111e-02 9.96068558e-01 -3.77090012e-03 4.24547676e+00] [ 5.10538370e-02 -7.55529728e-04 9.98695617e-01 2.63451998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.175099892999995 meters Centerline goodness [0,1] 0.9999574114690913 Centerline is valid? [True, True] Translation: X:60.08, Y:4.25, Z:2.64 [[ 9.94769659e-01 -8.85463745e-02 -5.09201903e-02 6.00827559e+01] [ 8.84693916e-02 9.96071768e-01 -3.76819741e-03 4.24772215e+00] [ 5.10538242e-02 -7.56389803e-04 9.98695617e-01 2.63598531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.205099892999996 meters Centerline goodness [0,1] 0.9998937752283833 Centerline is valid? [True, True] Translation: X:60.11, Y:4.25, Z:2.64 [[ 9.94959996e-01 -8.65260670e-02 -5.06739246e-02 6.01136823e+01] [ 8.64473021e-02 9.96249374e-01 -3.74813622e-03 4.25076371e+00] [ 5.08081772e-02 -6.51378477e-04 9.98708218e-01 2.63666587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.15, Y:4.25, Z:2.64 [[ 9.95152339e-01 -8.48541113e-02 -4.97152176e-02 6.01450915e+01] [ 8.47763035e-02 9.96393230e-01 -3.67544205e-03 4.25360778e+00] [ 4.98477826e-02 -5.57047622e-04 9.98756671e-01 2.64116249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.265099893 meters Centerline goodness [0,1] 0.9998936690555685 Centerline is valid? [True, True] Translation: X:60.18, Y:4.26, Z:2.64 [[ 9.95333622e-01 -8.29123099e-02 -4.93612238e-02 6.01765169e+01] [ 8.28333089e-02 9.96556741e-01 -3.64747912e-03 4.25628812e+00] [ 4.94936813e-02 -4.58294902e-04 9.98774332e-01 2.64046742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.295099893 meters Centerline goodness [0,1] 0.9998936690555685 Centerline is valid? [True, True] Translation: X:60.21, Y:4.26, Z:2.64 [[ 9.95336654e-01 -8.28758191e-02 -4.93613575e-02 6.02072489e+01] [ 8.27968629e-02 9.96559777e-01 -3.64566999e-03 4.25852998e+00] [ 4.94936813e-02 -4.58296582e-04 9.98774332e-01 2.64193292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.24, Y:4.26, Z:2.65 [[ 9.95517994e-01 -8.15290619e-02 -4.79263575e-02 6.02377150e+01] [ 8.14531538e-02 9.96670892e-01 -3.53798165e-03 4.26079517e+00] [ 4.80552538e-02 -3.81628577e-04 9.98844606e-01 2.64634668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.355099892999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.27, Y:4.26, Z:2.65 [[ 9.95663148e-01 -8.01636217e-02 -4.72089898e-02 6.02686173e+01] [ 8.00884760e-02 9.96781669e-01 -3.48417852e-03 4.26359522e+00] [ 4.73363601e-02 -3.11827897e-04 9.98878958e-01 2.64890861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.385099892999996 meters Centerline goodness [0,1] 0.9998514084357554 Centerline is valid? [True, True] Translation: X:60.30, Y:4.27, Z:2.65 [[ 9.95854013e-01 -7.75704452e-02 -4.75143224e-02 6.03000182e+01] [ 7.74914550e-02 9.96986855e-01 -3.50500247e-03 4.26701629e+00] [ 4.76430395e-02 -1.91483199e-04 9.98864407e-01 2.64896257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.415099893 meters Centerline goodness [0,1] 0.9998725302740599 Centerline is valid? [True, True] Translation: X:60.33, Y:4.27, Z:2.65 [[ 9.96030003e-01 -7.48724962e-02 -4.81491692e-02 6.03313156e+01] [ 7.47883138e-02 9.97193113e-01 -3.55007457e-03 4.26971823e+00] [ 4.82798228e-02 -6.50143918e-05 9.98833847e-01 2.65065500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.36, Y:4.27, Z:2.65 [[ 9.96114808e-01 -7.37806798e-02 -4.80801408e-02 6.03602494e+01] [ 7.36955508e-02 9.97274491e-01 -3.54326219e-03 4.27180013e+00] [ 4.82105223e-02 -1.37965210e-05 9.98837197e-01 2.65407094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.475099893 meters Centerline goodness [0,1] 0.9998300295323688 Centerline is valid? [True, True] Translation: X:60.39, Y:4.27, Z:2.65 [[ 9.96179482e-01 -7.21148928e-02 -4.92532461e-02 6.03895795e+01] [ 7.20234744e-02 9.97396329e-01 -3.63066407e-03 4.27386874e+00] [ 4.93868318e-02 6.94031484e-05 9.98779723e-01 2.65179484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.505099893 meters Centerline goodness [0,1] 0.9998086816036733 Centerline is valid? [True, True] Translation: X:60.42, Y:4.28, Z:2.65 [[ 9.96311260e-01 -6.91662553e-02 -5.07927364e-02 6.04195249e+01] [ 6.90651025e-02 9.97605122e-01 -3.74603234e-03 4.27595696e+00] [ 5.09301930e-02 2.24208654e-04 9.98702190e-01 2.65162118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.535099893 meters Centerline goodness [0,1] 0.9999149081007488 Centerline is valid? [True, True] Translation: X:60.45, Y:4.28, Z:2.65 [[ 9.96367565e-01 -6.80988927e-02 -5.11294074e-02 6.04468717e+01] [ 6.79948819e-02 9.97678536e-01 -3.77294950e-03 4.27834543e+00] [ 5.12676460e-02 2.82706489e-04 9.98684910e-01 2.65326798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.565099892999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.48, Y:4.28, Z:2.66 [[ 9.96415730e-01 -6.73480411e-02 -5.11853032e-02 6.04750727e+01] [ 6.72425333e-02 9.97729490e-01 -3.78250621e-03 4.27978025e+00] [ 5.13238308e-02 3.27119226e-04 9.98682010e-01 2.65600749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.595099893 meters Centerline goodness [0,1] 0.9999360859005496 Centerline is valid? [True, True] Translation: X:60.50, Y:4.28, Z:2.66 [[ 9.96426416e-01 -6.66211005e-02 -5.19232801e-02 6.05030609e+01] [ 6.65107755e-02 9.97778273e-01 -3.85170214e-03 4.28162190e+00] [ 5.20645254e-02 3.84480129e-04 9.98643649e-01 2.65505670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.625099893 meters Centerline goodness [0,1] 0.9999360859005496 Centerline is valid? [True, True] Translation: X:60.53, Y:4.28, Z:2.66 [[ 9.96407039e-01 -6.69105984e-02 -5.19228612e-02 6.05303409e+01] [ 6.68003723e-02 9.97758904e-01 -3.85734086e-03 4.28370078e+00] [ 5.20645941e-02 3.75015132e-04 9.98643649e-01 2.65635980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.56, Y:4.29, Z:2.66 [[ 9.96445403e-01 -6.69724773e-02 -5.11003449e-02 6.05585146e+01] [ 6.68650447e-02 9.97754751e-01 -3.81095126e-03 4.28541231e+00] [ 5.12408407e-02 3.80578019e-04 9.98686253e-01 2.65958572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:4.29, Z:2.66 [[ 9.96425889e-01 -6.72630415e-02 -5.10992309e-02 6.05857931e+01] [ 6.71552276e-02 9.97735205e-01 -3.82583244e-03 4.28751091e+00] [ 5.12408387e-02 3.80578004e-04 9.98686253e-01 2.66089191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.61, Y:4.29, Z:2.66 [[ 9.96406290e-01 -6.75536000e-02 -5.10981126e-02 6.06130710e+01] [ 6.74454048e-02 9.97715574e-01 -3.84071329e-03 4.28961747e+00] [ 5.12408367e-02 3.80577989e-04 9.98686253e-01 2.66219811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.745099892999995 meters Centerline goodness [0,1] 0.9998935604044704 Centerline is valid? [True, True] Translation: X:60.64, Y:4.29, Z:2.66 [[ 9.96415430e-01 -6.76506820e-02 -5.07905206e-02 6.06408580e+01] [ 6.75431576e-02 9.97708993e-01 -3.83239668e-03 4.29101845e+00] [ 5.09334234e-02 3.88107046e-04 9.98701975e-01 2.66143726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.775099893 meters Centerline goodness [0,1] 0.9998305300173707 Centerline is valid? [True, True] Translation: X:60.67, Y:4.29, Z:2.66 [[ 9.96416278e-01 -6.77394333e-02 -5.06554022e-02 6.06673491e+01] [ 6.76318494e-02 9.97702968e-01 -3.83686475e-03 4.29243107e+00] [ 5.07989522e-02 3.97195961e-04 9.98708821e-01 2.66191766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.805099893 meters Centerline goodness [0,1] 0.9998305300173707 Centerline is valid? [True, True] Translation: X:60.69, Y:4.29, Z:2.66 [[ 9.96396487e-01 -6.80305158e-02 -5.06546012e-02 6.06946257e+01] [ 6.79227717e-02 9.97683163e-01 -3.84741150e-03 4.29455692e+00] [ 5.07989842e-02 3.92946392e-04 9.98708821e-01 2.66322247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.835099893 meters Centerline goodness [0,1] 0.9999150779160121 Centerline is valid? [True, True] Translation: X:60.72, Y:4.30, Z:2.67 [[ 9.96346202e-01 -6.92631776e-02 -4.99685726e-02 6.07225406e+01] [ 6.91591568e-02 9.97598364e-01 -3.80978391e-03 4.29574929e+00] [ 5.01124440e-02 3.40079378e-04 9.98743524e-01 2.66570020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.865099893 meters Centerline goodness [0,1] 0.9999150779160121 Centerline is valid? [True, True] Translation: X:60.75, Y:4.30, Z:2.67 [[ 9.96326159e-01 -6.95516934e-02 -4.99674652e-02 6.07498165e+01] [ 6.94473095e-02 9.97578291e-01 -3.82425405e-03 4.29789543e+00] [ 5.01124419e-02 3.40098329e-04 9.98743524e-01 2.66700638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.895099893 meters Centerline goodness [0,1] 0.9998732546103636 Centerline is valid? [True, True] Translation: X:60.78, Y:4.30, Z:2.67 [[ 9.96247486e-01 -7.05198565e-02 -5.01786412e-02 6.07775663e+01] [ 7.04151048e-02 9.97510329e-01 -3.85451126e-03 4.29865863e+00] [ 5.03255325e-02 3.06712874e-04 9.98732820e-01 2.66737895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.925099892999995 meters Centerline goodness [0,1] 0.9998732546103636 Centerline is valid? [True, True] Translation: X:60.80, Y:4.30, Z:2.67 [[ 9.96227336e-01 -7.08042246e-02 -5.01782537e-02 6.08048427e+01] [ 7.06995796e-02 9.97490187e-01 -3.85954982e-03 4.30081588e+00] [ 5.03255881e-02 2.97407600e-04 9.98732820e-01 2.66868212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.955099892999996 meters Centerline goodness [0,1] 0.9999154798630774 Centerline is valid? [True, True] Translation: X:60.83, Y:4.30, Z:2.67 [[ 9.96118060e-01 -7.27851902e-02 -4.95088464e-02 6.08323229e+01] [ 7.26850674e-02 9.97347619e-01 -3.82210089e-03 4.30104472e+00] [ 4.96557224e-02 2.08709887e-04 9.98766372e-01 2.66986361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.985099893 meters Centerline goodness [0,1] 0.9999367568934986 Centerline is valid? [True, True] Translation: X:60.86, Y:4.30, Z:2.67 [[ 9.95945906e-01 -7.52395808e-02 -4.93027108e-02 6.08610254e+01] [ 7.51425992e-02 9.97165480e-01 -3.82024920e-03 4.30097955e+00] [ 4.94503952e-02 1.00027721e-04 9.98776576e-01 2.67154200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.015099893 meters Centerline goodness [0,1] 0.9999367568934986 Centerline is valid? [True, True] Translation: X:60.89, Y:4.30, Z:2.67 [[ 9.95943222e-01 -7.52757087e-02 -4.93017837e-02 6.08900556e+01] [ 7.51781809e-02 9.97162753e-01 -3.83217579e-03 4.30326975e+00] [ 4.94503721e-02 1.10211089e-04 9.98776576e-01 2.67293126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.045099893 meters Centerline goodness [0,1] 0.9998941507716409 Centerline is valid? [True, True] Translation: X:60.92, Y:4.30, Z:2.67 [[ 9.95723965e-01 -7.82775493e-02 -4.90551887e-02 6.09199864e+01] [ 7.81845486e-02 9.96931604e-01 -3.81476553e-03 4.30265124e+00] [ 4.92032784e-02 -3.69043264e-05 9.98788784e-01 2.67382468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.075099893 meters Centerline goodness [0,1] 0.9998116051243406 Centerline is valid? [True, True] Translation: X:60.95, Y:4.27, Z:2.67 [[ 9.91824661e-01 -1.17393211e-01 -5.00267593e-02 6.09523897e+01] [ 1.17345892e-01 9.93083477e-01 -3.89210000e-03 4.27034796e+00] [ 5.01376542e-02 -2.01015393e-03 9.98740294e-01 2.67260495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.105099892999995 meters Centerline goodness [0,1] 0.9998743113308335 Centerline is valid? [True, True] Translation: X:60.98, Y:4.27, Z:2.68 [[ 9.91705056e-01 -1.18628923e-01 -4.94799055e-02 6.09838421e+01] [ 1.18584177e-01 9.92936542e-01 -3.84932878e-03 4.27415458e+00] [ 4.95870480e-02 -2.05013507e-03 9.98767702e-01 2.67512441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.135099892999996 meters Centerline goodness [0,1] 0.9998116642601544 Centerline is valid? [True, True] Translation: X:61.02, Y:4.28, Z:2.68 [[ 9.91605123e-01 -1.19302595e-01 -4.98615147e-02 6.10155046e+01] [ 1.19258147e-01 9.92855714e-01 -3.87620240e-03 4.27618455e+00] [ 4.99677308e-02 -2.10272969e-03 9.98748619e-01 2.67597246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.165099893 meters Centerline goodness [0,1] 0.9999371398638031 Centerline is valid? [True, True] Translation: X:61.05, Y:4.28, Z:2.68 [[ 9.91502812e-01 -1.20590138e-01 -4.87872062e-02 6.10470914e+01] [ 1.20549269e-01 9.92700111e-01 -3.79001706e-03 4.27803235e+00] [ 4.88881037e-02 -2.12344948e-03 9.98802005e-01 2.67928670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.195099893 meters Centerline goodness [0,1] 0.9998744375850163 Centerline is valid? [True, True] Translation: X:61.08, Y:4.28, Z:2.68 [[ 9.91365890e-01 -1.21511399e-01 -4.92813628e-02 6.10789428e+01] [ 1.21470972e-01 9.92587612e-01 -3.82561353e-03 4.28036292e+00] [ 4.93809258e-02 -2.19367228e-03 9.98777609e-01 2.67955571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.225099893 meters Centerline goodness [0,1] 0.9998744375850163 Centerline is valid? [True, True] Translation: X:61.11, Y:4.28, Z:2.68 [[ 9.91374802e-01 -1.21438552e-01 -4.92816432e-02 6.11105396e+01] [ 1.21398215e-01 9.92596527e-01 -3.82199710e-03 4.28275548e+00] [ 4.93809257e-02 -2.19367189e-03 9.98777609e-01 2.68106235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.255099893 meters Centerline goodness [0,1] 0.9998743797500157 Centerline is valid? [True, True] Translation: X:61.14, Y:4.28, Z:2.68 [[ 9.91205862e-01 -1.22734932e-01 -4.94679209e-02 6.11428977e+01] [ 1.22696081e-01 9.92436890e-01 -3.83277887e-03 4.28438243e+00] [ 4.95642054e-02 -2.27044716e-03 9.98768359e-01 2.68222729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:4.29, Z:2.69 [[ 9.91072565e-01 -1.24022739e-01 -4.89237344e-02 6.11749977e+01] [ 1.23986476e-01 9.92276681e-01 -3.78705405e-03 4.28876567e+00] [ 4.90155616e-02 -2.31263607e-03 9.98795338e-01 2.68653467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.315099892999996 meters Centerline goodness [0,1] 0.9998541393177888 Centerline is valid? [True, True] Translation: X:61.21, Y:4.29, Z:2.68 [[ 9.90871491e-01 -1.24969942e-01 -5.05588901e-02 6.12059383e+01] [ 1.24932640e-01 9.92157522e-01 -3.90981386e-03 4.28788577e+00] [ 5.06509923e-02 -2.44233254e-03 9.98713428e-01 2.68419690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.345099893 meters Centerline goodness [0,1] 0.9998541393177888 Centerline is valid? [True, True] Translation: X:61.24, Y:4.29, Z:2.69 [[ 9.90880482e-01 -1.24898574e-01 -5.05590444e-02 6.12375407e+01] [ 1.24861282e-01 9.92166513e-01 -3.90781702e-03 4.29026932e+00] [ 5.06510716e-02 -2.44068748e-03 9.98713428e-01 2.68570427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.375099893 meters Centerline goodness [0,1] 0.9998741267543584 Centerline is valid? [True, True] Translation: X:61.27, Y:4.29, Z:2.69 [[ 9.90717607e-01 -1.26105682e-01 -5.07541135e-02 6.12693057e+01] [ 1.26069869e-01 9.92013623e-01 -3.91920584e-03 4.29219647e+00] [ 5.08430061e-02 -2.51573822e-03 9.98703489e-01 2.68749400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.405099893 meters Centerline goodness [0,1] 0.9999160087350916 Centerline is valid? [True, True] Translation: X:61.30, Y:4.30, Z:2.69 [[ 9.90634368e-01 -1.26750015e-01 -5.07738326e-02 6.13007339e+01] [ 1.26715204e-01 9.91931406e-01 -3.91706364e-03 4.29751718e+00] [ 5.08606470e-02 -2.55343871e-03 9.98702496e-01 2.68962195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.435099893 meters Centerline goodness [0,1] 0.9998743928990119 Centerline is valid? [True, True] Translation: X:61.33, Y:4.30, Z:2.69 [[ 9.90588360e-01 -1.27020094e-01 -5.09960531e-02 6.13322222e+01] [ 1.26985525e-01 9.91896783e-01 -3.93049118e-03 4.30168184e+00] [ 5.10820723e-02 -2.58226175e-03 9.98691120e-01 2.69027954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099893 meters Centerline goodness [0,1] 0.9998741320354948 Centerline is valid? [True, True] Translation: X:61.36, Y:4.30, Z:2.69 [[ 9.90525648e-01 -1.27367644e-01 -5.13461120e-02 6.13633536e+01] [ 1.27333227e-01 9.91852112e-01 -3.95433098e-03 4.30166849e+00] [ 5.14314035e-02 -2.62119989e-03 9.98673090e-01 2.69157308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.495099892999995 meters Centerline goodness [0,1] 0.9998741320354948 Centerline is valid? [True, True] Translation: X:61.39, Y:4.30, Z:2.69 [[ 9.90534745e-01 -1.27296703e-01 -5.13465580e-02 6.13949617e+01] [ 1.27262491e-01 9.91861214e-01 -3.94853098e-03 4.30403746e+00] [ 5.14312944e-02 -2.62333376e-03 9.98673090e-01 2.69307960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.525099893 meters Centerline goodness [0,1] 0.9997907293083603 Centerline is valid? [True, True] Translation: X:61.43, Y:4.31, Z:2.69 [[ 9.90550722e-01 -1.27038296e-01 -5.16772570e-02 6.14265468e+01] [ 1.27003486e-01 9.91894325e-01 -3.97022250e-03 4.30899635e+00] [ 5.17627483e-02 -2.63048504e-03 9.98655946e-01 2.69363440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.555099893 meters Centerline goodness [0,1] 0.9997895135658507 Centerline is valid? [True, True] Translation: X:61.46, Y:4.31, Z:2.70 [[ 9.90576127e-01 -1.26706294e-01 -5.20043482e-02 6.14588386e+01] [ 1.26670786e-01 9.91936782e-01 -3.99153351e-03 4.31436709e+00] [ 5.20907783e-02 -2.63351385e-03 9.98638881e-01 2.69550434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.585099893 meters Centerline goodness [0,1] 0.9997895135658507 Centerline is valid? [True, True] Translation: X:61.49, Y:4.32, Z:2.70 [[ 9.90585460e-01 -1.26633188e-01 -5.20046421e-02 6.14904474e+01] [ 1.26597780e-01 9.91946118e-01 -3.98770075e-03 4.31673302e+00] [ 5.20907781e-02 -2.63351384e-03 9.98638881e-01 2.69701143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.615099893 meters Centerline goodness [0,1] 0.99991566341268 Centerline is valid? [True, True] Translation: X:61.52, Y:4.32, Z:2.70 [[ 9.90678657e-01 -1.26267350e-01 -5.11112106e-02 6.15221586e+01] [ 1.26232852e-01 9.91992911e-01 -3.91546235e-03 4.32169297e+00] [ 5.11963537e-02 -2.57294890e-03 9.98685292e-01 2.70013529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099893 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:61.55, Y:4.33, Z:2.70 [[ 9.90796265e-01 -1.25054764e-01 -5.18079852e-02 6.15545353e+01] [ 1.25017876e-01 9.92146567e-01 -3.96484592e-03 4.32656849e+00] [ 5.18969376e-02 -2.54856973e-03 9.98649194e-01 2.70067287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.675099892999995 meters Centerline goodness [0,1] 0.9998525726079905 Centerline is valid? [True, True] Translation: X:61.59, Y:4.33, Z:2.70 [[ 9.90805530e-01 -1.24981187e-01 -5.18083455e-02 6.15861429e+01] [ 1.24944445e-01 9.92155836e-01 -3.96013291e-03 4.32892694e+00] [ 5.18968944e-02 -2.54944336e-03 9.98649194e-01 2.70217961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.705099892999996 meters Centerline goodness [0,1] 0.9998526470897801 Centerline is valid? [True, True] Translation: X:61.62, Y:4.33, Z:2.70 [[ 9.90943336e-01 -1.23835952e-01 -5.19226439e-02 6.16173284e+01] [ 1.23797677e-01 9.92299558e-01 -3.96507728e-03 4.33153878e+00] [ 5.20138357e-02 -2.49873580e-03 9.98643238e-01 2.70345211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.65, Y:4.34, Z:2.71 [[ 9.91167483e-01 -1.22593098e-01 -5.05762142e-02 6.16492461e+01] [ 1.22555308e-01 9.92454181e-01 -3.85945859e-03 4.33829484e+00] [ 5.06677182e-02 -2.37301363e-03 9.98712747e-01 2.70808913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.68, Y:4.34, Z:2.71 [[ 9.91176440e-01 -1.22520542e-01 -5.05764961e-02 6.16808504e+01] [ 1.22482846e-01 9.92463141e-01 -3.85576110e-03 4.34064579e+00] [ 5.06677181e-02 -2.37301363e-03 9.98712747e-01 2.70959593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.795099893 meters Centerline goodness [0,1] 0.9998313588262574 Centerline is valid? [True, True] Translation: X:61.71, Y:4.35, Z:2.71 [[ 9.91438317e-01 -1.19630188e-01 -5.23324200e-02 6.17112127e+01] [ 1.19586015e-01 9.92815843e-01 -3.98583972e-03 4.34755687e+00] [ 5.24332824e-02 -2.30651131e-03 9.98621766e-01 2.70714825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:4.38, Z:2.71 [[ 9.93213850e-01 -1.05710875e-01 -4.84918538e-02 6.17395939e+01] [ 1.05656437e-01 9.94395841e-01 -3.69171173e-03 4.37697572e+00] [ 4.86103518e-02 -1.45681730e-03 9.98816756e-01 2.71354346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.855099892999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:4.38, Z:2.72 [[ 9.93221416e-01 -1.05639744e-01 -4.84918880e-02 6.17711796e+01] [ 1.05585243e-01 9.94403405e-01 -3.69126229e-03 4.37932197e+00] [ 4.86104426e-02 -1.45378703e-03 9.98816756e-01 2.71505027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.885099892999996 meters Centerline goodness [0,1] 0.9999145481734673 Centerline is valid? [True, True] Translation: X:61.80, Y:4.38, Z:2.71 [[ 9.93436324e-01 -1.03038169e-01 -4.96729952e-02 6.18029536e+01] [ 1.02977916e-01 9.94676470e-01 -3.77750601e-03 4.38421833e+00] [ 4.97977868e-02 -1.36250983e-03 9.98758391e-01 2.71330051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.915099893 meters Centerline goodness [0,1] 0.9998282598428577 Centerline is valid? [True, True] Translation: X:61.83, Y:4.39, Z:2.71 [[ 9.93625830e-01 -1.00649856e-01 -5.07672723e-02 6.18346395e+01] [ 1.00583995e-01 9.94921094e-01 -3.85699340e-03 4.39045530e+00] [ 5.08976359e-02 -1.27396679e-03 9.98703063e-01 2.71340674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.945099893 meters Centerline goodness [0,1] 0.9998282598428577 Centerline is valid? [True, True] Translation: X:61.87, Y:4.39, Z:2.71 [[ 9.93633230e-01 -1.00576632e-01 -5.07675564e-02 6.18662229e+01] [ 1.00510867e-01 9.94928499e-01 -3.85325105e-03 4.39279619e+00] [ 5.08976357e-02 -1.27397282e-03 9.98703063e-01 2.71491237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.975099893 meters Centerline goodness [0,1] 0.9998926785292666 Centerline is valid? [True, True] Translation: X:61.90, Y:4.40, Z:2.72 [[ 9.93827405e-01 -9.85525992e-02 -5.09359752e-02 6.18969636e+01] [ 9.84839313e-02 9.95131146e-01 -3.86231903e-03 4.39678689e+00] [ 5.10686169e-02 -1.17789658e-03 9.98694452e-01 2.71616576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.005099893 meters Centerline goodness [0,1] 0.9998926785292666 Centerline is valid? [True, True] Translation: X:61.93, Y:4.40, Z:2.72 [[ 9.93834576e-01 -9.84801527e-02 -5.09361917e-02 6.19285456e+01] [ 9.84115362e-02 9.95138319e-01 -3.85946180e-03 4.39912300e+00] [ 5.10686365e-02 -1.17704229e-03 9.98694452e-01 2.71767160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:4.40, Z:2.72 [[ 9.94026715e-01 -9.65732391e-02 -5.08379732e-02 6.19605057e+01] [ 9.65025852e-02 9.95325294e-01 -3.84830197e-03 4.40362334e+00] [ 5.09719637e-02 -1.08068088e-03 9.98699500e-01 2.72094005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.065099892999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:4.41, Z:2.72 [[ 9.94268013e-01 -9.34250420e-02 -5.19892208e-02 6.19916808e+01] [ 9.33470495e-02 9.95625869e-01 -3.93164499e-03 4.40988685e+00] [ 5.21291272e-02 -9.43931511e-04 9.98639907e-01 2.72124955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.095099893 meters Centerline goodness [0,1] 0.9998923110058152 Centerline is valid? [True, True] Translation: X:62.02, Y:4.41, Z:2.72 [[ 9.94336907e-01 -9.19742479e-02 -5.32433404e-02 6.20240656e+01] [ 9.18905328e-02 9.95760986e-01 -4.02340828e-03 4.41469813e+00] [ 5.33876911e-02 -8.91935574e-04 9.98573462e-01 2.72023309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.125099893 meters Centerline goodness [0,1] 0.9999568211748958 Centerline is valid? [True, True] Translation: X:62.06, Y:4.42, Z:2.72 [[ 9.94552392e-01 -9.02857396e-02 -5.20963111e-02 6.20557253e+01] [ 9.02034744e-02 9.95915591e-01 -3.93299435e-03 4.42060387e+00] [ 5.22386217e-02 -7.87699323e-04 9.98634320e-01 2.72347198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.155099893 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:62.09, Y:4.42, Z:2.73 [[ 9.94664667e-01 -8.93555817e-02 -5.15536683e-02 6.20864160e+01] [ 8.92739659e-02 9.95999518e-01 -3.88831361e-03 4.42396544e+00] [ 5.16948713e-02 -7.34832262e-04 9.98662656e-01 2.72512313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.185099893 meters Centerline goodness [0,1] 0.9998281307065976 Centerline is valid? [True, True] Translation: X:62.12, Y:4.43, Z:2.72 [[ 9.94648517e-01 -8.91890053e-02 -5.21502517e-02 6.21174397e+01] [ 8.91054125e-02 9.96014446e-01 -3.93039999e-03 4.42653384e+00] [ 5.22929525e-02 -7.37503165e-04 9.98631515e-01 2.72448284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.15, Y:4.43, Z:2.73 [[ 9.94662684e-01 -9.08587719e-02 -4.88960999e-02 6.21492916e+01] [ 9.07874284e-02 9.95863485e-01 -3.68262571e-03 4.42925974e+00] [ 4.90284393e-02 -7.76180801e-04 9.98797081e-01 2.73095483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.245099892999995 meters Centerline goodness [0,1] 0.9999137800961352 Centerline is valid? [True, True] Translation: X:62.18, Y:4.43, Z:2.73 [[ 9.94581931e-01 -9.16531344e-02 -4.90559525e-02 6.21817448e+01] [ 9.15824642e-02 9.95790655e-01 -3.69110464e-03 4.43149712e+00] [ 4.91877604e-02 -8.21559035e-04 9.98789212e-01 2.73091692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.275099893 meters Centerline goodness [0,1] 0.9998708788843935 Centerline is valid? [True, True] Translation: X:62.21, Y:4.43, Z:2.73 [[ 9.94256958e-01 -9.50824291e-02 -4.91165251e-02 6.22142016e+01] [ 9.50159388e-02 9.95468904e-01 -3.69210263e-03 4.43214877e+00] [ 4.92450275e-02 -9.95954016e-04 9.98786231e-01 2.73197152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.305099893 meters Centerline goodness [0,1] 0.9998063183265904 Centerline is valid? [True, True] Translation: X:62.25, Y:4.43, Z:2.73 [[ 9.93693598e-01 -1.00524276e-01 -4.96779959e-02 6.22456094e+01] [ 1.00463223e-01 9.94933778e-01 -3.73075391e-03 4.43126695e+00] [ 4.98013475e-02 -1.28358528e-03 9.98758318e-01 2.73196016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.335099893 meters Centerline goodness [0,1] 0.9998279791854815 Centerline is valid? [True, True] Translation: X:62.28, Y:4.43, Z:2.73 [[ 9.93344351e-01 -1.03818446e-01 -4.98871700e-02 6.22771138e+01] [ 1.03761118e-01 9.94595198e-01 -3.74458814e-03 4.43060385e+00] [ 5.00062971e-02 -1.45668308e-03 9.98747840e-01 2.73350986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.365099893 meters Centerline goodness [0,1] 0.999849510910459 Centerline is valid? [True, True] Translation: X:62.31, Y:4.42, Z:2.73 [[ 9.91526255e-01 -1.19493090e-01 -5.09616331e-02 6.23074672e+01] [ 1.19454027e-01 9.92832374e-01 -3.82255735e-03 4.42412116e+00] [ 5.10531283e-02 -2.29740633e-03 9.98693296e-01 2.73354807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.34, Y:4.43, Z:2.74 [[ 9.91518942e-01 -1.20584270e-01 -4.84728941e-02 6.23388799e+01] [ 1.20550251e-01 9.92700570e-01 -3.63536141e-03 4.42985143e+00] [ 4.85574369e-02 -2.23888983e-03 9.98817883e-01 2.73944905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.425099892999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.37, Y:4.44, Z:2.74 [[ 9.92156693e-01 -1.14938956e-01 -4.91338346e-02 6.23680762e+01] [ 1.14897265e-01 9.93370558e-01 -3.68146847e-03 4.43807944e+00] [ 4.92312488e-02 -1.99274960e-03 9.98785419e-01 2.74024694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.455099892999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:4.44, Z:2.74 [[ 9.92357286e-01 -1.13164434e-01 -4.92018992e-02 6.24004239e+01] [ 1.13120444e-01 9.93574443e-01 -3.68671655e-03 4.44288080e+00] [ 4.93029548e-02 -1.90720063e-03 9.98782049e-01 2.74130764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.43, Y:4.45, Z:2.74 [[ 9.92622714e-01 -1.10654889e-01 -4.95544404e-02 6.24312889e+01] [ 1.10607362e-01 9.93857262e-01 -3.70875066e-03 4.44851765e+00] [ 4.96604318e-02 -1.79969579e-03 9.98764538e-01 2.74179875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.46, Y:4.45, Z:2.74 [[ 9.92762810e-01 -1.09368740e-01 -4.96032397e-02 6.24632614e+01] [ 1.09319611e-01 9.93999726e-01 -3.71050404e-03 4.45195251e+00] [ 4.97114198e-02 -1.73895647e-03 9.98762109e-01 2.74306512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.49, Y:4.45, Z:2.74 [[ 9.92872381e-01 -1.08267158e-01 -4.98262791e-02 6.24939450e+01] [ 1.08216380e-01 9.94120390e-01 -3.72361781e-03 4.45429093e+00] [ 4.99364655e-02 -1.69494228e-03 9.98750958e-01 2.74435683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.575099893 meters Centerline goodness [0,1] 0.9999567258800874 Centerline is valid? [True, True] Translation: X:62.53, Y:4.46, Z:2.74 [[ 9.93108390e-01 -1.05709403e-01 -5.06087786e-02 6.25261679e+01] [ 1.05653845e-01 9.94395787e-01 -3.77927693e-03 4.45996336e+00] [ 5.07246614e-02 -1.59378044e-03 9.98711404e-01 2.74417629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.605099892999995 meters Centerline goodness [0,1] 0.9999567258800874 Centerline is valid? [True, True] Translation: X:62.56, Y:4.46, Z:2.75 [[ 9.93115762e-01 -1.05639990e-01 -5.06090408e-02 6.25577603e+01] [ 1.05584522e-01 9.94403164e-01 -3.77576294e-03 4.46225855e+00] [ 5.07246618e-02 -1.59376167e-03 9.98711404e-01 2.74568220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.635099892999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.59, Y:4.47, Z:2.75 [[ 9.93250788e-01 -1.04295719e-01 -5.07471625e-02 6.25897307e+01] [ 1.04238378e-01 9.94545149e-01 -3.78248890e-03 4.46818904e+00] [ 5.08648417e-02 -1.53284180e-03 9.98704370e-01 2.74872768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.62, Y:4.47, Z:2.75 [[ 9.93422545e-01 -1.02472362e-01 -5.10985518e-02 6.26208614e+01] [ 1.02412002e-01 9.94734791e-01 -3.80502105e-03 4.47202790e+00] [ 5.12194167e-02 -1.45311131e-03 9.98686367e-01 2.75030780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.695099893 meters Centerline goodness [0,1] 0.9999563499858137 Centerline is valid? [True, True] Translation: X:62.65, Y:4.48, Z:2.75 [[ 9.93627906e-01 -1.00161011e-01 -5.16851681e-02 6.26524652e+01] [ 1.00096286e-01 9.94970323e-01 -3.84580517e-03 4.47678169e+00] [ 5.18104082e-02 -1.35219402e-03 9.98656023e-01 2.75069169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.725099893 meters Centerline goodness [0,1] 0.9999131454379642 Centerline is valid? [True, True] Translation: X:62.68, Y:4.48, Z:2.75 [[ 9.93862517e-01 -9.74452164e-02 -5.23615039e-02 6.26848198e+01] [ 9.73752249e-02 9.95240130e-01 -3.89224316e-03 4.48217131e+00] [ 5.24915504e-02 -1.23035863e-03 9.98620610e-01 2.75165807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.72, Y:4.49, Z:2.76 [[ 9.94333921e-01 -9.18185414e-02 -5.35668699e-02 6.27153313e+01] [ 9.17373772e-02 9.95775293e-01 -3.97725401e-03 4.49119617e+00] [ 5.37057513e-02 -9.59365580e-04 9.98556344e-01 2.75512759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:4.51, Z:2.75 [[ 9.95686262e-01 -7.52364272e-02 -5.42986855e-02 6.27447664e+01] [ 7.51284642e-02 9.97165721e-01 -4.02968167e-03 4.50672290e+00] [ 5.44479667e-02 -6.70781742e-05 9.98516607e-01 2.75446266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.815099892999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:4.51, Z:2.76 [[ 9.95686262e-01 -7.52363858e-02 -5.42987501e-02 6.27746511e+01] [ 7.51284703e-02 9.97165724e-01 -4.02881055e-03 4.50893985e+00] [ 5.44479656e-02 -6.79507234e-05 9.98516607e-01 2.75588809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.80, Y:4.51, Z:2.76 [[ 9.96055860e-01 -7.14499889e-02 -5.26082078e-02 6.28046999e+01] [ 7.13434140e-02 9.97444174e-01 -3.90337719e-03 4.51120583e+00] [ 5.27526467e-02 1.34732571e-04 9.98607601e-01 2.75784756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.83, Y:4.51, Z:2.76 [[ 9.96146298e-01 -7.03021700e-02 -5.24419557e-02 6.28347337e+01] [ 7.01946785e-02 9.97525722e-01 -3.89104176e-03 4.51338206e+00] [ 5.25857485e-02 1.94900624e-04 9.98616393e-01 2.75944663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.905099893 meters Centerline goodness [0,1] 0.9999341585462207 Centerline is valid? [True, True] Translation: X:62.86, Y:4.52, Z:2.76 [[ 9.96214476e-01 -6.91609081e-02 -5.26639032e-02 6.28644343e+01] [ 6.90509054e-02 9.97605485e-01 -3.90760483e-03 4.51547372e+00] [ 5.28080522e-02 2.56322300e-04 9.98604648e-01 2.75950797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.935099893 meters Centerline goodness [0,1] 0.9999341585462207 Centerline is valid? [True, True] Translation: X:62.89, Y:4.52, Z:2.76 [[ 9.96212068e-01 -6.91956475e-02 -5.26638263e-02 6.28934714e+01] [ 6.90856386e-02 9.97603076e-01 -3.90863999e-03 4.51765841e+00] [ 5.28080560e-02 2.55520253e-04 9.98604648e-01 2.76089373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099893 meters Centerline goodness [0,1] 0.9999119311301438 Centerline is valid? [True, True] Translation: X:62.92, Y:4.52, Z:2.76 [[ 9.96170866e-01 -6.96082412e-02 -5.28989479e-02 6.29238468e+01] [ 6.94977397e-02 9.97574377e-01 -3.92775911e-03 4.51892441e+00] [ 5.30440394e-02 2.36361877e-04 9.98592146e-01 2.76248917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.995099892999995 meters Centerline goodness [0,1] 0.9998461944102655 Centerline is valid? [True, True] Translation: X:62.95, Y:4.52, Z:2.76 [[ 9.95965973e-01 -7.18825342e-02 -5.37092273e-02 6.29534843e+01] [ 7.17719102e-02 9.97413098e-01 -3.98815508e-03 4.51794599e+00] [ 5.38569655e-02 1.17252917e-04 9.98548654e-01 2.76243042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters Centerline goodness [0,1] 0.9999781195982759 Centerline is valid? [True, True] Translation: X:62.98, Y:4.51, Z:2.76 [[ 9.95682828e-01 -7.61659730e-02 -5.30513870e-02 6.29837214e+01] [ 7.60640208e-02 9.97095147e-01 -3.94113420e-03 4.51311480e+00] [ 5.31974608e-02 -1.11182156e-04 9.98584006e-01 2.76389641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.01, Y:4.51, Z:2.77 [[ 9.95326768e-01 -8.15833394e-02 -5.16602796e-02 6.30144501e+01] [ 8.14939122e-02 9.96666447e-01 -3.83863278e-03 4.50748121e+00] [ 5.18012358e-02 -3.89304325e-04 9.98657339e-01 2.76643439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299999 meters Centerline goodness [0,1] 0.9998273592438335 Centerline is valid? [True, True] Translation: X:63.05, Y:4.50, Z:2.77 [[ 9.94884954e-01 -8.67044296e-02 -5.18292399e-02 6.30461550e+01] [ 8.66213653e-02 9.96233862e-01 -3.85102702e-03 4.50415315e+00] [ 5.19679450e-02 -6.58190682e-04 9.98648537e-01 2.76573708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.08, Y:4.50, Z:2.77 [[ 9.94365020e-01 -9.29132942e-02 -5.10423923e-02 6.30773208e+01] [ 9.28409950e-02 9.95673732e-01 -3.79074176e-03 4.50175490e+00] [ 5.11737795e-02 -9.69445480e-04 9.98689293e-01 2.77203175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.11, Y:4.50, Z:2.77 [[ 9.93816283e-01 -9.90213493e-02 -5.02391020e-02 6.31088043e+01] [ 9.89591902e-02 9.95084505e-01 -3.72928124e-03 4.49816665e+00] [ 5.03614304e-02 -1.26540043e-03 9.98730256e-01 2.77405301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.175099893 meters Centerline goodness [0,1] 0.9998928877463582 Centerline is valid? [True, True] Translation: X:63.14, Y:4.49, Z:2.77 [[ 9.92914423e-01 -1.08755756e-01 -4.78866860e-02 6.31392684e+01] [ 1.08710653e-01 9.94067085e-01 -3.55302374e-03 4.48701120e+00] [ 4.79889902e-02 -1.67794439e-03 9.98846455e-01 2.77358664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.17, Y:4.48, Z:2.78 [[ 9.92230193e-01 -1.14980239e-01 -4.75267259e-02 6.31707027e+01] [ 1.14942898e-01 9.93365839e-01 -3.52701558e-03 4.48058045e+00] [ 4.76169631e-02 -1.96324829e-03 9.98863740e-01 2.77622057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.20, Y:4.48, Z:2.78 [[ 9.92112594e-01 -1.16021053e-01 -4.74522543e-02 6.32029600e+01] [ 1.15985029e-01 9.93244720e-01 -3.52123572e-03 4.48270175e+00] [ 4.75402385e-02 -2.01028879e-03 9.98867301e-01 2.77749888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.23, Y:4.49, Z:2.78 [[ 9.92028713e-01 -1.16694531e-01 -4.75543894e-02 6.32345150e+01] [ 1.16659288e-01 9.93165738e-01 -3.52536869e-03 4.48534927e+00] [ 4.76407815e-02 -2.05039425e-03 9.98862429e-01 2.77871049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.27, Y:4.49, Z:2.78 [[ 9.91980786e-01 -1.16971487e-01 -4.78726640e-02 6.32659701e+01] [ 1.16936221e-01 9.93133095e-01 -3.54629672e-03 4.48591751e+00] [ 4.79587425e-02 -2.08019020e-03 9.98847151e-01 2.77930763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:63.30, Y:4.49, Z:2.78 [[ 9.91947192e-01 -1.16837171e-01 -4.88860301e-02 6.32969661e+01] [ 1.16800369e-01 9.93148820e-01 -3.61862719e-03 4.48557474e+00] [ 4.89738933e-02 -2.12041928e-03 9.98797808e-01 2.77867947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35509989299999 meters Centerline goodness [0,1] 0.9998717592493641 Centerline is valid? [True, True] Translation: X:63.33, Y:4.49, Z:2.78 [[ 9.91937147e-01 -1.16330446e-01 -5.02784640e-02 6.33286112e+01] [ 1.16291016e-01 9.93208221e-01 -3.71882906e-03 4.49019168e+00] [ 5.03695968e-02 -2.15808898e-03 9.98728315e-01 2.77653332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.36, Y:4.49, Z:2.78 [[ 9.91995693e-01 -1.15505077e-01 -5.10208036e-02 6.33601030e+01] [ 1.15463579e-01 9.93304560e-01 -3.76996149e-03 4.49063451e+00] [ 5.11146465e-02 -2.15125905e-03 9.98690475e-01 2.77924844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41509989299999 meters Centerline goodness [0,1] 0.9999144385026738 Centerline is valid? [True, True] Translation: X:63.39, Y:4.50, Z:2.78 [[ 9.92632323e-01 -1.08701005e-01 -5.35272133e-02 6.33905141e+01] [ 1.08645611e-01 9.94072689e-01 -3.95228903e-03 4.49844345e+00] [ 5.36395586e-02 -1.89232697e-03 9.98558570e-01 2.77771965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299999 meters Centerline goodness [0,1] 0.9999785061794734 Centerline is valid? [True, True] Translation: X:63.42, Y:4.51, Z:2.78 [[ 9.93740570e-01 -9.84872259e-02 -5.27251937e-02 6.34190186e+01] [ 9.84191530e-02 9.95137438e-01 -3.89226557e-03 4.50806222e+00] [ 5.28521526e-02 -1.32126670e-03 9.98601474e-01 2.78162140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:4.52, Z:2.78 [[ 9.94480913e-01 -9.10539708e-02 -5.21237843e-02 6.34494459e+01] [ 9.09771966e-02 9.95845539e-01 -3.84862853e-03 4.51663095e+00] [ 5.22576710e-02 -9.14688157e-04 9.98633216e-01 2.78463206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.505099893 meters Centerline goodness [0,1] 0.9998493197864646 Centerline is valid? [True, True] Translation: X:63.48, Y:4.52, Z:2.78 [[ 9.94831576e-01 -8.67445366e-02 -5.27780280e-02 6.34809661e+01] [ 8.66598227e-02 9.96230344e-01 -3.89577840e-03 4.52261999e+00] [ 5.29170104e-02 -6.98091178e-04 9.98598669e-01 2.78339927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.51, Y:4.53, Z:2.79 [[ 9.95572240e-01 -7.88860779e-02 -5.11165516e-02 6.35121468e+01] [ 7.87963986e-02 9.96883600e-01 -3.77040888e-03 4.53144945e+00] [ 5.12546847e-02 -2.74085760e-04 9.98685577e-01 2.78885575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.565099893 meters Centerline goodness [0,1] 0.9998917678637141 Centerline is valid? [True, True] Translation: X:63.54, Y:4.54, Z:2.79 [[ 9.95892114e-01 -7.43414668e-02 -5.16937521e-02 6.35433771e+01] [ 7.42437734e-02 9.97232844e-01 -3.81020669e-03 4.53682135e+00] [ 5.18339638e-02 -4.33844293e-05 9.98655716e-01 2.78811544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.57, Y:4.54, Z:2.79 [[ 9.96219767e-01 -7.05446780e-02 -5.06914632e-02 6.35725058e+01] [ 7.04459087e-02 9.97508610e-01 -3.73469122e-03 4.54200538e+00] [ 5.08286335e-02 1.49567032e-04 9.98707378e-01 2.79247896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.625099893 meters Centerline goodness [0,1] 0.9997615227854139 Centerline is valid? [True, True] Translation: X:63.60, Y:4.55, Z:2.79 [[ 9.96704377e-01 -6.33274759e-02 -5.06953183e-02 6.36013521e+01] [ 6.32193052e-02 9.97992666e-01 -3.73601285e-03 4.54844748e+00] [ 5.08301481e-02 5.18777561e-04 9.98707178e-01 2.78977386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65509989299998 meters Centerline goodness [0,1] 0.9999135247319266 Centerline is valid? [True, True] Translation: X:63.63, Y:4.55, Z:2.79 [[ 9.96883642e-01 -6.10756081e-02 -4.99277008e-02 6.36284630e+01] [ 6.09677303e-02 9.98132946e-01 -3.68219617e-03 4.55212827e+00] [ 5.00593754e-02 6.26742528e-04 9.98746047e-01 2.79252865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters Centerline goodness [0,1] 0.9999349311354517 Centerline is valid? [True, True] Translation: X:63.66, Y:4.56, Z:2.79 [[ 9.97032752e-01 -5.87473451e-02 -4.97437571e-02 6.36571465e+01] [ 5.86371257e-02 9.98272605e-01 -3.67343394e-03 4.55555776e+00] [ 4.98736344e-02 7.45703018e-04 9.98755258e-01 2.79407379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.68, Y:4.56, Z:2.80 [[ 9.97063586e-01 -5.85193882e-02 -4.93931918e-02 6.36845133e+01] [ 5.84098292e-02 9.98285980e-01 -3.65983582e-03 4.55816479e+00] [ 4.95227022e-02 7.64041129e-04 9.98772706e-01 2.79718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters Centerline goodness [0,1] 0.9998919316143255 Centerline is valid? [True, True] Translation: X:63.71, Y:4.56, Z:2.80 [[ 9.97028082e-01 -5.82593425e-02 -5.04068812e-02 6.37131609e+01] [ 5.81441737e-02 9.98301156e-01 -3.74938863e-03 4.55976542e+00] [ 5.05396847e-02 8.07379297e-04 9.98721727e-01 2.79601964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:4.56, Z:2.80 [[ 9.96994230e-01 -5.87935061e-02 -5.04562097e-02 6.37409456e+01] [ 5.86781712e-02 9.98269850e-01 -3.76537284e-03 4.56236838e+00] [ 5.05902924e-02 7.93376887e-04 9.98719176e-01 2.79926309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:4.56, Z:2.80 [[ 9.96774933e-01 -6.11416220e-02 -5.19753294e-02 6.37699239e+01] [ 6.10221301e-02 9.98128855e-01 -3.88429659e-03 4.56173814e+00] [ 5.21155682e-02 7.00124168e-04 9.98640815e-01 2.79924841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83509989299999 meters Centerline goodness [0,1] 0.9998263285863147 Centerline is valid? [True, True] Translation: X:63.80, Y:4.56, Z:2.80 [[ 9.96519585e-01 -6.53501252e-02 -5.17501459e-02 6.37987169e+01] [ 6.52366525e-02 9.97862275e-01 -3.88062225e-03 4.56014605e+00] [ 5.18931174e-02 4.91109789e-04 9.98652524e-01 2.79684549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.865099893 meters Centerline goodness [0,1] 0.999913361779549 Centerline is valid? [True, True] Translation: X:63.83, Y:4.56, Z:2.80 [[ 9.96383160e-01 -6.82198037e-02 -5.06621835e-02 6.38279497e+01] [ 6.81141189e-02 9.97670255e-01 -3.81167712e-03 4.56018496e+00] [ 5.08041854e-02 3.47080897e-04 9.98708573e-01 2.79968234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:4.56, Z:2.80 [[ 9.96239696e-01 -7.10609760e-02 -4.95661758e-02 6.38567437e+01] [ 7.09627800e-02 9.97471952e-01 -3.74029345e-03 4.56069265e+00] [ 4.97066590e-02 2.08875186e-04 9.98763838e-01 2.80354588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:4.56, Z:2.81 [[ 9.95891444e-01 -7.63023428e-02 -4.87666331e-02 6.38864372e+01] [ 7.62134432e-02 9.97084726e-01 -3.68253050e-03 4.55963426e+00] [ 4.89054507e-02 -4.92724044e-05 9.98803411e-01 2.80608963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.92, Y:4.56, Z:2.81 [[ 9.95496579e-01 -8.16657787e-02 -4.81379380e-02 6.39169691e+01] [ 8.15853403e-02 9.96659724e-01 -3.63674281e-03 4.55795254e+00] [ 4.82741414e-02 -3.06985015e-04 9.98834077e-01 2.80831751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.985099893 meters Centerline goodness [0,1] 0.9998057707663422 Centerline is valid? [True, True] Translation: X:63.95, Y:4.56, Z:2.81 [[ 9.95265704e-01 -8.39776768e-02 -4.89277779e-02 6.39487076e+01] [ 8.38973698e-02 9.96467545e-01 -3.69635804e-03 4.55781279e+00] [ 4.90653543e-02 -4.26053492e-04 9.98795479e-01 2.80579601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01509989299998 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:63.98, Y:4.55, Z:2.81 [[ 9.94553435e-01 -9.19903797e-02 -4.90024057e-02 6.39795701e+01] [ 9.19196266e-02 9.95759555e-01 -3.70020871e-03 4.55132931e+00] [ 4.91349973e-02 -8.24227555e-04 9.98791806e-01 2.80748921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters Centerline goodness [0,1] 0.9998711367882992 Centerline is valid? [True, True] Translation: X:64.01, Y:4.55, Z:2.81 [[ 9.94093597e-01 -9.61621381e-02 -5.03067014e-02 6.40113666e+01] [ 9.60930027e-02 9.95365119e-01 -3.79669838e-03 4.54921942e+00] [ 5.04386344e-02 -1.05984845e-03 9.98726600e-01 2.80582867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.04, Y:4.55, Z:2.81 [[ 9.93735815e-01 -9.99210850e-02 -5.00490411e-02 6.40416271e+01] [ 9.98575035e-02 9.94994585e-01 -3.77551457e-03 4.54808296e+00] [ 5.01757784e-02 -1.24590825e-03 9.98739625e-01 2.80932590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters Centerline goodness [0,1] 0.9999357202545478 Centerline is valid? [True, True] Translation: X:64.07, Y:4.55, Z:2.81 [[ 9.93587364e-01 -1.01002207e-01 -5.08203122e-02 6.40734577e+01] [ 1.00938119e-01 9.94885324e-01 -3.83259506e-03 4.54945704e+00] [ 5.09474833e-02 -1.32168871e-03 9.98700459e-01 2.80851129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.11, Y:4.55, Z:2.81 [[ 9.93506865e-01 -1.02061165e-01 -5.02755165e-02 6.41052293e+01] [ 1.01999977e-01 9.94777189e-01 -3.78795858e-03 4.55137299e+00] [ 5.03995405e-02 -1.36473867e-03 9.98728203e-01 2.81166697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters Centerline goodness [0,1] 0.9999570999570999 Centerline is valid? [True, True] Translation: X:64.14, Y:4.55, Z:2.81 [[ 9.93352435e-01 -1.03370169e-01 -5.06512405e-02 6.41369506e+01] [ 1.03309955e-01 9.94641905e-01 -3.81246830e-03 4.55175432e+00] [ 5.07739418e-02 -1.44565271e-03 9.98709125e-01 2.81119987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19509989299999 meters Centerline goodness [0,1] 0.9999572018574394 Centerline is valid? [True, True] Translation: X:64.17, Y:4.56, Z:2.81 [[ 9.93273255e-01 -1.04231917e-01 -5.04375689e-02 6.41690360e+01] [ 1.04173596e-01 9.94551905e-01 -3.79092504e-03 4.55658523e+00] [ 5.05579156e-02 -1.48883845e-03 9.98720021e-01 2.81349834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299999 meters Centerline goodness [0,1] 0.9999570833869791 Centerline is valid? [True, True] Translation: X:64.20, Y:4.56, Z:2.82 [[ 9.93233649e-01 -1.04969329e-01 -4.96825759e-02 6.42009049e+01] [ 1.04913839e-01 9.94474318e-01 -3.73060337e-03 4.56031264e+00] [ 4.97996447e-02 -1.50702898e-03 9.98758091e-01 2.81582151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.255099893 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:64.23, Y:4.56, Z:2.82 [[ 9.93173785e-01 -1.05477886e-01 -4.98020911e-02 6.42314981e+01] [ 1.05422948e-01 9.94420457e-01 -3.73597967e-03 4.56323698e+00] [ 4.99182814e-02 -1.53980618e-03 9.98752118e-01 2.81765423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:4.57, Z:2.82 [[ 9.93072865e-01 -1.06002864e-01 -5.06919863e-02 6.42633684e+01] [ 1.05946774e-01 9.94364542e-01 -3.79987565e-03 4.56751984e+00] [ 5.08091114e-02 -1.59709902e-03 9.98707106e-01 2.81967568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.29, Y:4.57, Z:2.82 [[ 9.93026076e-01 -1.05937031e-01 -5.17354574e-02 6.42948418e+01] [ 1.05878712e-01 9.94371504e-01 -3.87438128e-03 4.57149966e+00] [ 5.18547050e-02 -1.63032196e-03 9.98653309e-01 2.81995219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.33, Y:4.58, Z:2.82 [[ 9.93000444e-01 -1.05814324e-01 -5.24732909e-02 6.43270660e+01] [ 1.05754314e-01 9.94384536e-01 -3.92669268e-03 4.57532101e+00] [ 5.25941294e-02 -1.65006933e-03 9.98614608e-01 2.82072115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.36, Y:4.58, Z:2.82 [[ 9.92942534e-01 -1.05779498e-01 -5.36266895e-02 6.43589449e+01] [ 1.05716982e-01 9.94388177e-01 -4.00907386e-03 4.58005328e+00] [ 5.37498239e-02 -1.68847184e-03 9.98553006e-01 2.82126015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters Centerline goodness [0,1] 0.9998712446351932 Centerline is valid? [True, True] Translation: X:64.39, Y:4.58, Z:2.82 [[ 9.92922386e-01 -1.05367526e-01 -5.47979888e-02 6.43905052e+01] [ 1.05301866e-01 9.94431883e-01 -4.09225146e-03 4.58286362e+00] [ 5.49240576e-02 -1.70704237e-03 9.98489076e-01 2.81939260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:4.59, Z:2.82 [[ 9.92994696e-01 -1.04621166e-01 -5.49176192e-02 6.44208979e+01] [ 1.04554445e-01 9.94510735e-01 -4.09456070e-03 4.58737392e+00] [ 5.50445396e-02 -1.67600413e-03 9.98482493e-01 2.82299972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters Centerline goodness [0,1] 0.9999348661499381 Centerline is valid? [True, True] Translation: X:64.45, Y:4.60, Z:2.82 [[ 9.93337218e-01 -1.00807657e-01 -5.58479018e-02 6.44515332e+01] [ 1.00732983e-01 9.94904809e-01 -4.15776825e-03 4.59790362e+00] [ 5.59824809e-02 -1.49565977e-03 9.98430631e-01 2.82310340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.48, Y:4.61, Z:2.83 [[ 9.93778645e-01 -9.75240357e-02 -5.37872467e-02 6.44820733e+01] [ 9.74500671e-02 9.95232367e-01 -4.00245956e-03 4.60527002e+00] [ 5.39211449e-02 -1.26401197e-03 9.98544397e-01 2.82735427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.51, Y:4.61, Z:2.83 [[ 9.94299665e-01 -9.33188308e-02 -5.15729788e-02 6.45120760e+01] [ 9.32452640e-02 9.95635780e-01 -3.83596429e-03 4.61272095e+00] [ 5.17058706e-02 -9.94838006e-04 9.98661861e-01 2.83077299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:4.62, Z:2.83 [[ 9.94556386e-01 -9.08018858e-02 -5.11137250e-02 6.45441794e+01] [ 9.07263589e-02 9.95868607e-01 -3.80069892e-03 4.61806235e+00] [ 5.12476647e-02 -8.57352769e-04 9.98685607e-01 2.83276460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.57, Y:4.63, Z:2.84 [[ 9.95110539e-01 -8.52575343e-02 -4.98614870e-02 6.45745229e+01] [ 8.51788761e-02 9.96358790e-01 -3.70419017e-03 4.62725038e+00] [ 4.99957409e-02 -5.61066745e-04 9.98749273e-01 2.83559240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.61, Y:4.63, Z:2.84 [[ 9.95396950e-01 -8.20024504e-02 -4.96035334e-02 6.46067847e+01] [ 8.19206590e-02 9.96632049e-01 -3.68312681e-03 4.63346411e+00] [ 4.97384966e-02 -3.97380952e-04 9.98762196e-01 2.83811494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.64, Y:4.64, Z:2.84 [[ 9.95961214e-01 -7.45789150e-02 -4.99924545e-02 6.46375850e+01] [ 7.44867077e-02 9.97215114e-01 -3.70754856e-03 4.64091611e+00] [ 5.01297362e-02 -3.11987832e-05 9.98742714e-01 2.83874790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.67, Y:4.64, Z:2.84 [[ 9.96005592e-01 -7.34141626e-02 -5.08254014e-02 6.46681694e+01] [ 7.33174328e-02 9.97301539e-01 -3.76749197e-03 4.64084982e+00] [ 5.09648383e-02 2.60551199e-05 9.98700448e-01 2.83836904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.70, Y:4.64, Z:2.84 [[ 9.96005592e-01 -7.34141219e-02 -5.08254648e-02 6.46980537e+01] [ 7.33174358e-02 9.97301542e-01 -3.76663554e-03 4.64306411e+00] [ 5.09648387e-02 2.51973016e-05 9.98700448e-01 2.83979446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.73, Y:4.64, Z:2.84 [[ 9.95922703e-01 -7.36127439e-02 -5.21453099e-02 6.47290202e+01] [ 7.35112396e-02 9.97286901e-01 -3.86444822e-03 4.64282193e+00] [ 5.22883072e-02 1.54253490e-05 9.98632031e-01 2.83990144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters Centerline goodness [0,1] 0.9998903412580051 Centerline is valid? [True, True] Translation: X:64.76, Y:4.64, Z:2.84 [[ 9.95843864e-01 -7.37567171e-02 -5.34316833e-02 6.47576942e+01] [ 7.36503237e-02 9.97276264e-01 -3.96020357e-03 4.64411097e+00] [ 5.35782411e-02 8.48365167e-06 9.98563654e-01 2.83866104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.79, Y:4.64, Z:2.84 [[ 9.95835409e-01 -7.45501353e-02 -5.24796661e-02 6.47868461e+01] [ 7.44484216e-02 9.97217266e-01 -3.89308273e-03 4.64462846e+00] [ 5.26238591e-02 -3.01586785e-05 9.98614404e-01 2.84221115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters Centerline goodness [0,1] 0.9998908606727348 Centerline is valid? [True, True] Translation: X:64.82, Y:4.64, Z:2.84 [[ 9.95747584e-01 -7.54474884e-02 -5.28623208e-02 6.48171262e+01] [ 7.53454500e-02 9.97149773e-01 -3.92332807e-03 4.64390471e+00] [ 5.30076565e-02 -7.62908982e-05 9.98594103e-01 2.84165190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.85, Y:4.64, Z:2.85 [[ 9.95691459e-01 -7.76025524e-02 -5.07578706e-02 6.48470061e+01] [ 7.75111907e-02 9.96984358e-01 -3.76887889e-03 4.64164211e+00] [ 5.08972777e-02 -1.81662463e-04 9.98703877e-01 2.84595570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters Centerline goodness [0,1] 0.9999782481021469 Centerline is valid? [True, True] Translation: X:64.88, Y:4.64, Z:2.85 [[ 9.95166843e-01 -8.32698042e-02 -5.20489529e-02 6.48783879e+01] [ 8.31813838e-02 9.96526923e-01 -3.86648671e-03 4.63653924e+00] [ 5.21901444e-02 -4.81704548e-04 9.98637050e-01 2.84616863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.91, Y:4.63, Z:2.85 [[ 9.94681243e-01 -8.88533920e-02 -5.20989412e-02 6.49085805e+01] [ 8.87724730e-02 9.96044413e-01 -3.86977035e-03 4.63371470e+00] [ 5.22367015e-02 -7.75763871e-04 9.98634430e-01 2.84860463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.94, Y:4.63, Z:2.85 [[ 9.94408835e-01 -9.20261189e-02 -5.17905708e-02 6.49403633e+01] [ 9.19506849e-02 9.95756149e-01 -3.84240536e-03 4.63369247e+00] [ 5.19243809e-02 -9.41256618e-04 9.98650576e-01 2.85054756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.97, Y:4.63, Z:2.85 [[ 9.94073830e-01 -9.54912741e-02 -5.19484036e-02 6.49717505e+01] [ 9.54202014e-02 9.95429629e-01 -3.85225354e-03 4.63293238e+00] [ 5.20788367e-02 -1.12750271e-03 9.98642340e-01 2.85199835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.005099893 meters Centerline goodness [0,1] 0.9998919175979767 Centerline is valid? [True, True] Translation: X:65.00, Y:4.63, Z:2.85 [[ 9.93232950e-01 -1.02781310e-01 -5.40768868e-02 6.50022353e+01] [ 1.02715171e-01 9.94702733e-01 -4.00833762e-03 4.62778097e+00] [ 5.42024093e-02 -1.57330366e-03 9.98528729e-01 2.84930096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.03, Y:4.63, Z:2.85 [[ 9.92856195e-01 -1.06706493e-01 -5.33881979e-02 6.50334230e+01] [ 1.06647701e-01 9.94288997e-01 -3.95708030e-03 4.62640779e+00] [ 5.35055439e-02 -1.76491685e-03 9.98565993e-01 2.85244202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.065099893 meters Centerline goodness [0,1] 0.9999139803445087 Centerline is valid? [True, True] Translation: X:65.07, Y:4.62, Z:2.85 [[ 9.91718290e-01 -1.16049511e-01 -5.50212996e-02 6.50653974e+01] [ 1.16001507e-01 9.93240673e-01 -4.07620515e-03 4.62209866e+00] [ 5.51224343e-02 -2.34010647e-03 9.98476861e-01 2.85073951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:4.62, Z:2.85 [[ 9.91328697e-01 -1.19950544e-01 -5.36589291e-02 6.50955421e+01] [ 1.19910651e-01 9.92776734e-01 -3.97399853e-03 4.62030558e+00] [ 5.37480197e-02 -2.49473832e-03 9.98551414e-01 2.85434815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:4.62, Z:2.86 [[ 9.91306907e-01 -1.20245061e-01 -5.34016891e-02 6.51279501e+01] [ 1.20205998e-01 9.92741094e-01 -3.95451602e-03 4.62246766e+00] [ 5.34895623e-02 -2.49906427e-03 9.98565281e-01 2.85562783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.16, Y:4.62, Z:2.86 [[ 9.91377759e-01 -1.19886330e-01 -5.28905209e-02 6.51603996e+01] [ 1.19847700e-01 9.92784578e-01 -3.91290121e-03 4.62429314e+00] [ 5.29779968e-02 -2.45964404e-03 9.98592651e-01 2.85730541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.19, Y:4.63, Z:2.86 [[ 9.91786523e-01 -1.17633798e-01 -5.02173553e-02 6.51918417e+01] [ 1.17596258e-01 9.93054552e-01 -3.71177153e-03 4.62916423e+00] [ 5.03052030e-02 -2.22408807e-03 9.98731415e-01 2.86156850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.22, Y:4.63, Z:2.86 [[ 9.91869922e-01 -1.17076615e-01 -4.98710650e-02 6.52240626e+01] [ 1.17039023e-01 9.93120486e-01 -3.68345876e-03 4.63258282e+00] [ 4.99592232e-02 -2.18334879e-03 9.98748872e-01 2.86366410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters Centerline goodness [0,1] 0.9998925909217847 Centerline is valid? [True, True] Translation: X:65.26, Y:4.63, Z:2.86 [[ 9.91655403e-01 -1.17576014e-01 -5.28719527e-02 6.52560417e+01] [ 1.17534689e-01 9.93061115e-01 -3.90108956e-03 4.63424024e+00] [ 5.29637548e-02 -2.34575195e-03 9.98593680e-01 2.86027271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:4.64, Z:2.86 [[ 9.91352110e-01 -1.19339969e-01 -5.45798981e-02 6.52878586e+01] [ 1.19298824e-01 9.92850243e-01 -4.02303164e-03 4.63652759e+00] [ 5.46697736e-02 -2.52307674e-03 9.98501302e-01 2.86225230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299999 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:65.32, Y:4.64, Z:2.86 [[ 9.90852399e-01 -1.21875227e-01 -5.79478369e-02 6.53183204e+01] [ 1.21833405e-01 9.92541390e-01 -4.26737730e-03 4.63698371e+00] [ 5.80357141e-02 -2.83164125e-03 9.98310492e-01 2.86115029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33509989299999 meters Centerline goodness [0,1] 0.999935410252546 Centerline is valid? [True, True] Translation: X:65.35, Y:4.64, Z:2.86 [[ 9.90723516e-01 -1.22559305e-01 -5.87037602e-02 6.53501332e+01] [ 1.22517684e-01 9.92456923e-01 -4.32135490e-03 4.63930741e+00] [ 5.87905754e-02 -2.91098081e-03 9.98266094e-01 2.86219764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:4.64, Z:2.87 [[ 9.90649000e-01 -1.23222712e-01 -5.85723631e-02 6.53816135e+01] [ 1.23182705e-01 9.92374662e-01 -4.30703872e-03 4.64229911e+00] [ 5.86564541e-02 -2.94833856e-03 9.98273874e-01 2.86535330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:4.64, Z:2.87 [[ 9.91015147e-01 -1.21053055e-01 -5.68782642e-02 6.54119830e+01] [ 1.21012061e-01 9.92642248e-01 -4.17719323e-03 4.64358097e+00] [ 5.69654300e-02 -2.74329419e-03 9.98372382e-01 2.86620835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.425099893 meters Centerline goodness [0,1] 0.9999785780081832 Centerline is valid? [True, True] Translation: X:65.44, Y:4.65, Z:2.87 [[ 9.91522355e-01 -1.17349461e-01 -5.57899959e-02 6.54419373e+01] [ 1.17304216e-01 9.93087579e-01 -4.09642538e-03 4.64892954e+00] [ 5.58850653e-02 -2.48270438e-03 9.98434122e-01 2.86763053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.47, Y:4.66, Z:2.87 [[ 9.91952245e-01 -1.14073730e-01 -5.49356770e-02 6.54730902e+01] [ 1.14024868e-01 9.93469709e-01 -4.03328171e-03 4.65689502e+00] [ 5.50370225e-02 -2.26321048e-03 9.98481749e-01 2.87113937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.50, Y:4.66, Z:2.87 [[ 9.92364619e-01 -1.10040632e-01 -5.57092651e-02 6.55038705e+01] [ 1.09984208e-01 9.93924931e-01 -4.08712639e-03 4.66343356e+00] [ 5.58205774e-02 -2.07121980e-03 9.98438668e-01 2.87147647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51509989299998 meters Centerline goodness [0,1] 0.9999567903901828 Centerline is valid? [True, True] Translation: X:65.53, Y:4.67, Z:2.87 [[ 9.92463876e-01 -1.08684477e-01 -5.65962784e-02 6.55346964e+01] [ 1.08624212e-01 9.94074225e-01 -4.14920945e-03 4.66539879e+00] [ 5.67118563e-02 -2.02978568e-03 9.98388524e-01 2.87078169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters Centerline goodness [0,1] 0.9999134910679528 Centerline is valid? [True, True] Translation: X:65.57, Y:4.67, Z:2.87 [[ 9.92623492e-01 -1.06170309e-01 -5.85360371e-02 6.55658903e+01] [ 1.06101885e-01 9.94346033e-01 -4.28456692e-03 4.67140560e+00] [ 5.86599700e-02 -1.95782212e-03 9.98276102e-01 2.87075332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57509989299999 meters Centerline goodness [0,1] 0.9998485110803325 Centerline is valid? [True, True] Translation: X:65.60, Y:4.68, Z:2.87 [[ 9.92772143e-01 -1.04258409e-01 -5.94445594e-02 6.55969550e+01] [ 1.04184556e-01 9.94548473e-01 -4.34885573e-03 4.67610524e+00] [ 5.95739006e-02 -1.87578223e-03 9.98222136e-01 2.87164242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:4.68, Z:2.88 [[ 9.93032758e-01 -1.02242053e-01 -5.85875852e-02 6.56274699e+01] [ 1.02166935e-01 9.94758043e-01 -4.28404182e-03 4.68156953e+00] [ 5.87184808e-02 -1.73152013e-03 9.98273080e-01 2.87622105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.66, Y:4.69, Z:2.88 [[ 9.93616856e-01 -9.60883083e-02 -5.90980598e-02 6.56574982e+01] [ 9.60011183e-02 9.95371854e-01 -4.31940042e-03 4.69074807e+00] [ 5.92395893e-02 -1.38165077e-03 9.98242837e-01 2.87821717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.69, Y:4.70, Z:2.88 [[ 9.94631781e-01 -8.57130105e-02 -5.79732629e-02 6.56876251e+01] [ 8.56115492e-02 9.96319586e-01 -4.23615083e-03 4.70124784e+00] [ 5.81229906e-02 -7.49770609e-04 9.98309148e-01 2.88030452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69509989299999 meters Centerline goodness [0,1] 0.9999345706745764 Centerline is valid? [True, True] Translation: X:65.72, Y:4.70, Z:2.88 [[ 9.95111025e-01 -8.09285232e-02 -5.66093762e-02 6.57176300e+01] [ 8.08240543e-02 9.96719802e-01 -4.13631207e-03 4.70459455e+00] [ 5.67584319e-02 -4.59309551e-04 9.98387835e-01 2.88108875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.75, Y:4.71, Z:2.88 [[ 9.95452334e-01 -7.73846043e-02 -5.55542369e-02 6.57463153e+01] [ 7.72782688e-02 9.97001284e-01 -4.06299963e-03 4.70774203e+00] [ 5.57020591e-02 -2.48612783e-04 9.98447404e-01 2.88418829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:4.71, Z:2.89 [[ 9.95553150e-01 -7.61342847e-02 -5.54751914e-02 6.57749087e+01] [ 7.60260571e-02 9.97097558e-01 -4.06179367e-03 4.71055960e+00] [ 5.56234196e-02 -1.73828591e-04 9.98451804e-01 2.88602562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.80, Y:4.71, Z:2.89 [[ 9.95663797e-01 -7.46495287e-02 -5.55072177e-02 6.58041368e+01] [ 7.45381895e-02 9.97209828e-01 -4.07635067e-03 4.71324844e+00] [ 5.56566407e-02 -7.87327313e-05 9.98449965e-01 2.88818542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:4.71, Z:2.89 [[ 9.95686642e-01 -7.45982581e-02 -5.51653093e-02 6.58327452e+01] [ 7.44880060e-02 9.97213666e-01 -4.05490173e-03 4.71477340e+00] [ 5.53140889e-02 -7.17423980e-05 9.98469001e-01 2.88972488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.86, Y:4.72, Z:2.89 [[ 9.95674067e-01 -7.49269408e-02 -5.49463933e-02 6.58613444e+01] [ 7.48173845e-02 9.97189023e-01 -4.05110085e-03 4.71569611e+00] [ 5.50954768e-02 -7.73693714e-05 9.98481088e-01 2.89101055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.875099893 meters Centerline goodness [0,1] 0.9999782291598632 Centerline is valid? [True, True] Translation: X:65.89, Y:4.72, Z:2.89 [[ 9.95587175e-01 -7.58582208e-02 -5.52422672e-02 6.58902594e+01] [ 7.57486596e-02 9.97118606e-01 -4.07748262e-03 4.71602317e+00] [ 5.53924031e-02 -1.25038297e-04 9.98464654e-01 2.89201655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.92, Y:4.72, Z:2.89 [[ 9.95480828e-01 -7.72002333e-02 -5.52995898e-02 6.59191187e+01] [ 7.70918118e-02 9.97015591e-01 -4.09434422e-03 4.71617705e+00] [ 5.54506375e-02 -1.87304399e-04 9.98461412e-01 2.89348144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.95, Y:4.71, Z:2.89 [[ 9.94949780e-01 -8.20100453e-02 -5.78730281e-02 6.59473591e+01] [ 8.18992046e-02 9.96631391e-01 -4.28852404e-03 4.71179890e+00] [ 5.80297785e-02 -4.72888916e-04 9.98314741e-01 2.89196899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters Centerline goodness [0,1] 0.9999133467645849 Centerline is valid? [True, True] Translation: X:65.98, Y:4.71, Z:2.89 [[ 9.94413320e-01 -8.64750676e-02 -6.05327307e-02 6.59762946e+01] [ 8.63615892e-02 9.96253726e-01 -4.49333217e-03 4.71083857e+00] [ 6.06945197e-02 -7.59473470e-04 9.98156099e-01 2.89018011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.01, Y:4.71, Z:2.89 [[ 9.93985689e-01 -9.17431515e-02 -5.97966836e-02 6.60050147e+01] [ 9.16410424e-02 9.95782147e-01 -4.45355306e-03 4.71100866e+00] [ 5.99530530e-02 -1.05306241e-03 9.98200642e-01 2.89441560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.03, Y:4.71, Z:2.90 [[ 9.93809959e-01 -9.41067207e-02 -5.90397423e-02 6.60348095e+01] [ 9.40106186e-02 9.95561430e-01 -4.40944363e-03 4.71174459e+00] [ 5.91926485e-02 -1.16821370e-03 9.98245894e-01 2.89655177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05509989299999 meters Centerline goodness [0,1] 0.9999568258354201 Centerline is valid? [True, True] Translation: X:66.06, Y:4.71, Z:2.90 [[ 9.93687989e-01 -9.58688224e-02 -5.82524562e-02 6.60639080e+01] [ 9.57782226e-02 9.95393186e-01 -4.35180082e-03 4.71184709e+00] [ 5.84013000e-02 -1.25498451e-03 9.98292399e-01 2.89680948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.09, Y:4.71, Z:2.90 [[ 9.93514257e-01 -9.92675878e-02 -5.54559873e-02 6.60944971e+01] [ 9.91908886e-02 9.95059808e-01 -4.14066887e-03 4.71125614e+00] [ 5.55930583e-02 -1.38691511e-03 9.98452547e-01 2.90056571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.13, Y:4.71, Z:2.91 [[ 9.93376006e-01 -1.02443940e-01 -5.20514198e-02 6.61250586e+01] [ 1.02380726e-01 9.94737696e-01 -3.88638111e-03 4.71300340e+00] [ 5.21756455e-02 -1.46842441e-03 9.98636844e-01 2.90536154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.16, Y:4.72, Z:2.91 [[ 9.93175257e-01 -1.03430405e-01 -5.38986118e-02 6.61565239e+01] [ 1.03364142e-01 9.94635445e-01 -4.02308068e-03 4.71697746e+00] [ 5.40255786e-02 -1.57555960e-03 9.98538309e-01 2.90649685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.19, Y:4.72, Z:2.91 [[ 9.93029114e-01 -1.03040112e-01 -5.72356039e-02 6.61887020e+01] [ 1.02964941e-01 9.94675826e-01 -4.26875380e-03 4.72029168e+00] [ 5.73707245e-02 -1.65426376e-03 9.98351573e-01 2.90541083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.205099893 meters Centerline goodness [0,1] 0.9999567950573546 Centerline is valid? [True, True] Translation: X:66.22, Y:4.73, Z:2.90 [[ 9.93484204e-01 -9.73271364e-02 -5.93006280e-02 6.62185387e+01] [ 9.72365030e-02 9.95251493e-01 -4.41897591e-03 4.72583345e+00] [ 5.94491249e-02 -1.37600293e-03 9.98230388e-01 2.90484898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.235099893 meters Centerline goodness [0,1] 0.9998699722607489 Centerline is valid? [True, True] Translation: X:66.25, Y:4.73, Z:2.91 [[ 9.93738499e-01 -9.39250406e-02 -6.05134958e-02 6.62490572e+01] [ 9.38244286e-02 9.95578552e-01 -4.50823466e-03 4.73284062e+00] [ 6.06693746e-02 -1.19763783e-03 9.98157198e-01 2.90585171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.28, Y:4.74, Z:2.91 [[ 9.94719092e-01 -8.18534352e-02 -6.19188355e-02 6.62774294e+01] [ 8.17247489e-02 9.96644266e-01 -4.61230866e-03 4.74457139e+00] [ 6.20885856e-02 -4.72349796e-04 9.98070531e-01 2.90924530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.31, Y:4.75, Z:2.91 [[ 9.95343541e-01 -7.40766631e-02 -6.16756366e-02 6.63054913e+01] [ 7.39337880e-02 9.97252550e-01 -4.59861987e-03 4.75295735e+00] [ 6.18468363e-02 1.72931458e-05 9.98085652e-01 2.91105764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:4.76, Z:2.91 [[ 9.95883320e-01 -6.75368324e-02 -6.04581611e-02 6.63323615e+01] [ 6.73867131e-02 9.97716690e-01 -4.52083414e-03 4.75937260e+00] [ 6.06254392e-02 4.28146554e-04 9.98160495e-01 2.91232592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.36, Y:4.76, Z:2.92 [[ 9.96196876e-01 -6.36209050e-02 -5.95328837e-02 6.63603577e+01] [ 6.34678821e-02 9.97973917e-01 -4.45968506e-03 4.76310643e+00] [ 5.96959944e-02 6.64298275e-04 9.98216383e-01 2.91534606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:4.76, Z:2.92 [[ 9.96118605e-01 -6.48583958e-02 -5.95072582e-02 6.63887606e+01] [ 6.47067781e-02 9.97894294e-01 -4.47336297e-03 4.75986507e+00] [ 5.96720885e-02 6.05477135e-04 9.98217850e-01 2.91704397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.42, Y:4.75, Z:2.92 [[ 9.95749752e-01 -7.08841622e-02 -5.88036223e-02 6.64181000e+01] [ 7.07456301e-02 9.97484521e-01 -4.43698718e-03 4.75407156e+00] [ 5.89702151e-02 2.58029575e-04 9.98259709e-01 2.91865010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.45, Y:4.75, Z:2.92 [[ 9.95601828e-01 -7.32494061e-02 -5.84082590e-02 6.64455511e+01] [ 7.31160419e-02 9.97313646e-01 -4.42004650e-03 4.75390830e+00] [ 5.85751195e-02 1.30025660e-04 9.98282995e-01 2.92013425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:4.75, Z:2.92 [[ 9.95324536e-01 -7.84471542e-02 -5.63481340e-02 6.64738868e+01] [ 7.83310827e-02 9.96918260e-01 -4.26903227e-03 4.75088540e+00] [ 5.65093771e-02 -1.64737777e-04 9.98402055e-01 2.92253739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:4.75, Z:2.93 [[ 9.95093142e-01 -8.17607933e-02 -5.57208328e-02 6.65026896e+01] [ 8.16521327e-02 9.96651923e-01 -4.22776520e-03 4.75018634e+00] [ 5.58799405e-02 -3.42704678e-04 9.98437437e-01 2.92511575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.54, Y:4.73, Z:2.93 [[ 9.92137902e-01 -1.11642470e-01 -5.65538893e-02 6.65353031e+01] [ 1.11578165e-01 9.93746343e-01 -4.30332852e-03 4.72824553e+00] [ 5.66806549e-02 -2.04068388e-03 9.98390274e-01 2.92537126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:4.72, Z:2.93 [[ 9.91255989e-01 -1.19174790e-01 -5.66474432e-02 6.65663386e+01] [ 1.19122514e-01 9.92870205e-01 -4.31074307e-03 4.72463411e+00] [ 5.67572904e-02 -2.47493597e-03 9.98384938e-01 2.92662955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:4.73, Z:2.93 [[ 9.91264616e-01 -1.19102985e-01 -5.66475054e-02 6.65979413e+01] [ 1.19050639e-01 9.92878829e-01 -4.30992577e-03 4.72698154e+00] [ 5.67574338e-02 -2.47164481e-03 9.98384938e-01 2.92813724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:4.73, Z:2.93 [[ 9.90535174e-01 -1.25114645e-01 -5.64481553e-02 6.66289613e+01] [ 1.25072588e-01 9.92138313e-01 -4.29128616e-03 4.72599824e+00] [ 5.65412803e-02 -2.80944698e-03 9.98396309e-01 2.92971103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65509989299998 meters Centerline goodness [0,1] 0.9998287157966856 Centerline is valid? [True, True] Translation: X:66.66, Y:4.72, Z:2.93 [[ 9.90071945e-01 -1.28669922e-01 -5.65826433e-02 6.66598133e+01] [ 1.28633478e-01 9.91682878e-01 -4.30097795e-03 4.72445654e+00] [ 5.66654451e-02 -3.02014463e-03 9.98388655e-01 2.92734238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:4.72, Z:2.93 [[ 9.89987369e-01 -1.29835131e-01 -5.53881630e-02 6.66912091e+01] [ 1.29802151e-01 9.91530986e-01 -4.20786147e-03 4.72252877e+00] [ 5.54654081e-02 -3.02377296e-03 9.98456031e-01 2.93231920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71509989299999 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:66.72, Y:4.73, Z:2.93 [[ 9.90040993e-01 -1.30099809e-01 -5.37854305e-02 6.67230446e+01] [ 1.30069254e-01 9.91496504e-01 -4.08311649e-03 4.72810676e+00] [ 5.38592790e-02 -2.95337813e-03 9.98544168e-01 2.93497012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.75, Y:4.74, Z:2.94 [[ 9.90316021e-01 -1.28270307e-01 -5.31122150e-02 6.67538152e+01] [ 1.28238079e-01 9.91735230e-01 -4.02842217e-03 4.73622358e+00] [ 5.31899817e-02 -2.82159739e-03 9.98580425e-01 2.93833723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:4.74, Z:2.94 [[ 9.90709245e-01 -1.23431326e-01 -5.70955325e-02 6.67842529e+01] [ 1.23386205e-01 9.92349288e-01 -4.32845081e-03 4.74356239e+00] [ 5.71929775e-02 -2.75656483e-03 9.98359336e-01 2.93605653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.82, Y:4.75, Z:2.94 [[ 9.90526856e-01 -1.23907928e-01 -5.91892957e-02 6.68164707e+01] [ 1.23860398e-01 9.92289516e-01 -4.48540089e-03 4.74675738e+00] [ 5.92886943e-02 -2.88829967e-03 9.98236700e-01 2.93544173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83509989299999 meters Centerline goodness [0,1] 0.9998283961474935 Centerline is valid? [True, True] Translation: X:66.85, Y:4.75, Z:2.93 [[ 9.90153532e-01 -1.24925382e-01 -6.31635404e-02 6.68472575e+01] [ 1.24873589e-01 9.92161133e-01 -4.78255681e-03 4.75021314e+00] [ 6.32658725e-02 -3.15199249e-03 9.97991731e-01 2.92980939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.865099893 meters Centerline goodness [0,1] 0.9999568742452993 Centerline is valid? [True, True] Translation: X:66.88, Y:4.76, Z:2.93 [[ 9.90176965e-01 -1.24993978e-01 -6.26584689e-02 6.68789098e+01] [ 1.24943269e-01 9.92152554e-01 -4.74233080e-03 4.75857337e+00] [ 6.27595228e-02 -3.13300724e-03 9.98023761e-01 2.93328922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.91, Y:4.76, Z:2.94 [[ 9.90606232e-01 -1.22525935e-01 -6.07181008e-02 6.69094803e+01] [ 1.22473924e-01 9.92461110e-01 -4.59160065e-03 4.76479978e+00] [ 6.08229439e-02 -2.88791584e-03 9.98144393e-01 2.93650769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.94, Y:4.77, Z:2.94 [[ 9.91226056e-01 -1.18171540e-01 -5.92148003e-02 6.69390105e+01] [ 1.18114416e-01 9.92989903e-01 -4.47622503e-03 4.77101098e+00] [ 5.93286612e-02 -2.55717070e-03 9.98235228e-01 2.93912059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.97, Y:4.78, Z:2.94 [[ 9.91535993e-01 -1.16025221e-01 -5.82625368e-02 6.69700019e+01] [ 1.15966256e-01 9.93243392e-01 -4.40364175e-03 4.77943624e+00] [ 5.83798132e-02 -2.39011898e-03 9.98291583e-01 2.94216200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.00, Y:4.78, Z:2.94 [[ 9.91944955e-01 -1.12839207e-01 -5.75544918e-02 6.70005857e+01] [ 1.12776483e-01 9.93610873e-01 -4.34717751e-03 4.78280577e+00] [ 5.76773009e-02 -2.17863237e-03 9.98332902e-01 2.94431794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:4.79, Z:2.95 [[ 9.92102434e-01 -1.11528407e-01 -5.73949085e-02 6.70321480e+01] [ 1.11463982e-01 9.93759029e-01 -4.33267876e-03 4.78792226e+00] [ 5.75199253e-02 -2.09900391e-03 9.98342152e-01 2.94642665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters Centerline goodness [0,1] 0.9999564801114109 Centerline is valid? [True, True] Translation: X:67.06, Y:4.79, Z:2.95 [[ 9.92173745e-01 -1.10731320e-01 -5.77047222e-02 6.70638039e+01] [ 1.10665095e-01 9.93848227e-01 -4.35188530e-03 4.79213961e+00] [ 5.78316258e-02 -2.06807221e-03 9.98324209e-01 2.94701338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.10, Y:4.80, Z:2.95 [[ 9.92208852e-01 -1.10970595e-01 -5.66314548e-02 6.70960467e+01] [ 1.10907429e-01 9.93821582e-01 -4.26688069e-03 4.79578466e+00] [ 5.67550602e-02 -2.04721224e-03 9.98386034e-01 2.95096564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.13, Y:4.80, Z:2.95 [[ 9.92148819e-01 -1.11626315e-01 -5.63940275e-02 6.71277065e+01] [ 1.11564992e-01 9.93748075e-01 -4.24444232e-03 4.79763083e+00] [ 5.65152478e-02 -2.08048077e-03 9.98399568e-01 2.95286318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13509989299999 meters Centerline goodness [0,1] 0.9998700905036159 Centerline is valid? [True, True] Translation: X:67.16, Y:4.80, Z:2.95 [[ 9.91998920e-01 -1.12454526e-01 -5.73770264e-02 6.71590069e+01] [ 1.12392818e-01 9.93654499e-01 -4.31169652e-03 4.79922246e+00] [ 5.74978102e-02 -2.17156739e-03 9.98343271e-01 2.95175041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:4.80, Z:2.95 [[ 9.91961435e-01 -1.12809870e-01 -5.73275133e-02 6.71903797e+01] [ 1.12749171e-01 9.93614167e-01 -4.30256527e-03 4.80006791e+00] [ 5.74468012e-02 -2.19565081e-03 9.98346154e-01 2.95485590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.22, Y:4.80, Z:2.96 [[ 9.91983227e-01 -1.12569940e-01 -5.74219971e-02 6.72224061e+01] [ 1.12508830e-01 9.93641393e-01 -4.30635882e-03 4.80473012e+00] [ 5.75416398e-02 -2.18864601e-03 9.98340708e-01 2.95640691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.25, Y:4.81, Z:2.96 [[ 9.92022988e-01 -1.12072939e-01 -5.77065657e-02 6.72533547e+01] [ 1.12010659e-01 9.93697602e-01 -4.32294061e-03 4.80548101e+00] [ 5.78273606e-02 -2.17529399e-03 9.98324228e-01 2.95706806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.29, Y:4.81, Z:2.96 [[ 9.92078042e-01 -1.11589918e-01 -5.76961826e-02 6.72856412e+01] [ 1.11527230e-01 9.93752008e-01 -4.31552195e-03 4.81062860e+00] [ 5.78172660e-02 -2.15336083e-03 9.98324860e-01 2.95926645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.32, Y:4.81, Z:2.96 [[ 9.92158166e-01 -1.10919981e-01 -5.76101642e-02 6.73173781e+01] [ 1.10856595e-01 9.93827089e-01 -4.30489056e-03 4.81376024e+00] [ 5.77320402e-02 -2.11533435e-03 9.98329874e-01 2.96073100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.35, Y:4.81, Z:2.96 [[ 9.92207635e-01 -1.10314278e-01 -5.79203745e-02 6.73485117e+01] [ 1.10249458e-01 9.93894545e-01 -4.32326910e-03 4.81160126e+00] [ 5.80436625e-02 -2.09610928e-03 9.98311845e-01 2.95882162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.38, Y:4.81, Z:2.96 [[ 9.92148016e-01 -1.10481750e-01 -5.86182302e-02 6.73809827e+01] [ 1.10416053e-01 9.93875853e-01 -4.36854032e-03 4.81238275e+00] [ 5.87418875e-02 -2.13815497e-03 9.98270915e-01 2.95946479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:4.81, Z:2.96 [[ 9.92133111e-01 -1.10229951e-01 -5.93400967e-02 6.74131362e+01] [ 1.10162436e-01 9.93903778e-01 -4.41800014e-03 4.81466350e+00] [ 5.94653422e-02 -2.15380538e-03 9.98228047e-01 2.96090447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:4.82, Z:2.96 [[ 9.92333783e-01 -1.08733762e-01 -5.87420837e-02 6.74443660e+01] [ 1.08665207e-01 9.94068800e-01 -4.36969487e-03 4.81862215e+00] [ 5.88688060e-02 -2.04702483e-03 9.98263629e-01 2.96372470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.48, Y:4.82, Z:2.97 [[ 9.92488005e-01 -1.07477367e-01 -5.84480518e-02 6.74753770e+01] [ 1.07407444e-01 9.94205590e-01 -4.34572288e-03 4.82169129e+00] [ 5.85764467e-02 -1.96467803e-03 9.98280992e-01 2.96575725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.51, Y:4.83, Z:2.97 [[ 9.92920657e-01 -1.03945842e-01 -5.74789671e-02 6.75051855e+01] [ 1.03872462e-01 9.94581455e-01 -4.27102642e-03 4.82589672e+00] [ 5.76114702e-02 -1.72969145e-03 9.98337582e-01 2.96842718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.54, Y:4.83, Z:2.97 [[ 9.92927945e-01 -1.03875986e-01 -5.74793566e-02 6.75367789e+01] [ 1.03802792e-01 9.94588751e-01 -4.26577900e-03 4.82817975e+00] [ 5.76114335e-02 -1.73090654e-03 9.98337582e-01 2.96993266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.57, Y:4.83, Z:2.97 [[ 9.93146003e-01 -1.02040266e-01 -5.69982575e-02 6.75682405e+01] [ 1.01965493e-01 9.94778959e-01 -4.22623220e-03 4.83398149e+00] [ 5.71319131e-02 -1.61458979e-03 9.98365333e-01 2.97257264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:4.84, Z:2.97 [[ 9.93361137e-01 -9.99434122e-02 -5.69646036e-02 6.75989188e+01] [ 9.98654525e-02 9.94991998e-01 -4.22079720e-03 4.83610542e+00] [ 5.71011657e-02 -1.49602001e-03 9.98367277e-01 2.97349065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:4.84, Z:2.97 [[ 9.93701948e-01 -9.62168716e-02 -5.74347694e-02 6.76303757e+01] [ 9.61315324e-02 9.95359552e-01 -4.25336799e-03 4.84284643e+00] [ 5.75774921e-02 -1.29471234e-03 9.98340201e-01 2.97449772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:4.85, Z:2.98 [[ 9.93818003e-01 -9.49223576e-02 -5.75805784e-02 6.76609980e+01] [ 9.48346007e-02 9.95483924e-01 -4.26094100e-03 4.84609481e+00] [ 5.77249987e-02 -1.22603129e-03 9.98331769e-01 2.97564195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:4.85, Z:2.97 [[ 9.94058282e-01 -9.14785525e-02 -5.89898842e-02 6.76922862e+01] [ 9.13805952e-02 9.95806488e-01 -4.36174190e-03 4.85134503e+00] [ 5.91415153e-02 -1.05470507e-03 9.98249051e-01 2.97477331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:4.85, Z:2.97 [[ 9.92924970e-01 -1.00682839e-01 -6.29521205e-02 6.77232554e+01] [ 1.00589837e-01 9.94917099e-01 -4.65302723e-03 4.84719737e+00] [ 6.31006211e-02 -1.71223659e-03 9.98005701e-01 2.97438271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:4.86, Z:2.98 [[ 9.93852252e-01 -9.68077476e-02 -5.37211437e-02 6.77527227e+01] [ 9.67343466e-02 9.95302315e-01 -3.97100655e-03 4.85617993e+00] [ 5.38532028e-02 -1.25008592e-03 9.98548081e-01 2.98305102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:4.86, Z:2.98 [[ 9.93527295e-01 -9.90616516e-02 -5.55904880e-02 6.77838442e+01] [ 9.89866005e-02 9.95080284e-01 -4.10873982e-03 4.85501460e+00] [ 5.57240171e-02 -1.42056827e-03 9.98445199e-01 2.98330437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:4.86, Z:2.98 [[ 9.94632695e-01 -8.49256749e-02 -5.91052572e-02 6.78141642e+01] [ 8.48160495e-02 9.96387063e-01 -4.36556470e-03 4.86421135e+00] [ 5.92624621e-02 -6.70941040e-04 9.98242210e-01 2.98283654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79509989299999 meters Centerline goodness [0,1] 0.9999781157675894 Centerline is valid? [True, True] Translation: X:67.84, Y:4.87, Z:2.98 [[ 9.94991296e-01 -8.05920653e-02 -5.91374582e-02 6.78431929e+01] [ 8.04746963e-02 9.96747083e-01 -4.36751216e-03 4.86944592e+00] [ 5.92970758e-02 -4.13432407e-04 9.98240295e-01 2.98414024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters Centerline goodness [0,1] 0.9998685853209803 Centerline is valid? [True, True] Translation: X:67.87, Y:4.87, Z:2.98 [[ 9.95274587e-01 -7.58056701e-02 -6.06794580e-02 6.78715898e+01] [ 7.56728991e-02 9.97122602e-01 -4.48642214e-03 4.87400783e+00] [ 6.08449553e-02 -1.26568558e-04 9.98147221e-01 2.98222238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:4.88, Z:2.98 [[ 9.95611222e-01 -6.98016786e-02 -6.23379579e-02 6.79000831e+01] [ 6.96487884e-02 9.97560854e-01 -4.62490026e-03 4.87961449e+00] [ 6.25087323e-02 2.62839363e-04 9.98044382e-01 2.98466397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:4.85, Z:2.99 [[ 9.95891195e-01 -6.93720117e-02 -5.82086850e-02 6.79306423e+01] [ 6.92371785e-02 9.97590819e-01 -4.33243854e-03 4.85430854e+00] [ 5.83689997e-02 2.84432281e-04 9.98295036e-01 2.98923464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.96, Y:4.86, Z:2.99 [[ 9.96031140e-01 -6.52992673e-02 -6.04811892e-02 6.79587216e+01] [ 6.51453120e-02 9.97865569e-01 -4.51596982e-03 4.85805546e+00] [ 6.06469858e-02 5.57980620e-04 9.98159121e-01 2.98890138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:4.86, Z:2.99 [[ 9.96138558e-01 -6.39976864e-02 -6.01021586e-02 6.79877183e+01] [ 6.38427002e-02 9.97949840e-01 -4.49743502e-03 4.86024023e+00] [ 6.02667650e-02 6.42984342e-04 9.98182099e-01 2.98993210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.01, Y:4.86, Z:2.99 [[ 9.96255773e-01 -6.27705640e-02 -5.94499060e-02 6.80149739e+01] [ 6.26159696e-02 9.98027722e-01 -4.46160339e-03 4.86267418e+00] [ 5.96127116e-02 7.22384626e-04 9.98221320e-01 2.99131329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:4.86, Z:2.99 [[ 9.96238058e-01 -6.30516372e-02 -5.94493323e-02 6.80422505e+01] [ 6.28970874e-02 9.98010011e-01 -4.46923346e-03 4.86478728e+00] [ 5.96128213e-02 7.13230610e-04 9.98221320e-01 2.99261642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.07, Y:4.87, Z:2.99 [[ 9.96334827e-01 -6.21372902e-02 -5.87866483e-02 6.80701533e+01] [ 6.19836001e-02 9.98067310e-01 -4.43601656e-03 4.86633513e+00] [ 5.89486740e-02 7.75949688e-04 9.98260713e-01 2.99474398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:4.87, Z:3.00 [[ 9.96378258e-01 -6.11460154e-02 -5.90891775e-02 6.80976798e+01] [ 6.09881131e-02 9.98128467e-01 -4.47372389e-03 4.86876453e+00] [ 5.92521405e-02 8.53783783e-04 9.98242683e-01 2.99617242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:4.87, Z:3.00 [[ 9.96360761e-01 -6.14310189e-02 -5.90886028e-02 6.81249551e+01] [ 6.12731680e-02 9.98110974e-01 -4.48130069e-03 4.87089059e+00] [ 5.92522737e-02 8.44446282e-04 9.98242683e-01 2.99747554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.15, Y:4.87, Z:3.00 [[ 9.96402512e-01 -6.06870966e-02 -5.91532712e-02 6.81534880e+01] [ 6.05266006e-02 9.98156428e-01 -4.50285726e-03 4.87286913e+00] [ 5.93174832e-02 9.06311874e-04 9.98238756e-01 2.99936060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.18, Y:4.88, Z:3.00 [[ 9.96413891e-01 -6.00188443e-02 -5.96414043e-02 6.81806067e+01] [ 5.98536783e-02 9.98196775e-01 -4.55355316e-03 4.87617484e+00] [ 5.98071565e-02 9.67466184e-04 9.98209481e-01 3.00014797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:4.88, Z:3.00 [[ 9.96419662e-01 -5.97943850e-02 -5.97702949e-02 6.82088303e+01] [ 5.96276064e-02 9.98210223e-01 -4.57161902e-03 4.87808921e+00] [ 5.99366765e-02 9.91291468e-04 9.98201689e-01 3.00167782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:4.88, Z:3.01 [[ 9.96594207e-01 -6.00943813e-02 -5.64681440e-02 6.82373216e+01] [ 5.99452604e-02 9.98192264e-01 -4.33248225e-03 4.87768607e+00] [ 5.66264224e-02 9.32729115e-04 9.98395001e-01 3.00672229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.27, Y:4.87, Z:3.01 [[ 9.96448957e-01 -6.44904127e-02 -5.41337426e-02 6.82654142e+01] [ 6.43591950e-02 9.97918104e-01 -4.16556464e-03 4.87407493e+00] [ 5.42896808e-02 6.66768443e-04 9.98525005e-01 3.00962925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:4.87, Z:3.01 [[ 9.96279808e-01 -6.75525279e-02 -5.35088823e-02 6.82939061e+01] [ 6.74284248e-02 9.97715594e-01 -4.12328370e-03 4.87193309e+00] [ 5.36651845e-02 4.99924644e-04 9.98558861e-01 3.01163861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.32, Y:4.87, Z:3.01 [[ 9.96070645e-01 -7.07820815e-02 -5.32275064e-02 6.83217473e+01] [ 7.06632074e-02 9.97491746e-01 -4.11432957e-03 4.87060473e+00] [ 5.33852191e-02 3.36936578e-04 9.98573936e-01 3.01297122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:4.87, Z:3.01 [[ 9.95775891e-01 -7.48851956e-02 -5.31279905e-02 6.83502322e+01] [ 7.47722901e-02 9.97192154e-01 -4.11244233e-03 4.86869195e+00] [ 5.32867763e-02 1.22569408e-04 9.98579243e-01 3.01426844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:4.87, Z:3.02 [[ 9.95753950e-01 -7.51771344e-02 -5.31269191e-02 6.83775030e+01] [ 7.50639080e-02 9.97170188e-01 -4.12623898e-03 4.87086443e+00] [ 5.32867788e-02 1.20804593e-04 9.98579243e-01 3.01557403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:4.87, Z:3.02 [[ 9.95428891e-01 -7.94547255e-02 -5.29931056e-02 6.84050479e+01] [ 7.93473451e-02 9.96838471e-01 -4.13048664e-03 4.86860826e+00] [ 5.31537530e-02 -9.32565002e-05 9.98586336e-01 3.01643226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:4.87, Z:3.02 [[ 9.95409171e-01 -7.97017863e-02 -5.29925275e-02 6.84331664e+01] [ 7.95943617e-02 9.96818748e-01 -4.13789004e-03 4.87083956e+00] [ 5.31537421e-02 -9.90127103e-05 9.98586336e-01 3.01777625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.46, Y:4.87, Z:3.02 [[ 9.95051587e-01 -8.41621766e-02 -5.28116166e-02 6.84623541e+01] [ 8.40610612e-02 9.96452018e-01 -4.13693834e-03 4.86846999e+00] [ 5.29724157e-02 -3.22933480e-04 9.98595924e-01 3.01919564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.49, Y:4.85, Z:3.02 [[ 9.93325638e-01 -1.00661010e-01 -5.63164042e-02 6.84934449e+01] [ 1.00571724e-01 9.94919972e-01 -4.42460608e-03 4.85271963e+00] [ 5.64757007e-02 -1.26876319e-03 9.98403168e-01 3.01861830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:4.86, Z:3.02 [[ 9.93322039e-01 -1.00696587e-01 -5.63162866e-02 6.85224824e+01] [ 1.00607273e-01 9.94916371e-01 -4.42610233e-03 4.85503085e+00] [ 5.64756890e-02 -1.26928304e-03 9.98403168e-01 3.02000457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:4.86, Z:3.02 [[ 9.93382807e-01 -9.88925324e-02 -5.84026180e-02 6.85516320e+01] [ 9.87932347e-02 9.95097386e-01 -4.59225359e-03 4.86061921e+00] [ 5.85704321e-02 -1.20791779e-03 9.98282548e-01 3.01971253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.58, Y:4.86, Z:3.02 [[ 9.93419128e-01 -9.79691085e-02 -5.93337202e-02 6.85788686e+01] [ 9.78648012e-02 9.95188770e-01 -4.66835884e-03 4.86324748e+00] [ 5.95056070e-02 -1.16904577e-03 9.98227287e-01 3.01972404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:4.87, Z:3.02 [[ 9.93467886e-01 -9.71041092e-02 -5.99362238e-02 6.86070410e+01] [ 9.69956398e-02 9.95273598e-01 -4.72340191e-03 4.86656271e+00] [ 6.01116028e-02 -1.12100427e-03 9.98191033e-01 3.02045873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:4.87, Z:3.02 [[ 9.93910196e-01 -9.22241757e-02 -6.03094076e-02 6.86342147e+01] [ 9.21045606e-02 9.95737934e-01 -4.76622690e-03 4.87372804e+00] [ 6.04919262e-02 -8.17569968e-04 9.98168352e-01 3.02159667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:4.88, Z:3.03 [[ 9.94256777e-01 -8.93634991e-02 -5.88865530e-02 6.86623583e+01] [ 8.92440268e-02 9.95998885e-01 -4.66094603e-03 4.88250015e+00] [ 5.90674595e-02 -6.21095931e-04 9.98253800e-01 3.02540108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.69, Y:4.89, Z:3.03 [[ 9.94297015e-01 -8.93835723e-02 -5.81723491e-02 6.86898652e+01] [ 8.92662542e-02 9.95997096e-01 -4.61745675e-03 4.88548346e+00] [ 5.83522155e-02 -6.01704234e-04 9.98295876e-01 3.02678896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.72, Y:4.89, Z:3.03 [[ 9.94275525e-01 -9.04754977e-02 -5.68362929e-02 6.87182518e+01] [ 9.03649142e-02 9.95898474e-01 -4.51802101e-03 4.88934725e+00] [ 5.70119476e-02 -6.43849017e-04 9.98373289e-01 3.02967050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.75, Y:4.89, Z:3.03 [[ 9.94258876e-01 -9.10111371e-02 -5.62695315e-02 6.87479929e+01] [ 9.09029158e-02 9.95849659e-01 -4.48517776e-03 4.89247829e+00] [ 5.64441949e-02 -6.55636689e-04 9.98405540e-01 3.03170832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:4.90, Z:3.03 [[ 9.94209199e-01 -9.16763858e-02 -5.60669986e-02 6.87769667e+01] [ 9.15697760e-02 9.95788616e-01 -4.47300111e-03 4.89507655e+00] [ 5.62409475e-02 -6.86943646e-04 9.98416989e-01 3.03323204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:4.90, Z:3.03 [[ 9.94211439e-01 -9.19023415e-02 -5.56558569e-02 6.88059660e+01] [ 9.17969445e-02 9.95767791e-01 -4.45270883e-03 4.89708321e+00] [ 5.58295241e-02 -6.82103557e-04 9.98440083e-01 3.03437831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.83, Y:4.90, Z:3.04 [[ 9.94272053e-01 -9.16238520e-02 -5.50286735e-02 6.88349189e+01] [ 9.15202356e-02 9.95793472e-01 -4.40536164e-03 4.90242510e+00] [ 5.52008301e-02 -6.56109205e-04 9.98475056e-01 3.03746159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.86, Y:4.91, Z:3.04 [[ 9.94376401e-01 -9.03189438e-02 -5.52997340e-02 6.88647427e+01] [ 9.02121901e-02 9.95912720e-01 -4.42881089e-03 4.90743447e+00] [ 5.54737141e-02 -5.84805081e-04 9.98459977e-01 3.03939931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters Centerline goodness [0,1] 0.9999573251397602 Centerline is valid? [True, True] Translation: X:68.89, Y:4.91, Z:3.04 [[ 9.94378582e-01 -8.84261034e-02 -5.82413967e-02 6.88945778e+01] [ 8.83044158e-02 9.96082612e-01 -4.66479785e-03 4.91308866e+00] [ 5.84257325e-02 -5.04397436e-04 9.98291630e-01 3.03736847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93509989299999 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:68.92, Y:4.92, Z:3.04 [[ 9.94328808e-01 -8.80428157e-02 -5.96547133e-02 6.89230244e+01] [ 8.79141638e-02 9.96116571e-01 -4.78289202e-03 4.91642197e+00] [ 5.98441478e-02 -4.88726923e-04 9.98207613e-01 3.03776618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:4.92, Z:3.04 [[ 9.94304931e-01 -8.85014031e-02 -5.93734395e-02 6.89505366e+01] [ 8.83738560e-02 9.96075927e-01 -4.77581102e-03 4.91908584e+00] [ 5.95631198e-02 -4.98447349e-04 9.98224417e-01 3.03886239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:4.92, Z:3.04 [[ 9.94261407e-01 -8.90979341e-02 -5.92098982e-02 6.89783694e+01] [ 8.89712676e-02 9.96022736e-01 -4.77741491e-03 4.92265858e+00] [ 5.94000626e-02 -5.17980433e-04 9.98234123e-01 3.04011346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.01, Y:4.93, Z:3.04 [[ 9.94253606e-01 -8.92690494e-02 -5.90830241e-02 6.90057816e+01] [ 8.91429141e-02 9.96007412e-01 -4.77245509e-03 4.92530797e+00] [ 5.92731625e-02 -5.21802266e-04 9.98241664e-01 3.04080233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:4.93, Z:3.04 [[ 9.94248429e-01 -8.96189195e-02 -5.86388174e-02 6.90351028e+01] [ 8.94950124e-02 9.95975986e-01 -4.74116267e-03 4.93077183e+00] [ 5.88277518e-02 -5.33988152e-04 9.98268005e-01 3.04343623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299999 meters Centerline goodness [0,1] 0.9999355753124597 Centerline is valid? [True, True] Translation: X:69.06, Y:4.93, Z:3.04 [[ 9.94180563e-01 -9.00128158e-02 -5.91836230e-02 6.90628356e+01] [ 8.98871228e-02 9.95940450e-01 -4.78804707e-03 4.93368787e+00] [ 5.93743497e-02 -5.59662259e-04 9.98235630e-01 3.04237285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:4.94, Z:3.04 [[ 9.94061384e-01 -9.10817362e-02 -5.95489969e-02 6.90915068e+01] [ 9.09559552e-02 9.95843227e-01 -4.82505797e-03 4.93736458e+00] [ 5.97409399e-02 -6.19932091e-04 9.98213722e-01 3.04468697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.145099893 meters Centerline goodness [0,1] 0.9998285726530525 Centerline is valid? [True, True] Translation: X:69.12, Y:4.94, Z:3.04 [[ 9.93794455e-01 -9.31403461e-02 -6.08067173e-02 6.91203554e+01] [ 9.30122434e-02 9.95652710e-01 -4.94001795e-03 4.93979501e+00] [ 6.10024879e-02 -7.46406746e-04 9.98137335e-01 3.04171320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.15, Y:4.94, Z:3.05 [[ 9.93494483e-01 -9.69925288e-02 -5.96754721e-02 6.91494923e+01] [ 9.68759126e-02 9.95284645e-01 -4.85107049e-03 4.94373902e+00] [ 5.98645987e-02 -9.61604052e-04 9.98206043e-01 3.04727898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:4.95, Z:3.05 [[ 9.93142119e-01 -1.00754825e-01 -5.93059554e-02 6.91792624e+01] [ 1.00646238e-01 9.94910586e-01 -4.82284587e-03 4.94761231e+00] [ 5.94900479e-02 -1.17914996e-03 9.98228202e-01 3.04961102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:4.95, Z:3.05 [[ 9.92853366e-01 -1.03781745e-01 -5.89197941e-02 6.92095136e+01] [ 1.03679874e-01 9.94599177e-01 -4.79171289e-03 4.95030683e+00] [ 5.90988710e-02 -1.35132854e-03 9.98251220e-01 3.05100201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:4.95, Z:3.05 [[ 9.92763896e-01 -1.06051952e-01 -5.63278808e-02 6.92405620e+01] [ 1.05962560e-01 9.94359573e-01 -4.57978714e-03 4.95482075e+00] [ 5.64958629e-02 -1.42199915e-03 9.98401821e-01 3.05457876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29509989299999 meters Centerline goodness [0,1] 0.9998920529372396 Centerline is valid? [True, True] Translation: X:69.27, Y:4.96, Z:3.05 [[ 9.92780577e-01 -1.05962501e-01 -5.62020911e-02 6.92723533e+01] [ 1.05873496e-01 9.94369118e-01 -4.56723246e-03 4.96024134e+00] [ 5.63695791e-02 -1.41605221e-03 9.98408967e-01 3.05472908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters Centerline goodness [0,1] 0.9997839099336604 Centerline is valid? [True, True] Translation: X:69.30, Y:4.97, Z:3.06 [[ 9.92826927e-01 -1.05392577e-01 -5.64543828e-02 6.93045019e+01] [ 1.05302084e-01 9.94429717e-01 -4.58362785e-03 4.96501349e+00] [ 5.66229963e-02 -1.39401504e-03 9.98394658e-01 3.05561581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.34, Y:4.97, Z:3.06 [[ 9.92855189e-01 -1.05321312e-01 -5.60891773e-02 6.93359386e+01] [ 1.05232103e-01 9.94437280e-01 -4.54990071e-03 4.97006274e+00] [ 5.62563704e-02 -1.38498954e-03 9.98415396e-01 3.06101111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:4.97, Z:3.06 [[ 9.92871157e-01 -1.05279991e-01 -5.58837150e-02 6.93674170e+01] [ 1.05191589e-01 9.94441660e-01 -4.52930074e-03 4.97336940e+00] [ 5.60499391e-02 -1.38148473e-03 9.98427011e-01 3.06227928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.40, Y:4.98, Z:3.06 [[ 9.92583287e-01 -1.06941148e-01 -5.78101069e-02 6.93994223e+01] [ 1.06849558e-01 9.94264176e-01 -4.68199907e-03 4.97874360e+00] [ 5.79792166e-02 -1.52971032e-03 9.98316618e-01 3.06196919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:4.98, Z:3.06 [[ 9.92251925e-01 -1.08832319e-01 -5.99303243e-02 6.94318239e+01] [ 1.08737597e-01 9.94058660e-01 -4.84926922e-03 4.98253936e+00] [ 6.01020151e-02 -1.70498276e-03 9.98190784e-01 3.06171858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:4.99, Z:3.06 [[ 9.91936204e-01 -1.10749727e-01 -6.16203306e-02 6.94630994e+01] [ 1.10653548e-01 9.93846555e-01 -4.98170489e-03 4.98576567e+00] [ 6.17928757e-02 -1.87697477e-03 9.98087229e-01 3.06167928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:4.99, Z:3.07 [[ 9.91875883e-01 -1.11653833e-01 -6.09561621e-02 6.94950761e+01] [ 1.11561634e-01 9.93745315e-01 -4.92449968e-03 4.99120632e+00] [ 6.11247398e-02 -1.91587659e-03 9.98128296e-01 3.06512019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.53, Y:5.00, Z:3.07 [[ 9.92049847e-01 -1.10968015e-01 -5.93565567e-02 6.95273024e+01] [ 1.10879637e-01 9.93822296e-01 -4.79071720e-03 4.99621623e+00] [ 5.95214858e-02 -1.82880318e-03 9.98225349e-01 3.06902857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.56, Y:5.00, Z:3.07 [[ 9.92366068e-01 -1.09102406e-01 -5.75000103e-02 6.95571509e+01] [ 1.09016628e-01 9.94029116e-01 -4.63591396e-03 4.99955722e+00] [ 5.76624738e-02 -1.66793355e-03 9.98334742e-01 3.07229696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:5.00, Z:3.08 [[ 9.92593965e-01 -1.07517196e-01 -5.65444306e-02 6.95885764e+01] [ 1.07431762e-01 9.94202015e-01 -4.55737909e-03 5.00451487e+00] [ 5.67065834e-02 -1.55104083e-03 9.98389682e-01 3.07508106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:5.01, Z:3.08 [[ 9.93019664e-01 -1.03953021e-01 -5.57289536e-02 6.96188332e+01] [ 1.03864625e-01 9.94581317e-01 -4.48811753e-03 5.00835829e+00] [ 5.58935295e-02 -1.33147791e-03 9.98435847e-01 3.07748783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:5.01, Z:3.08 [[ 9.93489897e-01 -9.97790320e-02 -5.49724411e-02 6.96502597e+01] [ 9.96867043e-02 9.95009031e-01 -4.42593361e-03 5.01352142e+00] [ 5.51396907e-02 -1.08290115e-03 9.98478063e-01 3.07991909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:5.02, Z:3.08 [[ 9.93687351e-01 -9.77626315e-02 -5.50265025e-02 6.96821231e+01] [ 9.76672046e-02 9.95209283e-01 -4.42718575e-03 5.01740732e+00] [ 5.51956995e-02 -9.75046205e-04 9.98475079e-01 3.08142048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:5.02, Z:3.08 [[ 9.93969046e-01 -9.43228746e-02 -5.59350540e-02 6.97132522e+01] [ 9.42190839e-02 9.95541337e-01 -4.49570833e-03 5.02145931e+00] [ 5.61097066e-02 -8.01554628e-04 9.98424288e-01 3.08234808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.75, Y:5.02, Z:3.08 [[ 9.94139214e-01 -9.10107402e-02 -5.83461143e-02 6.97453565e+01] [ 9.08925298e-02 9.95849700e-01 -4.68223386e-03 5.02479605e+00] [ 5.85300940e-02 -6.48433650e-04 9.98285434e-01 3.08259027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77509989299999 meters Centerline goodness [0,1] 0.9998908749645343 Centerline is valid? [True, True] Translation: X:69.78, Y:5.03, Z:3.08 [[ 9.94244683e-01 -8.96567930e-02 -5.86444341e-02 6.97758644e+01] [ 8.95352321e-02 9.95972554e-01 -4.70252009e-03 5.02665795e+00] [ 5.88298597e-02 -5.75287420e-04 9.98267858e-01 3.08171913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.81, Y:5.03, Z:3.09 [[ 9.94382653e-01 -8.81210547e-02 -5.86329197e-02 6.98068715e+01] [ 8.79969483e-02 9.96109655e-01 -4.70033640e-03 5.03103416e+00] [ 5.88190160e-02 -4.85585030e-04 9.98268545e-01 3.08761722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:5.03, Z:3.09 [[ 9.94562598e-01 -8.61914166e-02 -5.84489428e-02 6.98366289e+01] [ 8.60648722e-02 9.96278526e-01 -4.68365396e-03 5.03287071e+00] [ 5.86351173e-02 -3.72213737e-04 9.98279412e-01 3.08966039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.87, Y:5.03, Z:3.09 [[ 9.94549297e-01 -8.71613694e-02 -5.72240513e-02 6.98667600e+01] [ 8.70417294e-02 9.96194117e-01 -4.58465632e-03 5.03270248e+00] [ 5.74058682e-02 -4.21213671e-04 9.98350835e-01 3.09199890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.90, Y:5.03, Z:3.09 [[ 9.94347869e-01 -9.02797772e-02 -5.58737597e-02 6.98976606e+01] [ 9.01706463e-02 9.95916270e-01 -4.47632244e-03 5.02967419e+00] [ 5.60497077e-02 -5.87151344e-04 9.98427807e-01 3.09348027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.93, Y:5.03, Z:3.10 [[ 9.93906356e-01 -9.55123348e-02 -5.50231664e-02 6.99293312e+01] [ 9.54145713e-02 9.95427866e-01 -4.40706688e-03 5.02736807e+00] [ 5.51925224e-02 -8.69800054e-04 9.98475352e-01 3.09683490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.955099893 meters Centerline goodness [0,1] 0.9998700004333319 Centerline is valid? [True, True] Translation: X:69.96, Y:5.03, Z:3.10 [[ 9.93638692e-01 -9.84049101e-02 -5.47596834e-02 6.99620250e+01] [ 9.83125917e-02 9.95145928e-01 -4.38370899e-03 5.02671206e+00] [ 5.49252544e-02 -1.02774352e-03 9.98489940e-01 3.09663570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:5.02, Z:3.10 [[ 9.93270064e-01 -1.02232673e-01 -5.44339951e-02 6.99930568e+01] [ 1.02147427e-01 9.94759746e-01 -4.35329253e-03 5.02429286e+00] [ 5.45937959e-02 -1.23629736e-03 9.98507881e-01 3.10038963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.03, Y:5.02, Z:3.10 [[ 9.92855599e-01 -1.06142474e-01 -5.45117813e-02 7.00253772e+01] [ 1.06063224e-01 9.94349860e-01 -4.35296759e-03 5.02345180e+00] [ 5.46658169e-02 -1.45982703e-03 9.98503639e-01 3.10193028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:5.01, Z:3.10 [[ 9.91885654e-01 -1.14445836e-01 -5.53624460e-02 7.00555619e+01] [ 1.14377197e-01 9.93427574e-01 -4.41721802e-03 5.01403701e+00] [ 5.55041127e-02 -1.95082621e-03 9.98456553e-01 3.10112499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:5.01, Z:3.10 [[ 9.90666100e-01 -1.24412815e-01 -5.56967632e-02 7.00874393e+01] [ 1.24359108e-01 9.92227330e-01 -4.44267311e-03 5.00805133e+00] [ 5.58165761e-02 -2.52519414e-03 9.98437846e-01 3.10255759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters Centerline goodness [0,1] 0.9998712943498219 Centerline is valid? [True, True] Translation: X:70.12, Y:5.00, Z:3.10 [[ 9.90417734e-01 -1.26620286e-01 -5.51363342e-02 7.01185590e+01] [ 1.26571165e-01 9.91947788e-01 -4.39613435e-03 5.00472917e+00] [ 5.52490045e-02 -2.62466061e-03 9.98469158e-01 3.10210585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.15, Y:5.01, Z:3.11 [[ 9.90427862e-01 -1.26713704e-01 -5.47383542e-02 7.01502385e+01] [ 1.26665554e-01 9.91935890e-01 -4.36214972e-03 5.00559439e+00] [ 5.48496822e-02 -2.61306934e-03 9.98491204e-01 3.10728201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:5.01, Z:3.11 [[ 9.90857076e-01 -1.23045151e-01 -5.53366610e-02 7.01817310e+01] [ 1.22990451e-01 9.92398074e-01 -4.40597158e-03 5.00867216e+00] [ 5.54581292e-02 -2.44019278e-03 9.98458032e-01 3.10813093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.21, Y:5.02, Z:3.11 [[ 9.91443862e-01 -1.18186355e-01 -5.54170977e-02 7.02118513e+01] [ 1.18124071e-01 9.92989053e-01 -4.40968655e-03 5.01629452e+00] [ 5.55497362e-02 -2.17413652e-03 9.98453554e-01 3.11058350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:5.02, Z:3.11 [[ 9.92196838e-01 -1.11688204e-01 -5.54182321e-02 7.02415916e+01] [ 1.11615843e-01 9.93741649e-01 -4.40889792e-03 5.02088773e+00] [ 5.55638272e-02 -1.81105812e-03 9.98453495e-01 3.11179023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:5.03, Z:3.11 [[ 9.92976578e-01 -1.04365585e-01 -5.57255801e-02 7.02724496e+01] [ 1.04280909e-01 9.94538003e-01 -4.43315301e-03 5.02702742e+00] [ 5.58838757e-02 -1.40909703e-03 9.98436281e-01 3.11305770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.30, Y:5.03, Z:3.11 [[ 9.93728226e-01 -9.65719097e-02 -5.63744499e-02 7.03030282e+01] [ 9.64727978e-02 9.95325524e-01 -4.48331473e-03 5.03239931e+00] [ 5.65438912e-02 -9.83404516e-04 9.98399630e-01 3.11421043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.33, Y:5.04, Z:3.12 [[ 9.94092960e-01 -9.25389141e-02 -5.67074646e-02 7.03344789e+01] [ 9.24321990e-02 9.95708778e-01 -4.50753424e-03 5.03706206e+00] [ 5.68812426e-02 -7.60687595e-04 9.98380662e-01 3.11543812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.36, Y:5.04, Z:3.12 [[ 9.94410514e-01 -8.87234470e-02 -5.72352961e-02 7.03634268e+01] [ 8.86085605e-02 9.96056147e-01 -4.54702925e-03 5.04077804e+00] [ 5.74129966e-02 -5.49923505e-04 9.98350362e-01 3.11628506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.39, Y:5.05, Z:3.12 [[ 9.95046872e-01 -8.06539898e-02 -5.81090036e-02 7.03931643e+01] [ 8.05217588e-02 9.96742157e-01 -4.61731480e-03 5.04816756e+00] [ 5.82920984e-02 -8.45945221e-05 9.98299566e-01 3.11828528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:5.05, Z:3.12 [[ 9.95026224e-01 -8.09084867e-02 -5.81087849e-02 7.04212740e+01] [ 8.07765288e-02 9.96721530e-01 -4.62006242e-03 5.05042420e+00] [ 5.82920793e-02 -9.67426790e-05 9.98299566e-01 3.11962699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:5.05, Z:3.12 [[ 9.95266659e-01 -7.73829480e-02 -5.87890878e-02 7.04495365e+01] [ 7.72408286e-02 9.97001436e-01 -4.68945665e-03 5.05468883e+00] [ 5.89756890e-02 1.26341997e-04 9.98259411e-01 3.12091941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:5.06, Z:3.12 [[ 9.95534415e-01 -7.38698001e-02 -5.87748343e-02 7.04773332e+01] [ 7.37208433e-02 9.97267833e-01 -4.70165399e-03 5.05869306e+00] [ 5.89615619e-02 3.47728008e-04 9.98260193e-01 3.12153205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:5.06, Z:3.12 [[ 9.96275218e-01 -6.40064674e-02 -5.77828844e-02 7.05059957e+01] [ 6.38456354e-02 9.97949059e-01 -4.62714223e-03 5.06407321e+00] [ 5.79605422e-02 9.20722166e-04 9.98318450e-01 3.12381450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:5.07, Z:3.13 [[ 9.96997771e-01 -5.48364043e-02 -5.46663810e-02 7.05335932e+01] [ 5.46785317e-02 9.98494401e-01 -4.38054239e-03 5.07041404e+00] [ 5.48242886e-02 1.37831356e-03 9.98495066e-01 3.12812575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55509989299999 meters Centerline goodness [0,1] 0.9998929886139886 Centerline is valid? [True, True] Translation: X:70.56, Y:5.07, Z:3.13 [[ 9.97273401e-01 -5.08552318e-02 -5.34743865e-02 7.05635998e+01] [ 5.06982706e-02 9.98704808e-01 -4.28855388e-03 5.06999586e+00] [ 5.36232223e-02 1.56580180e-03 9.98560012e-01 3.12910279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.59, Y:5.07, Z:3.13 [[ 9.97331444e-01 -5.02844779e-02 -5.29288477e-02 7.05925875e+01] [ 5.01297384e-02 9.98733680e-01 -4.24791521e-03 5.07124135e+00] [ 5.30754271e-02 1.58327012e-03 9.98589251e-01 3.13292198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:5.07, Z:3.13 [[ 9.97341058e-01 -5.05128113e-02 -5.25287605e-02 7.06202033e+01] [ 5.03600136e-02 9.98722175e-01 -4.22921701e-03 5.07029172e+00] [ 5.26752675e-02 1.57262267e-03 9.98610456e-01 3.13433017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:5.07, Z:3.13 [[ 9.97299114e-01 -5.14456828e-02 -5.24196468e-02 7.06478931e+01] [ 5.12940511e-02 9.98674615e-01 -4.23478212e-03 5.07177492e+00] [ 5.25680318e-02 1.53452842e-03 9.98616166e-01 3.13465874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:5.07, Z:3.14 [[ 9.97164968e-01 -5.35382676e-02 -5.28741877e-02 7.06772920e+01] [ 5.33866239e-02 9.98564757e-01 -4.27724914e-03 5.06853872e+00] [ 5.30272969e-02 1.44234864e-03 9.98592022e-01 3.13594543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.705099893 meters Centerline goodness [0,1] 0.9998093704990256 Centerline is valid? [True, True] Translation: X:70.71, Y:5.07, Z:3.13 [[ 9.96986241e-01 -5.60676703e-02 -5.36176433e-02 7.07053824e+01] [ 5.59146773e-02 9.98426073e-01 -4.35043232e-03 5.06767390e+00] [ 5.37771717e-02 1.33930794e-03 9.98552063e-01 3.13301579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:5.06, Z:3.14 [[ 9.96529374e-01 -6.39558122e-02 -5.32809564e-02 7.07363777e+01] [ 6.38156696e-02 9.97952313e-01 -4.32915422e-03 5.05864556e+00] [ 5.34487283e-02 9.13969436e-04 9.98570177e-01 3.13654382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:5.05, Z:3.14 [[ 9.95916035e-01 -7.30324565e-02 -5.30802460e-02 7.07648411e+01] [ 7.29061563e-02 9.97329473e-01 -4.31443426e-03 5.04986375e+00] [ 5.32535875e-02 4.26937539e-04 9.98580930e-01 3.13760832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:5.03, Z:3.14 [[ 9.94703960e-01 -8.84812603e-02 -5.22981771e-02 7.07947841e+01] [ 8.83795834e-02 9.96077767e-01 -4.25817088e-03 5.03119631e+00] [ 5.24698198e-02 -3.86471668e-04 9.98622435e-01 3.13804551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters Centerline goodness [0,1] 0.9999580299246638 Centerline is valid? [True, True] Translation: X:70.82, Y:5.03, Z:3.14 [[ 9.94402214e-01 -9.16131243e-02 -5.26428804e-02 7.08232708e+01] [ 9.15138183e-02 9.95794527e-01 -4.29885830e-03 5.02847878e+00] [ 5.28153241e-02 -5.42756780e-04 9.98604149e-01 3.13738034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.85, Y:5.02, Z:3.14 [[ 9.93916110e-01 -9.68606333e-02 -5.24288404e-02 7.08527568e+01] [ 9.67692287e-02 9.95297621e-01 -4.28509225e-03 5.02410468e+00] [ 5.25973569e-02 -8.14476230e-04 9.98615469e-01 3.13948480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:5.02, Z:3.14 [[ 9.93759246e-01 -9.86634748e-02 -5.20392120e-02 7.08814602e+01] [ 9.85757452e-02 9.95120449e-01 -4.25608230e-03 5.02253970e+00] [ 5.22052039e-02 -9.00282957e-04 9.98635973e-01 3.14037707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.91, Y:5.02, Z:3.14 [[ 9.93621032e-01 -1.00288887e-01 -5.15692074e-02 7.09107445e+01] [ 1.00204778e-01 9.94957884e-01 -4.22042822e-03 5.02197541e+00] [ 5.17324515e-02 -9.73974738e-04 9.98660505e-01 3.14198401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:5.02, Z:3.14 [[ 9.93505846e-01 -1.01843513e-01 -5.07349209e-02 7.09404439e+01] [ 1.01763995e-01 9.94799893e-01 -4.15477887e-03 5.02226390e+00] [ 5.08942312e-02 -1.03519113e-03 9.98703512e-01 3.14385714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:5.02, Z:3.15 [[ 9.93234545e-01 -1.05310829e-01 -4.89363652e-02 7.09703890e+01] [ 1.05240967e-01 9.94438668e-01 -4.00920526e-03 5.02061042e+00] [ 4.90864266e-02 -1.16802924e-03 9.98793852e-01 3.14627577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:5.02, Z:3.15 [[ 9.92588178e-01 -1.11931549e-01 -4.73290281e-02 7.10013271e+01] [ 1.11873633e-01 9.93714870e-01 -3.87921275e-03 5.01611154e+00] [ 4.74657653e-02 -1.44440961e-03 9.98871821e-01 3.14855702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.035099893 meters Centerline goodness [0,1] 0.9998754850893394 Centerline is valid? [True, True] Translation: X:71.03, Y:5.01, Z:3.15 [[ 9.92009175e-01 -1.16399250e-01 -4.86724870e-02 7.10318138e+01] [ 1.16343369e-01 9.93201040e-01 -3.98923842e-03 5.01094243e+00] [ 4.88059090e-02 -1.70536001e-03 9.98806826e-01 3.14548823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.065099893 meters Centerline goodness [0,1] 0.9999375247297945 Centerline is valid? [True, True] Translation: X:71.06, Y:5.01, Z:3.15 [[ 9.91325212e-01 -1.21651107e-01 -4.97527172e-02 7.10628642e+01] [ 1.21599480e-01 9.92570887e-01 -4.07447846e-03 5.01073449e+00] [ 4.98787634e-02 -2.01077132e-03 9.98753256e-01 3.14620826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.09, Y:5.00, Z:3.15 [[ 9.90262265e-01 -1.29237668e-01 -5.17520268e-02 7.10926061e+01] [ 1.29192175e-01 9.91610521e-01 -4.23743902e-03 5.00429033e+00] [ 5.18654910e-02 -2.48978092e-03 9.98650976e-01 3.14707485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:5.01, Z:3.15 [[ 9.90005607e-01 -1.30871437e-01 -5.25506007e-02 7.11223854e+01] [ 1.30826732e-01 9.91395903e-01 -4.30457158e-03 5.00723121e+00] [ 5.26617957e-02 -2.61347338e-03 9.98608985e-01 3.14801231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.15, Y:5.01, Z:3.15 [[ 9.89814975e-01 -1.31961452e-01 -5.34087094e-02 7.11522919e+01] [ 1.31916805e-01 9.91251133e-01 -4.37586753e-03 5.00909746e+00] [ 5.35188895e-02 -2.71420711e-03 9.98563149e-01 3.14931277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.18, Y:5.01, Z:3.15 [[ 9.89891578e-01 -1.31270064e-01 -5.36920223e-02 7.11820303e+01] [ 1.31223885e-01 9.91342995e-01 -4.39989451e-03 5.00977726e+00] [ 5.38047846e-02 -2.69025726e-03 9.98547849e-01 3.15014490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:5.02, Z:3.15 [[ 9.90047293e-01 -1.29926045e-01 -5.40886417e-02 7.12121268e+01] [ 1.29877209e-01 9.91520181e-01 -4.43191559e-03 5.01729397e+00] [ 5.42058011e-02 -2.63707580e-03 9.98526303e-01 3.15200697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.24, Y:5.02, Z:3.15 [[ 9.90662578e-01 -1.24679667e-01 -5.51600982e-02 7.12422273e+01] [ 1.24620753e-01 9.92194153e-01 -4.51992964e-03 5.02482777e+00] [ 5.52930703e-02 -2.39636785e-03 9.98467292e-01 3.15268996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:5.03, Z:3.15 [[ 9.91132662e-01 -1.20798956e-01 -5.53503207e-02 7.12717349e+01] [ 1.20733514e-01 9.92674586e-01 -4.53701092e-03 5.03087794e+00] [ 5.54929228e-02 -2.18585899e-03 9.98456688e-01 3.15389402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.30, Y:5.04, Z:3.16 [[ 9.91693138e-01 -1.16427967e-01 -5.46740252e-02 7.13008542e+01] [ 1.16357419e-01 9.93197290e-01 -4.48270504e-03 5.03803810e+00] [ 5.48240059e-02 -1.91626061e-03 9.98494194e-01 3.15622811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.33, Y:5.06, Z:3.16 [[ 9.93941525e-01 -9.71860447e-02 -5.13333936e-02 7.13287473e+01] [ 9.70980834e-02 9.95265911e-01 -4.21051895e-03 5.05830095e+00] [ 5.14995804e-02 -7.99364504e-04 9.98672696e-01 3.16102167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.36, Y:5.07, Z:3.16 [[ 9.94681769e-01 -8.98589496e-02 -5.03343642e-02 7.13575634e+01] [ 8.97649569e-02 9.95954417e-01 -4.12941798e-03 5.06663486e+00] [ 5.05017976e-02 -4.10805254e-04 9.98723886e-01 3.16262860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:5.07, Z:3.16 [[ 9.95148776e-01 -8.51899906e-02 -4.92095378e-02 7.13867998e+01] [ 8.50943605e-02 9.96364711e-01 -4.03888567e-03 5.07338593e+00] [ 4.93747195e-02 -1.68162017e-04 9.98780311e-01 3.16444328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.41, Y:5.08, Z:3.17 [[ 9.95367967e-01 -8.26788815e-02 -4.90592868e-02 7.14149535e+01] [ 8.25806958e-02 9.96576239e-01 -4.02838213e-03 5.07854408e+00] [ 4.92243816e-02 -4.16275044e-05 9.98787744e-01 3.16604893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.44, Y:5.08, Z:3.17 [[ 9.95363094e-01 -8.24520814e-02 -4.95375105e-02 7.14427262e+01] [ 8.23515505e-02 9.96595030e-01 -4.07045933e-03 5.08193789e+00] [ 4.97044546e-02 -2.79058076e-05 9.98763969e-01 3.16723051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:5.08, Z:3.17 [[ 9.95348803e-01 -8.26572063e-02 -4.94827995e-02 7.14726467e+01] [ 8.25569358e-02 9.96578038e-01 -4.07028758e-03 5.08498245e+00] [ 4.96499098e-02 -3.37924281e-05 9.98766682e-01 3.16892964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:5.09, Z:3.17 [[ 9.95090285e-01 -8.50428960e-02 -5.06263914e-02 7.15013388e+01] [ 8.49408853e-02 9.96377279e-01 -4.16698866e-03 5.08689617e+00] [ 5.07973589e-02 -1.53720574e-04 9.98708969e-01 3.16972025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:5.09, Z:3.17 [[ 9.94933812e-01 -8.67433096e-02 -5.08164091e-02 7.15301471e+01] [ 8.66420744e-02 9.96230669e-01 -4.19580898e-03 5.08858453e+00] [ 5.09888236e-02 -2.28286883e-04 9.98699198e-01 3.17093926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:5.09, Z:3.17 [[ 9.94767139e-01 -8.87677718e-02 -5.05828172e-02 7.15598759e+01] [ 8.86694584e-02 9.96052299e-01 -4.18876728e-03 5.09018867e+00] [ 5.07549589e-02 -3.18302969e-04 9.98711086e-01 3.17242856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.59, Y:5.09, Z:3.17 [[ 9.94049631e-01 -9.61406843e-02 -5.12083951e-02 7.15895645e+01] [ 9.60495939e-02 9.95367508e-01 -4.24246858e-03 5.08877655e+00] [ 5.13790465e-02 -7.01321230e-04 9.98678978e-01 3.17317545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:5.09, Z:3.17 [[ 9.93591883e-01 -1.00517254e-01 -5.16860942e-02 7.16188942e+01] [ 1.00430283e-01 9.94934876e-01 -4.28370593e-03 5.08802628e+00] [ 5.18548841e-02 -9.34593629e-04 9.98654193e-01 3.17330242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:5.09, Z:3.17 [[ 9.93240406e-01 -1.04356138e-01 -5.08260935e-02 7.16484956e+01] [ 1.04277110e-01 9.94539365e-01 -4.21136974e-03 5.08781021e+00] [ 5.09880330e-02 -1.11709556e-03 9.98698640e-01 3.17445797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.68, Y:5.08, Z:3.18 [[ 9.92875925e-01 -1.08561204e-01 -4.91107069e-02 7.16780380e+01] [ 1.08492477e-01 9.94088935e-01 -4.07086969e-03 5.08416972e+00] [ 4.92623488e-02 -1.28627373e-03 9.98785045e-01 3.17611986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.71, Y:5.09, Z:3.18 [[ 9.92456015e-01 -1.13047001e-01 -4.74492714e-02 7.17092868e+01] [ 1.12987994e-01 9.93588571e-01 -3.93247204e-03 5.08663145e+00] [ 4.75896079e-02 -1.45839249e-03 9.98865908e-01 3.17800359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.74, Y:5.09, Z:3.18 [[ 9.91792114e-01 -1.19161547e-01 -4.63565379e-02 7.17409041e+01] [ 1.19111968e-01 9.92873402e-01 -3.84024419e-03 5.08546720e+00] [ 4.64837829e-02 -1.71289455e-03 9.98917576e-01 3.17964129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:5.09, Z:3.18 [[ 9.91390461e-01 -1.22258144e-01 -4.68817668e-02 7.17725006e+01] [ 1.22210971e-01 9.92496553e-01 -3.88200325e-03 5.08571179e+00] [ 4.70045985e-02 -1.88088526e-03 9.98892902e-01 3.18080558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:5.09, Z:3.18 [[ 9.90940212e-01 -1.25597828e-01 -4.75676578e-02 7.18031788e+01] [ 1.25553187e-01 9.92079078e-01 -3.93702735e-03 5.08623079e+00] [ 4.76853602e-02 -2.07091233e-03 9.98860259e-01 3.18178300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:5.09, Z:3.18 [[ 9.90494471e-01 -1.28608406e-01 -4.87912063e-02 7.18344163e+01] [ 1.28565128e-01 9.91692849e-01 -4.03735538e-03 5.08769352e+00] [ 4.89051283e-02 -2.27386953e-03 9.98800840e-01 3.18251567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.86, Y:5.09, Z:3.18 [[ 9.90062043e-01 -1.31593204e-01 -4.96022129e-02 7.18643590e+01] [ 1.31552306e-01 9.91300741e-01 -4.10254602e-03 5.08634164e+00] [ 4.97105776e-02 -2.46351040e-03 9.98760627e-01 3.18356684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:5.09, Z:3.18 [[ 9.89022023e-01 -1.38712689e-01 -5.09335620e-02 7.18955917e+01] [ 1.38679139e-01 9.90328419e-01 -4.20931048e-03 5.08742973e+00] [ 5.10248388e-02 -2.90032179e-03 9.98693173e-01 3.18301964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:5.09, Z:3.18 [[ 9.88616874e-01 -1.41203762e-01 -5.19439552e-02 7.19262717e+01] [ 1.41172371e-01 9.89975730e-01 -4.29133207e-03 5.09334539e+00] [ 5.20292072e-02 -3.09056802e-03 9.98640781e-01 3.18414509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.96, Y:5.09, Z:3.18 [[ 9.88522723e-01 -1.41349671e-01 -5.33207005e-02 7.19573994e+01] [ 1.41316877e-01 9.89954618e-01 -4.40384411e-03 5.09493313e+00] [ 5.34075557e-02 -3.18181490e-03 9.98567729e-01 3.18443663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.99, Y:5.10, Z:3.19 [[ 9.88696665e-01 -1.39845059e-01 -5.40579740e-02 7.19881184e+01] [ 1.39809271e-01 9.90168400e-01 -4.46183943e-03 5.10459597e+00] [ 5.41504638e-02 -3.14640017e-03 9.98527830e-01 3.18606302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.02, Y:5.11, Z:3.19 [[ 9.89043625e-01 -1.37192525e-01 -5.45061285e-02 7.20189476e+01] [ 1.37152240e-01 9.90539773e-01 -4.49682325e-03 5.10818313e+00] [ 5.46074187e-02 -3.02808323e-03 9.98503310e-01 3.18687735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.05, Y:5.12, Z:3.19 [[ 9.89490233e-01 -1.34482710e-01 -5.31364188e-02 7.20486806e+01] [ 1.34440620e-01 9.90911962e-01 -4.38204307e-03 5.12031330e+00] [ 5.32428220e-02 -2.80770427e-03 9.98577648e-01 3.19045314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299999 meters Centerline goodness [0,1] 0.9999159434299283 Centerline is valid? [True, True] Translation: X:72.08, Y:5.13, Z:3.19 [[ 9.89705662e-01 -1.33022054e-01 -5.27999505e-02 7.20787749e+01] [ 1.32978472e-01 9.91109365e-01 -4.35335341e-03 5.12502779e+00] [ 5.29096174e-02 -2.71271821e-03 9.98595621e-01 3.19023210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.11, Y:5.13, Z:3.20 [[ 9.89942658e-01 -1.31778839e-01 -5.14574808e-02 7.21093232e+01] [ 1.31735817e-01 9.91275785e-01 -4.24169994e-03 5.13043147e+00] [ 5.15675210e-02 -2.57975358e-03 9.98666178e-01 3.19508248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.14, Y:5.14, Z:3.20 [[ 9.90300047e-01 -1.29753311e-01 -4.96980389e-02 7.21398133e+01] [ 1.29710719e-01 9.91543424e-01 -4.09495662e-03 5.14266991e+00] [ 4.98090978e-02 -2.39113260e-03 9.98755894e-01 3.19879136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.17, Y:5.14, Z:3.20 [[ 9.90395179e-01 -1.28995673e-01 -4.97745565e-02 7.21710384e+01] [ 1.28952100e-01 9.91642351e-01 -4.09916687e-03 5.14264509e+00] [ 4.98873331e-02 -2.35873850e-03 9.98752067e-01 3.20081969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.20, Y:5.16, Z:3.20 [[ 9.90722221e-01 -1.25884454e-01 -5.12111822e-02 7.22009239e+01] [ 1.25834524e-01 9.92042308e-01 -4.21090916e-03 5.15972344e+00] [ 5.13337474e-02 -2.27229344e-03 9.98678969e-01 3.20244971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:5.17, Z:3.20 [[ 9.91150081e-01 -1.21597697e-01 -5.32495818e-02 7.22304410e+01] [ 1.21537641e-01 9.92577174e-01 -4.37666880e-03 5.17074465e+00] [ 5.33865123e-02 -2.13389293e-03 9.98571643e-01 3.20237836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.26, Y:5.18, Z:3.20 [[ 9.91589491e-01 -1.17788658e-01 -5.36294088e-02 7.22617819e+01] [ 1.17722206e-01 9.93036785e-01 -4.40742220e-03 5.17980155e+00] [ 5.37751200e-02 -1.94301879e-03 9.98551181e-01 3.20390014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.29, Y:5.19, Z:3.21 [[ 9.91859907e-01 -1.15499771e-01 -5.36071663e-02 7.22929078e+01] [ 1.15430245e-01 9.93305836e-01 -4.40173433e-03 5.18503999e+00] [ 5.37567104e-02 -1.82198451e-03 9.98552400e-01 3.20534940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:5.19, Z:3.21 [[ 9.91868260e-01 -1.15427894e-01 -5.36074167e-02 7.23244839e+01] [ 1.15358428e-01 9.93314192e-01 -4.39868263e-03 5.18757272e+00] [ 5.37567385e-02 -1.82115364e-03 9.98552400e-01 3.20685570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:5.20, Z:3.21 [[ 9.92523412e-01 -1.10041921e-01 -5.28020135e-02 7.23535011e+01] [ 1.09967093e-01 9.93925800e-01 -4.32919601e-03 5.19734904e+00] [ 5.29576765e-02 -1.50965554e-03 9.98595617e-01 3.20897907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:5.21, Z:3.21 [[ 9.93203628e-01 -1.03826776e-01 -5.25980372e-02 7.23844573e+01] [ 1.03743831e-01 9.94594703e-01 -4.31219010e-03 5.20829053e+00] [ 5.27614499e-02 -1.17383900e-03 9.98606455e-01 3.21097473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:5.22, Z:3.21 [[ 9.94362032e-01 -9.32570113e-02 -5.04705732e-02 7.24143874e+01] [ 9.31671515e-02 9.95641894e-01 -4.13526603e-03 5.22327667e+00] [ 5.06362596e-02 -5.90248004e-04 9.98716987e-01 3.21311672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.44, Y:5.23, Z:3.21 [[ 9.93477212e-01 -9.99762021e-02 -5.48432982e-02 7.24440960e+01] [ 9.98803620e-02 9.94989311e-01 -4.49259848e-03 5.22941675e+00] [ 5.50176484e-02 -1.01447426e-03 9.98484867e-01 3.21015388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:5.23, Z:3.21 [[ 9.93216627e-01 -1.02249589e-01 -5.53692516e-02 7.24763544e+01] [ 1.02155461e-01 9.94758109e-01 -4.53510954e-03 5.23150217e+00] [ 5.55427251e-02 -1.15192522e-03 9.98455647e-01 3.21172720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:5.23, Z:3.21 [[ 9.92977815e-01 -1.04496218e-01 -5.54580884e-02 7.25081091e+01] [ 1.04405508e-01 9.94524456e-01 -4.53839412e-03 5.23486685e+00] [ 5.56286702e-02 -1.28360522e-03 9.98450702e-01 3.21390472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.54, Y:5.24, Z:3.22 [[ 9.92749104e-01 -1.06541416e-01 -5.56609684e-02 7.25403230e+01] [ 1.06453480e-01 9.94307269e-01 -4.55090177e-03 5.23722672e+00] [ 5.58289650e-02 -1.40740014e-03 9.98439355e-01 3.21552415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.57, Y:5.24, Z:3.22 [[ 9.92756881e-01 -1.06468748e-01 -5.56613008e-02 7.25718952e+01] [ 1.06380926e-01 9.94315053e-01 -4.54683273e-03 5.23974894e+00] [ 5.58289648e-02 -1.40740124e-03 9.98439355e-01 3.21702983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:5.24, Z:3.22 [[ 9.92520450e-01 -1.08640242e-01 -5.56817261e-02 7.26042962e+01] [ 1.08555996e-01 9.94079949e-01 -4.54440375e-03 5.24125524e+00] [ 5.58457926e-02 -1.53417157e-03 9.98438227e-01 3.21842658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:5.24, Z:3.22 [[ 9.92297153e-01 -1.10744624e-01 -5.55156651e-02 7.26358557e+01] [ 1.10664386e-01 9.93847524e-01 -4.52692600e-03 5.24297670e+00] [ 5.56754391e-02 -1.65155123e-03 9.98447554e-01 3.21975517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.67, Y:5.25, Z:3.22 [[ 9.92309357e-01 -1.10635071e-01 -5.55159513e-02 7.26682800e+01] [ 1.10554859e-01 9.93859730e-01 -4.52341445e-03 5.24553383e+00] [ 5.56755166e-02 -1.64893165e-03 9.98447554e-01 3.22130170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:5.25, Z:3.22 [[ 9.92089429e-01 -1.12566291e-01 -5.55643253e-02 7.27007700e+01] [ 1.12489288e-01 9.93642650e-01 -4.52148548e-03 5.24707859e+00] [ 5.57200503e-02 -1.76467347e-03 9.98444872e-01 3.22266387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71509989299999 meters Centerline goodness [0,1] 0.9999565500760373 Centerline is valid? [True, True] Translation: X:72.73, Y:5.25, Z:3.22 [[ 9.91936077e-01 -1.13994596e-01 -5.53899993e-02 7.27315240e+01] [ 1.13920509e-01 9.93479661e-01 -4.50352629e-03 5.24817449e+00] [ 5.55422153e-02 -1.84284669e-03 9.98454639e-01 3.22290692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters Centerline goodness [0,1] 0.9999565500760373 Centerline is valid? [True, True] Translation: X:72.76, Y:5.25, Z:3.22 [[ 9.91944318e-01 -1.13922771e-01 -5.53901866e-02 7.27631039e+01] [ 1.13848701e-01 9.93487902e-01 -4.50122148e-03 5.25068337e+00] [ 5.55422719e-02 -1.84113971e-03 9.98454639e-01 3.22441355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.79, Y:5.25, Z:3.23 [[ 9.92092814e-01 -1.12930608e-01 -5.47588078e-02 7.27940008e+01] [ 1.12856917e-01 9.93601303e-01 -4.44610032e-03 5.25199948e+00] [ 5.49105236e-02 -1.76896604e-03 9.98489712e-01 3.22682646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:5.26, Z:3.23 [[ 9.92564810e-01 -1.09334082e-01 -5.34897723e-02 7.28253843e+01] [ 1.09258702e-01 9.94003872e-01 -4.34022087e-03 5.25686358e+00] [ 5.36435749e-02 -1.53627261e-03 9.98558965e-01 3.23002840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:5.26, Z:3.23 [[ 9.92626741e-01 -1.08644744e-01 -5.37445057e-02 7.28572347e+01] [ 1.08567798e-01 9.94079495e-01 -4.35787502e-03 5.26006712e+00] [ 5.38997713e-02 -1.50917938e-03 9.98545210e-01 3.23158607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.89, Y:5.26, Z:3.23 [[ 9.92452155e-01 -1.09944910e-01 -5.43216011e-02 7.28894898e+01] [ 1.09868463e-01 9.93936394e-01 -4.40073126e-03 5.26250618e+00] [ 5.44760543e-02 -1.60071558e-03 9.98513794e-01 3.23303545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:5.26, Z:3.23 [[ 9.92386243e-01 -1.10452387e-01 -5.44960016e-02 7.29215701e+01] [ 1.10376428e-01 9.93880067e-01 -4.41092949e-03 5.26448857e+00] [ 5.46496875e-02 -1.63772822e-03 9.98504246e-01 3.23422047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.95, Y:5.27, Z:3.23 [[ 9.92272805e-01 -1.10737328e-01 -5.59636014e-02 7.29538563e+01] [ 1.10657905e-01 9.93848251e-01 -4.52561822e-03 5.26730055e+00] [ 5.61204823e-02 -1.70216702e-03 9.98422553e-01 3.23455131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:5.27, Z:3.24 [[ 9.92317113e-01 -1.09961623e-01 -5.67026288e-02 7.29854522e+01] [ 1.09879057e-01 9.93934407e-01 -4.58128913e-03 5.27168208e+00] [ 5.68624597e-02 -1.68433979e-03 9.98380601e-01 3.23623870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:5.28, Z:3.24 [[ 9.92465352e-01 -1.08475896e-01 -5.69693342e-02 7.30169051e+01] [ 1.08390345e-01 9.94097774e-01 -4.59870620e-03 5.27627732e+00] [ 5.71319371e-02 -1.61086922e-03 9.98365337e-01 3.23804178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:5.28, Z:3.24 [[ 9.92698635e-01 -1.06286487e-01 -5.70316012e-02 7.30475632e+01] [ 1.06197368e-01 9.94334431e-01 -4.59975304e-03 5.28011734e+00] [ 5.71973764e-02 -1.49043739e-03 9.98361777e-01 3.23927851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:5.29, Z:3.24 [[ 9.93306428e-01 -1.00560347e-01 -5.68327143e-02 7.30783915e+01] [ 1.00462650e-01 9.94930285e-01 -4.58079853e-03 5.28740223e+00] [ 5.70052354e-02 -1.15942843e-03 9.98373206e-01 3.24163659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:5.29, Z:3.24 [[ 9.94012999e-01 -9.40493005e-02 -5.56137355e-02 7.31098670e+01] [ 9.39456849e-02 9.95567243e-01 -4.48038303e-03 5.29373540e+00] [ 5.57885902e-02 -7.71111498e-04 9.98442306e-01 3.24343117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:5.30, Z:3.24 [[ 9.94864735e-01 -8.51644530e-02 -5.46916289e-02 7.31400759e+01] [ 8.50509701e-02 9.96366871e-01 -4.40339408e-03 5.29870079e+00] [ 5.48679399e-02 -2.70794606e-04 9.98493583e-01 3.24373961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:5.30, Z:3.24 [[ 9.95189350e-01 -8.08797571e-02 -5.52867256e-02 7.31708582e+01] [ 8.07572448e-02 9.96723865e-01 -4.45014843e-03 5.30199351e+00] [ 5.54655258e-02 -3.60633074e-05 9.98460602e-01 3.24410267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:5.30, Z:3.24 [[ 9.95295593e-01 -7.86228985e-02 -5.66138003e-02 7.32007223e+01] [ 7.84908914e-02 9.96904425e-01 -4.55502075e-03 5.30428354e+00] [ 5.67966770e-02 8.99244243e-05 9.98385762e-01 3.24391760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:5.30, Z:3.25 [[ 9.95132161e-01 -7.99165109e-02 -5.76657122e-02 7.32302873e+01] [ 7.97817475e-02 9.96801561e-01 -4.63915230e-03 5.30367551e+00] [ 5.78520168e-02 1.58983607e-05 9.98325169e-01 3.24585380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.26, Y:5.30, Z:3.25 [[ 9.95013104e-01 -8.15350768e-02 -5.74539372e-02 7.32594780e+01] [ 8.14038775e-02 9.96670470e-01 -4.62420082e-03 5.30403437e+00] [ 5.76396771e-02 -7.58328481e-05 9.98337449e-01 3.24788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:5.30, Z:3.25 [[ 9.94737443e-01 -8.56990288e-02 -5.61524397e-02 7.32894340e+01] [ 8.55802329e-02 9.96321023e-01 -4.52130158e-03 5.30073535e+00] [ 5.63333273e-02 -3.08030886e-04 9.98411970e-01 3.25041111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:5.30, Z:3.25 [[ 9.94514397e-01 -8.84440379e-02 -5.58459184e-02 7.33201645e+01] [ 8.83308114e-02 9.96081041e-01 -4.49747635e-03 5.30045488e+00] [ 5.60248355e-02 -4.60110305e-04 9.98429269e-01 3.25276999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.35, Y:5.30, Z:3.25 [[ 9.94039778e-01 -9.40619824e-02 -5.51113740e-02 7.33507122e+01] [ 9.39603464e-02 9.95566048e-01 -4.43818027e-03 5.29704032e+00] [ 5.52844769e-02 -7.66556069e-04 9.98470350e-01 3.25489222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:5.30, Z:3.26 [[ 9.93759501e-01 -9.69662908e-02 -5.51325096e-02 7.33823669e+01] [ 9.68691037e-02 9.95287232e-01 -4.43874443e-03 5.29643195e+00] [ 5.53030915e-02 -9.29592345e-04 9.98469180e-01 3.25645255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.41, Y:5.30, Z:3.26 [[ 9.93441221e-01 -1.00239256e-01 -5.50148316e-02 7.34144005e+01] [ 1.00147618e-01 9.94962741e-01 -4.42702925e-03 5.29612353e+00] [ 5.51814698e-02 -1.11161102e-03 9.98475723e-01 3.25799244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:5.29, Z:3.26 [[ 9.92820389e-01 -1.06513050e-01 -5.44301845e-02 7.34454498e+01] [ 1.06432952e-01 9.94310250e-01 -4.37648433e-03 5.29248391e+00] [ 5.45866430e-02 -1.44810233e-03 9.98507988e-01 3.25896927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:5.29, Z:3.26 [[ 9.92091699e-01 -1.13099906e-01 -5.44286017e-02 7.34769685e+01] [ 1.13029755e-01 9.93581970e-01 -4.37537919e-03 5.28989273e+00] [ 5.45741323e-02 -1.81127414e-03 9.98508079e-01 3.26025021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:5.28, Z:3.26 [[ 9.90983828e-01 -1.21954571e-01 -5.54809438e-02 7.35070883e+01] [ 1.21895548e-01 9.92532916e-01 -4.45936033e-03 5.27935758e+00] [ 5.56105023e-02 -2.34372609e-03 9.98449788e-01 3.25914839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:5.28, Z:3.26 [[ 9.90625058e-01 -1.24676610e-01 -5.58366960e-02 7.35383344e+01] [ 1.24621066e-01 9.92194253e-01 -4.48925438e-03 5.28296374e+00] [ 5.59605539e-02 -2.51126067e-03 9.98429822e-01 3.26084353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:5.28, Z:3.26 [[ 9.90053152e-01 -1.29138854e-01 -5.58382716e-02 7.35699244e+01] [ 1.29090492e-01 9.91622664e-01 -4.48736224e-03 5.28295669e+00] [ 5.59499885e-02 -2.76546280e-03 9.98429743e-01 3.26235145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:5.28, Z:3.26 [[ 9.89667528e-01 -1.32497392e-01 -5.47962173e-02 7.36005905e+01] [ 1.32456037e-01 9.91179107e-01 -4.40191469e-03 5.27664066e+00] [ 5.48961079e-02 -2.90165774e-03 9.98487856e-01 3.26312404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:5.28, Z:3.27 [[ 9.89553321e-01 -1.33505545e-01 -5.44104336e-02 7.36329674e+01] [ 1.33466314e-01 9.91043714e-01 -4.37042341e-03 5.27985049e+00] [ 5.45065940e-02 -2.93719302e-03 9.98509091e-01 3.26555958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:5.28, Z:3.27 [[ 9.89526368e-01 -1.33893690e-01 -5.39448421e-02 7.36645374e+01] [ 1.33855907e-01 9.90991349e-01 -4.32920983e-03 5.28424676e+00] [ 5.40385257e-02 -2.93696850e-03 9.98534532e-01 3.26740895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:5.29, Z:3.27 [[ 9.89604091e-01 -1.33382691e-01 -5.37847683e-02 7.36959662e+01] [ 1.33344584e-01 9.91060353e-01 -4.31258247e-03 5.28664087e+00] [ 5.38791753e-02 -2.90415828e-03 9.98543239e-01 3.26939573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.73, Y:5.29, Z:3.27 [[ 9.89688501e-01 -1.32577108e-01 -5.42216002e-02 7.37276191e+01] [ 1.32537345e-01 9.91168491e-01 -4.34451191e-03 5.29381956e+00] [ 5.43187245e-02 -2.88667344e-03 9.98519476e-01 3.27161990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.76, Y:5.29, Z:3.27 [[ 9.89980777e-01 -1.29985180e-01 -5.51535550e-02 7.37580304e+01] [ 1.29940238e-01 9.91511996e-01 -4.41544189e-03 5.29396284e+00] [ 5.52593534e-02 -2.79546346e-03 9.98468121e-01 3.27202194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:5.30, Z:3.27 [[ 9.90091849e-01 -1.28678827e-01 -5.62128962e-02 7.37898285e+01] [ 1.28630133e-01 9.91682434e-01 -4.49871188e-03 5.30026535e+00] [ 5.63242307e-02 -2.77653436e-03 9.98408670e-01 3.27334442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.82, Y:5.30, Z:3.27 [[ 9.90050042e-01 -1.28102010e-01 -5.82304839e-02 7.38217651e+01] [ 1.28049022e-01 9.91756911e-01 -4.65588119e-03 5.30424870e+00] [ 5.83469126e-02 -2.84680113e-03 9.98292309e-01 3.27384009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.85, Y:5.31, Z:3.27 [[ 9.89952833e-01 -1.28272583e-01 -5.94939811e-02 7.38537532e+01] [ 1.28217841e-01 9.91734641e-01 -4.75256788e-03 5.30915102e+00] [ 5.96118662e-02 -2.92337179e-03 9.98217351e-01 3.27443309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:5.31, Z:3.27 [[ 9.89645398e-01 -1.29544256e-01 -6.18083490e-02 7.38844964e+01] [ 1.29487987e-01 9.91568725e-01 -4.93205519e-03 5.31040953e+00] [ 6.19261452e-02 -3.12245297e-03 9.98075850e-01 3.27273228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:5.32, Z:3.27 [[ 9.89356620e-01 -1.30923280e-01 -6.35025442e-02 7.39163875e+01] [ 1.30867187e-01 9.91386996e-01 -5.05994655e-03 5.31604749e+00] [ 6.36180613e-02 -3.30430770e-03 9.97968849e-01 3.27314098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:5.32, Z:3.27 [[ 9.89303891e-01 -1.31116474e-01 -6.39240336e-02 7.39477852e+01] [ 1.31060319e-01 9.91361333e-01 -5.08914749e-03 5.31854613e+00] [ 6.40390862e-02 -3.34319083e-03 9.97941791e-01 3.27408090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:5.32, Z:3.28 [[ 9.89446376e-01 -1.30333667e-01 -6.33166964e-02 7.39795848e+01] [ 1.30277210e-01 9.91464813e-01 -5.03709178e-03 5.32413096e+00] [ 6.34327792e-02 -3.26479034e-03 9.97980773e-01 3.27555101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:5.33, Z:3.28 [[ 9.89981143e-01 -1.26830224e-01 -6.20598923e-02 7.40098635e+01] [ 1.26769342e-01 9.91919954e-01 -4.93349497e-03 5.33199207e+00] [ 6.21841618e-02 -2.98322471e-03 9.98060234e-01 3.27755102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.04, Y:5.34, Z:3.28 [[ 9.90665950e-01 -1.22085481e-01 -6.06309322e-02 7.40403024e+01] [ 1.22018566e-01 9.92516120e-01 -4.81882107e-03 5.33930629e+00] [ 6.07654857e-02 -2.62425745e-03 9.98148621e-01 3.27959210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.07, Y:5.35, Z:3.28 [[ 9.91252967e-01 -1.18093267e-01 -5.89197458e-02 7.40706914e+01] [ 1.18023095e-01 9.92999814e-01 -4.68179058e-03 5.34684380e+00] [ 5.90601845e-02 -2.31305193e-03 9.98251744e-01 3.28238224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.10, Y:5.35, Z:3.28 [[ 9.91500076e-01 -1.15770159e-01 -5.93706122e-02 7.41012613e+01] [ 1.15694842e-01 9.93273609e-01 -4.71611893e-03 5.35236355e+00] [ 5.95172480e-02 -2.19284133e-03 9.98224869e-01 3.28315142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.13, Y:5.36, Z:3.28 [[ 9.91430480e-01 -1.15024125e-01 -6.19278183e-02 7.41326929e+01] [ 1.14940962e-01 9.93360163e-01 -4.91557132e-03 5.35860178e+00] [ 6.20820370e-02 -2.24459576e-03 9.98068526e-01 3.28329657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.16, Y:5.36, Z:3.28 [[ 9.91146426e-01 -1.15979536e-01 -6.46336551e-02 7.41644218e+01] [ 1.15891272e-01 9.93248679e-01 -5.12581730e-03 5.36213989e+00] [ 6.47917825e-02 -2.41004103e-03 9.97895895e-01 3.28286798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:5.36, Z:3.28 [[ 9.90936510e-01 -1.16928122e-01 -6.61259922e-02 7.41952304e+01] [ 1.16838046e-01 9.93137151e-01 -5.24115879e-03 5.36209657e+00] [ 6.62850184e-02 -2.53237612e-03 9.97797516e-01 3.28271426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:5.36, Z:3.29 [[ 9.91022872e-01 -1.17101747e-01 -6.45046324e-02 7.42263834e+01] [ 1.17016491e-01 9.93116819e-01 -5.11120052e-03 5.36199704e+00] [ 6.46591659e-02 -2.48278910e-03 9.97904318e-01 3.28591612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.26, Y:5.36, Z:3.29 [[ 9.91094469e-01 -1.17084637e-01 -6.34266565e-02 7.42577212e+01] [ 1.17002311e-01 9.93118937e-01 -5.02354732e-03 5.36382598e+00] [ 6.35783939e-02 -2.44225542e-03 9.97973859e-01 3.28829858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.29, Y:5.37, Z:3.29 [[ 9.91102830e-01 -1.17013720e-01 -6.34268809e-02 7.42893147e+01] [ 1.16931431e-01 9.93127299e-01 -5.02071188e-03 5.36626806e+00] [ 6.35784592e-02 -2.44055418e-03 9.97973859e-01 3.28980563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.32, Y:5.37, Z:3.29 [[ 9.91155674e-01 -1.17254861e-01 -6.21428056e-02 7.43198231e+01] [ 1.17176564e-01 9.93098933e-01 -4.91546627e-03 5.36672365e+00] [ 6.22903163e-02 -2.40968815e-03 9.98055164e-01 3.29156480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:5.37, Z:3.30 [[ 9.91166561e-01 -1.18165894e-01 -6.02135348e-02 7.43521062e+01] [ 1.18094162e-01 9.92990987e-01 -4.76110705e-03 5.36984691e+00] [ 6.03540978e-02 -2.39181684e-03 9.98174164e-01 3.29574369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:5.37, Z:3.30 [[ 9.91175152e-01 -1.18093633e-01 -6.02138804e-02 7.43837003e+01] [ 1.18022033e-01 9.92999584e-01 -4.75673292e-03 5.37228412e+00] [ 6.03540980e-02 -2.39180912e-03 9.98174164e-01 3.29725014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:5.38, Z:3.30 [[ 9.91291699e-01 -1.17401387e-01 -5.96463016e-02 7.44160538e+01] [ 1.17330139e-01 9.93081808e-01 -4.70756040e-03 5.37500210e+00] [ 5.97863311e-02 -2.33174330e-03 9.98208474e-01 3.29918769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:5.37, Z:3.30 [[ 9.91358454e-01 -1.17126754e-01 -5.90740178e-02 7.44471396e+01] [ 1.17056669e-01 9.93114316e-01 -4.65750297e-03 5.37334154e+00] [ 5.92127710e-02 -2.29775281e-03 9.98242740e-01 3.29958313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:5.38, Z:3.30 [[ 9.91029250e-01 -1.19579225e-01 -5.96811121e-02 7.44791373e+01] [ 1.19512538e-01 9.92821574e-01 -4.69853064e-03 5.37681191e+00] [ 5.98145423e-02 -2.47625990e-03 9.98206436e-01 3.30349029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.51, Y:5.37, Z:3.30 [[ 9.90676573e-01 -1.22024822e-01 -6.05794550e-02 7.45102841e+01] [ 1.21960914e-01 9.92523464e-01 -4.76529133e-03 5.37414519e+00] [ 6.07080144e-02 -2.66746324e-03 9.98152003e-01 3.30318690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:5.38, Z:3.31 [[ 9.91585029e-01 -1.16072444e-01 -5.73264188e-02 7.45405304e+01] [ 1.16005370e-01 9.93238357e-01 -4.50779055e-03 5.38140782e+00] [ 5.74620283e-02 -2.18031482e-03 9.98345312e-01 3.30682907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:5.41, Z:3.31 [[ 9.95508956e-01 -7.64539154e-02 -5.58275672e-02 7.45688018e+01] [ 7.63278654e-02 9.97073110e-01 -4.38975910e-03 5.40566413e+00] [ 5.59997803e-02 1.08845465e-04 9.98430775e-01 3.31200167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:5.41, Z:3.31 [[ 9.95867201e-01 -7.14967756e-02 -5.60065096e-02 7.45975754e+01] [ 7.13619849e-02 9.97440754e-01 -4.40551685e-03 5.40867316e+00] [ 5.61781554e-02 3.90574040e-04 9.98420684e-01 3.31341909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:5.41, Z:3.31 [[ 9.95846415e-01 -7.17866160e-02 -5.60053610e-02 7.46248338e+01] [ 7.16514647e-02 9.97419937e-01 -4.42007347e-03 5.41088014e+00] [ 5.61781658e-02 3.88848173e-04 9.98420684e-01 3.31472467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:5.41, Z:3.31 [[ 9.96176419e-01 -6.71827176e-02 -5.58482338e-02 7.46525435e+01] [ 6.70402749e-02 9.97740470e-01 -4.42225700e-03 5.41470382e+00] [ 5.60191422e-02 6.61267189e-04 9.98429476e-01 3.31466005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:5.42, Z:3.32 [[ 9.96264742e-01 -6.56935063e-02 -5.60439829e-02 7.46815932e+01] [ 6.55473427e-02 9.97839564e-01 -4.44424642e-03 5.41580053e+00] [ 5.62148616e-02 7.54111855e-04 9.98418410e-01 3.31643860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.71, Y:5.42, Z:3.32 [[ 9.96341757e-01 -6.44090817e-02 -5.61655816e-02 7.47106659e+01] [ 6.42594426e-02 9.97923224e-01 -4.46808269e-03 5.41771439e+00] [ 5.63367234e-02 8.42568394e-04 9.98411470e-01 3.31738676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.74, Y:5.42, Z:3.32 [[ 9.96477938e-01 -6.22648746e-02 -5.61676490e-02 7.47382349e+01] [ 6.21111045e-02 9.98059183e-01 -4.48095138e-03 5.41996038e+00] [ 5.63376437e-02 9.76534480e-04 9.98411296e-01 3.31885843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:5.42, Z:3.32 [[ 9.96498735e-01 -6.17986329e-02 -5.63134150e-02 7.47660535e+01] [ 6.16430351e-02 9.98088126e-01 -4.49759939e-03 5.42199383e+00] [ 5.64836964e-02 1.01052228e-03 9.98403010e-01 3.31992290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:5.42, Z:3.32 [[ 9.96481391e-01 -6.20781475e-02 -5.63128828e-02 7.47933164e+01] [ 6.19226197e-02 9.98070790e-01 -4.50425298e-03 5.42423859e+00] [ 5.64838590e-02 1.00136306e-03 9.98403010e-01 3.32122593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:5.43, Z:3.32 [[ 9.96463600e-01 -6.19252648e-02 -5.67939703e-02 7.48209376e+01] [ 6.17660008e-02 9.98080255e-01 -4.55704292e-03 5.42610381e+00] [ 5.69671364e-02 1.03299099e-03 9.98375520e-01 3.32221774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:5.43, Z:3.32 [[ 9.96420196e-01 -6.23127534e-02 -5.71306777e-02 7.48480858e+01] [ 6.21519228e-02 9.98056149e-01 -4.58940203e-03 5.42725461e+00] [ 5.73056025e-02 1.02219140e-03 9.98356160e-01 3.32354915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.88, Y:5.43, Z:3.32 [[ 9.96403044e-01 -6.25870356e-02 -5.71300035e-02 7.48753499e+01] [ 6.24261750e-02 9.98038994e-01 -4.59777999e-03 5.42952064e+00] [ 5.73057326e-02 1.01483438e-03 9.98356160e-01 3.32485287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:5.43, Z:3.33 [[ 9.96368502e-01 -6.34043597e-02 -5.68304036e-02 7.49040871e+01] [ 6.32456357e-02 9.97987440e-01 -4.58901052e-03 5.42992519e+00] [ 5.70069923e-02 9.78070533e-04 9.98373300e-01 3.32645117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:5.43, Z:3.33 [[ 9.96351055e-01 -6.36789599e-02 -5.68292698e-02 7.49313499e+01] [ 6.35198837e-02 9.97969958e-01 -4.60301305e-03 5.43220809e+00] [ 5.70070190e-02 9.76428308e-04 9.98373300e-01 3.32775697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:5.43, Z:3.33 [[ 9.96282267e-01 -6.51413252e-02 -5.63759899e-02 7.49601656e+01] [ 6.49862524e-02 9.97875642e-01 -4.58157420e-03 5.43077732e+00] [ 5.65546769e-02 9.00876818e-04 9.98399097e-01 3.33038569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:5.43, Z:3.33 [[ 9.96218985e-01 -6.66611130e-02 -5.57138199e-02 7.49881734e+01] [ 6.65113415e-02 9.97775339e-01 -4.54022937e-03 5.43085578e+00] [ 5.58925323e-02 8.17461796e-04 9.98436456e-01 3.33161263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.02, Y:5.43, Z:3.33 [[ 9.96056830e-01 -7.06851191e-02 -5.36134825e-02 7.50173062e+01] [ 7.05519596e-02 9.97498513e-01 -4.37464421e-03 5.42513357e+00] [ 5.37885913e-02 5.74857997e-04 9.98552180e-01 3.33497451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:5.43, Z:3.34 [[ 9.96037087e-01 -7.09636056e-02 -5.36123938e-02 7.50445667e+01] [ 7.08301332e-02 9.97478741e-01 -4.38794838e-03 5.42743534e+00] [ 5.37886077e-02 5.73186326e-04 9.98552180e-01 3.33628017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.08, Y:5.39, Z:3.34 [[ 9.94679495e-01 -8.75166924e-02 -5.43463920e-02 7.50767983e+01] [ 8.74033588e-02 9.96163005e-01 -4.46326713e-03 5.38714725e+00] [ 5.45284755e-02 -3.10536901e-04 9.98512168e-01 3.34002860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.11, Y:5.39, Z:3.34 [[ 9.94534809e-01 -8.85914888e-02 -5.52454656e-02 7.51056970e+01] [ 8.84752496e-02 9.96067978e-01 -4.55113716e-03 5.38519078e+00] [ 5.54314313e-02 -3.61592032e-04 9.98462431e-01 3.34072713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:5.38, Z:3.34 [[ 9.94388056e-01 -8.96275590e-02 -5.62076047e-02 7.51347338e+01] [ 8.95080675e-02 9.95975266e-01 -4.64490053e-03 5.37987142e+00] [ 5.63976952e-02 -4.12200474e-04 9.98408298e-01 3.34117864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.16, Y:5.38, Z:3.34 [[ 9.94361622e-01 -8.99211160e-02 -5.62063777e-02 7.51620035e+01] [ 8.98012563e-02 9.95948805e-01 -4.65970513e-03 5.38218548e+00] [ 5.63976806e-02 -4.13971382e-04 9.98408298e-01 3.34248434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.19, Y:5.38, Z:3.34 [[ 9.94335541e-01 -8.98817645e-02 -5.67283011e-02 7.51902735e+01] [ 8.97586351e-02 9.95952363e-01 -4.71994995e-03 5.38149542e+00] [ 5.69229230e-02 -3.98640898e-04 9.98378496e-01 3.34350452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.22, Y:5.38, Z:3.34 [[ 9.94392471e-01 -8.94099884e-02 -5.64753672e-02 7.52178345e+01] [ 8.92862455e-02 9.95994844e-01 -4.71563269e-03 5.38105758e+00] [ 5.66707992e-02 -3.53283851e-04 9.98392856e-01 3.34469052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:5.38, Z:3.35 [[ 9.94366073e-01 -8.97039730e-02 -5.64739704e-02 7.52451035e+01] [ 8.95797570e-02 9.95968409e-01 -4.73230579e-03 5.38339592e+00] [ 5.66707971e-02 -3.53280223e-04 9.98392857e-01 3.34599674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.27, Y:5.38, Z:3.35 [[ 9.94451979e-01 -8.89665165e-02 -5.61268289e-02 7.52734532e+01] [ 8.88417144e-02 9.96034574e-01 -4.71980615e-03 5.38322812e+00] [ 5.63241669e-02 -2.92783139e-04 9.98412491e-01 3.34744801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.30, Y:5.38, Z:3.35 [[ 9.94524469e-01 -8.82248392e-02 -5.60130241e-02 7.53009564e+01] [ 8.80984358e-02 9.96100559e-01 -4.72678465e-03 5.38293373e+00] [ 5.62116244e-02 -2.33756814e-04 9.98418849e-01 3.34832846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.33, Y:5.38, Z:3.35 [[ 9.94594769e-01 -8.73418143e-02 -5.61484927e-02 7.53283820e+01] [ 8.72125442e-02 9.96178387e-01 -4.75324479e-03 5.38277947e+00] [ 5.63490719e-02 -1.69300492e-04 9.98411114e-01 3.34912507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.36, Y:5.36, Z:3.35 [[ 9.94954594e-01 -8.44468233e-02 -5.41672439e-02 7.53592367e+01] [ 8.43218397e-02 9.96427987e-01 -4.59274724e-03 5.36404819e+00] [ 5.43616008e-02 2.09330916e-06 9.98521315e-01 3.35240197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:5.36, Z:3.35 [[ 9.94806790e-01 -8.61945850e-02 -5.41289553e-02 7.53875676e+01] [ 8.60716560e-02 9.96278318e-01 -4.60249608e-03 5.36244840e+00] [ 5.43242148e-02 -8.03744667e-05 9.98523346e-01 3.35413710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:5.36, Z:3.36 [[ 9.94640762e-01 -8.83049436e-02 -5.37772323e-02 7.54149669e+01] [ 8.81858926e-02 9.96093472e-01 -4.58733763e-03 5.36040097e+00] [ 5.39722346e-02 -1.79640238e-04 9.98542421e-01 3.35539853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.44, Y:5.36, Z:3.36 [[ 9.94461676e-01 -9.06475134e-02 -5.31883764e-02 7.54431925e+01] [ 9.05340557e-02 9.95882995e-01 -4.54363168e-03 5.35804117e+00] [ 5.33812685e-02 -2.96891859e-04 9.98574160e-01 3.35650345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.47, Y:5.36, Z:3.36 [[ 9.94436113e-01 -9.09278105e-02 -5.31878753e-02 7.54704717e+01] [ 9.08144401e-02 9.95857439e-01 -4.54949019e-03 5.36044121e+00] [ 5.33812164e-02 -3.06049764e-04 9.98574160e-01 3.35780738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:5.36, Z:3.36 [[ 9.94196179e-01 -9.37154738e-02 -5.28333971e-02 7.54990244e+01] [ 9.36067604e-02 9.95598924e-01 -4.53390198e-03 5.35846260e+00] [ 5.30257701e-02 -4.37975123e-04 9.98593048e-01 3.35985402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:5.36, Z:3.36 [[ 9.93978403e-01 -9.65267744e-02 -5.18605504e-02 7.55278457e+01] [ 9.64251840e-02 9.95330228e-01 -4.46323859e-03 5.35717983e+00] [ 5.20491955e-02 -5.64300357e-04 9.98644363e-01 3.36234951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:5.36, Z:3.36 [[ 9.93737259e-01 -9.91828231e-02 -5.14687022e-02 7.55565312e+01] [ 9.90856434e-02 9.95068992e-01 -4.44262328e-03 5.35565942e+00] [ 5.16555415e-02 -6.85009189e-04 9.98664726e-01 3.36449096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:5.33, Z:3.36 [[ 9.91347564e-01 -1.18385987e-01 -5.66989054e-02 7.55884444e+01] [ 1.18298572e-01 9.92965943e-01 -4.90752594e-03 5.32811614e+00] [ 5.68810644e-02 -1.84233569e-03 9.98379262e-01 3.36005328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:5.33, Z:3.36 [[ 9.91073101e-01 -1.20385718e-01 -5.72833928e-02 7.56170338e+01] [ 1.20299662e-01 9.92725229e-01 -4.96095044e-03 5.33083062e+00] [ 5.74638968e-02 -1.97450828e-03 9.98345632e-01 3.36120486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:5.33, Z:3.36 [[ 9.90816515e-01 -1.22251622e-01 -5.77682865e-02 7.56455671e+01] [ 1.22166406e-01 9.92496948e-01 -5.01779803e-03 5.33137910e+00] [ 5.79482819e-02 -2.08562677e-03 9.98317408e-01 3.36204608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:5.33, Z:3.36 [[ 9.90568626e-01 -1.23998146e-01 -5.82945777e-02 7.56737786e+01] [ 1.23913611e-01 9.92280023e-01 -5.07677418e-03 5.33050164e+00] [ 5.84740554e-02 -2.19459839e-03 9.98286516e-01 3.36282171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:5.33, Z:3.36 [[ 9.90533116e-01 -1.24281793e-01 -5.82939319e-02 7.57010857e+01] [ 1.24197312e-01 9.92244516e-01 -5.08417824e-03 5.33295184e+00] [ 5.84737050e-02 -2.20390274e-03 9.98286516e-01 3.36412699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:5.34, Z:3.37 [[ 9.90372212e-01 -1.25605932e-01 -5.81896158e-02 7.57291583e+01] [ 1.25523177e-01 9.92077631e-01 -5.08971579e-03 5.33562016e+00] [ 5.83679147e-02 -2.26343238e-03 9.98292574e-01 3.36574427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:5.34, Z:3.37 [[ 9.90249204e-01 -1.26823450e-01 -5.76396318e-02 7.57574015e+01] [ 1.26744003e-01 9.91922621e-01 -5.04688673e-03 5.33623545e+00] [ 5.78141182e-02 -2.30780210e-03 9.98324698e-01 3.36736440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:5.34, Z:3.37 [[ 9.90212279e-01 -1.27111716e-01 -5.76389916e-02 7.57847099e+01] [ 1.27032332e-01 9.91885700e-01 -5.05418640e-03 5.33869173e+00] [ 5.78137379e-02 -2.31729807e-03 9.98324698e-01 3.36866977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:5.34, Z:3.37 [[ 9.90140962e-01 -1.28142326e-01 -5.65722479e-02 7.58122754e+01] [ 1.28066707e-01 9.91753077e-01 -4.97511328e-03 5.33970174e+00] [ 5.67432236e-02 -2.31895808e-03 9.98386112e-01 3.37086159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:5.34, Z:3.37 [[ 9.90070038e-01 -1.29055750e-01 -5.57308956e-02 7.58399192e+01] [ 1.28983504e-01 9.91634601e-01 -4.90650070e-03 5.33821160e+00] [ 5.58978965e-02 -2.33058688e-03 9.98433770e-01 3.37247056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:5.34, Z:3.38 [[ 9.89434167e-01 -1.33910615e-01 -5.55695561e-02 7.58695225e+01] [ 1.33846050e-01 9.90990028e-01 -4.89889575e-03 5.34318547e+00] [ 5.57248901e-02 -2.59063074e-03 9.98442800e-01 3.37508481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:5.35, Z:3.38 [[ 9.89204192e-01 -1.36277412e-01 -5.38844463e-02 7.58984236e+01] [ 1.36220135e-01 9.90667198e-01 -4.75153082e-03 5.34761756e+00] [ 5.40290798e-02 -2.63991235e-03 9.98535873e-01 3.37811271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:5.35, Z:3.38 [[ 9.89019652e-01 -1.37820939e-01 -5.33433837e-02 7.59266425e+01] [ 1.37766820e-01 9.90453501e-01 -4.70797054e-03 5.35137040e+00] [ 5.34829981e-02 -2.69267295e-03 9.98565130e-01 3.38051493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:5.35, Z:3.38 [[ 9.88978958e-01 -1.38113127e-01 -5.33421457e-02 7.59539594e+01] [ 1.38058679e-01 9.90412795e-01 -4.72195883e-03 5.35385229e+00] [ 5.34829081e-02 -2.69442824e-03 9.98565130e-01 3.38182238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:5.35, Z:3.38 [[ 9.88789561e-01 -1.39573728e-01 -5.30507118e-02 7.59821890e+01] [ 1.39521194e-01 9.90207880e-01 -4.71068810e-03 5.35394266e+00] [ 5.31887212e-02 -2.74381944e-03 9.98580709e-01 3.38335378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.01, Y:5.36, Z:3.38 [[ 9.88749737e-01 -1.39855770e-01 -5.30501828e-02 7.60095089e+01] [ 1.39803322e-01 9.90168059e-01 -4.71663762e-03 5.35644570e+00] [ 5.31882455e-02 -2.75301759e-03 9.98580709e-01 3.38465988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.04, Y:5.36, Z:3.39 [[ 9.88538065e-01 -1.41322226e-01 -5.31085876e-02 7.60379611e+01] [ 1.41270965e-01 9.89959633e-01 -4.73694455e-03 5.36238897e+00] [ 5.32447935e-02 -2.82005142e-03 9.98577508e-01 3.38664918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:5.36, Z:3.39 [[ 9.88307513e-01 -1.42775119e-01 -5.35119068e-02 7.60661006e+01] [ 1.42724509e-01 9.89750883e-01 -4.78577556e-03 5.36334182e+00] [ 5.36467467e-02 -2.90764267e-03 9.98555743e-01 3.38749948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:5.37, Z:3.39 [[ 9.88052187e-01 -1.44489409e-01 -5.36254352e-02 7.60943815e+01] [ 1.44440777e-01 9.89501796e-01 -4.80188798e-03 5.36975699e+00] [ 5.37562864e-02 -3.00118363e-03 9.98549575e-01 3.38901461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.12, Y:5.37, Z:3.39 [[ 9.88009633e-01 -1.44780572e-01 -5.36241737e-02 7.61217024e+01] [ 1.44731607e-01 9.89459230e-01 -4.81593780e-03 5.37227610e+00] [ 5.37561878e-02 -3.00291991e-03 9.98549576e-01 3.39032244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.15, Y:5.38, Z:3.39 [[ 9.87827099e-01 -1.45880534e-01 -5.40045598e-02 7.61499310e+01] [ 1.45831711e-01 9.89297450e-01 -4.86486012e-03 5.37564728e+00] [ 5.41362617e-02 -3.06993668e-03 9.98528838e-01 3.39128585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.18, Y:5.40, Z:3.39 [[ 9.87781551e-01 -1.45677749e-01 -5.53678647e-02 7.61771026e+01] [ 1.45625752e-01 9.89327144e-01 -4.99422342e-03 5.39553122e+00] [ 5.55044786e-02 -3.12978520e-03 9.98453533e-01 3.39094722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.21, Y:5.41, Z:3.39 [[ 9.88186701e-01 -1.43041986e-01 -5.50093970e-02 7.62058430e+01] [ 1.42985903e-01 9.89712225e-01 -4.97431584e-03 5.40546746e+00] [ 5.51550087e-02 -2.95001557e-03 9.98473446e-01 3.39233846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.23, Y:5.41, Z:3.39 [[ 9.88181421e-01 -1.43078530e-01 -5.50092132e-02 7.62348877e+01] [ 1.43022391e-01 9.89706942e-01 -4.97634775e-03 5.40812390e+00] [ 5.51550087e-02 -2.95001480e-03 9.98473446e-01 3.39372650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.26, Y:5.42, Z:3.39 [[ 9.88679225e-01 -1.39617493e-01 -5.49576746e-02 7.62628223e+01] [ 1.39556007e-01 9.90201687e-01 -4.97386822e-03 5.41652694e+00] [ 5.51136211e-02 -2.75211346e-03 9.98476296e-01 3.39478499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:5.42, Z:3.40 [[ 9.88643873e-01 -1.39867763e-01 -5.49572640e-02 7.62909681e+01] [ 1.39806411e-01 9.90166341e-01 -4.97840042e-03 5.41911265e+00] [ 5.51131507e-02 -2.76151276e-03 9.98476296e-01 3.39613035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.32, Y:5.42, Z:3.40 [[ 9.88979890e-01 -1.37554409e-01 -5.47499984e-02 7.63194855e+01] [ 1.37489299e-01 9.90490773e-01 -4.97206403e-03 5.42309981e+00] [ 5.49132976e-02 -2.61026758e-03 9.98487715e-01 3.39733414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.35, Y:5.43, Z:3.40 [[ 9.89358567e-01 -1.35148544e-01 -5.38933874e-02 7.63484718e+01] [ 1.35081744e-01 9.90822356e-01 -4.89703119e-03 5.43076104e+00] [ 5.40605998e-02 -2.43509303e-03 9.98534687e-01 3.39928238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.38, Y:5.44, Z:3.40 [[ 9.89715888e-01 -1.32700994e-01 -5.34126156e-02 7.63777268e+01] [ 1.32631715e-01 9.91153496e-01 -4.85538608e-03 5.43939164e+00] [ 5.35844153e-02 -2.27875406e-03 9.98560723e-01 3.40107428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.41, Y:5.44, Z:3.40 [[ 9.89715884e-01 -1.32701130e-01 -5.34123555e-02 7.64075970e+01] [ 1.32631697e-01 9.91153485e-01 -4.85824651e-03 5.44210993e+00] [ 5.35845370e-02 -2.27588760e-03 9.98560723e-01 3.40250202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.44, Y:5.45, Z:3.40 [[ 9.90058504e-01 -1.30163639e-01 -5.33065171e-02 7.64363545e+01] [ 1.30090799e-01 9.91490228e-01 -4.84883463e-03 5.44704533e+00] [ 5.34840327e-02 -2.13405743e-03 9.98566424e-01 3.40356239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:5.48, Z:3.41 [[ 9.92184440e-01 -1.12757059e-01 -5.34404660e-02 7.64640976e+01] [ 1.12658504e-01 9.93621868e-01 -4.86268366e-03 5.47726771e+00] [ 5.36479176e-02 -1.19584392e-03 9.98559197e-01 3.40509826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.49, Y:5.48, Z:3.41 [[ 9.92429947e-01 -1.10610729e-01 -5.33672888e-02 7.64939231e+01] [ 1.10509361e-01 9.93863222e-01 -4.85571132e-03 5.48347988e+00] [ 5.35768793e-02 -1.07863163e-03 9.98563145e-01 3.40641728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.52, Y:5.49, Z:3.41 [[ 9.92674902e-01 -1.08379197e-01 -5.33899596e-02 7.65236372e+01] [ 1.08274518e-01 9.94109164e-01 -4.85777406e-03 5.48786391e+00] [ 5.36019297e-02 -9.58581733e-04 9.98561923e-01 3.40727622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:5.49, Z:3.41 [[ 9.92872074e-01 -1.06503368e-01 -5.34983902e-02 7.65538272e+01] [ 1.06395542e-01 9.94311970e-01 -4.86763980e-03 5.49255636e+00] [ 5.37125098e-02 -8.59046622e-04 9.98556072e-01 3.40891949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:5.50, Z:3.41 [[ 9.92872074e-01 -1.06503368e-01 -5.34983902e-02 7.65836744e+01] [ 1.06395542e-01 9.94311970e-01 -4.86763980e-03 5.49527206e+00] [ 5.37125098e-02 -8.59046622e-04 9.98556072e-01 3.41034542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.61, Y:5.50, Z:3.41 [[ 9.93077552e-01 -1.04723858e-01 -5.31967120e-02 7.66140120e+01] [ 1.04614694e-01 9.94501050e-01 -4.84019111e-03 5.49998686e+00] [ 5.34110694e-02 -7.58472622e-04 9.98572322e-01 3.41222826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.64, Y:5.51, Z:3.41 [[ 9.93312632e-01 -1.02805894e-01 -5.25448705e-02 7.66438106e+01] [ 1.02696704e-01 9.94701226e-01 -4.78097580e-03 5.50506846e+00] [ 5.27579596e-02 -6.47181361e-04 9.98607119e-01 3.41429314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:5.51, Z:3.42 [[ 9.93515877e-01 -1.01065506e-01 -5.20765371e-02 7.66737374e+01] [ 1.00955821e-01 9.94879622e-01 -4.73920424e-03 5.51104971e+00] [ 5.22888557e-02 -5.48954924e-04 9.98631851e-01 3.41700148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:5.51, Z:3.42 [[ 9.93515877e-01 -1.01065506e-01 -5.20765371e-02 7.67035822e+01] [ 1.00955821e-01 9.94879622e-01 -4.73920424e-03 5.51376572e+00] [ 5.22888557e-02 -5.48954924e-04 9.98631851e-01 3.41842731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:5.52, Z:3.42 [[ 9.93711432e-01 -9.93921514e-02 -5.15634529e-02 7.67341794e+01] [ 9.92823748e-02 9.95048236e-01 -4.69235527e-03 5.51913988e+00] [ 5.17745061e-02 -4.56494978e-04 9.98658697e-01 3.42084395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:5.52, Z:3.42 [[ 9.93711432e-01 -9.93920693e-02 -5.15636101e-02 7.67640238e+01] [ 9.92823823e-02 9.95048243e-01 -4.69062691e-03 5.52185393e+00] [ 5.17744908e-02 -4.58228459e-04 9.98658697e-01 3.42226925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:5.53, Z:3.42 [[ 9.93878263e-01 -9.78264034e-02 -5.13419325e-02 7.67950540e+01] [ 9.77155777e-02 9.95203423e-01 -4.67031451e-03 5.52695641e+00] [ 5.15525471e-02 -3.75182521e-04 9.98670213e-01 3.42448656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:5.53, Z:3.43 [[ 9.93878263e-01 -9.78263217e-02 -5.13420887e-02 7.68248981e+01] [ 9.77155847e-02 9.95203431e-01 -4.66859664e-03 5.52966935e+00] [ 5.15525345e-02 -3.76905502e-04 9.98670213e-01 3.42591183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:5.52, Z:3.42 [[ 9.92312435e-01 -1.12478188e-01 -5.16206211e-02 7.68554862e+01] [ 1.12386017e-01 9.93653536e-01 -4.69400266e-03 5.52398834e+00] [ 5.18209856e-02 -1.14351879e-03 9.98655735e-01 3.42458567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:5.52, Z:3.43 [[ 9.91807105e-01 -1.16577707e-01 -5.22331824e-02 7.68858008e+01] [ 1.16488968e-01 9.93180625e-01 -4.75049367e-03 5.52299349e+00] [ 5.24307864e-02 -1.37301614e-03 9.98623617e-01 3.42537889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:5.52, Z:3.43 [[ 9.91237441e-01 -1.20818686e-01 -5.33964543e-02 7.69173797e+01] [ 1.20732150e-01 9.92673247e-01 -4.85518755e-03 5.52201124e+00] [ 5.35918291e-02 -1.63402506e-03 9.98561588e-01 3.42532768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:5.52, Z:3.43 [[ 9.90640119e-01 -1.25044676e-01 -5.47355735e-02 7.69488164e+01] [ 1.24960292e-01 9.92149271e-01 -4.97492168e-03 5.52170294e+00] [ 5.49279468e-02 -1.91141624e-03 9.98488491e-01 3.42539179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:5.52, Z:3.43 [[ 9.90640121e-01 -1.25044595e-01 -5.47357284e-02 7.69786786e+01] [ 1.24960305e-01 9.92149278e-01 -4.97321726e-03 5.52441536e+00] [ 5.49278873e-02 -1.91312475e-03 9.98488491e-01 3.42681795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:5.52, Z:3.43 [[ 9.90076859e-01 -1.28815618e-01 -5.61635995e-02 7.70092991e+01] [ 1.28732934e-01 9.91666170e-01 -5.10279248e-03 5.52392255e+00] [ 5.63528610e-02 -2.17794822e-03 9.98408539e-01 3.42690028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:5.52, Z:3.43 [[ 9.89551514e-01 -1.32449012e-01 -5.69654288e-02 7.70392964e+01] [ 1.32369994e-01 9.91186867e-01 -5.17495073e-03 5.52435650e+00] [ 5.71488020e-02 -2.41963314e-03 9.98362740e-01 3.42772339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:5.53, Z:3.43 [[ 9.89551513e-01 -1.32449052e-01 -5.69653524e-02 7.70691676e+01] [ 1.32369986e-01 9.91186863e-01 -5.17579218e-03 5.52707097e+00] [ 5.71488377e-02 -2.41878990e-03 9.98362740e-01 3.42915069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:5.53, Z:3.43 [[ 9.89095331e-01 -1.35673455e-01 -5.72986946e-02 7.70992581e+01] [ 1.35598844e-01 9.90750144e-01 -5.20626031e-03 5.52953054e+00] [ 5.74750413e-02 -2.62014899e-03 9.98343505e-01 3.43099684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:5.53, Z:3.43 [[ 9.88740391e-01 -1.38253868e-01 -5.72565032e-02 7.71293445e+01] [ 1.38183619e-01 9.90392958e-01 -5.20346589e-03 5.53152079e+00] [ 5.74258369e-02 -2.76703392e-03 9.98345940e-01 3.43273618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:5.53, Z:3.44 [[ 9.87662861e-01 -1.46868416e-01 -5.43299363e-02 7.71587672e+01] [ 1.46818079e-01 9.89151183e-01 -4.93842131e-03 5.53492098e+00] [ 5.44658189e-02 -3.09912155e-03 9.98510826e-01 3.43886727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:5.54, Z:3.44 [[ 9.87689298e-01 -1.46509888e-01 -5.48151798e-02 7.71908752e+01] [ 1.46458089e-01 9.89204327e-01 -4.98270542e-03 5.54001930e+00] [ 5.49534287e-02 -3.10676168e-03 9.98484085e-01 3.44018924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.22, Y:5.54, Z:3.44 [[ 9.87699969e-01 -1.46437794e-01 -5.48155428e-02 7.72224571e+01] [ 1.46386106e-01 9.89215002e-01 -4.97870935e-03 5.54282856e+00] [ 5.49534285e-02 -3.10676277e-03 9.98484085e-01 3.44169683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:5.55, Z:3.44 [[ 9.87739034e-01 -1.45996110e-01 -5.52877637e-02 7.72543415e+01] [ 1.45943066e-01 9.89280267e-01 -5.01750919e-03 5.54610209e+00] [ 5.54276304e-02 -3.11287609e-03 9.98457855e-01 3.44250044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:5.55, Z:3.44 [[ 9.87780386e-01 -1.45547762e-01 -5.57293317e-02 7.72864171e+01] [ 1.45493389e-01 9.89346318e-01 -5.05346282e-03 5.55125955e+00] [ 5.58711293e-02 -3.11653788e-03 9.98433125e-01 3.44313293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.32, Y:5.55, Z:3.44 [[ 9.87791176e-01 -1.45474370e-01 -5.57297058e-02 7.73179987e+01] [ 1.45420113e-01 9.89357112e-01 -5.04933367e-03 5.55406319e+00] [ 5.58711295e-02 -3.11653291e-03 9.98433125e-01 3.44464047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:5.55, Z:3.44 [[ 9.87832378e-01 -1.45058977e-01 -5.60810719e-02 7.73492228e+01] [ 1.45003596e-01 9.89418102e-01 -5.07711907e-03 5.55151915e+00] [ 5.62241094e-02 -3.11661449e-03 9.98413309e-01 3.44457061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:5.56, Z:3.45 [[ 9.87871451e-01 -1.44714364e-01 -5.62827644e-02 7.73810411e+01] [ 1.44658214e-01 9.89468581e-01 -5.09207419e-03 5.55924961e+00] [ 5.64269233e-02 -3.11144948e-03 9.98401884e-01 3.44651509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:5.63, Z:3.45 [[ 9.94993634e-01 -8.40656362e-02 -5.40429241e-02 7.74055478e+01] [ 8.39241575e-02 9.96460166e-01 -4.88603141e-03 5.62820584e+00] [ 5.42623685e-02 3.26063276e-04 9.98526659e-01 3.45226706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.44, Y:5.63, Z:3.45 [[ 9.94794640e-01 -8.58324967e-02 -5.49218286e-02 7.74356013e+01] [ 8.56890733e-02 9.96309554e-01 -4.96534220e-03 5.62832034e+00] [ 5.51453303e-02 2.33295209e-04 9.98478311e-01 3.45206441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.47, Y:5.63, Z:3.46 [[ 9.94638127e-01 -8.85593491e-02 -5.34063488e-02 7.74650373e+01] [ 8.84275617e-02 9.96070899e-01 -4.83025204e-03 5.62832394e+00] [ 5.36242738e-02 8.17596372e-05 9.98561180e-01 3.45507557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:5.63, Z:3.46 [[ 9.94607501e-01 -8.90237157e-02 -5.32042998e-02 7.74966380e+01] [ 8.88935071e-02 9.96029505e-01 -4.81349393e-03 5.62999579e+00] [ 5.34215675e-02 5.80203726e-05 9.98572047e-01 3.45714488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.53, Y:5.63, Z:3.46 [[ 9.94610724e-01 -8.89875938e-02 -5.32044744e-02 7.75273285e+01] [ 8.88574368e-02 9.96032733e-01 -4.81156296e-03 5.63274315e+00] [ 5.34215674e-02 5.80189003e-05 9.98572047e-01 3.45861034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.56, Y:5.63, Z:3.46 [[ 9.94568591e-01 -8.90895662e-02 -5.38179046e-02 7.75576830e+01] [ 8.89566386e-02 9.96023617e-01 -4.86517055e-03 5.63477999e+00] [ 5.40373400e-02 5.12859293e-05 9.98538914e-01 3.45909410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:5.64, Z:3.46 [[ 9.94568591e-01 -8.90895258e-02 -5.38179816e-02 7.75875281e+01] [ 8.89566442e-02 9.96023621e-01 -4.86431880e-03 5.63747713e+00] [ 5.40373408e-02 5.04316483e-05 9.98538914e-01 3.46051958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:5.64, Z:3.46 [[ 9.94572802e-01 -8.89571902e-02 -5.39588789e-02 7.76183232e+01] [ 8.88234168e-02 9.96035449e-01 -4.87705375e-03 5.63895938e+00] [ 5.41788052e-02 5.77730191e-05 9.98531248e-01 3.46169677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:5.64, Z:3.46 [[ 9.94572802e-01 -8.89571902e-02 -5.39588789e-02 7.76481683e+01] [ 8.88234168e-02 9.96035449e-01 -4.87705375e-03 5.64165692e+00] [ 5.41788052e-02 5.77730192e-05 9.98531248e-01 3.46312253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.68, Y:5.64, Z:3.46 [[ 9.94559960e-01 -8.88868487e-02 -5.43103467e-02 7.76790930e+01] [ 8.87512208e-02 9.96041728e-01 -4.90882104e-03 5.64321261e+00] [ 5.45317013e-02 6.20072855e-05 9.98512038e-01 3.46437761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:5.65, Z:3.47 [[ 9.94559960e-01 -8.88868487e-02 -5.43103467e-02 7.77089382e+01] [ 8.87512208e-02 9.96041728e-01 -4.90882104e-03 5.64591015e+00] [ 5.45317013e-02 6.20072855e-05 9.98512038e-01 3.46580337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:5.65, Z:3.47 [[ 9.94559960e-01 -8.88868487e-02 -5.43103467e-02 7.77387834e+01] [ 8.87512208e-02 9.96041728e-01 -4.90882104e-03 5.64860770e+00] [ 5.45317013e-02 6.20072854e-05 9.98512038e-01 3.46722913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:5.65, Z:3.47 [[ 9.94528301e-01 -8.89263866e-02 -5.48229471e-02 7.77687121e+01] [ 8.87882369e-02 9.96038199e-01 -4.95528915e-03 5.64977417e+00] [ 5.50464055e-02 6.05424886e-05 9.98483795e-01 3.46758373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:5.65, Z:3.47 [[ 9.94502581e-01 -8.91089166e-02 -5.49928813e-02 7.77979998e+01] [ 8.89701317e-02 9.96021886e-01 -4.97165460e-03 5.65114188e+00] [ 5.52171322e-02 5.15994374e-05 9.98474369e-01 3.46808977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:5.65, Z:3.47 [[ 9.94463853e-01 -8.92077471e-02 -5.55303858e-02 7.78279894e+01] [ 8.90663233e-02 9.96013040e-01 -5.02140129e-03 5.65272340e+00] [ 5.57569363e-02 4.77147766e-05 9.98444371e-01 3.46885913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:5.65, Z:3.47 [[ 9.94769764e-01 -8.74008561e-02 -5.28602621e-02 7.78575087e+01] [ 8.72700052e-02 9.96173213e-01 -4.78297194e-03 5.64939792e+00] [ 5.30760130e-02 1.44840523e-04 9.98590465e-01 3.47130644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:5.65, Z:3.47 [[ 9.94870454e-01 -8.65702024e-02 -5.23295314e-02 7.78867152e+01] [ 8.64401790e-02 9.96245733e-01 -4.74712007e-03 5.65089455e+00] [ 5.25440315e-02 1.99395439e-04 9.98618588e-01 3.47344253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:5.65, Z:3.47 [[ 9.94979773e-01 -8.56891469e-02 -5.16973955e-02 7.79152200e+01] [ 8.55609569e-02 9.96321891e-01 -4.69175352e-03 5.65243634e+00] [ 5.19092792e-02 2.44921225e-04 9.98651775e-01 3.47456946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:5.65, Z:3.48 [[ 9.95002743e-01 -8.52649123e-02 -5.19561024e-02 7.79444711e+01] [ 8.51346896e-02 9.96358279e-01 -4.71843823e-03 5.65326952e+00] [ 5.21692100e-02 2.71592334e-04 9.98638223e-01 3.47586166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:5.65, Z:3.48 [[ 9.94991003e-01 -8.51864095e-02 -5.23084980e-02 7.79732073e+01] [ 8.50541993e-02 9.96364992e-01 -4.75244243e-03 5.65418594e+00] [ 5.25231997e-02 2.79580047e-04 9.98619665e-01 3.47662753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:5.66, Z:3.48 [[ 9.94969967e-01 -8.54319725e-02 -5.23081553e-02 7.80012982e+01] [ 8.52999033e-02 9.96343969e-01 -4.75621119e-03 5.65677477e+00] [ 5.25232476e-02 2.70406698e-04 9.98619665e-01 3.47797050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:5.66, Z:3.48 [[ 9.94948876e-01 -8.56779650e-02 -5.23069780e-02 7.80293880e+01] [ 8.55455566e-02 9.96322846e-01 -4.76912568e-03 5.65937489e+00] [ 5.25232461e-02 2.70406690e-04 9.98619665e-01 3.47931635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:5.66, Z:3.48 [[ 9.94927725e-01 -8.59239522e-02 -5.23057974e-02 7.80574772e+01] [ 8.57912046e-02 9.96301662e-01 -4.78203987e-03 5.66198195e+00] [ 5.25232447e-02 2.70406683e-04 9.98619665e-01 3.48066219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:5.66, Z:3.48 [[ 9.94891363e-01 -8.63794977e-02 -5.22470962e-02 7.80869716e+01] [ 8.62470479e-02 9.96262273e-01 -4.78862217e-03 5.66241951e+00] [ 5.24654495e-02 2.58001027e-04 9.98622707e-01 3.48228310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:5.66, Z:3.48 [[ 9.94802275e-01 -8.75269352e-02 -5.20333515e-02 7.81155301e+01] [ 8.73970288e-02 9.96162133e-01 -4.77108252e-03 5.66299093e+00] [ 5.22512527e-02 1.98723420e-04 9.98633951e-01 3.48367466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:5.66, Z:3.49 [[ 9.94660198e-01 -8.90771494e-02 -5.21186372e-02 7.81457307e+01] [ 8.89487594e-02 9.96024722e-01 -4.78240464e-03 5.66288886e+00] [ 5.23374541e-02 1.20979425e-04 9.98629449e-01 3.48524067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.18, Y:5.64, Z:3.49 [[ 9.93000169e-01 -1.05057851e-01 -5.39769689e-02 7.81759922e+01] [ 1.04943563e-01 9.94465834e-01 -4.95522255e-03 5.64297419e+00] [ 5.41988364e-02 -7.43998593e-04 9.98529886e-01 3.48623863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:5.64, Z:3.49 [[ 9.92704497e-01 -1.07468243e-01 -5.46658759e-02 7.82060412e+01] [ 1.07354441e-01 9.94208126e-01 -5.02258790e-03 5.64285534e+00] [ 5.48890267e-02 -8.82678951e-04 9.98492071e-01 3.48755082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:5.64, Z:3.49 [[ 9.92490400e-01 -1.09204959e-01 -5.51097316e-02 7.82353655e+01] [ 1.09091863e-01 9.94018766e-01 -5.06537911e-03 5.64315369e+00] [ 5.53332720e-02 -9.84683144e-04 9.98467455e-01 3.48907338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:5.64, Z:3.49 [[ 9.92337480e-01 -1.10253432e-01 -5.57719137e-02 7.82652121e+01] [ 1.10139138e-01 9.93902948e-01 -5.12831450e-03 5.64351744e+00] [ 5.59972837e-02 -1.05365183e-03 9.98430365e-01 3.49054655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:5.64, Z:3.49 [[ 9.92289579e-01 -1.10813941e-01 -5.55127104e-02 7.82938041e+01] [ 1.10701462e-01 9.93840585e-01 -5.10666276e-03 5.64321295e+00] [ 5.57366740e-02 -1.07804995e-03 9.98444921e-01 3.49171367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:5.64, Z:3.49 [[ 9.92390223e-01 -1.09879883e-01 -5.55702803e-02 7.83236560e+01] [ 1.09765546e-01 9.93944346e-01 -5.11485165e-03 5.64332459e+00] [ 5.57957852e-02 -1.02377341e-03 9.98441677e-01 3.49383336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:5.64, Z:3.49 [[ 9.93421510e-01 -1.00819898e-01 -5.43051775e-02 7.83525578e+01] [ 1.00697060e-01 9.94904567e-01 -5.00047864e-03 5.64366521e+00] [ 5.45326168e-02 -5.00788681e-04 9.98511864e-01 3.49477879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:5.65, Z:3.50 [[ 9.93580741e-01 -9.97718124e-02 -5.33188173e-02 7.83807319e+01] [ 9.96516752e-02 9.95010251e-01 -4.91366424e-03 5.64573540e+00] [ 5.35430150e-02 -4.31187307e-04 9.98565451e-01 3.49656020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:5.65, Z:3.50 [[ 9.93552768e-01 -1.00050650e-01 -5.33175890e-02 7.84079882e+01] [ 9.99302007e-02 9.94982251e-01 -4.92695826e-03 5.64832674e+00] [ 5.35430001e-02 -4.32844356e-04 9.98565451e-01 3.49786596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:5.65, Z:3.50 [[ 9.93705719e-01 -9.89884273e-02 -5.24426926e-02 7.84363587e+01] [ 9.88696591e-02 9.95088521e-01 -4.86058402e-03 5.65099572e+00] [ 5.26662630e-02 -3.55000997e-04 9.98612106e-01 3.50038551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:5.65, Z:3.50 [[ 9.93680549e-01 -9.92414290e-02 -5.24414533e-02 7.84644545e+01] [ 9.91223091e-02 9.95063321e-01 -4.87392023e-03 5.65363796e+00] [ 5.26662615e-02 -3.54998215e-04 9.98612106e-01 3.50173137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.49, Y:5.66, Z:3.50 [[ 9.93844332e-01 -9.80481818e-02 -5.15751662e-02 7.84919238e+01] [ 9.79307222e-02 9.95181631e-01 -4.80572857e-03 5.65563617e+00] [ 5.17978509e-02 -2.74647168e-04 9.98657553e-01 3.50371772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.52, Y:5.66, Z:3.51 [[ 9.93947294e-01 -9.69639524e-02 -5.16407660e-02 7.85204349e+01] [ 9.68444505e-02 9.95287871e-01 -4.81724704e-03 5.65825100e+00] [ 5.18645274e-02 -2.13031950e-04 9.98654107e-01 3.50582880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:5.66, Z:3.51 [[ 9.93922707e-01 -9.72163052e-02 -5.16395417e-02 7.85485289e+01] [ 9.70964635e-02 9.95263254e-01 -4.83033755e-03 5.66091086e+00] [ 5.18645259e-02 -2.13034699e-04 9.98654107e-01 3.50717464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.58, Y:5.66, Z:3.51 [[ 9.94142626e-01 -9.36429181e-02 -5.39577936e-02 7.85769315e+01] [ 9.35060139e-02 9.95605848e-01 -5.06178299e-03 5.65533544e+00] [ 5.41946949e-02 -1.32439632e-05 9.98530388e-01 3.50685765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:5.66, Z:3.51 [[ 9.94074287e-01 -9.41054338e-02 -5.44102813e-02 7.86046609e+01] [ 9.39660322e-02 9.95562237e-01 -5.12034909e-03 5.65665369e+00] [ 5.46506740e-02 -2.27108789e-05 9.98505535e-01 3.50798748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.63, Y:5.66, Z:3.51 [[ 9.94015430e-01 -9.45909002e-02 -5.46432702e-02 7.86320335e+01] [ 9.44502093e-02 9.95516228e-01 -5.15728245e-03 5.65793203e+00] [ 5.48860942e-02 -3.46499789e-05 9.98492622e-01 3.50871616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:5.66, Z:3.51 [[ 9.93849951e-01 -9.63849625e-02 -5.45180115e-02 7.86601348e+01] [ 9.62471638e-02 9.95344123e-01 -5.15365284e-03 5.65717047e+00] [ 5.47609170e-02 -1.25246360e-04 9.98499487e-01 3.51051486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.69, Y:5.66, Z:3.51 [[ 9.93821636e-01 -9.66773347e-02 -5.45164927e-02 7.86873870e+01] [ 9.65390968e-02 9.95315768e-01 -5.16967194e-03 5.65980877e+00] [ 5.47609149e-02 -1.25241139e-04 9.98499487e-01 3.51182105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:5.66, Z:3.51 [[ 9.93676302e-01 -9.80308465e-02 -5.47481537e-02 7.87148439e+01] [ 9.78926239e-02 9.95183359e-01 -5.20723755e-03 5.66036927e+00] [ 5.49949214e-02 -1.85131873e-04 9.98486617e-01 3.51292131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:5.66, Z:3.51 [[ 9.93521970e-01 -9.94024620e-02 -5.50749151e-02 7.87424311e+01] [ 9.92641127e-02 9.95047279e-01 -5.24871452e-03 5.66035839e+00] [ 5.53238796e-02 -2.52249400e-04 9.98468430e-01 3.51335011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:5.65, Z:3.51 [[ 9.92533726e-01 -1.08946979e-01 -5.48393953e-02 7.87720104e+01] [ 1.08824012e-01 9.94047260e-01 -5.23242665e-03 5.65186939e+00] [ 5.50830078e-02 -7.74483128e-04 9.98481478e-01 3.51452207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.80, Y:5.65, Z:3.52 [[ 9.91811120e-01 -1.15436747e-01 -5.46356993e-02 7.88020812e+01] [ 1.15323852e-01 9.93314203e-01 -5.22518101e-03 5.64804659e+00] [ 5.48735940e-02 -1.11840667e-03 9.98492683e-01 3.51557379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:5.65, Z:3.52 [[ 9.91423510e-01 -1.19129963e-01 -5.37352453e-02 7.88305418e+01] [ 1.19026053e-01 9.92877820e-01 -5.14134623e-03 5.64595294e+00] [ 5.39650216e-02 -1.29864261e-03 9.98541982e-01 3.51724913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:5.65, Z:3.52 [[ 9.90991844e-01 -1.23281425e-01 -5.23149692e-02 7.88602540e+01] [ 1.23188480e-01 9.92370646e-01 -5.00981759e-03 5.64647207e+00] [ 5.25334572e-02 -1.47991319e-03 9.98618068e-01 3.52055519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.89, Y:5.65, Z:3.52 [[ 9.90955644e-01 -1.23572195e-01 -5.23146623e-02 7.88875226e+01] [ 1.23479486e-01 9.92334463e-01 -5.01301919e-03 5.64913997e+00] [ 5.25331121e-02 -1.49210795e-03 9.98618068e-01 3.52185915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:5.65, Z:3.52 [[ 9.90050757e-01 -1.30439127e-01 -5.27743576e-02 7.89177291e+01] [ 1.30353754e-01 9.91454578e-01 -5.07134421e-03 5.64517821e+00] [ 5.29848801e-02 -1.85844743e-03 9.98593585e-01 3.52289622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:5.63, Z:3.53 [[ 9.86689943e-01 -1.54042081e-01 -5.20960110e-02 7.89501448e+01] [ 1.53991512e-01 9.88059482e-01 -5.00734287e-03 5.62907051e+00] [ 5.22452992e-02 -3.08164867e-03 9.98629527e-01 3.52680403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:5.63, Z:3.53 [[ 9.86157883e-01 -1.57329438e-01 -5.23457623e-02 7.89805836e+01] [ 1.57282970e-01 9.87540758e-01 -5.03175653e-03 5.62856280e+00] [ 5.24852172e-02 -3.27099061e-03 9.98616344e-01 3.52833429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:5.63, Z:3.53 [[ 9.86111357e-01 -1.57620863e-01 -5.23455349e-02 7.90079012e+01] [ 1.57574679e-01 9.87494242e-01 -5.03411893e-03 5.63125120e+00] [ 5.24843965e-02 -3.28412903e-03 9.98616344e-01 3.52964045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:5.63, Z:3.53 [[ 9.85721878e-01 -1.59859596e-01 -5.28893977e-02 7.90360816e+01] [ 1.59814874e-01 9.87133823e-01 -5.10114562e-03 5.63028426e+00] [ 5.30243805e-02 -3.42420157e-03 9.98587347e-01 3.53035331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.07, Y:5.63, Z:3.53 [[ 9.85447585e-01 -1.61326083e-01 -5.35439260e-02 7.90654302e+01] [ 1.61282180e-01 9.86894800e-01 -5.16841600e-03 5.63172931e+00] [ 5.36760224e-02 -3.54247806e-03 9.98552120e-01 3.53135822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.09, Y:5.63, Z:3.53 [[ 9.85264788e-01 -1.62604087e-01 -5.30396847e-02 7.90929962e+01] [ 1.62562713e-01 9.86684918e-01 -5.12225770e-03 5.63254522e+00] [ 5.31663570e-02 -3.57549490e-03 9.98579268e-01 3.53305913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:5.64, Z:3.54 [[ 9.86059919e-01 -1.58437065e-01 -5.08284692e-02 7.91219971e+01] [ 1.58393226e-01 9.87363878e-01 -4.91503634e-03 5.64405390e+00] [ 5.09649184e-02 -3.20436488e-03 9.98695303e-01 3.53659913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:5.65, Z:3.54 [[ 9.86587576e-01 -1.55283511e-01 -5.03188526e-02 7.91502961e+01] [ 1.55236442e-01 9.87865359e-01 -4.86608624e-03 5.64735117e+00] [ 5.04638744e-02 -3.01049945e-03 9.98721350e-01 3.53836730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:5.65, Z:3.54 [[ 9.86901635e-01 -1.53545571e-01 -4.94865733e-02 7.91790367e+01] [ 1.53497713e-01 9.88137399e-01 -4.78871994e-03 5.65299310e+00] [ 4.96348206e-02 -2.87008030e-03 9.98763309e-01 3.54046528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.21, Y:5.66, Z:3.54 [[ 9.87178634e-01 -1.51953336e-01 -4.88725687e-02 7.92079438e+01] [ 1.51904139e-01 9.88383860e-01 -4.74098232e-03 5.65756784e+00] [ 4.90252662e-02 -2.74374904e-03 9.98793770e-01 3.54260815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:5.66, Z:3.55 [[ 9.87702031e-01 -1.48666808e-01 -4.84032944e-02 7.92375813e+01] [ 1.48614068e-01 9.88884071e-01 -4.70673394e-03 5.66454540e+00] [ 4.85649819e-02 -2.54455980e-03 9.98816784e-01 3.54503052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:5.67, Z:3.55 [[ 9.88176070e-01 -1.45648304e-01 -4.79022473e-02 7.92656374e+01] [ 1.45593071e-01 9.89333590e-01 -4.65889283e-03 5.66935858e+00] [ 4.80698621e-02 -2.37042886e-03 9.98841163e-01 3.54612706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:5.68, Z:3.55 [[ 9.88590496e-01 -1.42821858e-01 -4.78617641e-02 7.92956976e+01] [ 1.42763323e-01 9.89745901e-01 -4.65682256e-03 5.67723616e+00] [ 4.80360809e-02 -2.22921397e-03 9.98843114e-01 3.54700521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:5.68, Z:3.55 [[ 9.88782720e-01 -1.41493504e-01 -4.78363891e-02 7.93255742e+01] [ 1.41433481e-01 9.89936820e-01 -4.65436341e-03 5.68189354e+00] [ 4.80135651e-02 -2.16351290e-03 9.98844341e-01 3.54829225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:5.69, Z:3.55 [[ 9.88969463e-01 -1.40304812e-01 -4.74759031e-02 7.93547008e+01] [ 1.40244282e-01 9.90106154e-01 -4.62015242e-03 5.68722855e+00] [ 4.76544135e-02 -2.08903428e-03 9.98861699e-01 3.54982345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:5.70, Z:3.55 [[ 9.89211339e-01 -1.38420333e-01 -4.79660076e-02 7.93846313e+01] [ 1.38356252e-01 9.90371517e-01 -4.66959560e-03 5.69522304e+00] [ 4.81505347e-02 -2.01718013e-03 9.98838053e-01 3.55119960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:5.70, Z:3.55 [[ 9.89348532e-01 -1.37168058e-01 -4.87278818e-02 7.94137403e+01] [ 1.37100411e-01 9.90545796e-01 -4.74374640e-03 5.70150651e+00] [ 4.89178889e-02 -1.98739406e-03 9.98800826e-01 3.55232737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:5.71, Z:3.55 [[ 9.89449312e-01 -1.36186268e-01 -4.94303578e-02 7.94432953e+01] [ 1.36115467e-01 9.90681296e-01 -4.81148439e-03 5.71049150e+00] [ 4.96249891e-02 -1.96751631e-03 9.98765983e-01 3.55314628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:5.72, Z:3.55 [[ 9.89601713e-01 -1.34952510e-01 -4.97621349e-02 7.94737478e+01] [ 1.34879198e-01 9.90850210e-01 -4.84379559e-03 5.71805480e+00] [ 4.99605042e-02 -1.91844845e-03 9.98749352e-01 3.55443867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:5.72, Z:3.56 [[ 9.89640026e-01 -1.34445641e-01 -5.03685215e-02 7.95043084e+01] [ 1.34369863e-01 9.90919119e-01 -4.90308454e-03 5.72080716e+00] [ 5.05703293e-02 -1.91572264e-03 9.98718665e-01 3.55537413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:5.73, Z:3.56 [[ 9.89711637e-01 -1.33684387e-01 -5.09839240e-02 7.95345942e+01] [ 1.33605791e-01 9.91022135e-01 -4.96197163e-03 5.72871216e+00] [ 5.11895354e-02 -1.90082642e-03 9.98687147e-01 3.55666528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.57, Y:5.73, Z:3.56 [[ 9.89813288e-01 -1.32722236e-01 -5.15214733e-02 7.95650942e+01] [ 1.32640765e-01 9.91151503e-01 -5.01251069e-03 5.73380849e+00] [ 5.17308574e-02 -1.87239795e-03 9.98659308e-01 3.55765313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:5.74, Z:3.56 [[ 9.89902888e-01 -1.31772535e-01 -5.22328561e-02 7.95953615e+01] [ 1.31687480e-01 9.91278258e-01 -5.08172093e-03 5.73846743e+00] [ 5.24469258e-02 -1.84800294e-03 9.98622003e-01 3.55837191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:5.74, Z:3.56 [[ 9.90195849e-01 -1.29538562e-01 -5.22679827e-02 7.96256831e+01] [ 1.29450284e-01 9.91572874e-01 -5.08513839e-03 5.74442271e+00] [ 5.24862353e-02 -1.73082229e-03 9.98620148e-01 3.55936901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:5.75, Z:3.56 [[ 9.90552941e-01 -1.26791657e-01 -5.22374147e-02 7.96561938e+01] [ 1.26699673e-01 9.91928105e-01 -5.08207340e-03 5.75078145e+00] [ 5.24601242e-02 -1.58440059e-03 9.98621763e-01 3.56036950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:5.76, Z:3.56 [[ 9.90851403e-01 -1.24468390e-01 -5.21643280e-02 7.96854968e+01] [ 1.24373489e-01 9.92222499e-01 -5.07418102e-03 5.75667425e+00] [ 5.23901951e-02 -1.46010011e-03 9.98625623e-01 3.56154861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:5.76, Z:3.56 [[ 9.90973995e-01 -1.23358154e-01 -5.24719651e-02 7.97159468e+01] [ 1.23260530e-01 9.92361215e-01 -5.10497618e-03 5.76222770e+00] [ 5.27008835e-02 -1.40882356e-03 9.98609349e-01 3.56302486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters Centerline goodness [0,1] 0.9999792599966816 Centerline is valid? [True, True] Translation: X:79.75, Y:5.77, Z:3.56 [[ 9.91170109e-01 -1.21330724e-01 -5.34852414e-02 7.97455919e+01] [ 1.21226344e-01 9.92611251e-01 -5.20355742e-03 5.76891976e+00] [ 5.37214038e-02 -1.32620969e-03 9.98555082e-01 3.56402387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85509989299999 meters Centerline goodness [0,1] 0.9999792694556159 Centerline is valid? [True, True] Translation: X:79.78, Y:5.77, Z:3.57 [[ 9.91303593e-01 -1.19915446e-01 -5.41984451e-02 7.97752314e+01] [ 1.19806149e-01 9.92783301e-01 -5.27294472e-03 5.77495257e+00] [ 5.44396188e-02 -1.26621796e-03 9.98516262e-01 3.56521532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:5.78, Z:3.57 [[ 9.91345415e-01 -1.18878174e-01 -5.56978272e-02 7.98046985e+01] [ 1.18761102e-01 9.92908070e-01 -5.41897215e-03 5.78160868e+00] [ 5.59470196e-02 -1.24266212e-03 9.98432966e-01 3.56545817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:5.79, Z:3.57 [[ 9.91549485e-01 -1.18660561e-01 -5.24336754e-02 7.98346028e+01] [ 1.18556465e-01 9.92934203e-01 -5.10220713e-03 5.79059641e+00] [ 5.26686204e-02 -1.15726036e-03 9.98611374e-01 3.57094930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.87, Y:5.79, Z:3.57 [[ 9.91553741e-01 -1.18624981e-01 -5.24336933e-02 7.98652787e+01] [ 1.18520846e-01 9.92938457e-01 -5.10202276e-03 5.79355288e+00] [ 5.26686579e-02 -1.15555591e-03 9.98611374e-01 3.57241555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.90, Y:5.80, Z:3.57 [[ 9.91798418e-01 -1.16763717e-01 -5.19820439e-02 7.98963453e+01] [ 1.16658912e-01 9.93159168e-01 -5.05620328e-03 5.79914645e+00] [ 5.22168246e-02 -1.04943427e-03 9.98635220e-01 3.57473019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.93, Y:5.80, Z:3.58 [[ 9.92252035e-01 -1.12766218e-01 -5.21505493e-02 7.99260598e+01] [ 1.12655310e-01 9.93621190e-01 -5.07076154e-03 5.80498086e+00] [ 5.23897014e-02 -8.43562829e-04 9.98626360e-01 3.57633092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.035099893 meters Centerline goodness [0,1] 0.9999792307053252 Centerline is valid? [True, True] Translation: X:79.96, Y:5.81, Z:3.58 [[ 9.92637286e-01 -1.09289294e-01 -5.22213475e-02 7.99555292e+01] [ 1.09173324e-01 9.94009765e-01 -5.07671624e-03 5.80951991e+00] [ 5.24633601e-02 -6.61840287e-04 9.98622630e-01 3.57718460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:5.81, Z:3.58 [[ 9.92800876e-01 -1.07655048e-01 -5.25053474e-02 7.99862523e+01] [ 1.07535568e-01 9.94188139e-01 -5.10359610e-03 5.81376733e+00] [ 5.27496215e-02 -5.79337669e-04 9.98607602e-01 3.57825125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:5.82, Z:3.58 [[ 9.93176815e-01 -1.03944980e-01 -5.28701690e-02 8.00158785e+01] [ 1.03818619e-01 9.94582974e-01 -5.13829379e-03 5.81810201e+00] [ 5.31178698e-02 -3.85673654e-04 9.98588175e-01 3.57884553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.05, Y:5.82, Z:3.58 [[ 9.93465480e-01 -1.00962552e-01 -5.32250211e-02 8.00458537e+01] [ 1.00830164e-01 9.94890201e-01 -5.17363775e-03 5.82295384e+00] [ 5.34753956e-02 -2.26857068e-04 9.98569142e-01 3.58049800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:5.83, Z:3.58 [[ 9.93579753e-01 -9.97448646e-02 -5.33876088e-02 8.00747765e+01] [ 9.96098967e-02 9.95013033e-01 -5.18966358e-03 5.82671640e+00] [ 5.36390089e-02 -1.61589542e-04 9.98560379e-01 3.58174058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:5.83, Z:3.58 [[ 9.93655542e-01 -9.87365762e-02 -5.38493538e-02 8.01040021e+01] [ 9.85976751e-02 9.95113600e-01 -5.23652573e-03 5.83005582e+00] [ 5.41032609e-02 -1.06118283e-04 9.98535340e-01 3.58273581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:5.83, Z:3.58 [[ 9.93701366e-01 -9.80200780e-02 -5.43107649e-02 8.01337751e+01] [ 9.78776059e-02 9.95184435e-01 -5.28339536e-03 5.83297804e+00] [ 5.45671067e-02 -6.56904546e-05 9.98510103e-01 3.58401091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:5.84, Z:3.58 [[ 9.93753272e-01 -9.74554109e-02 -5.43771681e-02 8.01619396e+01] [ 9.73116232e-02 9.95239892e-01 -5.29208528e-03 5.83556861e+00] [ 5.46340692e-02 -3.25034231e-05 9.98506443e-01 3.58483172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:5.84, Z:3.59 [[ 9.93768355e-01 -9.73241220e-02 -5.43366545e-02 8.01904652e+01] [ 9.71800813e-02 9.95252739e-01 -5.29310263e-03 5.83802550e+00] [ 5.45938508e-02 -2.03226024e-05 9.98508643e-01 3.58615335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:5.84, Z:3.59 [[ 9.93729634e-01 -9.77433030e-02 -5.42923736e-02 8.02195824e+01] [ 9.75993606e-02 9.95211659e-01 -5.30273269e-03 5.84048387e+00] [ 5.45507098e-02 -2.94183400e-05 9.98511001e-01 3.58743414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.25, Y:5.84, Z:3.59 [[ 9.93716906e-01 -9.80788109e-02 -5.39189927e-02 8.02475106e+01] [ 9.79366535e-02 9.95178650e-01 -5.27885037e-03 5.84267587e+00] [ 5.41767737e-02 -3.49628505e-05 9.98531360e-01 3.58871763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:5.84, Z:3.59 [[ 9.93650122e-01 -9.88421461e-02 -5.37556060e-02 8.02762706e+01] [ 9.87016479e-02 9.95103123e-01 -5.26873082e-03 5.84471692e+00] [ 5.40131441e-02 -7.04918760e-05 9.98540222e-01 3.59007308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:5.84, Z:3.59 [[ 9.93437895e-01 -1.01899396e-01 -5.19390186e-02 8.03055401e+01] [ 1.01771752e-01 9.94794686e-01 -5.10333401e-03 5.84457045e+00] [ 5.21886863e-02 -2.16079536e-04 9.98637219e-01 3.59241682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:5.84, Z:3.60 [[ 9.93058755e-01 -1.06566630e-01 -4.97781240e-02 8.03348358e+01] [ 1.06454659e-01 9.94305470e-01 -4.90280079e-03 5.84189543e+00] [ 5.00171360e-02 -4.30343953e-04 9.98748267e-01 3.59545754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:5.84, Z:3.60 [[ 9.92416589e-01 -1.12742485e-01 -4.89739336e-02 8.03661264e+01] [ 1.12641489e-01 9.93623975e-01 -4.82610553e-03 5.83838478e+00] [ 4.92057817e-02 -7.26989636e-04 9.98788397e-01 3.59757621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:5.83, Z:3.60 [[ 9.91558673e-01 -1.19868256e-01 -4.94266985e-02 8.03964330e+01] [ 1.19774264e-01 9.92789207e-01 -4.86985093e-03 5.83304395e+00] [ 4.96540334e-02 -1.09130349e-03 9.98765881e-01 3.59846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:5.83, Z:3.60 [[ 9.90594670e-01 -1.27334407e-01 -5.00814221e-02 8.04279670e+01] [ 1.27247431e-01 9.91858732e-01 -4.93430749e-03 5.83039899e+00] [ 5.03020030e-02 -1.48483360e-03 9.98732949e-01 3.59905250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:5.82, Z:3.60 [[ 9.88820837e-01 -1.39969700e-01 -5.13987875e-02 8.04591498e+01] [ 1.39895136e-01 9.90153379e-01 -5.06327259e-03 5.82280022e+00] [ 5.16013878e-02 -2.18377090e-03 9.98665373e-01 3.59954214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:5.82, Z:3.60 [[ 9.88075565e-01 -1.45166245e-01 -5.13170497e-02 8.04892491e+01] [ 1.45098863e-01 9.89404244e-01 -5.05597340e-03 5.81891358e+00] [ 5.15072634e-02 -2.45036180e-03 9.98669614e-01 3.60060833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.52, Y:5.82, Z:3.60 [[ 9.87458558e-01 -1.49474615e-01 -5.08226014e-02 8.05194697e+01] [ 1.49414189e-01 9.88762016e-01 -5.00765683e-03 5.81974891e+00] [ 5.09999754e-02 -2.64876416e-03 9.98695142e-01 3.60266663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:5.82, Z:3.60 [[ 9.87463847e-01 -1.49439689e-01 -5.08225312e-02 8.05501743e+01] [ 1.49379180e-01 9.88767302e-01 -5.00836926e-03 5.82274516e+00] [ 5.10001062e-02 -2.64624445e-03 9.98695142e-01 3.60413463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:5.83, Z:3.61 [[ 9.87256189e-01 -1.50739049e-01 -5.10191733e-02 8.05811366e+01] [ 1.50679895e-01 9.88569830e-01 -5.02591338e-03 5.82652888e+00] [ 5.11936169e-02 -2.72569957e-03 9.98685027e-01 3.60539817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:5.83, Z:3.61 [[ 9.87067283e-01 -1.51745163e-01 -5.16873771e-02 8.06120982e+01] [ 1.51685923e-01 9.88415638e-01 -5.08983875e-03 5.83056525e+00] [ 5.18609703e-02 -2.81623418e-03 9.98650344e-01 3.60634836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:5.83, Z:3.61 [[ 9.87072803e-01 -1.51709187e-01 -5.16875622e-02 8.06428075e+01] [ 1.51649996e-01 9.88421161e-01 -5.08795836e-03 5.83355849e+00] [ 5.18609703e-02 -2.81623327e-03 9.98650344e-01 3.60781596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:5.84, Z:3.61 [[ 9.86982701e-01 -1.51987235e-01 -5.25835380e-02 8.06728700e+01] [ 1.51926468e-01 9.88378255e-01 -5.17429068e-03 5.83513867e+00] [ 5.27588517e-02 -2.88189580e-03 9.98603123e-01 3.60791885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:5.84, Z:3.61 [[ 9.87027938e-01 -1.51790050e-01 -5.23032460e-02 8.07041074e+01] [ 1.51729707e-01 9.88408629e-01 -5.14567117e-03 5.83959363e+00] [ 5.24780414e-02 -2.85703496e-03 9.98617991e-01 3.60881060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:5.85, Z:3.61 [[ 9.87357146e-01 -1.49724915e-01 -5.20414844e-02 8.07341645e+01] [ 1.49662404e-01 9.88723909e-01 -5.11822227e-03 5.84612453e+00] [ 5.22209853e-02 -2.73514031e-03 9.98631808e-01 3.61018462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.76, Y:5.85, Z:3.61 [[ 9.87566297e-01 -1.48266023e-01 -5.22493602e-02 8.07632104e+01] [ 1.48200972e-01 9.88943914e-01 -5.13875483e-03 5.84990016e+00] [ 5.24335896e-02 -2.66854488e-03 9.98620848e-01 3.61110295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:5.86, Z:3.61 [[ 9.87839399e-01 -1.46505160e-01 -5.20534352e-02 8.07940351e+01] [ 1.46438122e-01 9.89206581e-01 -5.12015206e-03 5.85886698e+00] [ 5.22417294e-02 -2.56471939e-03 9.98631175e-01 3.61349326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:5.87, Z:3.62 [[ 9.88277766e-01 -1.43632508e-01 -5.17374098e-02 8.08244277e+01] [ 1.43562452e-01 9.89628184e-01 -5.08720056e-03 5.86895367e+00] [ 5.19314863e-02 -2.39998220e-03 9.98647766e-01 3.61617954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.86, Y:5.88, Z:3.62 [[ 9.88593335e-01 -1.41409612e-01 -5.18318439e-02 8.08558355e+01] [ 1.41336357e-01 9.89948524e-01 -5.09449364e-03 5.87538241e+00] [ 5.20312677e-02 -2.28934151e-03 9.98642832e-01 3.61800395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.89, Y:5.88, Z:3.62 [[ 9.88902043e-01 -1.39061904e-01 -5.22927912e-02 8.08872090e+01] [ 1.38984218e-01 9.90281273e-01 -5.13689907e-03 5.88137497e+00] [ 5.24989188e-02 -2.18798268e-03 9.98618584e-01 3.61935079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:5.89, Z:3.62 [[ 9.89313607e-01 -1.36137700e-01 -5.22026167e-02 8.09182981e+01] [ 1.36056363e-01 9.90687841e-01 -5.12528290e-03 5.88761413e+00] [ 5.24142418e-02 -2.03198604e-03 9.98623362e-01 3.62072494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:5.90, Z:3.62 [[ 9.90054002e-01 -1.30522402e-01 -5.25069089e-02 8.09484799e+01] [ 1.30432323e-01 9.91443822e-01 -5.15333287e-03 5.89844364e+00] [ 5.27302758e-02 -1.74652028e-03 9.98607264e-01 3.62255600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:5.91, Z:3.62 [[ 9.90838246e-01 -1.24513928e-01 -5.23053742e-02 8.09768827e+01] [ 1.24416215e-01 9.92216841e-01 -5.13278621e-03 5.90822594e+00] [ 5.25373765e-02 -1.42187577e-03 9.98617946e-01 3.62436559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.01, Y:5.92, Z:3.63 [[ 9.91181012e-01 -1.21460926e-01 -5.29853306e-02 8.10078297e+01] [ 1.21356262e-01 9.92595394e-01 -5.20017168e-03 5.91569722e+00] [ 5.32246127e-02 -1.27579025e-03 9.98581751e-01 3.62581876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:5.93, Z:3.63 [[ 9.91830658e-01 -1.15482311e-01 -5.41828540e-02 8.10386357e+01] [ 1.15364060e-01 9.93309055e-01 -5.31558401e-03 5.92657542e+00] [ 5.44341754e-02 -9.78594816e-04 9.98516882e-01 3.62640268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:5.93, Z:3.63 [[ 9.92428997e-01 -1.10228792e-01 -5.41691674e-02 8.10679960e+01] [ 1.10102927e-01 9.93905998e-01 -5.31149789e-03 5.93476003e+00] [ 5.44245403e-02 -6.92899377e-04 9.98517646e-01 3.62675410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:5.94, Z:3.63 [[ 9.92952429e-01 -1.05644358e-01 -5.37098120e-02 8.10981944e+01] [ 1.05513968e-01 9.94403880e-01 -5.26548627e-03 5.94417088e+00] [ 5.39655144e-02 -4.38758014e-04 9.98542704e-01 3.62851944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:5.95, Z:3.63 [[ 9.93167606e-01 -1.03700919e-01 -5.35184541e-02 8.11286991e+01] [ 1.03568696e-01 9.94608470e-01 -5.24564774e-03 5.94975441e+00] [ 5.37738863e-02 -3.33029092e-04 9.98553082e-01 3.63067070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:5.96, Z:3.63 [[ 9.93383531e-01 -1.02042964e-01 -5.26914902e-02 8.11598071e+01] [ 1.01912568e-01 9.94779963e-01 -5.16268749e-03 5.95500795e+00] [ 5.29432546e-02 -2.41396338e-04 9.98597493e-01 3.63249063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.19, Y:5.96, Z:3.63 [[ 9.93602611e-01 -9.97859728e-02 -5.28829969e-02 8.11906178e+01] [ 9.96515343e-02 9.95008917e-01 -5.17950954e-03 5.96196429e+00] [ 5.31358959e-02 -1.23497584e-04 9.98587283e-01 3.63432418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.22, Y:5.97, Z:3.63 [[ 9.93590131e-01 -9.93013040e-02 -5.40176186e-02 8.12207613e+01] [ 9.91604174e-02 9.95057406e-01 -5.28875292e-03 5.96633645e+00] [ 5.42758115e-02 -1.01556908e-04 9.98525977e-01 3.63448668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.25, Y:5.97, Z:3.63 [[ 9.93492129e-01 -9.93502274e-02 -5.57038849e-02 8.12513940e+01] [ 9.92005440e-02 9.95052521e-01 -5.45266578e-03 5.97198318e+00] [ 5.59700147e-02 -1.08675154e-04 9.98432444e-01 3.63446603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:5.98, Z:3.64 [[ 9.93526747e-01 -9.99803830e-02 -5.39307495e-02 8.12821746e+01] [ 9.98411141e-02 9.94989398e-01 -5.27720806e-03 5.97671591e+00] [ 5.41881413e-02 -1.41458757e-04 9.98530733e-01 3.63742661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:5.98, Z:3.64 [[ 9.93447834e-01 -1.01191355e-01 -5.31197807e-02 8.13127413e+01] [ 1.01058071e-01 9.94866959e-01 -5.19607359e-03 5.97907322e+00] [ 5.33729125e-02 -2.06154526e-04 9.98574629e-01 3.63950135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:5.98, Z:3.64 [[ 9.93332378e-01 -1.02096218e-01 -5.35457742e-02 8.13436165e+01] [ 1.01962157e-01 9.94774495e-01 -5.23666642e-03 5.98167238e+00] [ 5.38006143e-02 -2.57892331e-04 9.98551665e-01 3.64114777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:5.98, Z:3.64 [[ 9.93016567e-01 -1.04684969e-01 -5.43981191e-02 8.13745473e+01] [ 1.04550600e-01 9.94505350e-01 -5.31789767e-03 5.98355302e+00] [ 5.46559244e-02 -4.06595491e-04 9.98505165e-01 3.64265347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:5.98, Z:3.64 [[ 9.92646508e-01 -1.07969601e-01 -5.47309408e-02 8.14053541e+01] [ 1.07838718e-01 9.94154019e-01 -5.34772167e-03 5.98487205e+00] [ 5.49883761e-02 -5.93717267e-04 9.98486818e-01 3.64425630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:5.99, Z:3.65 [[ 9.92450116e-01 -1.09686891e-01 -5.48776235e-02 8.14371382e+01] [ 1.09558005e-01 9.93965949e-01 -5.36065139e-03 5.98690971e+00] [ 5.51344822e-02 -6.92103874e-04 9.98478698e-01 3.64592833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:5.99, Z:3.65 [[ 9.92070657e-01 -1.12635337e-01 -5.57592348e-02 8.14674731e+01] [ 1.12507131e-01 9.93636009e-01 -5.44310609e-03 5.98681992e+00] [ 5.60174696e-02 -8.73365675e-04 9.98429407e-01 3.64639729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:5.99, Z:3.65 [[ 9.91925252e-01 -1.13703811e-01 -5.61759473e-02 8.14990929e+01] [ 1.13575459e-01 9.93514246e-01 -5.48260400e-03 5.98866763e+00] [ 5.64349969e-02 -9.41875643e-04 9.98405831e-01 3.64742639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.53, Y:5.99, Z:3.65 [[ 9.91852158e-01 -1.14472766e-01 -5.59042248e-02 8.15289472e+01] [ 1.14346977e-01 9.93425901e-01 -5.45423777e-03 5.99044768e+00] [ 5.61610665e-02 -9.82681615e-04 9.98421238e-01 3.64842241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.56, Y:5.99, Z:3.65 [[ 9.92008873e-01 -1.13721483e-01 -5.46426502e-02 8.15596506e+01] [ 1.13600231e-01 9.93512243e-01 -5.33006768e-03 5.99416223e+00] [ 5.48942852e-02 -9.19943233e-04 9.98491748e-01 3.65163454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:6.00, Z:3.65 [[ 9.92408953e-01 -1.10666079e-01 -5.36422260e-02 8.15916822e+01] [ 1.10544882e-01 9.93857370e-01 -5.23035832e-03 6.00017682e+00] [ 5.38915449e-02 -7.39219116e-04 9.98546521e-01 3.65449160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.62, Y:6.00, Z:3.66 [[ 9.92636365e-01 -1.08610104e-01 -5.36366760e-02 8.16225336e+01] [ 1.08486142e-01 9.94084225e-01 -5.22592238e-03 6.00351398e+00] [ 5.38869615e-02 -6.31395451e-04 9.98546843e-01 3.65564481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:6.01, Z:3.66 [[ 9.93106588e-01 -1.04120774e-01 -5.38346567e-02 8.16521382e+01] [ 1.03989450e-01 9.94564584e-01 -5.24244885e-03 6.00813003e+00] [ 5.40878908e-02 -3.91925883e-04 9.98536102e-01 3.65696242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:6.01, Z:3.66 [[ 9.93523922e-01 -1.00422319e-01 -5.31561213e-02 8.16831631e+01] [ 1.00289053e-01 9.94944884e-01 -5.17531900e-03 6.01366213e+00] [ 5.34071285e-02 -1.89173821e-04 9.98572803e-01 3.65895552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:6.02, Z:3.66 [[ 9.93717437e-01 -9.80606149e-02 -5.39422972e-02 8.17147678e+01] [ 9.79200033e-02 9.95180442e-01 -5.24989389e-03 6.01715780e+00] [ 5.41971270e-02 -6.51188283e-05 9.98530254e-01 3.65973716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.74, Y:6.02, Z:3.66 [[ 9.93785871e-01 -9.74206035e-02 -5.38411400e-02 8.17449331e+01] [ 9.72796942e-02 9.95243299e-01 -5.23794957e-03 6.01881060e+00] [ 5.40953180e-02 -3.22493595e-05 9.98535776e-01 3.66067461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:6.02, Z:3.66 [[ 9.93789266e-01 -9.73858070e-02 -5.38414311e-02 8.17756035e+01] [ 9.72450088e-02 9.95246705e-01 -5.23495594e-03 6.02176216e+00] [ 5.40953173e-02 -3.33674244e-05 9.98535776e-01 3.66213972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:6.02, Z:3.66 [[ 9.93734959e-01 -9.77164112e-02 -5.42432803e-02 8.18066631e+01] [ 9.75740994e-02 9.95214299e-01 -5.27209809e-03 6.02313772e+00] [ 5.44988586e-02 -5.36710430e-05 9.98513831e-01 3.66364267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:6.02, Z:3.66 [[ 9.93383098e-01 -1.00101332e-01 -5.63004845e-02 8.18371674e+01] [ 9.99519389e-02 9.94977229e-01 -5.47027722e-03 6.02348925e+00] [ 5.65652821e-02 -1.93261656e-04 9.98398884e-01 3.66357352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.87, Y:6.02, Z:3.66 [[ 9.93040700e-01 -1.02905132e-01 -5.72774108e-02 8.18668109e+01] [ 1.02755154e-01 9.94691110e-01 -5.56537913e-03 6.02356977e+00] [ 5.75460374e-02 -3.58901177e-04 9.98342789e-01 3.66380611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:6.02, Z:3.67 [[ 9.92052016e-01 -1.13625292e-01 -5.40563711e-02 8.18962523e+01] [ 1.13507536e-01 9.93523245e-01 -5.25357969e-03 6.01854451e+00] [ 5.43032008e-02 -9.23981150e-04 9.98524065e-01 3.66880645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.93, Y:6.02, Z:3.67 [[ 9.91656131e-01 -1.17262915e-01 -5.35492954e-02 8.19276647e+01] [ 1.17152531e-01 9.93100285e-01 -5.20657631e-03 6.02104237e+00] [ 5.37903588e-02 -1.11030216e-03 9.98551633e-01 3.67095805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.96, Y:6.02, Z:3.67 [[ 9.91664669e-01 -1.17190588e-01 -5.35495066e-02 8.19591860e+01] [ 1.17080216e-01 9.93108824e-01 -5.20440291e-03 6.02404959e+00] [ 5.37903946e-02 -1.10856532e-03 9.98551633e-01 3.67246405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:6.03, Z:3.67 [[ 9.91384569e-01 -1.19659760e-01 -5.32745555e-02 8.19916029e+01] [ 1.19554288e-01 9.92814184e-01 -5.17377213e-03 6.02641141e+00] [ 5.35108266e-02 -1.24000370e-03 9.98566499e-01 3.67424669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.02, Y:6.03, Z:3.68 [[ 9.91090048e-01 -1.22000499e-01 -5.34452426e-02 8.20239359e+01] [ 1.21897963e-01 9.92529087e-01 -5.18635594e-03 6.02760674e+00] [ 5.36786959e-02 -1.37472046e-03 9.98557313e-01 3.67548323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:6.03, Z:3.68 [[ 9.90671318e-01 -1.25139581e-01 -5.39483465e-02 8.20563298e+01] [ 1.25039970e-01 9.92137914e-01 -5.23114138e-03 6.02852706e+00] [ 5.41788228e-02 -1.56335790e-03 9.98530025e-01 3.67614458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:6.03, Z:3.68 [[ 9.90680508e-01 -1.25066642e-01 -5.39487312e-02 8.20878581e+01] [ 1.24967138e-01 9.92147112e-01 -5.22717034e-03 6.03152505e+00] [ 5.41788225e-02 -1.56336279e-03 9.98530025e-01 3.67765037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:6.03, Z:3.68 [[ 9.90200391e-01 -1.28660205e-01 -5.43114770e-02 8.21179770e+01] [ 1.28564981e-01 9.91687147e-01 -5.25814094e-03 6.03064219e+00] [ 5.45365071e-02 -1.77594079e-03 9.98510198e-01 3.67810801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:6.03, Z:3.68 [[ 9.89672922e-01 -1.32550636e-01 -5.45695585e-02 8.21488791e+01] [ 1.32460650e-01 9.91174209e-01 -5.27863861e-03 6.03081203e+00] [ 5.47876259e-02 -2.00419349e-03 9.98496019e-01 3.67881145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:6.03, Z:3.68 [[ 9.88481875e-01 -1.40686867e-01 -5.57744405e-02 8.21795901e+01] [ 1.40605819e-01 9.90050961e-01 -5.39429299e-03 6.02989847e+00] [ 5.59784446e-02 -2.51005007e-03 9.98428822e-01 3.67955603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:6.03, Z:3.68 [[ 9.87409148e-01 -1.47675451e-01 -5.67021620e-02 8.22104632e+01] [ 1.47603190e-01 9.89031460e-01 -5.48350029e-03 6.02653229e+00] [ 5.68900005e-02 -2.95496165e-03 9.98376079e-01 3.67954640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:6.03, Z:3.68 [[ 9.86978643e-01 -1.50468439e-01 -5.68542636e-02 8.22410954e+01] [ 1.50400525e-01 9.88609870e-01 -5.49612320e-03 6.02964743e+00] [ 5.70336792e-02 -3.12635489e-03 9.98367360e-01 3.68089143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:6.03, Z:3.68 [[ 9.86458910e-01 -1.53507544e-01 -5.77429958e-02 8.22721694e+01] [ 1.53442737e-01 9.88141781e-01 -5.58097930e-03 6.03116804e+00] [ 5.79149891e-02 -3.35483657e-03 9.98315881e-01 3.68156250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:6.03, Z:3.68 [[ 9.86380524e-01 -1.53918925e-01 -5.79864258e-02 8.23032639e+01] [ 1.53854363e-01 9.88077649e-01 -5.60307501e-03 6.03376370e+00] [ 5.81575105e-02 -3.39470055e-03 9.98301648e-01 3.68238984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.33, Y:6.04, Z:3.68 [[ 9.86598970e-01 -1.52594068e-01 -5.77713038e-02 8.23346947e+01] [ 1.52527913e-01 9.88283416e-01 -5.57898129e-03 6.04208817e+00] [ 5.79457409e-02 -3.30751921e-03 9.98314255e-01 3.68493150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.36, Y:6.05, Z:3.69 [[ 9.87181482e-01 -1.49128816e-01 -5.68622661e-02 8.23637600e+01] [ 1.49059179e-01 9.88813048e-01 -5.48796259e-03 6.04655871e+00] [ 5.70445640e-02 -3.05822767e-03 9.98366949e-01 3.68706596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.39, Y:6.06, Z:3.69 [[ 9.88015324e-01 -1.44103911e-01 -5.53152955e-02 8.23928572e+01] [ 1.44030108e-01 9.89558901e-01 -5.33946701e-03 6.05892475e+00] [ 5.55071811e-02 -2.69159273e-03 9.98454660e-01 3.69106997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:6.07, Z:3.69 [[ 9.88881632e-01 -1.38535986e-01 -5.40453418e-02 8.24229237e+01] [ 1.38457241e-01 9.90354673e-01 -5.21670869e-03 6.06944513e+00] [ 5.42467587e-02 -2.32426150e-03 9.98524855e-01 3.69441869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:6.08, Z:3.70 [[ 9.89267771e-01 -1.35903319e-01 -5.36615844e-02 8.24538927e+01] [ 1.35821846e-01 9.90719739e-01 -5.17923779e-03 6.07591661e+00] [ 5.38674666e-02 -2.16476243e-03 9.98545748e-01 3.69633946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:6.08, Z:3.70 [[ 9.90043920e-01 -1.30242988e-01 -5.33835238e-02 8.24834599e+01] [ 1.30154231e-01 9.91480381e-01 -5.15070114e-03 6.08399899e+00] [ 5.35995593e-02 -1.84867112e-03 9.98560799e-01 3.69795123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.51, Y:6.10, Z:3.70 [[ 9.90721801e-01 -1.24854869e-01 -5.36802975e-02 8.25126519e+01] [ 1.24757222e-01 9.92173780e-01 -5.17933530e-03 6.09720063e+00] [ 5.39068490e-02 -1.56572438e-03 9.98544741e-01 3.70034544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:6.11, Z:3.70 [[ 9.91356922e-01 -1.19093171e-01 -5.50297164e-02 8.25426556e+01] [ 1.18981697e-01 9.92882253e-01 -5.30925325e-03 6.10656818e+00] [ 5.52703246e-02 -1.28416411e-03 9.98470602e-01 3.70053705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:6.11, Z:3.70 [[ 9.91672919e-01 -1.16030066e-01 -5.58734805e-02 8.25739992e+01] [ 1.15910422e-01 9.93245056e-01 -5.38828180e-03 6.11415847e+00] [ 5.61212610e-02 -1.13290558e-03 9.98423317e-01 3.70172025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:6.12, Z:3.70 [[ 9.92272161e-01 -1.10287405e-01 -5.68563651e-02 8.26035539e+01] [ 1.10154305e-01 9.93899394e-01 -5.47933369e-03 6.12341975e+00] [ 5.71138084e-02 -8.25983100e-04 9.98367333e-01 3.70249132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:6.13, Z:3.70 [[ 9.92802941e-01 -1.05004472e-01 -5.75880274e-02 8.26346084e+01] [ 1.04859133e-01 9.94471608e-01 -5.54822186e-03 6.13301461e+00] [ 5.78522464e-02 -5.30339628e-04 9.98325015e-01 3.70344690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.67, Y:6.14, Z:3.70 [[ 9.93156503e-01 -1.01262733e-01 -5.81895111e-02 8.26660191e+01] [ 1.01108169e-01 9.94859667e-01 -5.60191273e-03 6.14183620e+00] [ 5.84576626e-02 -3.19858881e-04 9.98289837e-01 3.70436307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.70, Y:6.15, Z:3.71 [[ 9.93279527e-01 -9.97813909e-02 -5.86468650e-02 8.26981836e+01] [ 9.96220588e-02 9.95009355e-01 -5.64166467e-03 6.14732680e+00] [ 5.89171125e-02 -2.38771408e-04 9.98262850e-01 3.70572338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:6.15, Z:3.71 [[ 9.93378756e-01 -9.87551211e-02 -5.87032582e-02 8.27285018e+01] [ 9.85939363e-02 9.95111749e-01 -5.64294755e-03 6.15335646e+00] [ 5.89735719e-02 -1.82201077e-04 9.98259528e-01 3.70600643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:6.16, Z:3.71 [[ 9.93394230e-01 -9.89038872e-02 -5.81887048e-02 8.27596653e+01] [ 9.87459588e-02 9.95096972e-01 -5.59031141e-03 6.15749768e+00] [ 5.84563075e-02 -1.92516353e-04 9.98289949e-01 3.70748731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:6.16, Z:3.71 [[ 9.93208339e-01 -1.02250531e-01 -5.55159820e-02 8.27908625e+01] [ 1.02112177e-01 9.94758608e-01 -5.33053729e-03 6.16292237e+00] [ 5.57700513e-02 -3.74523695e-04 9.98443569e-01 3.71155685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:6.17, Z:3.71 [[ 9.93014105e-01 -1.04397968e-01 -5.49913844e-02 8.28230114e+01] [ 1.04265723e-01 9.94535479e-01 -5.27628505e-03 6.16589052e+00] [ 5.52417163e-02 -4.94290972e-04 9.98472888e-01 3.71348128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.86, Y:6.17, Z:3.72 [[ 9.92400796e-01 -1.10601725e-01 -5.39251138e-02 8.28551062e+01] [ 1.10483911e-01 9.93864465e-01 -5.17019814e-03 6.16804888e+00] [ 5.41660872e-02 -8.26948706e-04 9.98531597e-01 3.71561807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.89, Y:6.17, Z:3.72 [[ 9.91457004e-01 -1.18982037e-01 -5.34442068e-02 8.28858836e+01] [ 1.18878654e-01 9.92895586e-01 -5.12056287e-03 6.16783931e+00] [ 5.36737720e-02 -1.27655747e-03 9.98557708e-01 3.71815377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:6.17, Z:3.72 [[ 9.90895562e-01 -1.23661786e-01 -5.32329681e-02 8.29166058e+01] [ 1.23566021e-01 9.92323252e-01 -5.09915676e-03 6.16859603e+00] [ 5.34548829e-02 -1.52505427e-03 9.98569101e-01 3.71977752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:6.17, Z:3.72 [[ 9.89516638e-01 -1.33531434e-01 -5.50107280e-02 8.29478530e+01] [ 1.33444514e-01 9.91042291e-01 -5.26682206e-03 6.16625109e+00] [ 5.52212442e-02 -2.12927179e-03 9.98471873e-01 3.72000213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:6.17, Z:3.72 [[ 9.88817958e-01 -1.38189570e-01 -5.60596966e-02 8.29789318e+01] [ 1.38106785e-01 9.90402803e-01 -5.36692045e-03 6.16662871e+00] [ 5.62633331e-02 -2.43531717e-03 9.98412994e-01 3.72050763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:6.17, Z:3.72 [[ 9.87843616e-01 -1.44549526e-01 -5.71876237e-02 8.30100650e+01] [ 1.44474045e-01 9.89493449e-01 -5.47400192e-03 6.16581672e+00] [ 5.73780434e-02 -2.85466948e-03 9.98348442e-01 3.72049232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:6.17, Z:3.72 [[ 9.88022441e-01 -1.42995916e-01 -5.79984777e-02 8.30410562e+01] [ 1.42915656e-01 9.89719305e-01 -5.55088355e-03 6.16691985e+00] [ 5.81959667e-02 -2.80449299e-03 9.98301239e-01 3.72053142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:6.17, Z:3.72 [[ 9.88759197e-01 -1.38510531e-01 -5.63034866e-02 8.30704210e+01] [ 1.38427776e-01 9.90357885e-01 -5.38616896e-03 6.17268833e+00] [ 5.65066430e-02 -2.46834230e-03 9.98399172e-01 3.72383243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:6.18, Z:3.73 [[ 9.89077446e-01 -1.36525218e-01 -5.55578163e-02 8.31010860e+01] [ 1.36441530e-01 9.90633870e-01 -5.31454979e-03 6.17851705e+00] [ 5.57630246e-02 -2.32389213e-03 9.98441328e-01 3.72640338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:6.19, Z:3.73 [[ 9.89629846e-01 -1.33080526e-01 -5.40586857e-02 8.31312317e+01] [ 1.32996262e-01 9.91103059e-01 -5.16930558e-03 6.18906013e+00] [ 5.42656627e-02 -2.07390404e-03 9.98524380e-01 3.73073446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:6.19, Z:3.73 [[ 9.89986922e-01 -1.30668290e-01 -5.34012348e-02 8.31613820e+01] [ 1.30582684e-01 9.91424284e-01 -5.10412079e-03 6.19345318e+00] [ 5.36102278e-02 -1.92026376e-03 9.98560091e-01 3.73209847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:6.20, Z:3.73 [[ 9.90220089e-01 -1.28957234e-01 -5.32372685e-02 8.31936667e+01] [ 1.28869972e-01 9.91648472e-01 -5.08308514e-03 6.19783611e+00] [ 5.34481566e-02 -1.82731227e-03 9.98568954e-01 3.73224127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.23, Y:6.20, Z:3.73 [[ 9.90334608e-01 -1.28038302e-01 -5.33250129e-02 8.32253572e+01] [ 1.27949626e-01 9.91767618e-01 -5.08763611e-03 6.20134345e+00] [ 5.35374333e-02 -1.78445336e-03 9.98564249e-01 3.73335994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:6.21, Z:3.74 [[ 9.90585749e-01 -1.25932478e-01 -5.36738807e-02 8.32567321e+01] [ 1.25839762e-01 9.92037383e-01 -5.11704451e-03 6.20838698e+00] [ 5.38908982e-02 -1.68543699e-03 9.98545407e-01 3.73525124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:6.21, Z:3.74 [[ 9.90860790e-01 -1.23101964e-01 -5.51434709e-02 8.32872778e+01] [ 1.22999945e-01 9.92392774e-01 -5.25313666e-03 6.21280150e+00] [ 5.53706535e-02 -1.57751677e-03 9.98464622e-01 3.73634882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.32, Y:6.22, Z:3.74 [[ 9.91050146e-01 -1.21434713e-01 -5.54366188e-02 8.33188666e+01] [ 1.21329181e-01 9.92598294e-01 -5.27785539e-03 6.21830106e+00] [ 5.56672081e-02 -1.49546020e-03 9.98448259e-01 3.73795455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:6.22, Z:3.74 [[ 9.91417875e-01 -1.17940927e-01 -5.63962255e-02 8.33499622e+01] [ 1.17826291e-01 9.93019728e-01 -5.36517956e-03 6.22126213e+00] [ 5.66353387e-02 -1.32582315e-03 9.98394051e-01 3.73828019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:6.23, Z:3.74 [[ 9.91884115e-01 -1.13735574e-01 -5.68341617e-02 8.33807122e+01] [ 1.13612421e-01 9.93510451e-01 -5.40388670e-03 6.22722356e+00] [ 5.70799477e-02 -1.09703734e-03 9.98369008e-01 3.73965594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:6.24, Z:3.74 [[ 9.92620876e-01 -1.07725382e-01 -5.56690122e-02 8.34111523e+01] [ 1.07597892e-01 9.94180415e-01 -5.29112891e-03 6.23560347e+00] [ 5.59150305e-02 -7.37783326e-04 9.98435258e-01 3.74317377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:6.24, Z:3.75 [[ 9.93056017e-01 -1.03846362e-01 -5.52782007e-02 8.34419089e+01] [ 1.03714800e-01 9.94593216e-01 -5.25126965e-03 6.24116215e+00] [ 5.55246486e-02 -5.18362629e-04 9.98457182e-01 3.74517631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:6.25, Z:3.75 [[ 9.93930866e-01 -9.58660572e-02 -5.39549102e-02 8.34735615e+01] [ 9.57293038e-02 9.95394240e-01 -5.11929913e-03 6.24984995e+00] [ 5.41971738e-02 -7.68365693e-05 9.98530250e-01 3.74802569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:6.26, Z:3.75 [[ 9.94551144e-01 -8.98700116e-02 -5.28337242e-02 8.35043047e+01] [ 8.97306377e-02 9.95953474e-01 -5.00895820e-03 6.25532152e+00] [ 5.30700863e-02 2.40861347e-04 9.98590761e-01 3.75032677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.54, Y:6.26, Z:3.75 [[ 9.94946332e-01 -8.63614457e-02 -5.12200819e-02 8.35367312e+01] [ 8.62261078e-02 9.96263787e-01 -4.85027009e-03 6.25760324e+00] [ 5.14475891e-02 4.09250139e-04 9.98675612e-01 3.75302341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.57, Y:6.26, Z:3.75 [[ 9.95033002e-01 -8.54559166e-02 -5.10549740e-02 8.35676864e+01] [ 8.53204551e-02 9.96341851e-01 -4.83082117e-03 6.25910795e+00] [ 5.12810296e-02 4.50792874e-04 9.98684161e-01 3.75445185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:6.26, Z:3.76 [[ 9.94835794e-01 -8.68429026e-02 -5.25362031e-02 8.35996405e+01] [ 8.67017149e-02 9.96221944e-01 -4.96487871e-03 6.25864412e+00] [ 5.27688829e-02 3.84260149e-04 9.98606678e-01 3.75569856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.63, Y:6.26, Z:3.75 [[ 9.94524330e-01 -8.94125494e-02 -5.40994727e-02 8.36320004e+01] [ 8.92668397e-02 9.95994645e-01 -5.10867078e-03 6.25632086e+00] [ 5.43395644e-02 2.51408425e-04 9.98522483e-01 3.75485915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:6.26, Z:3.76 [[ 9.94393668e-01 -9.06271696e-02 -5.44788960e-02 8.36647462e+01] [ 9.04814410e-02 9.95884874e-01 -5.14062276e-03 6.25638641e+00] [ 5.47205886e-02 1.82473699e-04 9.98501689e-01 3.75589641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.70, Y:6.25, Z:3.76 [[ 9.94198312e-01 -9.28349783e-02 -5.43266355e-02 8.36973433e+01] [ 9.26935675e-02 9.95681507e-01 -5.12239981e-03 6.25427334e+00] [ 5.45675642e-02 5.69515837e-05 9.98510079e-01 3.75780601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.73, Y:6.26, Z:3.76 [[ 9.94149863e-01 -9.34831037e-02 -5.41013793e-02 8.37283231e+01] [ 9.33440286e-02 9.95620866e-01 -5.09738210e-03 6.25513004e+00] [ 5.43409812e-02 1.75210195e-05 9.98522437e-01 3.75950098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.76, Y:6.26, Z:3.76 [[ 9.94156501e-01 -9.34123240e-02 -5.41016631e-02 8.37598507e+01] [ 9.32733082e-02 9.95627509e-01 -5.09436841e-03 6.25804085e+00] [ 5.43409809e-02 1.83583730e-05 9.98522437e-01 3.76100646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:6.26, Z:3.76 [[ 9.94080192e-01 -9.47062340e-02 -5.32475370e-02 8.37917051e+01] [ 9.45736329e-02 9.95505262e-01 -5.01016653e-03 6.25764704e+00] [ 5.34826973e-02 -5.53057091e-05 9.98568775e-01 3.76447035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.82, Y:6.26, Z:3.77 [[ 9.94056092e-01 -9.60017487e-02 -5.13434477e-02 8.38233318e+01] [ 9.58803920e-02 9.95381158e-01 -4.82717896e-03 6.25714578e+00] [ 5.15697180e-02 -1.24343233e-04 9.98669389e-01 3.76762135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.86, Y:6.26, Z:3.77 [[ 9.94034315e-01 -9.65563915e-02 -5.07212380e-02 8.38553299e+01] [ 9.64389882e-02 9.95327503e-01 -4.76266983e-03 6.25791448e+00] [ 5.09441094e-02 -1.57247625e-04 9.98701493e-01 3.76972407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.89, Y:6.26, Z:3.77 [[ 9.93992520e-01 -9.71554391e-02 -5.03953459e-02 8.38877852e+01] [ 9.70404935e-02 9.95269202e-01 -4.72844512e-03 6.25633141e+00] [ 5.06163299e-02 -1.90350163e-04 9.98718154e-01 3.77156852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.92, Y:6.26, Z:3.77 [[ 9.93983737e-01 -9.67864677e-02 -5.12709452e-02 8.39187582e+01] [ 9.66671907e-02 9.95305153e-01 -4.80690574e-03 6.25502583e+00] [ 5.14954794e-02 -1.78232107e-04 9.98673212e-01 3.77191025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.95, Y:6.26, Z:3.77 [[ 9.94114535e-01 -9.49996158e-02 -5.20707558e-02 8.39509149e+01] [ 9.48742897e-02 9.95477305e-01 -4.87895976e-03 6.25526202e+00] [ 5.22987549e-02 -8.99311539e-05 9.98631480e-01 3.77324339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.98, Y:6.26, Z:3.78 [[ 9.94251116e-01 -9.35689950e-02 -5.20534460e-02 8.39833120e+01] [ 9.34419893e-02 9.95612798e-01 -4.87358300e-03 6.25728718e+00] [ 5.22810933e-02 -1.84122017e-05 9.98632408e-01 3.77503353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:6.26, Z:3.78 [[ 9.94474496e-01 -9.04225949e-02 -5.33313403e-02 8.40144927e+01] [ 9.02849799e-02 9.95903476e-01 -4.98893695e-03 6.25805647e+00] [ 5.35639797e-02 1.46351576e-04 9.98564409e-01 3.77585423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:6.26, Z:3.78 [[ 9.94628589e-01 -8.79989018e-02 -5.44992100e-02 8.40462033e+01] [ 8.78518846e-02 9.96120533e-01 -5.09212920e-03 6.25809724e+00] [ 5.47358839e-02 2.76918969e-04 9.98500829e-01 3.77617025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:6.26, Z:3.78 [[ 9.94696084e-01 -8.63038738e-02 -5.59583992e-02 8.40767364e+01] [ 8.61462882e-02 9.96268788e-01 -5.22674594e-03 6.25729239e+00] [ 5.62006950e-02 3.78415333e-04 9.98419420e-01 3.77691040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:6.26, Z:3.78 [[ 9.94636293e-01 -8.63073703e-02 -5.70059892e-02 8.41057846e+01] [ 8.61437997e-02 9.96268482e-01 -5.32511163e-03 6.25627093e+00] [ 5.72528667e-02 3.85836778e-04 9.98359635e-01 3.77701540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:6.26, Z:3.78 [[ 9.94535853e-01 -8.70313197e-02 -5.76540326e-02 8.41346099e+01] [ 8.68649247e-02 9.96205513e-01 -5.39075111e-03 6.25664579e+00] [ 5.79044294e-02 3.53182043e-04 9.98322068e-01 3.77779699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:6.25, Z:3.78 [[ 9.94320117e-01 -8.89436582e-02 -5.84511014e-02 8.41635252e+01] [ 8.87750629e-02 9.96036625e-01 -5.47997009e-03 6.25338626e+00] [ 5.87068464e-02 2.59844290e-04 9.98275232e-01 3.77854274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:6.25, Z:3.78 [[ 9.94029716e-01 -9.18383602e-02 -5.89121284e-02 8.41918046e+01] [ 9.16713858e-02 9.95773923e-01 -5.53642504e-03 6.24954346e+00] [ 5.91716174e-02 1.02814554e-04 9.98247819e-01 3.77869872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:6.25, Z:3.78 [[ 9.93861560e-01 -9.37379678e-02 -5.87570690e-02 8.42203035e+01] [ 9.35747647e-02 9.95596903e-01 -5.52901687e-03 6.24907785e+00] [ 5.90166347e-02 -3.10157304e-06 9.98256999e-01 3.78049470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:6.25, Z:3.78 [[ 9.93509478e-01 -9.79370022e-02 -5.78555172e-02 8.42495472e+01] [ 9.77850402e-02 9.95192589e-01 -5.45867613e-03 6.24626103e+00] [ 5.81119884e-02 -2.34157609e-04 9.98310043e-01 3.78305395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:6.24, Z:3.79 [[ 9.93080939e-01 -1.02747220e-01 -5.68617362e-02 8.42789096e+01] [ 1.02607600e-01 9.94707376e-01 -5.37734102e-03 6.24258600e+00] [ 5.71132953e-02 -4.94311443e-04 9.98367581e-01 3.78531844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:6.24, Z:3.79 [[ 9.92829123e-01 -1.05630021e-01 -5.59699106e-02 8.43087723e+01] [ 1.05499166e-01 9.94405290e-01 -5.29584326e-03 6.24194640e+00] [ 5.62161752e-02 -6.46911440e-04 9.98418411e-01 3.78765372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:6.24, Z:3.79 [[ 9.92255046e-01 -1.11407822e-01 -5.49383396e-02 8.43393252e+01] [ 1.11290491e-01 9.93774314e-01 -5.20002545e-03 6.23755741e+00] [ 5.51756342e-02 -9.54363269e-04 9.98476208e-01 3.79119318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:6.23, Z:3.79 [[ 9.91734090e-01 -1.16224783e-01 -5.43626129e-02 8.43695588e+01] [ 1.16117070e-01 9.93222200e-01 -5.14651123e-03 6.23306036e+00] [ 5.45923061e-02 -1.20845671e-03 9.98507997e-01 3.79309453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:6.23, Z:3.80 [[ 9.91372177e-01 -1.19446191e-01 -5.39797658e-02 8.43999587e+01] [ 1.19344711e-01 9.92839723e-01 -5.11111826e-03 6.23159628e+00] [ 5.42037593e-02 -1.37517913e-03 9.98528949e-01 3.79559600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:6.23, Z:3.80 [[ 9.91248518e-01 -1.20624295e-01 -5.36297992e-02 8.44315230e+01] [ 1.20525861e-01 9.92697201e-01 -5.07775076e-03 6.23383666e+00] [ 5.38506517e-02 -1.43046481e-03 9.98547976e-01 3.79747878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:6.23, Z:3.80 [[ 9.90980494e-01 -1.22620469e-01 -5.40544191e-02 8.44630494e+01] [ 1.22523542e-01 9.92452421e-01 -5.11596913e-03 6.23298643e+00] [ 5.42737617e-02 -1.55311330e-03 9.98524885e-01 3.79797116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:6.23, Z:3.80 [[ 9.90709681e-01 -1.24822975e-01 -5.39773327e-02 8.44943960e+01] [ 1.24729693e-01 9.92177618e-01 -5.10671582e-03 6.23297958e+00] [ 5.41925368e-02 -1.67330336e-03 9.98529103e-01 3.79852855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:6.23, Z:3.80 [[ 9.90321972e-01 -1.27746130e-01 -5.42523647e-02 8.45250981e+01] [ 1.27656374e-01 9.91805185e-01 -5.13087553e-03 6.23067899e+00] [ 5.44632261e-02 -1.84444137e-03 9.98514074e-01 3.79844290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:6.23, Z:3.80 [[ 9.90069678e-01 -1.29541299e-01 -5.45993157e-02 8.45551908e+01] [ 1.29453158e-01 9.91572097e-01 -5.16289693e-03 6.23190797e+00] [ 5.48079664e-02 -1.95642615e-03 9.98494997e-01 3.79943618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:6.24, Z:3.80 [[ 9.89551980e-01 -1.32777846e-01 -5.61865039e-02 8.45859358e+01] [ 1.32689693e-01 9.91143387e-01 -5.31329464e-03 6.23588339e+00] [ 5.63943696e-02 -2.19758874e-03 9.98406153e-01 3.79992445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:6.23, Z:3.80 [[ 9.89069820e-01 -1.35506407e-01 -5.81283467e-02 8.46159678e+01] [ 1.35416797e-01 9.90773477e-01 -5.49623524e-03 6.23328104e+00] [ 5.83367992e-02 -2.43539414e-03 9.98293988e-01 3.79790956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:6.24, Z:3.80 [[ 9.88853142e-01 -1.36964091e-01 -5.83977863e-02 8.46448181e+01] [ 1.36875976e-01 9.90572783e-01 -5.52524297e-03 6.23528713e+00] [ 5.86040176e-02 -2.52960013e-03 9.98278103e-01 3.79888990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:6.24, Z:3.80 [[ 9.88610625e-01 -1.39106563e-01 -5.74316646e-02 8.46745230e+01] [ 1.39024293e-01 9.90274001e-01 -5.44507197e-03 6.24135850e+00] [ 5.76305295e-02 -2.60134054e-03 9.98334591e-01 3.80188723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.70, Y:6.25, Z:3.81 [[ 9.88630098e-01 -1.39132946e-01 -5.70311560e-02 8.47044947e+01] [ 1.39051863e-01 9.90270338e-01 -5.40709993e-03 6.24660301e+00] [ 5.72285679e-02 -2.58466676e-03 9.98357757e-01 3.80511406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.74, Y:6.25, Z:3.81 [[ 9.88962949e-01 -1.37027759e-01 -5.63531560e-02 8.47353869e+01] [ 1.36945200e-01 9.90564218e-01 -5.34248326e-03 6.25470423e+00] [ 5.65534884e-02 -2.43377622e-03 9.98396604e-01 3.80829727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.77, Y:6.26, Z:3.81 [[ 9.89230110e-01 -1.35272544e-01 -5.59028453e-02 8.47659862e+01] [ 1.35188618e-01 9.90805718e-01 -5.29773342e-03 6.25868915e+00] [ 5.61054967e-02 -2.31675100e-03 9.98422158e-01 3.80987840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:6.27, Z:3.81 [[ 9.89948614e-01 -1.30508605e-01 -5.44907846e-02 8.47947058e+01] [ 1.30421744e-01 9.91445167e-01 -5.16234945e-03 6.26543570e+00] [ 5.46983561e-02 -1.99632249e-03 9.98500929e-01 3.81263309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:6.27, Z:3.82 [[ 9.90857699e-01 -1.24161398e-01 -5.27727876e-02 8.48250314e+01] [ 1.24070896e-01 9.92260757e-01 -5.00031837e-03 6.27437798e+00] [ 5.29852127e-02 -1.59296307e-03 9.98594026e-01 3.81612042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:6.28, Z:3.82 [[ 9.91300080e-01 -1.20682275e-01 -5.25351312e-02 8.48556121e+01] [ 1.20587760e-01 9.92690195e-01 -4.97676701e-03 6.28058250e+00] [ 5.27517173e-02 -1.40162426e-03 9.98606675e-01 3.81810232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:6.29, Z:3.82 [[ 9.92235928e-01 -1.12800302e-01 -5.23827695e-02 8.48858097e+01] [ 1.12695450e-01 9.93617194e-01 -4.96052182e-03 6.29176965e+00] [ 5.26079688e-02 -9.81291793e-04 9.98614760e-01 3.82034073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:6.30, Z:3.82 [[ 9.93174213e-01 -1.04132460e-01 -5.25491545e-02 8.49152766e+01] [ 1.04014864e-01 9.94563299e-01 -4.97519086e-03 6.30024122e+00] [ 5.27815393e-02 -5.24661905e-04 9.98605945e-01 3.82051416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:6.31, Z:3.82 [[ 9.93590398e-01 -9.99365934e-02 -5.28280143e-02 8.49457811e+01] [ 9.98118610e-02 9.94993761e-01 -5.00076123e-03 6.30706857e+00] [ 5.30633036e-02 -3.04154075e-04 9.98591104e-01 3.82174495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:6.32, Z:3.82 [[ 9.94313546e-01 -9.19936283e-02 -5.36446135e-02 8.49755211e+01] [ 9.18534242e-02 9.95759588e-01 -5.07848635e-03 6.31558125e+00] [ 5.38843267e-02 1.22166330e-04 9.98547177e-01 3.82208633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:6.32, Z:3.82 [[ 9.94898139e-01 -8.55093314e-02 -5.35336089e-02 8.50057167e+01] [ 8.53603221e-02 9.96337258e-01 -5.06797765e-03 6.32245726e+00] [ 5.37708885e-02 4.72475429e-04 9.98553188e-01 3.82367452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:6.33, Z:3.82 [[ 9.95108578e-01 -8.30922642e-02 -5.34283990e-02 8.50337129e+01] [ 8.29403409e-02 9.96541676e-01 -5.05834909e-03 6.32700060e+00] [ 5.36639360e-02 6.02236940e-04 9.98558871e-01 3.82473189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:6.33, Z:3.83 [[ 9.95365168e-01 -8.04411727e-02 -5.27010371e-02 8.50621460e+01] [ 8.02894411e-02 9.96759084e-01 -4.99338398e-03 6.33025674e+00] [ 5.29319111e-02 7.38903674e-04 9.98597850e-01 3.82623429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:6.33, Z:3.83 [[ 9.95353167e-01 -8.08516173e-02 -5.22980772e-02 8.50903380e+01] [ 8.07020715e-02 9.96725885e-01 -4.96839152e-03 6.33198453e+00] [ 5.25285498e-02 7.24741063e-04 9.98619160e-01 3.82804676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.12, Y:6.33, Z:3.83 [[ 9.95285355e-01 -8.22543616e-02 -5.13934004e-02 8.51189086e+01] [ 8.21111957e-02 9.96611156e-01 -4.89447665e-03 6.33347693e+00] [ 5.16218282e-02 6.51427380e-04 9.98666492e-01 3.82985207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:6.33, Z:3.83 [[ 9.94910552e-01 -8.71778545e-02 -5.05273658e-02 8.51478055e+01] [ 8.70456502e-02 9.96192686e-01 -4.81531327e-03 6.33136866e+00] [ 5.07547810e-02 3.92618568e-04 9.98711068e-01 3.83197041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:6.33, Z:3.83 [[ 9.94206102e-01 -9.45625669e-02 -5.11091811e-02 8.51781479e+01] [ 9.44364237e-02 9.95518920e-01 -4.88279928e-03 6.32724612e+00] [ 5.13418868e-02 2.79405614e-05 9.98681135e-01 3.83270872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:6.33, Z:3.83 [[ 9.93744384e-01 -9.92526353e-02 -5.11958444e-02 8.52085007e+01] [ 9.91322373e-02 9.95062244e-01 -4.89191870e-03 6.32588564e+00] [ 5.14285876e-02 -2.13841862e-04 9.98676652e-01 3.83379048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.24, Y:6.32, Z:3.83 [[ 9.92644485e-01 -1.09600284e-01 -5.14266837e-02 8.52392973e+01] [ 1.09492654e-01 9.93975458e-01 -4.91405072e-03 6.31910880e+00] [ 5.16554428e-02 -7.52938732e-04 9.98664683e-01 3.83444509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:6.31, Z:3.84 [[ 9.91512726e-01 -1.19650448e-01 -5.08555169e-02 8.52712475e+01] [ 1.19558350e-01 9.92815280e-01 -4.86018982e-03 6.31364300e+00] [ 5.10716582e-02 -1.26126161e-03 9.98694195e-01 3.83587404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:6.31, Z:3.84 [[ 9.90960750e-01 -1.24102431e-01 -5.09448594e-02 8.53016116e+01] [ 1.24015970e-01 9.92268286e-01 -4.86697624e-03 6.31125271e+00] [ 5.11549719e-02 -1.49499373e-03 9.98689608e-01 3.83681281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:6.31, Z:3.84 [[ 9.89968305e-01 -1.31690295e-01 -5.11900447e-02 8.53321698e+01] [ 1.31613114e-01 9.91289096e-01 -4.89045684e-03 6.30601055e+00] [ 5.13881588e-02 -1.89588391e-03 9.98676956e-01 3.83802835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:6.31, Z:3.84 [[ 9.89594497e-01 -1.34583067e-01 -5.08933065e-02 8.53636858e+01] [ 1.34510565e-01 9.90900228e-01 -4.86266922e-03 6.30621500e+00] [ 5.10846219e-02 -2.03361669e-03 9.98692258e-01 3.83946993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:6.30, Z:3.84 [[ 9.89031077e-01 -1.38723270e-01 -5.07285147e-02 8.53949517e+01] [ 1.38656756e-01 9.90328647e-01 -4.84515788e-03 6.30453937e+00] [ 5.09100374e-02 -2.24183954e-03 9.98700727e-01 3.84082015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:6.30, Z:3.84 [[ 9.88856159e-01 -1.40037329e-01 -5.05276412e-02 8.54261255e+01] [ 1.39973103e-01 9.90143550e-01 -4.82494725e-03 6.30464897e+00] [ 5.07052907e-02 -2.30133189e-03 9.98711008e-01 3.84210283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:6.31, Z:3.84 [[ 9.88764820e-01 -1.40694525e-01 -5.04894132e-02 8.54575977e+01] [ 1.40631392e-01 9.90050299e-01 -4.81850617e-03 6.31044453e+00] [ 5.06649961e-02 -2.33602705e-03 9.98712972e-01 3.84396099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.49, Y:6.31, Z:3.85 [[ 9.88618153e-01 -1.41886051e-01 -5.00249623e-02 8.54888031e+01] [ 1.41825777e-01 9.89880140e-01 -4.77054450e-03 6.31195322e+00] [ 5.01955904e-02 -2.37858225e-03 9.98736574e-01 3.84581819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:6.31, Z:3.85 [[ 9.88609040e-01 -1.42006985e-01 -4.98616269e-02 8.55201486e+01] [ 1.41947403e-01 9.89862795e-01 -4.75206269e-03 6.31324681e+00] [ 5.00309955e-02 -2.37979630e-03 9.98744830e-01 3.84741937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:6.31, Z:3.85 [[ 9.88528791e-01 -1.42460415e-01 -5.01583435e-02 8.55511135e+01] [ 1.42400978e-01 9.89797536e-01 -4.77489861e-03 6.31207861e+00] [ 5.03268388e-02 -2.42247242e-03 9.98729864e-01 3.84831737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:6.32, Z:3.85 [[ 9.88345865e-01 -1.43441370e-01 -5.09610167e-02 8.55823081e+01] [ 1.43381367e-01 9.89655626e-01 -4.85031989e-03 6.31611585e+00] [ 5.11295934e-02 -2.51306665e-03 9.98688865e-01 3.84931174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:6.32, Z:3.85 [[ 9.88226748e-01 -1.43959254e-01 -5.18037435e-02 8.56141876e+01] [ 1.43898067e-01 9.89580242e-01 -4.92849946e-03 6.32200235e+00] [ 5.19734641e-02 -2.58398358e-03 9.98645123e-01 3.85049757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:6.32, Z:3.85 [[ 9.87892281e-01 -1.45327528e-01 -5.43023941e-02 8.56441201e+01] [ 1.45262560e-01 9.89379673e-01 -5.16258092e-03 6.32241436e+00] [ 5.44759500e-02 -2.78803094e-03 9.98511191e-01 3.84996680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.67, Y:6.33, Z:3.85 [[ 9.87897397e-01 -1.45292740e-01 -5.43024175e-02 8.56748349e+01] [ 1.45227733e-01 9.89384787e-01 -5.16233448e-03 6.32530422e+00] [ 5.44760355e-02 -2.78636019e-03 9.98511191e-01 3.85143460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.71, Y:6.33, Z:3.85 [[ 9.87533360e-01 -1.46860175e-01 -5.66564344e-02 8.57052776e+01] [ 1.46792095e-01 9.89152714e-01 -5.38419635e-03 6.33073077e+00] [ 5.68325899e-02 -2.99964320e-03 9.98379216e-01 3.85097696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:6.33, Z:3.85 [[ 9.87457995e-01 -1.47112516e-01 -5.73115635e-02 8.57367711e+01] [ 1.47043349e-01 9.89115061e-01 -5.44521598e-03 6.33347789e+00] [ 5.74887900e-02 -3.05036220e-03 9.98341492e-01 3.85157953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:6.34, Z:3.85 [[ 9.87337887e-01 -1.47596751e-01 -5.81299890e-02 8.57674822e+01] [ 1.47526559e-01 9.89042686e-01 -5.52083153e-03 6.33812897e+00] [ 5.83078973e-02 -3.12479114e-03 9.98293757e-01 3.85271158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:6.35, Z:3.86 [[ 9.87370368e-01 -1.47485463e-01 -5.78601282e-02 8.57983525e+01] [ 1.47415853e-01 9.89059347e-01 -5.49309213e-03 6.34527149e+00] [ 5.80372519e-02 -3.10578375e-03 9.98309587e-01 3.85507615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:6.35, Z:3.86 [[ 9.87593153e-01 -1.46542354e-01 -5.64367117e-02 8.58283242e+01] [ 1.46474725e-01 9.89199916e-01 -5.35553256e-03 6.34805422e+00] [ 5.66120028e-02 -2.97746457e-03 9.98391815e-01 3.85733306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:6.35, Z:3.86 [[ 9.87714268e-01 -1.46074082e-01 -5.55237608e-02 8.58594417e+01] [ 1.46008099e-01 9.89269384e-01 -5.26503078e-03 6.35272655e+00] [ 5.56970412e-02 -2.90657276e-03 9.98443484e-01 3.85969628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:6.36, Z:3.86 [[ 9.88181187e-01 -1.43739501e-01 -5.32625351e-02 8.58892167e+01] [ 1.43675483e-01 9.89611976e-01 -5.04900747e-03 6.36017663e+00] [ 5.34349844e-02 -2.66318626e-03 9.98567779e-01 3.86265749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.92, Y:6.36, Z:3.86 [[ 9.88365316e-01 -1.42734394e-01 -5.25442237e-02 8.59198146e+01] [ 1.42670682e-01 9.89757682e-01 -4.98073279e-03 6.36473983e+00] [ 5.27169709e-02 -2.57373671e-03 9.98606177e-01 3.86427162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:6.37, Z:3.87 [[ 9.88541089e-01 -1.41713833e-01 -5.19971625e-02 8.59508848e+01] [ 1.41650126e-01 9.89904523e-01 -4.92708051e-03 6.37156987e+00] [ 5.21704618e-02 -2.49478310e-03 9.98635078e-01 3.86633759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:6.38, Z:3.87 [[ 9.88565010e-01 -1.41927613e-01 -5.09487315e-02 8.59820479e+01] [ 1.41866827e-01 9.89873989e-01 -4.82585877e-03 6.38177443e+00] [ 5.11177467e-02 -2.45725976e-03 9.98689610e-01 3.86884806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.01, Y:6.39, Z:3.87 [[ 9.88395159e-01 -1.43189446e-01 -5.07128350e-02 8.60124055e+01] [ 1.43131060e-01 9.89692104e-01 -4.79991212e-03 6.38588880e+00] [ 5.08773891e-02 -2.51437194e-03 9.98701742e-01 3.87127257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.04, Y:6.39, Z:3.87 [[ 9.88233814e-01 -1.44337859e-01 -5.06014938e-02 8.60431075e+01] [ 1.44281324e-01 9.89525128e-01 -4.78751830e-03 6.38682059e+00] [ 5.07624698e-02 -2.56966305e-03 9.98707449e-01 3.87277603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:6.39, Z:3.87 [[ 9.87732009e-01 -1.47388016e-01 -5.15970022e-02 8.60738695e+01] [ 1.47333481e-01 9.89074837e-01 -4.87978410e-03 6.39271344e+00] [ 5.17525182e-02 -2.78204699e-03 9.98656065e-01 3.87343655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:6.40, Z:3.87 [[ 9.87431635e-01 -1.49057857e-01 -5.25406583e-02 8.61054820e+01] [ 1.49003790e-01 9.88824152e-01 -4.96667740e-03 6.39600816e+00] [ 5.26937942e-02 -2.92450284e-03 9.98606435e-01 3.87437288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:6.40, Z:3.88 [[ 9.86934655e-01 -1.51940386e-01 -5.36106938e-02 8.61357871e+01] [ 1.51888477e-01 9.88384659e-01 -5.06511839e-03 6.40060244e+00] [ 5.37575834e-02 -3.14390578e-03 9.98549066e-01 3.87550626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.17, Y:6.41, Z:3.88 [[ 9.86604658e-01 -1.53867587e-01 -5.41850095e-02 8.61660619e+01] [ 1.53817508e-01 9.88086017e-01 -5.11840239e-03 6.40708948e+00] [ 5.43270064e-02 -3.28476351e-03 9.98517795e-01 3.87672133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:6.41, Z:3.88 [[ 9.86496074e-01 -1.54432850e-01 -5.45526494e-02 8.61970138e+01] [ 1.54383020e-01 9.87997642e-01 -5.15188271e-03 6.40916591e+00] [ 5.46935089e-02 -3.33969069e-03 9.98497605e-01 3.87761734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:6.42, Z:3.88 [[ 9.86457062e-01 -1.54770344e-01 -5.43010670e-02 8.62287306e+01] [ 1.54721646e-01 9.87944809e-01 -5.12508189e-03 6.41826240e+00] [ 5.44396680e-02 -3.34587725e-03 9.98511456e-01 3.87905289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:6.42, Z:3.88 [[ 9.86513655e-01 -1.54297423e-01 -5.46178924e-02 8.62596408e+01] [ 1.54247645e-01 9.88018790e-01 -5.15113986e-03 6.41819703e+00] [ 5.47583116e-02 -3.34301149e-03 9.98494042e-01 3.87922611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:6.43, Z:3.88 [[ 9.86611730e-01 -1.53721118e-01 -5.44712125e-02 8.62905635e+01] [ 1.53670900e-01 9.88108746e-01 -5.13424355e-03 6.42964171e+00] [ 5.46127231e-02 -3.30513534e-03 9.98502141e-01 3.88112806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:6.44, Z:3.88 [[ 9.86738984e-01 -1.53223084e-01 -5.35617810e-02 8.63222052e+01] [ 1.53174001e-01 9.88186357e-01 -5.04469770e-03 6.43823735e+00] [ 5.37019853e-02 -3.22647242e-03 9.98551795e-01 3.88347442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:6.44, Z:3.89 [[ 9.86923573e-01 -1.52575872e-01 -5.19852292e-02 8.63534908e+01] [ 1.52528929e-01 9.88286896e-01 -4.89253449e-03 6.44144774e+00] [ 5.21228035e-02 -3.10069372e-03 9.98635869e-01 3.88590502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:6.44, Z:3.89 [[ 9.86921907e-01 -1.52461539e-01 -5.23510162e-02 8.63854011e+01] [ 1.52413936e-01 9.88304481e-01 -4.92386648e-03 6.44226313e+00] [ 5.24894442e-02 -3.11955275e-03 9.98616606e-01 3.88689635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:6.45, Z:3.89 [[ 9.86957483e-01 -1.51934765e-01 -5.32048295e-02 8.64167151e+01] [ 1.51885090e-01 9.88385514e-01 -4.99943225e-03 6.44946631e+00] [ 5.33464703e-02 -3.14679327e-03 9.98571105e-01 3.88690145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:6.46, Z:3.89 [[ 9.86961760e-01 -1.51828350e-01 -5.34288049e-02 8.64491167e+01] [ 1.51778318e-01 9.88401830e-01 -5.01645415e-03 6.45554594e+00] [ 5.35707685e-02 -3.15828571e-03 9.98559061e-01 3.88845889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:6.46, Z:3.89 [[ 9.87139227e-01 -1.50714304e-01 -5.33042657e-02 8.64809685e+01] [ 1.50663189e-01 9.88572512e-01 -4.99912029e-03 6.46455276e+00] [ 5.34485708e-02 -3.09616293e-03 9.98565804e-01 3.89047588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:6.47, Z:3.89 [[ 9.87280308e-01 -1.49744264e-01 -5.34251644e-02 8.65125693e+01] [ 1.49691757e-01 9.88720042e-01 -5.00571846e-03 6.46600282e+00] [ 5.35721084e-02 -3.05525944e-03 9.98559310e-01 3.89177638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:6.48, Z:3.89 [[ 9.87836056e-01 -1.46161639e-01 -5.30726130e-02 8.65426818e+01] [ 1.46104855e-01 9.89256629e-01 -4.96916730e-03 6.47816976e+00] [ 5.32287359e-02 -2.84544379e-03 9.98578292e-01 3.89427259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:6.49, Z:3.90 [[ 9.88694982e-01 -1.40691938e-01 -5.18460377e-02 8.65718436e+01] [ 1.40630299e-01 9.90050284e-01 -4.85325134e-03 6.49023343e+00] [ 5.20129977e-02 -2.49273855e-03 9.98643297e-01 3.89712187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:6.50, Z:3.90 [[ 9.89103373e-01 -1.37878203e-01 -5.16150944e-02 8.66032407e+01] [ 1.37813307e-01 9.90446440e-01 -4.83130233e-03 6.49761453e+00] [ 5.17881178e-02 -2.33458945e-03 9.98655366e-01 3.89912320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:6.50, Z:3.90 [[ 9.89792060e-01 -1.32947134e-01 -5.13491762e-02 8.66320909e+01] [ 1.32876411e-01 9.91120972e-01 -4.80390415e-03 6.50356295e+00] [ 5.15319108e-02 -2.06822804e-03 9.98669207e-01 3.90068613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:6.51, Z:3.90 [[ 9.90077150e-01 -1.30709656e-01 -5.15967390e-02 8.66633078e+01] [ 1.30635184e-01 9.91418752e-01 -4.82769300e-03 6.51150316e+00] [ 5.17850007e-02 -1.96056097e-03 9.98656332e-01 3.90236059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:6.52, Z:3.90 [[ 9.90347201e-01 -1.28619306e-01 -5.16671543e-02 8.66949035e+01] [ 1.28541941e-01 9.91692305e-01 -4.83140759e-03 6.51692822e+00] [ 5.18593316e-02 -1.85662529e-03 9.98652674e-01 3.90352056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:6.53, Z:3.90 [[ 9.90853786e-01 -1.24210619e-01 -5.27304142e-02 8.67261654e+01] [ 1.24124003e-01 9.92254482e-01 -4.92705778e-03 6.52538009e+00] [ 5.29339827e-02 -1.66311621e-03 9.98596629e-01 3.90413944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:6.53, Z:3.91 [[ 9.91394218e-01 -1.19617333e-01 -5.31902067e-02 8.67572982e+01] [ 1.19522752e-01 9.92819037e-01 -4.96707310e-03 6.53247310e+00] [ 5.34023979e-02 -1.43311234e-03 9.98572046e-01 3.90504967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:6.54, Z:3.91 [[ 9.91618609e-01 -1.17585900e-01 -5.35358810e-02 8.67896825e+01] [ 1.17487299e-01 9.93061817e-01 -4.99618291e-03 6.53754641e+00] [ 5.37519199e-02 -1.33547811e-03 9.98553428e-01 3.90665450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:6.54, Z:3.91 [[ 9.91965508e-01 -1.14317686e-01 -5.41839231e-02 8.68204781e+01] [ 1.14212070e-01 9.93443547e-01 -5.05193014e-03 6.54243315e+00] [ 5.44061937e-02 -1.17711756e-03 9.98518192e-01 3.90766247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:6.55, Z:3.91 [[ 9.92147328e-01 -1.12625576e-01 -5.43981559e-02 8.68517134e+01] [ 1.12516744e-01 9.93636900e-01 -5.06894777e-03 6.54600429e+00] [ 5.46229081e-02 -1.09156041e-03 9.98506458e-01 3.90869462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:6.55, Z:3.91 [[ 9.92312214e-01 -1.11069370e-01 -5.45899801e-02 8.68840935e+01] [ 1.10957591e-01 9.93812140e-01 -5.08363778e-03 6.55039744e+00] [ 5.48168214e-02 -1.01261681e-03 9.98495914e-01 3.90995378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:6.55, Z:3.91 [[ 9.92322089e-01 -1.10749113e-01 -5.50591040e-02 8.69160407e+01] [ 1.10635188e-01 9.93847884e-01 -5.12232586e-03 6.55277834e+00] [ 5.52876671e-02 -1.00847724e-03 9.98469958e-01 3.91096190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:6.56, Z:3.91 [[ 9.92441916e-01 -1.09784278e-01 -5.48311601e-02 8.69483453e+01] [ 1.09670087e-01 9.93954978e-01 -5.09635361e-03 6.55616715e+00] [ 5.50592040e-02 -9.55503139e-04 9.98482634e-01 3.91251696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:6.56, Z:3.92 [[ 9.92576583e-01 -1.08773271e-01 -5.44068215e-02 8.69801638e+01] [ 1.08659532e-01 9.94066181e-01 -5.05308836e-03 6.56044368e+00] [ 5.46336222e-02 -8.96242589e-04 9.98506066e-01 3.91528557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:6.56, Z:3.92 [[ 9.92756864e-01 -1.07815127e-01 -5.30066716e-02 8.70123167e+01] [ 1.07706003e-01 9.94170618e-01 -4.91934344e-03 6.56333026e+00] [ 5.32280550e-02 -8.25424741e-04 9.98582041e-01 3.91773552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:6.57, Z:3.92 [[ 9.92857585e-01 -1.07556753e-01 -5.16271315e-02 8.70432006e+01] [ 1.07453071e-01 9.94198629e-01 -4.78777903e-03 6.56564236e+00] [ 5.18425813e-02 -7.93911123e-04 9.98654954e-01 3.92045557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:6.57, Z:3.92 [[ 9.92927864e-01 -1.07599208e-01 -5.01664026e-02 8.70750327e+01] [ 1.07501501e-01 9.94194049e-01 -4.64965502e-03 6.56854656e+00] [ 5.03754382e-02 -7.76191580e-04 9.98730050e-01 3.92325658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:6.57, Z:3.93 [[ 9.92869096e-01 -1.08703672e-01 -4.89333133e-02 8.71074024e+01] [ 1.08612221e-01 9.94073864e-01 -4.53192341e-03 6.56901415e+00] [ 4.91359645e-02 -8.15149133e-04 9.98791766e-01 3.92517108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:6.57, Z:3.93 [[ 9.92316328e-01 -1.13402242e-01 -4.94796626e-02 8.71395956e+01] [ 1.13314745e-01 9.93548590e-01 -4.57897892e-03 6.56659099e+00] [ 4.96797155e-02 -1.06297980e-03 9.98764635e-01 3.92556631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:6.57, Z:3.93 [[ 9.92038789e-01 -1.15504450e-01 -5.01773165e-02 8.71704949e+01] [ 1.15417303e-01 9.93306253e-01 -4.64056757e-03 6.56573731e+00] [ 5.03774484e-02 -1.18770752e-03 9.98729544e-01 3.92610422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:6.57, Z:3.93 [[ 9.92050920e-01 -1.15399964e-01 -5.01778906e-02 8.72028819e+01] [ 1.15312997e-01 9.93318396e-01 -4.63435249e-03 6.56863624e+00] [ 5.03774259e-02 -1.18864929e-03 9.98729544e-01 3.92764919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:6.57, Z:3.93 [[ 9.91460224e-01 -1.19859134e-01 -5.13849495e-02 8.72343974e+01] [ 1.19774183e-01 9.92789843e-01 -4.74054867e-03 6.56798253e+00] [ 5.15826540e-02 -1.45452488e-03 9.98667670e-01 3.92784326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:6.57, Z:3.93 [[ 9.91188364e-01 -1.21797094e-01 -5.20681696e-02 8.72659632e+01] [ 1.21712642e-01 9.92553766e-01 -4.80158628e-03 6.56745684e+00] [ 5.22652771e-02 -1.57807805e-03 9.98631990e-01 3.92863063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:6.57, Z:3.93 [[ 9.90889805e-01 -1.23667668e-01 -5.33263733e-02 8.72986229e+01] [ 1.23581952e-01 9.92322200e-01 -4.91456098e-03 6.56730703e+00] [ 5.35247163e-02 -1.72038896e-03 9.98565043e-01 3.92932380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:6.57, Z:3.93 [[ 9.90490587e-01 -1.26334585e-01 -5.44790825e-02 8.73312932e+01] [ 1.26249366e-01 9.91985851e-01 -5.01684404e-03 6.56673418e+00] [ 5.46762799e-02 -1.90881280e-03 9.98502309e-01 3.92925363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:6.57, Z:3.93 [[ 9.90296480e-01 -1.27479339e-01 -5.53344377e-02 8.73630322e+01] [ 1.27393422e-01 9.91839196e-01 -5.09173228e-03 6.56607254e+00] [ 5.55319549e-02 -2.00691880e-03 9.98454893e-01 3.92956383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:6.57, Z:3.93 [[ 9.90277878e-01 -1.27414978e-01 -5.58135158e-02 8.73948805e+01] [ 1.27327642e-01 9.91847432e-01 -5.13265679e-03 6.56999866e+00] [ 5.60124697e-02 -2.02384687e-03 9.98428018e-01 3.93106227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:6.57, Z:3.93 [[ 9.90469705e-01 -1.25851915e-01 -5.59558690e-02 8.74265591e+01] [ 1.25761868e-01 9.92047133e-01 -5.14173688e-03 6.57137040e+00] [ 5.61579569e-02 -1.94438003e-03 9.98420003e-01 3.93183756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:6.58, Z:3.93 [[ 9.90659361e-01 -1.24374830e-01 -5.59010891e-02 8.74578660e+01] [ 1.24282837e-01 9.92233557e-01 -5.13271895e-03 6.57829775e+00] [ 5.61053176e-02 -1.86276986e-03 9.98423118e-01 3.93415067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.49, Y:6.58, Z:3.94 [[ 9.91242653e-01 -1.20262968e-01 -5.45419206e-02 8.74880650e+01] [ 1.20169370e-01 9.92740791e-01 -5.00440180e-03 6.58207791e+00] [ 5.47478336e-02 -1.59369169e-03 9.98498941e-01 3.93607764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:6.59, Z:3.94 [[ 9.91622338e-01 -1.17427311e-01 -5.38141718e-02 8.75188387e+01] [ 1.17332082e-01 9.93080467e-01 -4.93653553e-03 6.58646275e+00] [ 5.40214870e-02 -1.41894992e-03 9.98538765e-01 3.93824787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.55, Y:6.59, Z:3.94 [[ 9.92282750e-01 -1.12319423e-01 -5.25289503e-02 8.75486272e+01] [ 1.12221629e-01 9.93671527e-01 -4.81688214e-03 6.59234359e+00] [ 5.27375517e-02 -1.11517532e-03 9.98607784e-01 3.94105994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:6.60, Z:3.94 [[ 9.92873994e-01 -1.07263661e-01 -5.19205135e-02 8.75792148e+01] [ 1.07161263e-01 9.94230258e-01 -4.76008273e-03 6.59941316e+00] [ 5.21315294e-02 -8.37705476e-04 9.98639876e-01 3.94355319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:6.60, Z:3.95 [[ 9.93107820e-01 -1.05032285e-01 -5.20103585e-02 8.76098569e+01] [ 1.04926577e-01 9.94468549e-01 -4.76636323e-03 6.60306329e+00] [ 5.22232878e-02 -7.23756268e-04 9.98635171e-01 3.94515384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.64, Y:6.61, Z:3.95 [[ 9.93299272e-01 -1.03046936e-01 -5.23248105e-02 8.76422260e+01] [ 1.02937344e-01 9.94676298e-01 -4.79228888e-03 6.60705233e+00] [ 5.25400795e-02 -6.25999963e-04 9.98618620e-01 3.94640183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:6.61, Z:3.95 [[ 9.93306382e-01 -1.02978207e-01 -5.23251417e-02 8.76737618e+01] [ 1.02868710e-01 9.94683416e-01 -4.78867041e-03 6.60987673e+00] [ 5.25400793e-02 -6.26002960e-04 9.98618620e-01 3.94790709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:6.61, Z:3.95 [[ 9.93521843e-01 -1.00305739e-01 -5.34144847e-02 8.77056956e+01] [ 1.00187978e-01 9.94956537e-01 -4.88456814e-03 6.61403548e+00] [ 5.36350409e-02 -4.98564059e-04 9.98560481e-01 3.94901713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:6.62, Z:3.95 [[ 9.93622435e-01 -9.90703743e-02 -5.38471773e-02 8.77381199e+01] [ 9.89490982e-02 9.95080332e-01 -4.92016723e-03 6.61786058e+00] [ 5.40697099e-02 -4.39341090e-04 9.98537067e-01 3.95106025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:6.62, Z:3.95 [[ 9.93712995e-01 -9.79946154e-02 -5.41436854e-02 8.77705532e+01] [ 9.78706681e-02 9.95186869e-01 -4.94240083e-03 6.62102630e+00] [ 5.43674135e-02 -3.87750740e-04 9.98520923e-01 3.95225575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:6.62, Z:3.95 [[ 9.93905968e-01 -9.60883606e-02 -5.40180950e-02 8.78013907e+01] [ 9.59623807e-02 9.95372767e-01 -4.92713530e-03 6.62463464e+00] [ 5.42415810e-02 -2.86595819e-04 9.98527801e-01 3.95396084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:6.63, Z:3.96 [[ 9.94013815e-01 -9.53403528e-02 -5.33549688e-02 8.78328104e+01] [ 9.52165258e-02 9.95444703e-01 -4.86378699e-03 6.62757382e+00] [ 5.35756363e-02 -2.45603299e-04 9.98563764e-01 3.95521748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:6.63, Z:3.96 [[ 9.94116770e-01 -9.48362148e-02 -5.23253314e-02 8.78650984e+01] [ 9.47165759e-02 9.95492865e-01 -4.76707400e-03 6.63031083e+00] [ 5.25415853e-02 -2.17048018e-04 9.98618713e-01 3.95692012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:6.63, Z:3.96 [[ 9.94078945e-01 -9.51488482e-02 -5.24761566e-02 8.78974527e+01] [ 9.50291521e-02 9.95463028e-01 -4.77705020e-03 6.63269128e+00] [ 5.26926046e-02 -2.37999642e-04 9.98610751e-01 3.95802158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:6.63, Z:3.96 [[ 9.93904108e-01 -9.67915279e-02 -5.27828050e-02 8.79297990e+01] [ 9.66729428e-02 9.95304622e-01 -4.80118605e-03 6.63391968e+00] [ 5.29996839e-02 -3.30750559e-04 9.98594474e-01 3.95877135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:6.64, Z:3.96 [[ 9.93757538e-01 -9.83005673e-02 -5.27537038e-02 8.79616127e+01] [ 9.81844358e-02 9.95156684e-01 -4.79479929e-03 6.63588154e+00] [ 5.29695325e-02 -4.14724706e-04 9.98596043e-01 3.95977949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:6.64, Z:3.96 [[ 9.93375265e-01 -1.02445430e-01 -5.20626156e-02 8.79931290e+01] [ 1.02338210e-01 9.94738426e-01 -4.72813547e-03 6.63595078e+00] [ 5.22730602e-02 -6.31182074e-04 9.98632630e-01 3.96113478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:6.64, Z:3.96 [[ 9.93127370e-01 -1.04925035e-01 -5.18533018e-02 8.80245350e+01] [ 1.04822335e-01 9.94479841e-01 -4.70370381e-03 6.63650877e+00] [ 5.20605996e-02 -7.64007174e-04 9.98643635e-01 3.96226531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:6.64, Z:3.96 [[ 9.92340485e-01 -1.11693822e-01 -5.27716999e-02 8.80560024e+01] [ 1.11597149e-01 9.93742012e-01 -4.78427690e-03 6.63625995e+00] [ 5.29758294e-02 -1.14153961e-03 9.98595142e-01 3.96258404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:6.64, Z:3.96 [[ 9.91902175e-01 -1.15631427e-01 -5.25304464e-02 8.80876856e+01] [ 1.15541269e-01 9.93291275e-01 -4.76012067e-03 6.63518735e+00] [ 5.27284536e-02 -1.34786040e-03 9.98607978e-01 3.96346076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:6.63, Z:3.96 [[ 9.91404044e-01 -1.20058276e-01 -5.20003046e-02 8.81179583e+01] [ 1.19976273e-01 9.92765601e-01 -4.70697937e-03 6.63422747e+00] [ 5.21892255e-02 -1.57228438e-03 9.98635976e-01 3.96493225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:6.63, Z:3.97 [[ 9.90310008e-01 -1.29439400e-01 -5.03143079e-02 8.81482304e+01] [ 1.29374700e-01 9.91585319e-01 -4.55435585e-03 6.63319778e+00] [ 5.04804421e-02 -1.99917429e-03 9.98723049e-01 3.96826989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:6.63, Z:3.97 [[ 9.89283850e-01 -1.37327641e-01 -4.95841063e-02 8.81779304e+01] [ 1.37274682e-01 9.90522851e-01 -4.48813672e-03 6.62935913e+00] [ 4.97305355e-02 -2.36660125e-03 9.98759868e-01 3.97130004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:6.63, Z:3.97 [[ 9.88865282e-01 -1.40276450e-01 -4.96786800e-02 8.82082814e+01] [ 1.40226965e-01 9.90109172e-01 -4.49735003e-03 6.62909654e+00] [ 4.98181890e-02 -2.51901722e-03 9.98755126e-01 3.97308365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:6.63, Z:3.97 [[ 9.88502989e-01 -1.42768181e-01 -4.97904386e-02 8.82392866e+01] [ 1.42721669e-01 9.89752604e-01 -4.50653547e-03 6.63207636e+00] [ 4.99236061e-02 -2.65145071e-03 9.98749520e-01 3.97478223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:6.63, Z:3.98 [[ 9.88009324e-01 -1.46232183e-01 -4.95350883e-02 8.82705383e+01] [ 1.46190568e-01 9.89246295e-01 -4.48169471e-03 6.63168610e+00] [ 4.96577706e-02 -2.81360653e-03 9.98762329e-01 3.97598678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:6.63, Z:3.98 [[ 9.87885967e-01 -1.47129343e-01 -4.93383492e-02 8.83022186e+01] [ 1.47089218e-01 9.89113160e-01 -4.46294601e-03 6.63108687e+00] [ 4.94578409e-02 -2.84825750e-03 9.98772151e-01 3.97738159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.33, Y:6.64, Z:3.98 [[ 9.87826453e-01 -1.47526294e-01 -4.93446208e-02 8.83336510e+01] [ 1.47486783e-01 9.89053967e-01 -4.46087692e-03 6.63552250e+00] [ 4.94625896e-02 -2.87110716e-03 9.98771850e-01 3.97847930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:6.64, Z:3.98 [[ 9.87846429e-01 -1.46698871e-01 -5.13699652e-02 8.83658347e+01] [ 1.46655092e-01 9.89176801e-01 -4.64105157e-03 6.63951362e+00] [ 5.14948149e-02 -2.94902076e-03 9.98668908e-01 3.97822685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:6.64, Z:3.98 [[ 9.88008676e-01 -1.45425965e-01 -5.18666005e-02 8.83982579e+01] [ 1.45379794e-01 9.89364844e-01 -4.68199806e-03 6.64359767e+00] [ 5.19958752e-02 -2.91450099e-03 9.98643047e-01 3.97866326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:6.65, Z:3.98 [[ 9.88195543e-01 -1.44019925e-01 -5.22286407e-02 8.84296677e+01] [ 1.43971461e-01 9.89570637e-01 -4.70877396e-03 6.65183379e+00] [ 5.23620865e-02 -2.86624427e-03 9.98624052e-01 3.98033089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:6.66, Z:3.98 [[ 9.88838500e-01 -1.39769290e-01 -5.16039377e-02 8.84588870e+01] [ 1.39716384e-01 9.90180650e-01 -4.64900710e-03 6.65802915e+00] [ 5.17470090e-02 -2.61279837e-03 9.98656808e-01 3.98230460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:6.67, Z:3.98 [[ 9.89788616e-01 -1.33222734e-01 -5.06971235e-02 8.84887396e+01] [ 1.33163099e-01 9.91083613e-01 -4.56731058e-03 6.66858557e+00] [ 5.08535580e-02 -2.23031406e-03 9.98703630e-01 3.98489163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:6.68, Z:3.99 [[ 9.90344346e-01 -1.29158725e-01 -5.03597063e-02 8.85183880e+01] [ 1.29094637e-01 9.91621899e-01 -4.53689185e-03 6.67627032e+00] [ 5.05237668e-02 -2.00808282e-03 9.98720840e-01 3.98697239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:6.68, Z:3.99 [[ 9.90921978e-01 -1.24863711e-01 -4.98265631e-02 8.85494971e+01] [ 1.24795561e-01 9.92172324e-01 -4.48866049e-03 6.68358167e+00] [ 4.99970077e-02 -1.77022154e-03 9.98747799e-01 3.98913649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.58, Y:6.69, Z:3.99 [[ 9.92141963e-01 -1.15175033e-01 -4.88777750e-02 8.85783292e+01] [ 1.15097882e-01 9.93344413e-01 -4.39948021e-03 6.69430015e+00] [ 4.90591750e-02 -1.26081945e-03 9.98795078e-01 3.99180444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:6.71, Z:3.99 [[ 9.93252785e-01 -1.04860121e-01 -4.95303943e-02 8.86080105e+01] [ 1.04768030e-01 9.94486690e-01 -4.45901647e-03 6.70711499e+00] [ 4.97248909e-02 -7.60271318e-04 9.98762663e-01 3.99323854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:6.71, Z:3.99 [[ 9.93790011e-01 -9.96521442e-02 -4.95062126e-02 8.86401650e+01] [ 9.95537362e-02 9.95022211e-01 -4.45576907e-03 6.71431641e+00] [ 4.97038080e-02 -5.00429633e-04 9.98763877e-01 3.99472343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:6.72, Z:4.00 [[ 9.94195219e-01 -9.50348742e-02 -5.04404502e-02 8.86716831e+01] [ 9.49270425e-02 9.95473904e-01 -4.53456372e-03 6.72127465e+00] [ 5.06430935e-02 -2.79921186e-04 9.98716776e-01 3.99607075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:6.73, Z:4.00 [[ 9.94875350e-01 -8.69672597e-02 -5.15725985e-02 8.87028885e+01] [ 8.68438817e-02 9.96211162e-01 -4.63264456e-03 6.73104814e+00] [ 5.17800867e-02 1.30139233e-04 9.98658503e-01 3.99671220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:6.74, Z:4.00 [[ 9.95385119e-01 -8.07689902e-02 -5.18153880e-02 8.87348556e+01] [ 8.06362431e-02 9.96732746e-01 -4.65075952e-03 6.73894868e+00] [ 5.20217311e-02 4.51098597e-04 9.98645851e-01 3.99883037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.77, Y:6.74, Z:4.00 [[ 9.95562725e-01 -7.86699278e-02 -5.16323793e-02 8.87656380e+01] [ 7.85354972e-02 9.96900564e-01 -4.63046243e-03 6.74331338e+00] [ 5.18366261e-02 5.54941218e-04 9.98655424e-01 4.00047359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:6.75, Z:4.00 [[ 9.95753568e-01 -7.63466061e-02 -5.14395455e-02 8.87966031e+01] [ 7.62103718e-02 9.97081115e-01 -4.60753453e-03 6.74753045e+00] [ 5.16411690e-02 6.67742064e-04 9.98665481e-01 4.00142399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.83, Y:6.75, Z:4.00 [[ 9.95797477e-01 -7.58775593e-02 -5.12833457e-02 8.88275641e+01] [ 7.57416658e-02 9.97116906e-01 -4.59091527e-03 6.74784916e+00] [ 5.14838384e-02 6.87335813e-04 9.98673591e-01 4.00297862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.86, Y:6.75, Z:4.00 [[ 9.95799566e-01 -7.62686616e-02 -5.06588068e-02 8.88590711e+01] [ 7.61366564e-02 9.97087087e-01 -4.53323278e-03 6.74978185e+00] [ 5.08569857e-02 6.57199074e-04 9.98705730e-01 4.00434492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:6.75, Z:4.01 [[ 9.95736931e-01 -7.77358330e-02 -4.96498215e-02 8.88895244e+01] [ 7.76109437e-02 9.96973829e-01 -4.44127007e-03 6.75064111e+00] [ 4.98448185e-02 5.68967126e-04 9.98756812e-01 4.00687941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:6.75, Z:4.01 [[ 9.95518509e-01 -8.05751530e-02 -4.95029651e-02 8.89216023e+01] [ 8.04545575e-02 9.96748446e-01 -4.42715614e-03 6.74972919e+00] [ 4.96987223e-02 4.24576727e-04 9.98764165e-01 4.00882560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:6.75, Z:4.01 [[ 9.95333538e-01 -8.27049740e-02 -4.97095141e-02 8.89542254e+01] [ 8.25861993e-02 9.96574025e-01 -4.44210625e-03 6.75030072e+00] [ 4.99065949e-02 3.16057491e-04 9.98753839e-01 4.01037998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.99, Y:6.75, Z:4.01 [[ 9.94823416e-01 -8.86585419e-02 -4.96591679e-02 8.89862818e+01] [ 8.85475890e-02 9.96062078e-01 -4.43415499e-03 6.74621809e+00] [ 4.98567397e-02 1.40016289e-05 9.98756379e-01 4.01091523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.02, Y:6.75, Z:4.01 [[ 9.94488970e-01 -9.20263204e-02 -5.02279375e-02 8.90191479e+01] [ 9.19172383e-02 9.95756562e-01 -4.48222355e-03 6.74508834e+00] [ 5.04272809e-02 -1.59291421e-04 9.98727723e-01 4.01234244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:6.74, Z:4.01 [[ 9.94132881e-01 -9.56873167e-02 -5.04356308e-02 8.90513949e+01] [ 9.55822183e-02 9.95411380e-01 -4.49717623e-03 6.74387929e+00] [ 5.06345236e-02 -3.49958720e-04 9.98717188e-01 4.01346287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:6.74, Z:4.01 [[ 9.93727374e-01 -9.94030153e-02 -5.12342254e-02 8.90835121e+01] [ 9.92996832e-02 9.95047103e-01 -4.56469968e-03 6.74316398e+00] [ 5.14342124e-02 -5.51475319e-04 9.98676233e-01 4.01465063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:6.74, Z:4.02 [[ 9.93347930e-01 -1.02631161e-01 -5.22181445e-02 8.91157693e+01] [ 1.02528474e-01 9.94719208e-01 -4.64855940e-03 6.74235255e+00] [ 5.24194784e-02 -7.36209828e-04 9.98624883e-01 4.01568726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:6.74, Z:4.02 [[ 9.92731392e-01 -1.07973998e-01 -5.31601205e-02 8.91479005e+01] [ 1.07875434e-01 9.94153174e-01 -4.72841480e-03 6.73846637e+00] [ 5.33598483e-02 -1.04062527e-03 9.98574806e-01 4.01601978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:6.74, Z:4.02 [[ 9.92405647e-01 -1.11249575e-01 -5.24839397e-02 8.91807582e+01] [ 1.11158330e-01 9.93791768e-01 -4.66347963e-03 6.73580733e+00] [ 5.26769173e-02 -1.20596354e-03 9.98610879e-01 4.01725261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.21, Y:6.74, Z:4.02 [[ 9.92353314e-01 -1.11920025e-01 -5.20462131e-02 8.92128461e+01] [ 1.11831409e-01 9.93716450e-01 -4.62089631e-03 6.73613476e+00] [ 5.22363489e-02 -1.23483959e-03 9.98633987e-01 4.01932612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:6.74, Z:4.02 [[ 9.92371824e-01 -1.12412402e-01 -5.06123981e-02 8.92444804e+01] [ 1.12329420e-01 9.93660878e-01 -4.49009186e-03 6.73827824e+00] [ 5.07963019e-02 -1.22942068e-03 9.98708278e-01 4.02189647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.28, Y:6.74, Z:4.03 [[ 9.92475588e-01 -1.12248358e-01 -4.89133286e-02 8.92755033e+01] [ 1.12170823e-01 9.93679478e-01 -4.33595006e-03 6.73831665e+00] [ 4.90908741e-02 -1.18332376e-03 9.98793615e-01 4.02529402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:6.74, Z:4.03 [[ 9.92524745e-01 -1.12172257e-01 -4.80834157e-02 8.93085797e+01] [ 1.12097368e-01 9.93688097e-01 -4.25978060e-03 6.73884003e+00] [ 4.82577470e-02 -1.16208670e-03 9.98834240e-01 4.02759592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:6.74, Z:4.03 [[ 9.92515438e-01 -1.12197144e-01 -4.82172900e-02 8.93397226e+01] [ 1.12122116e-01 9.93685276e-01 -4.26650023e-03 6.74003701e+00] [ 4.83915002e-02 -1.17165721e-03 9.98827758e-01 4.02884908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:6.74, Z:4.03 [[ 9.92305875e-01 -1.13434821e-01 -4.96144237e-02 8.93722774e+01] [ 1.13357063e-01 9.93544628e-01 -4.38736808e-03 6.74186203e+00] [ 4.97918244e-02 -1.27053424e-03 9.98758810e-01 4.02894792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:6.74, Z:4.03 [[ 9.92174289e-01 -1.14190761e-01 -5.05039671e-02 8.94033016e+01] [ 1.14111358e-01 9.93457944e-01 -4.46228133e-03 6.74136602e+00] [ 5.06831186e-02 -1.33571548e-03 9.98713892e-01 4.02920775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:6.74, Z:4.03 [[ 9.91908980e-01 -1.15425384e-01 -5.28541046e-02 8.94359607e+01] [ 1.15340335e-01 9.93315070e-01 -4.66679624e-03 6.74182666e+00] [ 5.30394454e-02 -1.46717303e-03 9.98591340e-01 4.02870176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.47, Y:6.74, Z:4.03 [[ 9.91771700e-01 -1.15793124e-01 -5.45971452e-02 8.94680177e+01] [ 1.15703152e-01 9.93272158e-01 -4.81664157e-03 6.74456277e+00] [ 5.47875583e-02 -1.54005298e-03 9.98496846e-01 4.02928106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.50, Y:6.75, Z:4.03 [[ 9.91654806e-01 -1.15513349e-01 -5.72486932e-02 8.94988682e+01] [ 1.15414241e-01 9.93304633e-01 -5.04566924e-03 6.74545658e+00] [ 5.74482343e-02 -1.60375234e-03 9.98347198e-01 4.02814258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:6.75, Z:4.03 [[ 9.91694388e-01 -1.14886038e-01 -5.78224872e-02 8.95298600e+01] [ 1.14784293e-01 9.93377405e-01 -5.08893735e-03 6.74621061e+00] [ 5.80242002e-02 -1.59044272e-03 9.98313910e-01 4.02852947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:6.75, Z:4.03 [[ 9.91961075e-01 -1.12919539e-01 -5.71174604e-02 8.95609640e+01] [ 1.12817340e-01 9.93603058e-01 -5.02104593e-03 6.75223349e+00] [ 5.73190575e-02 -1.46315784e-03 9.98354839e-01 4.03195868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:6.76, Z:4.04 [[ 9.92497081e-01 -1.09473907e-01 -5.44518817e-02 8.95914065e+01] [ 1.09375947e-01 9.93988937e-01 -4.78485230e-03 6.75800402e+00] [ 5.46483845e-02 -1.20677420e-03 9.98504931e-01 4.03655793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:6.76, Z:4.04 [[ 9.92819213e-01 -1.07121669e-01 -5.32443231e-02 8.96235507e+01] [ 1.07024741e-01 9.94245359e-01 -4.67662317e-03 6.76237582e+00] [ 5.34388888e-02 -1.05541854e-03 9.98570564e-01 4.03947161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:6.77, Z:4.04 [[ 9.92826883e-01 -1.07050397e-01 -5.32446583e-02 8.96551003e+01] [ 1.06953571e-01 9.94253035e-01 -4.67280351e-03 6.76508600e+00] [ 5.34388886e-02 -1.05542140e-03 9.98570564e-01 4.04097707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:6.77, Z:4.04 [[ 9.93138834e-01 -1.04280817e-01 -5.29222724e-02 8.96872997e+01] [ 1.04181439e-01 9.94547481e-01 -4.64060264e-03 6.77027804e+00] [ 5.31176385e-02 -9.04755782e-04 9.98587852e-01 4.04308215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.72, Y:6.78, Z:4.05 [[ 9.93719019e-01 -9.90059049e-02 -5.21568974e-02 8.97184610e+01] [ 9.89023506e-02 9.95086654e-01 -4.56905767e-03 6.77642689e+00] [ 5.23529962e-02 -6.18080238e-04 9.98628450e-01 4.04562541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:6.78, Z:4.05 [[ 9.94013901e-01 -9.64089135e-02 -5.13973282e-02 8.97494200e+01] [ 9.63050002e-02 9.95341697e-01 -4.50028387e-03 6.77959780e+00] [ 5.15917714e-02 -4.76474979e-04 9.98668144e-01 4.04710204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:6.78, Z:4.05 [[ 9.94380300e-01 -9.27430949e-02 -5.10542495e-02 8.97813789e+01] [ 9.26360600e-02 9.95690029e-01 -4.46391224e-03 6.78367483e+00] [ 5.12482042e-02 -2.90638125e-04 9.98685905e-01 4.04889875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:6.79, Z:4.05 [[ 9.94506588e-01 -9.14663555e-02 -5.08974685e-02 8.98133908e+01] [ 9.13584971e-02 9.95808141e-01 -4.44647300e-03 6.78591290e+00] [ 5.10908162e-02 -2.27869536e-04 9.98693985e-01 4.05015712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:6.79, Z:4.05 [[ 9.94586033e-01 -9.05259502e-02 -5.10262300e-02 8.98446931e+01] [ 9.04165098e-02 9.95894080e-01 -4.45378964e-03 6.78700291e+00] [ 5.12199039e-02 -1.83936662e-04 9.98687382e-01 4.05108784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:6.79, Z:4.05 [[ 9.94493581e-01 -9.08661668e-02 -5.22097395e-02 8.98765183e+01] [ 9.07523863e-02 9.95863090e-01 -4.55079770e-03 6.78830018e+00] [ 5.24072660e-02 -2.12419344e-04 9.98625772e-01 4.05207907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:6.79, Z:4.05 [[ 9.94362203e-01 -9.16545043e-02 -5.33222452e-02 8.99065314e+01] [ 9.15371475e-02 9.95790833e-01 -4.64413266e-03 6.78852548e+00] [ 5.35234586e-02 -2.63016235e-04 9.98566558e-01 4.05265417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.94, Y:6.79, Z:4.05 [[ 9.94297760e-01 -9.19705168e-02 -5.39758123e-02 8.99377925e+01] [ 9.18507885e-02 9.95761690e-01 -4.69995640e-03 6.78978123e+00] [ 5.41793035e-02 -2.84564798e-04 9.98531182e-01 4.05336801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.97, Y:6.79, Z:4.05 [[ 9.94269291e-01 -9.20592219e-02 -5.43477380e-02 8.99687715e+01] [ 9.19380749e-02 9.95753490e-01 -4.73040765e-03 6.79121293e+00] [ 5.45524275e-02 -2.93327351e-04 9.98510865e-01 4.05441137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.00, Y:6.79, Z:4.06 [[ 9.94301839e-01 -9.20268662e-02 -5.38043548e-02 8.99996886e+01] [ 9.19081877e-02 9.95756482e-01 -4.68119247e-03 6.79297820e+00] [ 5.40068305e-02 -2.90542460e-04 9.98540524e-01 4.05584797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:6.79, Z:4.06 [[ 9.94327298e-01 -9.20626352e-02 -5.32700297e-02 9.00298138e+01] [ 9.19464524e-02 9.95753175e-01 -4.63288149e-03 6.79365265e+00] [ 5.34703165e-02 -2.91389713e-04 9.98569397e-01 4.05732284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:6.80, Z:4.06 [[ 9.94340039e-01 -9.21989917e-02 -5.27942544e-02 9.00610033e+01] [ 9.20851238e-02 9.95740557e-01 -4.59045876e-03 6.79575918e+00] [ 5.29926160e-02 -2.97088513e-04 9.98594860e-01 4.05924977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:6.80, Z:4.06 [[ 9.94338009e-01 -9.26952301e-02 -5.19568824e-02 9.00925231e+01] [ 9.25857193e-02 9.95694477e-01 -4.51583655e-03 6.79764833e+00] [ 5.21517774e-02 -3.20197405e-04 9.98639119e-01 4.06101938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:6.80, Z:4.06 [[ 9.94148496e-01 -9.49097635e-02 -5.15839548e-02 9.01240942e+01] [ 9.48048930e-02 9.95485785e-01 -4.48159840e-03 6.79729999e+00] [ 5.17764411e-02 -4.35037008e-04 9.98658606e-01 4.06210866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:6.80, Z:4.06 [[ 9.93979944e-01 -9.67687093e-02 -5.13778829e-02 9.01554725e+01] [ 9.66672507e-02 9.95306754e-01 -4.46187126e-03 6.79789583e+00] [ 5.15685234e-02 -5.31548138e-04 9.98669317e-01 4.06372322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:6.80, Z:4.07 [[ 9.93577617e-01 -1.01132185e-01 -5.07523377e-02 9.01873545e+01] [ 1.01038960e-01 9.94872714e-01 -4.40576102e-03 6.79621038e+00] [ 5.09376802e-02 -7.50497877e-04 9.98701552e-01 4.06520343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:6.80, Z:4.07 [[ 9.93332501e-01 -1.03508721e-01 -5.07591096e-02 9.02197672e+01] [ 1.03418670e-01 9.94628162e-01 -4.40439903e-03 6.79639952e+00] [ 5.09423335e-02 -8.74406886e-04 9.98701214e-01 4.06655155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:6.79, Z:4.07 [[ 9.92809234e-01 -1.08362493e-01 -5.08664444e-02 9.02512942e+01] [ 1.08278602e-01 9.94110806e-01 -4.41015926e-03 6.79379835e+00] [ 5.10447779e-02 -1.12930064e-03 9.98695727e-01 4.06751425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:6.79, Z:4.07 [[ 9.92584586e-01 -1.10481932e-01 -5.06910485e-02 9.02832401e+01] [ 1.10401478e-01 9.93877364e-01 -4.39300417e-03 6.79488160e+00] [ 5.08660333e-02 -1.23593846e-03 9.98704721e-01 4.06940640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:6.79, Z:4.07 [[ 9.92402347e-01 -1.12436386e-01 -4.99563836e-02 9.03147078e+01] [ 1.12360900e-01 9.93658048e-01 -4.32574751e-03 6.79361317e+00] [ 5.01259340e-02 -1.32026223e-03 9.98742033e-01 4.07107345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:6.79, Z:4.07 [[ 9.92173176e-01 -1.14838213e-01 -4.90364475e-02 9.03471081e+01] [ 1.14768543e-01 9.93383196e-01 -4.24341170e-03 6.79256793e+00] [ 4.91992887e-02 -1.41764236e-03 9.98787976e-01 4.07327277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:6.79, Z:4.08 [[ 9.92127281e-01 -1.15415212e-01 -4.86085182e-02 9.03785979e+01] [ 1.15347615e-01 9.93316296e-01 -4.20287640e-03 6.79260135e+00] [ 4.87687091e-02 -1.43708831e-03 9.98809065e-01 4.07507544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:6.80, Z:4.08 [[ 9.92173934e-01 -1.14593813e-01 -4.95897501e-02 9.04109480e+01] [ 1.14522714e-01 9.93411401e-01 -4.28210316e-03 6.79585056e+00] [ 4.97537257e-02 -1.43056163e-03 9.98760492e-01 4.07594085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:6.80, Z:4.08 [[ 9.92428813e-01 -1.11503406e-01 -5.14979836e-02 9.04419979e+01] [ 1.11422763e-01 9.93763164e-01 -4.44323198e-03 6.80036781e+00] [ 5.16722346e-02 -1.32845618e-03 9.98663214e-01 4.07550389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:6.80, Z:4.08 [[ 9.92700677e-01 -1.08866338e-01 -5.18988146e-02 9.04719592e+01] [ 1.08780927e-01 9.94055670e-01 -4.47602878e-03 6.80424002e+00] [ 5.20775998e-02 -1.20224436e-03 9.98642317e-01 4.07670699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:6.81, Z:4.08 [[ 9.93374018e-01 -1.02961187e-01 -5.10593145e-02 9.05026421e+01] [ 1.02870769e-01 9.94684986e-01 -4.40267272e-03 6.81185480e+00] [ 5.12412380e-02 -8.79010268e-04 9.98685918e-01 4.07953026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:6.82, Z:4.08 [[ 9.94016922e-01 -9.65844635e-02 -5.10078437e-02 9.05328849e+01] [ 9.64859277e-02 9.95324639e-01 -4.39640909e-03 6.81867646e+00] [ 5.11939884e-02 -5.51434085e-04 9.98688576e-01 4.08161737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:6.83, Z:4.08 [[ 9.94603455e-01 -8.98479329e-02 -5.18778931e-02 9.05640320e+01] [ 8.97369427e-02 9.95955473e-01 -4.46948180e-03 6.82690611e+00] [ 5.20696453e-02 -2.10001478e-04 9.98643434e-01 4.08301713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:6.83, Z:4.08 [[ 9.95046582e-01 -8.42020997e-02 -5.28422741e-02 9.05931068e+01] [ 8.40790944e-02 9.96448694e-01 -4.55046110e-03 6.83364624e+00] [ 5.30377734e-02 8.49902139e-05 9.98592503e-01 4.08387025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:6.84, Z:4.09 [[ 9.95196095e-01 -8.21970097e-02 -5.31825498e-02 9.06218346e+01] [ 8.20694285e-02 9.96616081e-01 -4.58208379e-03 6.83723147e+00] [ 5.33792179e-02 1.95410433e-04 9.98574294e-01 4.08531304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:6.84, Z:4.09 [[ 9.95341638e-01 -8.03872365e-02 -5.32251483e-02 9.06494551e+01] [ 8.02561984e-02 9.96763663e-01 -4.59820909e-03 6.84077867e+00] [ 5.34225311e-02 3.05140906e-04 9.98571950e-01 4.08606527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:6.84, Z:4.09 [[ 9.95462349e-01 -7.90533475e-02 -5.29648931e-02 9.06778939e+01] [ 7.89214035e-02 9.96870314e-01 -4.58132961e-03 6.84332468e+00] [ 5.31612991e-02 3.80477429e-04 9.98585866e-01 4.08776475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.71, Y:6.85, Z:4.09 [[ 9.95603033e-01 -7.73611666e-02 -5.28190351e-02 9.07061996e+01] [ 7.72268704e-02 9.97003018e-01 -4.58187454e-03 6.84566766e+00] [ 5.30151965e-02 4.82679418e-04 9.98593589e-01 4.08877875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:6.85, Z:4.09 [[ 9.95600043e-01 -7.74384508e-02 -5.27621148e-02 9.07342024e+01] [ 7.73039024e-02 9.96997014e-01 -4.58919521e-03 6.84789674e+00] [ 5.29590511e-02 4.90285572e-04 9.98596564e-01 4.09014468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:6.85, Z:4.09 [[ 9.95480932e-01 -7.94985378e-02 -5.19393502e-02 9.07629212e+01] [ 7.93706827e-02 9.96834910e-01 -4.52290174e-03 6.84805587e+00] [ 5.21345216e-02 3.80000749e-04 9.98639999e-01 4.09264129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.79, Y:6.85, Z:4.09 [[ 9.95361053e-01 -8.12960630e-02 -5.14521602e-02 9.07915374e+01] [ 8.11723715e-02 9.96689953e-01 -4.49256224e-03 6.84891863e+00] [ 5.16470787e-02 2.95227621e-04 9.98665355e-01 4.09397578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:6.85, Z:4.10 [[ 9.94926064e-01 -8.68036070e-02 -5.08651240e-02 9.08207730e+01] [ 8.66897405e-02 9.96225443e-01 -4.44468614e-03 6.84583856e+00] [ 5.10589455e-02 1.26496852e-05 9.98695641e-01 4.09548241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:6.84, Z:4.10 [[ 9.94635033e-01 -9.00982398e-02 -5.08277320e-02 9.08501042e+01] [ 8.99882341e-02 9.95932872e-01 -4.45324821e-03 6.84478860e+00] [ 5.10222390e-02 -1.44541163e-04 9.98697507e-01 4.09641376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:6.84, Z:4.10 [[ 9.94271342e-01 -9.39291691e-02 -5.10079458e-02 9.08800467e+01] [ 9.38232833e-02 9.95578825e-01 -4.47165474e-03 6.84373353e+00] [ 5.12024495e-02 -3.39694788e-04 9.98688237e-01 4.09779211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.91, Y:6.84, Z:4.10 [[ 9.93867434e-01 -9.80900076e-02 -5.10477574e-02 9.09103681e+01] [ 9.79893523e-02 9.95177394e-01 -4.47682575e-03 6.84304097e+00] [ 5.12407061e-02 -5.52765360e-04 9.98686179e-01 4.09889242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:6.84, Z:4.10 [[ 9.92962237e-01 -1.06729764e-01 -5.13298468e-02 9.09409094e+01] [ 1.06639530e-01 9.94287559e-01 -4.50128235e-03 6.83721640e+00] [ 5.15170489e-02 -1.00418734e-03 9.98671610e-01 4.09924186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.97, Y:6.83, Z:4.10 [[ 9.92133728e-01 -1.14368365e-01 -5.08973662e-02 9.09714163e+01] [ 1.14289847e-01 9.93437436e-01 -4.46003359e-03 6.83210403e+00] [ 5.10734357e-02 -1.39210243e-03 9.98693930e-01 4.10046008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:6.83, Z:4.10 [[ 9.91816396e-01 -1.17377796e-01 -5.02263838e-02 9.10023555e+01] [ 1.17305191e-01 9.93086161e-01 -4.40113073e-03 6.83437024e+00] [ 5.03957216e-02 -1.52670193e-03 9.98728161e-01 4.10248149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:6.83, Z:4.10 [[ 9.91351845e-01 -1.21041701e-01 -5.06993783e-02 9.10331630e+01] [ 1.20972596e-01 9.92645914e-01 -4.44075917e-03 6.83204066e+00] [ 5.08640478e-02 -1.73088060e-03 9.98704087e-01 4.10357785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:6.83, Z:4.11 [[ 9.91217081e-01 -1.22104598e-01 -5.07854911e-02 9.10641498e+01] [ 1.22036701e-01 9.92515625e-01 -4.44731253e-03 6.83358455e+00] [ 5.09484307e-02 -1.78944164e-03 9.98699682e-01 4.10521785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:6.83, Z:4.11 [[ 9.91032258e-01 -1.23751626e-01 -5.04043427e-02 9.10948749e+01] [ 1.23686962e-01 9.92311478e-01 -4.41211188e-03 6.83368668e+00] [ 5.05628138e-02 -1.86181483e-03 9.98719147e-01 4.10713290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:6.84, Z:4.11 [[ 9.90993918e-01 -1.24199933e-01 -5.00542753e-02 9.11267030e+01] [ 1.24136847e-01 9.92255444e-01 -4.37921961e-03 6.83704050e+00] [ 5.02105259e-02 -1.87379992e-03 9.98736898e-01 4.10889944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.16, Y:6.84, Z:4.11 [[ 9.90901155e-01 -1.25137526e-01 -4.95530004e-02 9.11578629e+01] [ 1.25077040e-01 9.92137576e-01 -4.33189128e-03 6.83790459e+00] [ 4.97054758e-02 -1.90546653e-03 9.98762101e-01 4.11049584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:6.84, Z:4.11 [[ 9.90760507e-01 -1.26424173e-01 -4.90973084e-02 9.11889254e+01] [ 1.26366458e-01 9.91974350e-01 -4.29028117e-03 6.83777798e+00] [ 4.92456658e-02 -1.95361178e-03 9.98784786e-01 4.11150065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:6.84, Z:4.11 [[ 9.90633100e-01 -1.27446352e-01 -4.90253856e-02 9.12203995e+01] [ 1.27390183e-01 9.91843441e-01 -4.28137219e-03 6.84140391e+00] [ 4.91711524e-02 -2.00408384e-03 9.98788357e-01 4.11304158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:6.84, Z:4.11 [[ 9.90184902e-01 -1.30379075e-01 -5.03503319e-02 9.12512926e+01] [ 1.30323747e-01 9.91461754e-01 -4.39439590e-03 6.84299115e+00] [ 5.04933657e-02 -2.21057944e-03 9.98721950e-01 4.11352756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:6.84, Z:4.11 [[ 9.89542739e-01 -1.34512464e-01 -5.20726838e-02 9.12821261e+01] [ 1.34459043e-01 9.90908734e-01 -4.54374990e-03 6.84141075e+00] [ 5.22104682e-02 -2.50540852e-03 9.98632961e-01 4.11306695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:6.84, Z:4.11 [[ 9.88807371e-01 -1.39180102e-01 -5.37483223e-02 9.13132684e+01] [ 1.39130115e-01 9.90263008e-01 -4.68894631e-03 6.84278613e+00] [ 5.38775833e-02 -2.84154561e-03 9.98543505e-01 4.11361947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:6.85, Z:4.12 [[ 9.88812292e-01 -1.39145096e-01 -5.37484335e-02 9.13440076e+01] [ 1.39095126e-01 9.90267929e-01 -4.68767145e-03 6.84543666e+00] [ 5.38776164e-02 -2.84091800e-03 9.98543505e-01 4.11508713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:6.85, Z:4.12 [[ 9.88487722e-01 -1.41190948e-01 -5.43795927e-02 9.13744741e+01] [ 1.41142984e-01 9.89977869e-01 -4.74088160e-03 6.84970530e+00] [ 5.45039628e-02 -2.98899475e-03 9.98509081e-01 4.11650524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:6.85, Z:4.12 [[ 9.87888564e-01 -1.44704905e-01 -5.60060292e-02 9.14050611e+01] [ 1.44659715e-01 9.89469422e-01 -4.88162428e-03 6.85152733e+00] [ 5.61226483e-02 -3.27931541e-03 9.98418497e-01 4.11741727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:6.85, Z:4.12 [[ 9.87688076e-01 -1.45871379e-01 -5.65137556e-02 9.14357293e+01] [ 1.45827328e-01 9.89297800e-01 -4.92483187e-03 6.85173896e+00] [ 5.66273261e-02 -3.37705226e-03 9.98389674e-01 4.11795802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:6.85, Z:4.12 [[ 9.87457084e-01 -1.47068724e-01 -5.74395157e-02 9.14656987e+01] [ 1.47025300e-01 9.89120072e-01 -5.00444623e-03 6.85440755e+00] [ 5.75505755e-02 -3.50338614e-03 9.98336445e-01 4.11875369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:6.86, Z:4.12 [[ 9.87505420e-01 -1.46791644e-01 -5.73171720e-02 9.14968534e+01] [ 1.46748009e-01 9.89161309e-01 -4.99257882e-03 6.86190740e+00] [ 5.74287978e-02 -3.48098223e-03 9.98343536e-01 4.12082210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:6.86, Z:4.12 [[ 9.87903364e-01 -1.44448397e-01 -5.64057104e-02 9.15273699e+01] [ 1.44402446e-01 9.89506854e-01 -4.91115497e-03 6.86445081e+00] [ 5.65232456e-02 -3.29337604e-03 9.98395852e-01 4.12248571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:6.87, Z:4.13 [[ 9.88174690e-01 -1.42954716e-01 -5.54502664e-02 9.15583413e+01] [ 1.42908079e-01 9.89724200e-01 -4.82585194e-03 6.87333160e+00] [ 5.55703488e-02 -3.15550632e-03 9.98449788e-01 4.12564797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.59, Y:6.88, Z:4.13 [[ 9.88495754e-01 -1.41180746e-01 -5.42599411e-02 9.15888084e+01] [ 1.41133567e-01 9.89979314e-01 -4.71960519e-03 6.88166586e+00] [ 5.43825366e-02 -2.99258935e-03 9.98515690e-01 4.12872603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:6.88, Z:4.13 [[ 9.88506063e-01 -1.41108476e-01 -5.42601362e-02 9.16203987e+01] [ 1.41061312e-01 9.89989623e-01 -4.71736020e-03 6.88435448e+00] [ 5.43826313e-02 -2.99086684e-03 9.98515690e-01 4.13023397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:6.89, Z:4.13 [[ 9.89100336e-01 -1.37584595e-01 -5.24500199e-02 9.16503986e+01] [ 1.37535763e-01 9.90486321e-01 -4.55652642e-03 6.89205952e+00] [ 5.25779351e-02 -2.70689172e-03 9.98613155e-01 4.13375687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:6.90, Z:4.14 [[ 9.89319189e-01 -1.36359664e-01 -5.15129553e-02 9.16812404e+01] [ 1.36310959e-01 9.90655998e-01 -4.47404745e-03 6.89550130e+00] [ 5.16416977e-02 -2.59551933e-03 9.98662304e-01 4.13580075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:6.90, Z:4.14 [[ 9.89548739e-01 -1.35058514e-01 -5.05221841e-02 9.17126218e+01] [ 1.35010112e-01 9.90834517e-01 -4.38523883e-03 6.90228647e+00] [ 5.06513877e-02 -2.48159817e-03 9.98713312e-01 4.13829450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:6.91, Z:4.14 [[ 9.89598396e-01 -1.34728129e-01 -5.04316017e-02 9.17447622e+01] [ 1.34679658e-01 9.90879539e-01 -4.37371615e-03 6.90765943e+00] [ 5.05609048e-02 -2.46388836e-03 9.98717940e-01 4.13965550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:6.91, Z:4.14 [[ 9.89526983e-01 -1.35015844e-01 -5.10594925e-02 9.17762179e+01] [ 1.34966744e-01 9.90840252e-01 -4.42420281e-03 6.91030019e+00] [ 5.11891379e-02 -2.51346540e-03 9.98685814e-01 4.14053452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:6.91, Z:4.14 [[ 9.89449618e-01 -1.35331439e-01 -5.17190051e-02 9.18071667e+01] [ 1.35281790e-01 9.90797056e-01 -4.47564150e-03 6.91228877e+00] [ 5.18487330e-02 -2.56821780e-03 9.98651648e-01 4.14140397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.84, Y:6.92, Z:4.14 [[ 9.89444925e-01 -1.35046012e-01 -5.25482166e-02 9.18388900e+01] [ 1.34994516e-01 9.90835924e-01 -4.54442447e-03 6.91728089e+00] [ 5.26803672e-02 -2.59726333e-03 9.98608048e-01 4.14233488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:6.92, Z:4.14 [[ 9.89480090e-01 -1.34096159e-01 -5.42897062e-02 9.18707837e+01] [ 1.34039991e-01 9.90964820e-01 -4.69100434e-03 6.92484576e+00] [ 5.44282346e-02 -2.63533635e-03 9.98514207e-01 4.14268275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.90, Y:6.93, Z:4.14 [[ 9.89578414e-01 -1.32997030e-01 -5.51937731e-02 9.19028172e+01] [ 1.32937501e-01 9.91112968e-01 -4.76502189e-03 6.93052782e+00] [ 5.53369980e-02 -2.62195948e-03 9.98464292e-01 4.14374321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:6.94, Z:4.14 [[ 9.90058166e-01 -1.28580035e-01 -5.70263272e-02 9.19319366e+01] [ 1.28509379e-01 9.91696090e-01 -4.91978959e-03 6.93502171e+00] [ 5.71853724e-02 -2.45754005e-03 9.98360553e-01 4.14275424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:6.95, Z:4.14 [[ 9.90804601e-01 -1.22069339e-01 -5.83551058e-02 9.19621596e+01] [ 1.21984040e-01 9.92519290e-01 -5.03512854e-03 6.94819500e+00] [ 5.85332030e-02 -2.12956301e-03 9.98283191e-01 4.14419725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:6.95, Z:4.14 [[ 9.91269700e-01 -1.18092520e-01 -5.86390556e-02 9.19928008e+01] [ 1.17999514e-01 9.93000769e-01 -5.05842514e-03 6.95199464e+00] [ 5.88259895e-02 -1.90511647e-03 9.98266434e-01 4.14448159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:6.96, Z:4.15 [[ 9.91756391e-01 -1.13975595e-01 -5.85561602e-02 9.20233292e+01] [ 1.13875809e-01 9.93482162e-01 -5.04915199e-03 6.96227364e+00] [ 5.87499807e-02 -1.66060135e-03 9.98271347e-01 4.14767119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:6.97, Z:4.15 [[ 9.92838096e-01 -1.05393366e-01 -5.62561455e-02 9.20531092e+01] [ 1.05287596e-01 9.94429992e-01 -4.84902839e-03 6.97453225e+00] [ 5.64538538e-02 -1.10877419e-03 9.98404594e-01 4.15110658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:6.98, Z:4.15 [[ 9.93348740e-01 -1.01254165e-01 -5.48258528e-02 9.20841362e+01] [ 1.01147466e-01 9.94860225e-01 -4.72465563e-03 6.98108290e+00] [ 5.50224513e-02 -8.52265376e-04 9.98484754e-01 4.15354015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.12, Y:6.99, Z:4.16 [[ 9.94221496e-01 -9.38177797e-02 -5.21712627e-02 9.21152563e+01] [ 9.37110271e-02 9.95589296e-01 -4.49403955e-03 6.99116010e+00] [ 5.23627715e-02 -4.20951889e-04 9.98628040e-01 4.15662262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:7.00, Z:4.16 [[ 9.94530292e-01 -9.11020888e-02 -5.10872644e-02 9.21458923e+01] [ 9.09962810e-02 9.95841520e-01 -4.39805973e-03 6.99669878e+00] [ 5.12754915e-02 -2.74747447e-04 9.98684509e-01 4.15862390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:7.00, Z:4.16 [[ 9.94755251e-01 -8.89399354e-02 -5.05141468e-02 9.21775879e+01] [ 8.88337985e-02 9.96036978e-01 -4.34684086e-03 7.00184857e+00] [ 5.07005658e-02 -1.63320766e-04 9.98713886e-01 4.16050989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:7.01, Z:4.16 [[ 9.94976691e-01 -8.65374617e-02 -5.03254696e-02 9.22091175e+01] [ 8.64292259e-02 9.96248596e-01 -4.32702495e-03 7.00736519e+00] [ 5.05111282e-02 -4.43024194e-05 9.98723497e-01 4.16156477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:7.01, Z:4.16 [[ 9.94972899e-01 -8.64149702e-02 -5.06101184e-02 9.22416034e+01] [ 8.63055335e-02 9.96259229e-01 -4.34784061e-03 7.01079438e+00] [ 5.07965160e-02 -4.19496929e-05 9.98709023e-01 4.16292851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.27, Y:7.01, Z:4.16 [[ 9.94779206e-01 -8.80537532e-02 -5.15836049e-02 9.22723965e+01] [ 8.79424601e-02 9.96115716e-01 -4.42770115e-03 7.01241255e+00] [ 5.17731152e-02 -1.31804080e-04 9.98658864e-01 4.16283868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:7.01, Z:4.16 [[ 9.94616110e-01 -8.95043374e-02 -5.22280293e-02 9.23042972e+01] [ 8.93923985e-02 9.95986410e-01 -4.48004618e-03 7.01398170e+00] [ 5.24193909e-02 -2.12862703e-04 9.98625136e-01 4.16371263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:7.01, Z:4.16 [[ 9.94103119e-01 -9.40259433e-02 -5.40195417e-02 9.23353067e+01] [ 9.39130626e-02 9.95569636e-01 -4.62991173e-03 7.01297307e+00] [ 5.42155473e-02 -4.70530912e-04 9.98529145e-01 4.16324814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.37, Y:7.01, Z:4.16 [[ 9.93842084e-01 -9.65147808e-02 -5.44316911e-02 9.23670212e+01] [ 9.64040073e-02 9.95331363e-01 -4.66325476e-03 7.01353240e+00] [ 5.46276423e-02 -6.12894319e-04 9.98506607e-01 4.16416128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.40, Y:7.01, Z:4.17 [[ 9.93369167e-01 -1.01550310e-01 -5.39002128e-02 9.23976411e+01] [ 1.01449188e-01 9.94830013e-01 -4.61595419e-03 7.01201827e+00] [ 5.40903010e-02 -8.82786262e-04 9.98535658e-01 4.16526513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:7.01, Z:4.17 [[ 9.92983860e-01 -1.06112950e-01 -5.21832946e-02 9.24298602e+01] [ 1.06024521e-01 9.94353478e-01 -4.46776854e-03 7.01279415e+00] [ 5.23627286e-02 -1.09628675e-03 9.98627530e-01 4.16839425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:7.01, Z:4.17 [[ 9.92645122e-01 -1.09794273e-01 -5.09988146e-02 9.24615037e+01] [ 1.09714846e-01 9.93953529e-01 -4.36282910e-03 7.01233152e+00] [ 5.11694654e-02 -1.26458605e-03 9.98689184e-01 4.17020968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:7.01, Z:4.17 [[ 9.92461041e-01 -1.11752201e-01 -5.03242210e-02 9.24930982e+01] [ 1.11677509e-01 9.93735188e-01 -4.30244990e-03 7.01354728e+00] [ 5.04897574e-02 -1.35006974e-03 9.98723666e-01 4.17204190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.52, Y:7.01, Z:4.17 [[ 9.92097633e-01 -1.15733591e-01 -4.84564009e-02 9.25246231e+01] [ 1.15669206e-01 9.93279162e-01 -4.14020213e-03 7.01168637e+00] [ 4.86098937e-02 -1.49742866e-03 9.98816718e-01 4.17442896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:7.01, Z:4.18 [[ 9.91849616e-01 -1.18074847e-01 -4.78818321e-02 9.25562697e+01] [ 1.18014932e-01 9.93003413e-01 -4.08631597e-03 7.01286212e+00] [ 4.80293138e-02 -1.59776025e-03 9.98844649e-01 4.17627408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:7.01, Z:4.18 [[ 9.91555369e-01 -1.20456849e-01 -4.80426627e-02 9.25870619e+01] [ 1.20399447e-01 9.92717072e-01 -4.09744141e-03 7.01254869e+00] [ 4.81863363e-02 -1.72147000e-03 9.98836880e-01 4.17724221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:7.01, Z:4.18 [[ 9.90997035e-01 -1.24229576e-01 -4.99188184e-02 9.26187551e+01] [ 1.24172472e-01 9.92251524e-01 -4.25559143e-03 7.01297830e+00] [ 5.00606939e-02 -1.98126461e-03 9.98744212e-01 4.17722236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:7.01, Z:4.18 [[ 9.90805907e-01 -1.25271923e-01 -5.10940247e-02 9.26500005e+01] [ 1.25213584e-01 9.92120256e-01 -4.35379838e-03 7.01243743e+00] [ 5.12368255e-02 -2.08389681e-03 9.98684357e-01 4.17750070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:7.01, Z:4.18 [[ 9.90693930e-01 -1.25245231e-01 -5.32838493e-02 9.26821282e+01] [ 1.25181917e-01 9.92123430e-01 -4.53726500e-03 7.01372027e+00] [ 5.34324261e-02 -2.17513350e-03 9.98569099e-01 4.17690789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:7.02, Z:4.18 [[ 9.90807774e-01 -1.24060517e-01 -5.39346223e-02 9.27130252e+01] [ 1.23994100e-01 9.92272344e-01 -4.58891190e-03 7.01604735e+00] [ 5.40871369e-02 -2.14084539e-03 9.98533925e-01 4.17737769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.74, Y:7.02, Z:4.18 [[ 9.91279447e-01 -1.19885930e-01 -5.47030342e-02 9.27440405e+01] [ 1.19811425e-01 9.92785771e-01 -4.65134176e-03 7.02311527e+00] [ 5.48660244e-02 -1.94326898e-03 9.98491834e-01 4.17907382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:7.03, Z:4.18 [[ 9.91585420e-01 -1.17121607e-01 -5.51442050e-02 9.27751281e+01] [ 1.17041786e-01 9.93115936e-01 -4.68599782e-03 7.02915184e+00] [ 5.53134203e-02 -1.80760911e-03 9.98467405e-01 4.18096496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:7.04, Z:4.18 [[ 9.92365840e-01 -1.10034968e-01 -5.56986988e-02 9.28044845e+01] [ 1.09942479e-01 9.93926690e-01 -4.73136748e-03 7.03602359e+00] [ 5.58810392e-02 -1.42840554e-03 9.98436412e-01 4.18139619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:7.04, Z:4.18 [[ 9.92773647e-01 -1.06234848e-01 -5.58089879e-02 9.28345566e+01] [ 1.06136033e-01 9.94340321e-01 -4.74003859e-03 7.04157263e+00] [ 5.59966843e-02 -1.21755918e-03 9.98430212e-01 4.18273008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:7.05, Z:4.19 [[ 9.93595218e-01 -9.86961044e-02 -5.50238251e-02 9.28655177e+01] [ 9.85887300e-02 9.95117311e-01 -4.66909077e-03 7.05195370e+00] [ 5.52159819e-02 -7.85542770e-04 9.98474125e-01 4.18574166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:7.06, Z:4.19 [[ 9.94148892e-01 -9.31963918e-02 -5.46114706e-02 9.28966694e+01] [ 9.30824838e-02 9.95647630e-01 -4.63123334e-03 7.05974130e+00] [ 5.48053955e-02 -4.79235832e-04 9.98496940e-01 4.18710163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:7.06, Z:4.19 [[ 9.94330348e-01 -9.11938653e-02 -5.46885554e-02 9.29282030e+01] [ 9.10767511e-02 9.95833089e-01 -4.63517310e-03 7.06434472e+00] [ 5.48833724e-02 -3.71962673e-04 9.98492703e-01 4.18829323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.96, Y:7.07, Z:4.19 [[ 9.94445126e-01 -8.99121799e-02 -5.47237729e-02 9.29587656e+01] [ 8.97930978e-02 9.95949651e-01 -4.63593219e-03 7.06819069e+00] [ 5.49189493e-02 -3.03636916e-04 9.98490770e-01 4.18962690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.99, Y:7.07, Z:4.19 [[ 9.94559761e-01 -8.95600373e-02 -5.31966273e-02 9.29898272e+01] [ 8.94470651e-02 9.95981387e-01 -4.50552007e-03 7.07159763e+00] [ 5.33863651e-02 -2.77273221e-04 9.98573893e-01 4.19198111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:7.07, Z:4.19 [[ 9.94485398e-01 -9.05608422e-02 -5.28916451e-02 9.30207724e+01] [ 9.04506770e-02 9.95890870e-01 -4.47780104e-03 7.07397444e+00] [ 5.30798199e-02 -3.30977353e-04 9.98590218e-01 4.19369994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:7.07, Z:4.19 [[ 9.94152438e-01 -9.36171355e-02 -5.38215807e-02 9.30524078e+01] [ 9.35076466e-02 9.95608144e-01 -4.55444973e-03 7.07468864e+00] [ 5.40115786e-02 -5.04912042e-04 9.98540182e-01 4.19456938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:7.08, Z:4.20 [[ 9.93956198e-01 -9.54488695e-02 -5.42272073e-02 9.30842043e+01] [ 9.53406132e-02 9.95434146e-01 -4.58571494e-03 7.07647841e+00] [ 5.44173151e-02 -6.12055414e-04 9.98518093e-01 4.19577444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:7.08, Z:4.20 [[ 9.93430514e-01 -1.00365483e-01 -5.49780342e-02 9.31154606e+01] [ 1.00261931e-01 9.94950232e-01 -4.64547346e-03 7.07628020e+00] [ 5.51666531e-02 -8.97248794e-04 9.98476758e-01 4.19677985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:7.08, Z:4.20 [[ 9.93153981e-01 -1.03158442e-01 -5.48042439e-02 9.31477842e+01] [ 1.03059913e-01 9.94664381e-01 -4.62856075e-03 7.07794644e+00] [ 5.49893044e-02 -1.05124709e-03 9.98486390e-01 4.19869468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:7.08, Z:4.20 [[ 9.92886739e-01 -1.05851927e-01 -5.45095634e-02 9.31800628e+01] [ 1.05758724e-01 9.94381182e-01 -4.59972162e-03 7.07914645e+00] [ 5.46901734e-02 -1.19785929e-03 9.98502654e-01 4.20082266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.21, Y:7.08, Z:4.20 [[ 9.92327178e-01 -1.11197126e-01 -5.40552526e-02 9.32101629e+01] [ 1.11113604e-01 9.93797262e-01 -4.55737780e-03 7.07844236e+00] [ 5.42267293e-02 -1.48386405e-03 9.98527546e-01 4.20297266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:7.08, Z:4.20 [[ 9.91749014e-01 -1.16224482e-01 -5.40903255e-02 9.32409586e+01] [ 1.16148547e-01 9.93221404e-01 -4.55601345e-03 7.08030915e+00] [ 5.42531893e-02 -1.76409085e-03 9.98525653e-01 4.20476300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:7.08, Z:4.21 [[ 9.91487242e-01 -1.18294655e-01 -5.44005904e-02 9.32733109e+01] [ 1.18221032e-01 9.92976739e-01 -4.58077403e-03 7.08230343e+00] [ 5.45604019e-02 -1.88951491e-03 9.98508684e-01 4.20644979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.30, Y:7.09, Z:4.21 [[ 9.91055690e-01 -1.22075655e-01 -5.39087581e-02 9.33038861e+01] [ 1.22009126e-01 9.92518614e-01 -4.53584046e-03 7.08622368e+00] [ 5.40591616e-02 -2.08208995e-03 9.98535564e-01 4.20905574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:7.09, Z:4.21 [[ 9.91004232e-01 -1.22479884e-01 -5.39378269e-02 9.33348744e+01] [ 1.22413947e-01 9.92468761e-01 -4.53705270e-03 7.08816045e+00] [ 5.40873059e-02 -2.10650389e-03 9.98533988e-01 4.21006725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.37, Y:7.09, Z:4.21 [[ 9.91278706e-01 -1.20250037e-01 -5.39115582e-02 9.33651998e+01] [ 1.20181021e-01 9.92741649e-01 -4.53212311e-03 7.09103928e+00] [ 5.40652371e-02 -1.98654896e-03 9.98535429e-01 4.21093714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:7.10, Z:4.21 [[ 9.91541853e-01 -1.18336477e-01 -5.33032132e-02 9.33968973e+01] [ 1.18266316e-01 9.92971808e-01 -4.47971491e-03 7.09643419e+00] [ 5.34587016e-02 -1.86214986e-03 9.98568325e-01 4.21358756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:7.10, Z:4.22 [[ 9.91632967e-01 -1.17739485e-01 -5.29289341e-02 9.34294248e+01] [ 1.17669665e-01 9.93042848e-01 -4.44433913e-03 7.09966556e+00] [ 5.30839737e-02 -1.82097676e-03 9.98588392e-01 4.21551333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.46, Y:7.10, Z:4.22 [[ 9.91663126e-01 -1.17394497e-01 -5.31298114e-02 9.34613070e+01] [ 1.17323935e-01 9.93083702e-01 -4.45590520e-03 7.10236385e+00] [ 5.32854485e-02 -1.81464168e-03 9.98577673e-01 4.21693996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.49, Y:7.10, Z:4.22 [[ 9.91682253e-01 -1.16962815e-01 -5.37215873e-02 9.34922809e+01] [ 1.16890242e-01 9.93134636e-01 -4.50180698e-03 7.10466388e+00] [ 5.38793130e-02 -1.81516725e-03 9.98545805e-01 4.21813876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:7.11, Z:4.22 [[ 9.91584200e-01 -1.17302584e-01 -5.47802656e-02 9.35242933e+01] [ 1.17227811e-01 9.93094455e-01 -4.58743016e-03 7.10949821e+00] [ 5.49400954e-02 -1.87294737e-03 9.98487896e-01 4.21909492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:7.11, Z:4.22 [[ 9.91572938e-01 -1.17344751e-01 -5.48936956e-02 9.35553048e+01] [ 1.17269946e-01 9.93089454e-01 -4.59305786e-03 7.10947261e+00] [ 5.50533214e-02 -1.88302884e-03 9.98481640e-01 4.21983331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.59, Y:7.11, Z:4.22 [[ 9.91581149e-01 -1.17275222e-01 -5.48939542e-02 9.35868784e+01] [ 1.17200482e-01 9.93097669e-01 -4.58996534e-03 7.11204985e+00] [ 5.50533471e-02 -1.88227478e-03 9.98481640e-01 4.22133963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:7.12, Z:4.22 [[ 9.91584488e-01 -1.17101316e-01 -5.52040327e-02 9.36187215e+01] [ 1.17025678e-01 9.93118181e-01 -4.61196667e-03 7.11716007e+00] [ 5.53641959e-02 -1.88713475e-03 9.98464443e-01 4.22346983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:7.12, Z:4.23 [[ 9.91616330e-01 -1.16753301e-01 -5.53689497e-02 9.36505144e+01] [ 1.16676892e-01 9.93159173e-01 -4.62173279e-03 7.12120385e+00] [ 5.55297828e-02 -1.87729125e-03 9.98455266e-01 4.22541538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:7.12, Z:4.23 [[ 9.91627770e-01 -1.16500496e-01 -5.56956041e-02 9.36819084e+01] [ 1.16423004e-01 9.93188858e-01 -4.64508752e-03 7.12244377e+00] [ 5.58574084e-02 -1.87805177e-03 9.98436990e-01 4.22653639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:7.13, Z:4.23 [[ 9.91768382e-01 -1.15761071e-01 -5.47252274e-02 9.37142887e+01] [ 1.15685305e-01 9.93275444e-01 -4.56098017e-03 7.12667821e+00] [ 5.48852085e-02 -1.80746872e-03 9.98491035e-01 4.22926681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:7.13, Z:4.23 [[ 9.91820463e-01 -1.15448813e-01 -5.44402517e-02 9.37465874e+01] [ 1.15373623e-01 9.93311826e-01 -4.53250685e-03 7.12978251e+00] [ 5.45994183e-02 -1.78553604e-03 9.98506743e-01 4.23138908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:7.13, Z:4.23 [[ 9.91895484e-01 -1.15308366e-01 -5.33603806e-02 9.37777736e+01] [ 1.15236122e-01 9.93328210e-01 -4.43893248e-03 7.13119149e+00] [ 5.35162173e-02 -1.74608627e-03 9.98565454e-01 4.23439124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:7.13, Z:4.24 [[ 9.91906249e-01 -1.15673221e-01 -5.23612344e-02 9.38101191e+01] [ 1.15604315e-01 9.93285807e-01 -4.35295871e-03 7.13341356e+00] [ 5.25131917e-02 -1.73545769e-03 9.98618722e-01 4.23744616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:7.13, Z:4.24 [[ 9.91842497e-01 -1.16065236e-01 -5.27003131e-02 9.38409840e+01] [ 1.15996184e-01 9.93240013e-01 -4.37742533e-03 7.13352332e+00] [ 5.28521266e-02 -1.77131877e-03 9.98600779e-01 4.23908606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:7.13, Z:4.24 [[ 9.91807300e-01 -1.15930128e-01 -5.36515184e-02 9.38732976e+01] [ 1.15858528e-01 9.93255742e-01 -4.45340288e-03 7.13444285e+00] [ 5.38059623e-02 -1.79906845e-03 9.98549789e-01 4.24039610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:7.14, Z:4.24 [[ 9.91857279e-01 -1.15239701e-01 -5.42120757e-02 9.39055653e+01] [ 1.15165778e-01 9.93336111e-01 -4.49606983e-03 7.13656571e+00] [ 5.43689382e-02 -1.78391628e-03 9.98519322e-01 4.24169093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:7.14, Z:4.24 [[ 9.91865333e-01 -1.15170212e-01 -5.42123900e-02 9.39371390e+01] [ 1.15096392e-01 9.93344170e-01 -4.49227741e-03 7.13912052e+00] [ 5.43689380e-02 -1.78391627e-03 9.98519322e-01 4.24319691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:7.14, Z:4.24 [[ 9.92062104e-01 -1.12913429e-01 -5.53474441e-02 9.39693172e+01] [ 1.12833200e-01 9.93603377e-01 -4.58236476e-03 7.14170654e+00] [ 5.55108179e-02 -1.69903882e-03 9.98456640e-01 4.24356629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:7.15, Z:4.25 [[ 9.92223635e-01 -1.11068907e-01 -5.61779030e-02 9.40007429e+01] [ 1.10983529e-01 9.93811381e-01 -4.64708584e-03 7.14713246e+00] [ 5.63463861e-02 -1.62387354e-03 9.98409960e-01 4.24511628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:7.15, Z:4.25 [[ 9.92774304e-01 -1.05584191e-01 -5.70189460e-02 9.40311135e+01] [ 1.05487422e-01 9.94409470e-01 -4.71276475e-03 7.15161816e+00] [ 5.71977733e-02 -1.33606990e-03 9.98361973e-01 4.24605163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.06, Y:7.16, Z:4.25 [[ 9.93163957e-01 -1.02011785e-01 -5.67357895e-02 9.40614508e+01] [ 1.01910260e-01 9.94782552e-01 -4.68746226e-03 7.15599212e+00] [ 5.69179499e-02 -1.12654046e-03 9.98378224e-01 4.24750382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:7.16, Z:4.25 [[ 9.93567273e-01 -9.79289035e-02 -5.68682999e-02 9.40926250e+01] [ 9.78202886e-02 9.95193010e-01 -4.69721833e-03 7.16101701e+00] [ 5.70549280e-02 -8.95871099e-04 9.98370639e-01 4.24912504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.12, Y:7.17, Z:4.25 [[ 9.94338383e-01 -8.94377226e-02 -5.73766028e-02 9.41232948e+01] [ 8.93131415e-02 9.95992330e-01 -4.73714168e-03 7.16893927e+00] [ 5.75703355e-02 -4.14162846e-04 9.98341367e-01 4.24998619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:7.18, Z:4.25 [[ 9.95003918e-01 -8.13654417e-02 -5.78521308e-02 9.41519140e+01] [ 8.12252472e-02 9.96684334e-01 -4.77461969e-03 7.17658803e+00] [ 5.80488015e-02 5.17116682e-05 9.98313745e-01 4.25092336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:7.18, Z:4.25 [[ 9.95278887e-01 -7.81924910e-02 -5.74967145e-02 9.41812851e+01] [ 7.80487236e-02 9.96938252e-01 -4.74529121e-03 7.18086271e+00] [ 5.76917202e-02 2.35342974e-04 9.98334418e-01 4.25335969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.21, Y:7.19, Z:4.26 [[ 9.95748149e-01 -7.31116831e-02 -5.60384315e-02 9.42093431e+01] [ 7.29668617e-02 9.97323624e-01 -4.62880992e-03 7.18636264e+00] [ 5.62268717e-02 5.20180429e-04 9.98417883e-01 4.25589139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:7.19, Z:4.26 [[ 9.95911287e-01 -7.14021459e-02 -5.53393270e-02 9.42374528e+01] [ 7.12575993e-02 9.97447416e-01 -4.58333074e-03 7.19018426e+00] [ 5.55253283e-02 6.21243236e-04 9.98457086e-01 4.25770902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:7.19, Z:4.26 [[ 9.96072490e-01 -7.01169479e-02 -5.40666991e-02 9.42659801e+01] [ 6.99768610e-02 9.97538546e-01 -4.48209339e-03 7.19306264e+00] [ 5.42478871e-02 6.81072038e-04 9.98527267e-01 4.26055624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.30, Y:7.19, Z:4.26 [[ 9.96027191e-01 -7.09440998e-02 -5.38216414e-02 9.42950803e+01] [ 7.08057603e-02 9.97480083e-01 -4.47522527e-03 7.19451212e+00] [ 5.40035062e-02 6.46563815e-04 9.98540537e-01 4.26250893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:7.19, Z:4.26 [[ 9.95781138e-01 -7.45696475e-02 -5.34723581e-02 9.43235257e+01] [ 7.44375982e-02 9.97215702e-01 -4.45963448e-03 7.19322808e+00] [ 5.36560284e-02 4.60465992e-04 9.98559372e-01 4.26345743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.35, Y:7.19, Z:4.26 [[ 9.95570193e-01 -7.75209349e-02 -5.32023925e-02 9.43535129e+01] [ 7.73937829e-02 9.96990676e-01 -4.44915767e-03 7.19262122e+00] [ 5.33871921e-02 3.11914349e-04 9.98573838e-01 4.26497359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:7.19, Z:4.27 [[ 9.94908562e-01 -8.57123712e-02 -5.30126561e-02 9.43834163e+01] [ 8.55976377e-02 9.96319915e-01 -4.43516164e-03 7.18716470e+00] [ 5.31977132e-02 -1.25177836e-04 9.98583991e-01 4.26622465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.42, Y:7.19, Z:4.27 [[ 9.94529388e-01 -9.01678586e-02 -5.27356994e-02 9.44152883e+01] [ 9.00605000e-02 9.95926517e-01 -4.41347113e-03 7.18503843e+00] [ 5.29188346e-02 -3.60076710e-04 9.98598752e-01 4.26802023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.45, Y:7.18, Z:4.27 [[ 9.94100666e-01 -9.50351582e-02 -5.22703110e-02 9.44469215e+01] [ 9.49365033e-02 9.95473726e-01 -4.37269223e-03 7.18251055e+00] [ 5.24492808e-02 -6.15464291e-04 9.98623400e-01 4.26943097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.48, Y:7.18, Z:4.27 [[ 9.93235698e-01 -1.03717500e-01 -5.22065910e-02 9.44790286e+01] [ 1.03631153e-01 9.94606217e-01 -4.36552458e-03 7.17526974e+00] [ 5.23777813e-02 -1.07423439e-03 9.98626764e-01 4.27069523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:7.17, Z:4.27 [[ 9.92383851e-01 -1.11144755e-01 -5.31143718e-02 9.45102745e+01] [ 1.11066091e-01 9.93803106e-01 -4.43962147e-03 7.16910667e+00] [ 5.32786683e-02 -1.49339699e-03 9.98578566e-01 4.27171302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:7.17, Z:4.27 [[ 9.92035110e-01 -1.14191751e-01 -5.31656276e-02 9.45422732e+01] [ 1.14117364e-01 9.93457341e-01 -4.44274339e-03 7.16817498e+00] [ 5.33251077e-02 -1.65976386e-03 9.98575825e-01 4.27336905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:7.16, Z:4.27 [[ 9.91498064e-01 -1.18692898e-01 -5.33252774e-02 9.45724185e+01] [ 1.18624696e-01 9.92929176e-01 -4.45350828e-03 7.16334223e+00] [ 5.34768235e-02 -1.91005000e-03 9.98567264e-01 4.27436120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:7.16, Z:4.28 [[ 9.91282364e-01 -1.20502979e-01 -5.32757709e-02 9.46041963e+01] [ 1.20437529e-01 9.92710939e-01 -4.44904619e-03 7.16362008e+00] [ 5.34235638e-02 -2.00614118e-03 9.98569927e-01 4.27550793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:7.16, Z:4.28 [[ 9.91264915e-01 -1.20537918e-01 -5.35208323e-02 9.46350406e+01] [ 1.20472097e-01 9.92706667e-01 -4.46613200e-03 7.16338782e+00] [ 5.36688253e-02 -2.02064697e-03 9.98556746e-01 4.27660514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.67, Y:7.16, Z:4.28 [[ 9.91489229e-01 -1.18504088e-01 -5.39063076e-02 9.46668928e+01] [ 1.18434655e-01 9.92951688e-01 -4.49204826e-03 7.16439977e+00] [ 5.40586851e-02 -1.93055745e-03 9.98535894e-01 4.27734304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:7.17, Z:4.28 [[ 9.91669879e-01 -1.16675002e-01 -5.45691702e-02 9.46981475e+01] [ 1.16601299e-01 9.93168412e-01 -4.54341080e-03 7.16577315e+00] [ 5.47264786e-02 -1.85727251e-03 9.98499656e-01 4.27813829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.73, Y:7.17, Z:4.28 [[ 9.92269658e-01 -1.11035990e-01 -5.54250429e-02 9.47286933e+01] [ 1.10951325e-01 9.93815141e-01 -4.61190414e-03 7.17205748e+00] [ 5.55943341e-02 -1.57322941e-03 9.98452200e-01 4.27927676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:7.17, Z:4.28 [[ 9.92626318e-01 -1.07685347e-01 -5.56494198e-02 9.47589994e+01] [ 1.07594797e-01 9.94184051e-01 -4.62946897e-03 7.17480472e+00] [ 5.58242916e-02 -1.39225530e-03 9.98439638e-01 4.28006440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:7.18, Z:4.28 [[ 9.93338345e-01 -1.00411869e-01 -5.65366207e-02 9.47889063e+01] [ 1.00306683e-01 9.94945454e-01 -4.70241508e-03 7.18284135e+00] [ 5.67230320e-02 -9.99911653e-04 9.98389452e-01 4.28072276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:7.19, Z:4.28 [[ 9.93714635e-01 -9.65338495e-02 -5.66783882e-02 9.48192878e+01] [ 9.64218309e-02 9.95329396e-01 -4.71420655e-03 7.18795640e+00] [ 5.68687464e-02 -7.80457925e-04 9.98381358e-01 4.28212487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:7.19, Z:4.28 [[ 9.94406571e-01 -8.94253700e-02 -5.62020891e-02 9.48488683e+01] [ 8.93038442e-02 9.95993457e-01 -4.67516241e-03 7.19415393e+00] [ 5.63949912e-02 -3.70050388e-04 9.98408468e-01 4.28323410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:7.20, Z:4.28 [[ 9.94686796e-01 -8.64322848e-02 -5.59252864e-02 9.48784699e+01] [ 8.63070368e-02 9.96257708e-01 -4.65549880e-03 7.19829829e+00] [ 5.61183831e-02 -1.95982561e-04 9.98424103e-01 4.28491343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:7.20, Z:4.29 [[ 9.95101414e-01 -8.17207434e-02 -5.56317921e-02 9.49064271e+01] [ 8.15893255e-02 9.96655264e-01 -4.63324912e-03 7.20337205e+00] [ 5.58243510e-02 7.15923587e-05 9.98440602e-01 4.28578412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:7.21, Z:4.29 [[ 9.95176078e-01 -8.04386947e-02 -5.61621837e-02 9.49335413e+01] [ 8.03024921e-02 9.96759547e-01 -4.68140148e-03 7.20661609e+00] [ 5.63567586e-02 1.48855441e-04 9.98410684e-01 4.28623234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:7.21, Z:4.29 [[ 9.95194523e-01 -8.02784539e-02 -5.60645242e-02 9.49610345e+01] [ 8.01419167e-02 9.96772462e-01 -4.68309699e-03 7.20880188e+00] [ 5.62595257e-02 1.67474045e-04 9.98416165e-01 4.28730091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:7.21, Z:4.29 [[ 9.95122593e-01 -8.15161237e-02 -5.55531019e-02 9.49874225e+01] [ 8.13831552e-02 9.96672017e-01 -4.65541981e-03 7.21042136e+00] [ 5.57477139e-02 1.11626724e-04 9.98444881e-01 4.28876794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:7.21, Z:4.29 [[ 9.95004481e-01 -8.34448629e-02 -5.47999732e-02 9.50154828e+01] [ 8.33177760e-02 9.96512396e-01 -4.60364682e-03 7.21163165e+00] [ 5.49930032e-02 1.48373286e-05 9.98486740e-01 4.29118306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:7.21, Z:4.29 [[ 9.94588503e-01 -8.90451071e-02 -5.35226979e-02 9.50447723e+01] [ 8.89311771e-02 9.96027557e-01 -4.51124830e-03 7.21036605e+00] [ 5.37117867e-02 -2.73000842e-04 9.98556443e-01 4.29377215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:7.21, Z:4.30 [[ 9.94325490e-01 -9.24457165e-02 -5.26365755e-02 9.50748405e+01] [ 9.23396523e-02 9.95717630e-01 -4.44861153e-03 7.21055808e+00] [ 5.28224212e-02 -4.37075238e-04 9.98603826e-01 4.29559647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:7.21, Z:4.30 [[ 9.93678824e-01 -9.99192205e-02 -5.11717118e-02 9.51056288e+01] [ 9.98287890e-02 9.94995223e-01 -4.32648125e-03 7.20801194e+00] [ 5.13479075e-02 -8.09277220e-04 9.98680498e-01 4.29817686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:7.21, Z:4.30 [[ 9.93291427e-01 -1.03870146e-01 -5.08245482e-02 9.51368470e+01] [ 1.03786109e-01 9.94590358e-01 -4.29700393e-03 7.20775599e+00] [ 5.09959360e-02 -1.00670495e-03 9.98698353e-01 4.29973514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:7.20, Z:4.30 [[ 9.92489338e-01 -1.11498211e-01 -5.03295536e-02 9.51687173e+01] [ 1.11425682e-01 9.93763667e-01 -4.25335433e-03 7.20403857e+00] [ 5.04899232e-02 -1.38659601e-03 9.98723608e-01 4.30059588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:7.20, Z:4.30 [[ 9.92038061e-01 -1.15230797e-01 -5.08168248e-02 9.51993105e+01] [ 1.15161836e-01 9.93337467e-01 -4.29274443e-03 7.20268707e+00] [ 5.09729124e-02 -1.59359300e-03 9.98698765e-01 4.30140559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:7.20, Z:4.30 [[ 9.91198693e-01 -1.22121229e-01 -5.11033984e-02 9.52302798e+01] [ 1.22060665e-01 9.92513257e-01 -4.31608105e-03 7.19971720e+00] [ 5.12478855e-02 -1.95962092e-03 9.98684041e-01 4.30196484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:7.20, Z:4.30 [[ 9.90787668e-01 -1.25222876e-01 -5.15657577e-02 9.52610009e+01] [ 1.25165422e-01 9.92126329e-01 -4.35474670e-03 7.19928016e+00] [ 5.17050598e-02 -2.13962051e-03 9.98660107e-01 4.30312860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.29, Y:7.20, Z:4.31 [[ 9.90207934e-01 -1.29982109e-01 -5.09205067e-02 9.52920100e+01] [ 1.29932456e-01 9.91513531e-01 -4.29829215e-03 7.20231758e+00] [ 5.10470724e-02 -2.36002349e-03 9.98693460e-01 4.30528162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.32, Y:7.21, Z:4.31 [[ 9.90007276e-01 -1.31712678e-01 -5.03722523e-02 9.53237597e+01] [ 1.31666376e-01 9.91284972e-01 -4.25092954e-03 7.20607958e+00] [ 5.04931581e-02 -2.42388071e-03 9.98721466e-01 4.30711280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:7.21, Z:4.31 [[ 9.89626318e-01 -1.34423847e-01 -5.06949738e-02 9.53538519e+01] [ 1.34380691e-01 9.90920562e-01 -4.27429285e-03 7.20665057e+00] [ 5.08092588e-02 -2.58247292e-03 9.98705037e-01 4.30838723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.39, Y:7.21, Z:4.31 [[ 9.89505771e-01 -1.35467186e-01 -5.02689873e-02 9.53853199e+01] [ 1.35426317e-01 9.90778374e-01 -4.23394607e-03 7.20685242e+00] [ 5.03789863e-02 -2.61822973e-03 9.98726741e-01 4.30978359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:7.21, Z:4.31 [[ 9.89433387e-01 -1.35967614e-01 -5.03426386e-02 9.54160664e+01] [ 1.35927408e-01 9.90709737e-01 -4.23744509e-03 7.20702752e+00] [ 5.04510976e-02 -2.65027473e-03 9.98723016e-01 4.31118033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.45, Y:7.21, Z:4.31 [[ 9.89464930e-01 -1.36044496e-01 -4.95080448e-02 9.54481609e+01] [ 1.36005796e-01 9.90699285e-01 -4.16537424e-03 7.21145964e+00] [ 4.96142608e-02 -2.61188930e-03 9.98765039e-01 4.31271259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.48, Y:7.22, Z:4.31 [[ 9.89624917e-01 -1.35139736e-01 -4.87829499e-02 9.54799960e+01] [ 1.35101229e-01 9.90823314e-01 -4.10098136e-03 7.22111138e+00] [ 4.88894896e-02 -2.53220316e-03 9.98800984e-01 4.31470971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:7.22, Z:4.32 [[ 9.89750759e-01 -1.34224084e-01 -4.87578790e-02 9.55108154e+01] [ 1.34184684e-01 9.90947879e-01 -4.09530670e-03 7.22350424e+00] [ 4.88662056e-02 -2.48922769e-03 9.98802232e-01 4.31614791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:7.23, Z:4.32 [[ 9.89760372e-01 -1.34153094e-01 -4.87581045e-02 9.55424067e+01] [ 1.34113741e-01 9.90957494e-01 -4.09262033e-03 7.22609577e+00] [ 4.88662468e-02 -2.48841837e-03 9.98802232e-01 4.31765524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:7.23, Z:4.32 [[ 9.89973059e-01 -1.32346132e-01 -4.93745198e-02 9.55722873e+01] [ 1.32303710e-01 9.91200576e-01 -4.14086297e-03 7.23062630e+00] [ 4.94880796e-02 -2.43308937e-03 9.98771751e-01 4.31870735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:7.24, Z:4.32 [[ 9.90104826e-01 -1.31195239e-01 -4.98020415e-02 9.56040912e+01] [ 1.31150680e-01 9.91353652e-01 -4.17568886e-03 7.23618236e+00] [ 4.99192662e-02 -2.39720192e-03 9.98750379e-01 4.32002980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:7.24, Z:4.32 [[ 9.90218733e-01 -1.30222675e-01 -5.00890745e-02 9.56357602e+01] [ 1.30176544e-01 9.91481951e-01 -4.19612653e-03 7.24043342e+00] [ 5.02088441e-02 -2.36533950e-03 9.98735940e-01 4.32139490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:7.25, Z:4.32 [[ 9.90541347e-01 -1.27277304e-01 -5.12672292e-02 9.56668537e+01] [ 1.27225234e-01 9.91864570e-01 -4.29111098e-03 7.24963935e+00] [ 5.13963093e-02 -2.27196239e-03 9.98675752e-01 4.32226322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:7.25, Z:4.32 [[ 9.90957206e-01 -1.23460457e-01 -5.25483694e-02 9.56976204e+01] [ 1.23400552e-01 9.92347209e-01 -4.39544878e-03 7.25296928e+00] [ 5.26888918e-02 -2.12879616e-03 9.98608707e-01 4.32265392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:7.26, Z:4.32 [[ 9.91262337e-01 -1.20891793e-01 -5.27650804e-02 9.57286110e+01] [ 1.20827870e-01 9.92663671e-01 -4.41152504e-03 7.26230724e+00] [ 5.29112956e-02 -2.00251366e-03 9.98597208e-01 4.32440153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:7.27, Z:4.33 [[ 9.91963202e-01 -1.14949400e-01 -5.28738259e-02 9.57578316e+01] [ 1.14876921e-01 9.93369908e-01 -4.41799606e-03 7.27028791e+00] [ 5.30311136e-02 -1.69149278e-03 9.98591428e-01 4.32575858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:7.28, Z:4.33 [[ 9.92441062e-01 -1.10941759e-01 -5.24658491e-02 9.57892524e+01] [ 1.10864815e-01 9.93825828e-01 -4.38362983e-03 7.27784283e+00] [ 5.26282436e-02 -1.46612239e-03 9.98613097e-01 4.32762936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:7.29, Z:4.33 [[ 9.93459511e-01 -1.01799512e-01 -5.17209728e-02 9.58189501e+01] [ 1.01712486e-01 9.94804462e-01 -4.31878584e-03 7.28918912e+00] [ 5.18919048e-02 -9.70129870e-04 9.98652236e-01 4.32962695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:7.30, Z:4.33 [[ 9.94003099e-01 -9.66518358e-02 -5.11494079e-02 9.58499438e+01] [ 9.65599613e-02 9.95318010e-01 -4.27007992e-03 7.29730005e+00] [ 5.13226379e-02 -6.94512174e-04 9.98681884e-01 4.33199149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:7.31, Z:4.33 [[ 9.94985626e-01 -8.67587810e-02 -4.97646210e-02 9.58793368e+01] [ 8.66595275e-02 9.96229332e-01 -4.15271339e-03 7.30820655e+00] [ 4.99372595e-02 -1.80688413e-04 9.98752340e-01 4.33416886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:7.32, Z:4.34 [[ 9.95400481e-01 -8.22207408e-02 -4.91694185e-02 9.59113481e+01] [ 8.21183622e-02 9.96614142e-01 -4.10205712e-03 7.31514708e+00] [ 4.93402120e-02 4.54775171e-05 9.98782029e-01 4.33695543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:7.32, Z:4.34 [[ 9.96023763e-01 -7.44625392e-02 -4.89080036e-02 9.59406862e+01] [ 7.43520637e-02 9.97223721e-01 -4.07679978e-03 7.32448931e+00] [ 4.90757902e-02 4.24178466e-04 9.98794967e-01 4.33873736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:7.33, Z:4.34 [[ 9.96205465e-01 -7.06061302e-02 -5.08866033e-02 9.59719046e+01] [ 7.04815511e-02 9.97504069e-01 -4.24071870e-03 7.33008555e+00] [ 5.10590146e-02 6.38060411e-04 9.98695434e-01 4.33846590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:7.33, Z:4.34 [[ 9.96252842e-01 -6.96804347e-02 -5.12339008e-02 9.60006802e+01] [ 6.95530022e-02 9.97569127e-01 -4.26815651e-03 7.33381127e+00] [ 5.14067647e-02 6.88691435e-04 9.98677561e-01 4.33895574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:7.34, Z:4.34 [[ 9.96263842e-01 -6.95914846e-02 -5.11408092e-02 9.60297007e+01] [ 6.94642614e-02 9.97575332e-01 -4.26306109e-03 7.33656880e+00] [ 5.13134825e-02 6.94675077e-04 9.98682354e-01 4.34010587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:7.34, Z:4.34 [[ 9.96182630e-01 -7.06659986e-02 -5.12492438e-02 9.60588287e+01] [ 7.05395628e-02 9.97499827e-01 -4.27389879e-03 7.33835653e+00] [ 5.14231311e-02 6.42484485e-04 9.98676749e-01 4.34144910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.09, Y:7.34, Z:4.34 [[ 9.96101265e-01 -7.20398116e-02 -5.09169502e-02 9.60880900e+01] [ 7.19167134e-02 9.97401595e-01 -4.24797371e-03 7.33948159e+00] [ 5.10906706e-02 5.69632274e-04 9.98693856e-01 4.34287927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:7.34, Z:4.34 [[ 9.95884585e-01 -7.54741424e-02 -5.01751649e-02 9.61176546e+01] [ 7.53588749e-02 9.97147683e-01 -4.18781659e-03 7.34065317e+00] [ 5.03481213e-02 3.89438012e-04 9.98731653e-01 4.34461052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:7.34, Z:4.35 [[ 9.95766849e-01 -7.75348348e-02 -4.93632577e-02 9.61482499e+01] [ 7.74257588e-02 9.96989604e-01 -4.12088389e-03 7.34144923e+00] [ 4.95341668e-02 2.81451875e-04 9.98772390e-01 4.34647131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:7.34, Z:4.35 [[ 9.95385493e-01 -8.24493488e-02 -4.90899794e-02 9.61788862e+01] [ 8.23474501e-02 9.96595256e-01 -4.09803932e-03 7.34162514e+00] [ 4.92607213e-02 3.66942562e-05 9.98785953e-01 4.34829245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:7.34, Z:4.35 [[ 9.95205014e-01 -8.48104436e-02 -4.87254381e-02 9.62104658e+01] [ 8.47129249e-02 9.96397101e-01 -4.06671509e-03 7.34249185e+00] [ 4.88947852e-02 -8.04591289e-05 9.98803931e-01 4.35010243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.24, Y:7.34, Z:4.35 [[ 9.94757734e-01 -9.00002505e-02 -4.85490023e-02 9.62431005e+01] [ 8.99096966e-02 9.95941686e-01 -4.05024040e-03 7.34194972e+00] [ 4.87164978e-02 -3.36018103e-04 9.98812590e-01 4.35190903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:7.34, Z:4.35 [[ 9.94547283e-01 -9.24021186e-02 -4.83482111e-02 9.62754058e+01] [ 9.23153153e-02 9.95721669e-01 -4.03004989e-03 7.34254756e+00] [ 4.85137466e-02 -4.55205178e-04 9.98822411e-01 4.35313878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:7.34, Z:4.35 [[ 9.94144741e-01 -9.70855959e-02 -4.74407024e-02 9.63080039e+01] [ 9.70075064e-02 9.95275807e-01 -3.95109027e-03 7.34066799e+00] [ 4.76001773e-02 -6.74148619e-04 9.98866242e-01 4.35445441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:7.34, Z:4.36 [[ 9.93976350e-01 -9.91166791e-02 -4.67642908e-02 9.63394636e+01] [ 9.90432008e-02 9.95075525e-01 -3.89147949e-03 7.34056617e+00] [ 4.69197118e-02 -7.63646470e-04 9.98898372e-01 4.35603157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:7.34, Z:4.36 [[ 9.93642048e-01 -1.02978486e-01 -4.55072676e-02 9.63719350e+01] [ 1.02913162e-01 9.94683153e-01 -3.78225635e-03 7.33951144e+00] [ 4.56548034e-02 -9.25087841e-04 9.98956847e-01 4.35761304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:7.34, Z:4.36 [[ 9.93460918e-01 -1.04817958e-01 -4.52614572e-02 9.64038981e+01] [ 1.04755391e-01 9.94490915e-01 -3.75859080e-03 7.33996484e+00] [ 4.54060758e-02 -1.00736860e-03 9.98968104e-01 4.35905650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.44, Y:7.34, Z:4.36 [[ 9.93118011e-01 -1.07824761e-01 -4.57212914e-02 9.64364126e+01] [ 1.07764251e-01 9.94169239e-01 -3.79346043e-03 7.33832427e+00] [ 4.58637305e-02 -1.15976684e-03 9.98947032e-01 4.35915919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:7.34, Z:4.36 [[ 9.92797749e-01 -1.10133909e-01 -4.71503033e-02 9.64685986e+01] [ 1.10072322e-01 9.93915895e-01 -3.90856268e-03 7.33966675e+00] [ 4.72939012e-02 -1.30953112e-03 9.98880159e-01 4.35891208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:7.34, Z:4.36 [[ 9.92715779e-01 -1.10759920e-01 -4.74090903e-02 9.65005529e+01] [ 1.10698535e-01 9.93846274e-01 -3.92650583e-03 7.34068981e+00] [ 4.75522472e-02 -1.35021253e-03 9.98867839e-01 4.35949264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:7.34, Z:4.36 [[ 9.92751545e-01 -1.10243688e-01 -4.78612461e-02 9.65331104e+01] [ 1.10180696e-01 9.93903682e-01 -3.96042367e-03 7.34234486e+00] [ 4.80060805e-02 -1.34166869e-03 9.98846142e-01 4.36081341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:7.35, Z:4.36 [[ 9.92883982e-01 -1.08975861e-01 -4.80172854e-02 9.65647185e+01] [ 1.08911148e-01 9.94043562e-01 -3.96980988e-03 7.34500445e+00] [ 4.81638868e-02 -1.28805702e-03 9.98838616e-01 4.36218471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:7.35, Z:4.36 [[ 9.93328319e-01 -1.04624626e-01 -4.85029811e-02 9.65957963e+01] [ 1.04553585e-01 9.94511185e-01 -4.00644643e-03 7.35016215e+00] [ 4.86559302e-02 -1.09144384e-03 9.98815002e-01 4.36308842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:7.35, Z:4.36 [[ 9.93599618e-01 -1.01811672e-01 -4.89303871e-02 9.66265705e+01] [ 1.01736055e-01 9.94803224e-01 -4.03991281e-03 7.35348430e+00] [ 4.90874171e-02 -9.63928734e-04 9.98794021e-01 4.36446704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.66, Y:7.36, Z:4.37 [[ 9.93933547e-01 -9.84504346e-02 -4.90266965e-02 9.66588645e+01] [ 9.83705680e-02 9.95141632e-01 -4.04511438e-03 7.35960233e+00] [ 4.91867501e-02 -8.02209107e-04 9.98789277e-01 4.36607871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:7.36, Z:4.37 [[ 9.94255488e-01 -9.50987654e-02 -4.91146595e-02 9.66896307e+01] [ 9.50147683e-02 9.95467635e-01 -4.04743342e-03 7.36380634e+00] [ 4.92769598e-02 -6.42435095e-04 9.98784946e-01 4.36739780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:7.37, Z:4.37 [[ 9.94548655e-01 -9.18313421e-02 -4.93961316e-02 9.67214605e+01] [ 9.17424868e-02 9.95774457e-01 -4.06788768e-03 7.36952790e+00] [ 4.95609657e-02 -4.86011737e-04 9.98770982e-01 4.36900730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:7.38, Z:4.37 [[ 9.95021970e-01 -8.59293554e-02 -5.04720290e-02 9.67526748e+01] [ 8.58291779e-02 9.96301212e-01 -4.15286134e-03 7.37542903e+00] [ 5.06421964e-02 -1.99784489e-04 9.98716841e-01 4.36960691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:7.38, Z:4.37 [[ 9.95204174e-01 -8.34072404e-02 -5.11065978e-02 9.67842053e+01] [ 8.33012984e-02 9.96515543e-01 -4.20320635e-03 7.37930773e+00] [ 5.12790969e-02 -7.41974484e-05 9.98684359e-01 4.37064166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:7.38, Z:4.37 [[ 9.95427463e-01 -7.99833838e-02 -5.22190058e-02 9.68147709e+01] [ 7.98681636e-02 9.96796192e-01 -4.29286041e-03 7.38335133e+00] [ 5.23950636e-02 1.02595045e-04 9.98626430e-01 4.37147245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:7.39, Z:4.37 [[ 9.95504646e-01 -7.89570850e-02 -5.23094467e-02 9.68443214e+01] [ 7.88400847e-02 9.96878004e-01 -4.29961829e-03 7.38605722e+00] [ 5.24856221e-02 1.56208781e-04 9.98621668e-01 4.37261430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.87, Y:7.39, Z:4.37 [[ 9.95529352e-01 -7.84743806e-02 -5.25650246e-02 9.68743464e+01] [ 7.83554626e-02 9.96916114e-01 -4.32248752e-03 7.38804534e+00] [ 5.27421246e-02 1.84406383e-04 9.98608149e-01 4.37422661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:7.39, Z:4.38 [[ 9.95420792e-01 -7.97056161e-02 -5.27680010e-02 9.69029612e+01] [ 7.95874011e-02 9.96818439e-01 -4.34115177e-03 7.38888813e+00] [ 5.29461306e-02 1.21604670e-04 9.98597363e-01 4.37538342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:7.39, Z:4.38 [[ 9.95309181e-01 -8.09048869e-02 -5.30474567e-02 9.69328497e+01] [ 8.07869727e-02 9.96721825e-01 -4.36686144e-03 7.39010058e+00] [ 5.32268583e-02 6.08338521e-05 9.98582444e-01 4.37692077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:7.39, Z:4.38 [[ 9.95157203e-01 -8.26418749e-02 -5.32208803e-02 9.69610876e+01] [ 8.25255602e-02 9.96579309e-01 -4.38318496e-03 7.39086956e+00] [ 5.34010628e-02 -3.01248779e-05 9.98573145e-01 4.37726732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:7.39, Z:4.38 [[ 9.94947312e-01 -8.51669508e-02 -5.31642424e-02 9.69903245e+01] [ 8.50542733e-02 9.96366682e-01 -4.38248534e-03 7.39139956e+00] [ 5.33443227e-02 -1.61503996e-04 9.98576165e-01 4.37835079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:7.39, Z:4.38 [[ 9.94731946e-01 -8.78140118e-02 -5.28871826e-02 9.70202097e+01] [ 8.77056290e-02 9.96136846e-01 -4.37122250e-03 7.39211797e+00] [ 5.30667258e-02 -2.90308946e-04 9.98590926e-01 4.38006783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:7.39, Z:4.38 [[ 9.94276760e-01 -9.35456219e-02 -5.16036912e-02 9.70498623e+01] [ 9.34500598e-02 9.95614825e-01 -4.26685231e-03 7.38944739e+00] [ 5.17765453e-02 -5.79935936e-04 9.98658527e-01 4.38189718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:7.39, Z:4.38 [[ 9.93993541e-01 -9.69476468e-02 -5.07739451e-02 9.70807370e+01] [ 9.68595342e-02 9.95289204e-01 -4.19890170e-03 7.38880113e+00] [ 5.09418330e-02 -7.44259500e-04 9.98701345e-01 4.38383392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.11, Y:7.39, Z:4.39 [[ 9.93622994e-01 -1.00789755e-01 -5.05447415e-02 9.71119453e+01] [ 1.00707521e-01 9.94907304e-01 -4.17758992e-03 7.38820165e+00] [ 5.07083908e-02 -9.39286215e-04 9.98713060e-01 4.38559328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:7.39, Z:4.39 [[ 9.92735222e-01 -1.09323197e-01 -5.02515437e-02 9.71430019e+01] [ 1.09252907e-01 9.94005315e-01 -4.15171051e-03 7.38768414e+00] [ 5.04041797e-02 -1.36857797e-03 9.98727964e-01 4.38765650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.17, Y:7.38, Z:4.39 [[ 9.91730287e-01 -1.18010741e-01 -5.04430574e-02 9.71735839e+01] [ 1.17951169e-01 9.93010655e-01 -4.16661405e-03 7.38184708e+00] [ 5.05821986e-02 -1.81766023e-03 9.98718247e-01 4.38851690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.20, Y:7.39, Z:4.39 [[ 9.91270998e-01 -1.21735581e-01 -5.06187351e-02 9.72043693e+01] [ 1.21680488e-01 9.92560520e-01 -4.18013275e-03 7.38573434e+00] [ 5.07510290e-02 -2.01566803e-03 9.98709302e-01 4.39015630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:7.38, Z:4.39 [[ 9.90932323e-01 -1.24219641e-01 -5.12114429e-02 9.72355794e+01] [ 1.24166705e-01 9.92252371e-01 -4.22624973e-03 7.38484098e+00] [ 5.13396589e-02 -2.17082865e-03 9.98678891e-01 4.39116819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.27, Y:7.38, Z:4.39 [[ 9.90608358e-01 -1.26248259e-01 -5.25019790e-02 9.72680218e+01] [ 1.26195761e-01 9.91995920e-01 -4.32712580e-03 7.38438397e+00] [ 5.26280411e-02 -2.33904021e-03 9.98611445e-01 4.39124679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:7.39, Z:4.39 [[ 9.90579376e-01 -1.26551268e-01 -5.23189806e-02 9.72997407e+01] [ 1.26499754e-01 9.91957283e-01 -4.30827097e-03 7.38689497e+00] [ 5.24434110e-02 -2.35065382e-03 9.98621131e-01 4.39287897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:7.39, Z:4.39 [[ 9.90516431e-01 -1.27084074e-01 -5.22191283e-02 9.73309958e+01] [ 1.27033704e-01 9.91889098e-01 -4.29604705e-03 7.38535305e+00] [ 5.23415432e-02 -2.37828411e-03 9.98626410e-01 4.39452073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.36, Y:7.39, Z:4.40 [[ 9.90495644e-01 -1.27236537e-01 -5.22421538e-02 9.73624849e+01] [ 1.27186637e-01 9.91869516e-01 -4.29218328e-03 7.39128975e+00] [ 5.23635223e-02 -2.39311498e-03 9.98625222e-01 4.39667258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:7.39, Z:4.40 [[ 9.90436377e-01 -1.27733475e-01 -5.21530713e-02 9.73944940e+01] [ 1.27684628e-01 9.91805580e-01 -4.28109348e-03 7.39433953e+00] [ 5.22725461e-02 -2.41899481e-03 9.98629926e-01 4.39838154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.43, Y:7.39, Z:4.40 [[ 9.90291007e-01 -1.28276542e-01 -5.35616411e-02 9.74259659e+01] [ 1.28226025e-01 9.91735242e-01 -4.39283147e-03 7.39481677e+00] [ 5.36824643e-02 -2.51781485e-03 9.98554883e-01 4.39821153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.46, Y:7.40, Z:4.40 [[ 9.90251110e-01 -1.28238898e-01 -5.43831170e-02 9.74583191e+01] [ 1.28186936e-01 9.91740008e-01 -4.45708599e-03 7.39650698e+00] [ 5.45054847e-02 -2.55757079e-03 9.98510196e-01 4.39845499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:7.40, Z:4.40 [[ 9.90260237e-01 -1.28168267e-01 -5.43834343e-02 9.74899109e+01] [ 1.28116410e-01 9.91749139e-01 -4.45321105e-03 7.39903315e+00] [ 5.45054845e-02 -2.55757256e-03 9.98510196e-01 4.39996181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:7.40, Z:4.40 [[ 9.90286627e-01 -1.27559439e-01 -5.53261815e-02 9.75219904e+01] [ 1.27505049e-01 9.91827593e-01 -4.52637560e-03 7.40327067e+00] [ 5.54514153e-02 -2.57195823e-03 9.98458074e-01 4.40053299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:7.41, Z:4.40 [[ 9.90439516e-01 -1.26286960e-01 -5.55082850e-02 9.75534312e+01] [ 1.26230435e-01 9.91990569e-01 -4.53738384e-03 7.40547133e+00] [ 5.56367077e-02 -2.51283072e-03 9.98447917e-01 4.40184478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:7.41, Z:4.40 [[ 9.90576499e-01 -1.25236924e-01 -5.54428773e-02 9.75848131e+01] [ 1.25179066e-01 9.92123828e-01 -4.52890809e-03 7.40907151e+00] [ 5.55733862e-02 -2.45405766e-03 9.98451589e-01 4.40352984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:7.42, Z:4.41 [[ 9.90944269e-01 -1.22282789e-01 -5.54650877e-02 9.76152043e+01] [ 1.22220470e-01 9.92492651e-01 -4.52708008e-03 7.41980106e+00] [ 5.56022759e-02 -2.29288504e-03 9.98450364e-01 4.40659989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:7.42, Z:4.41 [[ 9.91185482e-01 -1.20522031e-01 -5.50070996e-02 9.76473537e+01] [ 1.20458158e-01 9.92708263e-01 -4.48739670e-03 7.42444274e+00] [ 5.51468325e-02 -2.17821145e-03 9.98475880e-01 4.40845275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.68, Y:7.43, Z:4.41 [[ 9.91542242e-01 -1.17706238e-01 -5.46737910e-02 9.76772500e+01] [ 1.17639062e-01 9.93046419e-01 -4.45659239e-03 7.42709940e+00] [ 5.48181811e-02 -2.01287385e-03 9.98494324e-01 4.40974642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:7.43, Z:4.41 [[ 9.91750272e-01 -1.16137435e-01 -5.42539802e-02 9.77079726e+01] [ 1.16069004e-01 9.93231312e-01 -4.42126093e-03 7.43103278e+00] [ 5.44002258e-02 -1.91241870e-03 9.98517380e-01 4.41144102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.74, Y:7.44, Z:4.41 [[ 9.91907581e-01 -1.14782016e-01 -5.42626866e-02 9.77400788e+01] [ 1.14711655e-01 9.93388998e-01 -4.41981688e-03 7.43692369e+00] [ 5.44112714e-02 -1.84051273e-03 9.98516913e-01 4.41346089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:7.44, Z:4.42 [[ 9.92184741e-01 -1.12114971e-01 -5.47692660e-02 9.77703492e+01] [ 1.12039431e-01 9.93693764e-01 -4.45749788e-03 7.44218177e+00] [ 5.49236303e-02 -1.71365600e-03 9.98489088e-01 4.41510932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:7.45, Z:4.42 [[ 9.92382687e-01 -1.10149779e-01 -5.51690840e-02 9.78026230e+01] [ 1.10070185e-01 9.93913682e-01 -4.48849094e-03 7.44736214e+00] [ 5.53277137e-02 -1.61817060e-03 9.98466938e-01 4.41690047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:7.45, Z:4.42 [[ 9.92808235e-01 -1.06038852e-01 -5.55659181e-02 9.78335697e+01] [ 1.05951933e-01 9.94360997e-01 -4.51620671e-03 7.45448597e+00] [ 5.57314751e-02 -1.40358923e-03 9.98444807e-01 4.41872719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:7.46, Z:4.42 [[ 9.93048955e-01 -1.03669781e-01 -5.57346370e-02 9.78641260e+01] [ 1.03578727e-01 9.94610952e-01 -4.52774992e-03 7.45870055e+00] [ 5.59036712e-02 -1.27664543e-03 9.98435351e-01 4.42027109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:7.46, Z:4.42 [[ 9.93335351e-01 -1.00988233e-01 -5.55540963e-02 9.78950640e+01] [ 1.00893737e-01 9.94886984e-01 -4.51025197e-03 7.46449499e+00] [ 5.57255297e-02 -1.12486765e-03 9.98445492e-01 4.42226434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.93, Y:7.47, Z:4.42 [[ 9.93580945e-01 -9.84600667e-02 -5.57002834e-02 9.79266525e+01] [ 9.83612246e-02 9.95140512e-01 -4.51995443e-03 7.46936555e+00] [ 5.58746435e-02 -9.87807489e-04 9.98437303e-01 4.42391441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:7.48, Z:4.43 [[ 9.94059720e-01 -9.36562419e-02 -5.54417028e-02 9.79579460e+01] [ 9.35510149e-02 9.95604336e-01 -4.49598277e-03 7.47526165e+00] [ 5.56190766e-02 -7.17352190e-04 9.98451803e-01 4.42525091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:7.48, Z:4.43 [[ 9.94487612e-01 -8.97793350e-02 -5.41669681e-02 9.79886967e+01] [ 8.96732959e-02 9.95961560e-01 -4.38984562e-03 7.48056514e+00] [ 5.43423355e-02 -4.91683475e-04 9.98522243e-01 4.42675091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:7.48, Z:4.43 [[ 9.94636307e-01 -8.82263602e-02 -5.39882118e-02 9.80190964e+01] [ 8.81188493e-02 9.96100368e-01 -4.37323489e-03 7.48381115e+00] [ 5.41635123e-02 -4.07600900e-04 9.98531996e-01 4.42794631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:7.49, Z:4.43 [[ 9.94693706e-01 -8.73575256e-02 -5.43423696e-02 9.80500813e+01] [ 8.72474787e-02 9.96176957e-01 -4.39870454e-03 7.48717193e+00] [ 5.45188763e-02 -3.65871007e-04 9.98512673e-01 4.42905745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:7.49, Z:4.43 [[ 9.94630183e-01 -8.80908694e-02 -5.43212516e-02 9.80811281e+01] [ 8.79821068e-02 9.96112359e-01 -4.39505317e-03 7.48854096e+00] [ 5.44972342e-02 -4.07845626e-04 9.98513838e-01 4.43013063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:7.49, Z:4.43 [[ 9.94596183e-01 -8.91007822e-02 -5.32868022e-02 9.81125534e+01] [ 8.89976734e-02 9.96022511e-01 -4.30948384e-03 7.48975465e+00] [ 5.34588329e-02 -4.56205232e-04 9.98569950e-01 4.43179139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:7.49, Z:4.43 [[ 9.94305680e-01 -9.25193420e-02 -5.28808762e-02 9.81435187e+01] [ 9.24227225e-02 9.95710684e-01 -4.27487897e-03 7.48820543e+00] [ 5.30495624e-02 -6.36858109e-04 9.98591677e-01 4.43307806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:7.49, Z:4.43 [[ 9.94090861e-01 -9.46753736e-02 -5.31030479e-02 9.81747864e+01] [ 9.45810686e-02 9.95507912e-01 -4.29179672e-03 7.48874988e+00] [ 5.32708317e-02 -7.56107116e-04 9.98579815e-01 4.43432599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.21, Y:7.49, Z:4.44 [[ 9.93875436e-01 -9.67615700e-02 -5.33743101e-02 9.82060169e+01] [ 9.66694038e-02 9.95307206e-01 -4.31185029e-03 7.48951199e+00] [ 5.35410568e-02 -8.74220649e-04 9.98565266e-01 4.43581300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.24, Y:7.49, Z:4.44 [[ 9.93465509e-01 -1.00667533e-01 -5.37803809e-02 9.82368572e+01] [ 1.00579771e-01 9.94919519e-01 -4.34284834e-03 7.48790002e+00] [ 5.39443345e-02 -1.09474835e-03 9.98543344e-01 4.43712056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:7.49, Z:4.44 [[ 9.93168254e-01 -1.03969135e-01 -5.29833810e-02 9.82669076e+01] [ 1.03888690e-01 9.94579731e-01 -4.27766785e-03 7.48575077e+00] [ 5.31409422e-02 -1.25593015e-03 9.98586232e-01 4.43839213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.30, Y:7.49, Z:4.44 [[ 9.93036136e-01 -1.05534584e-01 -5.23610912e-02 9.82978470e+01] [ 1.05458196e-01 9.94414752e-01 -4.22733977e-03 7.48602622e+00] [ 5.25147720e-02 -1.32400504e-03 9.98619270e-01 4.44024059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.33, Y:7.49, Z:4.44 [[ 9.92971572e-01 -1.06574597e-01 -5.14714655e-02 9.83299787e+01] [ 1.06502235e-01 9.94303784e-01 -4.15441285e-03 7.48806009e+00] [ 5.16210278e-02 -1.35661222e-03 9.98665825e-01 4.44225720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.36, Y:7.49, Z:4.44 [[ 9.92926586e-01 -1.07406213e-01 -5.06033557e-02 9.83610669e+01] [ 1.07337527e-01 9.94214264e-01 -4.08084469e-03 7.48843219e+00] [ 5.07488861e-02 -1.37965987e-03 9.98710492e-01 4.44412092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:7.49, Z:4.45 [[ 9.92948940e-01 -1.07658298e-01 -4.96194763e-02 9.83933860e+01] [ 1.07592703e-01 9.94187014e-01 -3.99886489e-03 7.49047825e+00] [ 4.97615500e-02 -1.36802492e-03 9.98760190e-01 4.44577514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:7.49, Z:4.45 [[ 9.93032713e-01 -1.07034083e-01 -4.92923581e-02 9.84253051e+01] [ 1.06968756e-01 9.94254461e-01 -3.96897572e-03 7.49234804e+00] [ 4.94339626e-02 -1.33141949e-03 9.98776507e-01 4.44719466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.46, Y:7.50, Z:4.45 [[ 9.93305075e-01 -1.05141548e-01 -4.78568971e-02 9.84573194e+01] [ 1.05077937e-01 9.94456537e-01 -3.85006310e-03 7.49553824e+00] [ 4.79964058e-02 -1.20441678e-03 9.98846782e-01 4.44963083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.49, Y:7.50, Z:4.45 [[ 9.93467220e-01 -1.03849770e-01 -4.73086444e-02 9.84887211e+01] [ 1.03786304e-01 9.94592350e-01 -3.80259223e-03 7.49660061e+00] [ 4.74477141e-02 -1.13223864e-03 9.98873081e-01 4.45178510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.52, Y:7.50, Z:4.45 [[ 9.93732711e-01 -1.01278586e-01 -4.73069485e-02 9.85209244e+01] [ 1.01212334e-01 9.94857590e-01 -3.79992294e-03 7.50243675e+00] [ 4.74485275e-02 -1.01193896e-03 9.98873172e-01 4.45323271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:7.51, Z:4.45 [[ 9.93790834e-01 -1.00281483e-01 -4.82016839e-02 9.85533948e+01] [ 1.00211742e-01 9.94958617e-01 -3.86737848e-03 7.50509626e+00] [ 4.83465072e-02 -9.87009442e-04 9.98830136e-01 4.45417362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.59, Y:7.51, Z:4.45 [[ 9.93790300e-01 -9.96815655e-02 -4.94411346e-02 9.85853185e+01] [ 9.96076316e-02 9.95018901e-01 -3.96317243e-03 7.50635944e+00] [ 4.95899186e-02 -9.86151999e-04 9.98769176e-01 4.45404671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:7.51, Z:4.45 [[ 9.93756837e-01 -9.98173626e-02 -4.98381712e-02 9.86168758e+01] [ 9.97425877e-02 9.95005269e-01 -3.99138335e-03 7.50596700e+00] [ 4.99876523e-02 -1.00452367e-03 9.98749331e-01 4.45426273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:7.51, Z:4.46 [[ 9.93711696e-01 -9.99945423e-02 -5.03801265e-02 9.86495557e+01] [ 9.99185021e-02 9.94987455e-01 -4.03196634e-03 7.50721559e+00] [ 5.05307685e-02 -1.02729467e-03 9.98721976e-01 4.45513358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:7.51, Z:4.46 [[ 9.93729371e-01 -9.96674131e-02 -5.06788345e-02 9.86816141e+01] [ 9.95902322e-02 9.95020284e-01 -4.05216379e-03 7.50669205e+00] [ 5.08303370e-02 -1.02036272e-03 9.98706782e-01 4.45620913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:7.51, Z:4.46 [[ 9.93803109e-01 -9.90073702e-02 -5.05264401e-02 9.87126593e+01] [ 9.89299840e-02 9.95086210e-01 -4.03636436e-03 7.50704179e+00] [ 5.06777937e-02 -9.87228466e-04 9.98714567e-01 4.45795204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:7.51, Z:4.46 [[ 9.93883784e-01 -9.82140810e-02 -5.04878045e-02 9.87449641e+01] [ 9.81359323e-02 9.95164858e-01 -4.03048281e-03 7.51018038e+00] [ 5.06395390e-02 -9.48836266e-04 9.98716545e-01 4.46033476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:7.51, Z:4.46 [[ 9.94076276e-01 -9.59068399e-02 -5.11296023e-02 9.87751729e+01] [ 9.58238235e-02 9.95389955e-01 -4.07817596e-03 7.51158992e+00] [ 5.12850176e-02 -8.45416018e-04 9.98683700e-01 4.46186747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:7.51, Z:4.46 [[ 9.94156843e-01 -9.48498060e-02 -5.15333497e-02 9.88060551e+01] [ 9.47640956e-02 9.95491274e-01 -4.10957510e-03 7.51390792e+00] [ 5.16907924e-02 -7.97949072e-04 9.98662819e-01 4.46317834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:7.52, Z:4.46 [[ 9.94384506e-01 -9.27877710e-02 -5.08909022e-02 9.88362980e+01] [ 9.27014576e-02 9.95685676e-01 -4.05890655e-03 7.51515371e+00] [ 5.10479593e-02 -6.81547027e-04 9.98695970e-01 4.46458978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:7.52, Z:4.47 [[ 9.94445879e-01 -9.20399149e-02 -5.10494588e-02 9.88677939e+01] [ 9.19520847e-02 9.95755109e-01 -4.07141963e-03 7.51674644e+00] [ 5.12074925e-02 -6.45297685e-04 9.98687827e-01 4.46625661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:7.52, Z:4.47 [[ 9.94641390e-01 -9.03505335e-02 -5.02522197e-02 9.88981327e+01] [ 9.02633566e-02 9.95909874e-01 -4.00615013e-03 7.51776005e+00] [ 5.04086396e-02 -5.51251297e-04 9.98728524e-01 4.46797401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:7.52, Z:4.47 [[ 9.94769797e-01 -8.92732299e-02 -4.96320571e-02 9.89290627e+01] [ 8.91868564e-02 9.96007053e-01 -3.95662842e-03 7.52011498e+00] [ 4.97871000e-02 -4.90592701e-04 9.98759733e-01 4.47001305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:7.52, Z:4.47 [[ 9.95093410e-01 -8.63482176e-02 -4.83020806e-02 9.89593198e+01] [ 8.62630495e-02 9.96264961e-01 -3.84893355e-03 7.52262611e+00] [ 4.84540190e-02 -3.36636359e-04 9.98825357e-01 4.47289445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:7.52, Z:4.47 [[ 9.95241475e-01 -8.47735887e-02 -4.80400365e-02 9.89895143e+01] [ 8.46875097e-02 9.96400207e-01 -3.82804073e-03 7.52491489e+00] [ 4.81916191e-02 -2.58566151e-04 9.98838075e-01 4.47492473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:7.53, Z:4.48 [[ 9.95496173e-01 -8.20773124e-02 -4.74413859e-02 9.90194765e+01] [ 8.19903457e-02 9.96625957e-01 -3.77949957e-03 7.52718136e+00] [ 4.75915278e-02 -1.27258272e-04 9.98866873e-01 4.47681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:7.53, Z:4.48 [[ 9.95562291e-01 -8.10106310e-02 -4.78852957e-02 9.90484424e+01] [ 8.09207946e-02 9.96713234e-01 -3.81487374e-03 7.52888352e+00] [ 4.80369533e-02 -7.69717419e-05 9.98845556e-01 4.47808380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:7.53, Z:4.48 [[ 9.95597920e-01 -8.02242342e-02 -4.84649767e-02 9.90778321e+01] [ 8.01312326e-02 9.96776841e-01 -3.86196937e-03 7.53024823e+00] [ 4.86185899e-02 -3.85896441e-05 9.98817416e-01 4.47883795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:7.53, Z:4.48 [[ 9.95551931e-01 -8.00661659e-02 -4.96564340e-02 9.91069673e+01] [ 7.99682398e-02 9.96789551e-01 -3.95884108e-03 7.53124422e+00] [ 4.98139838e-02 -2.97057387e-05 9.98758512e-01 4.47896222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:7.53, Z:4.48 [[ 9.95400810e-01 -8.08342164e-02 -5.14106728e-02 9.91361533e+01] [ 8.07300361e-02 9.96727558e-01 -4.10319066e-03 7.52977453e+00] [ 5.15741125e-02 -6.60661656e-05 9.98669168e-01 4.47836767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:7.53, Z:4.48 [[ 9.95260960e-01 -8.18390797e-02 -5.25165382e-02 9.91637835e+01] [ 8.17310955e-02 9.96645551e-01 -4.20412509e-03 7.52991285e+00] [ 5.26844359e-02 -1.08032632e-04 9.98611205e-01 4.47904867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:7.53, Z:4.48 [[ 9.95054511e-01 -8.36995360e-02 -5.34874561e-02 9.91922490e+01] [ 8.35899441e-02 9.96491016e-01 -4.28670169e-03 7.52786544e+00] [ 5.36585644e-02 -2.05511614e-04 9.98559320e-01 4.47928401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:7.53, Z:4.48 [[ 9.94913296e-01 -8.50678138e-02 -5.39536903e-02 9.92200411e+01] [ 8.49579790e-02 9.96375126e-01 -4.33021048e-03 7.52834169e+00] [ 5.41264764e-02 -2.75612501e-04 9.98534050e-01 4.48083916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.25, Y:7.53, Z:4.48 [[ 9.94796205e-01 -8.63918840e-02 -5.40088154e-02 9.92477322e+01] [ 8.62829853e-02 9.96261176e-01 -4.34917185e-03 7.52837680e+00] [ 5.41826191e-02 -3.33502175e-04 9.98530987e-01 4.48218263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.28, Y:7.53, Z:4.48 [[ 9.94588097e-01 -8.91750604e-02 -5.33134700e-02 9.92768353e+01] [ 8.90726354e-02 9.96015856e-01 -4.29893541e-03 7.52662858e+00] [ 5.34844192e-02 -4.73101282e-04 9.98568572e-01 4.48493538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.30, Y:7.53, Z:4.49 [[ 9.94471472e-01 -9.07920138e-02 -5.27570051e-02 9.93049099e+01] [ 9.06933212e-02 9.95869729e-01 -4.26668468e-03 7.52598945e+00] [ 5.29264853e-02 -5.41611820e-04 9.98598264e-01 4.48653015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:7.52, Z:4.49 [[ 9.94152492e-01 -9.46956491e-02 -5.18994821e-02 9.93337393e+01] [ 9.46050681e-02 9.95506003e-01 -4.20472112e-03 7.52352990e+00] [ 5.20644147e-02 -7.29820052e-04 9.98643462e-01 4.48923170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:7.52, Z:4.49 [[ 9.93957265e-01 -9.69050636e-02 -5.15593332e-02 9.93636149e+01] [ 9.68180167e-02 9.95293285e-01 -4.18911460e-03 7.52407312e+00] [ 5.17226045e-02 -8.28071495e-04 9.98661147e-01 4.49143582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:7.52, Z:4.49 [[ 9.93500565e-01 -1.01860387e-01 -5.08044153e-02 9.93933099e+01] [ 1.01782248e-01 9.94798130e-01 -4.12960925e-03 7.52109067e+00] [ 5.09607810e-02 -1.06821845e-03 9.98700084e-01 4.49336414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:7.52, Z:4.49 [[ 9.93191977e-01 -1.04882322e-01 -5.06891948e-02 9.94223378e+01] [ 1.04808368e-01 9.94483893e-01 -4.12216138e-03 7.51842613e+00] [ 5.08419297e-02 -1.21855420e-03 9.98705969e-01 4.49449233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:7.52, Z:4.50 [[ 9.93188291e-01 -1.04917327e-01 -5.06889759e-02 9.94513699e+01] [ 1.04843282e-01 9.94480202e-01 -4.12485220e-03 7.52081944e+00] [ 5.08419514e-02 -1.21764368e-03 9.98705969e-01 4.49587901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:7.52, Z:4.50 [[ 9.92842181e-01 -1.08151384e-01 -5.06723064e-02 9.94809878e+01] [ 1.08081501e-01 9.94133477e-01 -4.12529053e-03 7.52041008e+00] [ 5.08211920e-02 -1.38097651e-03 9.98706814e-01 4.49669373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:7.52, Z:4.50 [[ 9.92464894e-01 -1.11504510e-01 -5.07954527e-02 9.95108371e+01] [ 1.11438581e-01 9.93762712e-01 -4.13708526e-03 7.51735027e+00] [ 5.09399305e-02 -1.55466128e-03 9.98700509e-01 4.49756086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.54, Y:7.51, Z:4.50 [[ 9.91702328e-01 -1.17935705e-01 -5.11631016e-02 9.95416155e+01] [ 1.17877310e-01 9.93019420e-01 -4.16790764e-03 7.51345817e+00] [ 5.12974986e-02 -1.89764506e-03 9.98681614e-01 4.49812062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:7.51, Z:4.50 [[ 9.91004961e-01 -1.23461974e-01 -5.16363020e-02 9.95714588e+01] [ 1.23409926e-01 9.92346859e-01 -4.20737580e-03 7.51294577e+00] [ 5.17605731e-02 -2.20290190e-03 9.98657093e-01 4.49845747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:7.51, Z:4.50 [[ 9.90720115e-01 -1.25676454e-01 -5.17598612e-02 9.96011509e+01] [ 1.25627122e-01 9.92068562e-01 -4.21836878e-03 7.51006678e+00] [ 5.18794807e-02 -2.32321962e-03 9.98650651e-01 4.49911709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:7.51, Z:4.50 [[ 9.90483394e-01 -1.27488469e-01 -5.18588112e-02 9.96313290e+01] [ 1.27441392e-01 9.91837095e-01 -4.22706275e-03 7.51211572e+00] [ 5.19743944e-02 -2.42212363e-03 9.98645480e-01 4.50051012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:7.51, Z:4.50 [[ 9.90170360e-01 -1.29961482e-01 -5.16978827e-02 9.96613083e+01] [ 1.29918052e-01 9.91515780e-01 -4.21402240e-03 7.51171406e+00] [ 5.18069271e-02 -2.54388814e-03 9.98653879e-01 4.50150300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:7.51, Z:4.50 [[ 9.90086855e-01 -1.30741883e-01 -5.13281486e-02 9.96903689e+01] [ 1.30700066e-01 9.91413123e-01 -4.18486154e-03 7.51193473e+00] [ 5.14345367e-02 -2.56521602e-03 9.98673074e-01 4.50241825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:7.52, Z:4.50 [[ 9.89973082e-01 -1.31590283e-01 -5.13546025e-02 9.97206331e+01] [ 1.31549474e-01 9.91300757e-01 -4.18869342e-03 7.51803654e+00] [ 5.14590477e-02 -2.60897721e-03 9.98671698e-01 4.50363120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:7.52, Z:4.50 [[ 9.90001695e-01 -1.31392724e-01 -5.13088328e-02 9.97504999e+01] [ 1.31351723e-01 9.91326995e-01 -4.18496026e-03 7.52036089e+00] [ 5.14137044e-02 -2.59638585e-03 9.98674066e-01 4.50498150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:7.52, Z:4.51 [[ 9.90268109e-01 -1.29487202e-01 -5.10111516e-02 9.97795161e+01] [ 1.29444159e-01 9.91577984e-01 -4.16059517e-03 7.52414766e+00] [ 5.11202787e-02 -2.48299088e-03 9.98689417e-01 4.50693411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:7.53, Z:4.51 [[ 9.90479056e-01 -1.27822266e-01 -5.11146615e-02 9.98083474e+01] [ 1.27776887e-01 9.91794179e-01 -4.16806312e-03 7.52806708e+00] [ 5.12279951e-02 -2.40289312e-03 9.98684094e-01 4.50863979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:7.54, Z:4.51 [[ 9.91118944e-01 -1.22788293e-01 -5.10516710e-02 9.98382141e+01] [ 1.22736279e-01 9.92430583e-01 -4.16452531e-03 7.53946980e+00] [ 5.11765946e-02 -2.13835219e-03 9.98687330e-01 4.51055212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:7.55, Z:4.51 [[ 9.91482973e-01 -1.19909949e-01 -5.08243891e-02 9.98686387e+01] [ 1.19854669e-01 9.92782794e-01 -4.14506985e-03 7.54501568e+00] [ 5.09546141e-02 -1.98177417e-03 9.98699004e-01 4.51235562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:7.55, Z:4.51 [[ 9.91889242e-01 -1.16875219e-01 -4.99591328e-02 9.98988000e+01] [ 1.16818003e-01 9.93144984e-01 -4.07366462e-03 7.55166506e+00] [ 5.00927726e-02 -1.79550201e-03 9.98742955e-01 4.51474405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.93, Y:7.56, Z:4.52 [[ 9.92740299e-01 -1.10109748e-01 -4.83998222e-02 9.99288032e+01] [ 1.10048015e-01 9.93918437e-01 -3.94649956e-03 7.56228316e+00] [ 4.85400237e-02 -1.40845520e-03 9.98820245e-01 4.51771736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:7.57, Z:4.52 [[ 9.93131328e-01 -1.06573884e-01 -4.82925705e-02 9.99593770e+01] [ 1.06508291e-01 9.94304020e-01 -3.93685214e-03 7.56819578e+00] [ 4.84370626e-02 -1.23374795e-03 9.98825475e-01 4.51967794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.99, Y:7.58, Z:4.52 [[ 9.93916301e-01 -9.90884550e-02 -4.80818582e-02 9.99881121e+01] [ 9.90147599e-02 9.95078252e-01 -3.91795545e-03 7.57768455e+00] [ 4.82334355e-02 -8.66693863e-04 9.98835714e-01 4.52075287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:7.58, Z:4.52 [[ 9.94273862e-01 -9.51849500e-02 -4.85727568e-02 1.00017606e+02] [ 9.51050441e-02 9.95459371e-01 -3.95882136e-03 7.58357072e+00] [ 4.87290261e-02 -6.83361576e-04 9.98811802e-01 4.52146465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:7.59, Z:4.52 [[ 9.94606699e-01 -9.11920697e-02 -4.94117568e-02 1.00048187e+02] [ 9.11044549e-02 9.95833199e-01 -4.02716524e-03 7.59028591e+00] [ 4.95731133e-02 -4.96185645e-04 9.98770374e-01 4.52217047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.08, Y:7.60, Z:4.52 [[ 9.94933340e-01 -8.74133582e-02 -4.96644034e-02 1.00076930e+02] [ 8.73201797e-02 9.96172078e-01 -4.04693483e-03 7.59596267e+00] [ 4.98280481e-02 -3.10274237e-04 9.98757763e-01 4.52286771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:7.61, Z:4.52 [[ 9.95573269e-01 -7.94834302e-02 -5.01622379e-02 1.00106156e+02] [ 7.93782589e-02 9.96836183e-01 -4.08846441e-03 7.60517607e+00] [ 5.03284989e-02 8.85747700e-05 9.98732714e-01 4.52354866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:7.61, Z:4.52 [[ 9.95874846e-01 -7.57806124e-02 -4.99058188e-02 1.00133971e+02] [ 7.56717681e-02 9.97124477e-01 -4.06952817e-03 7.61051404e+00] [ 5.00707048e-02 2.76279188e-04 9.98745637e-01 4.52452131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:7.62, Z:4.53 [[ 9.96355740e-01 -6.91262984e-02 -4.99679303e-02 1.00161633e+02] [ 6.90085882e-02 9.97607726e-01 -4.07914401e-03 7.61839222e+00] [ 5.01303695e-02 6.16062218e-04 9.98742493e-01 4.52590494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:7.62, Z:4.53 [[ 9.96534855e-01 -6.65162634e-02 -4.99386533e-02 1.00189679e+02] [ 6.63951902e-02 9.97785058e-01 -4.08125680e-03 7.62317001e+00] [ 5.00995120e-02 7.51428267e-04 9.98743948e-01 4.52696128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:7.63, Z:4.53 [[ 9.96624851e-01 -6.49855448e-02 -5.01575992e-02 1.00218446e+02] [ 6.48612179e-02 9.97885854e-01 -4.10414813e-03 7.62714181e+00] [ 5.03182691e-02 8.37013042e-04 9.98732883e-01 4.52816769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:7.63, Z:4.53 [[ 9.96782008e-01 -6.31551001e-02 -4.93666092e-02 1.00246206e+02] [ 6.30318290e-02 9.98003294e-01 -4.05141992e-03 7.63102090e+00] [ 4.95239064e-02 9.26714819e-04 9.98772509e-01 4.52934137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:7.63, Z:4.53 [[ 9.96790784e-01 -6.41174707e-02 -4.79278869e-02 1.00274542e+02] [ 6.40021919e-02 9.97941990e-01 -3.93760772e-03 7.63270881e+00] [ 4.80817203e-02 8.57481273e-04 9.98843037e-01 4.53110005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:7.63, Z:4.53 [[ 9.96711549e-01 -6.57655469e-02 -4.73389906e-02 1.00303270e+02] [ 6.56543898e-02 9.97834798e-01 -3.90085599e-03 7.63289633e+00] [ 4.74930341e-02 7.80015675e-04 9.98871265e-01 4.53273075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:7.63, Z:4.53 [[ 9.96574297e-01 -6.83546192e-02 -4.65544574e-02 1.00332237e+02] [ 6.82493918e-02 9.97660871e-01 -3.84795248e-03 7.63364831e+00] [ 4.67085858e-02 6.57457140e-04 9.98908342e-01 4.53425272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:7.63, Z:4.54 [[ 9.96374448e-01 -7.15577374e-02 -4.60157542e-02 1.00359913e+02] [ 7.14577999e-02 9.97436327e-01 -3.81523380e-03 7.63415858e+00] [ 4.61707944e-02 5.13216909e-04 9.98933428e-01 4.53589782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:7.63, Z:4.54 [[ 9.95772351e-01 -7.98608200e-02 -4.53836402e-02 1.00387756e+02] [ 7.97719395e-02 9.96806015e-01 -3.76906752e-03 7.63125886e+00] [ 4.55396864e-02 1.32792223e-04 9.98962521e-01 4.53795528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.42, Y:7.63, Z:4.54 [[ 9.95345912e-01 -8.47708754e-02 -4.58302844e-02 1.00418316e+02] [ 8.46852399e-02 9.96400467e-01 -3.81041854e-03 7.63010655e+00] [ 4.59883293e-02 -8.84641133e-05 9.98941973e-01 4.53910056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:7.62, Z:4.54 [[ 9.94355168e-01 -9.57142068e-02 -4.57885305e-02 1.00449617e+02] [ 9.56403111e-02 9.95408679e-01 -3.80694704e-03 7.62364670e+00] [ 4.59426796e-02 -5.93771836e-04 9.98943901e-01 4.53966205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:7.62, Z:4.54 [[ 9.93779206e-01 -1.01245512e-01 -4.63922045e-02 1.00479877e+02] [ 1.01175673e-01 9.94861099e-01 -3.85713766e-03 7.62107640e+00] [ 4.65443174e-02 -8.60619330e-04 9.98915855e-01 4.54083571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:7.62, Z:4.54 [[ 9.93222278e-01 -1.06698778e-01 -4.60963880e-02 1.00510769e+02] [ 1.06635689e-01 9.94290773e-01 -3.83259308e-03 7.61933594e+00] [ 4.62421463e-02 -1.10890326e-03 9.98929644e-01 4.54215002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:7.61, Z:4.54 [[ 9.92121056e-01 -1.16646874e-01 -4.57090547e-02 1.00540684e+02] [ 1.16595459e-01 9.93172226e-01 -3.79850092e-03 7.61335492e+00] [ 4.58400469e-02 -1.56089546e-03 9.98947573e-01 4.54337183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:7.61, Z:4.54 [[ 9.91645126e-01 -1.20770665e-01 -4.53253893e-02 1.00571770e+02] [ 1.20724374e-01 9.92678917e-01 -3.76734464e-03 7.61296304e+00] [ 4.54485431e-02 -1.73601028e-03 9.98965173e-01 4.54482070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:7.61, Z:4.55 [[ 9.91191370e-01 -1.24489032e-01 -4.51901497e-02 1.00602662e+02] [ 1.24446906e-01 9.92219162e-01 -3.75534430e-03 7.60964980e+00] [ 4.53060316e-02 -1.90150943e-03 9.98971345e-01 4.54612363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.63, Y:7.61, Z:4.55 [[ 9.90431442e-01 -1.30234592e-01 -4.56564434e-02 1.00632912e+02] [ 1.30197757e-01 9.91480793e-01 -3.79232943e-03 7.60982446e+00] [ 4.57613792e-02 -2.18832421e-03 9.98950002e-01 4.54638171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:7.61, Z:4.55 [[ 9.90198991e-01 -1.32006064e-01 -4.56109363e-02 1.00664554e+02] [ 1.31971179e-01 9.91246314e-01 -3.78847738e-03 7.61242356e+00] [ 4.57117745e-02 -2.26798258e-03 9.98952096e-01 4.54706777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.70, Y:7.61, Z:4.55 [[ 9.90038973e-01 -1.33448670e-01 -4.48807788e-02 1.00696089e+02] [ 1.33416477e-01 9.91053058e-01 -3.72542942e-03 7.61119190e+00] [ 4.49763867e-02 -2.29951510e-03 9.98985404e-01 4.54885877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:7.62, Z:4.55 [[ 9.90046000e-01 -1.33389509e-01 -4.49016353e-02 1.00727676e+02] [ 1.33357333e-01 9.91061021e-01 -3.72478507e-03 7.61823166e+00] [ 4.49971078e-02 -2.30025377e-03 9.98984469e-01 4.55032127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.76, Y:7.62, Z:4.55 [[ 9.90114719e-01 -1.32895470e-01 -4.48512887e-02 1.00760103e+02] [ 1.32863004e-01 9.91127440e-01 -3.71743427e-03 7.62184072e+00] [ 4.49473732e-02 -2.27839055e-03 9.98986758e-01 4.55194872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:7.63, Z:4.55 [[ 9.90295295e-01 -1.31411496e-01 -4.52354588e-02 1.00792001e+02] [ 1.31377115e-01 9.91325389e-01 -3.74515889e-03 7.62812257e+00] [ 4.53352157e-02 -2.23409085e-03 9.98969332e-01 4.55217479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:7.63, Z:4.55 [[ 9.90360188e-01 -1.30744368e-01 -4.57450247e-02 1.00823602e+02] [ 1.30708654e-01 9.91413602e-01 -3.78396451e-03 7.63031433e+00] [ 4.58469718e-02 -2.23178283e-03 9.98945982e-01 4.55313962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.86, Y:7.63, Z:4.55 [[ 9.90478876e-01 -1.29897952e-01 -4.55863855e-02 1.00855118e+02] [ 1.29861742e-01 9.91524954e-01 -3.76754514e-03 7.63292819e+00] [ 4.56894352e-02 -2.18825355e-03 9.98953296e-01 4.55392273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:7.64, Z:4.55 [[ 9.90664077e-01 -1.28049076e-01 -4.67773600e-02 1.00886408e+02] [ 1.28009056e-01 9.91765477e-01 -3.86255290e-03 7.64168253e+00] [ 4.68867671e-02 -2.16143329e-03 9.98897872e-01 4.55370910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.92, Y:7.64, Z:4.55 [[ 9.90814110e-01 -1.26495879e-01 -4.78141489e-02 1.00917277e+02] [ 1.26452417e-01 9.91964830e-01 -3.94495949e-03 7.64304448e+00] [ 4.79289752e-02 -2.13749316e-03 9.98848459e-01 4.55407416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.95, Y:7.65, Z:4.55 [[ 9.91163583e-01 -1.23026445e-01 -4.95907838e-02 1.00948522e+02] [ 1.22975500e-01 9.92401284e-01 -4.08875495e-03 7.65153535e+00] [ 4.97169825e-02 -2.04582645e-03 9.98761251e-01 4.55419677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.98, Y:7.66, Z:4.56 [[ 9.91432515e-01 -1.20624780e-01 -5.01121732e-02 1.00978941e+02] [ 1.20569828e-01 9.92696261e-01 -4.12913806e-03 7.66078175e+00] [ 5.02442434e-02 -1.94825438e-03 9.98735060e-01 4.55522069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:7.67, Z:4.56 [[ 9.91699899e-01 -1.18048571e-01 -5.09494405e-02 1.01010241e+02] [ 1.17988477e-01 9.93006099e-01 -4.19614003e-03 7.66692036e+00] [ 5.10884535e-02 -1.85013522e-03 9.98692419e-01 4.55650699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.04, Y:7.67, Z:4.56 [[ 9.92027662e-01 -1.15133200e-01 -5.12392809e-02 1.01040280e+02] [ 1.15068677e-01 9.93348586e-01 -4.21728654e-03 7.67207392e+00] [ 5.13840170e-02 -1.71237137e-03 9.98677501e-01 4.55787071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:7.68, Z:4.56 [[ 9.92825458e-01 -1.08165043e-01 -5.09699286e-02 1.01069919e+02] [ 1.08092068e-01 9.94132040e-01 -4.19418794e-03 7.68419019e+00] [ 5.11245036e-02 -1.34534844e-03 9.98691381e-01 4.56002337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.10, Y:7.69, Z:4.56 [[ 9.93279331e-01 -1.04258680e-01 -5.02622965e-02 1.01100093e+02] [ 1.04182769e-01 9.94549573e-01 -4.13499434e-03 7.69068449e+00] [ 5.04194546e-02 -1.12926084e-03 9.98727492e-01 4.56188235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:7.70, Z:4.56 [[ 9.94184230e-01 -9.53294121e-02 -5.01001057e-02 1.01129133e+02] [ 9.52427407e-02 9.95445552e-01 -4.11992007e-03 7.70287539e+00] [ 5.02646769e-02 -6.75711814e-04 9.98735704e-01 4.56394205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.16, Y:7.71, Z:4.57 [[ 9.94618719e-01 -9.11338216e-02 -4.92770847e-02 1.01159709e+02] [ 9.10448315e-02 9.95838550e-01 -4.05217009e-03 7.71128878e+00] [ 4.94413104e-02 -4.56059650e-04 9.98776926e-01 4.56596942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:7.72, Z:4.57 [[ 9.95023602e-01 -8.67468513e-02 -4.90205530e-02 1.01190684e+02] [ 8.66535511e-02 9.96230358e-01 -4.02929342e-03 7.71916922e+00] [ 4.91852916e-02 -2.38562942e-04 9.98789643e-01 4.56782792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.22, Y:7.73, Z:4.57 [[ 9.95611954e-01 -8.01669748e-02 -4.82710403e-02 1.01220288e+02] [ 8.00688577e-02 9.96781445e-01 -3.96596335e-03 7.73018321e+00] [ 4.84336166e-02 8.35534657e-05 9.98826400e-01 4.56928150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.25, Y:7.74, Z:4.57 [[ 9.95798368e-01 -7.77780302e-02 -4.83341318e-02 1.01250712e+02] [ 7.76768859e-02 9.96970681e-01 -3.97026942e-03 7.73611251e+00] [ 4.84965120e-02 1.99142976e-04 9.98823332e-01 4.57086401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.28, Y:7.74, Z:4.57 [[ 9.96053128e-01 -7.49454823e-02 -4.75535505e-02 1.01280852e+02] [ 7.48443945e-02 9.97187578e-01 -3.90529587e-03 7.74402924e+00] [ 4.77124942e-02 3.30765470e-04 9.98861056e-01 4.57252564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.31, Y:7.75, Z:4.57 [[ 9.96088110e-01 -7.44401644e-02 -4.76144915e-02 1.01311317e+02] [ 7.43383693e-02 9.97225420e-01 -3.90760069e-03 7.74832416e+00] [ 4.77732637e-02 3.52730933e-04 9.98858144e-01 4.57411250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:7.75, Z:4.58 [[ 9.96085452e-01 -7.44757195e-02 -4.76144908e-02 1.01340337e+02] [ 7.43739646e-02 9.97222765e-01 -3.90760961e-03 7.75073381e+00] [ 4.77732762e-02 3.51034636e-04 9.98858144e-01 4.57549796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.37, Y:7.75, Z:4.58 [[ 9.96086472e-01 -7.45135736e-02 -4.75338667e-02 1.01369997e+02] [ 7.44121249e-02 9.97219938e-01 -3.90269709e-03 7.75498194e+00] [ 4.76925235e-02 3.50327753e-04 9.98862003e-01 4.57691358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:7.76, Z:4.58 [[ 9.95990812e-01 -7.61699280e-02 -4.69088994e-02 1.01400544e+02] [ 7.60729276e-02 9.97094815e-01 -3.85221948e-03 7.75996942e+00] [ 4.70660437e-02 2.68277894e-04 9.98891744e-01 4.57865805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:7.76, Z:4.58 [[ 9.95886656e-01 -7.76331722e-02 -4.67210663e-02 1.01432039e+02] [ 7.75385556e-02 9.96981971e-01 -3.83681765e-03 7.76314813e+00] [ 4.68779251e-02 1.98351504e-04 9.98900606e-01 4.57970739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:7.77, Z:4.58 [[ 9.95699028e-01 -7.95757282e-02 -4.74462719e-02 1.01462868e+02] [ 7.94804365e-02 9.96828818e-01 -3.89463060e-03 7.76555710e+00] [ 4.76057292e-02 1.06829505e-04 9.98866199e-01 4.58059338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:7.77, Z:4.58 [[ 9.95185875e-01 -8.50073254e-02 -4.87732419e-02 1.01493385e+02] [ 8.49132320e-02 9.96380314e-01 -4.00171341e-03 7.76685680e+00] [ 4.89368730e-02 -1.59044935e-04 9.98801861e-01 4.58009890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.52, Y:7.77, Z:4.58 [[ 9.94881761e-01 -8.80150135e-02 -4.96350567e-02 1.01524196e+02] [ 8.79214551e-02 9.96119098e-01 -4.06937809e-03 7.76813941e+00] [ 4.98005943e-02 -3.15436372e-04 9.98759131e-01 4.58105639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.56, Y:7.77, Z:4.58 [[ 9.94608802e-01 -9.10181131e-02 -4.96893793e-02 1.01555765e+02] [ 9.09282302e-02 9.95849127e-01 -4.07109763e-03 7.76947077e+00] [ 4.98536686e-02 -4.69017782e-04 9.98756423e-01 4.58215338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.59, Y:7.77, Z:4.58 [[ 9.94319722e-01 -9.41991794e-02 -4.95459832e-02 1.01587394e+02] [ 9.41138506e-02 9.95553173e-01 -4.05752577e-03 7.77075152e+00] [ 4.97078763e-02 -6.28485359e-04 9.98763602e-01 4.58374263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:7.77, Z:4.59 [[ 9.94069304e-01 -9.70487179e-02 -4.90689876e-02 1.01618639e+02] [ 9.69686231e-02 9.95279337e-01 -4.01581532e-03 7.77166567e+00] [ 4.92270792e-02 -7.66153430e-04 9.98787319e-01 4.58542644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.65, Y:7.77, Z:4.59 [[ 9.93634067e-01 -1.01731414e-01 -4.83948414e-02 1.01650282e+02] [ 1.01659178e-01 9.94811412e-01 -3.95806193e-03 7.77285601e+00] [ 4.85463997e-02 -9.86914604e-04 9.98820441e-01 4.58742766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.68, Y:7.77, Z:4.59 [[ 9.93478698e-01 -1.03427459e-01 -4.79878813e-02 1.01681867e+02] [ 1.03358531e-01 9.94636431e-01 -3.92222248e-03 7.77453029e+00] [ 4.81361605e-02 -1.06331245e-03 9.98840217e-01 4.58920570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:7.78, Z:4.59 [[ 9.93377429e-01 -1.04829338e-01 -4.70328962e-02 1.01714017e+02] [ 1.04764812e-01 9.94489605e-01 -3.84171459e-03 7.77723479e+00] [ 4.71764508e-02 -1.11111997e-03 9.98885953e-01 4.59137675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.75, Y:7.78, Z:4.59 [[ 9.93313427e-01 -1.05659480e-01 -4.65242845e-02 1.01745616e+02] [ 1.05597407e-01 9.94401715e-01 -3.79685630e-03 7.77973290e+00] [ 4.66650021e-02 -1.14137547e-03 9.98909943e-01 4.59364014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:7.78, Z:4.59 [[ 9.93193387e-01 -1.06969831e-01 -4.60906857e-02 1.01777309e+02] [ 1.06910471e-01 9.94261549e-01 -3.75818904e-03 7.78297997e+00] [ 4.62282094e-02 -1.19496841e-03 9.98930190e-01 4.59485232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:7.79, Z:4.60 [[ 9.93118546e-01 -1.07556198e-01 -4.63380812e-02 1.01808815e+02] [ 1.07496994e-01 9.94198243e-01 -3.77497580e-03 7.78537098e+00] [ 4.64752610e-02 -1.23220595e-03 9.98918681e-01 4.59639299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.84, Y:7.79, Z:4.60 [[ 9.93056397e-01 -1.08078265e-01 -4.64551415e-02 1.01840799e+02] [ 1.08019448e-01 9.94141587e-01 -3.78201914e-03 7.78815847e+00] [ 4.65917422e-02 -1.26230044e-03 9.98913218e-01 4.59753815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.87, Y:7.79, Z:4.60 [[ 9.93011076e-01 -1.08424299e-01 -4.66173081e-02 1.01873300e+02] [ 1.08365608e-01 9.94103876e-01 -3.79187646e-03 7.79092718e+00] [ 4.67535782e-02 -1.28633759e-03 9.98905625e-01 4.59889534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:7.79, Z:4.60 [[ 9.92850990e-01 -1.09520842e-01 -4.74562631e-02 1.01905114e+02] [ 1.09461435e-01 9.93983561e-01 -3.85665531e-03 7.79345453e+00] [ 4.75931295e-02 -1.36554664e-03 9.98865872e-01 4.59945359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:7.80, Z:4.60 [[ 9.92778240e-01 -1.09987106e-01 -4.78978261e-02 1.01936862e+02] [ 1.09927297e-01 9.93932022e-01 -3.88907160e-03 7.79566975e+00] [ 4.80349309e-02 -1.40429290e-03 9.98844669e-01 4.60035969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.97, Y:7.80, Z:4.60 [[ 9.92745995e-01 -1.10049791e-01 -4.84193422e-02 1.01968294e+02] [ 1.09988920e-01 9.93925052e-01 -3.92787399e-03 7.79822440e+00] [ 4.85574589e-02 -1.42620996e-03 9.98819373e-01 4.60171786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:7.80, Z:4.60 [[ 9.92668405e-01 -1.10365443e-01 -4.92839368e-02 1.01999659e+02] [ 1.10303044e-01 9.93889983e-01 -3.99241375e-03 7.80088082e+00] [ 4.94234356e-02 -1.47302524e-03 9.98776829e-01 4.60219968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:7.80, Z:4.60 [[ 9.92654207e-01 -1.10215534e-01 -4.99015214e-02 1.02030861e+02] [ 1.10151505e-01 9.93906598e-01 -4.03977564e-03 7.80384362e+00] [ 5.00426974e-02 -1.48662742e-03 9.98745973e-01 4.60297606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.06, Y:7.81, Z:4.60 [[ 9.92611788e-01 -1.10265899e-01 -5.06287515e-02 1.02062598e+02] [ 1.10200197e-01 9.93900971e-01 -4.09588456e-03 7.80884941e+00] [ 5.07716016e-02 -1.51367508e-03 9.98709143e-01 4.60412949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:7.81, Z:4.61 [[ 9.92581457e-01 -1.10218655e-01 -5.13215341e-02 1.02093869e+02] [ 1.10151269e-01 9.93906178e-01 -4.14825865e-03 7.81070679e+00] [ 5.14660053e-02 -1.53564748e-03 9.98673566e-01 4.60515930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.13, Y:7.81, Z:4.61 [[ 9.92529900e-01 -1.10305508e-01 -5.21257464e-02 1.02125652e+02] [ 1.10236267e-01 9.93896493e-01 -4.21033896e-03 7.81414800e+00] [ 5.22720201e-02 -1.56726037e-03 9.98631654e-01 4.60555011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:7.82, Z:4.61 [[ 9.92549488e-01 -1.09741564e-01 -5.29367892e-02 1.02156566e+02] [ 1.09669568e-01 9.93958922e-01 -4.27176613e-03 7.81679015e+00] [ 5.30857842e-02 -1.56561549e-03 9.98588728e-01 4.60644281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:7.82, Z:4.61 [[ 9.92633980e-01 -1.08954220e-01 -5.29788570e-02 1.02188904e+02] [ 1.08881314e-01 9.94045590e-01 -4.26906113e-03 7.82012106e+00] [ 5.31285314e-02 -1.53079241e-03 9.98586509e-01 4.60783867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:7.83, Z:4.61 [[ 9.92929850e-01 -1.06435612e-01 -5.25525759e-02 1.02220393e+02] [ 1.06360546e-01 9.94318627e-01 -4.23101332e-03 7.82722630e+00] [ 5.27043356e-02 -1.38842126e-03 9.98609195e-01 4.61121261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.25, Y:7.83, Z:4.61 [[ 9.93109027e-01 -1.04966055e-01 -5.21208948e-02 1.02252064e+02] [ 1.04890394e-01 9.94474951e-01 -4.19247630e-03 7.82887337e+00] [ 5.22729920e-02 -1.30339513e-03 9.98631982e-01 4.61291457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:7.83, Z:4.62 [[ 9.93276544e-01 -1.03275240e-01 -5.23061293e-02 1.02283885e+02] [ 1.03196897e-01 9.94652065e-01 -4.20359201e-03 7.83291198e+00] [ 5.24605265e-02 -1.22250087e-03 9.98622250e-01 4.61509729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.32, Y:7.84, Z:4.62 [[ 9.93550292e-01 -1.00731042e-01 -5.20679758e-02 1.02316005e+02] [ 1.00650112e-01 9.94913100e-01 -4.18079632e-03 7.83944136e+00] [ 5.22242472e-02 -1.08681617e-03 9.98634792e-01 4.61811757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:7.84, Z:4.62 [[ 9.93629669e-01 -9.99344282e-02 -5.20883038e-02 1.02347879e+02] [ 9.98525788e-02 9.94993471e-01 -4.17788288e-03 7.84306531e+00] [ 5.22450366e-02 -1.04988309e-03 9.98633744e-01 4.62003951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.38, Y:7.85, Z:4.62 [[ 9.93706129e-01 -9.92297514e-02 -5.19767883e-02 1.02379660e+02] [ 9.91474841e-02 9.95064032e-01 -4.16520382e-03 7.84623341e+00] [ 5.21335447e-02 -1.01437923e-03 9.98639607e-01 4.62188513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.41, Y:7.85, Z:4.62 [[ 9.93791952e-01 -9.78558902e-02 -5.29318506e-02 1.02411671e+02] [ 9.77688317e-02 9.95200129e-01 -4.23783493e-03 7.84969881e+00] [ 5.30924816e-02 -9.63558945e-04 9.98589135e-01 4.62325329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.44, Y:7.85, Z:4.63 [[ 9.93841416e-01 -9.69404051e-02 -5.36823861e-02 1.02443739e+02] [ 9.68497388e-02 9.95289752e-01 -4.29396232e-03 7.85337472e+00] [ 5.38457872e-02 -9.31607487e-04 9.98548829e-01 4.62519140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:7.86, Z:4.63 [[ 9.93988063e-01 -9.54523251e-02 -5.36337927e-02 1.02474624e+02] [ 9.53598909e-02 9.95433636e-01 -4.28576324e-03 7.85593060e+00] [ 5.37979673e-02 -8.54515121e-04 9.98551475e-01 4.62708427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:7.86, Z:4.63 [[ 9.94162189e-01 -9.37875514e-02 -5.33426314e-02 1.02505578e+02] [ 9.36940898e-02 9.95591938e-01 -4.25566928e-03 7.85886055e+00] [ 5.35066225e-02 -7.67063804e-04 9.98567200e-01 4.62888814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:7.86, Z:4.63 [[ 9.94486286e-01 -9.01577818e-02 -5.35593293e-02 1.02536723e+02] [ 9.00586336e-02 9.95927325e-01 -4.26671700e-03 7.86439582e+00] [ 5.37258773e-02 -5.80288467e-04 9.98555553e-01 4.63197659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:7.87, Z:4.63 [[ 9.94665673e-01 -8.83130205e-02 -5.33011278e-02 1.02567593e+02] [ 8.82122867e-02 9.96092656e-01 -4.24414556e-03 7.86800798e+00] [ 5.34676752e-02 -4.80308466e-04 9.98569465e-01 4.63415419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:7.87, Z:4.64 [[ 9.94840617e-01 -8.64163374e-02 -5.31447490e-02 1.02599643e+02] [ 8.63136464e-02 9.96259039e-01 -4.22875309e-03 7.87170197e+00] [ 5.33113699e-02 -3.80181741e-04 9.98577865e-01 4.63665011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:7.87, Z:4.64 [[ 9.94977880e-01 -8.50772550e-02 -5.27340423e-02 1.02630632e+02] [ 8.49744613e-02 9.96374310e-01 -4.19239417e-03 7.87417171e+00] [ 5.28995224e-02 -3.09707370e-04 9.98599792e-01 4.63851903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.66, Y:7.88, Z:4.64 [[ 9.95134911e-01 -8.35381838e-02 -5.22291269e-02 1.02661781e+02] [ 8.34353731e-02 9.96504551e-01 -4.14955792e-03 7.87563025e+00] [ 5.23932092e-02 -2.28386737e-04 9.98626506e-01 4.64071588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:7.88, Z:4.64 [[ 9.95175130e-01 -8.30928566e-02 -5.21731448e-02 1.02692874e+02] [ 8.29897519e-02 9.96541788e-01 -4.14325533e-03 7.87688596e+00] [ 5.23369939e-02 -2.06571674e-04 9.98629459e-01 4.64216054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:7.88, Z:4.64 [[ 9.95184722e-01 -8.29477358e-02 -5.22210872e-02 1.02724254e+02] [ 8.28443390e-02 9.96553878e-01 -4.14520956e-03 7.87823988e+00] [ 5.23849628e-02 -2.00972229e-04 9.98626945e-01 4.64402470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:7.88, Z:4.65 [[ 9.95169948e-01 -8.31073131e-02 -5.22489242e-02 1.02754716e+02] [ 8.30041203e-02 9.96540581e-01 -4.14561608e-03 7.87877397e+00] [ 5.24127043e-02 -2.11283453e-04 9.98625487e-01 4.64530367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:7.88, Z:4.65 [[ 9.95105262e-01 -8.39050536e-02 -5.22059332e-02 1.02786538e+02] [ 8.38031814e-02 9.96473721e-01 -4.14118210e-03 7.87790157e+00] [ 5.23693066e-02 -2.54111186e-04 9.98627754e-01 4.64779466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.82, Y:7.88, Z:4.65 [[ 9.95051618e-01 -8.45794512e-02 -5.21401438e-02 1.02818317e+02] [ 8.44788582e-02 9.96416696e-01 -4.13410294e-03 7.87825166e+00] [ 5.23029700e-02 -2.91094000e-04 9.98631221e-01 4.64937844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.85, Y:7.88, Z:4.65 [[ 9.94959957e-01 -8.54705713e-02 -5.24353490e-02 1.02849017e+02] [ 8.53701762e-02 9.96340637e-01 -4.15552937e-03 7.87803037e+00] [ 5.25986445e-02 -3.41829657e-04 9.98615675e-01 4.65119213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:7.88, Z:4.65 [[ 9.94795449e-01 -8.73185607e-02 -5.25117421e-02 1.02880421e+02] [ 8.72205979e-02 9.96180341e-01 -4.15868341e-03 7.87528769e+00] [ 5.26742954e-02 -4.43066214e-04 9.98611647e-01 4.65282156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.91, Y:7.87, Z:4.65 [[ 9.94662238e-01 -8.86957121e-02 -5.27266748e-02 1.02910625e+02] [ 8.85989742e-02 9.96058633e-01 -4.17389638e-03 7.87431883e+00] [ 5.28890663e-02 -5.19912183e-04 9.98600259e-01 4.65376280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.94, Y:7.87, Z:4.66 [[ 9.94560725e-01 -8.98973281e-02 -5.26064060e-02 1.02942217e+02] [ 8.98027653e-02 9.95950867e-01 -4.16334378e-03 7.87410843e+00] [ 5.27676691e-02 -5.83502521e-04 9.98606646e-01 4.65554526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:7.87, Z:4.66 [[ 9.94286742e-01 -9.28625511e-02 -5.26347834e-02 1.02974005e+02] [ 9.27721356e-02 9.95678660e-01 -4.16371078e-03 7.87094534e+00] [ 5.27939834e-02 -7.43118834e-04 9.98605149e-01 4.65777622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.01, Y:7.87, Z:4.66 [[ 9.94115809e-01 -9.47318102e-02 -5.25323058e-02 1.03005555e+02] [ 9.46444524e-02 9.95502473e-01 -4.15372892e-03 7.87034607e+00] [ 5.26895306e-02 -8.42603729e-04 9.98610586e-01 4.65945005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:7.87, Z:4.66 [[ 9.93933532e-01 -9.66043896e-02 -5.25711442e-02 1.03037017e+02] [ 9.65196183e-02 9.95322410e-01 -4.15491682e-03 7.86978736e+00] [ 5.27266212e-02 -9.44435624e-04 9.98608538e-01 4.66109658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:7.86, Z:4.66 [[ 9.93554955e-01 -1.00623807e-01 -5.21862203e-02 1.03068019e+02] [ 1.00545903e-01 9.94923879e-01 -4.12270552e-03 7.86401896e+00] [ 5.23361591e-02 -1.15097616e-03 9.98628861e-01 4.66161577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.10, Y:7.86, Z:4.66 [[ 9.93364654e-01 -1.02800810e-01 -5.15621764e-02 1.03100405e+02] [ 1.02727746e-01 9.94701175e-01 -4.07225725e-03 7.86427010e+00] [ 5.17075888e-02 -1.25162974e-03 9.98661484e-01 4.66322254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.13, Y:7.86, Z:4.66 [[ 9.93184312e-01 -1.04862426e-01 -5.08801851e-02 1.03131424e+02] [ 1.04794166e-01 9.94485829e-01 -4.01482419e-03 7.86009579e+00] [ 5.10206272e-02 -1.34448613e-03 9.98696695e-01 4.66438111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:7.86, Z:4.67 [[ 9.92749989e-01 -1.08900443e-01 -5.08738860e-02 1.03162939e+02] [ 1.08837587e-01 9.94051447e-01 -4.01246521e-03 7.85633648e+00] [ 5.10082193e-02 -1.55361622e-03 9.98697025e-01 4.66527357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.19, Y:7.86, Z:4.67 [[ 9.92565228e-01 -1.10495878e-01 -5.10385084e-02 1.03193866e+02] [ 1.10434808e-01 9.93875225e-01 -4.02372517e-03 7.85544419e+00] [ 5.11705141e-02 -1.64261820e-03 9.98688580e-01 4.66615016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:7.86, Z:4.67 [[ 9.92392600e-01 -1.11932973e-01 -5.12634048e-02 1.03225507e+02] [ 1.11873327e-01 9.93714261e-01 -4.04048399e-03 7.85716306e+00] [ 5.13934398e-02 -1.72526125e-03 9.98676994e-01 4.66762660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:7.85, Z:4.67 [[ 9.92108080e-01 -1.14761208e-01 -5.05116169e-02 1.03256772e+02] [ 1.14707048e-01 9.93391392e-01 -3.97940650e-03 7.85338043e+00] [ 5.06344869e-02 -1.84603715e-03 9.98715546e-01 4.66861454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.29, Y:7.85, Z:4.67 [[ 9.91939576e-01 -1.16277412e-01 -5.03531679e-02 1.03287479e+02] [ 1.16225643e-01 9.93214921e-01 -3.96490125e-03 7.85167323e+00] [ 5.04725462e-02 -1.91938685e-03 9.98723604e-01 4.66942878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:7.85, Z:4.67 [[ 9.91785901e-01 -1.17690967e-01 -5.00955416e-02 1.03319241e+02] [ 1.17641575e-01 9.93048291e-01 -3.94362308e-03 7.85276306e+00] [ 5.02114208e-02 -1.98208867e-03 9.98736644e-01 4.67057866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:7.86, Z:4.67 [[ 9.91794454e-01 -1.17618773e-01 -5.00957610e-02 1.03350829e+02] [ 1.17569430e-01 9.93056846e-01 -3.94083468e-03 7.85519000e+00] [ 5.02114545e-02 -1.98123208e-03 9.98736644e-01 4.67208522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.38, Y:7.85, Z:4.67 [[ 9.91383293e-01 -1.21091235e-01 -4.99607708e-02 1.03381887e+02] [ 1.21046730e-01 9.92639043e-01 -3.92671058e-03 7.84995263e+00] [ 5.00685020e-02 -2.15471268e-03 9.98743462e-01 4.67268360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.41, Y:7.85, Z:4.67 [[ 9.91183770e-01 -1.22566234e-01 -5.03214918e-02 1.03412954e+02] [ 1.22523043e-01 9.92457793e-01 -3.95383102e-03 7.84759679e+00] [ 5.04265629e-02 -2.24656916e-03 9.98725245e-01 4.67334426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:7.85, Z:4.67 [[ 9.90982732e-01 -1.23571667e-01 -5.18002608e-02 1.03444792e+02] [ 1.23527597e-01 9.92332816e-01 -4.06378384e-03 7.84724890e+00] [ 5.19052673e-02 -2.37162212e-03 9.98649197e-01 4.67295677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.48, Y:7.85, Z:4.67 [[ 9.90859734e-01 -1.24005634e-01 -5.30998117e-02 1.03476287e+02] [ 1.23960050e-01 9.92278473e-01 -4.16384061e-03 7.84962911e+00] [ 5.32061398e-02 -2.45647330e-03 9.98580529e-01 4.67265006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.51, Y:7.85, Z:4.67 [[ 9.90891368e-01 -1.23856094e-01 -5.28579764e-02 1.03506587e+02] [ 1.23810801e-01 9.92297193e-01 -4.14319514e-03 7.85199373e+00] [ 5.29639816e-02 -2.43893207e-03 9.98593445e-01 4.67345847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.54, Y:7.85, Z:4.68 [[ 9.91007270e-01 -1.23390587e-01 -5.17624826e-02 1.03536621e+02] [ 1.23346520e-01 9.92355367e-01 -4.05724766e-03 7.85157048e+00] [ 5.18674036e-02 -2.36396019e-03 9.98651182e-01 4.67523973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.57, Y:7.86, Z:4.68 [[ 9.91088696e-01 -1.22906337e-01 -5.13539553e-02 1.03567628e+02] [ 1.22862365e-01 9.92415561e-01 -4.02424062e-03 7.85570495e+00] [ 5.14590691e-02 -2.32108900e-03 9.98672407e-01 4.67758820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.60, Y:7.86, Z:4.68 [[ 9.91205678e-01 -1.22049037e-01 -5.11403665e-02 1.03598829e+02] [ 1.22004384e-01 9.92521478e-01 -4.00569339e-03 7.86063110e+00] [ 5.12468031e-02 -2.26888287e-03 9.98683442e-01 4.67967838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:7.86, Z:4.68 [[ 9.91475392e-01 -1.20110922e-01 -5.04966687e-02 1.03628759e+02] [ 1.20064976e-01 9.92758164e-01 -3.95332515e-03 7.86266314e+00] [ 5.06058176e-02 -2.14325669e-03 9.98716405e-01 4.68072898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.66, Y:7.87, Z:4.68 [[ 9.91620927e-01 -1.19194286e-01 -4.98062181e-02 1.03660198e+02] [ 1.19148627e-01 9.92868788e-01 -3.89538019e-03 7.86574747e+00] [ 4.99153465e-02 -2.07160202e-03 9.98751304e-01 4.68221198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:7.87, Z:4.68 [[ 9.91721870e-01 -1.18521312e-01 -4.94007173e-02 1.03691535e+02] [ 1.18475647e-01 9.92949448e-01 -3.86191392e-03 7.86980889e+00] [ 4.95101341e-02 -2.02283742e-03 9.98771573e-01 4.68412861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:7.87, Z:4.69 [[ 9.91883615e-01 -1.17311166e-01 -4.90406503e-02 1.03722396e+02] [ 1.17264774e-01 9.93093293e-01 -3.83199523e-03 7.87094226e+00] [ 4.91514767e-02 -1.94984751e-03 9.98789432e-01 4.68538150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:7.87, Z:4.69 [[ 9.91960367e-01 -1.16612145e-01 -4.91552444e-02 1.03753916e+02] [ 1.16564767e-01 9.93175672e-01 -3.83917605e-03 7.87441591e+00] [ 4.92674875e-02 -1.92145914e-03 9.98783772e-01 4.68695639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.78, Y:7.88, Z:4.69 [[ 9.92022255e-01 -1.15807076e-01 -4.98052919e-02 1.03784723e+02] [ 1.15757514e-01 9.93269893e-01 -3.88817992e-03 7.87899787e+00] [ 4.99203757e-02 -1.90817573e-03 9.98751378e-01 4.68825887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.82, Y:7.89, Z:4.69 [[ 9.92106022e-01 -1.15068100e-01 -4.98495047e-02 1.03815938e+02] [ 1.15017608e-01 9.93355837e-01 -3.88986072e-03 7.88526300e+00] [ 4.99658953e-02 -1.87441654e-03 9.98749166e-01 4.68912445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.85, Y:7.89, Z:4.69 [[ 9.92161821e-01 -1.14359135e-01 -5.03677473e-02 1.03846718e+02] [ 1.14306768e-01 9.93437733e-01 -3.92847951e-03 7.88627371e+00] [ 5.04864783e-02 -1.85968704e-03 9.98723013e-01 4.68942389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:7.89, Z:4.69 [[ 9.92216287e-01 -1.13959147e-01 -5.02011284e-02 1.03878194e+02] [ 1.13906666e-01 9.93483743e-01 -3.91446399e-03 7.89182381e+00] [ 5.03200939e-02 -1.83424827e-03 9.98731457e-01 4.69111571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:7.89, Z:4.69 [[ 9.92255159e-01 -1.13727460e-01 -4.99576178e-02 1.03909302e+02] [ 1.13675332e-01 9.93510325e-01 -3.89273667e-03 7.89449677e+00] [ 5.00761202e-02 -1.81636073e-03 9.98743752e-01 4.69309283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:7.90, Z:4.69 [[ 9.92205585e-01 -1.13959871e-01 -5.04105603e-02 1.03939824e+02] [ 1.13907228e-01 9.93483636e-01 -3.92534839e-03 7.89721542e+00] [ 5.05293990e-02 -1.84737460e-03 9.98720865e-01 4.69444043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.97, Y:7.90, Z:4.70 [[ 9.92170905e-01 -1.14313252e-01 -5.02929044e-02 1.03970441e+02] [ 1.14261355e-01 9.93443010e-01 -3.91524140e-03 7.89921422e+00] [ 5.04106983e-02 -1.86194680e-03 9.98726837e-01 4.69546204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:7.90, Z:4.70 [[ 9.91997382e-01 -1.15621906e-01 -5.07224658e-02 1.04001304e+02] [ 1.15570919e-01 9.93291390e-01 -3.94686439e-03 7.90314553e+00] [ 5.08385325e-02 -1.94676286e-03 9.98704988e-01 4.69614284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:7.90, Z:4.70 [[ 9.91853498e-01 -1.16756900e-01 -5.09358981e-02 1.04031516e+02] [ 1.16707066e-01 9.93158480e-01 -3.96171559e-03 7.90357596e+00] [ 5.10499767e-02 -2.01513775e-03 9.98694067e-01 4.69684563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.06, Y:7.91, Z:4.70 [[ 9.91720604e-01 -1.17789516e-01 -5.11456065e-02 1.04062907e+02] [ 1.17740691e-01 9.93036411e-01 -3.97704922e-03 7.90837268e+00] [ 5.12579042e-02 -2.07779739e-03 9.98683288e-01 4.69803956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:7.91, Z:4.70 [[ 9.91572899e-01 -1.18922069e-01 -5.13880062e-02 1.04093616e+02] [ 1.18874391e-01 9.92901267e-01 -3.99409871e-03 7.90878959e+00] [ 5.14982029e-02 -2.14827790e-03 9.98670777e-01 4.69914656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:7.91, Z:4.70 [[ 9.91348854e-01 -1.20882814e-01 -5.11350703e-02 1.04124142e+02] [ 1.20838252e-01 9.92664257e-01 -3.97352126e-03 7.91398566e+00] [ 5.12402871e-02 -2.23992677e-03 9.98683842e-01 4.70103848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.16, Y:7.92, Z:4.70 [[ 9.91247880e-01 -1.21670895e-01 -5.12233705e-02 1.04155421e+02] [ 1.21627284e-01 9.92567866e-01 -3.97930639e-03 7.91548934e+00] [ 5.13268373e-02 -2.28568039e-03 9.98679294e-01 4.70261905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:7.92, Z:4.70 [[ 9.91111688e-01 -1.22576486e-01 -5.16974496e-02 1.04187218e+02] [ 1.22533446e-01 9.92456271e-01 -4.01320417e-03 7.91980463e+00] [ 5.17993825e-02 -2.35713308e-03 9.98654729e-01 4.70403248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.22, Y:7.92, Z:4.70 [[ 9.90994356e-01 -1.23254371e-01 -5.23311184e-02 1.04218705e+02] [ 1.23211413e-01 9.92372146e-01 -4.05858031e-03 7.92147168e+00] [ 5.24321820e-02 -2.42576084e-03 9.98621541e-01 4.70494018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:7.92, Z:4.71 [[ 9.90846618e-01 -1.24234515e-01 -5.28087679e-02 1.04249703e+02] [ 1.24192307e-01 9.92249727e-01 -4.09279765e-03 7.92489476e+00] [ 5.29079523e-02 -2.50310802e-03 9.98596256e-01 4.70598955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:7.93, Z:4.71 [[ 9.90789647e-01 -1.24518226e-01 -5.32079560e-02 1.04280188e+02] [ 1.24475885e-01 9.92214072e-01 -4.12191214e-03 7.92577352e+00] [ 5.33069359e-02 -2.53915952e-03 9.98574946e-01 4.70732845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:7.93, Z:4.71 [[ 9.90810737e-01 -1.24464234e-01 -5.29408846e-02 1.04311129e+02] [ 1.24422294e-01 9.92220883e-01 -4.10018331e-03 7.93229970e+00] [ 5.30393775e-02 -2.52452066e-03 9.98589230e-01 4.70960874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:7.94, Z:4.71 [[ 9.90904799e-01 -1.23815387e-01 -5.27013157e-02 1.04342697e+02] [ 1.23773013e-01 9.92302170e-01 -4.07967246e-03 7.93702032e+00] [ 5.28007562e-02 -2.48043364e-03 9.98601987e-01 4.71152498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.37, Y:7.94, Z:4.71 [[ 9.91102337e-01 -1.22754424e-01 -5.14539495e-02 1.04373843e+02] [ 1.22712739e-01 9.92434249e-01 -3.98049314e-03 7.94039370e+00] [ 5.15532849e-02 -2.36897902e-03 9.98667436e-01 4.71350797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:7.95, Z:4.72 [[ 9.91499326e-01 -1.20465251e-01 -4.91651380e-02 1.04404110e+02] [ 1.20424462e-01 9.92715214e-01 -3.80176135e-03 7.94507388e+00] [ 4.92649607e-02 -2.15124150e-03 9.98783428e-01 4.71692868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:7.95, Z:4.72 [[ 9.91698173e-01 -1.19106944e-01 -4.84589421e-02 1.04436060e+02] [ 1.19065785e-01 9.92879303e-01 -3.74540486e-03 7.95336084e+00] [ 4.85599844e-02 -2.05549082e-03 9.98818153e-01 4.71966247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.47, Y:7.96, Z:4.72 [[ 9.91944340e-01 -1.17309627e-01 -4.78003987e-02 1.04467836e+02] [ 1.17267700e-01 9.93093484e-01 -3.69024944e-03 7.96019960e+00] [ 4.79031662e-02 -1.94492077e-03 9.98850091e-01 4.72223870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:7.97, Z:4.72 [[ 9.91983706e-01 -1.16736028e-01 -4.83841511e-02 1.04500039e+02] [ 1.16692562e-01 9.93161074e-01 -3.73177824e-03 7.96546230e+00] [ 4.84888884e-02 -1.94420733e-03 9.98821830e-01 4.72313241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.53, Y:7.97, Z:4.72 [[ 9.91989392e-01 -1.16275905e-01 -4.93655815e-02 1.04531747e+02] [ 1.16230273e-01 9.93215009e-01 -3.80379417e-03 7.96862617e+00] [ 4.94729261e-02 -1.96445155e-03 9.98773533e-01 4.72384904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:7.97, Z:4.72 [[ 9.91919362e-01 -1.16442939e-01 -5.03688519e-02 1.04563108e+02] [ 1.16395835e-01 9.93195336e-01 -3.87742633e-03 7.97095344e+00] [ 5.04776077e-02 -2.01663032e-03 9.98723157e-01 4.72399769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:7.97, Z:4.72 [[ 9.91844902e-01 -1.16711956e-01 -5.12055615e-02 1.04594260e+02] [ 1.16663777e-01 9.93163656e-01 -3.93902334e-03 7.97136778e+00] [ 5.13152338e-02 -2.06693402e-03 9.98680367e-01 4.72453966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:7.98, Z:4.72 [[ 9.91633749e-01 -1.17932541e-01 -5.24825969e-02 1.04626161e+02] [ 1.17883792e-01 9.93019202e-01 -4.03429621e-03 7.97504421e+00] [ 5.25920013e-02 -2.18630328e-03 9.98613690e-01 4.72456418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:7.98, Z:4.72 [[ 9.91419331e-01 -1.19207641e-01 -5.36399828e-02 1.04658421e+02] [ 1.19158792e-01 9.92866664e-01 -4.11938422e-03 7.97849699e+00] [ 5.37484129e-02 -2.30763839e-03 9.98551843e-01 4.72453041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:7.98, Z:4.73 [[ 9.91325620e-01 -1.19702286e-01 -5.42667250e-02 1.04689396e+02] [ 1.19653235e-01 9.92807014e-01 -4.16372569e-03 7.97962875e+00] [ 5.43747927e-02 -2.36558123e-03 9.98517795e-01 4.72545436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.72, Y:7.99, Z:4.73 [[ 9.91229615e-01 -1.20234527e-01 -5.48407595e-02 1.04720894e+02] [ 1.20185417e-01 9.92742558e-01 -4.20467199e-03 7.98809660e+00] [ 5.49483026e-02 -2.42326413e-03 9.98486260e-01 4.72701965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:7.99, Z:4.73 [[ 9.91305406e-01 -1.19442377e-01 -5.52006399e-02 1.04751860e+02] [ 1.19391614e-01 9.92838236e-01 -4.22833361e-03 7.99158292e+00] [ 5.53103482e-02 -2.39892352e-03 9.98466329e-01 4.72815258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.78, Y:8.00, Z:4.73 [[ 9.91462593e-01 -1.18202800e-01 -5.50456557e-02 1.04783199e+02] [ 1.18150589e-01 9.92986750e-01 -4.21331092e-03 7.99895521e+00] [ 5.51576320e-02 -2.32633650e-03 9.98474949e-01 4.73045677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.81, Y:8.00, Z:4.73 [[ 9.91680474e-01 -1.16492604e-01 -5.47659649e-02 1.04814003e+02] [ 1.16438533e-01 9.93189070e-01 -4.18803737e-03 8.00326929e+00] [ 5.48808331e-02 -2.22367373e-03 9.98490435e-01 4.73234989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.84, Y:8.01, Z:4.74 [[ 9.92267252e-01 -1.11882678e-01 -5.37398146e-02 1.04844078e+02] [ 1.11824006e-01 9.93719540e-01 -4.10690900e-03 8.01220141e+00] [ 5.38617958e-02 -1.93425004e-03 9.98546527e-01 4.73552250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:8.02, Z:4.74 [[ 9.92608514e-01 -1.09273572e-01 -5.27979642e-02 1.04874018e+02] [ 1.09213325e-01 9.94010151e-01 -4.03355627e-03 8.01655040e+00] [ 5.29224735e-02 -1.76249891e-03 9.98597069e-01 4.73777281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.91, Y:8.02, Z:4.74 [[ 9.93141565e-01 -1.04764537e-01 -5.19059201e-02 1.04905298e+02] [ 1.04700408e-01 9.94495922e-01 -3.96058070e-03 8.02351826e+00] [ 5.20351542e-02 -1.50115372e-03 9.98644125e-01 4.73985028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:8.03, Z:4.74 [[ 9.93340639e-01 -1.02905230e-01 -5.18159151e-02 1.04937320e+02] [ 1.02838947e-01 9.94690174e-01 -3.95084537e-03 8.02744994e+00] [ 5.19473442e-02 -1.40415886e-03 9.98648838e-01 4.74139486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.97, Y:8.03, Z:4.74 [[ 9.93534962e-01 -1.00815603e-01 -5.21966806e-02 1.04969476e+02] [ 1.00745658e-01 9.94904268e-01 -3.97611492e-03 8.03160047e+00] [ 5.23315548e-02 -1.30817974e-03 9.98628909e-01 4.74317821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.00, Y:8.03, Z:4.74 [[ 9.93572203e-01 -1.00498291e-01 -5.20996266e-02 1.05001448e+02] [ 1.00428365e-01 9.94936391e-01 -3.96501020e-03 8.03452002e+00] [ 5.22342912e-02 -1.29275638e-03 9.98634021e-01 4.74484906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.03, Y:8.04, Z:4.75 [[ 9.93492556e-01 -1.01104196e-01 -5.24450400e-02 1.05033788e+02] [ 1.01034380e-01 9.94874944e-01 -3.98752901e-03 8.03682007e+00] [ 5.25794121e-02 -1.33717173e-03 9.98615851e-01 4.74688524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:8.04, Z:4.75 [[ 9.93386991e-01 -1.02226634e-01 -5.22685478e-02 1.05065304e+02] [ 1.02159029e-01 9.94760156e-01 -3.97048929e-03 8.03937218e+00] [ 5.24005585e-02 -1.39547171e-03 9.98625172e-01 4.74847392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:8.04, Z:4.75 [[ 9.93274614e-01 -1.03324311e-01 -5.22458346e-02 1.05096712e+02] [ 1.03258431e-01 9.94646655e-01 -3.96591602e-03 8.03964654e+00] [ 5.23759202e-02 -1.45557920e-03 9.98626379e-01 4.74989581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:8.04, Z:4.75 [[ 9.93038659e-01 -1.05689131e-01 -5.20002888e-02 1.05129123e+02] [ 1.05627255e-01 9.94397971e-01 -3.94439575e-03 8.03909242e+00] [ 5.21258614e-02 -1.57571030e-03 9.98639280e-01 4.75114228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.16, Y:8.04, Z:4.75 [[ 9.92737997e-01 -1.07928542e-01 -5.31290795e-02 1.05161641e+02] [ 1.07867358e-01 9.94157142e-01 -4.02616368e-03 8.04005971e+00] [ 5.32531918e-02 -1.73396776e-03 9.98579537e-01 4.75256083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.19, Y:8.04, Z:4.75 [[ 9.92647546e-01 -1.08594339e-01 -5.34613770e-02 1.05192761e+02] [ 1.08533574e-01 9.94084545e-01 -4.04718065e-03 8.04018116e+00] [ 5.35846296e-02 -1.78493040e-03 9.98561716e-01 4.75347010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.22, Y:8.04, Z:4.75 [[ 9.92570626e-01 -1.09110776e-01 -5.38367070e-02 1.05224674e+02] [ 1.09050235e-01 9.94027909e-01 -4.06965492e-03 8.04165067e+00] [ 5.39592325e-02 -1.83148563e-03 9.98541460e-01 4.75499980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:8.04, Z:4.76 [[ 9.92476102e-01 -1.09705408e-01 -5.43682780e-02 1.05256993e+02] [ 1.09644770e-01 9.93962356e-01 -4.10592104e-03 8.04447872e+00] [ 5.44904634e-02 -1.88616883e-03 9.98512510e-01 4.75667439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:8.05, Z:4.76 [[ 9.92472682e-01 -1.09737475e-01 -5.43659997e-02 1.05289014e+02] [ 1.09677106e-01 9.93958806e-01 -4.10179705e-03 8.04697567e+00] [ 5.44876850e-02 -1.89178398e-03 9.98512651e-01 4.75799628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:8.05, Z:4.76 [[ 9.92480642e-01 -1.09665313e-01 -5.43662972e-02 1.05320609e+02] [ 1.09605051e-01 9.93966770e-01 -4.09785111e-03 8.04929870e+00] [ 5.44876849e-02 -1.89178289e-03 9.98512651e-01 4.75950235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.35, Y:8.05, Z:4.76 [[ 9.92532952e-01 -1.09231475e-01 -5.42846638e-02 1.05352722e+02] [ 1.09170962e-01 9.94014583e-01 -4.08774044e-03 8.05157556e+00] [ 5.44062573e-02 -1.86909190e-03 9.98517133e-01 4.76140455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:8.05, Z:4.76 [[ 9.92566468e-01 -1.08890360e-01 -5.43571220e-02 1.05383515e+02] [ 1.08829385e-01 9.94052032e-01 -4.08935843e-03 8.05285441e+00] [ 5.44790992e-02 -1.85669210e-03 9.98513185e-01 4.76250425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:8.06, Z:4.76 [[ 9.92635350e-01 -1.07960177e-01 -5.49514537e-02 1.05415392e+02] [ 1.07896613e-01 9.94153538e-01 -4.13092619e-03 8.05541326e+00] [ 5.50761577e-02 -1.82857236e-03 9.98480482e-01 4.76335072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:8.06, Z:4.77 [[ 9.92650051e-01 -1.07700659e-01 -5.51945998e-02 1.05447034e+02] [ 1.07636351e-01 9.94181690e-01 -4.14522845e-03 8.05786929e+00] [ 5.53199044e-02 -1.82618406e-03 9.98467012e-01 4.76516752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:8.06, Z:4.77 [[ 9.92621863e-01 -1.08381609e-01 -5.43623485e-02 1.05478797e+02] [ 1.08320455e-01 9.94107661e-01 -4.07885309e-03 8.06049703e+00] [ 5.44840998e-02 -1.83979557e-03 9.98512943e-01 4.76773501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:8.06, Z:4.77 [[ 9.92634261e-01 -1.08589219e-01 -5.37178390e-02 1.05510388e+02] [ 1.08530036e-01 9.94085017e-01 -4.02629670e-03 8.06141022e+00] [ 5.38373113e-02 -1.83335895e-03 9.98548037e-01 4.76965778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:8.06, Z:4.77 [[ 9.92518864e-01 -1.09659259e-01 -5.36763577e-02 1.05541893e+02] [ 1.09602055e-01 9.93967430e-01 -4.01713425e-03 8.06136917e+00] [ 5.37930673e-02 -1.89595758e-03 9.98550305e-01 4.77152518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:8.06, Z:4.77 [[ 9.92514018e-01 -1.09767479e-01 -5.35446032e-02 1.05572798e+02] [ 1.09710888e-01 9.93955476e-01 -4.00399360e-03 8.06190433e+00] [ 5.36604599e-02 -1.90040621e-03 9.98557431e-01 4.77262926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:8.06, Z:4.77 [[ 9.92434621e-01 -1.10323081e-01 -5.38733743e-02 1.05604571e+02] [ 1.10266936e-01 9.93893868e-01 -4.02255926e-03 8.06492968e+00] [ 5.39881975e-02 -1.94832485e-03 9.98539673e-01 4.77476660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:8.07, Z:4.78 [[ 9.92386073e-01 -1.10713639e-01 -5.39663905e-02 1.05636514e+02] [ 1.10658089e-01 9.93850382e-01 -4.02558939e-03 8.06752221e+00] [ 5.40802055e-02 -1.97687877e-03 9.98534638e-01 4.77669361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.67, Y:8.07, Z:4.78 [[ 9.92348110e-01 -1.10821035e-01 -5.44419589e-02 1.05667523e+02] [ 1.10764874e-01 9.93838358e-01 -4.05719576e-03 8.06805138e+00] [ 5.45561296e-02 -2.00410618e-03 9.98508694e-01 4.77828036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.70, Y:8.07, Z:4.78 [[ 9.92252331e-01 -1.11341565e-01 -5.51213936e-02 1.05699812e+02] [ 1.11284972e-01 9.93780060e-01 -4.10465621e-03 8.07116160e+00] [ 5.52355607e-02 -2.06132806e-03 9.98471223e-01 4.77985592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:8.07, Z:4.78 [[ 9.92165936e-01 -1.11306739e-01 -5.67235802e-02 1.05731563e+02] [ 1.11246987e-01 9.93783830e-01 -4.21987377e-03 8.06958108e+00] [ 5.68406772e-02 -2.12351237e-03 9.98381003e-01 4.77896455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.76, Y:8.07, Z:4.78 [[ 9.92163466e-01 -1.11012105e-01 -5.73408100e-02 1.05762438e+02] [ 1.10950727e-01 9.93816766e-01 -4.26281630e-03 8.07165778e+00] [ 5.74594826e-02 -2.13259395e-03 9.98345561e-01 4.78022893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.79, Y:8.07, Z:4.78 [[ 9.92218297e-01 -1.10511203e-01 -5.73596206e-02 1.05793917e+02] [ 1.10449066e-01 9.93872647e-01 -4.26219532e-03 8.07477415e+00] [ 5.74791783e-02 -2.10628832e-03 9.98344483e-01 4.78188733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:8.08, Z:4.78 [[ 9.92308201e-01 -1.09730883e-01 -5.73024179e-02 1.05825258e+02] [ 1.09667688e-01 9.93959197e-01 -4.25591266e-03 8.07870114e+00] [ 5.74232704e-02 -2.06104668e-03 9.98347795e-01 4.78397185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.86, Y:8.08, Z:4.79 [[ 9.92611167e-01 -1.06931835e-01 -5.73467850e-02 1.05856263e+02] [ 1.06863997e-01 9.94264534e-01 -4.25714168e-03 8.08367275e+00] [ 5.74730985e-02 -1.90262032e-03 9.98345242e-01 4.78565207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:8.09, Z:4.79 [[ 9.92819376e-01 -1.04945104e-01 -5.74126520e-02 1.05886446e+02] [ 1.04873905e-01 9.94476403e-01 -4.26012342e-03 8.08674828e+00] [ 5.75426067e-02 -1.79155594e-03 9.98341444e-01 4.78735517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:8.09, Z:4.79 [[ 9.93274485e-01 -1.00561683e-01 -5.73859327e-02 1.05916292e+02] [ 1.00483292e-01 9.94929637e-01 -4.25729110e-03 8.09274906e+00] [ 5.75230856e-02 -1.53766883e-03 9.98342992e-01 4.78944101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:8.10, Z:4.79 [[ 9.93453200e-01 -9.90065619e-02 -5.69950962e-02 1.05946364e+02] [ 9.89266791e-02 9.95085742e-01 -4.22829610e-03 8.09647595e+00] [ 5.71336366e-02 -1.43772130e-03 9.98365504e-01 4.79106584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:8.10, Z:4.79 [[ 9.93619483e-01 -9.75592558e-02 -5.65907702e-02 1.05975370e+02] [ 9.74781487e-02 9.95228810e-01 -4.19846268e-03 8.09926380e+00] [ 5.67303638e-02 -1.34468920e-03 9.98388631e-01 4.79271847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:8.10, Z:4.80 [[ 9.93747696e-01 -9.67299131e-02 -5.57569850e-02 1.06006014e+02] [ 9.66498371e-02 9.95309847e-01 -4.13727618e-03 8.10382380e+00] [ 5.58956746e-02 -1.27749485e-03 9.98435797e-01 4.79591228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.04, Y:8.11, Z:4.80 [[ 9.93760832e-01 -9.69129997e-02 -5.52021628e-02 1.06036960e+02] [ 9.68348547e-02 9.95292039e-01 -4.09497177e-03 8.10559538e+00] [ 5.53391291e-02 -1.27607085e-03 9.98466801e-01 4.79770153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:8.10, Z:4.80 [[ 9.93572755e-01 -9.87771077e-02 -5.52834780e-02 1.06067840e+02] [ 9.87017167e-02 9.95108621e-01 -4.09914259e-03 8.10413030e+00] [ 5.54179671e-02 -1.38377778e-03 9.98462285e-01 4.79863830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:8.11, Z:4.80 [[ 9.93412805e-01 -1.00264397e-01 -5.54801698e-02 1.06099160e+02] [ 1.00190848e-01 9.94959738e-01 -4.11258490e-03 8.10572678e+00] [ 5.56128811e-02 -1.47311076e-03 9.98451319e-01 4.80053942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:8.11, Z:4.80 [[ 9.93219587e-01 -1.02036227e-01 -5.57087158e-02 1.06129816e+02] [ 1.01964956e-01 9.94779428e-01 -4.12769242e-03 8.10533646e+00] [ 5.58390586e-02 -1.58063177e-03 9.98438531e-01 4.80178326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:8.11, Z:4.80 [[ 9.92651266e-01 -1.06266739e-01 -5.78864840e-02 1.06161295e+02] [ 1.06197037e-01 9.94335861e-01 -4.28781135e-03 8.10602855e+00] [ 5.80142586e-02 -1.89107172e-03 9.98313963e-01 4.80357609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:8.10, Z:4.80 [[ 9.91958894e-01 -1.11355690e-01 -6.01453560e-02 1.06191950e+02] [ 1.11289880e-01 9.93778009e-01 -4.45337263e-03 8.10465674e+00] [ 6.02670405e-02 -2.27600684e-03 9.98179695e-01 4.80385042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:8.10, Z:4.80 [[ 9.91611344e-01 -1.14045805e-01 -6.08317116e-02 1.06221755e+02] [ 1.13983519e-01 9.93472429e-01 -4.50443506e-03 8.09954589e+00] [ 6.09483402e-02 -2.46716363e-03 9.98137873e-01 4.80297359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.25, Y:8.10, Z:4.81 [[ 9.91254962e-01 -1.16677526e-01 -6.16437771e-02 1.06252264e+02] [ 1.16618621e-01 9.93166280e-01 -4.56488988e-03 8.10451109e+00] [ 6.17551408e-02 -2.66384254e-03 9.98087775e-01 4.80617664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:8.10, Z:4.81 [[ 9.90778096e-01 -1.20601473e-01 -6.17579839e-02 1.06282490e+02] [ 1.20550059e-01 9.92696723e-01 -4.57154151e-03 8.10142794e+00] [ 6.18582829e-02 -2.91554538e-03 9.98080684e-01 4.80735705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:8.10, Z:4.81 [[ 9.90573193e-01 -1.22530445e-01 -6.12457320e-02 1.06312987e+02] [ 1.22483568e-01 9.92460188e-01 -4.53337073e-03 8.10401526e+00] [ 6.13394266e-02 -3.01096027e-03 9.98112423e-01 4.81051276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:8.10, Z:4.81 [[ 9.90600427e-01 -1.22733895e-01 -6.03919294e-02 1.06343578e+02] [ 1.22688754e-01 9.92435135e-01 -4.46908797e-03 8.10494726e+00] [ 6.04835811e-02 -2.98233014e-03 9.98164737e-01 4.81216580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:8.11, Z:4.81 [[ 9.90701463e-01 -1.22472168e-01 -5.92551965e-02 1.06374490e+02] [ 1.22428315e-01 9.92467677e-01 -4.38370042e-03 8.10721044e+00] [ 5.93457485e-02 -2.91157546e-03 9.98233242e-01 4.81417951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:8.11, Z:4.82 [[ 9.90725700e-01 -1.22371869e-01 -5.90568602e-02 1.06404660e+02] [ 1.22328245e-01 9.92480090e-01 -4.36711165e-03 8.10757177e+00] [ 5.91471695e-02 -2.89771231e-03 9.98245068e-01 4.81513365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:8.11, Z:4.82 [[ 9.90743857e-01 -1.22260828e-01 -5.89821968e-02 1.06437194e+02] [ 1.22217217e-01 9.92493800e-01 -4.35990307e-03 8.11035829e+00] [ 5.90725100e-02 -2.88909277e-03 9.98249514e-01 4.81657137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:8.11, Z:4.82 [[ 9.90750524e-01 -1.22143841e-01 -5.91124407e-02 1.06469515e+02] [ 1.22100084e-01 9.92508193e-01 -4.36525049e-03 8.11224936e+00] [ 5.92027702e-02 -2.89275975e-03 9.98241786e-01 4.81817158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.50, Y:8.11, Z:4.82 [[ 9.90763401e-01 -1.22069141e-01 -5.90508870e-02 1.06499966e+02] [ 1.22025558e-01 9.92517395e-01 -4.35707854e-03 8.11273800e+00] [ 5.91408973e-02 -2.88888345e-03 9.98245465e-01 4.81956591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:8.12, Z:4.82 [[ 9.90741174e-01 -1.22170948e-01 -5.92130519e-02 1.06532207e+02] [ 1.22127408e-01 9.92504822e-01 -4.36734064e-03 8.11714096e+00] [ 5.93028017e-02 -2.90463234e-03 9.98235814e-01 4.82170655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:8.12, Z:4.82 [[ 9.90633933e-01 -1.22594883e-01 -6.01240882e-02 1.06562567e+02] [ 1.22550998e-01 9.92452327e-01 -4.43082678e-03 8.11627518e+00] [ 6.02134879e-02 -2.97893968e-03 9.98181077e-01 4.82212498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:8.12, Z:4.82 [[ 9.90459442e-01 -1.23193997e-01 -6.17521908e-02 1.06592483e+02] [ 1.23148918e-01 9.92377771e-01 -4.55005274e-03 8.11604273e+00] [ 6.18420407e-02 -3.09807278e-03 9.98081141e-01 4.82177837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:8.12, Z:4.82 [[ 9.90388167e-01 -1.23004104e-01 -6.32555914e-02 1.06623173e+02] [ 1.22956400e-01 9.92401127e-01 -4.66121424e-03 8.12003905e+00] [ 6.33482687e-02 -3.16126835e-03 9.97986474e-01 4.82258496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.65, Y:8.12, Z:4.82 [[ 9.90373599e-01 -1.22750938e-01 -6.39714145e-02 1.06653776e+02] [ 1.22701625e-01 9.92432411e-01 -4.71396222e-03 8.12366458e+00] [ 6.40659484e-02 -3.18081278e-03 9.97940598e-01 4.82428821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.68, Y:8.12, Z:4.82 [[ 9.90428891e-01 -1.21974900e-01 -6.45967146e-02 1.06683054e+02] [ 1.21922958e-01 9.92528151e-01 -4.76034854e-03 8.12370840e+00] [ 6.46947008e-02 -3.16103577e-03 9.97900097e-01 4.82453551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.71, Y:8.13, Z:4.83 [[ 9.90517987e-01 -1.21174642e-01 -6.47365670e-02 1.06712069e+02] [ 1.21120676e-01 9.92626319e-01 -4.77211895e-03 8.12867877e+00] [ 6.48374800e-02 -3.11406709e-03 9.97890978e-01 4.82674790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.74, Y:8.13, Z:4.83 [[ 9.90513738e-01 -1.21209460e-01 -6.47363996e-02 1.06741146e+02] [ 1.21155420e-01 9.92622068e-01 -4.77438984e-03 8.13085413e+00] [ 6.48374800e-02 -3.11406692e-03 9.97890978e-01 4.82813573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:8.14, Z:4.83 [[ 9.90856146e-01 -1.18496171e-01 -6.45194242e-02 1.06770709e+02] [ 1.18436628e-01 9.92950202e-01 -4.76036193e-03 8.13746268e+00] [ 6.46286599e-02 -2.92462919e-03 9.97905097e-01 4.83136357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.80, Y:8.14, Z:4.83 [[ 9.91112454e-01 -1.16799536e-01 -6.36708074e-02 1.06799350e+02] [ 1.16737950e-01 9.93151633e-01 -4.69939383e-03 8.13710199e+00] [ 6.37836534e-02 -2.77517177e-03 9.97959891e-01 4.83185389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.83, Y:8.15, Z:4.84 [[ 9.91618718e-01 -1.12935990e-01 -6.27517397e-02 1.06828719e+02] [ 1.12868285e-01 9.93599152e-01 -4.63413448e-03 8.14569045e+00] [ 6.28734359e-02 -2.48738672e-03 9.98018409e-01 4.83583178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.86, Y:8.15, Z:4.84 [[ 9.91874621e-01 -1.10834972e-01 -6.24527367e-02 1.06858046e+02] [ 1.10763684e-01 9.93836065e-01 -4.61316388e-03 8.14781180e+00] [ 6.25790820e-02 -2.34181504e-03 9.98037261e-01 4.83675163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.89, Y:8.15, Z:4.84 [[ 9.92132417e-01 -1.08645348e-01 -6.22049439e-02 1.06887782e+02] [ 1.08570262e-01 9.94078154e-01 -4.59595426e-03 8.15266967e+00] [ 6.23359048e-02 -2.19381183e-03 9.98052815e-01 4.83880280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:8.16, Z:4.84 [[ 9.92605625e-01 -1.04187154e-01 -6.22825033e-02 1.06917664e+02] [ 1.04103067e-01 9.94555865e-01 -4.60251019e-03 8.16102359e+00] [ 6.24229514e-02 -1.91532209e-03 9.98047948e-01 4.84198598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:8.17, Z:4.84 [[ 9.92828716e-01 -1.02092158e-01 -6.21959179e-02 1.06948182e+02] [ 1.02004200e-01 9.94773351e-01 -4.59611176e-03 8.16532387e+00] [ 6.23400686e-02 -1.78109309e-03 9.98053377e-01 4.84373194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.98, Y:8.17, Z:4.84 [[ 9.93175056e-01 -9.87018776e-02 -6.21389425e-02 1.06977303e+02] [ 9.86074206e-02 9.95115815e-01 -4.59243282e-03 8.16804479e+00] [ 6.22887262e-02 -1.56627111e-03 9.98056943e-01 4.84465686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:8.17, Z:4.85 [[ 9.93225382e-01 -9.77801796e-02 -6.27883579e-02 1.07005386e+02] [ 9.76815452e-02 9.95206878e-01 -4.64604020e-03 8.17171775e+00] [ 6.29416963e-02 -1.51869878e-03 9.98016050e-01 4.84624255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:8.17, Z:4.85 [[ 9.93351879e-01 -9.57838915e-02 -6.38552300e-02 1.07033489e+02] [ 9.56768828e-02 9.95401165e-01 -4.73862304e-03 8.17413858e+00] [ 6.40154541e-02 -1.40234925e-03 9.97947922e-01 4.84636704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:8.18, Z:4.85 [[ 9.93411844e-01 -9.53984482e-02 -6.34983820e-02 1.07061693e+02] [ 9.52913241e-02 9.95438236e-01 -4.72032578e-03 8.17798414e+00] [ 6.36590291e-02 -1.36161736e-03 9.97970778e-01 4.84941720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:8.18, Z:4.85 [[ 9.93381532e-01 -9.58030878e-02 -6.33632362e-02 1.07090208e+02] [ 9.56962466e-02 9.95399364e-01 -4.72590387e-03 8.18121827e+00] [ 6.35244812e-02 -1.36899825e-03 9.97979342e-01 4.85213845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:8.18, Z:4.85 [[ 9.93314212e-01 -9.64963399e-02 -6.33666456e-02 1.07119226e+02] [ 9.63898870e-02 9.95332358e-01 -4.74200324e-03 8.18301561e+00] [ 6.35284588e-02 -1.39760460e-03 9.97979049e-01 4.85375041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:8.18, Z:4.85 [[ 9.93163489e-01 -9.75063135e-02 -6.41779081e-02 1.07148008e+02] [ 9.73981811e-02 9.95233828e-01 -4.81885887e-03 8.18472591e+00] [ 6.43418943e-02 -1.46489683e-03 9.97926838e-01 4.85479406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:8.19, Z:4.85 [[ 9.92809177e-01 -9.96785492e-02 -6.62881898e-02 1.07177729e+02] [ 9.95671628e-02 9.95018331e-01 -4.99018958e-03 8.18515571e+00] [ 6.64553788e-02 -1.64582097e-03 9.97788041e-01 4.85430121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.21, Y:8.19, Z:4.85 [[ 9.92671869e-01 -1.00904059e-01 -6.64900856e-02 1.07205186e+02] [ 1.00794453e-01 9.94894659e-01 -5.00963923e-03 8.18526227e+00] [ 6.66561240e-02 -1.72890388e-03 9.97774510e-01 4.85467349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:8.19, Z:4.86 [[ 9.92558812e-01 -1.02342784e-01 -6.59769603e-02 1.07233658e+02] [ 1.02237309e-01 9.94747562e-01 -4.98193803e-03 8.18824666e+00] [ 6.61402859e-02 -1.80044037e-03 9.97808710e-01 4.85743747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:8.19, Z:4.86 [[ 9.92529810e-01 -1.02624492e-01 -6.59756717e-02 1.07260946e+02] [ 1.02518507e-01 9.94718536e-01 -4.99895392e-03 8.19038567e+00] [ 6.61402386e-02 -1.80211661e-03 9.97808710e-01 4.85874374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:8.19, Z:4.86 [[ 9.92388382e-01 -1.04525356e-01 -6.51133600e-02 1.07289102e+02] [ 1.04425043e-01 9.94520434e-01 -4.95142156e-03 8.19284235e+00] [ 6.52741162e-02 -1.88573217e-03 9.97865589e-01 4.86156033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:8.20, Z:4.87 [[ 9.92209440e-01 -1.07154339e-01 -6.35482102e-02 1.07318774e+02] [ 1.07063385e-01 9.94240394e-01 -4.84468332e-03 8.19517051e+00] [ 6.37013264e-02 -1.99674600e-03 9.97967010e-01 4.86550785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:8.20, Z:4.87 [[ 9.92078789e-01 -1.08557756e-01 -6.32051431e-02 1.07347869e+02] [ 1.08470495e-01 9.94087981e-01 -4.82054642e-03 8.19591659e+00] [ 6.33547808e-02 -2.07353130e-03 9.97988914e-01 4.86721912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:8.20, Z:4.87 [[ 9.91668490e-01 -1.12165411e-01 -6.33445130e-02 1.07378575e+02] [ 1.12085051e-01 9.93686869e-01 -4.83204107e-03 8.19566132e+00] [ 6.34865986e-02 -2.30819008e-03 9.97980022e-01 4.86841013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:8.19, Z:4.87 [[ 9.91407048e-01 -1.14314610e-01 -6.35942991e-02 1.07408255e+02] [ 1.14238014e-01 9.93441564e-01 -4.85127155e-03 8.19329087e+00] [ 6.37317912e-02 -2.45530162e-03 9.97964043e-01 4.86804501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.44, Y:8.20, Z:4.87 [[ 9.91100393e-01 -1.17071929e-01 -6.33575079e-02 1.07438194e+02] [ 1.17001472e-01 9.93119977e-01 -4.83393628e-03 8.19600359e+00] [ 6.34875250e-02 -2.62200553e-03 9.97979188e-01 4.87038006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:8.19, Z:4.87 [[ 9.90521077e-01 -1.21920545e-01 -6.32722351e-02 1.07468372e+02] [ 1.21860084e-01 9.92535545e-01 -4.82823810e-03 8.19353089e+00] [ 6.33886038e-02 -2.92788826e-03 9.97984625e-01 4.87110758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:8.20, Z:4.87 [[ 9.90252759e-01 -1.24151052e-01 -6.31346998e-02 1.07499600e+02] [ 1.24095374e-01 9.92258599e-01 -4.81767563e-03 8.19637930e+00] [ 6.32440683e-02 -3.06400762e-03 9.97993387e-01 4.87350045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:8.19, Z:4.87 [[ 9.89737747e-01 -1.28247885e-01 -6.30212063e-02 1.07529705e+02] [ 1.28200828e-01 9.91736580e-01 -4.80663548e-03 8.19384789e+00] [ 6.31168764e-02 -3.32206224e-03 9.98000613e-01 4.87454596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.56, Y:8.19, Z:4.88 [[ 9.89511091e-01 -1.29912144e-01 -6.31714773e-02 1.07560206e+02] [ 1.29868384e-01 9.91519546e-01 -4.81584129e-03 8.19368139e+00] [ 6.32613907e-02 -3.43864929e-03 9.97991068e-01 4.87569499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:8.19, Z:4.88 [[ 9.89381008e-01 -1.30974503e-01 -6.30150891e-02 1.07591162e+02] [ 1.30933175e-01 9.91379562e-01 -4.80279346e-03 8.19454490e+00] [ 6.31009150e-02 -3.49897305e-03 9.98001018e-01 4.87712653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:8.20, Z:4.88 [[ 9.89185110e-01 -1.32479322e-01 -6.29448020e-02 1.07622298e+02] [ 1.32441209e-01 9.91179259e-01 -4.79602029e-03 8.19731626e+00] [ 6.30249558e-02 -3.59233385e-03 9.98005486e-01 4.87947553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:8.20, Z:4.88 [[ 9.89234742e-01 -1.31719660e-01 -6.37538814e-02 1.07654289e+02] [ 1.31679183e-01 9.91280497e-01 -4.85471943e-03 8.20028742e+00] [ 6.38374412e-02 -3.59260191e-03 9.97953844e-01 4.88086084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:8.20, Z:4.88 [[ 9.89285671e-01 -1.31117418e-01 -6.42034513e-02 1.07685635e+02] [ 1.31075373e-01 9.91360371e-01 -4.88484965e-03 8.20367949e+00] [ 6.42892461e-02 -3.58297955e-03 9.97924874e-01 4.88222054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:8.20, Z:4.88 [[ 9.89525704e-01 -1.28904525e-01 -6.49808005e-02 1.07716131e+02] [ 1.28856921e-01 9.91650888e-01 -4.94070791e-03 8.20486085e+00] [ 6.50751481e-02 -3.48426838e-03 9.97874283e-01 4.88269450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:8.21, Z:4.89 [[ 9.89759546e-01 -1.27330031e-01 -6.45221154e-02 1.07747056e+02] [ 1.27280068e-01 9.91854709e-01 -4.90109863e-03 8.21275321e+00] [ 6.46206211e-02 -3.36147006e-03 9.97904242e-01 4.88587331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:8.22, Z:4.89 [[ 9.90231549e-01 -1.23948560e-01 -6.38610571e-02 1.07776298e+02] [ 1.23892776e-01 9.92283768e-01 -4.84816409e-03 8.21672118e+00] [ 6.39692133e-02 -3.11111858e-03 9.97947023e-01 4.88788626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:8.22, Z:4.89 [[ 9.90504227e-01 -1.22083579e-01 -6.32216461e-02 1.07806928e+02] [ 1.22025314e-01 9.92515399e-01 -4.79651347e-03 8.22174661e+00] [ 6.33340328e-02 -2.96367434e-03 9.97987984e-01 4.88969053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:8.23, Z:4.89 [[ 9.91036891e-01 -1.18122759e-01 -6.23930658e-02 1.07836824e+02] [ 1.18058230e-01 9.92995395e-01 -4.73281978e-03 8.22941181e+00] [ 6.25150808e-02 -2.67561591e-03 9.98040433e-01 4.89159528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:8.23, Z:4.89 [[ 9.91280942e-01 -1.16125901e-01 -6.22645056e-02 1.07867575e+02] [ 1.16057741e-01 9.93231241e-01 -4.72252997e-03 8.23094054e+00] [ 6.23914603e-02 -2.54492390e-03 9.98048510e-01 4.89227273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:8.24, Z:4.89 [[ 9.91695578e-01 -1.12933894e-01 -6.15289928e-02 1.07898097e+02] [ 1.12861339e-01 9.93599799e-01 -4.66453262e-03 8.23912579e+00] [ 6.16619787e-02 -2.31844814e-03 9.98094397e-01 4.89454419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.93, Y:8.24, Z:4.90 [[ 9.92032415e-01 -1.10187479e-01 -6.10770640e-02 1.07928068e+02] [ 1.10110970e-01 9.93908528e-01 -4.62732241e-03 8.24316928e+00] [ 6.12148878e-02 -2.13480093e-03 9.98122327e-01 4.89571637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:8.24, Z:4.90 [[ 9.92219301e-01 -1.08800093e-01 -6.05260091e-02 1.07958284e+02] [ 1.08722650e-01 9.94061567e-01 -4.58114620e-03 8.24465929e+00] [ 6.06650086e-02 -2.03504643e-03 9.98156108e-01 4.89659407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:8.25, Z:4.90 [[ 9.92300122e-01 -1.08206816e-01 -6.02640215e-02 1.07989232e+02] [ 1.08129028e-01 9.94126410e-01 -4.56002659e-03 8.25046798e+00] [ 6.04034814e-02 -1.99137516e-03 9.98172056e-01 4.89922036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:8.25, Z:4.90 [[ 9.92308166e-01 -1.08468525e-01 -5.96580512e-02 1.08019589e+02] [ 1.08392877e-01 9.94097894e-01 -4.51229751e-03 8.25187437e+00] [ 5.97953854e-02 -1.98891816e-03 9.98208674e-01 4.90079937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:8.25, Z:4.90 [[ 9.92229568e-01 -1.10322147e-01 -5.75283189e-02 1.08050996e+02] [ 1.10255021e-01 9.93893814e-01 -4.34927896e-03 8.25446099e+00] [ 5.76568621e-02 -2.02730285e-03 9.98334401e-01 4.90487994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:8.25, Z:4.91 [[ 9.91969418e-01 -1.12726253e-01 -5.73538664e-02 1.08082400e+02] [ 1.12663877e-01 9.93623721e-01 -4.33028481e-03 8.25465395e+00] [ 5.74762990e-02 -2.16619884e-03 9.98344521e-01 4.90686838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:8.26, Z:4.91 [[ 9.91977424e-01 -1.12655652e-01 -5.73541119e-02 1.08113998e+02] [ 1.12593346e-01 9.93631730e-01 -4.32703104e-03 8.25697764e+00] [ 5.74763300e-02 -2.16537424e-03 9.98344521e-01 4.90837493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:8.26, Z:4.91 [[ 9.91772707e-01 -1.14384106e-01 -5.74732446e-02 1.08146135e+02] [ 1.14324675e-01 9.93433996e-01 -4.33187842e-03 8.26101185e+00] [ 5.75913731e-02 -2.27437123e-03 9.98337649e-01 4.91088024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.18, Y:8.26, Z:4.91 [[ 9.91564586e-01 -1.15783012e-01 -5.82577607e-02 1.08177847e+02] [ 1.15724600e-01 9.93271651e-01 -4.38686133e-03 8.25881422e+00] [ 5.83737062e-02 -2.39199970e-03 9.98291936e-01 4.91126070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:8.26, Z:4.91 [[ 9.91304147e-01 -1.17631857e-01 -5.89816422e-02 1.08209628e+02] [ 1.17575473e-01 9.93054035e-01 -4.43759050e-03 8.26110199e+00] [ 5.90939598e-02 -2.53579258e-03 9.98249204e-01 4.91257378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:8.26, Z:4.91 [[ 9.91123802e-01 -1.18684163e-01 -5.98972308e-02 1.08241410e+02] [ 1.18628272e-01 9.92928535e-01 -4.50084169e-03 8.26305839e+00] [ 6.00078482e-02 -2.64461367e-03 9.98194402e-01 4.91323415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:8.26, Z:4.91 [[ 9.91001235e-01 -1.19541030e-01 -6.02203886e-02 1.08272604e+02] [ 1.19486361e-01 9.92825549e-01 -4.52101616e-03 8.26242986e+00] [ 6.03287873e-02 -2.71518249e-03 9.98174867e-01 4.91338357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:8.27, Z:4.92 [[ 9.90955742e-01 -1.19977009e-01 -6.01018702e-02 1.08304348e+02] [ 1.19923563e-01 9.92772890e-01 -4.50865548e-03 8.26814307e+00] [ 6.02084424e-02 -2.73975237e-03 9.98182066e-01 4.91591809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:8.27, Z:4.92 [[ 9.91095621e-01 -1.19378678e-01 -5.89762709e-02 1.08335837e+02] [ 1.19326394e-01 9.92845242e-01 -4.42017843e-03 8.26746676e+00] [ 5.90819850e-02 -2.65660625e-03 9.98249599e-01 4.91691969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.37, Y:8.27, Z:4.92 [[ 9.91139636e-01 -1.19111195e-01 -5.87770865e-02 1.08368119e+02] [ 1.19058994e-01 9.92877424e-01 -4.40185563e-03 8.27132916e+00] [ 5.88827526e-02 -2.63508723e-03 9.98261428e-01 4.91921586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.40, Y:8.27, Z:4.92 [[ 9.91226353e-01 -1.18879724e-01 -5.77748088e-02 1.08399880e+02] [ 1.18829131e-01 9.92905309e-01 -4.32269480e-03 8.27378094e+00] [ 5.78787952e-02 -2.58056131e-03 9.98320282e-01 4.92126889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:8.28, Z:4.92 [[ 9.91361652e-01 -1.18225247e-01 -5.67878989e-02 1.08432098e+02] [ 1.18175526e-01 9.92983649e-01 -4.24479849e-03 8.27691202e+00] [ 5.68912974e-02 -2.50280937e-03 9.98377241e-01 4.92366935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.46, Y:8.28, Z:4.93 [[ 9.91607670e-01 -1.17684486e-01 -5.35218755e-02 1.08463599e+02] [ 1.17639719e-01 9.93048297e-01 -3.99706511e-03 8.27690029e+00] [ 5.36201999e-02 -2.33277797e-03 9.98558677e-01 4.92618429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:8.28, Z:4.93 [[ 9.91810830e-01 -1.16811658e-01 -5.16363600e-02 1.08495288e+02] [ 1.16768951e-01 9.93151631e-01 -3.85345942e-03 8.27674085e+00] [ 5.17328641e-02 -2.20762079e-03 9.98658519e-01 4.92881009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:8.28, Z:4.93 [[ 9.91935240e-01 -1.16174847e-01 -5.06743063e-02 1.08527777e+02] [ 1.16133069e-01 9.93226478e-01 -3.77804639e-03 8.28019002e+00] [ 5.07699767e-02 -2.13738537e-03 9.98708086e-01 4.93095872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:8.28, Z:4.93 [[ 9.92089052e-01 -1.15258627e-01 -4.97469688e-02 1.08560319e+02] [ 1.15217434e-01 9.93333388e-01 -3.70450650e-03 8.28322660e+00] [ 4.98423014e-02 -2.05651774e-03 9.98754983e-01 4.93330789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:8.29, Z:4.94 [[ 9.92271840e-01 -1.13876680e-01 -4.92818108e-02 1.08592702e+02] [ 1.13834807e-01 9.93492932e-01 -3.66470928e-03 8.28610704e+00] [ 4.93784556e-02 -1.97359758e-03 9.98778190e-01 4.93507036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:8.29, Z:4.94 [[ 9.92539897e-01 -1.11933407e-01 -4.83266473e-02 1.08624637e+02] [ 1.11891007e-01 9.93713999e-01 -3.59024312e-03 8.28921625e+00] [ 4.84247341e-02 -1.84385771e-03 9.98825133e-01 4.93691263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:8.29, Z:4.94 [[ 9.92657920e-01 -1.10845501e-01 -4.84100163e-02 1.08656385e+02] [ 1.10801837e-01 9.93836025e-01 -3.59287246e-03 8.28980287e+00] [ 4.85098719e-02 -1.79742543e-03 9.98821086e-01 4.93846191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:8.29, Z:4.94 [[ 9.92763029e-01 -1.09719622e-01 -4.88177404e-02 1.08687959e+02] [ 1.09674037e-01 9.93961018e-01 -3.61955054e-03 8.29400080e+00] [ 4.89200667e-02 -1.76068270e-03 9.98801145e-01 4.93962365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:8.29, Z:4.94 [[ 9.92850123e-01 -1.08353036e-01 -5.00824689e-02 1.08719086e+02] [ 1.08303510e-01 9.94110954e-01 -3.70961011e-03 8.29475673e+00] [ 5.01894785e-02 -1.74102035e-03 9.98738196e-01 4.94037084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:8.30, Z:4.94 [[ 9.92948395e-01 -1.06978747e-01 -5.10786806e-02 1.08751102e+02] [ 1.06925566e-01 9.94259841e-01 -3.78049665e-03 8.29589219e+00] [ 5.11899136e-02 -1.70777876e-03 9.98687477e-01 4.94100528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:8.30, Z:4.94 [[ 9.93021103e-01 -1.06197661e-01 -5.12946873e-02 1.08782932e+02] [ 1.06143181e-01 9.94343623e-01 -3.79274782e-03 8.29761609e+00] [ 5.14073261e-02 -1.67830265e-03 9.98676359e-01 4.94213099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.81, Y:8.30, Z:4.94 [[ 9.93118320e-01 -1.05099727e-01 -5.16725206e-02 1.08813962e+02] [ 1.05043150e-01 9.94460340e-01 -3.81697776e-03 8.29844439e+00] [ 5.17874357e-02 -1.63713381e-03 9.98656789e-01 4.94300732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.85, Y:8.30, Z:4.94 [[ 9.93349493e-01 -1.02622130e-01 -5.22061685e-02 1.08845235e+02] [ 1.02561108e-01 9.94719241e-01 -3.85363059e-03 8.30008554e+00] [ 5.23259481e-02 -1.52632049e-03 9.98628893e-01 4.94352046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.88, Y:8.30, Z:4.95 [[ 9.93695143e-01 -9.95559618e-02 -5.15613558e-02 1.08875399e+02] [ 9.94924053e-02 9.95031049e-01 -3.80426847e-03 8.30121614e+00] [ 5.16838876e-02 -1.34968021e-03 9.98662583e-01 4.94512397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:8.30, Z:4.95 [[ 9.93936252e-01 -9.76557289e-02 -5.05379625e-02 1.08906168e+02] [ 9.75922643e-02 9.95219500e-01 -3.72781655e-03 8.30410135e+00] [ 5.06604084e-02 -1.22690218e-03 9.98715183e-01 4.94725198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.94, Y:8.31, Z:4.95 [[ 9.94388269e-01 -9.38367495e-02 -4.88531897e-02 1.08936538e+02] [ 9.37729223e-02 9.95587096e-01 -3.60187326e-03 8.30606357e+00] [ 4.89755934e-02 -9.99445844e-04 9.98799476e-01 4.95012957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:8.31, Z:4.95 [[ 9.94668117e-01 -9.11339506e-02 -4.82694591e-02 1.08967544e+02] [ 9.10685014e-02 9.95838274e-01 -3.55797051e-03 8.30873890e+00] [ 4.83928268e-02 -8.56827474e-04 9.98828013e-01 4.95212647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:8.31, Z:4.95 [[ 9.94752812e-01 -9.01511776e-02 -4.83694879e-02 1.08999826e+02] [ 9.00843829e-02 9.95927761e-01 -3.56355199e-03 8.30932528e+00] [ 4.84937742e-02 -8.12482101e-04 9.98823154e-01 4.95349049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.03, Y:8.31, Z:4.95 [[ 9.94743124e-01 -9.03271842e-02 -4.82402010e-02 1.09031277e+02] [ 9.02611228e-02 9.95911805e-01 -3.55052058e-03 8.30953785e+00] [ 4.83636942e-02 -8.22358770e-04 9.98829453e-01 4.95490603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.06, Y:8.30, Z:4.96 [[ 9.94458312e-01 -9.37987868e-02 -4.74810788e-02 1.09063221e+02] [ 9.37388621e-02 9.95590694e-01 -3.49210065e-03 8.30463217e+00] [ 4.75992750e-02 -9.78073782e-04 9.98866033e-01 4.95618799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:8.30, Z:4.96 [[ 9.94000313e-01 -9.84855080e-02 -4.75813282e-02 1.09094400e+02] [ 9.84307726e-02 9.95137754e-01 -3.49776922e-03 8.29845609e+00] [ 4.76944556e-02 -1.20668319e-03 9.98861243e-01 4.95719438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:8.30, Z:4.96 [[ 9.93679799e-01 -1.01543300e-01 -4.78478284e-02 1.09126236e+02] [ 1.01491530e-01 9.94830188e-01 -3.51649511e-03 8.29750078e+00] [ 4.79575407e-02 -1.36187916e-03 9.98848447e-01 4.95798981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.16, Y:8.30, Z:4.96 [[ 9.93687218e-01 -1.01470614e-01 -4.78479577e-02 1.09157825e+02] [ 1.01418845e-01 9.94837607e-01 -3.51473530e-03 8.29976457e+00] [ 4.79575901e-02 -1.36013705e-03 9.98848447e-01 4.95949608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.19, Y:8.30, Z:4.96 [[ 9.93538867e-01 -1.02918764e-01 -4.78356257e-02 1.09188708e+02] [ 1.02868865e-01 9.94688732e-01 -3.51032869e-03 8.29790969e+00] [ 4.79428365e-02 -1.43314853e-03 9.98849053e-01 4.96065772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.22, Y:8.30, Z:4.96 [[ 9.93546186e-01 -1.02848030e-01 -4.78357547e-02 1.09220298e+02] [ 1.02798134e-01 9.94696051e-01 -3.50856985e-03 8.30016750e+00] [ 4.79428858e-02 -1.43150012e-03 9.98849053e-01 4.96216402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.25, Y:8.30, Z:4.96 [[ 9.93553502e-01 -1.02777217e-01 -4.78360042e-02 1.09251889e+02] [ 1.02727403e-01 9.94703370e-01 -3.50516441e-03 8.30242227e+00] [ 4.79428856e-02 -1.43150012e-03 9.98849053e-01 4.96366982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:8.30, Z:4.97 [[ 9.93440112e-01 -1.03893182e-01 -4.77802300e-02 1.09283241e+02] [ 1.03844936e-01 9.94587349e-01 -3.49767562e-03 8.30222891e+00] [ 4.78849969e-02 -1.48700367e-03 9.98851749e-01 4.96511674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:8.30, Z:4.97 [[ 9.93447484e-01 -1.03822613e-01 -4.77803547e-02 1.09314832e+02] [ 1.03774367e-01 9.94594721e-01 -3.49597129e-03 8.30448095e+00] [ 4.78850494e-02 -1.48531218e-03 9.98851749e-01 4.96662311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:8.30, Z:4.97 [[ 9.93382966e-01 -1.04565940e-01 -4.74999784e-02 1.09345700e+02] [ 1.04519267e-01 9.94516801e-01 -3.47208642e-03 8.30396838e+00] [ 4.76025886e-02 -1.51555144e-03 9.98865204e-01 4.96804437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:8.30, Z:4.97 [[ 9.93338930e-01 -1.05143262e-01 -4.71451447e-02 1.09377448e+02] [ 1.05098051e-01 9.94455902e-01 -3.44365427e-03 8.30325915e+00] [ 4.72458444e-02 -1.53414698e-03 9.98882113e-01 4.96922912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:8.31, Z:4.97 [[ 9.93370740e-01 -1.04918445e-01 -4.69754547e-02 1.09409580e+02] [ 1.04873385e-01 9.94479668e-01 -3.42962609e-03 8.30602401e+00] [ 4.70759656e-02 -1.51958474e-03 9.98890156e-01 4.97078852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:8.31, Z:4.97 [[ 9.93473778e-01 -1.04060991e-01 -4.67029275e-02 1.09440468e+02] [ 1.04015665e-01 9.94569826e-01 -3.40632720e-03 8.30584130e+00] [ 4.68037883e-02 -1.47373933e-03 9.98903015e-01 4.97216528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:8.31, Z:4.97 [[ 9.93533532e-01 -1.03373991e-01 -4.69567661e-02 1.09472201e+02] [ 1.03327485e-01 9.94641500e-01 -3.42314485e-03 8.30757423e+00] [ 4.70590124e-02 -1.45091535e-03 9.98891057e-01 4.97303416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:8.31, Z:4.97 [[ 9.93628316e-01 -1.02326689e-01 -4.72442417e-02 1.09503713e+02] [ 1.02278510e-01 9.94749846e-01 -3.44240029e-03 8.30841477e+00] [ 4.73484516e-02 -1.41160426e-03 9.98877436e-01 4.97385534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:8.31, Z:4.98 [[ 9.93691635e-01 -1.02066212e-01 -4.64695915e-02 1.09534690e+02] [ 1.02019392e-01 9.94776653e-01 -3.38431877e-03 8.31027088e+00] [ 4.65722893e-02 -1.37783023e-03 9.98913972e-01 4.97549432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:8.31, Z:4.98 [[ 9.93680799e-01 -1.02117561e-01 -4.65883459e-02 1.09564815e+02] [ 1.02070638e-01 9.94771373e-01 -3.39126239e-03 8.30926775e+00] [ 4.66910602e-02 -1.38546987e-03 9.98908417e-01 4.97694939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:8.31, Z:4.98 [[ 9.93664302e-01 -1.02323549e-01 -4.64881404e-02 1.09595609e+02] [ 1.02277091e-01 9.94750195e-01 -3.38315139e-03 8.31129945e+00] [ 4.65902628e-02 -1.39295500e-03 9.98913113e-01 4.97797345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:8.31, Z:4.98 [[ 9.93606183e-01 -1.02720757e-01 -4.68529613e-02 1.09626193e+02] [ 1.02674088e-01 9.94709212e-01 -3.40798448e-03 8.31184021e+00] [ 4.69551430e-02 -1.42439062e-03 9.98895983e-01 4.97923062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:8.31, Z:4.98 [[ 9.93557710e-01 -1.03072374e-01 -4.71079874e-02 1.09657657e+02] [ 1.03025631e-01 9.94672802e-01 -3.42568997e-03 8.31315382e+00] [ 4.72101278e-02 -1.44970945e-03 9.98883928e-01 4.98051880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:8.31, Z:4.98 [[ 9.93496591e-01 -1.03005434e-01 -4.85221952e-02 1.09688892e+02] [ 1.02955850e-01 9.94679675e-01 -3.52673308e-03 8.31313535e+00] [ 4.86273140e-02 -1.49184658e-03 9.98815878e-01 4.98046200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:8.31, Z:4.98 [[ 9.93540264e-01 -1.02470810e-01 -4.87593812e-02 1.09718630e+02] [ 1.02420181e-01 9.94734919e-01 -3.54229396e-03 8.31244202e+00] [ 4.88656409e-02 -1.47453296e-03 9.98804273e-01 4.98120389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:8.31, Z:4.98 [[ 9.93601235e-01 -1.02107188e-01 -4.82774077e-02 1.09749545e+02] [ 1.02057086e-01 9.94772358e-01 -3.50809601e-03 8.31424193e+00] [ 4.83832325e-02 -1.44140301e-03 9.98827806e-01 4.98283149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:8.32, Z:4.99 [[ 9.93705810e-01 -1.01557374e-01 -4.72743448e-02 1.09779340e+02] [ 1.01508749e-01 9.94828718e-01 -3.43439695e-03 8.31834092e+00] [ 4.73786642e-02 -1.38597939e-03 9.98876039e-01 4.98505519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:8.32, Z:4.99 [[ 9.93704735e-01 -1.01517114e-01 -4.73832845e-02 1.09809524e+02] [ 1.01468218e-01 9.94832826e-01 -3.44231151e-03 8.31822154e+00] [ 4.74879004e-02 -1.38725622e-03 9.98870850e-01 4.98687142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.84, Y:8.32, Z:4.99 [[ 9.93642186e-01 -1.02027463e-01 -4.75983506e-02 1.09839441e+02] [ 1.01978749e-01 9.94780570e-01 -3.45708137e-03 8.31878787e+00] [ 4.77026316e-02 -1.41891835e-03 9.98860574e-01 4.98832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:8.32, Z:4.99 [[ 9.93549615e-01 -1.03016165e-01 -4.74007712e-02 1.09869524e+02] [ 1.02968938e-01 9.94678611e-01 -3.44354925e-03 8.32248215e+00] [ 4.75032745e-02 -1.45947005e-03 9.98870016e-01 4.98969040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:8.32, Z:4.99 [[ 9.93268774e-01 -1.05698881e-01 -4.73802522e-02 1.09899112e+02] [ 1.05654742e-01 9.94396917e-01 -3.44205839e-03 8.32009810e+00] [ 4.74785984e-02 -1.58705919e-03 9.98870995e-01 4.99077516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.93, Y:8.32, Z:4.99 [[ 9.93078690e-01 -1.07353631e-01 -4.76436025e-02 1.09929640e+02] [ 1.07310876e-01 9.94219489e-01 -3.46170312e-03 8.32486021e+00] [ 4.77398246e-02 -1.67493311e-03 9.98858400e-01 4.99235186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.96, Y:8.33, Z:4.99 [[ 9.92862718e-01 -1.09377004e-01 -4.75425554e-02 1.09960116e+02] [ 1.09336745e-01 9.93998764e-01 -3.45436120e-03 8.32591831e+00] [ 4.76350690e-02 -1.76844178e-03 9.98863240e-01 4.99361608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:8.33, Z:5.00 [[ 9.92658491e-01 -1.11158938e-01 -4.76739966e-02 1.09991270e+02] [ 1.11120507e-01 9.93800903e-01 -3.46390137e-03 8.32926080e+00] [ 4.77635044e-02 -1.85908757e-03 9.98856942e-01 4.99502739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:8.33, Z:5.00 [[ 9.92218361e-01 -1.15179536e-01 -4.72905846e-02 1.10021473e+02] [ 1.15146356e-01 9.93342601e-01 -3.43431192e-03 8.32628772e+00] [ 4.73713147e-02 -2.03775116e-03 9.98875271e-01 4.99660103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:8.33, Z:5.00 [[ 9.91849899e-01 -1.18461802e-01 -4.69103352e-02 1.10052092e+02] [ 1.18432813e-01 9.92956224e-01 -3.40670650e-03 8.32854506e+00] [ 4.69834740e-02 -2.17678147e-03 9.98893295e-01 4.99840835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:8.33, Z:5.00 [[ 9.91718327e-01 -1.19561748e-01 -4.69014726e-02 1.10082470e+02] [ 1.19534037e-01 9.92824264e-01 -3.40521449e-03 8.32883583e+00] [ 4.69720534e-02 -2.22930874e-03 9.98893716e-01 4.99990345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:8.33, Z:5.00 [[ 9.91615154e-01 -1.20517975e-01 -4.66347871e-02 1.10114292e+02] [ 1.20491669e-01 9.92708567e-01 -3.38506173e-03 8.33404393e+00] [ 4.67027135e-02 -2.26242483e-03 9.98906271e-01 5.00130911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:8.34, Z:5.00 [[ 9.91408390e-01 -1.21954690e-01 -4.72911954e-02 1.10146786e+02] [ 1.21929438e-01 9.92532847e-01 -3.42915043e-03 8.33623109e+00] [ 4.73562658e-02 -2.36650034e-03 9.98875259e-01 5.00226130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:8.34, Z:5.00 [[ 9.91330582e-01 -1.22428077e-01 -4.76974142e-02 1.10177751e+02] [ 1.22403106e-01 9.92474454e-01 -3.45504953e-03 8.33680174e+00] [ 4.77614602e-02 -2.41321539e-03 9.98855855e-01 5.00328759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.21, Y:8.34, Z:5.00 [[ 9.91203731e-01 -1.23071631e-01 -4.86676186e-02 1.10210092e+02] [ 1.23046544e-01 9.92394649e-01 -3.52256153e-03 8.34089791e+00] [ 4.87310117e-02 -2.49680613e-03 9.98808818e-01 5.00371239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:8.34, Z:5.00 [[ 9.91173220e-01 -1.23262462e-01 -4.88058729e-02 1.10242376e+02] [ 1.23237639e-01 9.92370914e-01 -3.52898373e-03 8.34355486e+00] [ 4.88685199e-02 -2.51688635e-03 9.98802049e-01 5.00472544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:8.35, Z:5.01 [[ 9.91211575e-01 -1.23106389e-01 -4.84193231e-02 1.10273499e+02] [ 1.23081940e-01 9.92390348e-01 -3.49754746e-03 8.34593054e+00] [ 4.84814394e-02 -2.49273470e-03 9.98820973e-01 5.00621273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.31, Y:8.35, Z:5.01 [[ 9.91365141e-01 -1.22183119e-01 -4.76071781e-02 1.10305429e+02] [ 1.22158542e-01 9.92504651e-01 -3.43633242e-03 8.35340485e+00] [ 4.76702075e-02 -2.40896328e-03 9.98860225e-01 5.00856637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:8.36, Z:5.01 [[ 9.91510455e-01 -1.21054702e-01 -4.74634219e-02 1.10336246e+02] [ 1.21029149e-01 9.92643054e-01 -3.42246959e-03 8.35919421e+00] [ 4.75285421e-02 -2.35104319e-03 9.98867113e-01 5.01029234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.37, Y:8.36, Z:5.01 [[ 9.91589639e-01 -1.20549047e-01 -4.70947506e-02 1.10368071e+02] [ 1.20523441e-01 9.92704682e-01 -3.39332485e-03 8.36330373e+00] [ 4.71602415e-02 -2.31123565e-03 9.98884663e-01 5.01186563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:8.37, Z:5.01 [[ 9.91819959e-01 -1.18909890e-01 -4.64069818e-02 1.10398803e+02] [ 1.18883391e-01 9.92902604e-01 -3.34043289e-03 8.36917464e+00] [ 4.64748236e-02 -2.20391134e-03 9.98917030e-01 5.01409599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:8.37, Z:5.02 [[ 9.91966797e-01 -1.17953774e-01 -4.57031744e-02 1.10430840e+02] [ 1.17927167e-01 9.93016806e-01 -3.28743246e-03 8.37294380e+00] [ 4.57717853e-02 -2.12862202e-03 9.98949655e-01 5.01610576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:8.38, Z:5.02 [[ 9.92100750e-01 -1.16931027e-01 -4.54228748e-02 1.10463137e+02] [ 1.16903822e-01 9.93137877e-01 -3.26405409e-03 8.37752177e+00] [ 4.54928466e-02 -2.07183716e-03 9.98962516e-01 5.01746661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.49, Y:8.39, Z:5.02 [[ 9.92391815e-01 -1.14632348e-01 -4.49211594e-02 1.10494133e+02] [ 1.14603536e-01 9.93406075e-01 -3.22474124e-03 8.38572059e+00] [ 4.49946123e-02 -1.94791691e-03 9.98985330e-01 5.01922606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:8.39, Z:5.02 [[ 9.92515807e-01 -1.13642592e-01 -4.46960309e-02 1.10526208e+02] [ 1.13613135e-01 9.93519889e-01 -3.20705831e-03 8.39027514e+00] [ 4.47708540e-02 -1.89500012e-03 9.98995485e-01 5.02097087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.56, Y:8.39, Z:5.02 [[ 9.92662935e-01 -1.12711598e-01 -4.37766245e-02 1.10557275e+02] [ 1.12682575e-01 9.93626082e-01 -3.13792800e-03 8.39426051e+00] [ 4.38512768e-02 -1.81795797e-03 9.99036416e-01 5.02360707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:8.40, Z:5.03 [[ 9.92595290e-01 -1.13316889e-01 -4.37478419e-02 1.10589291e+02] [ 1.13288591e-01 9.93557183e-01 -3.13357621e-03 8.39824373e+00] [ 4.38210696e-02 -1.84575838e-03 9.99037690e-01 5.02540279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:8.40, Z:5.02 [[ 9.92276029e-01 -1.14762989e-01 -4.70928657e-02 1.10620828e+02] [ 1.14731997e-01 9.93390766e-01 -3.36957989e-03 8.40026894e+00] [ 4.71683210e-02 -2.05950517e-03 9.98884832e-01 5.02415159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.65, Y:8.40, Z:5.02 [[ 9.92009294e-01 -1.16039720e-01 -4.95211416e-02 1.10652654e+02] [ 1.16007179e-01 9.93242065e-01 -3.54055125e-03 8.40378021e+00] [ 4.95973255e-02 -2.23254817e-03 9.98766800e-01 5.02321971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:8.41, Z:5.02 [[ 9.91817316e-01 -1.16696731e-01 -5.17714666e-02 1.10684378e+02] [ 1.16662258e-01 9.93164762e-01 -3.69765176e-03 8.40926296e+00] [ 5.18491002e-02 -2.37238117e-03 9.98652113e-01 5.02257731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:8.41, Z:5.02 [[ 9.91697221e-01 -1.17366071e-01 -5.25530961e-02 1.10715587e+02] [ 1.17331687e-01 9.93085704e-01 -3.74971717e-03 8.41083090e+00] [ 5.26298180e-02 -2.44755931e-03 9.98611091e-01 5.02272165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:8.41, Z:5.02 [[ 9.91642454e-01 -1.18143962e-01 -5.18386744e-02 1.10747160e+02] [ 1.18111712e-01 9.92993436e-01 -3.69590436e-03 8.41456314e+00] [ 5.19121122e-02 -2.45773890e-03 9.98648633e-01 5.02467679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:8.42, Z:5.03 [[ 9.91698409e-01 -1.18031589e-01 -5.10177280e-02 1.10779222e+02] [ 1.18000385e-01 9.93006901e-01 -3.63380381e-03 8.41808489e+00] [ 5.10898596e-02 -2.41647409e-03 9.98691137e-01 5.02691534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.81, Y:8.42, Z:5.03 [[ 9.91896639e-01 -1.16732589e-01 -5.01453964e-02 1.10809684e+02] [ 1.16700957e-01 9.93160689e-01 -3.56825692e-03 8.42220125e+00] [ 5.02189683e-02 -2.31267370e-03 9.98735554e-01 5.02938743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.84, Y:8.43, Z:5.03 [[ 9.92140673e-01 -1.14818700e-01 -4.97348055e-02 1.10840330e+02] [ 1.14785270e-01 9.93384029e-01 -3.53730322e-03 8.42875580e+00] [ 4.98119100e-02 -2.19932069e-03 9.98756195e-01 5.03138168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:8.43, Z:5.03 [[ 9.92195336e-01 -1.14355584e-01 -4.97113166e-02 1.10872396e+02] [ 1.14321698e-01 9.93437498e-01 -3.53378726e-03 8.43431742e+00] [ 4.97891943e-02 -2.17687491e-03 9.98757377e-01 5.03347825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.90, Y:8.44, Z:5.04 [[ 9.92320756e-01 -1.13792325e-01 -4.84853028e-02 1.10903364e+02] [ 1.13759582e-01 9.93502341e-01 -3.44324917e-03 8.43838250e+00] [ 4.85620771e-02 -2.09886015e-03 9.98817961e-01 5.03664906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:8.44, Z:5.04 [[ 9.92358245e-01 -1.13682418e-01 -4.79731358e-02 1.10934162e+02] [ 1.13650357e-01 9.93514976e-01 -3.40433427e-03 8.44089806e+00] [ 4.80490418e-02 -2.07384482e-03 9.98842825e-01 5.03883249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.97, Y:8.45, Z:5.04 [[ 9.92386884e-01 -1.13453513e-01 -4.79225658e-02 1.10965581e+02] [ 1.13421375e-01 9.93541164e-01 -3.39820639e-03 8.44671223e+00] [ 4.79985802e-02 -2.06310783e-03 9.98845273e-01 5.04046181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:8.45, Z:5.04 [[ 9.92324067e-01 -1.13878985e-01 -4.82133154e-02 1.10998166e+02] [ 1.13847127e-01 9.93492409e-01 -3.41529138e-03 8.44885522e+00] [ 4.82884928e-02 -2.09987163e-03 9.98831223e-01 5.04130573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.03, Y:8.45, Z:5.04 [[ 9.92206259e-01 -1.14592964e-01 -4.89407117e-02 1.11030079e+02] [ 1.14561182e-01 9.93410158e-01 -3.46322024e-03 8.45067901e+00] [ 4.90150608e-02 -2.17047698e-03 9.98795681e-01 5.04242190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:8.45, Z:5.04 [[ 9.92015822e-01 -1.16291312e-01 -4.87948798e-02 1.11061300e+02] [ 1.16261938e-01 9.93212597e-01 -3.44941324e-03 8.45138947e+00] [ 4.88648261e-02 -2.25111481e-03 9.98802864e-01 5.04398272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:8.46, Z:5.05 [[ 9.91928495e-01 -1.17149705e-01 -4.85160607e-02 1.11093356e+02] [ 1.17121817e-01 9.93111643e-01 -3.42708347e-03 8.45526791e+00] [ 4.85833465e-02 -2.28286744e-03 9.98816523e-01 5.04582751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:8.46, Z:5.05 [[ 9.91846877e-01 -1.17893964e-01 -4.83816656e-02 1.11124563e+02] [ 1.17867282e-01 9.93023488e-01 -3.41409743e-03 8.45543384e+00] [ 4.84466318e-02 -2.31635356e-03 9.98823087e-01 5.04753424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:8.46, Z:5.05 [[ 9.91648164e-01 -1.19449887e-01 -4.86378884e-02 1.11156128e+02] [ 1.19424917e-01 9.92837312e-01 -3.42952870e-03 8.45732129e+00] [ 4.86991672e-02 -2.40768995e-03 9.98810590e-01 5.04903931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.19, Y:8.46, Z:5.05 [[ 9.91599950e-01 -1.20186570e-01 -4.77988263e-02 1.11188381e+02] [ 1.20163427e-01 9.92748411e-01 -3.36783909e-03 8.45998595e+00] [ 4.78569780e-02 -2.40412170e-03 9.98851305e-01 5.05016479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.22, Y:8.46, Z:5.05 [[ 9.91608538e-01 -1.20115600e-01 -4.77990669e-02 1.11220005e+02] [ 1.20092538e-01 9.92757001e-01 -3.36442199e-03 8.46215127e+00] [ 4.78569778e-02 -2.40412169e-03 9.98851305e-01 5.05167183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:8.46, Z:5.05 [[ 9.91581396e-01 -1.20440005e-01 -4.75451447e-02 1.11251948e+02] [ 1.20417721e-01 9.92717682e-01 -3.34315147e-03 8.46478183e+00] [ 4.76015550e-02 -2.41027118e-03 9.98863495e-01 5.05355996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.28, Y:8.47, Z:5.06 [[ 9.91607752e-01 -1.20535365e-01 -4.67471140e-02 1.11283183e+02] [ 1.20514082e-01 9.92706187e-01 -3.28372940e-03 8.46516169e+00] [ 4.68019548e-02 -2.37751399e-03 9.98901359e-01 5.05503915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:8.47, Z:5.06 [[ 9.91627736e-01 -1.20669707e-01 -4.59701612e-02 1.11313901e+02] [ 1.20649511e-01 9.92689933e-01 -3.22387203e-03 8.46517177e+00] [ 4.60231399e-02 -2.34939655e-03 9.98937611e-01 5.05654050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.35, Y:8.47, Z:5.06 [[ 9.91719239e-01 -1.19969468e-01 -4.58287774e-02 1.11345721e+02] [ 1.19948723e-01 9.92774891e-01 -3.21238735e-03 8.46669924e+00] [ 4.58830479e-02 -2.31131697e-03 9.98944144e-01 5.05756521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:8.47, Z:5.06 [[ 9.91812928e-01 -1.18963053e-01 -4.64209787e-02 1.11377925e+02] [ 1.18940822e-01 9.92896024e-01 -3.25061630e-03 8.47245574e+00] [ 4.64779084e-02 -2.29734611e-03 9.98916676e-01 5.05742129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:8.47, Z:5.06 [[ 9.91889287e-01 -1.17479310e-01 -4.85206605e-02 1.11408813e+02] [ 1.17453435e-01 9.93072591e-01 -3.39398546e-03 8.47445142e+00] [ 4.85832611e-02 -2.33246044e-03 9.98816413e-01 5.05645250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:8.48, Z:5.06 [[ 9.92709927e-01 -1.10287719e-01 -4.86170723e-02 1.11437709e+02] [ 1.10253257e-01 9.93897717e-01 -3.39817695e-03 8.47936308e+00] [ 4.86951743e-02 -1.98678656e-03 9.98811710e-01 5.05688543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.47, Y:8.48, Z:5.06 [[ 9.92882978e-01 -1.08895153e-01 -4.82207262e-02 1.11469851e+02] [ 1.08859573e-01 9.94051421e-01 -3.37127156e-03 8.48257888e+00] [ 4.83009966e-02 -1.90200950e-03 9.98831015e-01 5.05853739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:8.48, Z:5.06 [[ 9.92890413e-01 -1.08827239e-01 -4.82209562e-02 1.11501461e+02] [ 1.08791738e-01 9.94058859e-01 -3.36797870e-03 8.48472222e+00] [ 4.83009965e-02 -1.90200786e-03 9.98831015e-01 5.06004370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:8.49, Z:5.06 [[ 9.92897843e-01 -1.08759324e-01 -4.82211861e-02 1.11533071e+02] [ 1.08723903e-01 9.94066292e-01 -3.36468420e-03 8.48686339e+00] [ 4.83009964e-02 -1.90200786e-03 9.98831015e-01 5.06155001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:8.49, Z:5.06 [[ 9.93076566e-01 -1.07287600e-01 -4.78362378e-02 1.11564623e+02] [ 1.07251194e-01 9.94226364e-01 -3.33456420e-03 8.49435127e+00] [ 4.79178062e-02 -1.81901606e-03 9.98849626e-01 5.06361711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:8.50, Z:5.07 [[ 9.93084326e-01 -1.07215640e-01 -4.78364788e-02 1.11596232e+02] [ 1.07179317e-01 9.94234126e-01 -3.33110375e-03 8.49649299e+00] [ 4.79178061e-02 -1.81901422e-03 9.98849626e-01 5.06512334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:8.50, Z:5.07 [[ 9.93229584e-01 -1.05887836e-01 -4.77782287e-02 1.11627723e+02] [ 1.05850234e-01 9.94376529e-01 -3.32357712e-03 8.49918581e+00] [ 4.78614757e-02 -1.75626158e-03 9.98852439e-01 5.06649607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:8.50, Z:5.07 [[ 9.93237142e-01 -1.05816815e-01 -4.77784671e-02 1.11659331e+02] [ 1.05779296e-01 9.94384089e-01 -3.32014759e-03 8.50132174e+00] [ 4.78614749e-02 -1.75627871e-03 9.98852439e-01 5.06800222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:8.51, Z:5.07 [[ 9.93357225e-01 -1.04397410e-01 -4.84004620e-02 1.11691374e+02] [ 1.04357398e-01 9.94534185e-01 -3.35985184e-03 8.50561584e+00] [ 4.84866739e-02 -1.71341317e-03 9.98822360e-01 5.06895302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:8.51, Z:5.07 [[ 9.93364740e-01 -1.04325763e-01 -4.84007040e-02 1.11722982e+02] [ 1.04285836e-01 9.94541703e-01 -3.35636177e-03 8.50774816e+00] [ 4.84866736e-02 -1.71341643e-03 9.98822360e-01 5.07045910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:8.51, Z:5.07 [[ 9.93372250e-01 -1.04254116e-01 -4.84009456e-02 1.11754589e+02] [ 1.04214273e-01 9.94549216e-01 -3.35287495e-03 8.50987821e+00] [ 4.84866735e-02 -1.71341642e-03 9.98822360e-01 5.07196517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:8.51, Z:5.07 [[ 9.93602819e-01 -1.01699592e-01 -4.90981718e-02 1.11786175e+02] [ 1.01655655e-01 9.94813844e-01 -3.39760156e-03 8.51406880e+00] [ 4.91890757e-02 -1.61524033e-03 9.98788179e-01 5.07204545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:8.52, Z:5.07 [[ 9.93710225e-01 -1.00292999e-01 -4.98126890e-02 1.11818549e+02] [ 1.00246149e-01 9.94956706e-01 -3.44427917e-03 8.51851711e+00] [ 4.99069060e-02 -1.57091481e-03 9.98752639e-01 5.07276984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:8.52, Z:5.07 [[ 9.93775283e-01 -9.96694896e-02 -4.97662536e-02 1.11850799e+02] [ 9.96221251e-02 9.95019405e-01 -3.43748190e-03 8.52175318e+00] [ 4.98610001e-02 -1.54173540e-03 9.98754977e-01 5.07406013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:8.52, Z:5.08 [[ 9.93813244e-01 -9.92778213e-02 -4.97910737e-02 1.11883157e+02] [ 9.92300986e-02 9.95058583e-01 -3.43559755e-03 8.52429625e+00] [ 4.98861139e-02 -1.52643081e-03 9.98753746e-01 5.07546201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:8.53, Z:5.08 [[ 9.93837893e-01 -9.91546707e-02 -4.95438641e-02 1.11915408e+02] [ 9.91074441e-02 9.95070878e-01 -3.41499001e-03 8.52648555e+00] [ 4.96382686e-02 -1.51621927e-03 9.98766110e-01 5.07696753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:8.53, Z:5.08 [[ 9.93816355e-01 -9.93578568e-02 -4.95688205e-02 1.11946203e+02] [ 9.93110095e-02 9.95050588e-01 -3.41320232e-03 8.52832561e+00] [ 4.96626124e-02 -1.53063331e-03 9.98764878e-01 5.07817817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:8.53, Z:5.08 [[ 9.93818361e-01 -9.92652555e-02 -4.97139207e-02 1.11978385e+02] [ 9.92181524e-02 9.95059827e-01 -3.42049637e-03 8.53050399e+00] [ 4.98078617e-02 -1.53317126e-03 9.98757641e-01 5.07958172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:8.53, Z:5.08 [[ 9.93903949e-01 -9.83653024e-02 -4.97916356e-02 1.12010159e+02] [ 9.83171012e-02 9.95149253e-01 -3.42230272e-03 8.53389528e+00] [ 4.98867448e-02 -1.49392909e-03 9.98753764e-01 5.08097802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.04, Y:8.54, Z:5.08 [[ 9.93984037e-01 -9.74135667e-02 -5.00632753e-02 1.12042278e+02] [ 9.73638138e-02 9.95242921e-01 -3.43737028e-03 8.53799762e+00] [ 5.01599669e-02 -1.45766023e-03 9.98740133e-01 5.08268245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:8.54, Z:5.08 [[ 9.94183872e-01 -9.52456401e-02 -5.02662540e-02 1.12074140e+02] [ 9.51928996e-02 9.95452875e-01 -3.44765591e-03 8.54244383e+00] [ 5.03660612e-02 -1.35738656e-03 9.98729902e-01 5.08426657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:8.54, Z:5.09 [[ 9.94303863e-01 -9.40130764e-02 -5.02132328e-02 1.12104035e+02] [ 9.39590527e-02 9.95570118e-01 -3.44053632e-03 8.54426200e+00] [ 5.03142494e-02 -1.29704923e-03 9.98732594e-01 5.08557132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.14, Y:8.55, Z:5.09 [[ 9.94496046e-01 -9.21588775e-02 -4.98433191e-02 1.12135523e+02] [ 9.21033686e-02 9.95743598e-01 -3.41422724e-03 8.54964157e+00] [ 4.99458173e-02 -1.19530211e-03 9.98751214e-01 5.08742674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.17, Y:8.55, Z:5.09 [[ 9.94566128e-01 -9.12474711e-02 -5.01210207e-02 1.12166221e+02] [ 9.11903109e-02 9.95827574e-01 -3.43076416e-03 8.55107256e+00] [ 5.02249430e-02 -1.15842964e-03 9.98737259e-01 5.08852466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:8.55, Z:5.09 [[ 9.94584912e-01 -9.13312122e-02 -4.95929695e-02 1.12197868e+02] [ 9.12754878e-02 9.95819903e-01 -3.39193067e-03 8.55399512e+00] [ 4.96954553e-02 -1.15305942e-03 9.98763752e-01 5.09052089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:8.56, Z:5.09 [[ 9.94541672e-01 -9.20430602e-02 -4.91420082e-02 1.12229212e+02] [ 9.19893840e-02 9.95754327e-01 -3.35760918e-03 8.55524338e+00] [ 4.92424119e-02 -1.18126082e-03 9.98786158e-01 5.09245846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:8.56, Z:5.09 [[ 9.94449951e-01 -9.32022180e-02 -4.88123060e-02 1.12261545e+02] [ 9.31507827e-02 9.95646436e-01 -3.33245553e-03 8.55622496e+00] [ 4.89103908e-02 -1.23294427e-03 9.98802410e-01 5.09428223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:8.56, Z:5.10 [[ 9.94155358e-01 -9.61327004e-02 -4.91286826e-02 1.12293133e+02] [ 9.60843385e-02 9.95367557e-01 -3.35061337e-03 8.55562048e+00] [ 4.92232003e-02 -1.38946673e-03 9.98786837e-01 5.09547567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:8.56, Z:5.10 [[ 9.93824333e-01 -9.91360518e-02 -4.98521624e-02 1.12324726e+02] [ 9.90901187e-02 9.95072661e-01 -3.39812367e-03 8.55681664e+00] [ 4.99434004e-02 -1.56271870e-03 9.98750827e-01 5.09700438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:8.55, Z:5.10 [[ 9.93649894e-01 -1.00386163e-01 -5.08183590e-02 1.12356397e+02] [ 1.00340209e-01 9.94947166e-01 -3.46115055e-03 8.55476448e+00] [ 5.09090339e-02 -1.65995289e-03 9.98701915e-01 5.09770537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:8.56, Z:5.10 [[ 9.93448760e-01 -1.01885800e-01 -5.17575597e-02 1.12387405e+02] [ 1.01840309e-01 9.94794524e-01 -3.52233631e-03 8.55823834e+00] [ 5.18470130e-02 -1.77174522e-03 9.98653468e-01 5.09910913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.42, Y:8.56, Z:5.10 [[ 9.93125330e-01 -1.04550199e-01 -5.26434747e-02 1.12418085e+02] [ 1.04506975e-01 9.94517708e-01 -3.58068432e-03 8.55695923e+00] [ 5.27292290e-02 -1.94554200e-03 9.98606951e-01 5.10029039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:8.56, Z:5.10 [[ 9.92996330e-01 -1.05641901e-01 -5.28968528e-02 1.12449674e+02] [ 1.05599927e-01 9.94402196e-01 -3.59564849e-03 8.55832936e+00] [ 5.29805977e-02 -2.01543803e-03 9.98593508e-01 5.10208816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:8.56, Z:5.10 [[ 9.92775890e-01 -1.07829575e-01 -5.26195326e-02 1.12481013e+02] [ 1.07791249e-01 9.94167125e-01 -3.57406435e-03 8.55811355e+00] [ 5.26979993e-02 -2.12368020e-03 9.98608237e-01 5.10351296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.51, Y:8.56, Z:5.10 [[ 9.92611976e-01 -1.09362537e-01 -5.25480766e-02 1.12511931e+02] [ 1.09326582e-01 9.93999485e-01 -3.56684980e-03 8.55553201e+00] [ 5.26228409e-02 -2.20440377e-03 9.98612025e-01 5.10495152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:8.56, Z:5.11 [[ 9.92570688e-01 -1.09798975e-01 -5.24177004e-02 1.12544154e+02] [ 1.09764137e-01 9.93951317e-01 -3.55168297e-03 8.55754982e+00] [ 5.24906135e-02 -2.22828724e-03 9.98618931e-01 5.10658752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:8.56, Z:5.11 [[ 9.92560741e-01 -1.09832819e-01 -5.25350137e-02 1.12575941e+02] [ 1.09798068e-01 9.93947554e-01 -3.55590028e-03 8.56083003e+00] [ 5.26076029e-02 -2.23879602e-03 9.98612752e-01 5.10842007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:8.56, Z:5.11 [[ 9.92561215e-01 -1.09949355e-01 -5.22816805e-02 1.12607607e+02] [ 1.09915297e-01 9.93934672e-01 -3.53499000e-03 8.56492332e+00] [ 5.23532448e-02 -2.23786248e-03 9.98626121e-01 5.11020205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:8.57, Z:5.11 [[ 9.92525070e-01 -1.10111244e-01 -5.26260267e-02 1.12639513e+02] [ 1.10077171e-01 9.93916688e-01 -3.55435005e-03 8.56545684e+00] [ 5.26972601e-02 -2.26514260e-03 9.98607965e-01 5.11111628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:8.57, Z:5.11 [[ 9.92410343e-01 -1.11128535e-01 -5.26513091e-02 1.12671897e+02] [ 1.11096062e-01 9.93803324e-01 -3.55217515e-03 8.56600411e+00] [ 5.27197940e-02 -2.32413774e-03 9.98606640e-01 5.11267588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:8.57, Z:5.11 [[ 9.92390418e-01 -1.11598363e-01 -5.20294419e-02 1.12702661e+02] [ 1.11567505e-01 9.93750672e-01 -3.50618179e-03 8.56567838e+00] [ 5.20955770e-02 -2.32529383e-03 9.98639396e-01 5.11413852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:8.57, Z:5.12 [[ 9.92299757e-01 -1.12364293e-01 -5.21100606e-02 1.12734163e+02] [ 1.12334723e-01 9.93664241e-01 -3.50529943e-03 8.56521938e+00] [ 5.21737743e-02 -2.37546144e-03 9.98635196e-01 5.11576047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:8.57, Z:5.12 [[ 9.92212054e-01 -1.13202666e-01 -5.19653362e-02 1.12766590e+02] [ 1.13174556e-01 9.93568981e-01 -3.49268317e-03 8.56707154e+00] [ 5.20265272e-02 -2.41567154e-03 9.98642781e-01 5.11777214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:8.57, Z:5.12 [[ 9.92005049e-01 -1.14880973e-01 -5.22335531e-02 1.12797626e+02] [ 1.14855086e-01 9.93376067e-01 -3.50700885e-03 8.56723705e+00] [ 5.22904502e-02 -2.52031876e-03 9.98628738e-01 5.11961154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:8.57, Z:5.12 [[ 9.91747440e-01 -1.16283276e-01 -5.39927396e-02 1.12829953e+02] [ 1.16257861e-01 9.93212460e-01 -3.62200678e-03 8.56987464e+00] [ 5.40474405e-02 -2.68496446e-03 9.98534759e-01 5.12062582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:8.57, Z:5.12 [[ 9.91616094e-01 -1.17117320e-01 -5.45990385e-02 1.12861692e+02] [ 1.17092806e-01 9.93114237e-01 -3.65879961e-03 8.57137341e+00] [ 5.46515912e-02 -2.76503003e-03 9.98501657e-01 5.12166503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:8.57, Z:5.12 [[ 9.91410823e-01 -1.18323610e-01 -5.57144795e-02 1.12894074e+02] [ 1.18300168e-01 9.92970873e-01 -3.73030096e-03 8.57171169e+00] [ 5.57642380e-02 -2.89277154e-03 9.98439774e-01 5.12200297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:8.57, Z:5.12 [[ 9.91338459e-01 -1.18833930e-01 -5.59156200e-02 1.12925749e+02] [ 1.18811338e-01 9.92909804e-01 -3.74000752e-03 8.57250642e+00] [ 5.59636071e-02 -2.93579634e-03 9.98428493e-01 5.12337576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:8.57, Z:5.13 [[ 9.91256513e-01 -1.19661559e-01 -5.56024891e-02 1.12956449e+02] [ 1.19640619e-01 9.92810306e-01 -3.71721950e-03 8.57191000e+00] [ 5.56475325e-02 -2.96759816e-03 9.98446065e-01 5.12505747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:8.58, Z:5.13 [[ 9.91236466e-01 -1.20100835e-01 -5.50096187e-02 1.12988696e+02] [ 1.20081087e-01 9.92757281e-01 -3.67619227e-03 8.57566671e+00] [ 5.50527132e-02 -2.96163899e-03 9.98479057e-01 5.12732560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.02, Y:8.57, Z:5.13 [[ 9.91307038e-01 -1.19811297e-01 -5.43655236e-02 1.13020399e+02] [ 1.19791780e-01 9.92792404e-01 -3.62933684e-03 8.57453441e+00] [ 5.44085144e-02 -2.91475569e-03 9.98514506e-01 5.12924092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.05, Y:8.58, Z:5.13 [[ 9.91524204e-01 -1.18342279e-01 -5.36176998e-02 1.13051805e+02] [ 1.18321308e-01 9.92968920e-01 -3.57651468e-03 8.58139652e+00] [ 5.36639624e-02 -2.79791549e-03 9.98555132e-01 5.13116831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:8.58, Z:5.13 [[ 9.91792131e-01 -1.16261381e-01 -5.32133394e-02 1.13081820e+02] [ 1.16237882e-01 9.93215070e-01 -3.54683062e-03 8.58290375e+00] [ 5.32646500e-02 -2.66768715e-03 9.98576868e-01 5.13193778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:8.59, Z:5.13 [[ 9.91864348e-01 -1.15570262e-01 -5.33725631e-02 1.13114001e+02] [ 1.15545696e-01 9.93295800e-01 -3.55612801e-03 8.58589931e+00] [ 5.34257254e-02 -2.63977337e-03 9.98568337e-01 5.13322381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.15, Y:8.58, Z:5.13 [[ 9.91959876e-01 -1.14632310e-01 -5.36193801e-02 1.13145230e+02] [ 1.14606358e-01 9.93404574e-01 -3.56872386e-03 8.58446841e+00] [ 5.36748284e-02 -2.60509099e-03 9.98555069e-01 5.13417658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.18, Y:8.59, Z:5.14 [[ 9.92127258e-01 -1.13124902e-01 -5.37239216e-02 1.13176052e+02] [ 1.13096798e-01 9.93577551e-01 -3.57284899e-03 8.58569378e+00] [ 5.37830607e-02 -2.53128262e-03 9.98549435e-01 5.13567316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:8.59, Z:5.14 [[ 9.92131163e-01 -1.13090596e-01 -5.37240460e-02 1.13206833e+02] [ 1.13062542e-01 9.93581456e-01 -3.57097796e-03 8.58770800e+00] [ 5.37830599e-02 -2.53129870e-03 9.98549435e-01 5.13714023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:8.60, Z:5.14 [[ 9.92306201e-01 -1.11669407e-01 -5.34635067e-02 1.13237819e+02] [ 1.11639666e-01 9.93742406e-01 -3.55180332e-03 8.59553121e+00] [ 5.35255815e-02 -2.44417157e-03 9.98563487e-01 5.14013205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:8.60, Z:5.14 [[ 9.92423741e-01 -1.10514311e-01 -5.36815174e-02 1.13270019e+02] [ 1.10482760e-01 9.93871650e-01 -3.56409097e-03 8.59869323e+00] [ 5.37464214e-02 -2.39379373e-03 9.98551747e-01 5.14191866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:8.60, Z:5.14 [[ 9.92431828e-01 -1.10441542e-01 -5.36817778e-02 1.13301644e+02] [ 1.10410098e-01 9.93879739e-01 -3.56016539e-03 8.60073204e+00] [ 5.37464214e-02 -2.39378888e-03 9.98551747e-01 5.14342532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:8.60, Z:5.14 [[ 9.92544487e-01 -1.09349635e-01 -5.38339903e-02 1.13332356e+02] [ 1.09316605e-01 9.94000583e-01 -3.56664644e-03 8.59977391e+00] [ 5.39010293e-02 -2.34489381e-03 9.98543530e-01 5.14440428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:8.61, Z:5.15 [[ 9.92980689e-01 -1.05376496e-01 -5.37135455e-02 1.13362855e+02] [ 1.05337866e-01 9.94430127e-01 -3.55769248e-03 8.60736456e+00] [ 5.37892650e-02 -2.12535030e-03 9.98550048e-01 5.14636027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:8.61, Z:5.15 [[ 9.93272477e-01 -1.02751669e-01 -5.34030092e-02 1.13393045e+02] [ 1.02709748e-01 9.94705084e-01 -3.53616407e-03 8.60813471e+00] [ 5.34835915e-02 -1.97263517e-03 9.98566780e-01 5.14747624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:8.61, Z:5.15 [[ 9.93541328e-01 -1.00237363e-01 -5.31798862e-02 1.13423733e+02] [ 1.00192246e-01 9.94961869e-01 -3.52044221e-03 8.61253809e+00] [ 5.32648388e-02 -1.83050739e-03 9.98578743e-01 5.14941819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:8.62, Z:5.15 [[ 9.94104677e-01 -9.49358646e-02 -5.23743589e-02 1.13454203e+02] [ 9.48848021e-02 9.95482225e-01 -3.46620344e-03 8.61976728e+00] [ 5.24668103e-02 -1.52376163e-03 9.98621506e-01 5.15251319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:8.62, Z:5.15 [[ 9.94321152e-01 -9.27261657e-02 -5.22236113e-02 1.13485261e+02] [ 9.26724065e-02 9.95690658e-01 -3.45519820e-03 8.62326465e+00] [ 5.23189492e-02 -1.40411109e-03 9.98629439e-01 5.15474580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:8.63, Z:5.16 [[ 9.94519102e-01 -9.11167893e-02 -5.12785207e-02 1.13515449e+02] [ 9.10629074e-02 9.95839369e-01 -3.39099207e-03 8.62593898e+00] [ 5.13741460e-02 -1.29716479e-03 9.98678634e-01 5.15686418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:8.63, Z:5.16 [[ 9.94770250e-01 -8.84090824e-02 -5.11466939e-02 1.13546259e+02] [ 8.83519086e-02 9.96083582e-01 -3.38213947e-03 8.62890152e+00] [ 5.12453939e-02 -1.15445630e-03 9.98685424e-01 5.15843553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.58, Y:8.63, Z:5.16 [[ 9.94967968e-01 -8.56737713e-02 -5.19494777e-02 1.13576218e+02] [ 8.56111546e-02 9.96322709e-01 -3.43347931e-03 8.63041577e+00] [ 5.20526035e-02 -1.03125284e-03 9.98643812e-01 5.15912488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:8.63, Z:5.16 [[ 9.95026706e-01 -8.47231429e-02 -5.23817130e-02 1.13606582e+02] [ 8.46581638e-02 9.96404039e-01 -3.46204688e-03 8.63359023e+00] [ 5.24866659e-02 -9.89710531e-04 9.98621135e-01 5.16058044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:8.63, Z:5.16 [[ 9.95120754e-01 -8.34600320e-02 -5.26223113e-02 1.13635657e+02] [ 8.33926852e-02 9.96510694e-01 -3.47804258e-03 8.63477451e+00] [ 5.27289735e-02 -9.27243478e-04 9.98608430e-01 5.16165289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:8.64, Z:5.16 [[ 9.95265587e-01 -8.16844621e-02 -5.26693536e-02 1.13664812e+02] [ 8.16144554e-02 9.96657893e-01 -3.48219529e-03 8.63762054e+00] [ 5.27777682e-02 -8.32871469e-04 9.98605935e-01 5.16375948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:8.64, Z:5.17 [[ 9.95272097e-01 -8.14490251e-02 -5.29103979e-02 1.13693819e+02] [ 8.13778803e-02 9.96677170e-01 -3.50120771e-03 8.63985331e+00] [ 5.30197556e-02 -8.21081696e-04 9.98593126e-01 5.16586989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:8.64, Z:5.17 [[ 9.95345732e-01 -8.04858300e-02 -5.29990988e-02 1.13722018e+02] [ 8.04124067e-02 9.96755465e-01 -3.51977831e-03 8.64011356e+00] [ 5.31104337e-02 -7.58388774e-04 9.98588357e-01 5.16674746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:8.64, Z:5.17 [[ 9.95363470e-01 -8.03689193e-02 -5.28431546e-02 1.13750242e+02] [ 8.02953581e-02 9.96764910e-01 -3.51705409e-03 8.64140738e+00] [ 5.29548641e-02 -7.42312861e-04 9.98596631e-01 5.16842196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:8.64, Z:5.17 [[ 9.95353129e-01 -8.06828826e-02 -5.25587424e-02 1.13778600e+02] [ 8.06098665e-02 9.96739546e-01 -3.51106052e-03 8.64278083e+00] [ 5.26706595e-02 -7.42008127e-04 9.98611662e-01 5.17006945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:8.64, Z:5.17 [[ 9.95280981e-01 -8.18166514e-02 -5.21709234e-02 1.13806700e+02] [ 8.17456368e-02 9.96647089e-01 -3.49715750e-03 8.64262994e+00] [ 5.22821247e-02 -7.84091015e-04 9.98632047e-01 5.17234289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:8.64, Z:5.17 [[ 9.95209242e-01 -8.30148880e-02 -5.16439017e-02 1.13835696e+02] [ 8.29466478e-02 9.96547959e-01 -3.46694712e-03 8.64328559e+00] [ 5.17534330e-02 -8.33350708e-04 9.98659545e-01 5.17395462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:8.64, Z:5.18 [[ 9.95040967e-01 -8.53099570e-02 -5.11437677e-02 1.13864081e+02] [ 8.52454603e-02 9.96354025e-01 -3.44506747e-03 8.64076117e+00] [ 5.12511974e-02 -9.31790754e-04 9.98685359e-01 5.17525927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:8.64, Z:5.18 [[ 9.94768419e-01 -8.86798056e-02 -5.07117844e-02 1.13893335e+02] [ 8.86205490e-02 9.96059587e-01 -3.42025267e-03 8.63994632e+00] [ 5.08152664e-02 -1.09174683e-03 9.98707473e-01 5.17690530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:8.64, Z:5.18 [[ 9.94594701e-01 -9.05150674e-02 -5.08763487e-02 1.13922961e+02] [ 9.04576339e-02 9.95894380e-01 -3.43506571e-03 8.63827756e+00] [ 5.09783950e-02 -1.18565597e-03 9.98699053e-01 5.17799333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:8.64, Z:5.18 [[ 9.94170998e-01 -9.49117652e-02 -5.11447264e-02 1.13953486e+02] [ 9.48594878e-02 9.95484679e-01 -3.45405136e-03 8.63637907e+00] [ 5.12416217e-02 -1.41764486e-03 9.98685279e-01 5.17920993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:8.64, Z:5.18 [[ 9.93984375e-01 -9.65847730e-02 -5.16376226e-02 1.13983575e+02] [ 9.65337572e-02 9.95323603e-01 -3.48695386e-03 8.63543046e+00] [ 5.17329313e-02 -1.51879607e-03 9.98659800e-01 5.18010124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.01, Y:8.64, Z:5.18 [[ 9.93771952e-01 -9.81095552e-02 -5.28377096e-02 1.14014218e+02] [ 9.80585275e-02 9.95174269e-01 -3.56356633e-03 8.63509106e+00] [ 5.29323489e-02 -1.63981573e-03 9.98596754e-01 5.18067432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:8.63, Z:5.18 [[ 9.93468916e-01 -1.00705582e-01 -5.36460594e-02 1.14044494e+02] [ 1.00656753e-01 9.94914633e-01 -3.61819681e-03 8.63310127e+00] [ 5.37376221e-02 -1.80527209e-03 9.98553458e-01 5.18047978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:8.63, Z:5.18 [[ 9.93359067e-01 -1.01561437e-01 -5.40651267e-02 1.14073705e+02] [ 1.01513054e-01 9.94827521e-01 -3.64744263e-03 8.63274248e+00] [ 5.41559154e-02 -1.86509592e-03 9.98530750e-01 5.18159531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:8.63, Z:5.18 [[ 9.93265985e-01 -1.02683760e-01 -5.36537906e-02 1.14103454e+02] [ 1.02637687e-01 9.94712217e-01 -3.62076116e-03 8.63329571e+00] [ 5.37418744e-02 -1.91052207e-03 9.98553034e-01 5.18324052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:8.63, Z:5.18 [[ 9.93247599e-01 -1.02709714e-01 -5.39436883e-02 1.14133426e+02] [ 1.02663087e-01 9.94709518e-01 -3.64204996e-03 8.63484050e+00] [ 5.40323741e-02 -1.92056819e-03 9.98537337e-01 5.18479087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:8.64, Z:5.19 [[ 9.93262586e-01 -1.02394773e-01 -5.42655030e-02 1.14163822e+02] [ 1.02347119e-01 9.94741999e-01 -3.66377753e-03 8.63642171e+00] [ 5.43553266e-02 -1.91482476e-03 9.98519820e-01 5.18613335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:8.64, Z:5.19 [[ 9.93328203e-01 -1.01778483e-01 -5.42238055e-02 1.14193573e+02] [ 1.01729979e-01 9.94805312e-01 -3.66108556e-03 8.63739563e+00] [ 5.43147495e-02 -1.87952706e-03 9.98522096e-01 5.18706596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:8.64, Z:5.19 [[ 9.93374495e-01 -1.01469855e-01 -5.39535038e-02 1.14222893e+02] [ 1.01421320e-01 9.94836890e-01 -3.64392353e-03 8.63610368e+00] [ 5.40446843e-02 -1.85225486e-03 9.98536800e-01 5.18771709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:8.64, Z:5.19 [[ 9.93350137e-01 -1.01708158e-01 -5.39532834e-02 1.14251058e+02] [ 1.01659797e-01 9.94812537e-01 -3.64718255e-03 8.63805815e+00] [ 5.40443510e-02 -1.86195054e-03 9.98536800e-01 5.18906085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.28, Y:8.64, Z:5.19 [[ 9.93385041e-01 -1.01468383e-01 -5.37617639e-02 1.14280050e+02] [ 1.01419388e-01 9.94837080e-01 -3.64585274e-03 8.64147707e+00] [ 5.38541350e-02 -1.83074960e-03 9.98547135e-01 5.19115094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:8.64, Z:5.19 [[ 9.93388504e-01 -1.01290719e-01 -5.40321268e-02 1.14310127e+02] [ 1.01240863e-01 9.94855189e-01 -3.66611196e-03 8.64308953e+00] [ 5.41254848e-02 -1.82838565e-03 9.98532468e-01 5.19219459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:8.65, Z:5.19 [[ 9.93343565e-01 -1.01069338e-01 -5.52589432e-02 1.14340186e+02] [ 1.01016742e-01 9.94877653e-01 -3.75134213e-03 8.64560067e+00] [ 5.53550334e-02 -1.85570684e-03 9.98465010e-01 5.19271180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:8.65, Z:5.19 [[ 9.93284820e-01 -1.01728966e-01 -5.51042988e-02 1.14367847e+02] [ 1.01677526e-01 9.94810367e-01 -3.74357414e-03 8.64544410e+00] [ 5.51991577e-02 -1.88443341e-03 9.98473586e-01 5.19400777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:8.65, Z:5.20 [[ 9.93178613e-01 -1.02916905e-01 -5.48119811e-02 1.14396657e+02] [ 1.02867364e-01 9.94688081e-01 -3.73190311e-03 8.64743744e+00] [ 5.49049002e-02 -1.93191764e-03 9.98489719e-01 5.19621857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:8.65, Z:5.20 [[ 9.93069737e-01 -1.03879733e-01 -5.49681562e-02 1.14425100e+02] [ 1.03830626e-01 9.94587901e-01 -3.75622004e-03 8.64857095e+00] [ 5.50608582e-02 -1.97718964e-03 9.98481043e-01 5.19742125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:8.65, Z:5.20 [[ 9.92838757e-01 -1.05817261e-01 -5.54428586e-02 1.14454345e+02] [ 1.05769643e-01 9.94383395e-01 -3.80077631e-03 8.65253010e+00] [ 5.55336457e-02 -2.09061335e-03 9.98454628e-01 5.19969934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:8.65, Z:5.20 [[ 9.92704568e-01 -1.07153296e-01 -5.52794012e-02 1.14484228e+02] [ 1.07107922e-01 9.94240171e-01 -3.79143592e-03 8.65414062e+00] [ 5.53672662e-02 -2.15708605e-03 9.98463726e-01 5.20116430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:8.65, Z:5.20 [[ 9.92558808e-01 -1.08562037e-01 -5.51479482e-02 1.14513158e+02] [ 1.08519012e-01 9.94087176e-01 -3.78305001e-03 8.65491019e+00] [ 5.52325637e-02 -2.22970126e-03 9.98471027e-01 5.20289489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.54, Y:8.66, Z:5.20 [[ 9.92403532e-01 -1.10093360e-01 -5.49061116e-02 1.14543752e+02] [ 1.10053125e-01 9.93918575e-01 -3.76505975e-03 8.65780614e+00] [ 5.49867123e-02 -2.30613058e-03 9.98484423e-01 5.20499625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:8.66, Z:5.21 [[ 9.92276677e-01 -1.11458798e-01 -5.44420204e-02 1.14574152e+02] [ 1.11421289e-01 9.93766250e-01 -3.73323576e-03 8.65916199e+00] [ 5.45187444e-02 -2.36159733e-03 9.98509955e-01 5.20674973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:8.66, Z:5.21 [[ 9.92115254e-01 -1.13476672e-01 -5.32011920e-02 1.14604792e+02] [ 1.13443743e-01 9.93537724e-01 -3.64814882e-03 8.66129479e+00] [ 5.32713709e-02 -2.41595828e-03 9.98577150e-01 5.20898840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.64, Y:8.67, Z:5.21 [[ 9.91923842e-01 -1.15409497e-01 -5.26093164e-02 1.14636055e+02] [ 1.15380016e-01 9.93314874e-01 -3.60737021e-03 8.66552242e+00] [ 5.26739413e-02 -2.49182725e-03 9.98608655e-01 5.21134360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.67, Y:8.67, Z:5.21 [[ 9.91850607e-01 -1.16210113e-01 -5.22262747e-02 1.14666596e+02] [ 1.16182261e-01 9.93221461e-01 -3.57927737e-03 8.66720711e+00] [ 5.22882051e-02 -2.51765824e-03 9.98628862e-01 5.21309870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:8.67, Z:5.21 [[ 9.91643707e-01 -1.17821926e-01 -5.25428534e-02 1.14696721e+02] [ 1.17796042e-01 9.93031285e-01 -3.60000590e-03 8.66687582e+00] [ 5.26008569e-02 -2.61941699e-03 9.98612181e-01 5.21390868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:8.67, Z:5.22 [[ 9.91517468e-01 -1.18947915e-01 -5.23880152e-02 1.14727728e+02] [ 1.18923804e-01 9.92896899e-01 -3.58836203e-03 8.67075174e+00] [ 5.24427260e-02 -2.67225841e-03 9.98620358e-01 5.21532110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:8.67, Z:5.22 [[ 9.91394731e-01 -1.19833555e-01 -5.26916138e-02 1.14758457e+02] [ 1.19810511e-01 9.92790224e-01 -3.60726656e-03 8.67195982e+00] [ 5.27439907e-02 -2.73678413e-03 9.98604317e-01 5.21647727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:8.67, Z:5.22 [[ 9.91060174e-01 -1.22232708e-01 -5.34686578e-02 1.14789670e+02] [ 1.22212563e-01 9.92497206e-01 -3.65853015e-03 8.67475321e+00] [ 5.35146855e-02 -2.90871820e-03 9.98562826e-01 5.21790408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:8.68, Z:5.22 [[ 9.90897623e-01 -1.23493371e-01 -5.35844014e-02 1.14821035e+02] [ 1.23475078e-01 9.92340907e-01 -3.66454672e-03 8.67674634e+00] [ 5.36265408e-02 -2.98514752e-03 9.98556600e-01 5.21923707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:8.68, Z:5.22 [[ 9.90567526e-01 -1.25752092e-01 -5.44278302e-02 1.14852019e+02] [ 1.25736724e-01 9.92056670e-01 -3.72026536e-03 8.68214666e+00] [ 5.44633231e-02 -3.15840303e-03 9.98510777e-01 5.22052302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.88, Y:8.68, Z:5.22 [[ 9.90475048e-01 -1.26448085e-01 -5.44982751e-02 1.14884532e+02] [ 1.26433850e-01 9.91968055e-01 -3.72283000e-03 8.68411765e+00] [ 5.45312927e-02 -3.20305650e-03 9.98506925e-01 5.22209441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:8.69, Z:5.22 [[ 9.90337580e-01 -1.27756657e-01 -5.39417669e-02 1.14915238e+02] [ 1.27744839e-01 9.91800235e-01 -3.68115470e-03 8.68500195e+00] [ 5.39697491e-02 -3.24519648e-03 9.98537298e-01 5.22393628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:8.69, Z:5.23 [[ 9.90255339e-01 -1.28454967e-01 -5.37929763e-02 1.14946958e+02] [ 1.28444356e-01 9.91709931e-01 -3.66882530e-03 8.68893157e+00] [ 5.38183076e-02 -3.27633037e-03 9.98545370e-01 5.22613810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:8.69, Z:5.23 [[ 9.90235956e-01 -1.28714590e-01 -5.35285525e-02 1.14978319e+02] [ 1.28704660e-01 9.91676262e-01 -3.64705485e-03 8.69010499e+00] [ 5.35524241e-02 -3.27792931e-03 9.98559659e-01 5.22759541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:8.69, Z:5.23 [[ 9.90325608e-01 -1.27936477e-01 -5.37349742e-02 1.15009816e+02] [ 1.27925487e-01 9.91777035e-01 -3.65822238e-03 8.68991646e+00] [ 5.37611334e-02 -3.25124142e-03 9.98548532e-01 5.22821712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:8.70, Z:5.23 [[ 9.90368398e-01 -1.27637921e-01 -5.36562973e-02 1.15041009e+02] [ 1.27626674e-01 9.91815562e-01 -3.65012774e-03 8.69509642e+00] [ 5.36830454e-02 -3.23300359e-03 9.98552792e-01 5.22955069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:8.70, Z:5.23 [[ 9.90433257e-01 -1.26873946e-01 -5.42675421e-02 1.15073050e+02] [ 1.26861420e-01 9.91913589e-01 -3.68953142e-03 8.70264998e+00] [ 5.42968179e-02 -3.23022282e-03 9.98519615e-01 5.23122329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:8.71, Z:5.23 [[ 9.90483399e-01 -1.26486619e-01 -5.42565341e-02 1.15104580e+02] [ 1.26473732e-01 9.91963113e-01 -3.68487151e-03 8.70690876e+00] [ 5.42865674e-02 -3.21222229e-03 9.98520230e-01 5.23317119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:8.71, Z:5.23 [[ 9.90492503e-01 -1.26415195e-01 -5.42567991e-02 1.15136225e+02] [ 1.26402415e-01 9.91972217e-01 -3.68096597e-03 8.70899521e+00] [ 5.42865673e-02 -3.21222122e-03 9.98520230e-01 5.23467899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:8.71, Z:5.24 [[ 9.90501088e-01 -1.26306843e-01 -5.43523384e-02 1.15168294e+02] [ 1.26294069e-01 9.91986008e-01 -3.68351313e-03 8.71267685e+00] [ 5.43820121e-02 -3.21585423e-03 9.98515025e-01 5.23628065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:8.72, Z:5.24 [[ 9.90457282e-01 -1.26286914e-01 -5.51904753e-02 1.15200803e+02] [ 1.26273940e-01 9.91988373e-01 -3.73629282e-03 8.71625688e+00] [ 5.52201547e-02 -3.26848032e-03 9.98468854e-01 5.23717272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:8.72, Z:5.24 [[ 9.90406374e-01 -1.26370680e-01 -5.59076497e-02 1.15231467e+02] [ 1.26357755e-01 9.91977533e-01 -3.78032798e-03 8.71832310e+00] [ 5.59368551e-02 -3.32030420e-03 9.98428788e-01 5.23802424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:8.73, Z:5.24 [[ 9.90327126e-01 -1.26637128e-01 -5.67029287e-02 1.15263008e+02] [ 1.26624652e-01 9.91943319e-01 -3.82741978e-03 8.72628742e+00] [ 5.67307848e-02 -3.38959098e-03 9.98383758e-01 5.24000886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:8.72, Z:5.24 [[ 9.90286230e-01 -1.26773798e-01 -5.71103124e-02 1.15294784e+02] [ 1.26761602e-01 9.91925737e-01 -3.85086012e-03 8.72253558e+00] [ 5.71373768e-02 -3.42594094e-03 9.98360447e-01 5.24044641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:8.72, Z:5.24 [[ 9.90290598e-01 -1.26739580e-01 -5.71105096e-02 1.15325585e+02] [ 1.26727495e-01 9.91930106e-01 -3.84793339e-03 8.72457820e+00] [ 5.71373193e-02 -3.42689958e-03 9.98360447e-01 5.24191424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:8.73, Z:5.24 [[ 9.90333139e-01 -1.26281384e-01 -5.73871553e-02 1.15357141e+02] [ 1.26268555e-01 9.91988568e-01 -3.86419369e-03 8.73368062e+00] [ 5.74153778e-02 -3.41935413e-03 9.98344521e-01 5.24438997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:8.74, Z:5.25 [[ 9.90419959e-01 -1.25586430e-01 -5.74138711e-02 1.15388202e+02] [ 1.25572657e-01 9.92076909e-01 -3.86197305e-03 8.73530612e+00] [ 5.74439871e-02 -3.38463717e-03 9.98342993e-01 5.24535807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:8.74, Z:5.25 [[ 9.90523157e-01 -1.25098378e-01 -5.66945365e-02 1.15419995e+02] [ 1.25084331e-01 9.92138796e-01 -3.81036801e-03 8.73808159e+00] [ 5.67255200e-02 -3.31734044e-03 9.98384300e-01 5.24811229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:8.74, Z:5.25 [[ 9.90626706e-01 -1.24808711e-01 -5.55113929e-02 1.15452046e+02] [ 1.24795004e-01 9.92175547e-01 -3.72692883e-03 8.74270343e+00] [ 5.55421998e-02 -3.23554926e-03 9.98451098e-01 5.25101546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:8.74, Z:5.25 [[ 9.90697979e-01 -1.24379693e-01 -5.52015045e-02 1.15483467e+02] [ 1.24365688e-01 9.92229544e-01 -3.70225680e-03 8.74366586e+00] [ 5.52330492e-02 -3.19735475e-03 9.98468371e-01 5.25347761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:8.74, Z:5.26 [[ 9.90707987e-01 -1.24353732e-01 -5.50802445e-02 1.15514455e+02] [ 1.24339938e-01 9.92232815e-01 -3.69068503e-03 8.74445239e+00] [ 5.51113765e-02 -3.19228307e-03 9.98475110e-01 5.25501793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:8.75, Z:5.26 [[ 9.90714954e-01 -1.24130583e-01 -5.54569888e-02 1.15546645e+02] [ 1.24116585e-01 9.92260706e-01 -3.70995931e-03 8.74756155e+00] [ 5.54883103e-02 -3.20761990e-03 9.98454185e-01 5.25631842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:8.75, Z:5.26 [[ 9.90607985e-01 -1.24706663e-01 -5.60719910e-02 1.15578743e+02] [ 1.24693503e-01 9.92188233e-01 -3.74705027e-03 8.75332957e+00] [ 5.61012518e-02 -3.27995504e-03 9.98419697e-01 5.25813180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:8.75, Z:5.26 [[ 9.90373481e-01 -1.25840256e-01 -5.76593275e-02 1.15609675e+02] [ 1.25828491e-01 9.92044543e-01 -3.84913460e-03 8.75137253e+00] [ 5.76849973e-02 -3.44310536e-03 9.98328897e-01 5.25780140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:8.75, Z:5.26 [[ 9.90213267e-01 -1.26521302e-01 -5.89071015e-02 1.15641226e+02] [ 1.26510371e-01 9.91957500e-01 -3.93002608e-03 8.75069380e+00] [ 5.89305732e-02 -3.56079532e-03 9.98255733e-01 5.25823678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:8.75, Z:5.26 [[ 9.89917171e-01 -1.27869765e-01 -6.09369920e-02 1.15672787e+02] [ 1.27860815e-01 9.91783802e-01 -4.06232467e-03 8.75331610e+00] [ 6.09557701e-02 -3.77008849e-03 9.98133348e-01 5.25843639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:8.76, Z:5.26 [[ 9.90014112e-01 -1.27053505e-01 -6.10693431e-02 1.15703614e+02] [ 1.27043105e-01 9.91888851e-01 -4.06895025e-03 8.75527219e+00] [ 6.10909750e-02 -3.73012083e-03 9.98125232e-01 5.25949886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:8.76, Z:5.26 [[ 9.90235093e-01 -1.25474832e-01 -6.07497167e-02 1.15733612e+02] [ 1.25461750e-01 9.92090212e-01 -4.04486656e-03 8.75688001e+00] [ 6.07767283e-02 -3.61639696e-03 9.98144835e-01 5.26086902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:8.76, Z:5.26 [[ 9.90544362e-01 -1.23292572e-01 -6.01731535e-02 1.15765139e+02] [ 1.23276000e-01 9.92364355e-01 -4.00190218e-03 8.76414369e+00] [ 6.02070974e-02 -3.45384403e-03 9.98179932e-01 5.26371316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:8.77, Z:5.27 [[ 9.90915877e-01 -1.20703438e-01 -5.92992809e-02 1.15795889e+02] [ 1.20682884e-01 9.92683288e-01 -3.94103415e-03 8.76933935e+00] [ 5.93411015e-02 -3.25117490e-03 9.98232470e-01 5.26609868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:8.78, Z:5.27 [[ 9.91690662e-01 -1.15023366e-01 -5.76129924e-02 1.15825246e+02] [ 1.14994434e-01 9.93358759e-01 -3.82833416e-03 8.77519970e+00] [ 5.76707185e-02 -2.82865022e-03 9.98331652e-01 5.26893236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:8.78, Z:5.27 [[ 9.92010396e-01 -1.12551648e-01 -5.69868555e-02 1.15856391e+02] [ 1.12519254e-01 9.93642328e-01 -3.78704376e-03 8.78205813e+00] [ 5.70507897e-02 -2.65533170e-03 9.98367746e-01 5.27201988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:8.78, Z:5.27 [[ 9.92516581e-01 -1.08553525e-01 -5.59193050e-02 1.15886068e+02] [ 1.08516144e-01 9.94087751e-01 -3.71350546e-03 8.78452958e+00] [ 5.59918102e-02 -2.38243163e-03 9.98428386e-01 5.27403265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.92, Y:8.79, Z:5.28 [[ 9.92673428e-01 -1.07252454e-01 -5.56450966e-02 1.15916857e+02] [ 1.07213415e-01 9.94229164e-01 -3.69500192e-03 8.78739006e+00] [ 5.57202759e-02 -2.29797063e-03 9.98443774e-01 5.27606427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:8.79, Z:5.28 [[ 9.92811792e-01 -1.05800260e-01 -5.59557858e-02 1.15948658e+02] [ 1.05758616e-01 9.94384899e-01 -3.71329852e-03 8.79193522e+00] [ 5.60344564e-02 -2.23119988e-03 9.98426343e-01 5.27863672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:8.79, Z:5.28 [[ 9.92842890e-01 -1.05349619e-01 -5.62534807e-02 1.15979611e+02] [ 1.05307070e-01 9.94432763e-01 -3.72842272e-03 8.79027339e+00] [ 5.63330922e-02 -2.22215127e-03 9.98409558e-01 5.27923042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:8.79, Z:5.28 [[ 9.92831902e-01 -1.05182837e-01 -5.67572531e-02 1.16011281e+02] [ 1.05139613e-01 9.94450380e-01 -3.75548252e-03 8.79230494e+00] [ 5.68372842e-02 -2.23887275e-03 9.98380945e-01 5.28090677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:8.79, Z:5.28 [[ 9.92751392e-01 -1.05696697e-01 -5.72091073e-02 1.16042052e+02] [ 1.05653742e-01 9.94395782e-01 -3.78349658e-03 8.79382554e+00] [ 5.72883981e-02 -2.28828477e-03 9.98355049e-01 5.28268697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:8.79, Z:5.28 [[ 9.92681458e-01 -1.05927373e-01 -5.79906423e-02 1.16071954e+02] [ 1.05883682e-01 9.94371130e-01 -3.83430703e-03 8.79370099e+00] [ 5.80703786e-02 -2.33401724e-03 9.98309763e-01 5.28363511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:8.79, Z:5.28 [[ 9.92534332e-01 -1.06108863e-01 -6.01374158e-02 1.16103095e+02] [ 1.06062216e-01 9.94351545e-01 -3.97625042e-03 8.79265267e+00] [ 6.02196477e-02 -2.43174254e-03 9.98182188e-01 5.28318661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:8.79, Z:5.28 [[ 9.92470349e-01 -1.06218321e-01 -6.09940562e-02 1.16133800e+02] [ 1.06170545e-01 9.94339756e-01 -4.03289098e-03 8.79317099e+00] [ 6.10771819e-02 -2.47324745e-03 9.98129982e-01 5.28353589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:8.79, Z:5.28 [[ 9.92398005e-01 -1.05754908e-01 -6.29452025e-02 1.16163707e+02] [ 1.05703067e-01 9.94389026e-01 -4.16245193e-03 8.79369946e+00] [ 6.30322184e-02 -2.52269199e-03 9.98008304e-01 5.28284610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:8.79, Z:5.28 [[ 9.92398054e-01 -1.05480336e-01 -6.34034797e-02 1.16191534e+02] [ 1.05426983e-01 9.94418195e-01 -4.19586402e-03 8.79417171e+00] [ 6.34921550e-02 -2.52047029e-03 9.97979155e-01 5.28321380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:8.80, Z:5.28 [[ 9.92529810e-01 -1.04488830e-01 -6.29814336e-02 1.16220156e+02] [ 1.04433689e-01 9.94523085e-01 -4.17590515e-03 8.79505612e+00] [ 6.30728251e-02 -2.43267310e-03 9.98005962e-01 5.28494082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:8.80, Z:5.29 [[ 9.92653937e-01 -1.03782351e-01 -6.21883011e-02 1.16248776e+02] [ 1.03726253e-01 9.94597274e-01 -4.13856626e-03 8.79977468e+00] [ 6.22818249e-02 -2.34239534e-03 9.98055854e-01 5.28818252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:8.80, Z:5.29 [[ 9.92850303e-01 -1.02604218e-01 -6.09971410e-02 1.16277571e+02] [ 1.02547093e-01 9.94719806e-01 -4.07454231e-03 8.80187151e+00] [ 6.10931294e-02 -2.20966892e-03 9.98129624e-01 5.28993152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:8.80, Z:5.29 [[ 9.93254830e-01 -9.97544823e-02 -5.91090958e-02 1.16306441e+02] [ 9.96950854e-02 9.95010153e-01 -3.96043335e-03 8.80350306e+00] [ 5.92092214e-02 -1.95916680e-03 9.98243673e-01 5.29260884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:8.81, Z:5.30 [[ 9.93510638e-01 -9.80501062e-02 -5.76436321e-02 1.16335916e+02] [ 9.79906352e-02 9.95179834e-01 -3.86425922e-03 8.80665532e+00] [ 5.77446713e-02 -1.80935348e-03 9.98329745e-01 5.29624102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:8.81, Z:5.30 [[ 9.93586705e-01 -9.73581604e-02 -5.75052018e-02 1.16365468e+02] [ 9.72977107e-02 9.95247849e-01 -3.85683122e-03 8.80777121e+00] [ 5.76074224e-02 -1.76302827e-03 9.98337757e-01 5.29808354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:8.81, Z:5.30 [[ 9.93607172e-01 -9.73680592e-02 -5.71336048e-02 1.16394750e+02] [ 9.73083373e-02 9.95246902e-01 -3.83307339e-03 8.80929186e+00] [ 5.72352620e-02 -1.75100687e-03 9.98359183e-01 5.30004132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:8.81, Z:5.30 [[ 9.93526808e-01 -9.78589393e-02 -5.76897677e-02 1.16424760e+02] [ 9.77987793e-02 9.95198677e-01 -3.87205247e-03 8.81177925e+00] [ 5.77916954e-02 -1.79500092e-03 9.98327050e-01 5.30208030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:8.81, Z:5.30 [[ 9.93424315e-01 -9.86200580e-02 -5.81568183e-02 1.16454043e+02] [ 9.85601996e-02 9.95123433e-01 -3.90378864e-03 8.81251845e+00] [ 5.82582046e-02 -1.85382907e-03 9.98299827e-01 5.30325643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:8.81, Z:5.30 [[ 9.93047606e-01 -1.01526132e-01 -5.95726122e-02 1.16483892e+02] [ 1.01468412e-01 9.94830716e-01 -4.00102768e-03 8.81081464e+00] [ 5.96708733e-02 -2.07152738e-03 9.98215956e-01 5.30300158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:8.81, Z:5.30 [[ 9.92873230e-01 -1.02892736e-01 -6.01318107e-02 1.16512640e+02] [ 1.02836279e-01 9.94690087e-01 -4.04104234e-03 8.80791311e+00] [ 6.02283099e-02 -2.17148893e-03 9.98182266e-01 5.30261727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:8.81, Z:5.30 [[ 9.92500856e-01 -1.05635566e-01 -6.15075437e-02 1.16541885e+02] [ 1.05581544e-01 9.94402043e-01 -4.13689982e-03 8.80856624e+00] [ 6.16002308e-02 -2.38818479e-03 9.98098045e-01 5.30336130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:8.81, Z:5.30 [[ 9.92278886e-01 -1.07452227e-01 -6.19405491e-02 1.16570238e+02] [ 1.07400691e-01 9.94207070e-01 -4.17054282e-03 8.80935352e+00] [ 6.20298660e-02 -2.51411621e-03 9.98071127e-01 5.30413286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:8.81, Z:5.31 [[ 9.91758684e-01 -1.11609020e-01 -6.29137485e-02 1.16600201e+02] [ 1.11563758e-01 9.93748220e-01 -4.24293251e-03 8.80907265e+00] [ 6.29939752e-02 -2.81092905e-03 9.98009949e-01 5.30522390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:8.81, Z:5.31 [[ 9.91510544e-01 -1.13779260e-01 -6.29374419e-02 1.16629302e+02] [ 1.13738214e-01 9.93501680e-01 -4.24623135e-03 8.80872288e+00] [ 6.30115873e-02 -2.94820909e-03 9.98008441e-01 5.30618026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:8.81, Z:5.31 [[ 9.91322454e-01 -1.15521405e-01 -6.27263620e-02 1.16658248e+02] [ 1.15483897e-01 9.93300323e-01 -4.23536884e-03 8.80775920e+00] [ 6.27953914e-02 -3.04526848e-03 9.98021776e-01 5.30684194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:8.81, Z:5.31 [[ 9.91154090e-01 -1.17325754e-01 -6.20341626e-02 1.16688060e+02] [ 1.17292397e-01 9.93088578e-01 -4.19167381e-03 8.80945167e+00] [ 6.20972096e-02 -3.12154100e-03 9.98065225e-01 5.30876944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:8.81, Z:5.31 [[ 9.91002019e-01 -1.19447053e-01 -6.03937056e-02 1.16718051e+02] [ 1.19419238e-01 9.92835524e-01 -4.08271925e-03 8.81069515e+00] [ 6.04486851e-02 -3.16618731e-03 9.98166285e-01 5.31164457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:8.81, Z:5.31 [[ 9.91023042e-01 -1.20129157e-01 -5.86712466e-02 1.16748107e+02] [ 1.20104041e-01 9.92753384e-01 -3.96710631e-03 8.81382170e+00] [ 5.87226437e-02 -3.11516003e-03 9.98269476e-01 5.31472159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:8.82, Z:5.32 [[ 9.91111134e-01 -1.20503917e-01 -5.63695461e-02 1.16778223e+02] [ 1.20481327e-01 9.92708277e-01 -3.81147487e-03 8.81592235e+00] [ 5.64178126e-02 -3.01388252e-03 9.98402698e-01 5.31846644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:8.81, Z:5.32 [[ 9.91140161e-01 -1.20483954e-01 -5.58998947e-02 1.16808213e+02] [ 1.20461714e-01 9.92710779e-01 -3.77956739e-03 8.81483639e+00] [ 5.59478052e-02 -2.98771608e-03 9.98429225e-01 5.31999778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:8.82, Z:5.32 [[ 9.91156491e-01 -1.20545879e-01 -5.54752331e-02 1.16839780e+02] [ 1.20524150e-01 9.92703315e-01 -3.74943358e-03 8.82054962e+00] [ 5.55224266e-02 -2.96982986e-03 9.98453024e-01 5.32260985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:8.82, Z:5.32 [[ 9.90983514e-01 -1.22032916e-01 -5.53140385e-02 1.16870245e+02] [ 1.22013816e-01 9.92521374e-01 -3.73499378e-03 8.82050322e+00] [ 5.53561577e-02 -3.04775965e-03 9.98462021e-01 5.32476493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:8.82, Z:5.33 [[ 9.90849556e-01 -1.22867445e-01 -5.58636606e-02 1.16900448e+02] [ 1.22849342e-01 9.92418167e-01 -3.77110526e-03 8.82084309e+00] [ 5.59034577e-02 -3.12621599e-03 9.98431285e-01 5.32583999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:8.82, Z:5.33 [[ 9.90486527e-01 -1.25333311e-01 -5.68155039e-02 1.16931169e+02] [ 1.25318688e-01 9.92109129e-01 -3.83434043e-03 8.82497239e+00] [ 5.68477507e-02 -3.32218186e-03 9.98377332e-01 5.32711701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:8.82, Z:5.33 [[ 9.90330625e-01 -1.26407010e-01 -5.71534833e-02 1.16962315e+02] [ 1.26394075e-01 9.91972616e-01 -3.85574600e-03 8.82370715e+00] [ 5.71820836e-02 -3.40539829e-03 9.98357958e-01 5.32808005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:8.82, Z:5.33 [[ 9.90146930e-01 -1.27506025e-01 -5.78901621e-02 1.16993959e+02] [ 1.27494801e-01 9.91831562e-01 -3.90244745e-03 8.82448937e+00] [ 5.79148754e-02 -3.51669836e-03 9.98315331e-01 5.32868301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:8.83, Z:5.33 [[ 9.90118937e-01 -1.27470615e-01 -5.84442778e-02 1.17025695e+02] [ 1.27459241e-01 9.91835993e-01 -3.93770186e-03 8.82630172e+00] [ 5.84690796e-02 -3.55047009e-03 9.98282906e-01 5.32969528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:8.83, Z:5.33 [[ 9.90123466e-01 -1.27435362e-01 -5.84444175e-02 1.17056497e+02] [ 1.27424048e-01 9.91840523e-01 -3.93562755e-03 8.82834504e+00] [ 5.84690798e-02 -3.55046710e-03 9.98282906e-01 5.33116350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:8.83, Z:5.33 [[ 9.90152913e-01 -1.27143763e-01 -5.85804851e-02 1.17087507e+02] [ 1.27132013e-01 9.91877970e-01 -3.94268330e-03 8.83395151e+00] [ 5.86059802e-02 -3.54359562e-03 9.98274903e-01 5.33305376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:8.84, Z:5.33 [[ 9.90243126e-01 -1.26245491e-01 -5.89968466e-02 1.17117895e+02] [ 1.26232143e-01 9.91992792e-01 -3.96811257e-03 8.83659358e+00] [ 5.90254030e-02 -3.51790216e-03 9.98250282e-01 5.33376721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:8.84, Z:5.33 [[ 9.90440865e-01 -1.24937748e-01 -5.84589689e-02 1.17148692e+02] [ 1.24922593e-01 9.92158715e-01 -3.92812940e-03 8.83785056e+00] [ 5.84913471e-02 -3.41226611e-03 9.98282084e-01 5.33424200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:8.84, Z:5.34 [[ 9.90549425e-01 -1.24237978e-01 -5.81099117e-02 1.17180476e+02] [ 1.24221936e-01 9.92246785e-01 -3.90239358e-03 8.84033588e+00] [ 5.81441985e-02 -3.35301199e-03 9.98302564e-01 5.33553046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:8.84, Z:5.34 [[ 9.90603092e-01 -1.23898480e-01 -5.79196030e-02 1.17211404e+02] [ 1.23882131e-01 9.92289328e-01 -3.88672019e-03 8.84203183e+00] [ 5.79545627e-02 -3.32500684e-03 9.98313685e-01 5.33689423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:8.84, Z:5.34 [[ 9.90638543e-01 -1.23852798e-01 -5.74087333e-02 1.17242246e+02] [ 1.23836773e-01 9.92295131e-01 -3.85042612e-03 8.84461635e+00] [ 5.74432926e-02 -3.29493173e-03 9.98343334e-01 5.33876183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:8.85, Z:5.34 [[ 9.90767298e-01 -1.23077297e-01 -5.68519204e-02 1.17273630e+02] [ 1.23060420e-01 9.92391862e-01 -3.81109632e-03 8.84744370e+00] [ 5.68884426e-02 -3.22031161e-03 9.98375348e-01 5.34038041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:8.85, Z:5.34 [[ 9.90807771e-01 -1.22969243e-01 -5.63784157e-02 1.17304160e+02] [ 1.22952593e-01 9.92405357e-01 -3.77717340e-03 8.84956530e+00] [ 5.64147179e-02 -3.18941963e-03 9.98402327e-01 5.34172554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:8.86, Z:5.34 [[ 9.90777192e-01 -1.23307639e-01 -5.61763423e-02 1.17335790e+02] [ 1.23291845e-01 9.92363332e-01 -3.76014863e-03 8.85759903e+00] [ 5.62109973e-02 -3.20061537e-03 9.98413782e-01 5.34436034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:8.86, Z:5.35 [[ 9.90677988e-01 -1.24137032e-01 -5.60992121e-02 1.17367115e+02] [ 1.24122827e-01 9.92259771e-01 -3.75104509e-03 8.85865002e+00] [ 5.61306350e-02 -3.24711501e-03 9.98418153e-01 5.34558801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.40, Y:8.86, Z:5.35 [[ 9.90618938e-01 -1.24659050e-01 -5.59842892e-02 1.17398809e+02] [ 1.24645913e-01 9.92194239e-01 -3.74015230e-03 8.86263077e+00] [ 5.60135330e-02 -3.27314712e-03 9.98424644e-01 5.34771356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:8.86, Z:5.35 [[ 9.90469655e-01 -1.25716874e-01 -5.62594875e-02 1.17430072e+02] [ 1.25705532e-01 9.92060493e-01 -3.75454389e-03 8.86391748e+00] [ 5.62848244e-02 -3.35336702e-03 9.98409121e-01 5.34909866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:8.87, Z:5.35 [[ 9.90453359e-01 -1.25695158e-01 -5.65939093e-02 1.17462501e+02] [ 1.25683834e-01 9.92063170e-01 -3.77358316e-03 8.86682764e+00] [ 5.66190542e-02 -3.37538138e-03 9.98390149e-01 5.35052373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:8.87, Z:5.35 [[ 9.90555841e-01 -1.25129034e-01 -5.60522094e-02 1.17493465e+02] [ 1.25117237e-01 9.92134939e-01 -3.73358901e-03 8.86926447e+00] [ 5.60785357e-02 -3.31476918e-03 9.98420858e-01 5.35207403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:8.87, Z:5.35 [[ 9.90699341e-01 -1.24263789e-01 -5.54375970e-02 1.17524707e+02] [ 1.24251099e-01 9.92243950e-01 -3.68902782e-03 8.87177524e+00] [ 5.54660327e-02 -3.23346490e-03 9.98455339e-01 5.35396628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:8.88, Z:5.36 [[ 9.90817554e-01 -1.23576330e-01 -5.48585980e-02 1.17556631e+02] [ 1.23563231e-01 9.92330012e-01 -3.64360526e-03 8.87730356e+00] [ 5.48880966e-02 -3.16835757e-03 9.98487485e-01 5.35648695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:8.88, Z:5.36 [[ 9.91004267e-01 -1.22405955e-01 -5.41047633e-02 1.17588107e+02] [ 1.22391704e-01 9.92475384e-01 -3.58927565e-03 8.87912252e+00] [ 5.41369944e-02 -3.06498666e-03 9.98528814e-01 5.35797903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:8.89, Z:5.36 [[ 9.91144099e-01 -1.21339068e-01 -5.39463137e-02 1.17620030e+02] [ 1.21323688e-01 9.92606570e-01 -3.57203119e-03 8.88635077e+00] [ 5.39808924e-02 -3.00456813e-03 9.98537448e-01 5.35926115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:8.89, Z:5.36 [[ 9.91133733e-01 -1.21684534e-01 -5.33553927e-02 1.17651516e+02] [ 1.21670186e-01 9.92564311e-01 -3.52916242e-03 8.88784402e+00] [ 5.33881031e-02 -2.99388863e-03 9.98569350e-01 5.36089362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:8.89, Z:5.36 [[ 9.91080896e-01 -1.22334071e-01 -5.28491560e-02 1.17683439e+02] [ 1.22321068e-01 9.92484437e-01 -3.49272963e-03 8.89132105e+00] [ 5.28792446e-02 -3.00298759e-03 9.98596399e-01 5.36279083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:8.89, Z:5.36 [[ 9.90871702e-01 -1.24170094e-01 -5.24886542e-02 1.17714606e+02] [ 1.24160022e-01 9.92256157e-01 -3.46527772e-03 8.88721227e+00] [ 5.25124742e-02 -3.08334684e-03 9.98615508e-01 5.36404531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:8.89, Z:5.37 [[ 9.90728465e-01 -1.25128630e-01 -5.29144142e-02 1.17745753e+02] [ 1.25119865e-01 9.92135490e-01 -3.49134173e-03 8.89448290e+00] [ 5.29351350e-02 -3.16167275e-03 9.98592948e-01 5.36582582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:8.90, Z:5.37 [[ 9.90504680e-01 -1.26350646e-01 -5.41847964e-02 1.17778042e+02] [ 1.26343454e-01 9.91980127e-01 -3.57198673e-03 8.89586221e+00] [ 5.42015641e-02 -3.30782478e-03 9.98524536e-01 5.36602883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:8.89, Z:5.37 [[ 9.90357681e-01 -1.27125896e-01 -5.50515260e-02 1.17809881e+02] [ 1.27119886e-01 9.91880735e-01 -3.62516924e-03 8.89271379e+00] [ 5.50654010e-02 -3.40792953e-03 9.98476934e-01 5.36564024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:8.90, Z:5.37 [[ 9.90335647e-01 -1.27290101e-01 -5.50684784e-02 1.17841400e+02] [ 1.27284514e-01 9.91859630e-01 -3.62313838e-03 8.89647919e+00] [ 5.50813902e-02 -3.42124141e-03 9.98476007e-01 5.36715258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:8.90, Z:5.37 [[ 9.90398754e-01 -1.26606596e-01 -5.55074644e-02 1.17873081e+02] [ 1.26600076e-01 9.91947132e-01 -3.64801161e-03 8.89697258e+00] [ 5.55223325e-02 -3.41426309e-03 9.98451608e-01 5.36812306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:8.90, Z:5.37 [[ 9.90475491e-01 -1.25997385e-01 -5.55244086e-02 1.17904688e+02] [ 1.25990129e-01 9.92024798e-01 -3.64515744e-03 8.90366250e+00] [ 5.55408705e-02 -3.38508829e-03 9.98450676e-01 5.37019213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:8.91, Z:5.37 [[ 9.90582094e-01 -1.25221593e-01 -5.53774992e-02 1.17935385e+02] [ 1.25213415e-01 9.92123186e-01 -3.63105754e-03 8.90544659e+00] [ 5.53959877e-02 -3.33714519e-03 9.98458886e-01 5.37203511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:8.91, Z:5.37 [[ 9.90750352e-01 -1.24263436e-01 -5.45191553e-02 1.17967573e+02] [ 1.24254413e-01 9.92243976e-01 -3.56833179e-03 8.90843382e+00] [ 5.45397165e-02 -3.23891967e-03 9.98506349e-01 5.37404919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:8.91, Z:5.38 [[ 9.90881052e-01 -1.23580902e-01 -5.36889321e-02 1.17999903e+02] [ 1.23571354e-01 9.92329481e-01 -3.51019474e-03 8.91162704e+00] [ 5.37109032e-02 -3.15622860e-03 9.98551540e-01 5.37625571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:8.91, Z:5.38 [[ 9.91157374e-01 -1.21965634e-01 -5.22632158e-02 1.18030269e+02] [ 1.21954522e-01 9.92529819e-01 -3.41358108e-03 8.91370740e+00] [ 5.22891397e-02 -2.99033945e-03 9.98627510e-01 5.37804242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:8.92, Z:5.38 [[ 9.91225280e-01 -1.21790293e-01 -5.13767317e-02 1.18062105e+02] [ 1.21779374e-01 9.92551526e-01 -3.35456542e-03 8.91824264e+00] [ 5.14026069e-02 -2.93149619e-03 9.98673710e-01 5.37936226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:8.92, Z:5.38 [[ 9.91190076e-01 -1.21948285e-01 -5.16802512e-02 1.18093037e+02] [ 1.21937644e-01 9.92532040e-01 -3.37066997e-03 8.91732682e+00] [ 5.17053525e-02 -2.96079346e-03 9.98657995e-01 5.38010768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:8.92, Z:5.38 [[ 9.91070765e-01 -1.22903319e-01 -5.17060209e-02 1.18124007e+02] [ 1.22894123e-01 9.92414068e-01 -3.36924111e-03 8.91620513e+00] [ 5.17278734e-02 -3.01520973e-03 9.98656666e-01 5.38039599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:8.91, Z:5.38 [[ 9.90938483e-01 -1.24058020e-01 -5.14832988e-02 1.18154785e+02] [ 1.24050762e-01 9.92270222e-01 -3.34875470e-03 8.91457525e+00] [ 5.15007842e-02 -3.06813257e-03 9.98668241e-01 5.38150877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:8.92, Z:5.38 [[ 9.90785876e-01 -1.25365751e-01 -5.12520841e-02 1.18187000e+02] [ 1.25360398e-01 9.92105675e-01 -3.33179465e-03 8.91768199e+00] [ 5.12651764e-02 -3.12388658e-03 9.98680191e-01 5.38351999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:8.92, Z:5.39 [[ 9.90754017e-01 -1.25717102e-01 -5.10067511e-02 1.18219491e+02] [ 1.25712446e-01 9.92061193e-01 -3.31226603e-03 8.92022149e+00] [ 5.10182268e-02 -3.13054254e-03 9.98692816e-01 5.38540450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:8.92, Z:5.39 [[ 9.90791305e-01 -1.25529108e-01 -5.07447883e-02 1.18251357e+02] [ 1.25524436e-01 9.92085067e-01 -3.29164587e-03 8.92411889e+00] [ 5.07563441e-02 -3.10837683e-03 9.98706229e-01 5.38721938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:8.92, Z:5.39 [[ 9.90925784e-01 -1.25053246e-01 -4.92724699e-02 1.18282269e+02] [ 1.25048422e-01 9.92145503e-01 -3.19266616e-03 8.92152804e+00] [ 4.92847127e-02 -2.99774938e-03 9.98780271e-01 5.38977017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:8.92, Z:5.39 [[ 9.91014835e-01 -1.24483486e-01 -4.89229890e-02 1.18314507e+02] [ 1.24478168e-01 9.92217291e-01 -3.16734446e-03 8.92395284e+00] [ 4.89365177e-02 -2.95095872e-03 9.98797532e-01 5.39215327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:8.93, Z:5.39 [[ 9.91237507e-01 -1.22518214e-01 -4.93709672e-02 1.18345501e+02] [ 1.22510543e-01 9.92462076e-01 -3.19287772e-03 8.92926727e+00] [ 4.93899982e-02 -2.88356386e-03 9.98775407e-01 5.39440151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:8.94, Z:5.40 [[ 9.91474238e-01 -1.20584326e-01 -4.93786925e-02 1.18376994e+02] [ 1.20574353e-01 9.92699169e-01 -3.19156849e-03 8.93552546e+00] [ 4.94030402e-02 -2.78944598e-03 9.98775029e-01 5.39556540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:8.94, Z:5.40 [[ 9.91580845e-01 -1.19592585e-01 -4.96491904e-02 1.18409589e+02] [ 1.19581405e-01 9.92819222e-01 -3.20623261e-03 8.93800104e+00] [ 4.96761122e-02 -2.75788110e-03 9.98761572e-01 5.39651038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:8.94, Z:5.40 [[ 9.91720847e-01 -1.18395289e-01 -4.97224049e-02 1.18440635e+02] [ 1.18382799e-01 9.92962855e-01 -3.20649923e-03 8.93846108e+00] [ 4.97521356e-02 -2.70632534e-03 9.98757929e-01 5.39717149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:8.94, Z:5.40 [[ 9.91835989e-01 -1.17382213e-01 -4.98275695e-02 1.18472804e+02] [ 1.17368533e-01 9.93083239e-01 -3.21052037e-03 8.94159832e+00] [ 4.98597821e-02 -2.66387912e-03 9.98752675e-01 5.39851421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.50, Y:8.94, Z:5.40 [[ 9.92090542e-01 -1.15400495e-01 -4.93870700e-02 1.18503703e+02] [ 1.15384779e-01 9.93315785e-01 -3.17866541e-03 8.94112928e+00] [ 4.94237758e-02 -2.54499228e-03 9.98774656e-01 5.39946546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:8.95, Z:5.40 [[ 9.92299455e-01 -1.13668565e-01 -4.92061818e-02 1.18535103e+02] [ 1.13650929e-01 9.93515701e-01 -3.16522603e-03 8.94650128e+00] [ 4.92469009e-02 -2.45147620e-03 9.98783627e-01 5.40058888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:8.95, Z:5.40 [[ 9.92467422e-01 -1.12400032e-01 -4.87303763e-02 1.18567234e+02] [ 1.12381339e-01 9.93660216e-01 -3.13198332e-03 8.94979881e+00] [ 4.87734713e-02 -2.36799351e-03 9.98807059e-01 5.40203364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:8.95, Z:5.40 [[ 9.92458944e-01 -1.12345871e-01 -4.90270335e-02 1.18599461e+02] [ 1.12327059e-01 9.93666305e-01 -3.14748360e-03 8.95107150e+00] [ 4.90701180e-02 -2.38331423e-03 9.98792493e-01 5.40348267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:8.95, Z:5.40 [[ 9.92482315e-01 -1.12350722e-01 -4.85403916e-02 1.18630437e+02] [ 1.12332453e-01 9.93665804e-01 -3.11281482e-03 8.95034178e+00] [ 4.85826542e-02 -2.36324762e-03 9.98816370e-01 5.40484493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:8.95, Z:5.41 [[ 9.92473482e-01 -1.12575971e-01 -4.81979138e-02 1.18662218e+02] [ 1.12558347e-01 9.93640318e-01 -3.08828348e-03 8.95305724e+00] [ 4.82390569e-02 -2.36003803e-03 9.98833031e-01 5.40639332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:8.95, Z:5.41 [[ 9.92387341e-01 -1.13761579e-01 -4.71769867e-02 1.18694336e+02] [ 1.13746183e-01 9.93505253e-01 -3.01956120e-03 8.95302263e+00] [ 4.72140942e-02 -2.36962786e-03 9.98881982e-01 5.40896082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:8.95, Z:5.41 [[ 9.92258851e-01 -1.15209571e-01 -4.63586771e-02 1.18725757e+02] [ 1.15196429e-01 9.93338310e-01 -2.96394699e-03 8.95105741e+00] [ 4.63913250e-02 -2.39935139e-03 9.98920461e-01 5.41128681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:8.95, Z:5.41 [[ 9.92184997e-01 -1.15792255e-01 -4.64874832e-02 1.18757867e+02] [ 1.15779882e-01 9.93270462e-01 -2.96776735e-03 8.95262003e+00] [ 4.65182884e-02 -2.43774110e-03 9.98914464e-01 5.41284342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77509989299999 meters Centerline goodness [0,1] 0.9999572868614386 Centerline is valid? [True, True] Translation: X:118.79, Y:8.95, Z:5.41 [[ 9.92147482e-01 -1.16311764e-01 -4.59885549e-02 1.18788776e+02] [ 1.16300360e-01 9.93209759e-01 -2.93267683e-03 8.95178709e+00] [ 4.60173864e-02 -2.43883756e-03 9.98937662e-01 5.41452239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:8.96, Z:5.42 [[ 9.92046129e-01 -1.17381936e-01 -4.54528294e-02 1.18820966e+02] [ 1.17372020e-01 9.93083794e-01 -2.89619287e-03 8.95752345e+00] [ 4.54784290e-02 -2.46173347e-03 9.98962288e-01 5.41626958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.85, Y:8.96, Z:5.42 [[ 9.92014848e-01 -1.17618891e-01 -4.55229378e-02 1.18852105e+02] [ 1.17609342e-01 9.93055712e-01 -2.89738222e-03 8.95531837e+00] [ 4.55476003e-02 -2.47967659e-03 9.98959092e-01 5.41808318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.865099893 meters Centerline goodness [0,1] 0.999914639351259 Centerline is valid? [True, True] Translation: X:118.88, Y:8.96, Z:5.42 [[ 9.91961838e-01 -1.17939024e-01 -4.58486386e-02 1.18884604e+02] [ 1.17929926e-01 9.93017648e-01 -2.91277027e-03 8.95584088e+00] [ 4.58720365e-02 -2.51756958e-03 9.98944152e-01 5.41948256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.92, Y:8.95, Z:5.42 [[ 9.91853266e-01 -1.18619085e-01 -4.64393274e-02 1.18916360e+02] [ 1.18610650e-01 9.92936468e-01 -2.94693547e-03 8.95445075e+00] [ 4.64608645e-02 -2.58527126e-03 9.98916766e-01 5.42048602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.95, Y:8.95, Z:5.42 [[ 9.91788054e-01 -1.19012442e-01 -4.68240762e-02 1.18947143e+02] [ 1.19004424e-01 9.92889285e-01 -2.96883906e-03 8.95354326e+00] [ 4.68444524e-02 -2.62781309e-03 9.98898740e-01 5.42170327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.98, Y:8.96, Z:5.42 [[ 9.91736052e-01 -1.19571725e-01 -4.64995146e-02 1.18978687e+02] [ 1.19564502e-01 9.92822062e-01 -2.94668505e-03 8.95864334e+00] [ 4.65180842e-02 -2.63735751e-03 9.98913966e-01 5.42264222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.01, Y:8.96, Z:5.42 [[ 9.91690115e-01 -1.19923809e-01 -4.65724869e-02 1.19010447e+02] [ 1.19917109e-01 9.92779531e-01 -2.94790424e-03 8.95893341e+00] [ 4.65897356e-02 -2.66143050e-03 9.98910563e-01 5.42378823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01509989299998 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:119.04, Y:8.96, Z:5.42 [[ 9.91450248e-01 -1.21544893e-01 -4.74683477e-02 1.19042196e+02] [ 1.21539911e-01 9.92582006e-01 -3.00198389e-03 8.95674209e+00] [ 4.74811036e-02 -2.79298107e-03 9.98868232e-01 5.42396520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299999 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:119.07, Y:8.96, Z:5.43 [[ 9.91458912e-01 -1.21474138e-01 -4.74685086e-02 1.19073849e+02] [ 1.21469196e-01 9.92590670e-01 -2.99943684e-03 8.95868121e+00] [ 4.74811528e-02 -2.79214318e-03 9.98868232e-01 5.42547320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:8.96, Z:5.43 [[ 9.91443216e-01 -1.21505189e-01 -4.77162343e-02 1.19106183e+02] [ 1.21500396e-01 9.92586814e-01 -3.01165481e-03 8.96310548e+00] [ 4.77284367e-02 -2.81165664e-03 9.98856392e-01 5.42650172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.14, Y:8.96, Z:5.43 [[ 9.91277738e-01 -1.22461918e-01 -4.86983073e-02 1.19137893e+02] [ 1.22458257e-01 9.92468917e-01 -3.06998433e-03 8.96002233e+00] [ 4.87075125e-02 -2.92030273e-03 9.98808816e-01 5.42683657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:8.96, Z:5.43 [[ 9.91216805e-01 -1.22929256e-01 -4.87610785e-02 1.19168746e+02] [ 1.22926285e-01 9.92411052e-01 -3.07114926e-03 8.95944564e+00] [ 4.87685674e-02 -2.94984350e-03 9.98805750e-01 5.42807143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:8.96, Z:5.43 [[ 9.91132823e-01 -1.23642689e-01 -4.86642831e-02 1.19200843e+02] [ 1.23640879e-01 9.92322314e-01 -3.05903272e-03 8.96108477e+00] [ 4.86688810e-02 -2.98498700e-03 9.98810507e-01 5.42940960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.23, Y:8.96, Z:5.43 [[ 9.91043893e-01 -1.24289388e-01 -4.88277649e-02 1.19232119e+02] [ 1.24288520e-01 9.92241384e-01 -3.06578212e-03 8.96026672e+00] [ 4.88299732e-02 -3.03040600e-03 9.98802508e-01 5.43086634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:8.96, Z:5.43 [[ 9.90967542e-01 -1.24792181e-01 -4.90942129e-02 1.19262923e+02] [ 1.24792049e-01 9.92178139e-01 -3.07987017e-03 8.95957700e+00] [ 4.90945485e-02 -3.07451607e-03 9.98789404e-01 5.43198391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:8.96, Z:5.43 [[ 9.90849010e-01 -1.25438128e-01 -4.98348887e-02 1.19295336e+02] [ 1.25438903e-01 9.92096427e-01 -3.12444020e-03 8.96100334e+00] [ 4.98329390e-02 -3.15538530e-03 9.98752583e-01 5.43309303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:8.96, Z:5.43 [[ 9.90949469e-01 -1.24569089e-01 -5.00169138e-02 1.19326320e+02] [ 1.24568944e-01 9.92206010e-01 -3.13234043e-03 8.96246202e+00] [ 5.00172752e-02 -3.12656304e-03 9.98743459e-01 5.43409461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.36, Y:8.96, Z:5.44 [[ 9.91220363e-01 -1.22660553e-01 -4.93617288e-02 1.19357523e+02] [ 1.22658139e-01 9.92444172e-01 -3.08956354e-03 8.96309495e+00] [ 4.93677276e-02 -2.99217950e-03 9.98776188e-01 5.43578924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:8.97, Z:5.44 [[ 9.91560523e-01 -1.19896238e-01 -4.93216108e-02 1.19388768e+02] [ 1.19890510e-01 9.92782326e-01 -3.08525010e-03 8.96772221e+00] [ 4.93355334e-02 -2.85398085e-03 9.98778184e-01 5.43821979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:8.97, Z:5.44 [[ 9.91758937e-01 -1.18182836e-01 -4.94674390e-02 1.19419408e+02] [ 1.18175081e-01 9.92987961e-01 -3.09173765e-03 8.96865940e+00] [ 4.94859618e-02 -2.77956016e-03 9.98770952e-01 5.44005262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:8.97, Z:5.44 [[ 9.92001412e-01 -1.16129843e-01 -4.94677441e-02 1.19449615e+02] [ 1.16119630e-01 9.93230428e-01 -3.09001243e-03 8.96959863e+00] [ 4.94917113e-02 -2.67887947e-03 9.98770942e-01 5.44158124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:8.98, Z:5.44 [[ 9.92188522e-01 -1.14461181e-01 -4.96041817e-02 1.19480627e+02] [ 1.14448880e-01 9.93424309e-01 -3.09761073e-03 8.97749437e+00] [ 4.96325561e-02 -2.60372922e-03 9.98764151e-01 5.44377330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:8.98, Z:5.45 [[ 9.92717711e-01 -1.09636303e-01 -4.99142036e-02 1.19510849e+02] [ 1.09617855e-01 9.93968924e-01 -3.11517138e-03 8.98332248e+00] [ 4.99547031e-02 -2.37900215e-03 9.98748651e-01 5.44513722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:8.98, Z:5.45 [[ 9.92997034e-01 -1.07024740e-01 -5.00259400e-02 1.19541336e+02] [ 1.07002951e-01 9.94253804e-01 -3.12121506e-03 8.98202383e+00] [ 5.00725283e-02 -2.25356591e-03 9.98743042e-01 5.44637589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:8.99, Z:5.45 [[ 9.93280262e-01 -1.04359168e-01 -5.00348505e-02 1.19572046e+02] [ 1.04334043e-01 9.94537414e-01 -3.12084167e-03 8.98528287e+00] [ 5.00872193e-02 -2.12046783e-03 9.98742597e-01 5.44799384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:8.99, Z:5.45 [[ 9.93529171e-01 -1.01929212e-01 -5.01021123e-02 1.19602617e+02] [ 1.01900981e-01 9.94789641e-01 -3.12416229e-03 8.98896352e+00] [ 5.01595057e-02 -2.00150802e-03 9.98739214e-01 5.44986741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:8.99, Z:5.45 [[ 9.93791028e-01 -9.94354561e-02 -4.99197728e-02 1.19633481e+02] [ 9.94043329e-02 9.95042258e-01 -3.11192496e-03 8.99309247e+00] [ 4.99817191e-02 -1.86963860e-03 9.98748383e-01 5.45162529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:9.00, Z:5.45 [[ 9.93991793e-01 -9.71091734e-02 -5.04987468e-02 1.19662712e+02] [ 9.70743681e-02 9.95272155e-01 -3.14722895e-03 8.99559951e+00] [ 5.05656214e-02 -1.77381419e-03 9.98719165e-01 5.45284300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:9.00, Z:5.45 [[ 9.94199810e-01 -9.41760893e-02 -5.19384507e-02 1.19693313e+02] [ 9.41352368e-02 9.95554154e-01 -3.23772491e-03 9.00082212e+00] [ 5.20124567e-02 -1.67029287e-03 9.98645039e-01 5.45387565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:9.00, Z:5.45 [[ 9.94382101e-01 -9.15155318e-02 -5.31897037e-02 1.19722702e+02] [ 9.14689287e-02 9.95802413e-01 -3.31496344e-03 9.00310558e+00] [ 5.32698060e-02 -1.56886491e-03 9.98578923e-01 5.45372596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:9.00, Z:5.45 [[ 9.94438759e-01 -9.05150925e-02 -5.38383949e-02 1.19750084e+02] [ 9.04658063e-02 9.95893905e-01 -3.35679972e-03 9.00484656e+00] [ 5.39211704e-02 -1.53240205e-03 9.98544020e-01 5.45422416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:9.01, Z:5.46 [[ 9.94541998e-01 -8.97202504e-02 -5.32587156e-02 1.19778328e+02] [ 8.96705864e-02 9.95965924e-01 -3.32617705e-03 9.00666287e+00] [ 5.33422913e-02 -1.46771749e-03 9.98575208e-01 5.45567766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:9.01, Z:5.46 [[ 9.94581408e-01 -8.95947066e-02 -5.27315036e-02 1.19806731e+02] [ 8.95451724e-02 9.95977275e-01 -3.30595735e-03 9.00877476e+00] [ 5.28155755e-02 -1.43380787e-03 9.98603254e-01 5.45717019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.84, Y:9.01, Z:5.46 [[ 9.94549740e-01 -8.99170271e-02 -5.27801323e-02 1.19835054e+02] [ 8.98671700e-02 9.95948220e-01 -3.32194080e-03 9.01316760e+00] [ 5.28649779e-02 -1.43936576e-03 9.98600632e-01 5.45959114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.86, Y:9.01, Z:5.46 [[ 9.94499618e-01 -9.11674660e-02 -5.15655174e-02 1.19863170e+02] [ 9.11209231e-02 9.95834507e-01 -3.25770686e-03 9.01257247e+00] [ 5.16477185e-02 -1.45890932e-03 9.98664300e-01 5.46130006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.89, Y:9.01, Z:5.46 [[ 9.94092841e-01 -9.62228368e-02 -5.02054763e-02 1.19893222e+02] [ 9.61849346e-02 9.95358413e-01 -3.17605410e-03 9.00939953e+00] [ 5.02780522e-02 -1.67171782e-03 9.98733860e-01 5.46403844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:9.01, Z:5.47 [[ 9.93355691e-01 -1.03380551e-01 -5.05661208e-02 1.19924043e+02] [ 1.03351264e-01 9.94639770e-01 -3.20058416e-03 9.00658249e+00] [ 5.06259530e-02 -2.04675400e-03 9.98715587e-01 5.46632053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:9.01, Z:5.47 [[ 9.93060063e-01 -1.05973655e-01 -5.10028892e-02 1.19954488e+02] [ 1.05947261e-01 9.94366509e-01 -3.22844138e-03 9.00678567e+00] [ 5.10576946e-02 -2.19758021e-03 9.98693287e-01 5.46721407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.98, Y:9.00, Z:5.47 [[ 9.92776041e-01 -1.08434419e-01 -5.13586424e-02 1.19983939e+02] [ 1.08410936e-01 9.94100850e-01 -3.25103052e-03 9.00474616e+00] [ 5.14081936e-02 -2.34029326e-03 9.98674982e-01 5.46809184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:9.00, Z:5.47 [[ 9.92253266e-01 -1.13003007e-01 -5.16117880e-02 1.20013974e+02] [ 1.12985403e-01 9.93591274e-01 -3.26798127e-03 9.00336392e+00] [ 5.16503139e-02 -2.58871356e-03 9.98661877e-01 5.46915020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:9.00, Z:5.47 [[ 9.92020443e-01 -1.14995517e-01 -5.16862791e-02 1.20044520e+02] [ 1.14980518e-01 9.93362353e-01 -3.27346894e-03 9.00238352e+00] [ 5.17196381e-02 -2.69556702e-03 9.98658006e-01 5.47024109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.07, Y:9.00, Z:5.47 [[ 9.92020445e-01 -1.14995477e-01 -5.16863320e-02 1.20074467e+02] [ 1.14980521e-01 9.93362356e-01 -3.27263376e-03 9.00427928e+00] [ 5.17195946e-02 -2.69640179e-03 9.98658006e-01 5.47166852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.11, Y:9.01, Z:5.47 [[ 9.91643000e-01 -1.17897566e-01 -5.23862977e-02 1.20105167e+02] [ 1.17886246e-01 9.93021567e-01 -3.31679067e-03 9.00653344e+00] [ 5.24117649e-02 -2.88655175e-03 9.98621387e-01 5.47297121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.14, Y:9.01, Z:5.47 [[ 9.91394514e-01 -1.19841239e-01 -5.26782146e-02 1.20136564e+02] [ 1.19832619e-01 9.92788513e-01 -3.33351645e-03 9.00629417e+00] [ 5.26978191e-02 -3.00773851e-03 9.98605975e-01 5.47454696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:9.01, Z:5.48 [[ 9.91368460e-01 -1.19764386e-01 -5.33391838e-02 1.20168103e+02] [ 1.19755545e-01 9.92797678e-01 -3.37339951e-03 9.00833974e+00] [ 5.33590309e-02 -3.04338112e-03 9.98570754e-01 5.47566000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:9.01, Z:5.48 [[ 9.91380684e-01 -1.19523094e-01 -5.36523053e-02 1.20198891e+02] [ 1.19513891e-01 9.92826736e-01 -3.39147444e-03 9.01073849e+00] [ 5.36728026e-02 -3.04995352e-03 9.98553918e-01 5.47657534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:9.01, Z:5.48 [[ 9.91428365e-01 -1.18736664e-01 -5.45105633e-02 1.20229090e+02] [ 1.18725984e-01 9.92921078e-01 -3.44572673e-03 9.01270608e+00] [ 5.45338214e-02 -3.05562905e-03 9.98507249e-01 5.47741235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:9.01, Z:5.48 [[ 9.91501029e-01 -1.17983041e-01 -5.48243767e-02 1.20258687e+02] [ 1.17971083e-01 9.93010983e-01 -3.46569573e-03 9.01326514e+00] [ 5.48501015e-02 -3.03145023e-03 9.98489998e-01 5.47845445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:9.02, Z:5.48 [[ 9.91635764e-01 -1.16874807e-01 -5.47612136e-02 1.20287807e+02] [ 1.16861133e-01 9.93142228e-01 -3.46280707e-03 9.01538490e+00] [ 5.47903886e-02 -2.96561413e-03 9.98493474e-01 5.48009081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:9.02, Z:5.48 [[ 9.91840192e-01 -1.15236631e-01 -5.45302839e-02 1.20317600e+02] [ 1.15220506e-01 9.93333948e-01 -3.44998705e-03 9.01990744e+00] [ 5.45643471e-02 -2.86117109e-03 9.98506157e-01 5.48223232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:9.02, Z:5.48 [[ 9.91954973e-01 -1.14318844e-01 -5.43740205e-02 1.20346716e+02] [ 1.14301385e-01 9.93440161e-01 -3.44105174e-03 9.02166038e+00] [ 5.44107128e-02 -2.80165745e-03 9.98514709e-01 5.48409311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:9.03, Z:5.49 [[ 9.92045586e-01 -1.13775928e-01 -5.38571594e-02 1.20377120e+02] [ 1.13757955e-01 9.93502645e-01 -3.40916076e-03 9.02672287e+00] [ 5.38951107e-02 -2.74463744e-03 9.98542830e-01 5.48654226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:9.03, Z:5.49 [[ 9.92146545e-01 -1.13038214e-01 -5.35499360e-02 1.20406716e+02] [ 1.13019368e-01 9.93587002e-01 -3.38982170e-03 9.02835372e+00] [ 5.35896998e-02 -2.68898006e-03 9.98559419e-01 5.48845134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:9.03, Z:5.49 [[ 9.92157867e-01 -1.12985603e-01 -5.34510968e-02 1.20436987e+02] [ 1.12966705e-01 9.93593010e-01 -3.38440166e-03 9.03011546e+00] [ 5.34910248e-02 -2.68033354e-03 9.98564733e-01 5.48986380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.47, Y:9.03, Z:5.49 [[ 9.92121288e-01 -1.12970026e-01 -5.41583093e-02 1.20466169e+02] [ 1.12950605e-01 9.93594687e-01 -3.42915944e-03 9.03093830e+00] [ 5.41988006e-02 -2.71507173e-03 9.98526474e-01 5.49054141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:9.04, Z:5.49 [[ 9.92083178e-01 -1.13117400e-01 -5.45474342e-02 1.20496246e+02] [ 1.13097931e-01 9.93577843e-01 -3.45364657e-03 9.03702631e+00] [ 5.45877896e-02 -2.74289729e-03 9.98505208e-01 5.49237654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:9.04, Z:5.49 [[ 9.91977108e-01 -1.13692551e-01 -5.52758548e-02 1.20526513e+02] [ 1.13673451e-01 9.93512002e-01 -3.49976619e-03 9.03938013e+00] [ 5.53151225e-02 -2.81170924e-03 9.98464988e-01 5.49375170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:9.04, Z:5.50 [[ 9.91912223e-01 -1.14120833e-01 -5.55569749e-02 1.20557055e+02] [ 1.14102209e-01 9.93462789e-01 -3.51756519e-03 9.04329585e+00] [ 5.55952147e-02 -2.85005767e-03 9.98449322e-01 5.49592454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:9.05, Z:5.50 [[ 9.91873085e-01 -1.14644281e-01 -5.51767441e-02 1.20588202e+02] [ 1.14626732e-01 9.93402491e-01 -3.49320600e-03 9.04763772e+00] [ 5.52131911e-02 -2.85991286e-03 9.98470493e-01 5.49778859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:9.05, Z:5.50 [[ 9.91835674e-01 -1.15002074e-01 -5.51046213e-02 1.20618942e+02] [ 1.14985225e-01 9.93361083e-01 -3.48675767e-03 9.04634526e+00] [ 5.51397707e-02 -2.87792663e-03 9.98474498e-01 5.49874899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:9.05, Z:5.50 [[ 9.91772600e-01 -1.15423174e-01 -5.53588279e-02 1.20648455e+02] [ 1.15406865e-01 9.93312132e-01 -3.50211336e-03 9.04692330e+00] [ 5.53928204e-02 -2.91548870e-03 9.98460382e-01 5.50006527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:9.05, Z:5.50 [[ 9.91761328e-01 -1.15575994e-01 -5.52418173e-02 1.20679113e+02] [ 1.15559959e-01 9.93294357e-01 -3.49525999e-03 9.05344425e+00] [ 5.52753535e-02 -2.91727843e-03 9.98466887e-01 5.50196440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:9.05, Z:5.50 [[ 9.91660673e-01 -1.16209986e-01 -5.57166751e-02 1.20708366e+02] [ 1.16194762e-01 9.93220197e-01 -3.52370657e-03 9.05371087e+00] [ 5.57484169e-02 -2.97966459e-03 9.98440402e-01 5.50268349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:9.06, Z:5.50 [[ 9.91645460e-01 -1.16377981e-01 -5.56367354e-02 1.20738835e+02] [ 1.16363016e-01 9.93200514e-01 -3.51950904e-03 9.05679903e+00] [ 5.56680276e-02 -2.98395316e-03 9.98444874e-01 5.50396979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:9.05, Z:5.50 [[ 9.91567829e-01 -1.17216318e-01 -5.52591635e-02 1.20768442e+02] [ 1.17202843e-01 9.93101844e-01 -3.49576564e-03 9.05379376e+00] [ 5.52877380e-02 -3.01024230e-03 9.98465926e-01 5.50486898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:9.06, Z:5.51 [[ 9.91588777e-01 -1.17200943e-01 -5.49148154e-02 1.20798691e+02] [ 1.17187564e-01 9.93103721e-01 -3.47483222e-03 9.06127244e+00] [ 5.49433611e-02 -2.98972879e-03 9.98484997e-01 5.50789380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:9.06, Z:5.51 [[ 9.91640138e-01 -1.16969658e-01 -5.44787612e-02 1.20829347e+02] [ 1.16956148e-01 9.93131098e-01 -3.44711429e-03 9.06153501e+00] [ 5.45077597e-02 -2.95332915e-03 9.98508979e-01 5.50980435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:9.07, Z:5.51 [[ 9.91677599e-01 -1.16624988e-01 -5.45357887e-02 1.20860039e+02] [ 1.16610991e-01 9.93171675e-01 -3.44962315e-03 9.06629497e+00] [ 5.45657129e-02 -2.93855834e-03 9.98505858e-01 5.51195259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.89, Y:9.07, Z:5.51 [[ 9.91646068e-01 -1.16873177e-01 -5.45778008e-02 1.20891001e+02] [ 1.16859638e-01 9.93142447e-01 -3.45034111e-03 9.06897401e+00] [ 5.46067830e-02 -2.95642486e-03 9.98503560e-01 5.51384410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:9.07, Z:5.52 [[ 9.91515665e-01 -1.17669714e-01 -5.52315498e-02 1.20922425e+02] [ 1.17657194e-01 9.93048139e-01 -3.48967704e-03 9.07180116e+00] [ 5.52582170e-02 -3.03831969e-03 9.98467475e-01 5.51556468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:9.07, Z:5.52 [[ 9.91509957e-01 -1.17368892e-01 -5.59691689e-02 1.20954142e+02] [ 1.17355675e-01 9.93083659e-01 -3.53424066e-03 9.07414315e+00] [ 5.59968769e-02 -3.06406478e-03 9.98426242e-01 5.51669096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:9.08, Z:5.52 [[ 9.91509961e-01 -1.17368811e-01 -5.59692764e-02 1.20984095e+02] [ 1.17355690e-01 9.93083664e-01 -3.53253732e-03 9.07603279e+00] [ 5.59967837e-02 -3.06576709e-03 9.98426242e-01 5.51811836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:9.08, Z:5.52 [[ 9.91524190e-01 -1.16898391e-01 -5.66969821e-02 1.21015378e+02] [ 1.16884183e-01 9.93139106e-01 -3.57812698e-03 9.08016256e+00] [ 5.67262674e-02 -3.07918097e-03 9.98385021e-01 5.51975507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:9.08, Z:5.52 [[ 9.91623026e-01 -1.15550758e-01 -5.77217232e-02 1.21045313e+02] [ 1.15533864e-01 9.93296869e-01 -3.64102715e-03 9.08174068e+00] [ 5.77555303e-02 -3.05828735e-03 9.98326072e-01 5.52082952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:9.09, Z:5.52 [[ 9.91785228e-01 -1.14137508e-01 -5.77467754e-02 1.21076134e+02] [ 1.14118211e-01 9.93460500e-01 -3.64262557e-03 9.08586720e+00] [ 5.77849006e-02 -2.97725646e-03 9.98324617e-01 5.52268035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:9.09, Z:5.52 [[ 9.91925359e-01 -1.12645225e-01 -5.82677948e-02 1.21105580e+02] [ 1.12622998e-01 9.93630992e-01 -3.67576958e-03 9.08754549e+00] [ 5.83107446e-02 -2.91620465e-03 9.98294222e-01 5.52399811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:9.10, Z:5.53 [[ 9.92372349e-01 -1.08711011e-01 -5.81294858e-02 1.21135987e+02] [ 1.08682114e-01 9.94069789e-01 -3.66779331e-03 9.09546116e+00] [ 5.81834952e-02 -2.67781874e-03 9.98302314e-01 5.52673123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:9.10, Z:5.53 [[ 9.92602754e-01 -1.06596794e-01 -5.81110728e-02 1.21165312e+02] [ 1.06564305e-01 9.94299052e-01 -3.66657907e-03 9.09588853e+00] [ 5.81706302e-02 -2.55310958e-03 9.98303390e-01 5.52753926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:9.10, Z:5.53 [[ 9.92789962e-01 -1.05004955e-01 -5.78104756e-02 1.21193630e+02] [ 1.04969977e-01 9.94468694e-01 -3.64986436e-03 9.09843310e+00] [ 5.78739620e-02 -2.44481560e-03 9.98320904e-01 5.52902468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:9.10, Z:5.53 [[ 9.93014409e-01 -1.02824450e-01 -5.78750016e-02 1.21222749e+02] [ 1.02785535e-01 9.94696819e-01 -3.65678384e-03 9.10220128e+00] [ 5.79440868e-02 -2.31747396e-03 9.98317140e-01 5.53116382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:9.11, Z:5.53 [[ 9.93118661e-01 -1.01722340e-01 -5.80335379e-02 1.21253077e+02] [ 1.01681238e-01 9.94810267e-01 -3.66845719e-03 9.10821794e+00] [ 5.81055234e-02 -2.25770869e-03 9.98307894e-01 5.53357725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:9.11, Z:5.53 [[ 9.93161118e-01 -1.01074075e-01 -5.84382216e-02 1.21282683e+02] [ 1.01031268e-01 9.94876392e-01 -3.69423844e-03 9.10923948e+00] [ 5.85121988e-02 -2.23511363e-03 9.98284191e-01 5.53471195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:9.11, Z:5.54 [[ 9.93236814e-01 -9.96596821e-02 -5.95699509e-02 1.21312327e+02] [ 9.96125861e-02 9.95019166e-01 -3.76710173e-03 9.11140500e+00] [ 5.96486711e-02 -2.19229274e-03 9.98217025e-01 5.53583618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:9.11, Z:5.54 [[ 9.93292436e-01 -9.87482259e-02 -6.01574907e-02 1.21340445e+02] [ 9.86983213e-02 9.95110116e-01 -3.80771333e-03 9.11251386e+00] [ 6.02393325e-02 -2.15527050e-03 9.98181636e-01 5.53677517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:9.12, Z:5.54 [[ 9.93454573e-01 -9.71992096e-02 -6.00027134e-02 1.21369251e+02] [ 9.71461691e-02 9.95262842e-01 -3.80742175e-03 9.11527432e+00] [ 6.00885494e-02 -2.04653320e-03 9.98190953e-01 5.53924321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:9.12, Z:5.54 [[ 9.93530867e-01 -9.64123685e-02 -6.00089261e-02 1.21397919e+02] [ 9.63569860e-02 9.95339499e-01 -3.82274280e-03 9.11793244e+00] [ 6.00978141e-02 -1.98426628e-03 9.98190521e-01 5.54126535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:9.12, Z:5.54 [[ 9.93623486e-01 -9.56605978e-02 -5.96776224e-02 1.21426668e+02] [ 9.56035838e-02 9.95412171e-01 -3.81645821e-03 9.12128970e+00] [ 5.97689163e-02 -1.91327207e-03 9.98210407e-01 5.54343283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:9.12, Z:5.55 [[ 9.93661815e-01 -9.47962879e-02 -6.04140827e-02 1.21455500e+02] [ 9.47353291e-02 9.95494938e-01 -3.87899100e-03 9.12445925e+00] [ 6.05096275e-02 -1.86894277e-03 9.98165864e-01 5.54536904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:9.13, Z:5.55 [[ 9.93636443e-01 -9.47560115e-02 -6.08926735e-02 1.21484654e+02] [ 9.46930513e-02 9.95498778e-01 -3.92538154e-03 9.12596376e+00] [ 6.09905356e-02 -1.86571091e-03 9.98136601e-01 5.54641563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:9.13, Z:5.55 [[ 9.93552826e-01 -9.53102660e-02 -6.13900258e-02 1.21512977e+02] [ 9.52464597e-02 9.95445799e-01 -3.97156870e-03 9.12519276e+00] [ 6.14889746e-02 -1.90121932e-03 9.98105952e-01 5.54682076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:9.12, Z:5.55 [[ 9.93474827e-01 -9.59854078e-02 -6.16000840e-02 1.21540780e+02] [ 9.59219795e-02 9.95380847e-01 -3.99292587e-03 9.12491803e+00] [ 6.16988064e-02 -1.94193066e-03 9.98092925e-01 5.54748842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:9.13, Z:5.55 [[ 9.93418192e-01 -9.68229227e-02 -6.12014560e-02 1.21569142e+02] [ 9.67614321e-02 9.95299667e-01 -3.97467398e-03 9.12574501e+00] [ 6.12986283e-02 -1.97342709e-03 9.98117520e-01 5.54896851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:9.12, Z:5.55 [[ 9.93276546e-01 -9.85506812e-02 -6.07409795e-02 1.21597314e+02] [ 9.84925176e-02 9.95129920e-01 -3.95818098e-03 9.12405115e+00] [ 6.08352475e-02 -2.05096366e-03 9.98145714e-01 5.55073238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:9.12, Z:5.55 [[ 9.93078294e-01 -1.00579430e-01 -6.06570767e-02 1.21626300e+02] [ 1.00524620e-01 9.94926681e-01 -3.96227013e-03 9.12384476e+00] [ 6.07478668e-02 -2.16268514e-03 9.98150800e-01 5.55331854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:9.12, Z:5.56 [[ 9.92893155e-01 -1.02222052e-01 -6.09412483e-02 1.21655354e+02] [ 1.02168895e-01 9.94759041e-01 -3.99588246e-03 9.12497829e+00] [ 6.10303250e-02 -2.25881566e-03 9.98133356e-01 5.55509561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:9.12, Z:5.56 [[ 9.92544807e-01 -1.05074174e-01 -6.17594023e-02 1.21684631e+02] [ 1.05024301e-01 9.94461359e-01 -4.06223641e-03 9.12402637e+00] [ 6.18441753e-02 -2.45428638e-03 9.98082799e-01 5.55658975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:9.12, Z:5.56 [[ 9.91993949e-01 -1.09385983e-01 -6.31087290e-02 1.21715093e+02] [ 1.09342445e-01 9.93995462e-01 -4.15358419e-03 9.12390104e+00] [ 6.31841341e-02 -2.78013234e-03 9.97998014e-01 5.55888562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:9.12, Z:5.56 [[ 9.91758081e-01 -1.11153774e-01 -6.37239882e-02 1.21744358e+02] [ 1.11112966e-01 9.93798929e-01 -4.19497010e-03 9.11953751e+00] [ 6.37951180e-02 -2.92016582e-03 9.97958744e-01 5.55818969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:9.12, Z:5.56 [[ 9.91454962e-01 -1.13909443e-01 -6.35743484e-02 1.21774007e+02] [ 1.13874268e-01 9.93486341e-01 -4.18829063e-03 9.12156677e+00] [ 6.36373326e-02 -3.08698083e-03 9.97968316e-01 5.56104275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.80, Y:9.12, Z:5.56 [[ 9.91489084e-01 -1.14742886e-01 -6.15098836e-02 1.21801628e+02] [ 1.14711366e-01 9.93390587e-01 -4.05520999e-03 9.12048159e+00] [ 6.15686459e-02 -3.03518637e-03 9.98098236e-01 5.56397774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:9.12, Z:5.57 [[ 9.91538954e-01 -1.14943929e-01 -6.03191156e-02 1.21830476e+02] [ 1.14913533e-01 9.93367508e-01 -3.98414658e-03 9.12278204e+00] [ 6.03770030e-02 -2.98104613e-03 9.98171193e-01 5.56721206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:9.12, Z:5.57 [[ 9.91527000e-01 -1.14439704e-01 -6.14635104e-02 1.21859139e+02] [ 1.14406384e-01 9.93425685e-01 -4.07270334e-03 9.12400000e+00] [ 6.15255089e-02 -2.99362264e-03 9.98101022e-01 5.56831714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:9.12, Z:5.57 [[ 9.91518822e-01 -1.13908941e-01 -6.25713955e-02 1.21886978e+02] [ 1.13873114e-01 9.93486634e-01 -4.15004885e-03 9.12341979e+00] [ 6.26365727e-02 -3.01034810e-03 9.98031862e-01 5.56819488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:9.13, Z:5.57 [[ 9.91509418e-01 -1.13737227e-01 -6.30310755e-02 1.21915929e+02] [ 1.13700015e-01 9.93506297e-01 -4.18866142e-03 9.12748938e+00] [ 6.30981771e-02 -3.01353695e-03 9.98002775e-01 5.56992354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:9.13, Z:5.57 [[ 9.91545382e-01 -1.13156634e-01 -6.35085155e-02 1.21943659e+02] [ 1.13116823e-01 9.93572675e-01 -4.23370114e-03 9.12772937e+00] [ 6.35793969e-02 -2.98597468e-03 9.97972316e-01 5.57062008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:9.13, Z:5.57 [[ 9.91592224e-01 -1.12762574e-01 -6.34780538e-02 1.21971894e+02] [ 1.12721469e-01 9.93617579e-01 -4.23994753e-03 9.13335262e+00] [ 6.35510175e-02 -2.95104050e-03 9.97974228e-01 5.57288457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:9.14, Z:5.57 [[ 9.91559374e-01 -1.13051702e-01 -6.34769318e-02 1.21999228e+02] [ 1.13010118e-01 9.93584719e-01 -4.25668674e-03 9.13525201e+00] [ 6.35509351e-02 -2.95277794e-03 9.97974228e-01 5.57419176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:9.13, Z:5.57 [[ 9.91761159e-01 -1.11191076e-01 -6.36109175e-02 1.22027386e+02] [ 1.11144521e-01 9.93795033e-01 -4.28102857e-03 9.13296877e+00] [ 6.36922261e-02 -2.82424708e-03 9.97965593e-01 5.57363321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:9.14, Z:5.58 [[ 9.91922520e-01 -1.10245739e-01 -6.27342944e-02 1.22055888e+02] [ 1.10198057e-01 9.93900646e-01 -4.23017440e-03 9.13975970e+00] [ 6.28180145e-02 -2.71719208e-03 9.98021299e-01 5.57677744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.08, Y:9.14, Z:5.58 [[ 9.92269882e-01 -1.07692706e-01 -6.16665411e-02 1.22084225e+02] [ 1.07640939e-01 9.94181087e-01 -4.17066056e-03 9.14221243e+00] [ 6.17568586e-02 -2.49942352e-03 9.98088094e-01 5.57863210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.11, Y:9.15, Z:5.58 [[ 9.92745461e-01 -1.03422100e-01 -6.13214457e-02 1.22114379e+02] [ 1.03362645e-01 9.94635082e-01 -4.14949157e-03 9.14699167e+00] [ 6.14216102e-02 -2.21895790e-03 9.98109444e-01 5.57925990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:9.15, Z:5.58 [[ 9.92870591e-01 -1.02437167e-01 -6.09476513e-02 1.22142528e+02] [ 1.02376325e-01 9.94737174e-01 -4.12838151e-03 9.14861227e+00] [ 6.10497941e-02 -2.14064798e-03 9.98132426e-01 5.58039831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:9.15, Z:5.58 [[ 9.92940655e-01 -1.01831755e-01 -6.08206271e-02 1.22170775e+02] [ 1.01769112e-01 9.94799453e-01 -4.13487321e-03 9.15342845e+00] [ 6.09253880e-02 -2.08397748e-03 9.98140148e-01 5.58295734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:9.15, Z:5.58 [[ 9.93045718e-01 -1.01151479e-01 -6.02376966e-02 1.22198689e+02] [ 1.01087991e-01 9.94869006e-01 -4.10829976e-03 9.15418820e+00] [ 6.03441779e-02 -2.00957823e-03 9.98175607e-01 5.58389901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:9.16, Z:5.59 [[ 9.93116878e-01 -1.00866372e-01 -5.95385679e-02 1.22226418e+02] [ 1.00803494e-01 9.94898045e-01 -4.06635997e-03 9.15554394e+00] [ 5.96449638e-02 -1.96332495e-03 9.98217724e-01 5.58548229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:9.16, Z:5.59 [[ 9.93116239e-01 -1.00965465e-01 -5.93810572e-02 1.22254624e+02] [ 1.00902539e-01 9.94888011e-01 -4.06494285e-03 9.15765439e+00] [ 5.94879208e-02 -1.95473867e-03 9.98227112e-01 5.58727626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:9.16, Z:5.59 [[ 9.93270774e-01 -9.92984748e-02 -5.96069004e-02 1.22282322e+02] [ 9.92311838e-02 9.95055979e-01 -4.09526953e-03 9.15975545e+00] [ 5.97188567e-02 -1.84715175e-03 9.98213527e-01 5.58733328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:9.17, Z:5.59 [[ 9.93563972e-01 -9.69401314e-02 -5.85938994e-02 1.22310384e+02] [ 9.68706127e-02 9.95288814e-01 -4.03246340e-03 9.16582283e+00] [ 5.87087602e-02 -1.66951658e-03 9.98273757e-01 5.59013276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:9.17, Z:5.59 [[ 9.93739888e-01 -9.51400041e-02 -5.85612001e-02 1.22338078e+02] [ 9.50671827e-02 9.95462683e-01 -4.03461981e-03 9.16584499e+00] [ 5.86793431e-02 -1.55788567e-03 9.98275667e-01 5.59006326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:9.17, Z:5.59 [[ 9.94004452e-01 -9.21632036e-02 -5.88310503e-02 1.22366632e+02] [ 9.20841625e-02 9.95742955e-01 -4.05896386e-03 9.17400648e+00] [ 5.89546910e-02 -1.38277985e-03 9.98259702e-01 5.59251520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:9.18, Z:5.59 [[ 9.94527840e-01 -8.53403468e-02 -6.02611006e-02 1.22394830e+02] [ 8.52444720e-02 9.96351361e-01 -4.16471087e-03 9.17985115e+00] [ 6.03966475e-02 -9.95004798e-04 9.98173960e-01 5.59216893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:9.19, Z:5.59 [[ 9.95455993e-01 -7.42970724e-02 -5.95593132e-02 1.22422777e+02] [ 7.41834647e-02 9.97236103e-01 -4.11939607e-03 9.18766560e+00] [ 5.97007564e-02 -3.17638707e-04 9.98216269e-01 5.59334628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:9.19, Z:5.60 [[ 9.95812246e-01 -7.06831605e-02 -5.79815706e-02 1.22451355e+02] [ 7.05690779e-02 9.97498813e-01 -4.01535780e-03 9.19125143e+00] [ 5.81203660e-02 -9.31635020e-05 9.98309578e-01 5.59554486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:9.19, Z:5.60 [[ 9.95940744e-01 -6.96362287e-02 -5.70335894e-02 1.22478761e+02] [ 6.95233163e-02 9.97572451e-01 -3.96398118e-03 9.19378453e+00] [ 5.71711742e-02 -1.72739076e-05 9.98364391e-01 5.59752420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:9.20, Z:5.60 [[ 9.95921169e-01 -6.99165450e-02 -5.70324716e-02 1.22506054e+02] [ 6.98031742e-02 9.97552844e-01 -3.98000413e-03 9.19576112e+00] [ 5.71711724e-02 -1.72771830e-05 9.98364391e-01 5.59883039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:9.20, Z:5.60 [[ 9.95986493e-01 -6.94115286e-02 -5.65061475e-02 1.22533746e+02] [ 6.92985319e-02 9.97588111e-01 -3.95910601e-03 9.19795874e+00] [ 5.66446686e-02 2.74230410e-05 9.98394401e-01 5.60054824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:9.20, Z:5.60 [[ 9.95966955e-01 -6.96922244e-02 -5.65050311e-02 1.22561038e+02] [ 6.95787785e-02 9.97568541e-01 -3.97498091e-03 9.19995222e+00] [ 5.66446667e-02 2.73985878e-05 9.98394402e-01 5.60185441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:9.20, Z:5.60 [[ 9.96038006e-01 -6.94680048e-02 -5.55201556e-02 1.22589146e+02] [ 6.93572719e-02 9.97584179e-01 -3.92116492e-03 9.20177832e+00] [ 5.56584243e-02 5.49027592e-05 9.98449867e-01 5.60374779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:9.20, Z:5.61 [[ 9.96049373e-01 -6.95833518e-02 -5.51706845e-02 1.22616814e+02] [ 6.94733227e-02 9.97576139e-01 -3.91207515e-03 9.20349017e+00] [ 5.53091738e-02 6.37292289e-05 9.98469274e-01 5.60629067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:9.21, Z:5.61 [[ 9.96029239e-01 -6.98718621e-02 -5.51695459e-02 1.22644103e+02] [ 6.97613893e-02 9.97555973e-01 -3.92807230e-03 9.20549313e+00] [ 5.53091717e-02 6.37706984e-05 9.98469274e-01 5.60759686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:9.21, Z:5.61 [[ 9.96045717e-01 -7.01353156e-02 -5.45340967e-02 1.22670856e+02] [ 7.00269745e-02 9.97537485e-01 -3.89734699e-03 9.20711152e+00] [ 5.46731474e-02 6.30779735e-05 9.98504303e-01 5.60873990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:9.21, Z:5.61 [[ 9.95983223e-01 -7.12778430e-02 -5.41930638e-02 1.22698586e+02] [ 7.11721128e-02 9.97456500e-01 -3.88089251e-03 9.20850803e+00] [ 5.43318454e-02 8.26897627e-06 9.98522934e-01 5.61102235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:9.21, Z:5.61 [[ 9.95806343e-01 -7.41566189e-02 -5.35772678e-02 1.22725646e+02] [ 7.40566388e-02 9.97246599e-01 -3.85173353e-03 9.20764695e+00] [ 5.37153797e-02 -1.32171688e-04 9.98556278e-01 5.61213346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:9.20, Z:5.61 [[ 9.95456565e-01 -7.93369885e-02 -5.26485539e-02 1.22755050e+02] [ 7.92471207e-02 9.96847775e-01 -3.79562224e-03 9.20480618e+00] [ 5.27837271e-02 -3.93869228e-04 9.98605890e-01 5.61360554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:9.20, Z:5.62 [[ 9.95192785e-01 -8.27104065e-02 -5.24433991e-02 1.22783592e+02] [ 8.26252370e-02 9.96573468e-01 -3.79374555e-03 9.20384209e+00] [ 5.25774823e-02 -5.57640085e-04 9.98616692e-01 5.61513965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:9.21, Z:5.62 [[ 9.95172350e-01 -8.29565098e-02 -5.24424603e-02 1.22811728e+02] [ 8.28710002e-02 9.96553012e-01 -3.80668063e-03 9.20592672e+00] [ 5.25774807e-02 -5.57655828e-04 9.98616692e-01 5.61648554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:9.20, Z:5.62 [[ 9.94888518e-01 -8.64936657e-02 -5.21122122e-02 1.22839907e+02] [ 8.64134436e-02 9.96252135e-01 -3.79481584e-03 9.20388880e+00] [ 5.22451302e-02 -7.27777000e-04 9.98634025e-01 5.61752231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.87, Y:9.20, Z:5.62 [[ 9.94265413e-01 -9.35501840e-02 -5.18136312e-02 1.22870037e+02] [ 9.34802214e-02 9.95613971e-01 -3.77737160e-03 9.20005382e+00] [ 5.19397489e-02 -1.08783978e-03 9.98649628e-01 5.61855098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.90, Y:9.20, Z:5.62 [[ 9.93894050e-01 -9.71947995e-02 -5.22282321e-02 1.22899713e+02] [ 9.71286382e-02 9.95264545e-01 -3.80947961e-03 9.19905964e+00] [ 5.23511693e-02 -1.28663794e-03 9.98627909e-01 5.61973007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.93, Y:9.19, Z:5.62 [[ 9.92848438e-01 -1.07194360e-01 -5.25485363e-02 1.22930358e+02] [ 1.07141258e-01 9.94236414e-01 -3.83464684e-03 9.19020254e+00] [ 5.26567208e-02 -1.82289317e-03 9.98611009e-01 5.61950931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.96, Y:9.18, Z:5.62 [[ 9.91869508e-01 -1.16278095e-01 -5.17134828e-02 1.22960371e+02] [ 1.16238924e-01 9.93214108e-01 -3.77464536e-03 9.18126368e+00] [ 5.18014693e-02 -2.26716397e-03 9.98654829e-01 5.62073596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.99, Y:9.18, Z:5.62 [[ 9.90635325e-01 -1.26827690e-01 -5.05607567e-02 1.22991334e+02] [ 1.26803885e-01 9.91920939e-01 -3.69128744e-03 9.17817914e+00] [ 5.06204307e-02 -2.75458063e-03 9.98714165e-01 5.62370812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.02, Y:9.18, Z:5.63 [[ 9.90020160e-01 -1.31633274e-01 -5.03265678e-02 1.23021689e+02] [ 1.31615855e-01 9.91293985e-01 -3.67446141e-03 9.17758369e+00] [ 5.03721053e-02 -2.98598339e-03 9.98726056e-01 5.62519413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.05, Y:9.18, Z:5.63 [[ 9.89720816e-01 -1.33848490e-01 -5.03714946e-02 1.23052602e+02] [ 1.33833910e-01 9.90996953e-01 -3.67745782e-03 9.17762890e+00] [ 5.04102198e-02 -3.10175751e-03 9.98723780e-01 5.62683768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.08, Y:9.18, Z:5.63 [[ 9.89725669e-01 -1.33812555e-01 -5.03716209e-02 1.23083391e+02] [ 1.33798017e-01 9.91001806e-01 -3.67572619e-03 9.17984582e+00] [ 5.04102256e-02 -3.10166241e-03 9.98723780e-01 5.62830591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.11, Y:9.18, Z:5.63 [[ 9.89428107e-01 -1.36142379e-01 -4.99727260e-02 1.23114112e+02] [ 1.36131116e-01 9.90684125e-01 -3.64481915e-03 9.17991942e+00] [ 5.00034006e-02 -3.19655645e-03 9.98743932e-01 5.62983620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.15, Y:9.18, Z:5.63 [[ 9.89438006e-01 -1.36070376e-01 -4.99728524e-02 1.23145750e+02] [ 1.36059108e-01 9.90694023e-01 -3.64308570e-03 9.18216681e+00] [ 5.00035222e-02 -3.19465428e-03 9.98743932e-01 5.63134489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.18, Y:9.18, Z:5.63 [[ 9.89111523e-01 -1.38300390e-01 -5.03129917e-02 1.23176581e+02] [ 1.38292021e-01 9.90384718e-01 -3.66429816e-03 9.18198521e+00] [ 5.03359920e-02 -3.33348576e-03 9.98726777e-01 5.63246601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.21, Y:9.18, Z:5.63 [[ 9.89116521e-01 -1.38264601e-01 -5.03131089e-02 1.23207379e+02] [ 1.38256267e-01 9.90389716e-01 -3.66268824e-03 9.18419708e+00] [ 5.03360058e-02 -3.33327717e-03 9.98726777e-01 5.63393470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.24, Y:9.18, Z:5.63 [[ 9.88797434e-01 -1.40114873e-01 -5.14534428e-02 1.23237736e+02] [ 1.40108744e-01 9.90129043e-01 -3.74394074e-03 9.18153710e+00] [ 5.14701299e-02 -3.50707827e-03 9.98668376e-01 5.63454437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.27, Y:9.18, Z:5.64 [[ 9.88558164e-01 -1.41324854e-01 -5.27261112e-02 1.23268701e+02] [ 1.41320146e-01 9.89956514e-01 -3.83635462e-03 9.18425960e+00] [ 5.27387295e-02 -3.65880203e-03 9.98601642e-01 5.63505534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.30, Y:9.18, Z:5.64 [[ 9.88431507e-01 -1.41806726e-01 -5.37959890e-02 1.23297997e+02] [ 1.41802627e-01 9.89887219e-01 -3.91258670e-03 9.18350722e+00] [ 5.38067931e-02 -3.76108856e-03 9.98544282e-01 5.63537535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.33, Y:9.19, Z:5.64 [[ 9.88754194e-01 -1.40112094e-01 -5.22852216e-02 1.23328494e+02] [ 1.40105819e-01 9.90129231e-01 -3.80343818e-03 9.19009156e+00] [ 5.23020339e-02 -3.56479835e-03 9.98624949e-01 5.63947249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.36, Y:9.19, Z:5.64 [[ 9.89055376e-01 -1.38169849e-01 -5.17547657e-02 1.23357960e+02] [ 1.38161091e-01 9.90402617e-01 -3.76409886e-03 9.19231562e+00] [ 5.17781403e-02 -3.42759269e-03 9.98652730e-01 5.64183749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.39, Y:9.20, Z:5.64 [[ 9.89393096e-01 -1.35902336e-01 -5.13016336e-02 1.23388023e+02] [ 1.35890652e-01 9.90716813e-01 -3.73196470e-03 9.19713230e+00] [ 5.13325737e-02 -3.27903233e-03 9.98676231e-01 5.64439229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:9.21, Z:5.65 [[ 9.90170576e-01 -1.29984856e-01 -5.16349425e-02 1.23417899e+02] [ 1.29965006e-01 9.91511467e-01 -3.75619427e-03 9.21390755e+00] [ 5.16848860e-02 -2.99146256e-03 9.98658963e-01 5.64694075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:9.22, Z:5.65 [[ 9.90584812e-01 -1.26710339e-01 -5.18287498e-02 1.23447648e+02] [ 1.26685883e-01 9.91935720e-01 -3.77010004e-03 9.21807982e+00] [ 5.18884989e-02 -2.83136710e-03 9.98648871e-01 5.64823658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:9.22, Z:5.65 [[ 9.91432830e-01 -1.19973074e-01 -5.16469298e-02 1.23476607e+02] [ 1.19939666e-01 9.92774074e-01 -3.75695406e-03 9.22326209e+00] [ 5.17244663e-02 -2.46974792e-03 9.98658340e-01 5.64986890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.51, Y:9.24, Z:5.65 [[ 9.92227137e-01 -1.13125932e-01 -5.18443086e-02 1.23506466e+02] [ 1.13082893e-01 9.93578396e-01 -3.77220227e-03 9.23536479e+00] [ 5.19381189e-02 -2.11982294e-03 9.98648055e-01 5.65270456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.54, Y:9.24, Z:5.65 [[ 9.92600356e-01 -1.09614533e-01 -5.22416307e-02 1.23536643e+02] [ 1.09565985e-01 9.93972257e-01 -3.80097677e-03 9.23914466e+00] [ 5.23433739e-02 -1.95105484e-03 9.98627240e-01 5.65409955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:9.25, Z:5.66 [[ 9.92935004e-01 -1.06369638e-01 -5.25887547e-02 1.23568110e+02] [ 1.06315962e-01 9.94325040e-01 -3.82505086e-03 9.24626406e+00] [ 5.26971849e-02 -1.79299716e-03 9.98608928e-01 5.65596528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:9.25, Z:5.66 [[ 9.93584607e-01 -9.98418536e-02 -5.31152849e-02 1.23597299e+02] [ 9.97779272e-02 9.95002242e-01 -3.86057513e-03 9.25259843e+00] [ 5.32352745e-02 -1.46392500e-03 9.98580924e-01 5.65793307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.63, Y:9.26, Z:5.66 [[ 9.93871978e-01 -9.64663067e-02 -5.39698291e-02 1.23627187e+02] [ 9.63953357e-02 9.95335397e-01 -3.92268592e-03 9.25740731e+00] [ 5.40964883e-02 -1.30379218e-03 9.98534862e-01 5.65910227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:9.26, Z:5.66 [[ 9.94160632e-01 -9.28392186e-02 -5.50047062e-02 1.23656286e+02] [ 9.27599379e-02 9.95680475e-01 -3.99818113e-03 9.26014314e+00] [ 5.51383001e-02 -1.12739886e-03 9.98478090e-01 5.65934577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:9.27, Z:5.66 [[ 9.94742827e-01 -8.58447245e-02 -5.58336084e-02 1.23684245e+02] [ 8.57518907e-02 9.96308247e-01 -4.06079327e-03 9.26819362e+00] [ 5.59760822e-02 -7.48392508e-04 9.98431829e-01 5.66068444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:9.27, Z:5.66 [[ 9.95035316e-01 -8.22989784e-02 -5.59606905e-02 1.23713017e+02] [ 8.21998039e-02 9.96607536e-01 -4.07561695e-03 9.27301393e+00] [ 5.61062650e-02 -5.44574980e-04 9.98424654e-01 5.66205637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:9.28, Z:5.66 [[ 9.95578711e-01 -7.53840953e-02 -5.60380966e-02 1.23740601e+02] [ 7.52729553e-02 9.97154561e-01 -4.09440517e-03 9.27967983e+00] [ 5.61872966e-02 -1.41850515e-04 9.98420236e-01 5.66319756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.77, Y:9.28, Z:5.66 [[ 9.95937261e-01 -7.08582092e-02 -5.55705613e-02 1.23768360e+02] [ 7.07413865e-02 9.97486391e-01 -4.06900171e-03 9.28394803e+00] [ 5.57192008e-02 1.21331863e-04 9.98446471e-01 5.66496537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.80, Y:9.29, Z:5.67 [[ 9.96005445e-01 -6.96385608e-02 -5.58893921e-02 1.23796531e+02] [ 6.95176445e-02 9.97572267e-01 -4.10712208e-03 9.28624742e+00] [ 5.60397217e-02 2.05417069e-04 9.98428519e-01 5.66602810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.82, Y:9.29, Z:5.67 [[ 9.96064899e-01 -6.86748249e-02 -5.60221858e-02 1.23824574e+02] [ 6.85515235e-02 9.97639062e-01 -4.12196619e-03 9.28839807e+00] [ 5.61729962e-02 2.65339645e-04 9.98421015e-01 5.66601802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:9.29, Z:5.67 [[ 9.96075045e-01 -6.87525817e-02 -5.57457354e-02 1.23852386e+02] [ 6.86302470e-02 9.97633706e-01 -4.10823412e-03 9.28815726e+00] [ 5.58962763e-02 2.66265902e-04 9.98436546e-01 5.66730461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:9.29, Z:5.67 [[ 9.96046201e-01 -7.01274511e-02 -5.45353724e-02 1.23881269e+02] [ 7.00116136e-02 9.97538020e-01 -4.03402372e-03 9.28732911e+00] [ 5.46840032e-02 1.99964582e-04 9.98503690e-01 5.66986975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:9.29, Z:5.67 [[ 9.95922607e-01 -7.22046639e-02 -5.40800110e-02 1.23909417e+02] [ 7.20931315e-02 9.97389832e-01 -4.01290803e-03 9.28522604e+00] [ 5.42286038e-02 9.77484812e-05 9.98528542e-01 5.67129948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.94, Y:9.28, Z:5.67 [[ 9.95508975e-01 -7.83217339e-02 -5.31750531e-02 1.23937804e+02] [ 7.82223088e-02 9.96928109e-01 -3.95162029e-03 9.27758809e+00] [ 5.33212029e-02 -2.25601964e-04 9.98577387e-01 5.67251409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.97, Y:9.27, Z:5.67 [[ 9.95138169e-01 -8.38021379e-02 -5.17419183e-02 1.23965567e+02] [ 8.37146887e-02 9.96482293e-01 -3.85885222e-03 9.27118400e+00] [ 5.18832855e-02 -4.91467459e-04 9.98653034e-01 5.67432792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:9.26, Z:5.68 [[ 9.94438449e-01 -9.18296393e-02 -5.15702256e-02 1.23995995e+02] [ 9.17532776e-02 9.95774324e-01 -3.85125133e-03 9.26288476e+00] [ 5.17059656e-02 -9.01904822e-04 9.98661945e-01 5.67634161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.03, Y:9.26, Z:5.68 [[ 9.93997501e-01 -9.59666735e-02 -5.25296608e-02 1.24025036e+02] [ 9.58931039e-02 9.95383900e-01 -3.92494651e-03 9.25737365e+00] [ 5.26638427e-02 -1.13584519e-03 9.98611651e-01 5.67663387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.05, Y:9.26, Z:5.68 [[ 9.93807400e-01 -9.75268012e-02 -5.32482414e-02 1.24053974e+02] [ 9.74532218e-02 9.95232137e-01 -3.98273990e-03 9.25673335e+00] [ 5.33827850e-02 -1.23113630e-03 9.98573364e-01 5.67745634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.08, Y:9.26, Z:5.68 [[ 9.93646312e-01 -9.90076684e-02 -5.35209204e-02 1.24082297e+02] [ 9.89347840e-02 9.95085815e-01 -4.01605955e-03 9.25548528e+00] [ 5.36555294e-02 -1.30453794e-03 9.98558652e-01 5.67840016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.11, Y:9.26, Z:5.68 [[ 9.93617975e-01 -9.92919760e-02 -5.35203045e-02 1.24109602e+02] [ 9.92190625e-02 9.95057477e-01 -4.02425114e-03 9.25760481e+00] [ 5.36553550e-02 -1.31166617e-03 9.98558652e-01 5.67970485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.14, Y:9.26, Z:5.68 [[ 9.93471029e-01 -1.00568129e-01 -5.38643292e-02 1.24138480e+02] [ 1.00495317e-01 9.94929225e-01 -4.06548721e-03 9.25747690e+00] [ 5.40000537e-02 -1.37416907e-03 9.98539987e-01 5.68087317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.17, Y:9.26, Z:5.68 [[ 9.93441906e-01 -1.00855968e-01 -5.38632794e-02 1.24165784e+02] [ 1.00782827e-01 9.94900086e-01 -4.07935161e-03 9.25960950e+00] [ 5.40000082e-02 -1.37589471e-03 9.98539987e-01 5.68217928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.19, Y:9.26, Z:5.68 [[ 9.93375810e-01 -1.01403466e-01 -5.40540147e-02 1.24194793e+02] [ 1.01329772e-01 9.94844405e-01 -4.10932856e-03 9.25945805e+00] [ 5.41920343e-02 -1.39517342e-03 9.98529557e-01 5.68360018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.22, Y:9.26, Z:5.68 [[ 9.93348260e-01 -1.01663977e-01 -5.40709772e-02 1.24223188e+02] [ 1.01589938e-01 9.94817814e-01 -4.12323381e-03 9.25754819e+00] [ 5.42099557e-02 -1.39726007e-03 9.98528582e-01 5.68432157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.25, Y:9.26, Z:5.69 [[ 9.93325117e-01 -1.01845138e-01 -5.41551483e-02 1.24251190e+02] [ 1.01770801e-01 9.94799276e-01 -4.13582020e-03 9.25972242e+00] [ 5.42947154e-02 -1.40319876e-03 9.98523968e-01 5.68609650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.28, Y:9.26, Z:5.69 [[ 9.93315132e-01 -1.01834999e-01 -5.43569901e-02 1.24279044e+02] [ 1.01759252e-01 9.94800329e-01 -4.16663388e-03 9.26056876e+00] [ 5.44986608e-02 -1.39254620e-03 9.98512873e-01 5.68736694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:9.26, Z:5.69 [[ 9.93337343e-01 -1.01114127e-01 -5.52888402e-02 1.24307464e+02] [ 1.01033785e-01 9.94873902e-01 -4.25355810e-03 9.25998706e+00] [ 5.54355191e-02 -1.36082270e-03 9.98461342e-01 5.68742488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.34, Y:9.26, Z:5.69 [[ 9.93374810e-01 -1.00558792e-01 -5.56274718e-02 1.24335904e+02] [ 1.00475832e-01 9.94930236e-01 -4.29324719e-03 9.26098896e+00] [ 5.57771775e-02 -1.32441289e-03 9.98442363e-01 5.68834272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:9.26, Z:5.69 [[ 9.93407066e-01 -1.00106595e-01 -5.58665402e-02 1.24364164e+02] [ 1.00021438e-01 9.94975881e-01 -4.32538967e-03 9.26439202e+00] [ 5.60188600e-02 -1.29097902e-03 9.98428876e-01 5.69007359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.39, Y:9.27, Z:5.69 [[ 9.93520034e-01 -9.94026833e-02 -5.51094308e-02 1.24391593e+02] [ 9.93180444e-02 9.95046538e-01 -4.27928923e-03 9.26511031e+00] [ 5.52618212e-02 -1.22180132e-03 9.98471150e-01 5.69173082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.42, Y:9.27, Z:5.69 [[ 9.93579532e-01 -9.91874668e-02 -5.44202095e-02 1.24419589e+02] [ 9.91043471e-02 9.95068053e-01 -4.23057254e-03 9.26590754e+00] [ 5.45714317e-02 -1.18986905e-03 9.98509160e-01 5.69344718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:9.27, Z:5.70 [[ 9.93669311e-01 -9.87785517e-02 -5.35172711e-02 1.24448507e+02] [ 9.86972741e-02 9.95108784e-01 -4.16598660e-03 9.26866755e+00] [ 5.36670167e-02 -1.14239574e-03 9.98558234e-01 5.69536611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:9.27, Z:5.70 [[ 9.93673707e-01 -9.86254655e-02 -5.37176133e-02 1.24476839e+02] [ 9.85426196e-02 9.95123988e-01 -4.19520682e-03 9.27004096e+00] [ 5.38694398e-02 -1.12480762e-03 9.98547354e-01 5.69580690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:9.27, Z:5.70 [[ 9.93628014e-01 -9.90282916e-02 -5.38216305e-02 1.24504346e+02] [ 9.89448723e-02 9.95083973e-01 -4.21891554e-03 9.27086215e+00] [ 5.39748339e-02 -1.13334169e-03 9.98541653e-01 5.69706570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.53, Y:9.27, Z:5.70 [[ 9.93568059e-01 -9.97554093e-02 -5.35851701e-02 1.24532621e+02] [ 9.96729614e-02 9.95011322e-01 -4.21554883e-03 9.27256952e+00] [ 5.37383747e-02 -1.15255792e-03 9.98554384e-01 5.69875314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.56, Y:9.27, Z:5.70 [[ 9.93481298e-01 -1.00710984e-01 -5.34060781e-02 1.24560841e+02] [ 1.00629745e-01 9.94915016e-01 -4.21489223e-03 9.27435125e+00] [ 5.35589950e-02 -1.18682342e-03 9.98563982e-01 5.70060805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.59, Y:9.27, Z:5.70 [[ 9.93414916e-01 -1.01482129e-01 -5.31806473e-02 1.24588993e+02] [ 1.01402012e-01 9.94836626e-01 -4.20955763e-03 9.27461514e+00] [ 5.33332506e-02 -1.21078732e-03 9.98576035e-01 5.70224491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:9.28, Z:5.70 [[ 9.93275111e-01 -1.02787854e-01 -5.32842456e-02 1.24617617e+02] [ 1.02708994e-01 9.94702480e-01 -4.22349747e-03 9.27624723e+00] [ 5.34360955e-02 -1.27767634e-03 9.98570454e-01 5.70390208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.64, Y:9.28, Z:5.71 [[ 9.93245618e-01 -1.03073016e-01 -5.32831664e-02 1.24644918e+02] [ 1.02993838e-01 9.94672970e-01 -4.23707241e-03 9.27848569e+00] [ 5.34360531e-02 -1.27938419e-03 9.98570454e-01 5.70520819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:9.28, Z:5.71 [[ 9.93201978e-01 -1.03440389e-01 -5.33846219e-02 1.24673132e+02] [ 1.03360676e-01 9.94634822e-01 -4.25937437e-03 9.27955295e+00] [ 5.35387953e-02 -1.28745155e-03 9.98564940e-01 5.70645591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:9.28, Z:5.71 [[ 9.93161988e-01 -1.04101231e-01 -5.28412721e-02 1.24700499e+02] [ 1.04023761e-01 9.94565852e-01 -4.22178582e-03 9.28131708e+00] [ 5.29936179e-02 -1.30383065e-03 9.98594000e-01 5.70861158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:9.28, Z:5.71 [[ 9.93136140e-01 -1.04448105e-01 -5.26421883e-02 1.24728181e+02] [ 1.04370904e-01 9.94529485e-01 -4.22101500e-03 9.28373099e+00] [ 5.27950854e-02 -1.30227025e-03 9.98604518e-01 5.71054461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.76, Y:9.28, Z:5.71 [[ 9.93108460e-01 -1.04656551e-01 -5.27502929e-02 1.24755486e+02] [ 1.04578569e-01 9.94507572e-01 -4.24397722e-03 9.28495209e+00] [ 5.29047257e-02 -1.30182047e-03 9.98598716e-01 5.71162968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:9.29, Z:5.71 [[ 9.93057413e-01 -1.05073025e-01 -5.28832120e-02 1.24783302e+02] [ 1.04994926e-01 9.94463631e-01 -4.26056858e-03 9.28792033e+00] [ 5.30381019e-02 -1.32147972e-03 9.98591615e-01 5.71309843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:9.29, Z:5.71 [[ 9.92997430e-01 -1.05508829e-01 -5.31412445e-02 1.24811315e+02] [ 1.05429812e-01 9.94417468e-01 -4.29591419e-03 9.28774684e+00] [ 5.32978387e-02 -1.33683964e-03 9.98577765e-01 5.71401870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.84, Y:9.29, Z:5.72 [[ 9.92981701e-01 -1.05854822e-01 -5.27455981e-02 1.24839184e+02] [ 1.05777212e-01 9.94380692e-01 -4.26870018e-03 9.28809611e+00] [ 5.29010668e-02 -1.34054113e-03 9.98598858e-01 5.71538978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:9.29, Z:5.72 [[ 9.92883205e-01 -1.07065158e-01 -5.21535493e-02 1.24867816e+02] [ 1.06990663e-01 9.94251043e-01 -4.22622484e-03 9.29078137e+00] [ 5.23062023e-02 -1.38379514e-03 9.98630135e-01 5.71768666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:9.29, Z:5.72 [[ 9.92867789e-01 -1.07315257e-01 -5.19325359e-02 1.24895427e+02] [ 1.07241073e-01 9.94224087e-01 -4.22098446e-03 9.29092351e+00] [ 5.20855542e-02 -1.37842135e-03 9.98641675e-01 5.71877823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:9.29, Z:5.72 [[ 9.92723565e-01 -1.08397681e-01 -5.24391662e-02 1.24924179e+02] [ 1.08323250e-01 9.94106563e-01 -4.26787027e-03 9.29352481e+00] [ 5.25927465e-02 -1.44356550e-03 9.98615000e-01 5.72045444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:9.30, Z:5.72 [[ 9.92647497e-01 -1.08766455e-01 -5.31112493e-02 1.24952395e+02] [ 1.08689940e-01 9.94066245e-01 -4.33550873e-03 9.29502063e+00] [ 5.32676581e-02 -1.46902662e-03 9.98579190e-01 5.72128832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:9.30, Z:5.72 [[ 9.92453235e-01 -1.10184016e-01 -5.38150358e-02 1.24980790e+02] [ 1.10107213e-01 9.93909981e-01 -4.39900817e-03 9.29578748e+00] [ 5.39720016e-02 -1.55961374e-03 9.98541231e-01 5.72187456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:9.30, Z:5.72 [[ 9.92275837e-01 -1.11148772e-01 -5.50873321e-02 1.25009696e+02] [ 1.11068983e-01 9.93802432e-01 -4.51740465e-03 9.29703360e+00] [ 5.52480286e-02 -1.63598246e-03 9.98471321e-01 5.72266188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:9.30, Z:5.72 [[ 9.92089484e-01 -1.12727480e-01 -5.52356025e-02 1.25037620e+02] [ 1.12648991e-01 9.93624462e-01 -4.54239122e-03 9.29634766e+00] [ 5.53954982e-02 -1.71577635e-03 9.98463016e-01 5.72289095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:9.30, Z:5.72 [[ 9.92026926e-01 -1.13601525e-01 -5.45643880e-02 1.25066563e+02] [ 1.13525920e-01 9.93524874e-01 -4.49325663e-03 9.29991889e+00] [ 5.47215175e-02 -1.73704078e-03 9.98500144e-01 5.72494846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:9.30, Z:5.73 [[ 9.91947585e-01 -1.14431011e-01 -5.42727581e-02 1.25094232e+02] [ 1.14356742e-01 9.93429638e-01 -4.48225886e-03 9.30004246e+00] [ 5.44290758e-02 -1.76028992e-03 9.98516088e-01 5.72638206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:9.30, Z:5.73 [[ 9.91844850e-01 -1.15838082e-01 -5.31538506e-02 1.25121865e+02] [ 1.15768481e-01 9.93266493e-01 -4.39693997e-03 9.30082842e+00] [ 5.33052719e-02 -1.79245827e-03 9.98576655e-01 5.72875845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.15, Y:9.31, Z:5.73 [[ 9.91761055e-01 -1.16783361e-01 -5.26465209e-02 1.25150426e+02] [ 1.16716121e-01 9.93155745e-01 -4.36043913e-03 9.30554601e+00] [ 5.27954214e-02 -1.82018401e-03 9.98603690e-01 5.73068781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.18, Y:9.31, Z:5.73 [[ 9.91573827e-01 -1.17814133e-01 -5.38625548e-02 1.25178034e+02] [ 1.17744572e-01 9.93033836e-01 -4.47406111e-03 9.30610170e+00] [ 5.40144470e-02 -1.90566156e-03 9.98538336e-01 5.73065504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:9.31, Z:5.73 [[ 9.91503506e-01 -1.18548432e-01 -5.35450073e-02 1.25206345e+02] [ 1.18480446e-01 9.92946399e-01 -4.45347635e-03 9.30911502e+00] [ 5.36952748e-02 -1.92839891e-03 9.98555506e-01 5.73183437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:9.31, Z:5.73 [[ 9.91288959e-01 -1.20323903e-01 -5.35570599e-02 1.25235305e+02] [ 1.20257746e-01 9.92732649e-01 -4.46796573e-03 9.31247129e+00] [ 5.37054451e-02 -2.01160621e-03 9.98554795e-01 5.73328177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:9.31, Z:5.73 [[ 9.91111201e-01 -1.21832677e-01 -5.34358042e-02 1.25263811e+02] [ 1.21768286e-01 9.92548484e-01 -4.47128884e-03 9.31436091e+00] [ 5.35823755e-02 -2.07524181e-03 9.98561276e-01 5.73438223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:9.32, Z:5.74 [[ 9.90719757e-01 -1.25235662e-01 -5.28241666e-02 1.25293257e+02] [ 1.25176912e-01 9.92124536e-01 -4.43230113e-03 9.31502390e+00] [ 5.29632339e-02 -2.22119778e-03 9.98593993e-01 5.73549250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:9.32, Z:5.74 [[ 9.90445465e-01 -1.27341727e-01 -5.29326529e-02 1.25321959e+02] [ 1.27285448e-01 9.91856159e-01 -4.44681810e-03 9.31698345e+00] [ 5.30678433e-02 -2.33322562e-03 9.98588183e-01 5.73665957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.35, Y:9.32, Z:5.74 [[ 9.90142530e-01 -1.29501611e-01 -5.33582445e-02 1.25351033e+02] [ 1.29446891e-01 9.91576169e-01 -4.49487989e-03 9.31699221e+00] [ 5.34908578e-02 -2.45648709e-03 9.98565318e-01 5.73711372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.38, Y:9.32, Z:5.74 [[ 9.89552201e-01 -1.33476634e-01 -5.45016532e-02 1.25381137e+02] [ 1.33425404e-01 9.91048211e-01 -4.59394435e-03 9.31869934e+00] [ 5.46269501e-02 -2.72595733e-03 9.98503112e-01 5.73740124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.41, Y:9.32, Z:5.74 [[ 9.89294284e-01 -1.35480676e-01 -5.42384259e-02 1.25410701e+02] [ 1.35432868e-01 9.90775971e-01 -4.57306910e-03 9.32141710e+00] [ 5.43576916e-02 -2.82155445e-03 9.98517541e-01 5.73898261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:9.32, Z:5.74 [[ 9.88992969e-01 -1.37761337e-01 -5.39881619e-02 1.25438811e+02] [ 1.37717238e-01 9.90461116e-01 -4.55409137e-03 9.32364960e+00] [ 5.41005528e-02 -2.93113621e-03 9.98531191e-01 5.74073581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.47, Y:9.33, Z:5.74 [[ 9.88921379e-01 -1.38380785e-01 -5.37146654e-02 1.25467369e+02] [ 1.38337851e-01 9.90374715e-01 -4.53455028e-03 9.33295200e+00] [ 5.38251411e-02 -2.94645766e-03 9.98546029e-01 5.74309005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:9.33, Z:5.74 [[ 9.88959253e-01 -1.38311876e-01 -5.31923007e-02 1.25495615e+02] [ 1.38269551e-01 9.90384444e-01 -4.49272401e-03 9.32837366e+00] [ 5.33022243e-02 -2.91175454e-03 9.98574181e-01 5.74373966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.52, Y:9.34, Z:5.75 [[ 9.89251168e-01 -1.36544681e-01 -5.23228124e-02 1.25524123e+02] [ 1.36500980e-01 9.90630054e-01 -4.42467204e-03 9.33558288e+00] [ 5.24367160e-02 -2.76500318e-03 9.98620421e-01 5.74657799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:9.34, Z:5.75 [[ 9.89504785e-01 -1.34952924e-01 -5.16525797e-02 1.25552810e+02] [ 1.34907601e-01 9.90848507e-01 -4.37899038e-03 9.34369756e+00] [ 5.17708390e-02 -2.63529368e-03 9.98655514e-01 5.74901838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:9.35, Z:5.75 [[ 9.90239227e-01 -1.29970399e-01 -5.03385414e-02 1.25581935e+02] [ 1.29920634e-01 9.91515187e-01 -4.27337671e-03 9.35353133e+00] [ 5.04668408e-02 -2.30834998e-03 9.98723069e-01 5.75144774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:9.36, Z:5.75 [[ 9.91039493e-01 -1.23723217e-01 -5.03317789e-02 1.25611454e+02] [ 1.23665401e-01 9.92314773e-01 -4.27323410e-03 9.36412638e+00] [ 5.04736660e-02 -1.98935588e-03 9.98723411e-01 5.75310506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:9.37, Z:5.75 [[ 9.91406982e-01 -1.20882311e-01 -4.99966335e-02 1.25641676e+02] [ 1.20821650e-01 9.92665155e-01 -4.24488928e-03 9.37411305e+00] [ 5.01430479e-02 -1.83226291e-03 9.98740365e-01 5.75498470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:9.38, Z:5.76 [[ 9.91986183e-01 -1.16170318e-01 -4.96776677e-02 1.25671679e+02] [ 1.16104572e-01 9.93228043e-01 -4.21690579e-03 9.38348249e+00] [ 4.98311320e-02 -1.58469207e-03 9.98756400e-01 5.75648966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:9.39, Z:5.76 [[ 9.92287426e-01 -1.13740810e-01 -4.92817648e-02 1.25701365e+02] [ 1.13673161e-01 9.93509396e-01 -4.18239461e-03 9.38894047e+00] [ 4.94376053e-02 -1.45187638e-03 9.98776159e-01 5.75801303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.73, Y:9.39, Z:5.76 [[ 9.92321169e-01 -1.13137902e-01 -4.99851265e-02 1.25730231e+02] [ 1.13067586e-01 9.93578247e-01 -4.24125249e-03 9.39209687e+00] [ 5.01439808e-02 -1.44301295e-03 9.98740957e-01 5.75889653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.76, Y:9.40, Z:5.76 [[ 9.92209956e-01 -1.13253305e-01 -5.18950198e-02 1.25760817e+02] [ 1.13177633e-01 9.93565009e-01 -4.40401783e-03 9.40046479e+00] [ 5.20598454e-02 -1.50364519e-03 9.98642835e-01 5.75875319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.79, Y:9.40, Z:5.76 [[ 9.92091965e-01 -1.13633143e-01 -5.33014266e-02 1.25790089e+02] [ 1.13553952e-01 9.93521542e-01 -4.52167269e-03 9.40314248e+00] [ 5.34699274e-02 -1.56667249e-03 9.98568231e-01 5.75880716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.82, Y:9.41, Z:5.76 [[ 9.91895441e-01 -1.14685271e-01 -5.46875096e-02 1.25819388e+02] [ 1.14603448e-01 9.93400482e-01 -4.64028685e-03 9.40617246e+00] [ 5.48587709e-02 -1.66469780e-03 9.98492736e-01 5.75849720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.85, Y:9.41, Z:5.76 [[ 9.91825033e-01 -1.15446226e-01 -5.43624203e-02 1.25849178e+02] [ 1.15366453e-01 9.93312284e-01 -4.61381637e-03 9.40985892e+00] [ 5.45315076e-02 -1.69550105e-03 9.98510611e-01 5.75997793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.88, Y:9.41, Z:5.76 [[ 9.91979315e-01 -1.14964236e-01 -5.25382034e-02 1.25878503e+02] [ 1.14888959e-01 9.93368325e-01 -4.46074725e-03 9.41343473e+00] [ 5.27026135e-02 -1.61109050e-03 9.98608952e-01 5.76277556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.91, Y:9.42, Z:5.77 [[ 9.92089187e-01 -1.14580677e-01 -5.12865770e-02 1.25908528e+02] [ 1.14508390e-01 9.93412734e-01 -4.35531033e-03 9.41915466e+00] [ 5.14477731e-02 -1.55188705e-03 9.98674481e-01 5.76540784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.94, Y:9.42, Z:5.77 [[ 9.92348475e-01 -1.12795482e-01 -5.02163595e-02 1.25939860e+02] [ 1.12723904e-01 9.93617199e-01 -4.26428959e-03 9.42454220e+00] [ 5.03768311e-02 -1.42892281e-03 9.98729259e-01 5.76812695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.97, Y:9.43, Z:5.77 [[ 9.92492038e-01 -1.11778220e-01 -4.96506253e-02 1.25971296e+02] [ 1.11707090e-01 9.93732242e-01 -4.21392849e-03 9.42813893e+00] [ 4.98104527e-02 -1.36403639e-03 9.98757758e-01 5.77005241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.00, Y:9.43, Z:5.77 [[ 9.92732496e-01 -1.09963215e-01 -4.88905254e-02 1.26002067e+02] [ 1.09892133e-01 9.93934865e-01 -4.14766266e-03 9.43392491e+00] [ 4.90500881e-02 -1.25516463e-03 9.98795531e-01 5.77224549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:9.44, Z:5.77 [[ 9.92838376e-01 -1.08974526e-01 -4.89541783e-02 1.26032285e+02] [ 1.08902146e-01 9.94043807e-01 -4.15128703e-03 9.43689647e+00] [ 4.91149823e-02 -1.20965802e-03 9.98792398e-01 5.77371087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.06, Y:9.44, Z:5.77 [[ 9.93028030e-01 -1.07115361e-01 -4.92100640e-02 1.26062485e+02] [ 1.07039986e-01 9.94245963e-01 -4.17208287e-03 9.44042847e+00] [ 4.93738017e-02 -1.12444933e-03 9.98779737e-01 5.77426561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.09, Y:9.45, Z:5.78 [[ 9.93124030e-01 -1.06154048e-01 -4.93556307e-02 1.26093922e+02] [ 1.06077088e-01 9.94349109e-01 -4.18346370e-03 9.44569758e+00] [ 4.95208190e-02 -1.08080327e-03 9.98772507e-01 5.77598679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.12, Y:9.45, Z:5.78 [[ 9.93368866e-01 -1.04368338e-01 -4.82239138e-02 1.26124315e+02] [ 1.04292891e-01 9.94538238e-01 -4.08494237e-03 9.44811603e+00] [ 4.83868648e-02 -9.71556803e-04 9.98828197e-01 5.77773007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.16, Y:9.45, Z:5.78 [[ 9.93477883e-01 -1.03180984e-01 -4.85322609e-02 1.26155169e+02] [ 1.03103310e-01 9.94662170e-01 -4.10786254e-03 9.45217556e+00] [ 4.86970572e-02 -9.22766140e-04 9.98813168e-01 5.77916564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.19, Y:9.46, Z:5.78 [[ 9.93575982e-01 -1.01848030e-01 -4.93330135e-02 1.26186659e+02] [ 1.01766219e-01 9.94799586e-01 -4.17380723e-03 9.45515342e+00] [ 4.95015555e-02 -8.73439658e-04 9.98773665e-01 5.78043278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.22, Y:9.46, Z:5.78 [[ 9.93848623e-01 -9.82955086e-02 -5.10186998e-02 1.26217166e+02] [ 9.82034266e-02 9.95157008e-01 -4.31457378e-03 9.45877390e+00] [ 5.11957199e-02 -7.22177929e-04 9.98688378e-01 5.78017870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.25, Y:9.46, Z:5.78 [[ 9.94044504e-01 -9.61496089e-02 -5.12910967e-02 1.26247748e+02] [ 9.60537301e-02 9.95366703e-01 -4.33675073e-03 9.46276094e+00] [ 5.14704267e-02 -6.15777928e-04 9.98674329e-01 5.78125693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.28, Y:9.47, Z:5.78 [[ 9.94478766e-01 -9.14657324e-02 -5.14393233e-02 1.26277500e+02] [ 9.13630307e-02 9.95808154e-01 -4.34935899e-03 9.46839776e+00] [ 5.16215149e-02 -3.74307317e-04 9.98666651e-01 5.78235774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:9.47, Z:5.78 [[ 9.94697247e-01 -8.92369115e-02 -5.11288704e-02 1.26305677e+02] [ 8.91324482e-02 9.96010396e-01 -4.32418594e-03 9.47120161e+00] [ 5.13107634e-02 -2.55985549e-04 9.98682702e-01 5.78326923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:9.47, Z:5.78 [[ 9.95031735e-01 -8.57087501e-02 -5.06542903e-02 1.26333936e+02] [ 8.56015058e-02 9.96320232e-01 -4.28684467e-03 9.47435662e+00] [ 5.08353143e-02 -7.05370332e-05 9.98707047e-01 5.78433671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:9.48, Z:5.79 [[ 9.95133573e-01 -8.44868618e-02 -5.07064210e-02 1.26363285e+02] [ 8.43776455e-02 9.96424593e-01 -4.29450595e-03 9.47702872e+00] [ 5.08879542e-02 -4.88136356e-06 9.98704369e-01 5.78578294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.39, Y:9.48, Z:5.79 [[ 9.95109985e-01 -8.44217509e-02 -5.12746035e-02 1.26391735e+02] [ 8.43098830e-02 9.96430112e-01 -4.34461276e-03 9.47949599e+00] [ 5.14583387e-02 4.11720088e-07 9.98675142e-01 5.78625714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:9.48, Z:5.79 [[ 9.94897616e-01 -8.67535831e-02 -5.15029055e-02 1.26420315e+02] [ 8.66436473e-02 9.96229794e-01 -4.36763815e-03 9.48020978e+00] [ 5.16876372e-02 -1.17046794e-04 9.98663294e-01 5.78740450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.45, Y:9.48, Z:5.79 [[ 9.94432834e-01 -9.21737197e-02 -5.10621579e-02 1.26448277e+02] [ 9.20721496e-02 9.95742868e-01 -4.34285148e-03 9.47656714e+00] [ 5.12450763e-02 -3.82728535e-04 9.98686035e-01 5.78774778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:9.48, Z:5.79 [[ 9.94081074e-01 -9.58859602e-02 -5.10754482e-02 1.26476854e+02] [ 9.57888341e-02 9.95392165e-01 -4.35172684e-03 9.47519183e+00] [ 5.12573704e-02 -5.66488342e-04 9.98685316e-01 5.78842515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.50, Y:9.48, Z:5.79 [[ 9.94057378e-01 -9.61318811e-02 -5.10743714e-02 1.26504968e+02] [ 9.60344319e-02 9.95368445e-01 -4.36432970e-03 9.47763631e+00] [ 5.12573688e-02 -5.66504098e-04 9.98685316e-01 5.78977104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.54, Y:9.47, Z:5.79 [[ 9.93237577e-01 -1.04094190e-01 -5.14151300e-02 1.26535205e+02] [ 1.04005464e-01 9.94566969e-01 -4.40545804e-03 9.47318872e+00] [ 5.15943725e-02 -9.71787998e-04 9.98667651e-01 5.79086985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:9.47, Z:5.79 [[ 9.92434487e-01 -1.11751380e-01 -5.08470131e-02 1.26566255e+02] [ 1.11674548e-01 9.93735276e-01 -4.35847739e-03 9.47015191e+00] [ 5.10155364e-02 -1.35281393e-03 9.98696943e-01 5.79286305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.60, Y:9.47, Z:5.79 [[ 9.92061984e-01 -1.15164092e-01 -5.05000115e-02 1.26595940e+02] [ 1.15092716e-01 9.93345322e-01 -4.32877135e-03 9.46967871e+00] [ 5.06624692e-02 -1.51777400e-03 9.98714679e-01 5.79462429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.63, Y:9.47, Z:5.80 [[ 9.91716732e-01 -1.18349931e-01 -4.99120972e-02 1.26625895e+02] [ 1.18284205e-01 9.92970562e-01 -4.27898753e-03 9.46967952e+00] [ 5.00676611e-02 -1.66026918e-03 9.98744448e-01 5.79647772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.66, Y:9.47, Z:5.80 [[ 9.91380998e-01 -1.21340007e-01 -4.93995850e-02 1.26656811e+02] [ 1.21279285e-01 9.92609386e-01 -4.23588590e-03 9.46912735e+00] [ 4.95484741e-02 -1.79176956e-03 9.98770113e-01 5.79854750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.69, Y:9.47, Z:5.80 [[ 9.91035095e-01 -1.24298205e-01 -4.89836329e-02 1.26687154e+02] [ 1.24242106e-01 9.92243043e-01 -4.20021909e-03 9.46949990e+00] [ 4.91257487e-02 -1.92326518e-03 9.98790750e-01 5.80043031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.72, Y:9.47, Z:5.80 [[ 9.90414636e-01 -1.29328286e-01 -4.85081868e-02 1.26718188e+02] [ 1.29279286e-01 9.91599498e-01 -4.15944285e-03 9.46723226e+00] [ 4.86386273e-02 -2.15153066e-03 9.98814124e-01 5.80182991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.75, Y:9.47, Z:5.80 [[ 9.90133787e-01 -1.31348257e-01 -4.88131065e-02 1.26749455e+02] [ 1.31301105e-01 9.91333700e-01 -4.18520687e-03 9.47020212e+00] [ 4.89397971e-02 -2.26530008e-03 9.98799161e-01 5.80291124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.78, Y:9.47, Z:5.80 [[ 9.89639356e-01 -1.35007013e-01 -4.88574601e-02 1.26779696e+02] [ 1.34964305e-01 9.90841614e-01 -4.18727113e-03 9.46815528e+00] [ 4.89753155e-02 -2.45012482e-03 9.98796984e-01 5.80462334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.81, Y:9.47, Z:5.81 [[ 9.89500900e-01 -1.36132342e-01 -4.85381836e-02 1.26809679e+02] [ 1.36091539e-01 9.90687533e-01 -4.15990791e-03 9.46677246e+00] [ 4.86524714e-02 -2.48940347e-03 9.98812665e-01 5.80607479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.84, Y:9.47, Z:5.81 [[ 9.89375970e-01 -1.37335490e-01 -4.76880785e-02 1.26840842e+02] [ 1.37297496e-01 9.90521425e-01 -4.08701551e-03 9.47414373e+00] [ 4.77973557e-02 -2.50385884e-03 9.98853915e-01 5.80752229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.87, Y:9.48, Z:5.81 [[ 9.89407564e-01 -1.36661245e-01 -4.89527899e-02 1.26871502e+02] [ 1.36620642e-01 9.90614578e-01 -4.19026105e-03 9.47710444e+00] [ 4.90659936e-02 -2.54208559e-03 9.98792304e-01 5.80836357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.90, Y:9.48, Z:5.81 [[ 9.89480171e-01 -1.35681969e-01 -5.01935665e-02 1.26903101e+02] [ 1.35638170e-01 9.90749136e-01 -4.29365639e-03 9.48109412e+00] [ 5.03118044e-02 -2.55967567e-03 9.98730279e-01 5.80869622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.93, Y:9.49, Z:5.81 [[ 9.89695543e-01 -1.33201624e-01 -5.25362725e-02 1.26933694e+02] [ 1.33150314e-01 9.91085679e-01 -4.49117353e-03 9.48901784e+00] [ 5.26661789e-02 -2.55032675e-03 9.98608917e-01 5.80843173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.96, Y:9.49, Z:5.81 [[ 9.89839388e-01 -1.32059708e-01 -5.27088253e-02 1.26964889e+02] [ 1.32006550e-01 9.91238612e-01 -4.50396530e-03 9.49333383e+00] [ 5.28418152e-02 -2.49970793e-03 9.98599767e-01 5.81013710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.00, Y:9.50, Z:5.81 [[ 9.90216267e-01 -1.29604377e-01 -5.17150915e-02 1.26995385e+02] [ 1.29549951e-01 9.91563058e-01 -4.41734661e-03 9.49922981e+00] [ 5.18512817e-02 -2.32555908e-03 9.98652110e-01 5.81229096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.03, Y:9.50, Z:5.81 [[ 9.90346245e-01 -1.28484218e-01 -5.20203844e-02 1.27025334e+02] [ 1.28427611e-01 9.91708932e-01 -4.44334492e-03 9.50175031e+00] [ 5.21599795e-02 -2.28040372e-03 9.98636138e-01 5.81382745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.06, Y:9.51, Z:5.82 [[ 9.90509585e-01 -1.27111191e-01 -5.22829541e-02 1.27056611e+02] [ 1.27052157e-01 9.91885989e-01 -4.46472838e-03 9.50698102e+00] [ 5.24262466e-02 -2.22030587e-03 9.98622330e-01 5.81564410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.09, Y:9.51, Z:5.82 [[ 9.90691650e-01 -1.25509328e-01 -5.27016429e-02 1.27087942e+02] [ 1.25447192e-01 9.92090100e-01 -4.49845781e-03 9.51392502e+00] [ 5.28493766e-02 -2.15468851e-03 9.98600171e-01 5.81753902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:9.52, Z:5.82 [[ 9.91119627e-01 -1.21890014e-01 -5.31479945e-02 1.27117665e+02] [ 1.21821776e-01 9.92541636e-01 -4.53377606e-03 9.52118161e+00] [ 5.33042195e-02 -1.98106862e-03 9.98576354e-01 5.81923443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.15, Y:9.52, Z:5.82 [[ 9.91371364e-01 -1.19665939e-01 -5.35059025e-02 1.27148131e+02] [ 1.19593599e-01 9.92812443e-01 -4.56330455e-03 9.52383759e+00] [ 5.36673979e-02 -1.87503399e-03 9.98557106e-01 5.82062431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:9.53, Z:5.82 [[ 9.92016442e-01 -1.14571328e-01 -5.26952575e-02 1.27177160e+02] [ 1.14494029e-01 9.93413775e-01 -4.49331986e-03 9.53203316e+00] [ 5.28630003e-02 -1.57584514e-03 9.98600531e-01 5.82294818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.21, Y:9.54, Z:5.83 [[ 9.92305137e-01 -1.12307662e-01 -5.21296832e-02 1.27206761e+02] [ 1.12228893e-01 9.93672439e-01 -4.44509340e-03 9.53974205e+00] [ 5.22990476e-02 -1.43956763e-03 9.98630431e-01 5.82558234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:9.55, Z:5.83 [[ 9.92871510e-01 -1.07024189e-01 -5.24593948e-02 1.27236846e+02] [ 1.06937051e-01 9.94255730e-01 -4.47320788e-03 9.54711505e+00] [ 5.26367954e-02 -1.16853232e-03 9.98613039e-01 5.82599729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:9.55, Z:5.83 [[ 9.93339292e-01 -1.02660802e-01 -5.23240925e-02 1.27266612e+02] [ 1.02568064e-01 9.94715982e-01 -4.46167065e-03 9.55439433e+00] [ 5.25056497e-02 -9.34828101e-04 9.98620189e-01 5.82717501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.30, Y:9.56, Z:5.83 [[ 9.93751246e-01 -9.90981199e-02 -5.13616945e-02 1.27295213e+02] [ 9.90040101e-02 9.95077397e-01 -4.37954400e-03 9.56101796e+00] [ 5.15428658e-02 -7.32836413e-04 9.98670514e-01 5.82939156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.32, Y:9.57, Z:5.83 [[ 9.93912828e-01 -9.75019713e-02 -5.12899170e-02 1.27324955e+02] [ 9.74060390e-02 9.95235120e-01 -4.37267998e-03 9.56567002e+00] [ 5.14718716e-02 -6.49884933e-04 9.98674233e-01 5.83141691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:9.57, Z:5.83 [[ 9.94048234e-01 -9.62006750e-02 -5.11227722e-02 1.27353807e+02] [ 9.61036439e-02 9.95361790e-01 -4.35849792e-03 9.56871763e+00] [ 5.13049444e-02 -5.80527523e-04 9.98682865e-01 5.83247757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:9.57, Z:5.83 [[ 9.94093694e-01 -9.54791212e-02 -5.15893809e-02 1.27384230e+02] [ 9.53792945e-02 9.95431282e-01 -4.39913733e-03 9.57211187e+00] [ 5.17737093e-02 -5.47404074e-04 9.98658692e-01 5.83381873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.41, Y:9.58, Z:5.84 [[ 9.94259578e-01 -9.37462158e-02 -5.15707060e-02 1.27413210e+02] [ 9.36441279e-02 9.95596022e-01 -4.39762010e-03 9.57637491e+00] [ 5.17558500e-02 -4.56917885e-04 9.98659663e-01 5.83508001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:9.58, Z:5.84 [[ 9.94313147e-01 -9.28040441e-02 -5.22376775e-02 1.27443303e+02] [ 9.26979528e-02 9.95684307e-01 -4.45535021e-03 9.58192495e+00] [ 5.24257102e-02 -4.12312470e-04 9.98624742e-01 5.83631144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:9.58, Z:5.84 [[ 9.94314897e-01 -9.26609317e-02 -5.24579665e-02 1.27472245e+02] [ 9.25537393e-02 9.95697638e-01 -4.47423107e-03 9.58421719e+00] [ 5.26468598e-02 -4.06386359e-04 9.98613110e-01 5.83716915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:9.59, Z:5.84 [[ 9.94194506e-01 -9.42321622e-02 -5.19382636e-02 1.27501483e+02] [ 9.41291738e-02 9.95550132e-01 -4.43091471e-03 9.58600930e+00] [ 5.21246799e-02 -4.83714783e-04 9.98640468e-01 5.83893753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.53, Y:9.59, Z:5.84 [[ 9.94124483e-01 -9.54725344e-02 -5.10049671e-02 1.27531447e+02] [ 9.53747631e-02 9.95431920e-01 -4.35293264e-03 9.58786629e+00] [ 5.11875579e-02 -5.37229741e-04 9.98688913e-01 5.84109765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:9.59, Z:5.84 [[ 9.93800175e-01 -9.91429726e-02 -5.03178282e-02 1.27561644e+02] [ 9.90525183e-02 9.95072941e-01 -4.29428993e-03 9.58766277e+00] [ 5.04956580e-02 -7.16441513e-04 9.98724024e-01 5.84353832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:9.59, Z:5.85 [[ 9.93395657e-01 -1.03283721e-01 -4.99754102e-02 1.27593052e+02] [ 1.03199732e-01 9.94651509e-01 -4.26497249e-03 9.58840918e+00] [ 5.01486194e-02 -9.20643801e-04 9.98741342e-01 5.84592116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.62, Y:9.59, Z:5.85 [[ 9.92976790e-01 -1.07174669e-01 -5.01067281e-02 1.27624798e+02] [ 1.07095275e-01 9.94239575e-01 -4.27437269e-03 9.58843963e+00] [ 5.02761965e-02 -1.12184097e-03 9.98734722e-01 5.84736891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.66, Y:9.59, Z:5.85 [[ 9.92593074e-01 -1.10643281e-01 -5.01702579e-02 1.27655643e+02] [ 1.10568198e-01 9.93859332e-01 -4.27803237e-03 9.58828865e+00] [ 5.03355145e-02 -1.30088968e-03 9.98731517e-01 5.84817316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.69, Y:9.59, Z:5.85 [[ 9.92258084e-01 -1.13305089e-01 -5.08512785e-02 1.27686369e+02] [ 1.13231491e-01 9.93559176e-01 -4.33516032e-03 9.58556766e+00] [ 5.10149501e-02 -1.45636822e-03 9.98696828e-01 5.84815144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.72, Y:9.59, Z:5.85 [[ 9.91981906e-01 -1.15264574e-01 -5.18264039e-02 1.27717383e+02] [ 1.15190850e-01 9.93333557e-01 -4.41725051e-03 9.59095227e+00] [ 5.19900586e-02 -1.58809496e-03 9.98646340e-01 5.84946350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.75, Y:9.59, Z:5.85 [[ 9.91944089e-01 -1.15836905e-01 -5.12711906e-02 1.27749695e+02] [ 1.15765618e-01 9.93266954e-01 -4.36794160e-03 9.59345435e+00] [ 5.14319482e-02 -1.60268720e-03 9.98675216e-01 5.85118364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.78, Y:9.60, Z:5.85 [[ 9.91862350e-01 -1.16496042e-01 -5.13590416e-02 1.27780356e+02] [ 1.16425581e-01 9.93189796e-01 -4.37176365e-03 9.59543699e+00] [ 5.15185693e-02 -1.64331850e-03 9.98670685e-01 5.85282012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.81, Y:9.60, Z:5.85 [[ 9.91774453e-01 -1.17147860e-01 -5.15733804e-02 1.27810798e+02] [ 1.17077827e-01 9.93113052e-01 -4.38735745e-03 9.59738840e+00] [ 5.17321668e-02 -1.68683029e-03 9.98659570e-01 5.85394038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.84, Y:9.60, Z:5.85 [[ 9.91622838e-01 -1.17842018e-01 -5.28905152e-02 1.27842385e+02] [ 1.17769416e-01 9.93030781e-01 -4.49813493e-03 9.60208714e+00] [ 5.30519789e-02 -1.76843175e-03 9.98590186e-01 5.85486860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.87, Y:9.60, Z:5.86 [[ 9.91526608e-01 -1.18387557e-01 -5.34731007e-02 1.27874329e+02] [ 1.18314352e-01 9.92965794e-01 -4.54371479e-03 9.60461802e+00] [ 5.36348792e-02 -1.82142114e-03 9.98558953e-01 5.85555924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.91, Y:9.61, Z:5.86 [[ 9.91457460e-01 -1.18271061e-01 -5.49914593e-02 1.27905118e+02] [ 1.18193682e-01 9.92979585e-01 -4.66875185e-03 9.60570538e+00] [ 5.51575747e-02 -1.87077421e-03 9.98475910e-01 5.85533153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.94, Y:9.61, Z:5.86 [[ 9.91433327e-01 -1.18150895e-01 -5.56805480e-02 1.27935628e+02] [ 1.18071522e-01 9.92993854e-01 -4.72464114e-03 9.60946644e+00] [ 5.58486625e-02 -1.89012039e-03 9.98437456e-01 5.85634804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.97, Y:9.62, Z:5.86 [[ 9.91526989e-01 -1.17780820e-01 -5.47896692e-02 1.27966874e+02] [ 1.17703417e-01 9.93037912e-01 -4.64878258e-03 9.61562621e+00] [ 5.49557561e-02 -1.83953786e-03 9.98487096e-01 5.85947313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.00, Y:9.62, Z:5.86 [[ 9.91598199e-01 -1.17551474e-01 -5.39876078e-02 1.27997712e+02] [ 1.17476083e-01 9.93065156e-01 -4.57882688e-03 9.61995104e+00] [ 5.41514600e-02 -1.80189622e-03 9.98531107e-01 5.86198275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.03, Y:9.62, Z:5.86 [[ 9.91669854e-01 -1.17292743e-01 -5.32288712e-02 1.28027779e+02] [ 1.17219180e-01 9.93095816e-01 -4.51268874e-03 9.62327979e+00] [ 5.33906749e-02 -1.76434727e-03 9.98572142e-01 5.86430943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.06, Y:9.63, Z:5.87 [[ 9.91651830e-01 -1.17305928e-01 -5.35347301e-02 1.28059581e+02] [ 1.17231606e-01 9.93094237e-01 -4.53732052e-03 9.62735517e+00] [ 5.36972865e-02 -1.77652021e-03 9.98555680e-01 5.86602038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.09, Y:9.63, Z:5.87 [[ 9.91432828e-01 -1.18825662e-01 -5.42347613e-02 1.28089750e+02] [ 1.18751859e-01 9.92913340e-01 -4.59286187e-03 9.62970809e+00] [ 5.43961679e-02 -1.88696471e-03 9.98517649e-01 5.86718609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.12, Y:9.63, Z:5.87 [[ 9.91303344e-01 -1.19788336e-01 -5.44833514e-02 1.28119825e+02] [ 1.19715434e-01 9.92797536e-01 -4.61160144e-03 9.63167041e+00] [ 5.46433531e-02 -1.95100210e-03 9.98504030e-01 5.86848365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.15, Y:9.64, Z:5.87 [[ 9.90954945e-01 -1.22524021e-01 -5.47372006e-02 1.28150501e+02] [ 1.22454661e-01 9.92463299e-01 -4.63199173e-03 9.63696830e+00] [ 5.48921929e-02 -2.11273020e-03 9.98490052e-01 5.87082815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.18, Y:9.64, Z:5.87 [[ 9.90763885e-01 -1.24133925e-01 -5.45682382e-02 1.28181946e+02] [ 1.24067544e-01 9.92263040e-01 -4.61558888e-03 9.63554395e+00] [ 5.47189971e-02 -2.19718851e-03 9.98499376e-01 5.87218844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.21, Y:9.63, Z:5.87 [[ 9.90456097e-01 -1.27279807e-01 -5.28826147e-02 1.28211733e+02] [ 1.27222064e-01 9.91864185e-01 -4.47052083e-03 9.63460609e+00] [ 5.30213785e-02 -2.29998077e-03 9.98590729e-01 5.87494430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.24, Y:9.64, Z:5.88 [[ 9.90300965e-01 -1.28663401e-01 -5.24378405e-02 1.28243584e+02] [ 1.28608579e-01 9.91685528e-01 -4.43254556e-03 9.64242347e+00] [ 5.25721539e-02 -2.35440198e-03 9.98614353e-01 5.87801654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.27, Y:9.64, Z:5.88 [[ 9.90126953e-01 -1.30060326e-01 -5.22774159e-02 1.28274747e+02] [ 1.30007977e-01 9.91503117e-01 -4.41522648e-03 9.64378182e+00] [ 5.24074666e-02 -2.42484632e-03 9.98622841e-01 5.88001995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.31, Y:9.65, Z:5.88 [[ 9.90325100e-01 -1.29319231e-01 -5.03262583e-02 1.28307095e+02] [ 1.29269899e-01 9.91600348e-01 -4.24765587e-03 9.64793453e+00] [ 5.04528389e-02 -2.29911009e-03 9.98723798e-01 5.88330471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.34, Y:9.65, Z:5.89 [[ 9.90734064e-01 -1.26656950e-01 -4.90309180e-02 1.28338218e+02] [ 1.26607081e-01 9.91944332e-01 -4.13403922e-03 9.65275636e+00] [ 4.91595460e-02 -2.11192792e-03 9.98788706e-01 5.88599509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.37, Y:9.65, Z:5.89 [[ 9.91030531e-01 -1.24440779e-01 -4.87132361e-02 1.28368538e+02] [ 1.24388974e-01 9.92225040e-01 -4.10536308e-03 9.65287078e+00] [ 4.88453672e-02 -1.99084932e-03 9.98804369e-01 5.88726850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.40, Y:9.66, Z:5.89 [[ 9.91621307e-01 -1.19696016e-01 -4.85803145e-02 1.28398496e+02] [ 1.19639056e-01 9.92809033e-01 -4.08909293e-03 9.66121497e+00] [ 4.87204232e-02 -1.75727128e-03 9.98810909e-01 5.88908487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.43, Y:9.66, Z:5.89 [[ 9.91629847e-01 -1.19625239e-01 -4.85803219e-02 1.28430067e+02] [ 1.19568198e-01 9.92817569e-01 -4.08900547e-03 9.66381386e+00] [ 4.87205453e-02 -1.75388168e-03 9.98810909e-01 5.89059201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.46, Y:9.67, Z:5.89 [[ 9.92324201e-01 -1.13631613e-01 -4.87907367e-02 1.28460814e+02] [ 1.13567008e-01 9.93521866e-01 -4.10326819e-03 9.67137601e+00] [ 4.89409247e-02 -1.46924565e-03 9.98800594e-01 5.89209987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.49, Y:9.68, Z:5.89 [[ 9.93080115e-01 -1.07014503e-01 -4.83712960e-02 1.28490948e+02] [ 1.06943200e-01 9.94256813e-01 -4.06713752e-03 9.67901919e+00] [ 4.85287333e-02 -1.13398780e-03 9.98821143e-01 5.89362423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.52, Y:9.69, Z:5.89 [[ 9.93774108e-01 -9.99697866e-02 -4.91839892e-02 1.28521806e+02] [ 9.98874944e-02 9.94990148e-01 -4.13441728e-03 9.68631836e+00] [ 4.93509015e-02 -8.04188601e-04 9.98781178e-01 5.89412371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.55, Y:9.69, Z:5.89 [[ 9.94745328e-01 -8.85062017e-02 -5.14624566e-02 1.28552607e+02] [ 8.84008629e-02 9.96075595e-01 -4.32397064e-03 9.69462719e+00] [ 5.16431953e-02 -2.48075972e-04 9.98665569e-01 5.89275479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.58, Y:9.70, Z:5.89 [[ 9.95155206e-01 -8.38358690e-02 -5.13581825e-02 1.28581781e+02] [ 8.37248295e-02 9.96479577e-01 -4.31345622e-03 9.69668511e+00] [ 5.15390024e-02 -7.39666029e-06 9.98670982e-01 5.89391271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.61, Y:9.69, Z:5.90 [[ 9.94827580e-01 -8.80259821e-02 -5.06903625e-02 1.28612084e+02] [ 8.79232511e-02 9.96118154e-01 -4.25729406e-03 9.69244803e+00] [ 5.08683429e-02 -2.21587922e-04 9.98705343e-01 5.89531604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.64, Y:9.69, Z:5.90 [[ 9.94827580e-01 -8.80260625e-02 -5.06902205e-02 1.28641945e+02] [ 8.79232454e-02 9.96118148e-01 -4.25898404e-03 9.69495777e+00] [ 5.08683502e-02 -2.19893913e-04 9.98705343e-01 5.89674232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.67, Y:9.70, Z:5.90 [[ 9.94607963e-01 -9.04753257e-02 -5.06874278e-02 1.28672678e+02] [ 9.03756977e-02 9.95898638e-01 -4.25874940e-03 9.69514043e+00] [ 5.08648520e-02 -3.45125590e-04 9.98705486e-01 5.89810704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.70, Y:9.70, Z:5.90 [[ 9.94611246e-01 -9.04392249e-02 -5.06874380e-02 1.28703385e+02] [ 9.03395561e-02 9.95901917e-01 -4.25862839e-03 9.69769297e+00] [ 5.08648637e-02 -3.43400964e-04 9.98705486e-01 5.89957304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.73, Y:9.70, Z:5.90 [[ 9.94320082e-01 -9.34292168e-02 -5.09760340e-02 1.28734205e+02] [ 9.33324273e-02 9.95625798e-01 -4.28106723e-03 9.69657301e+00] [ 5.11530313e-02 -5.00965874e-04 9.98690701e-01 5.90072319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.76, Y:9.70, Z:5.90 [[ 9.94323385e-01 -9.33940115e-02 -5.09761165e-02 1.28764913e+02] [ 9.32972261e-02 9.95629102e-01 -4.28008534e-03 9.69912202e+00] [ 5.11530394e-02 -5.00141322e-04 9.98690701e-01 5.90218895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.80, Y:9.70, Z:5.90 [[ 9.93986761e-01 -9.70664394e-02 -5.06796309e-02 1.28796329e+02] [ 9.69756367e-02 9.95277667e-01 -4.25339039e-03 9.69860060e+00] [ 5.08531663e-02 -6.86875742e-04 9.98705905e-01 5.90351401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.83, Y:9.70, Z:5.90 [[ 9.93623639e-01 -1.00700406e-01 -5.07098885e-02 1.28827096e+02] [ 1.00614313e-01 9.94916410e-01 -4.25411591e-03 9.69642076e+00] [ 5.08804914e-02 -8.75150486e-04 9.98704366e-01 5.90450514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.86, Y:9.70, Z:5.91 [[ 9.93627256e-01 -1.00664661e-01 -5.07099709e-02 1.28857806e+02] [ 1.00578573e-01 9.94920028e-01 -4.25313250e-03 9.69896790e+00] [ 5.08805058e-02 -8.74308121e-04 9.98704366e-01 5.90597104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.89, Y:9.70, Z:5.91 [[ 9.93630873e-01 -1.00628877e-01 -5.07101238e-02 1.28888517e+02] [ 1.00542835e-01 9.94923648e-01 -4.25130860e-03 9.70151354e+00] [ 5.08805058e-02 -8.74308120e-04 9.98704366e-01 5.90743668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.92, Y:9.70, Z:5.91 [[ 9.93235448e-01 -1.04436065e-01 -5.07587654e-02 1.28919252e+02] [ 1.04354913e-01 9.94531025e-01 -4.25360843e-03 9.69840163e+00] [ 5.09253971e-02 -1.07209189e-03 9.98701885e-01 5.90844356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.95, Y:9.69, Z:5.91 [[ 9.92445423e-01 -1.12351839e-01 -4.92863804e-02 1.28950480e+02] [ 1.12285109e-01 9.93667451e-01 -4.12939535e-03 9.69182193e+00] [ 4.94382171e-02 -1.43592709e-03 9.98776152e-01 5.91057464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.98, Y:9.69, Z:5.91 [[ 9.91610582e-01 -1.19418866e-01 -4.94731134e-02 1.28981878e+02] [ 1.19360403e-01 9.92842340e-01 -4.14502841e-03 9.68681054e+00] [ 4.96139963e-02 -1.79487675e-03 9.98766855e-01 5.91121316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.01, Y:9.69, Z:5.91 [[ 9.90905822e-01 -1.23891379e-01 -5.25031212e-02 1.29013441e+02] [ 1.23831824e-01 9.92293471e-01 -4.39844060e-03 9.68560043e+00] [ 5.26434333e-02 -2.14311685e-03 9.98611073e-01 5.90949069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.04, Y:9.69, Z:5.91 [[ 9.90733558e-01 -1.24729114e-01 -5.37555987e-02 1.29044269e+02] [ 1.24668016e-01 9.92188300e-01 -4.50149754e-03 9.68791117e+00] [ 5.38971439e-02 -2.24181918e-03 9.98543976e-01 5.90923370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.07, Y:9.69, Z:5.91 [[ 9.90796107e-01 -1.24657003e-01 -5.27608346e-02 1.29074924e+02] [ 1.24598171e-01 9.92197459e-01 -4.41575548e-03 9.68783728e+00] [ 5.28996208e-02 -2.19879014e-03 9.98597414e-01 5.91046618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.11, Y:9.69, Z:5.92 [[ 9.91541175e-01 -1.20445136e-01 -4.83639004e-02 1.29105152e+02] [ 1.20390733e-01 9.92718336e-01 -4.04694619e-03 9.69304930e+00] [ 4.84991657e-02 -1.80985164e-03 9.98821583e-01 5.91627062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.14, Y:9.69, Z:5.92 [[ 9.91725461e-01 -1.18956724e-01 -4.82691257e-02 1.29136154e+02] [ 1.18900822e-01 9.92897925e-01 -4.03803072e-03 9.69472245e+00] [ 4.84066656e-02 -1.73462084e-03 9.98826204e-01 5.91729920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.17, Y:9.70, Z:5.92 [[ 9.91733954e-01 -1.18885686e-01 -4.82696439e-02 1.29167724e+02] [ 1.18830002e-01 9.92906428e-01 -4.03182641e-03 9.69729788e+00] [ 4.84065662e-02 -1.73738272e-03 9.98826204e-01 5.91880453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.20, Y:9.70, Z:5.92 [[ 9.91898563e-01 -1.17931108e-01 -4.72175319e-02 1.29199519e+02] [ 1.17876901e-01 9.93020396e-01 -3.94062552e-03 9.70220942e+00] [ 4.73526946e-02 -1.65715556e-03 9.98876857e-01 5.92071746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.23, Y:9.70, Z:5.92 [[ 9.91907202e-01 -1.17858308e-01 -4.72178206e-02 1.29231089e+02] [ 1.17804183e-01 9.93029039e-01 -3.93716353e-03 9.70478414e+00] [ 4.73526945e-02 -1.65715594e-03 9.98876857e-01 5.92222350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.26, Y:9.71, Z:5.93 [[ 9.91892922e-01 -1.18497363e-01 -4.58999662e-02 1.29261827e+02] [ 1.18447048e-01 9.92953007e-01 -3.82404864e-03 9.70598846e+00] [ 4.60296492e-02 -1.64366874e-03 9.98938722e-01 5.92523724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.29, Y:9.71, Z:5.93 [[ 9.91581657e-01 -1.20321761e-01 -4.78381816e-02 1.29294156e+02] [ 1.20269506e-01 9.92733301e-01 -3.97973305e-03 9.70742342e+00] [ 4.79694044e-02 -1.80724417e-03 9.98847171e-01 5.92582496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:9.70, Z:5.92 [[ 9.91211832e-01 -1.22015804e-01 -5.11003748e-02 1.29325531e+02] [ 1.21958631e-01 9.92526097e-01 -4.24717759e-03 9.70425418e+00] [ 5.12366784e-02 -2.02227905e-03 9.98684491e-01 5.92358336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.36, Y:9.71, Z:5.93 [[ 9.91122525e-01 -1.22407516e-01 -5.18896868e-02 1.29356853e+02] [ 1.22349254e-01 9.92477751e-01 -4.30979823e-03 9.71024852e+00] [ 5.20269113e-02 -2.07712638e-03 9.98643523e-01 5.92537892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.39, Y:9.71, Z:5.93 [[ 9.91234445e-01 -1.21662038e-01 -5.15036252e-02 1.29387195e+02] [ 1.21603819e-01 9.92569515e-01 -4.27418418e-03 9.71307645e+00] [ 5.16409342e-02 -2.02631892e-03 9.98663661e-01 5.92687828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.42, Y:9.72, Z:5.93 [[ 9.91380653e-01 -1.20788731e-01 -5.07393634e-02 1.29418367e+02] [ 1.20731134e-01 9.92676317e-01 -4.20978338e-03 9.71803386e+00] [ 5.08762588e-02 -1.95232310e-03 9.98703056e-01 5.92934085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.45, Y:9.72, Z:5.93 [[ 9.91904066e-01 -1.16857850e-01 -4.97047876e-02 1.29448695e+02] [ 1.16797738e-01 9.93147167e-01 -4.12214883e-03 9.72318245e+00] [ 4.98458744e-02 -1.71663059e-03 9.98755447e-01 5.93221358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.48, Y:9.73, Z:5.93 [[ 9.92555155e-01 -1.11492808e-01 -4.90267148e-02 1.29477792e+02] [ 1.11427877e-01 9.93764213e-01 -4.06407922e-03 9.72950119e+00] [ 4.91741103e-02 -1.42911997e-03 9.98789199e-01 5.93401053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.51, Y:9.74, Z:5.94 [[ 9.92923409e-01 -1.08322925e-01 -4.86749255e-02 1.29508762e+02] [ 1.08255278e-01 9.94114953e-01 -4.03164324e-03 9.73593023e+00] [ 4.88251907e-02 -1.26620462e-03 9.98806537e-01 5.93510318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.54, Y:9.74, Z:5.94 [[ 9.93722340e-01 -1.01672295e-01 -4.66760742e-02 1.29538274e+02] [ 1.01602834e-01 9.94817536e-01 -3.86441553e-03 9.74315918e+00] [ 4.68270811e-02 -9.02265398e-04 9.98902603e-01 5.93774247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.57, Y:9.75, Z:5.94 [[ 9.94562533e-01 -9.43352853e-02 -4.41160053e-02 1.29568769e+02] [ 9.42660501e-02 9.95540344e-01 -3.65175536e-03 9.75100542e+00] [ 4.42637525e-02 -5.26742506e-04 9.99019741e-01 5.94035890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.60, Y:9.76, Z:5.94 [[ 9.95203750e-01 -8.75975760e-02 -4.35449245e-02 1.29599040e+02] [ 8.75237389e-02 9.96155918e-01 -3.60295881e-03 9.75761756e+00] [ 4.36931447e-02 -2.25536477e-04 9.99044973e-01 5.94233956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.63, Y:9.76, Z:5.94 [[ 9.95592408e-01 -8.27882030e-02 -4.40666650e-02 1.29631094e+02] [ 8.27079806e-02 9.96567164e-01 -3.64373209e-03 9.76315573e+00] [ 4.42170494e-02 -1.69928723e-05 9.99021948e-01 5.94352932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.66, Y:9.76, Z:5.94 [[ 9.95701942e-01 -7.97380359e-02 -4.71114501e-02 1.29661381e+02] [ 7.96430989e-02 9.96815846e-01 -3.89182402e-03 9.76435397e+00] [ 4.72717664e-02 1.22994852e-04 9.98882058e-01 5.94040846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.69, Y:9.76, Z:5.94 [[ 9.94973512e-01 -8.69846212e-02 -4.96123678e-02 1.29690643e+02] [ 8.68883446e-02 9.96209627e-01 -4.09808542e-03 9.75766279e+00] [ 4.97807888e-02 -2.33250063e-04 9.98760141e-01 5.93858222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.72, Y:9.76, Z:5.94 [[ 9.94952082e-01 -8.72299742e-02 -4.96113566e-02 1.29718758e+02] [ 8.71333938e-02 9.96188174e-01 -4.11029115e-03 9.76003358e+00] [ 4.97807873e-02 -2.33263138e-04 9.98760141e-01 5.93992803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.75, Y:9.76, Z:5.94 [[ 9.94856186e-01 -8.88350556e-02 -4.86775401e-02 1.29748146e+02] [ 8.87434327e-02 9.96046307e-01 -4.04449607e-03 9.76087368e+00] [ 4.88443771e-02 -2.96120066e-04 9.98806357e-01 5.94196826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.78, Y:9.76, Z:5.94 [[ 9.94714816e-01 -9.09377561e-02 -4.76734648e-02 1.29777582e+02] [ 9.08522080e-02 9.95856502e-01 -3.96275693e-03 9.76132497e+00] [ 4.78362941e-02 -3.89426505e-04 9.98855113e-01 5.94388892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.81, Y:9.76, Z:5.95 [[ 9.94714815e-01 -9.09378371e-02 -4.76733230e-02 1.29807446e+02] [ 9.08522074e-02 9.95856495e-01 -3.96446168e-03 9.76380925e+00] [ 4.78363079e-02 -3.87717857e-04 9.98855113e-01 5.94531518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.84, Y:9.76, Z:5.95 [[ 9.94513147e-01 -9.33201151e-02 -4.72753187e-02 1.29837660e+02] [ 9.32385991e-02 9.95636032e-01 -3.93136408e-03 9.76428158e+00] [ 4.74358861e-02 -4.98091223e-04 9.98874161e-01 5.94721252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.87, Y:9.77, Z:5.95 [[ 9.94513147e-01 -9.33201151e-02 -4.72753187e-02 1.29867525e+02] [ 9.32385991e-02 9.95636032e-01 -3.93136408e-03 9.76676509e+00] [ 4.74358861e-02 -4.98091223e-04 9.98874161e-01 5.94863832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.90, Y:9.77, Z:5.95 [[ 9.94513147e-01 -9.33201151e-02 -4.72753187e-02 1.29897389e+02] [ 9.32385991e-02 9.95636032e-01 -3.93136408e-03 9.76924860e+00] [ 4.74358861e-02 -4.98091223e-04 9.98874161e-01 5.95006411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.93, Y:9.77, Z:5.95 [[ 9.94281070e-01 -9.57262987e-02 -4.73458555e-02 1.29928014e+02] [ 9.56472645e-02 9.95407504e-01 -3.93723011e-03 9.76959099e+00] [ 4.75053164e-02 -6.13788204e-04 9.98870797e-01 5.95192304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.96, Y:9.77, Z:5.95 [[ 9.94284500e-01 -9.56906235e-02 -4.73459262e-02 1.29958724e+02] [ 9.56115894e-02 9.95410935e-01 -3.93638066e-03 9.77211555e+00] [ 4.75053273e-02 -6.12936970e-04 9.98870797e-01 5.95338882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.99, Y:9.77, Z:5.96 [[ 9.93408278e-01 -1.04632287e-01 -4.68196384e-02 1.29989798e+02] [ 1.04564993e-01 9.94510444e-01 -3.89093262e-03 9.76872992e+00] [ 4.69697365e-02 -1.03041051e-03 9.98895781e-01 5.95518697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.02, Y:9.75, Z:5.96 [[ 9.90667006e-01 -1.28281084e-01 -4.60743644e-02 1.30020689e+02] [ 1.28241374e-01 9.91735594e-01 -3.82901207e-03 9.74955836e+00] [ 4.61847770e-02 -2.11536387e-03 9.98930674e-01 5.95705240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.05, Y:9.75, Z:5.96 [[ 9.89582889e-01 -1.36014377e-01 -4.71783232e-02 1.30051920e+02] [ 1.35981522e-01 9.90703618e-01 -3.92018779e-03 9.74762398e+00] [ 4.72729373e-02 -2.53602943e-03 9.98878790e-01 5.95802818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.08, Y:9.75, Z:5.96 [[ 9.89058542e-01 -1.39546743e-01 -4.78529729e-02 1.30083275e+02] [ 1.39517129e-01 9.90211680e-01 -3.97481138e-03 9.74913427e+00] [ 4.79392447e-02 -2.74498826e-03 9.98846482e-01 5.95889425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.11, Y:9.75, Z:5.96 [[ 9.88589144e-01 -1.42643343e-01 -4.84188100e-02 1.30114171e+02] [ 1.42616808e-01 9.89769814e-01 -4.02007285e-03 9.74958145e+00] [ 4.84969132e-02 -2.93113575e-03 9.98819032e-01 5.95973112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.14, Y:9.75, Z:5.96 [[ 9.88281350e-01 -1.44731114e-01 -4.85064762e-02 1.30144351e+02] [ 1.44707028e-01 9.89466353e-01 -4.02650005e-03 9.74917832e+00] [ 4.85782859e-02 -3.03991309e-03 9.98814752e-01 5.96054102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.18, Y:9.75, Z:5.96 [[ 9.88286435e-01 -1.44696388e-01 -4.85064795e-02 1.30175117e+02] [ 1.44672261e-01 9.89471437e-01 -4.02645976e-03 9.75170150e+00] [ 4.85783902e-02 -3.03824652e-03 9.98814752e-01 5.96200972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.21, Y:9.75, Z:5.96 [[ 9.88063281e-01 -1.46187203e-01 -4.85824484e-02 1.30205365e+02] [ 1.46164877e-01 9.89252030e-01 -4.03106428e-03 9.75145694e+00] [ 4.86495757e-02 -3.11810101e-03 9.98811041e-01 5.96313563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.24, Y:9.76, Z:5.96 [[ 9.87982740e-01 -1.46778520e-01 -4.84373001e-02 1.30236574e+02] [ 1.46757076e-01 9.89164402e-01 -4.01815280e-03 9.75569091e+00] [ 4.85022316e-02 -3.13865094e-03 9.98818143e-01 5.96450548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.27, Y:9.76, Z:5.97 [[ 9.87987870e-01 -1.46743939e-01 -4.84374406e-02 1.30267345e+02] [ 1.46722537e-01 9.89169533e-01 -4.01645876e-03 9.75821070e+00] [ 4.85022315e-02 -3.13865162e-03 9.98818143e-01 5.96597396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.30, Y:9.77, Z:5.97 [[ 9.88012309e-01 -1.46495241e-01 -4.86910852e-02 1.30298573e+02] [ 1.46473401e-01 9.89206377e-01 -4.03571738e-03 9.76705340e+00] [ 4.87567454e-02 -3.14461039e-03 9.98805732e-01 5.96758866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:9.77, Z:5.97 [[ 9.88137628e-01 -1.45645523e-01 -4.86971132e-02 1.30330561e+02] [ 1.45622825e-01 9.89331962e-01 -4.03263235e-03 9.77116299e+00] [ 4.87649454e-02 -3.10661545e-03 9.98805451e-01 5.96923070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.36, Y:9.78, Z:5.97 [[ 9.88627116e-01 -1.42381919e-01 -4.84129673e-02 1.30360146e+02] [ 1.42355754e-01 9.89807453e-01 -4.00565986e-03 9.77741910e+00] [ 4.84898494e-02 -2.93176051e-03 9.98819373e-01 5.97069912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.39, Y:9.78, Z:5.97 [[ 9.88637225e-01 -1.42311702e-01 -4.84129735e-02 1.30391754e+02] [ 1.42285457e-01 9.89817561e-01 -4.00558514e-03 9.77997402e+00] [ 4.84900530e-02 -2.92839148e-03 9.98819373e-01 5.97220788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.42, Y:9.79, Z:5.97 [[ 9.88929892e-01 -1.40144669e-01 -4.87559333e-02 1.30423039e+02] [ 1.40115600e-01 9.90126948e-01 -4.03044579e-03 9.79005060e+00] [ 4.88394089e-02 -2.84563855e-03 9.98802590e-01 5.97357667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.45, Y:9.80, Z:5.97 [[ 9.89990368e-01 -1.32359269e-01 -4.89907745e-02 1.30452154e+02] [ 1.32320580e-01 9.91198714e-01 -4.04642821e-03 9.79886968e+00] [ 4.90951749e-02 -2.47656277e-03 9.98791034e-01 5.97491965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.48, Y:9.82, Z:5.98 [[ 9.91200437e-01 -1.22510728e-01 -5.01279954e-02 1.30481809e+02] [ 1.22457647e-01 9.92465104e-01 -4.14039902e-03 9.81712422e+00] [ 5.02575294e-02 -2.03459103e-03 9.98734219e-01 5.97588026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.51, Y:9.83, Z:5.98 [[ 9.92543910e-01 -1.11225846e-01 -4.98537712e-02 1.30510728e+02] [ 1.11159154e-01 9.93794090e-01 -4.11697950e-03 9.83489278e+00] [ 5.00022977e-02 -1.45542011e-03 9.98748042e-01 5.97755846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.54, Y:9.85, Z:5.98 [[ 9.93279164e-01 -1.04459943e-01 -4.98459810e-02 1.30539841e+02] [ 1.04384754e-01 9.94528470e-01 -4.11640575e-03 9.84510720e+00] [ 5.00032467e-02 -1.11442039e-03 9.98748433e-01 5.97830927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.57, Y:9.85, Z:5.98 [[ 9.93611732e-01 -1.01216450e-01 -4.99094807e-02 1.30569927e+02] [ 1.01136982e-01 9.94863972e-01 -4.12160438e-03 9.85111720e+00] [ 5.00703184e-02 -9.52419793e-04 9.98745241e-01 5.97944199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:9.86, Z:5.98 [[ 9.93889591e-01 -9.84554726e-02 -4.98999044e-02 1.30601085e+02] [ 9.83726050e-02 9.95141124e-01 -4.11987844e-03 9.85824511e+00] [ 5.00630715e-02 -8.14079287e-04 9.98745726e-01 5.98083397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:9.86, Z:5.98 [[ 9.94137151e-01 -9.60986453e-02 -4.95618350e-02 1.30632338e+02] [ 9.60140592e-02 9.95371574e-01 -4.09017561e-03 9.86451367e+00] [ 4.97255020e-02 -6.92437427e-04 9.98762682e-01 5.98249131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:9.87, Z:5.98 [[ 9.94557702e-01 -9.13456736e-02 -5.01093357e-02 1.30661757e+02] [ 9.12532747e-02 9.95819138e-01 -4.13341544e-03 9.87319078e+00] [ 5.02774051e-02 -4.61720818e-04 9.98735185e-01 5.98363591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:9.88, Z:5.98 [[ 9.94731493e-01 -8.92883112e-02 -5.03672045e-02 1.30692503e+02] [ 8.91924985e-02 9.96005756e-01 -4.15120661e-03 9.87905779e+00] [ 5.05366798e-02 -3.63040869e-04 9.98722140e-01 5.98469604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.72, Y:9.88, Z:5.99 [[ 9.94898241e-01 -8.71253186e-02 -5.08592981e-02 1.30723219e+02] [ 8.70248922e-02 9.96197326e-01 -4.18993590e-03 9.88447266e+00] [ 5.10309463e-02 -2.57465073e-04 9.98697039e-01 5.98608238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:9.89, Z:5.99 [[ 9.94901402e-01 -8.70891251e-02 -5.08594503e-02 1.30753930e+02] [ 8.69887459e-02 9.96200491e-01 -4.18808810e-03 9.88697343e+00] [ 5.10309463e-02 -2.57465073e-04 9.98697039e-01 5.98754782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.78, Y:9.89, Z:5.99 [[ 9.95041183e-01 -8.51734108e-02 -5.13666652e-02 1.30783638e+02] [ 8.50685611e-02 9.96366129e-01 -4.22803299e-03 9.89175326e+00] [ 5.15401213e-02 -1.62621348e-04 9.98670911e-01 5.98867331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.81, Y:9.90, Z:5.99 [[ 9.95172370e-01 -8.33610704e-02 -5.17965871e-02 1.30814338e+02] [ 8.32520570e-02 9.96519406e-01 -4.26239486e-03 9.89696746e+00] [ 5.19716220e-02 -7.03548273e-05 9.98648560e-01 5.98952487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.84, Y:9.90, Z:5.99 [[ 9.95272515e-01 -8.20738202e-02 -5.19279283e-02 1.30843832e+02] [ 8.19625912e-02 9.96626253e-01 -4.27148965e-03 9.90154827e+00] [ 5.21033141e-02 -4.85131324e-06 9.98641700e-01 5.99060792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.87, Y:9.91, Z:5.99 [[ 9.95348262e-01 -8.13237623e-02 -5.16554167e-02 1.30873592e+02] [ 8.12126976e-02 9.96687737e-01 -4.24890956e-03 9.90601182e+00] [ 5.18298577e-02 3.40690129e-05 9.98655929e-01 5.99217159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.90, Y:9.91, Z:5.99 [[ 9.95386498e-01 -8.16579522e-02 -5.03755685e-02 1.30903040e+02] [ 8.15527548e-02 9.96660413e-01 -4.14362153e-03 9.91104923e+00] [ 5.05456945e-02 1.62385373e-05 9.98721749e-01 5.99406632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.93, Y:9.91, Z:6.00 [[ 9.95210791e-01 -8.40118594e-02 -4.99748787e-02 1.30933842e+02] [ 8.39113112e-02 9.96464749e-01 -4.11034544e-03 9.91353109e+00] [ 5.01435227e-02 -1.02797458e-04 9.98742017e-01 5.99550608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:9.92, Z:6.00 [[ 9.95026645e-01 -8.60838563e-02 -5.01153143e-02 1.30963689e+02] [ 8.59854569e-02 9.96287873e-01 -4.12012442e-03 9.91517894e+00] [ 5.02839561e-02 -2.09554616e-04 9.98734940e-01 5.99624838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.99, Y:9.92, Z:6.00 [[ 9.94488222e-01 -9.15644137e-02 -5.10796795e-02 1.30994832e+02] [ 9.14694607e-02 9.95799032e-01 -4.19840239e-03 9.91614309e+00] [ 5.12495196e-02 -4.96969005e-04 9.98685756e-01 5.99721075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.03, Y:9.92, Z:6.00 [[ 9.94494904e-01 -9.14917193e-02 -5.10798435e-02 1.31026393e+02] [ 9.13967731e-02 9.95805714e-01 -4.19640597e-03 9.91868035e+00] [ 5.12495364e-02 -4.95228510e-04 9.98685756e-01 5.99871656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:9.92, Z:6.00 [[ 9.93974507e-01 -9.74894491e-02 -5.01047564e-02 1.31057190e+02] [ 9.74058817e-02 9.95236243e-01 -4.11277999e-03 9.91831666e+00] [ 5.02670222e-02 -7.92499520e-04 9.98735500e-01 6.00059106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.09, Y:9.92, Z:6.00 [[ 9.93725636e-01 -1.00128198e-01 -4.98367702e-02 1.31088179e+02] [ 1.00048937e-01 9.94974116e-01 -4.08878482e-03 9.91858426e+00] [ 4.99956990e-02 -9.22985587e-04 9.98749007e-01 6.00222042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.12, Y:9.92, Z:6.00 [[ 9.93184140e-01 -1.05504466e-01 -4.95385792e-02 1.31119718e+02] [ 1.05433087e-01 9.94418115e-01 -4.05908841e-03 9.91775116e+00] [ 4.96903125e-02 -1.19158312e-03 9.98763963e-01 6.00369972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.15, Y:9.92, Z:6.01 [[ 9.92986708e-01 -1.07372961e-01 -4.94817562e-02 1.31152280e+02] [ 1.07304156e-01 9.94217982e-01 -4.05257620e-03 9.91851668e+00] [ 4.96307889e-02 -1.28544377e-03 9.98766806e-01 6.00510357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.18, Y:9.92, Z:6.01 [[ 9.92808209e-01 -1.08953690e-01 -4.96079983e-02 1.31184815e+02] [ 1.08886682e-01 9.94045880e-01 -4.05930858e-03 9.92049200e+00] [ 4.97549030e-02 -1.37153548e-03 9.98760516e-01 6.00669985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.22, Y:9.92, Z:6.01 [[ 9.92698739e-01 -1.09893440e-01 -4.97256956e-02 1.31215574e+02] [ 1.09827481e-01 9.93942352e-01 -4.06515629e-03 9.92044341e+00] [ 4.98712089e-02 -1.42577236e-03 9.98754639e-01 6.00820129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.25, Y:9.92, Z:6.01 [[ 9.92748642e-01 -1.09352741e-01 -4.99210640e-02 1.31247596e+02] [ 1.09285892e-01 9.94002007e-01 -4.07489519e-03 9.92469270e+00] [ 5.00672387e-02 -1.41032133e-03 9.98744854e-01 6.00954734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.28, Y:9.93, Z:6.01 [[ 9.92844680e-01 -1.08466851e-01 -4.99438096e-02 1.31279293e+02] [ 1.08399002e-01 9.94099123e-01 -4.07316021e-03 9.92771408e+00] [ 5.00909002e-02 -1.36984367e-03 9.98743724e-01 6.01086534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.31, Y:9.93, Z:6.01 [[ 9.93178929e-01 -1.05450590e-01 -4.97572863e-02 1.31309705e+02] [ 1.05379638e-01 9.94423800e-01 -4.05447622e-03 9.93179218e+00] [ 4.99073766e-02 -1.21658448e-03 9.98753109e-01 6.01236770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.34, Y:9.94, Z:6.01 [[ 9.93352734e-01 -1.03885183e-01 -4.95803898e-02 1.31341564e+02] [ 1.03812879e-01 9.94588648e-01 -4.03821875e-03 9.93536858e+00] [ 4.97316039e-02 -1.13570735e-03 9.98761973e-01 6.01370827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.37, Y:9.94, Z:6.01 [[ 9.93769728e-01 -9.96100973e-02 -4.99955549e-02 1.31372750e+02] [ 9.95313478e-02 9.95026109e-01 -4.06850404e-03 9.94274917e+00] [ 5.01521466e-02 -9.32968814e-04 9.98741154e-01 6.01484408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.40, Y:9.95, Z:6.02 [[ 9.93992428e-01 -9.71975109e-02 -5.03159650e-02 1.31404333e+02] [ 9.71148014e-02 9.95264775e-01 -4.09177580e-03 9.94799390e+00] [ 5.04754180e-02 -8.19230777e-04 9.98724968e-01 6.01644579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.44, Y:9.95, Z:6.02 [[ 9.94340418e-01 -9.28036229e-02 -5.17167351e-02 1.31435402e+02] [ 9.27105171e-02 9.95684241e-01 -4.20154959e-03 9.95445512e+00] [ 5.18834571e-02 -6.16914677e-04 9.98652956e-01 6.01675921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.47, Y:9.96, Z:6.02 [[ 9.94574454e-01 -8.95062219e-02 -5.30121907e-02 1.31466338e+02] [ 8.94040704e-02 9.95986156e-01 -4.30001659e-03 9.96099187e+00] [ 5.31842862e-02 -4.62818978e-04 9.98584607e-01 6.01728541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.50, Y:9.96, Z:6.02 [[ 9.94580630e-01 -8.94112962e-02 -5.30564753e-02 1.31498008e+02] [ 8.93089403e-02 9.95994683e-01 -4.30170811e-03 9.96390076e+00] [ 5.32285886e-02 -4.60022015e-04 9.98582248e-01 6.01865469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.53, Y:9.97, Z:6.02 [[ 9.94445786e-01 -8.99539083e-02 -5.46431518e-02 1.31528149e+02] [ 8.98462564e-02 9.95945801e-01 -4.42848239e-03 9.96655633e+00] [ 5.48199769e-02 -5.05596974e-04 9.98496126e-01 6.01807281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.56, Y:9.97, Z:6.02 [[ 9.94255407e-01 -9.16174225e-02 -5.53392527e-02 1.31558880e+02] [ 9.15096379e-02 9.95794096e-01 -4.48390629e-03 9.96928396e+00] [ 5.55173050e-02 -6.05926896e-04 9.98457541e-01 6.01897494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.59, Y:9.97, Z:6.02 [[ 9.94162222e-01 -9.28196620e-02 -5.50089639e-02 1.31589816e+02] [ 9.27150606e-02 9.95682711e-01 -4.45603718e-03 9.97154272e+00] [ 5.51850822e-02 -6.70135604e-04 9.98475917e-01 6.02026470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.62, Y:9.97, Z:6.02 [[ 9.94071620e-01 -9.39522500e-02 -5.47228319e-02 1.31620858e+02] [ 9.38505553e-02 9.95576436e-01 -4.43092290e-03 9.97398430e+00] [ 5.48970571e-02 -7.31113445e-04 9.98491752e-01 6.02222423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:9.98, Z:6.02 [[ 9.93959067e-01 -9.51889234e-02 -5.46300424e-02 1.31651142e+02] [ 9.50895395e-02 9.95458904e-01 -4.42158473e-03 9.97566603e+00] [ 5.48028481e-02 -7.99871352e-04 9.98496874e-01 6.02345543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.68, Y:9.98, Z:6.02 [[ 9.93812323e-01 -9.66478566e-02 -5.47380839e-02 1.31682638e+02] [ 9.65503503e-02 9.95318247e-01 -4.42922262e-03 9.97763453e+00] [ 5.49098886e-02 -8.83165157e-04 9.98490923e-01 6.02448168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.71, Y:9.98, Z:6.03 [[ 9.93494653e-01 -9.98700149e-02 -5.47207021e-02 1.31714247e+02] [ 9.97775839e-02 9.94999924e-01 -4.42540409e-03 9.98072441e+00] [ 5.48890596e-02 -1.06328414e-03 9.98491893e-01 6.02608623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.75, Y:9.98, Z:6.03 [[ 9.93195027e-01 -1.03212714e-01 -5.39515968e-02 1.31745466e+02] [ 1.03128059e-01 9.94658539e-01 -4.35818723e-03 9.98228807e+00] [ 5.41132368e-02 -1.23539359e-03 9.98534041e-01 6.02844885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.78, Y:9.98, Z:6.03 [[ 9.93022918e-01 -1.05033013e-01 -5.36055170e-02 1.31777475e+02] [ 1.04952252e-01 9.94467848e-01 -4.32721148e-03 9.98468496e+00] [ 5.37634632e-02 -1.32899959e-03 9.98552815e-01 6.03039092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.81, Y:9.99, Z:6.03 [[ 9.92874139e-01 -1.06561148e-01 -5.33447881e-02 1.31808954e+02] [ 1.06483570e-01 9.94305153e-01 -4.30248811e-03 9.98832106e+00] [ 5.34994758e-02 -1.40851431e-03 9.98566884e-01 6.03256500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.84, Y:9.99, Z:6.03 [[ 9.92491147e-01 -1.09744954e-01 -5.40126691e-02 1.31841162e+02] [ 1.09670296e-01 9.93958488e-01 -4.35325887e-03 9.99060221e+00] [ 5.41640991e-02 -1.60301451e-03 9.98530761e-01 6.03315034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:9.99, Z:6.03 [[ 9.92167720e-01 -1.12820089e-01 -5.36175670e-02 1.31872859e+02] [ 1.12751214e-01 9.93613870e-01 -4.31743781e-03 9.99348730e+00] [ 5.37622520e-02 -1.76182331e-03 9.98552210e-01 6.03463143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:9.99, Z:6.04 [[ 9.92005212e-01 -1.14856997e-01 -5.22831682e-02 1.31903954e+02] [ 1.14794572e-01 9.93380351e-01 -4.20537931e-03 9.99494153e+00] [ 5.24200892e-02 -1.83006572e-03 9.98623445e-01 6.03694509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.94, Y:10.00, Z:6.04 [[ 9.92071973e-01 -1.14136694e-01 -5.25929295e-02 1.31935822e+02] [ 1.14072673e-01 9.93463414e-01 -4.22734647e-03 9.99961539e+00] [ 5.27316466e-02 -1.80558408e-03 9.98607087e-01 6.03840769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.97, Y:10.00, Z:6.04 [[ 9.92172151e-01 -1.13061071e-01 -5.30246767e-02 1.31967932e+02] [ 1.12994665e-01 9.93586470e-01 -4.25820624e-03 1.00034697e+01] [ 5.31660387e-02 -1.76663195e-03 9.98584123e-01 6.03986423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.00, Y:10.01, Z:6.04 [[ 9.92315278e-01 -1.11785196e-01 -5.30514757e-02 1.31999477e+02] [ 1.11717107e-01 9.93730934e-01 -4.25652908e-03 1.00078739e+01] [ 5.31947094e-02 -1.70293857e-03 9.98582707e-01 6.04141093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.03, Y:10.01, Z:6.04 [[ 9.92447021e-01 -1.10810876e-01 -5.26294676e-02 1.32031488e+02] [ 1.10742699e-01 9.93840156e-01 -4.21886966e-03 1.00112805e+01] [ 5.27727750e-02 -1.64132465e-03 9.98605197e-01 6.04288485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.06, Y:10.01, Z:6.04 [[ 9.92586121e-01 -1.09377808e-01 -5.30027155e-02 1.32062885e+02] [ 1.09306821e-01 9.93998993e-01 -4.24501952e-03 1.00144254e+01] [ 5.31489568e-02 -1.58001085e-03 9.98585345e-01 6.04431953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.09, Y:10.02, Z:6.05 [[ 9.92577914e-01 -1.09224690e-01 -5.34701053e-02 1.32094328e+02] [ 1.09152381e-01 9.94015816e-01 -4.27954016e-03 1.00156239e+01] [ 5.36175618e-02 -1.58861224e-03 9.98560280e-01 6.04539829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.13, Y:10.02, Z:6.05 [[ 9.92507009e-01 -1.09539727e-01 -5.41376534e-02 1.32126076e+02] [ 1.09466235e-01 9.93981084e-01 -4.32991831e-03 1.00188303e+01] [ 5.42861014e-02 -1.62877079e-03 9.98524094e-01 6.04682827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.16, Y:10.02, Z:6.05 [[ 9.92372832e-01 -1.09924733e-01 -5.57917065e-02 1.32158245e+02] [ 1.09847519e-01 9.93938453e-01 -4.45810947e-03 1.00203064e+01] [ 5.59435789e-02 -1.70447384e-03 9.98432477e-01 6.04693158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.19, Y:10.02, Z:6.05 [[ 9.92380223e-01 -1.09666874e-01 -5.61664407e-02 1.32189532e+02] [ 1.09588425e-01 9.93966936e-01 -4.48418456e-03 1.00218046e+01] [ 5.63193515e-02 -1.70517573e-03 9.98411350e-01 6.04756730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.22, Y:10.03, Z:6.05 [[ 9.92553373e-01 -1.08080378e-01 -5.61821541e-02 1.32221187e+02] [ 1.07999525e-01 9.94140841e-01 -4.48229858e-03 1.00261917e+01] [ 5.63374225e-02 -1.61872537e-03 9.98410474e-01 6.04994187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.25, Y:10.03, Z:6.05 [[ 9.92760447e-01 -1.06389394e-01 -5.57493602e-02 1.32252343e+02] [ 1.06307330e-01 9.94323389e-01 -4.44399931e-03 1.00297302e+01] [ 5.59056872e-02 -1.51473890e-03 9.98434905e-01 6.05251788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.28, Y:10.04, Z:6.06 [[ 9.93359255e-01 -1.01738711e-01 -5.37273201e-02 1.32282373e+02] [ 1.01655831e-01 9.94810420e-01 -4.28028923e-03 1.00352799e+01] [ 5.38839690e-02 -1.20983048e-03 9.98546471e-01 6.05611615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.31, Y:10.04, Z:6.06 [[ 9.93688757e-01 -9.89610582e-02 -5.28144298e-02 1.32314135e+02] [ 9.88771152e-02 9.95090761e-01 -4.20637013e-03 1.00396768e+01] [ 5.29714180e-02 -1.04231575e-03 9.98595485e-01 6.05835372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.35, Y:10.04, Z:6.06 [[ 9.93695510e-01 -9.88930724e-02 -5.28147175e-02 1.32345707e+02] [ 9.88092255e-02 9.95097520e-01 -4.20275497e-03 1.00421261e+01] [ 5.29714177e-02 -1.04232259e-03 9.98595485e-01 6.05985917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.38, Y:10.05, Z:6.06 [[ 9.93974206e-01 -9.63943918e-02 -5.21861890e-02 1.32377824e+02] [ 9.63092740e-02 9.95342809e-01 -4.14919211e-03 1.00460691e+01] [ 5.23431068e-02 -9.01824035e-04 9.98628753e-01 6.06157310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.41, Y:10.05, Z:6.06 [[ 9.94526418e-01 -9.05575063e-02 -5.21204482e-02 1.32409266e+02] [ 9.04647726e-02 9.95891049e-01 -4.14048059e-03 1.00532441e+01] [ 5.22812395e-02 -5.97247163e-04 9.98632222e-01 6.06300177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.44, Y:10.06, Z:6.06 [[ 9.95095882e-01 -8.46082657e-02 -5.12408714e-02 1.32439634e+02] [ 8.45108837e-02 9.96414252e-01 -4.06803060e-03 1.00591797e+01] [ 5.14013236e-02 -2.82330823e-04 9.98678038e-01 6.06462268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.47, Y:10.06, Z:6.07 [[ 9.95381193e-01 -8.15201874e-02 -5.07024653e-02 1.32470718e+02] [ 8.14209258e-02 9.96671683e-01 -4.02355588e-03 1.00637268e+01] [ 5.08617124e-02 -1.23269804e-04 9.98705698e-01 6.06610748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.50, Y:10.07, Z:6.07 [[ 9.95787322e-01 -7.59011665e-02 -5.14453265e-02 1.32501483e+02] [ 7.57915663e-02 9.97115332e-01 -4.08075905e-03 1.00688738e+01] [ 5.16066582e-02 1.64446257e-04 9.98667475e-01 6.06742976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.53, Y:10.07, Z:6.07 [[ 9.95931577e-01 -7.39188114e-02 -5.15393295e-02 1.32531629e+02] [ 7.38062432e-02 9.97264227e-01 -4.08654968e-03 1.00716889e+01] [ 5.17004025e-02 2.65999580e-04 9.98662605e-01 6.06843460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.56, Y:10.07, Z:6.07 [[ 9.96060536e-01 -7.23162923e-02 -5.13201954e-02 1.32561796e+02] [ 7.22025543e-02 9.97381689e-01 -4.06917456e-03 1.00740943e+01] [ 5.14800908e-02 3.47694993e-04 9.98673960e-01 6.06976202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.59, Y:10.08, Z:6.07 [[ 9.96206290e-01 -7.03267417e-02 -5.12560046e-02 1.32590659e+02] [ 7.02106495e-02 9.97523908e-01 -4.06421883e-03 1.00759437e+01] [ 5.14149133e-02 4.50082987e-04 9.98677277e-01 6.07151463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.62, Y:10.08, Z:6.07 [[ 9.96196484e-01 -7.02586471e-02 -5.15391842e-02 1.32620218e+02] [ 7.01410836e-02 9.97528703e-01 -4.08846676e-03 1.00753105e+01] [ 5.16990657e-02 4.57901979e-04 9.98662604e-01 6.07303367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.65, Y:10.08, Z:6.07 [[ 9.96151768e-01 -7.07616715e-02 -5.17150027e-02 1.32649768e+02] [ 7.06438844e-02 9.97493156e-01 -4.10427841e-03 1.00761433e+01] [ 5.18757869e-02 4.35135524e-04 9.98653450e-01 6.07424041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.68, Y:10.07, Z:6.08 [[ 9.96017027e-01 -7.27606437e-02 -5.15361030e-02 1.32678754e+02] [ 7.26462454e-02 9.97349376e-01 -4.09199001e-03 1.00743224e+01] [ 5.16972361e-02 3.31787336e-04 9.98662749e-01 6.07521805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.71, Y:10.07, Z:6.08 [[ 9.95738597e-01 -7.65985192e-02 -5.13547708e-02 1.32709039e+02] [ 7.64898877e-02 9.97062008e-01 -4.08024187e-03 1.00708223e+01] [ 5.15164314e-02 1.34733666e-04 9.98672138e-01 6.07645400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.74, Y:10.06, Z:6.08 [[ 9.95054100e-01 -8.56242706e-02 -5.03569552e-02 1.32739833e+02] [ 8.55312768e-02 9.96327446e-01 -4.00268670e-03 1.00621367e+01] [ 5.05147437e-02 -3.24204868e-04 9.98723263e-01 6.07894863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.77, Y:10.06, Z:6.08 [[ 9.94734393e-01 -8.91535635e-02 -5.05482933e-02 1.32771652e+02] [ 8.90643342e-02 9.96017765e-01 -4.01945562e-03 1.00612135e+01] [ 5.07053469e-02 -5.03759338e-04 9.98713530e-01 6.08059154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.80, Y:10.06, Z:6.08 [[ 9.94740859e-01 -8.90812952e-02 -5.05484477e-02 1.32803219e+02] [ 8.89920714e-02 9.96024232e-01 -4.01751263e-03 1.00636661e+01] [ 5.07053640e-02 -5.02027101e-04 9.98713530e-01 6.08209736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.83, Y:10.06, Z:6.08 [[ 9.94397607e-01 -9.26056557e-02 -5.09665787e-02 1.32834717e+02] [ 9.25197617e-02 9.95702624e-01 -4.04705776e-03 1.00608632e+01] [ 5.11223365e-02 -6.91031165e-04 9.98692159e-01 6.08312675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.87, Y:10.06, Z:6.08 [[ 9.94043536e-01 -9.61831801e-02 -5.12469025e-02 1.32867383e+02] [ 9.61012346e-02 9.95363259e-01 -4.06644270e-03 1.00598289e+01] [ 5.14004072e-02 -8.82669520e-04 9.98677735e-01 6.08457702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.90, Y:10.06, Z:6.09 [[ 9.93701412e-01 -9.96919987e-02 -5.11762656e-02 1.32898443e+02] [ 9.96151259e-02 9.95017773e-01 -4.05694451e-03 1.00564641e+01] [ 5.13257387e-02 -1.06653866e-03 9.98681396e-01 6.08570404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.93, Y:10.05, Z:6.09 [[ 9.92988537e-01 -1.06481368e-01 -5.13369572e-02 1.32929504e+02] [ 1.06413378e-01 9.94313673e-01 -4.06365774e-03 1.00519094e+01] [ 5.14777423e-02 -1.42777346e-03 9.98673121e-01 6.08732534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.96, Y:10.05, Z:6.09 [[ 9.92693708e-01 -1.09203691e-01 -5.13201320e-02 1.32960633e+02] [ 1.09139447e-01 9.94018154e-01 -4.06095634e-03 1.00485199e+01] [ 5.14566143e-02 -1.56976503e-03 9.98673997e-01 6.08866371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.99, Y:10.05, Z:6.09 [[ 9.92438971e-01 -1.11323386e-01 -5.16913208e-02 1.32992639e+02] [ 1.11261411e-01 9.93782783e-01 -4.08393383e-03 1.00480294e+01] [ 5.18245820e-02 -1.69819420e-03 9.98654760e-01 6.09000540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.02, Y:10.04, Z:6.09 [[ 9.92108300e-01 -1.14004105e-01 -5.21937171e-02 1.33024580e+02] [ 1.13944817e-01 9.93478538e-01 -4.11991349e-03 1.00435237e+01] [ 5.23230248e-02 -1.85980314e-03 9.98628481e-01 6.09081426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.06, Y:10.04, Z:6.09 [[ 9.92017713e-01 -1.15034915e-01 -5.16510029e-02 1.33055083e+02] [ 1.14978381e-01 9.93359638e-01 -4.07447566e-03 1.00399190e+01] [ 5.17767285e-02 -1.89679666e-03 9.98656884e-01 6.09211835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.09, Y:10.05, Z:6.09 [[ 9.92067141e-01 -1.14889163e-01 -5.10222259e-02 1.33086441e+02] [ 1.14833860e-01 9.93376562e-01 -4.02378869e-03 1.00452348e+01] [ 5.11465731e-02 -1.86721059e-03 9.98689412e-01 6.09448573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.12, Y:10.05, Z:6.10 [[ 9.92222265e-01 -1.13603042e-01 -5.08854200e-02 1.33119136e+02] [ 1.13546539e-01 9.93524589e-01 -4.00923462e-03 1.00467453e+01] [ 5.10113773e-02 -1.79981150e-03 9.98696450e-01 6.09577800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.15, Y:10.05, Z:6.10 [[ 9.92353406e-01 -1.12232701e-01 -5.13667058e-02 1.33150202e+02] [ 1.12173529e-01 9.93680410e-01 -4.04255953e-03 1.00450278e+01] [ 5.14957967e-02 -1.75033695e-03 9.98671677e-01 6.09674292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:10.05, Z:6.10 [[ 9.92362291e-01 -1.11796802e-01 -5.21397916e-02 1.33181117e+02] [ 1.11735381e-01 9.93729535e-01 -4.10060615e-03 1.00480149e+01] [ 5.22712856e-02 -1.75657258e-03 9.98631377e-01 6.09740001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.21, Y:10.05, Z:6.10 [[ 9.92340404e-01 -1.11860991e-01 -5.24179422e-02 1.33211928e+02] [ 1.11799096e-01 9.93722286e-01 -4.12073266e-03 1.00482586e+01] [ 5.25498266e-02 -1.77110902e-03 9.98616733e-01 6.09834626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.24, Y:10.05, Z:6.10 [[ 9.92165423e-01 -1.13222091e-01 -5.28065513e-02 1.33242919e+02] [ 1.13161252e-01 9.93567968e-01 -4.15026485e-03 1.00519970e+01] [ 5.29367995e-02 -1.85790618e-03 9.98596136e-01 6.09970520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.27, Y:10.05, Z:6.10 [[ 9.91858897e-01 -1.15194189e-01 -5.42791638e-02 1.33273626e+02] [ 1.15132959e-01 9.93340938e-01 -4.26415001e-03 1.00520270e+01] [ 5.44089208e-02 -2.01988560e-03 9.98516695e-01 6.09966710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.30, Y:10.06, Z:6.10 [[ 9.91705392e-01 -1.16373499e-01 -5.45676187e-02 1.33304538e+02] [ 1.16313458e-01 9.93203309e-01 -4.28570613e-03 1.00571787e+01] [ 5.46954820e-02 -2.09679055e-03 9.98500880e-01 6.10168167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.34, Y:10.06, Z:6.10 [[ 9.91570397e-01 -1.17460936e-01 -5.46907312e-02 1.33335134e+02] [ 1.17402378e-01 9.93075147e-01 -4.29349100e-03 1.00587205e+01] [ 5.48163234e-02 -2.16352330e-03 9.98494111e-01 6.10305043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.37, Y:10.06, Z:6.10 [[ 9.91437667e-01 -1.18425028e-01 -5.50169454e-02 1.33365810e+02] [ 1.18367306e-01 9.92960490e-01 -4.31808677e-03 1.00616265e+01] [ 5.51410226e-02 -2.23109374e-03 9.98476084e-01 6.10451977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.40, Y:10.06, Z:6.10 [[ 9.91253614e-01 -1.19515985e-01 -5.59660788e-02 1.33396647e+02] [ 1.19458050e-01 9.92829537e-01 -4.39153645e-03 1.00598070e+01] [ 5.60896349e-02 -2.33247225e-03 9.98423013e-01 6.10499560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:10.06, Z:6.11 [[ 9.91235972e-01 -1.19538175e-01 -5.62305257e-02 1.33427201e+02] [ 1.19479793e-01 9.92826833e-01 -4.41110205e-03 1.00646288e+01] [ 5.63544699e-02 -2.34596855e-03 9.98408068e-01 6.10696196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.46, Y:10.07, Z:6.11 [[ 9.91312038e-01 -1.18821298e-01 -5.64087022e-02 1.33458327e+02] [ 1.18761503e-01 9.92912958e-01 -4.42306413e-03 1.00675333e+01] [ 5.65344856e-02 -2.31454551e-03 9.98397964e-01 6.10859519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:10.07, Z:6.11 [[ 9.91706137e-01 -1.15870135e-01 -5.56151918e-02 1.33488420e+02] [ 1.15807469e-01 9.93262114e-01 -4.35919167e-03 1.00744288e+01] [ 5.57455632e-02 -2.11761749e-03 9.98442761e-01 6.11078497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.52, Y:10.08, Z:6.11 [[ 9.92022540e-01 -1.13277330e-01 -5.53129873e-02 1.33519085e+02] [ 1.13211336e-01 9.93561472e-01 -4.33521407e-03 1.00803875e+01] [ 5.54479346e-02 -1.96142710e-03 9.98459653e-01 6.11319561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.55, Y:10.08, Z:6.11 [[ 9.92405427e-01 -1.10284367e-01 -5.44869509e-02 1.33549149e+02] [ 1.10215925e-01 9.93898500e-01 -4.26863507e-03 1.00828264e+01] [ 5.46252625e-02 -1.76911308e-03 9.98505358e-01 6.11466704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.58, Y:10.10, Z:6.12 [[ 9.93266735e-01 -1.03609950e-01 -5.18282801e-02 1.33579296e+02] [ 1.03538991e-01 9.94617111e-01 -4.05944546e-03 1.00950516e+01] [ 5.19698932e-02 -1.33413567e-03 9.98647761e-01 6.11923814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.61, Y:10.10, Z:6.12 [[ 9.93650426e-01 -9.98917686e-02 -5.17732111e-02 1.33609402e+02] [ 9.98159660e-02 9.94997657e-01 -4.05419291e-03 1.00996733e+01] [ 5.19192043e-02 -1.13934256e-03 9.98650639e-01 6.12081851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.64, Y:10.11, Z:6.12 [[ 9.94325049e-01 -9.27254781e-02 -5.21505804e-02 1.33639624e+02] [ 9.26387624e-02 9.95691413e-01 -4.08279919e-03 1.01083208e+01] [ 5.23044646e-02 -7.71535723e-04 9.98630887e-01 6.12140914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.67, Y:10.12, Z:6.12 [[ 9.94880267e-01 -8.64291703e-02 -5.23760696e-02 1.33669514e+02] [ 8.63330455e-02 9.96257899e-01 -4.09920542e-03 1.01161630e+01] [ 5.25343640e-02 -4.43567021e-04 9.98619018e-01 6.12277056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.70, Y:10.12, Z:6.12 [[ 9.95061849e-01 -8.40060703e-02 -5.28667917e-02 1.33699408e+02] [ 8.39049180e-02 9.96465191e-01 -4.13382313e-03 1.01212407e+01] [ 5.30271839e-02 -3.22374135e-04 9.98593017e-01 6.12425765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.73, Y:10.13, Z:6.13 [[ 9.95260220e-01 -8.18100382e-02 -5.25757823e-02 1.33729307e+02] [ 8.17069298e-02 9.96647920e-01 -4.11116120e-03 1.01255121e+01] [ 5.27358783e-02 -2.04130559e-04 9.98608475e-01 6.12558087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.76, Y:10.13, Z:6.13 [[ 9.95402449e-01 -7.95249502e-02 -5.33830131e-02 1.33757739e+02] [ 7.94153016e-02 9.96832872e-01 -4.17546343e-03 1.01291004e+01] [ 5.35459958e-02 -8.31615623e-05 9.98565381e-01 6.12655224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.79, Y:10.13, Z:6.13 [[ 9.95609350e-01 -7.59798230e-02 -5.46725605e-02 1.33786332e+02] [ 7.58592252e-02 9.97109349e-01 -4.28072043e-03 1.01338278e+01] [ 5.48397695e-02 1.14507207e-04 9.98495161e-01 6.12639237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.81, Y:10.14, Z:6.13 [[ 9.95674800e-01 -7.48492160e-02 -5.50389577e-02 1.33814214e+02] [ 7.47244959e-02 9.97194845e-01 -4.32338726e-03 1.01371809e+01] [ 5.52081670e-02 1.91929375e-04 9.98474848e-01 6.12737595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.84, Y:10.14, Z:6.13 [[ 9.95831088e-01 -7.25122016e-02 -5.53391727e-02 1.33843006e+02] [ 7.23816498e-02 9.97367468e-01 -4.36244085e-03 1.01407992e+01] [ 5.55098207e-02 3.38713603e-04 9.98458084e-01 6.12866343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.87, Y:10.14, Z:6.13 [[ 9.95891282e-01 -7.18415864e-02 -5.51302199e-02 1.33871065e+02] [ 7.17102886e-02 9.97415980e-01 -4.35868193e-03 1.01438401e+01] [ 5.53008969e-02 3.87369355e-04 9.98469659e-01 6.12963994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.90, Y:10.15, Z:6.13 [[ 9.95966088e-01 -7.08771159e-02 -5.50271391e-02 1.33899923e+02] [ 7.07444973e-02 9.97484955e-01 -4.35669633e-03 1.01468928e+01] [ 5.51975335e-02 4.46254511e-04 9.98475354e-01 6.13085447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:10.15, Z:6.13 [[ 9.95893997e-01 -7.18127842e-02 -5.51187031e-02 1.33926595e+02] [ 7.16804126e-02 9.97418045e-01 -4.37735669e-03 1.01480850e+01] [ 5.52907393e-02 4.08451869e-04 9.98470214e-01 6.13153217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:10.15, Z:6.13 [[ 9.95690407e-01 -7.53825439e-02 -5.40193142e-02 1.33955441e+02] [ 7.52600654e-02 9.97154665e-01 -4.30087261e-03 1.01476007e+01] [ 5.41898219e-02 2.16840478e-04 9.98530629e-01 6.13410295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.98, Y:10.15, Z:6.14 [[ 9.95318004e-01 -8.07072170e-02 -5.31828481e-02 1.33983583e+02] [ 8.05954242e-02 9.96737850e-01 -4.24687989e-03 1.01456057e+01] [ 5.33521116e-02 -5.92981861e-05 9.98575760e-01 6.13602734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.01, Y:10.15, Z:6.14 [[ 9.95048527e-01 -8.39013761e-02 -5.32821626e-02 1.34012489e+02] [ 8.37933138e-02 9.96474038e-01 -4.26277153e-03 1.01452867e+01] [ 5.34519441e-02 -2.23024443e-04 9.98570398e-01 6.13727827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.04, Y:10.14, Z:6.14 [[ 9.94587306e-01 -8.95744219e-02 -5.26546573e-02 1.34042131e+02] [ 8.94762020e-02 9.95980001e-01 -4.22447314e-03 1.01422525e+01] [ 5.28213904e-02 -5.09731392e-04 9.98603846e-01 6.13906640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.07, Y:10.14, Z:6.14 [[ 9.94385486e-01 -9.18733476e-02 -5.25051787e-02 1.34073096e+02] [ 9.17787963e-02 9.95770502e-01 -4.21418399e-03 1.01422135e+01] [ 5.26702793e-02 -6.28338700e-04 9.98611760e-01 6.14059623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.10, Y:10.14, Z:6.14 [[ 9.94078494e-01 -9.52761645e-02 -5.22532355e-02 1.34102841e+02] [ 9.51872096e-02 9.95450554e-01 -4.19405062e-03 1.01397819e+01] [ 5.24151053e-02 -8.04624155e-04 9.98625059e-01 6.14133682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.13, Y:10.14, Z:6.14 [[ 9.94009841e-01 -9.59150916e-02 -5.23901796e-02 1.34134673e+02] [ 9.58265207e-02 9.95389165e-01 -4.20571917e-03 1.01406583e+01] [ 5.25520090e-02 -8.39842381e-04 9.98617835e-01 6.14268739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.17, Y:10.14, Z:6.14 [[ 9.94065767e-01 -9.56940882e-02 -5.17290348e-02 1.34166547e+02] [ 9.56075359e-02 9.95410453e-01 -4.15080470e-03 1.01407593e+01] [ 5.18888294e-02 -8.19512697e-04 9.98652531e-01 6.14431628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.20, Y:10.14, Z:6.15 [[ 9.94175955e-01 -9.51277759e-02 -5.06446149e-02 1.34196540e+02] [ 9.50441659e-02 9.95464769e-01 -4.06212972e-03 1.01423726e+01] [ 5.08013512e-02 -7.75003494e-04 9.98708477e-01 6.14634838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.23, Y:10.15, Z:6.15 [[ 9.94281350e-01 -9.40702893e-02 -5.05507473e-02 1.34227932e+02] [ 9.39856293e-02 9.95565298e-01 -4.05448507e-03 1.01453679e+01] [ 5.07079763e-02 -7.19744902e-04 9.98713264e-01 6.14784575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.26, Y:10.15, Z:6.15 [[ 9.94350246e-01 -9.29967528e-02 -5.11780509e-02 1.34258053e+02] [ 9.29086501e-02 9.95666183e-01 -4.10298539e-03 1.01469095e+01] [ 5.13378189e-02 -6.75079090e-04 9.98681117e-01 6.14844138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.29, Y:10.15, Z:6.15 [[ 9.94350246e-01 -9.29967124e-02 -5.11781189e-02 1.34287926e+02] [ 9.29086534e-02 9.95666186e-01 -4.10213684e-03 1.01493035e+01] [ 5.13378077e-02 -6.75929340e-04 9.98681117e-01 6.14986696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.32, Y:10.15, Z:6.15 [[ 9.94653331e-01 -8.94588591e-02 -5.15932448e-02 1.34318330e+02] [ 8.93646080e-02 9.95990394e-01 -4.13541088e-03 1.01522815e+01] [ 5.17563253e-02 -4.97309886e-04 9.98659619e-01 6.15042406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.35, Y:10.16, Z:6.15 [[ 9.94866831e-01 -8.71378024e-02 -5.14489319e-02 1.34348636e+02] [ 8.70409760e-02 9.96196197e-01 -4.12384361e-03 1.01552180e+01] [ 5.16125730e-02 -3.75490026e-04 9.98667112e-01 6.15202920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.38, Y:10.16, Z:6.15 [[ 9.95349105e-01 -8.19326903e-02 -5.06674719e-02 1.34378202e+02] [ 8.18320363e-02 9.96637860e-01 -4.06132372e-03 1.01593005e+01] [ 5.08298759e-02 -1.03787461e-04 9.98707321e-01 6.15395171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.41, Y:10.16, Z:6.15 [[ 9.95730187e-01 -7.68402398e-02 -5.11563551e-02 1.34407013e+02] [ 7.67308160e-02 9.97043405e-01 -4.10241456e-03 1.01621562e+01] [ 5.13203370e-02 1.59629145e-04 9.98682231e-01 6.15481935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:10.16, Z:6.16 [[ 9.95847820e-01 -7.49970307e-02 -5.16000515e-02 1.34435396e+02] [ 7.48830395e-02 9.97183723e-01 -4.14159837e-03 1.01640550e+01] [ 5.17653391e-02 2.60433007e-04 9.98659242e-01 6.15560718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.46, Y:10.17, Z:6.16 [[ 9.95957391e-01 -7.24637827e-02 -5.30836659e-02 1.34464577e+02] [ 7.23388071e-02 9.97370957e-01 -4.27443529e-03 1.01654956e+01] [ 5.32538484e-02 4.17146355e-04 9.98580920e-01 6.15578172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.49, Y:10.17, Z:6.16 [[ 9.95966879e-01 -7.19402388e-02 -5.36150861e-02 1.34493243e+02] [ 7.18112504e-02 9.97408837e-01 -4.33092644e-03 1.01670870e+01] [ 5.37877286e-02 4.63292919e-04 9.98552285e-01 6.15644796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.52, Y:10.17, Z:6.16 [[ 9.95905907e-01 -7.21069528e-02 -5.45161648e-02 1.34520844e+02] [ 7.19730496e-02 9.97396792e-01 -4.41810547e-03 1.01670585e+01] [ 5.46928240e-02 4.76322700e-04 9.98503114e-01 6.15670238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.55, Y:10.17, Z:6.16 [[ 9.95822095e-01 -7.31639941e-02 -5.46386841e-02 1.34548745e+02] [ 7.30302011e-02 9.97319829e-01 -4.44399846e-03 1.01674721e+01] [ 5.48173838e-02 4.35157769e-04 9.98496302e-01 6.15751215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.58, Y:10.17, Z:6.16 [[ 9.95721854e-01 -7.44323216e-02 -5.47523470e-02 1.34576677e+02] [ 7.42990904e-02 9.97225995e-01 -4.46771578e-03 1.01678778e+01] [ 5.49330061e-02 3.80552662e-04 9.98489970e-01 6.15871668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.61, Y:10.17, Z:6.16 [[ 9.95525689e-01 -7.79520086e-02 -5.34049286e-02 1.34605289e+02] [ 7.78300154e-02 9.96957095e-01 -4.36342310e-03 1.01650109e+01] [ 5.35825601e-02 1.87393368e-04 9.98563405e-01 6.16050842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.63, Y:10.16, Z:6.16 [[ 9.95388827e-01 -8.03837939e-02 -5.23405110e-02 1.34633804e+02] [ 8.02693076e-02 9.96763985e-01 -4.28919780e-03 1.01647466e+01] [ 5.25159183e-02 6.80829911e-05 9.98620085e-01 6.16224126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.66, Y:10.16, Z:6.16 [[ 9.94993769e-01 -8.57339692e-02 -5.13525748e-02 1.34662208e+02] [ 8.56302339e-02 9.96318045e-01 -4.22084859e-03 1.01614878e+01] [ 5.15253671e-02 -1.97614953e-04 9.98671667e-01 6.16463012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:10.15, Z:6.17 [[ 9.94165969e-01 -9.50721531e-02 -5.09441968e-02 1.34691460e+02] [ 9.49815670e-02 9.95470164e-01 -4.20165988e-03 1.01535929e+01] [ 5.11128888e-02 -6.61612376e-04 9.98692663e-01 6.16664450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.72, Y:10.15, Z:6.17 [[ 9.93527938e-01 -1.01895526e-01 -5.01950106e-02 1.34721401e+02] [ 1.01815685e-01 9.94794617e-01 -4.15166209e-03 1.01486438e+01] [ 5.03567621e-02 -9.85847112e-04 9.98730807e-01 6.16826769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.75, Y:10.15, Z:6.17 [[ 9.93216990e-01 -1.04889411e-01 -5.01818975e-02 1.34751352e+02] [ 1.04813336e-01 9.94483244e-01 -4.15239161e-03 1.01477470e+01] [ 5.03405981e-02 -1.13550620e-03 9.98731463e-01 6.16969067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.78, Y:10.15, Z:6.17 [[ 9.92918358e-01 -1.07551326e-01 -5.04563800e-02 1.34780828e+02] [ 1.07477758e-01 9.94198715e-01 -4.17688326e-03 1.01462320e+01] [ 5.06128975e-02 -1.27563454e-03 9.98717531e-01 6.17083770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.81, Y:10.15, Z:6.17 [[ 9.92543649e-01 -1.10852313e-01 -5.06840107e-02 1.34810587e+02] [ 1.10782327e-01 9.93835833e-01 -4.19670049e-03 1.01453802e+01] [ 5.08368000e-02 -1.44948425e-03 9.98705922e-01 6.17252166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.84, Y:10.15, Z:6.17 [[ 9.92443906e-01 -1.11974104e-01 -5.01686415e-02 1.34841092e+02] [ 1.11906881e-01 9.93710008e-01 -4.15570327e-03 1.01466284e+01] [ 5.03184123e-02 -1.48991379e-03 9.98732115e-01 6.17444765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.87, Y:10.15, Z:6.18 [[ 9.92347059e-01 -1.12932776e-01 -4.99349852e-02 1.34871808e+02] [ 1.12867389e-01 9.93601451e-01 -4.13634843e-03 1.01483483e+01] [ 5.00826030e-02 -1.53133821e-03 9.98743905e-01 6.17657767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.90, Y:10.15, Z:6.18 [[ 9.92326261e-01 -1.13266184e-01 -4.95919749e-02 1.34903028e+02] [ 1.13202112e-01 9.93563489e-01 -4.10785274e-03 1.01517858e+01] [ 4.97380565e-02 -1.53758613e-03 9.98761113e-01 6.17859715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.93, Y:10.15, Z:6.18 [[ 9.92265589e-01 -1.13487643e-01 -5.02946824e-02 1.34933809e+02] [ 1.13422120e-01 9.93538163e-01 -4.16422876e-03 1.01516197e+01] [ 5.04422748e-02 -1.57250857e-03 9.98725740e-01 6.17999911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.96, Y:10.16, Z:6.18 [[ 9.92237737e-01 -1.13622804e-01 -5.05384158e-02 1.34964260e+02] [ 1.13556863e-01 9.93522691e-01 -4.18353604e-03 1.01555551e+01] [ 5.06864080e-02 -1.58792162e-03 9.98713356e-01 6.18142747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.99, Y:10.16, Z:6.18 [[ 9.92215225e-01 -1.13513299e-01 -5.12218565e-02 1.34994430e+02] [ 1.13445417e-01 9.93535182e-01 -4.24011080e-03 1.01580324e+01] [ 5.13720255e-02 -1.60378238e-03 9.98678298e-01 6.18192024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.02, Y:10.16, Z:6.18 [[ 9.92110020e-01 -1.13851265e-01 -5.24937935e-02 1.35023624e+02] [ 1.13780438e-01 9.93496416e-01 -4.34549437e-03 1.01586317e+01] [ 5.26471357e-02 -1.66155831e-03 9.98611796e-01 6.18173940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.05, Y:10.16, Z:6.18 [[ 9.91906042e-01 -1.15139557e-01 -5.35283765e-02 1.35053180e+02] [ 1.15067724e-01 9.93347761e-01 -4.43223770e-03 1.01610399e+01] [ 5.36826188e-02 -1.76302509e-03 9.98556492e-01 6.18197453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.08, Y:10.16, Z:6.18 [[ 9.91338855e-01 -1.18770385e-01 -5.60434691e-02 1.35082839e+02] [ 1.18697316e-01 9.92919631e-01 -4.64256991e-03 1.01628260e+01] [ 5.61980605e-02 -2.04984943e-03 9.98417536e-01 6.18144907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.11, Y:10.16, Z:6.18 [[ 9.91084465e-01 -1.20796325e-01 -5.62123826e-02 1.35111582e+02] [ 1.20725844e-01 9.92674947e-01 -4.66049142e-03 1.01646403e+01] [ 5.63635941e-02 -2.16734668e-03 9.98407957e-01 6.18260966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.14, Y:10.17, Z:6.18 [[ 9.90822458e-01 -1.22735534e-01 -5.66290237e-02 1.35140074e+02] [ 1.22666349e-01 9.92436793e-01 -4.70935718e-03 1.01666561e+01] [ 5.67787322e-02 -2.28033871e-03 9.98384182e-01 6.18386861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.17, Y:10.17, Z:6.18 [[ 9.90560527e-01 -1.24605755e-01 -5.71248463e-02 1.35168863e+02] [ 1.24537739e-01 9.92203439e-01 -4.76307556e-03 1.01682531e+01] [ 5.72729756e-02 -2.39608457e-03 9.98355681e-01 6.18497824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.20, Y:10.17, Z:6.19 [[ 9.90309509e-01 -1.26687881e-01 -5.68968969e-02 1.35197802e+02] [ 1.26623649e-01 9.91939471e-01 -4.74728225e-03 1.01708534e+01] [ 5.70397010e-02 -2.50321397e-03 9.98368773e-01 6.18679550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.23, Y:10.18, Z:6.19 [[ 9.90132016e-01 -1.28263718e-01 -5.64535987e-02 1.35227469e+02] [ 1.28202835e-01 9.91736766e-01 -4.71385088e-03 1.01755337e+01] [ 5.65917255e-02 -2.57017671e-03 9.98394096e-01 6.18903732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.26, Y:10.18, Z:6.19 [[ 9.89948219e-01 -1.29943560e-01 -5.58318454e-02 1.35256908e+02] [ 1.29886637e-01 9.91517888e-01 -4.66255284e-03 1.01770965e+01] [ 5.59641422e-02 -2.63612478e-03 9.98429299e-01 6.19102146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.29, Y:10.18, Z:6.19 [[ 9.89684386e-01 -1.32297084e-01 -5.49754278e-02 1.35286527e+02] [ 1.32245457e-01 9.91206362e-01 -4.59201646e-03 1.01836043e+01] [ 5.50995042e-02 -2.72560357e-03 9.98477148e-01 6.19407062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.32, Y:10.19, Z:6.20 [[ 9.89569016e-01 -1.33314859e-01 -5.45922283e-02 1.35316556e+02] [ 1.33265465e-01 9.91069885e-01 -4.56048801e-03 1.01860487e+01] [ 5.47126943e-02 -2.76234107e-03 9.98498318e-01 6.19601897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.35, Y:10.19, Z:6.20 [[ 9.89435734e-01 -1.34949883e-01 -5.29665738e-02 1.35346807e+02] [ 1.34905853e-01 9.90848553e-01 -4.42212561e-03 1.01879510e+01] [ 5.30786184e-02 -2.77009172e-03 9.98586494e-01 6.19837446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.38, Y:10.20, Z:6.20 [[ 9.89366261e-01 -1.35640434e-01 -5.24983336e-02 1.35377749e+02] [ 1.35598201e-01 9.90754221e-01 -4.38199397e-03 1.01950187e+01] [ 5.26073211e-02 -2.78328262e-03 9.98611397e-01 6.20066344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.41, Y:10.20, Z:6.20 [[ 9.89274186e-01 -1.36417412e-01 -5.22194853e-02 1.35408851e+02] [ 1.36376809e-01 9.90647457e-01 -4.35672892e-03 1.01989740e+01] [ 5.23254341e-02 -2.81152730e-03 9.98626128e-01 6.20262502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.44, Y:10.21, Z:6.20 [[ 9.89231816e-01 -1.36773528e-01 -5.20904685e-02 1.35440307e+02] [ 1.36733769e-01 9.90598311e-01 -4.34302997e-03 1.02062438e+01] [ 5.21947417e-02 -2.82626269e-03 9.98632926e-01 6.20442016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.47, Y:10.21, Z:6.20 [[ 9.89101754e-01 -1.37241393e-01 -5.33152898e-02 1.35471636e+02] [ 1.37200635e-01 9.90533322e-01 -4.44120450e-03 1.02079642e+01] [ 5.34200882e-02 -2.92208845e-03 9.98567852e-01 6.20436184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.50, Y:10.21, Z:6.20 [[ 9.88916529e-01 -1.38277569e-01 -5.40685986e-02 1.35502291e+02] [ 1.38237386e-01 9.90388899e-01 -4.50045609e-03 1.02094479e+01] [ 5.41712519e-02 -3.02372634e-03 9.98527082e-01 6.20451834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.53, Y:10.22, Z:6.21 [[ 9.88833835e-01 -1.38840408e-01 -5.41386025e-02 1.35533221e+02] [ 1.38801295e-01 9.90310027e-01 -4.50014824e-03 1.02152731e+01] [ 5.42388033e-02 -3.06460930e-03 9.98523290e-01 6.20564157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.56, Y:10.22, Z:6.21 [[ 9.88635020e-01 -1.39866657e-01 -5.51191071e-02 1.35564895e+02] [ 1.39827831e-01 9.90165242e-01 -4.57938547e-03 1.02205823e+01] [ 5.52175274e-02 -3.17984436e-03 9.98469285e-01 6.20613813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.60, Y:10.22, Z:6.21 [[ 9.88545467e-01 -1.40225923e-01 -5.58081635e-02 1.35596342e+02] [ 1.40186911e-01 9.90114220e-01 -4.63273992e-03 1.02246930e+01] [ 5.59060864e-02 -3.24390000e-03 9.98430762e-01 6.20726567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.63, Y:10.23, Z:6.21 [[ 9.88598482e-01 -1.39156563e-01 -5.75194969e-02 1.35628172e+02] [ 1.39113521e-01 9.90264945e-01 -4.77143235e-03 1.02324072e+01] [ 5.76235176e-02 -3.28470899e-03 9.98332981e-01 6.20747149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.66, Y:10.24, Z:6.21 [[ 9.88723163e-01 -1.38160648e-01 -5.77766609e-02 1.35659549e+02] [ 1.38115772e-01 9.90404515e-01 -4.78856519e-03 1.02386242e+01] [ 5.78838570e-02 -3.24530279e-03 9.98318049e-01 6.20887990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.69, Y:10.25, Z:6.21 [[ 9.89136488e-01 -1.35517370e-01 -5.69565593e-02 1.35689638e+02] [ 1.35469603e-01 9.90770275e-01 -4.71683762e-03 1.02456385e+01] [ 5.70700794e-02 -3.05028627e-03 9.98365515e-01 6.21031961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.72, Y:10.25, Z:6.21 [[ 9.89387559e-01 -1.34129971e-01 -5.58695678e-02 1.35719982e+02] [ 1.34081913e-01 9.90959460e-01 -4.62481509e-03 1.02542005e+01] [ 5.59848030e-02 -2.91536403e-03 9.98427365e-01 6.21334371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.75, Y:10.26, Z:6.21 [[ 9.89918863e-01 -1.30489427e-01 -5.50740831e-02 1.35749802e+02] [ 1.30437203e-01 9.91446099e-01 -4.55724187e-03 1.02555153e+01] [ 5.51976567e-02 -2.67240964e-03 9.98471871e-01 6.21445947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.78, Y:10.27, Z:6.22 [[ 9.90194943e-01 -1.28389069e-01 -5.50474429e-02 1.35780730e+02] [ 1.28333684e-01 9.91720586e-01 -4.55457878e-03 1.02671115e+01] [ 5.51764405e-02 -2.55452026e-03 9.98473352e-01 6.21663272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.81, Y:10.27, Z:6.22 [[ 9.90459959e-01 -1.26498879e-01 -5.46543937e-02 1.35811816e+02] [ 1.26441579e-01 9.91963762e-01 -4.51898913e-03 1.02738036e+01] [ 5.47868250e-02 -2.43471005e-03 9.98495106e-01 6.21847098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.84, Y:10.28, Z:6.22 [[ 9.91010824e-01 -1.22607187e-01 -5.35259172e-02 1.35840611e+02] [ 1.22546646e-01 9.92452894e-01 -4.42411906e-03 1.02834064e+01] [ 5.36643802e-02 -2.17507176e-03 9.98556660e-01 6.22066184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.87, Y:10.29, Z:6.22 [[ 9.91240765e-01 -1.20828325e-01 -5.33128651e-02 1.35872260e+02] [ 1.20765675e-01 9.92671260e-01 -4.40691895e-03 1.02905224e+01] [ 5.34546296e-02 -2.07004641e-03 9.98568134e-01 6.22266615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.90, Y:10.29, Z:6.22 [[ 9.91460414e-01 -1.19234875e-01 -5.28137570e-02 1.35903818e+02] [ 1.19171336e-01 9.92864123e-01 -4.36190140e-03 1.02941612e+01] [ 5.29569753e-02 -1.96923339e-03 9.98594853e-01 6.22399602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.94, Y:10.30, Z:6.23 [[ 9.91637437e-01 -1.17767324e-01 -5.27830514e-02 1.35935121e+02] [ 1.17701983e-01 9.93039411e-01 -4.35560121e-03 1.03020205e+01] [ 5.29285978e-02 -1.89349258e-03 9.98596504e-01 6.22556829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.97, Y:10.31, Z:6.23 [[ 9.91803820e-01 -1.16024476e-01 -5.35117239e-02 1.35966307e+02] [ 1.15954990e-01 9.93244670e-01 -4.41193435e-03 1.03081764e+01] [ 5.36621270e-02 -1.82917809e-03 9.98557475e-01 6.22560427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.00, Y:10.31, Z:6.23 [[ 9.91806721e-01 -1.15692434e-01 -5.41727745e-02 1.35998413e+02] [ 1.15620894e-01 9.93283387e-01 -4.46337528e-03 1.03127898e+01] [ 5.43252957e-02 -1.83669900e-03 9.98521602e-01 6.22631993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.03, Y:10.32, Z:6.23 [[ 9.91630062e-01 -1.16510632e-01 -5.56335651e-02 1.36029764e+02] [ 1.16436694e-01 9.93187557e-01 -4.57969030e-03 1.03197968e+01] [ 5.57881472e-02 -1.93642980e-03 9.98440751e-01 6.22713846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.06, Y:10.32, Z:6.23 [[ 9.91507695e-01 -1.18022896e-01 -5.46176477e-02 1.36060773e+02] [ 1.17954126e-01 9.93008884e-01 -4.49233091e-03 1.03240357e+01] [ 5.47660073e-02 -1.98819625e-03 9.98497237e-01 6.22851138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.09, Y:10.33, Z:6.23 [[ 9.91658694e-01 -1.16655057e-01 -5.48145307e-02 1.36092606e+02] [ 1.16583874e-01 9.93170630e-01 -4.50544193e-03 1.03295867e+01] [ 5.49657646e-02 -1.92262969e-03 9.98486389e-01 6.22974065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.12, Y:10.33, Z:6.23 [[ 9.92023010e-01 -1.13554757e-01 -5.47326616e-02 1.36124248e+02] [ 1.13479290e-01 9.93530195e-01 -4.49479735e-03 1.03345012e+01] [ 5.48889576e-02 -1.75208121e-03 9.98490928e-01 6.23073259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.16, Y:10.34, Z:6.23 [[ 9.92208200e-01 -1.12002650e-01 -5.45737512e-02 1.36155791e+02] [ 1.11925485e-01 9.93706513e-01 -4.47795409e-03 1.03387026e+01] [ 5.47318347e-02 -1.66513078e-03 9.98499701e-01 6.23226396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.19, Y:10.34, Z:6.23 [[ 9.92216228e-01 -1.11931356e-01 -5.45740721e-02 1.36187366e+02] [ 1.11854299e-01 9.93714546e-01 -4.47404012e-03 1.03412318e+01] [ 5.47318346e-02 -1.66512935e-03 9.98499701e-01 6.23376982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.22, Y:10.34, Z:6.23 [[ 9.92481781e-01 -1.09780976e-01 -5.41114720e-02 1.36218017e+02] [ 1.09702231e-01 9.93954614e-01 -4.43236057e-03 1.03442346e+01] [ 5.42709361e-02 -1.53711210e-03 9.98525064e-01 6.23493476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.25, Y:10.35, Z:6.24 [[ 9.92510021e-01 -1.09631937e-01 -5.38952446e-02 1.36250165e+02] [ 1.09553764e-01 9.93971081e-01 -4.41163907e-03 1.03482279e+01] [ 5.40539711e-02 -1.52583092e-03 9.98536850e-01 6.23762053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.28, Y:10.35, Z:6.24 [[ 9.92499245e-01 -1.09998178e-01 -5.33446276e-02 1.36282176e+02] [ 1.09922327e-01 9.93930605e-01 -4.36275411e-03 1.03514259e+01] [ 5.35007530e-02 -1.53373543e-03 9.98566631e-01 6.23971280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.31, Y:10.35, Z:6.24 [[ 9.92421919e-01 -1.10647311e-01 -5.34406934e-02 1.36313821e+02] [ 1.10572329e-01 9.93858486e-01 -4.36682725e-03 1.03533514e+01] [ 5.35956643e-02 -1.57532686e-03 9.98561477e-01 6.24079620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.35, Y:10.36, Z:6.24 [[ 9.92260775e-01 -1.11696329e-01 -5.42446712e-02 1.36345504e+02] [ 1.11620801e-01 9.93741000e-01 -4.42954037e-03 1.03552249e+01] [ 5.43999172e-02 -1.65957448e-03 9.98517849e-01 6.24192014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.38, Y:10.35, Z:6.24 [[ 9.91941377e-01 -1.14657422e-01 -5.39071384e-02 1.36377310e+02] [ 1.14587353e-01 9.93403436e-01 -4.39905886e-03 1.03546130e+01] [ 5.40559213e-02 -1.81346779e-03 9.98536263e-01 6.24311954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.41, Y:10.36, Z:6.24 [[ 9.91811924e-01 -1.15813880e-01 -5.38168480e-02 1.36409428e+02] [ 1.15745908e-01 9.93269160e-01 -4.38864803e-03 1.03570189e+01] [ 5.39628818e-02 -1.87636651e-03 9.98541179e-01 6.24474349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.44, Y:10.36, Z:6.25 [[ 9.91723421e-01 -1.16648854e-01 -5.36442051e-02 1.36440842e+02] [ 1.16582743e-01 9.93171365e-01 -4.37074828e-03 1.03564393e+01] [ 5.37877312e-02 -1.91941513e-03 9.98550547e-01 6.24554237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.47, Y:10.36, Z:6.25 [[ 9.91659855e-01 -1.16905288e-01 -5.42575798e-02 1.36473265e+02] [ 1.16838210e-01 9.93141137e-01 -4.41760918e-03 1.03588553e+01] [ 5.44018764e-02 -1.95859282e-03 9.98517201e-01 6.24637615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.50, Y:10.36, Z:6.25 [[ 9.91739804e-01 -1.16280135e-01 -5.41395474e-02 1.36504954e+02] [ 1.16212631e-01 9.93214593e-01 -4.40408864e-03 1.03600268e+01] [ 5.42842966e-02 -1.92398923e-03 9.98523667e-01 6.24783347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.54, Y:10.36, Z:6.25 [[ 9.91833615e-01 -1.15750691e-01 -5.35523796e-02 1.36536265e+02] [ 1.15684070e-01 9.93276523e-01 -4.35263058e-03 1.03605431e+01] [ 5.36961414e-02 -1.87807194e-03 9.98555555e-01 6.24979053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.57, Y:10.36, Z:6.25 [[ 9.91863284e-01 -1.15876074e-01 -5.27253335e-02 1.36568272e+02] [ 1.15811823e-01 9.93261940e-01 -4.28254355e-03 1.03632842e+01] [ 5.28663113e-02 -1.85851930e-03 9.98599869e-01 6.25197601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.60, Y:10.37, Z:6.25 [[ 9.91805134e-01 -1.16977917e-01 -5.13686982e-02 1.36600264e+02] [ 1.16918587e-01 9.93132753e-01 -4.16880036e-03 1.03651205e+01] [ 5.15035942e-02 -1.87131803e-03 9.98671056e-01 6.25419733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.63, Y:10.36, Z:6.26 [[ 9.91511319e-01 -1.19327774e-01 -5.16351360e-02 1.36631644e+02] [ 1.19271195e-01 9.92852886e-01 -4.18676706e-03 1.03643814e+01] [ 5.17656914e-02 -2.00735746e-03 9.98657240e-01 6.25549706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.66, Y:10.36, Z:6.26 [[ 9.91336298e-01 -1.20426941e-01 -5.24375431e-02 1.36662889e+02] [ 1.20370276e-01 9.92719972e-01 -4.24898320e-03 1.03636162e+01] [ 5.25674884e-02 -2.09975024e-03 9.98615166e-01 6.25624881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:10.37, Z:6.26 [[ 9.91160507e-01 -1.21486706e-01 -5.33088219e-02 1.36694776e+02] [ 1.21429831e-01 9.92590632e-01 -4.31661343e-03 1.03658918e+01] [ 5.34382484e-02 -2.19482447e-03 9.98568744e-01 6.25704771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.73, Y:10.37, Z:6.26 [[ 9.90971647e-01 -1.22462144e-01 -5.45730618e-02 1.36726485e+02] [ 1.22404225e-01 9.92470509e-01 -4.41518823e-03 1.03682992e+01] [ 5.47028479e-02 -2.30464697e-03 9.98500019e-01 6.25779478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.76, Y:10.37, Z:6.26 [[ 9.90668085e-01 -1.24166155e-01 -5.62095365e-02 1.36758098e+02] [ 1.24107623e-01 9.92258356e-01 -4.54449450e-03 1.03665467e+01] [ 5.63386547e-02 -2.47394629e-03 9.98408652e-01 6.25759611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.79, Y:10.37, Z:6.26 [[ 9.90549387e-01 -1.24774984e-01 -5.69483570e-02 1.36789751e+02] [ 1.24716094e-01 9.92181801e-01 -4.60097764e-03 1.03694918e+01] [ 5.70772104e-02 -2.54488108e-03 9.98366524e-01 6.25909281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.82, Y:10.37, Z:6.26 [[ 9.90494716e-01 -1.25095322e-01 -5.71959641e-02 1.36820850e+02] [ 1.25036679e-01 9.92141377e-01 -4.61702104e-03 1.03695684e+01] [ 5.73240503e-02 -2.57845847e-03 9.98352295e-01 6.25968997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.85, Y:10.37, Z:6.26 [[ 9.90480013e-01 -1.25266222e-01 -5.70764267e-02 1.36853159e+02] [ 1.25208292e-01 9.92119794e-01 -4.60414445e-03 1.03713983e+01] [ 5.72033965e-02 -2.58612882e-03 9.98359196e-01 6.26171807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.88, Y:10.38, Z:6.26 [[ 9.90540746e-01 -1.24852489e-01 -5.69287907e-02 1.36884718e+02] [ 1.24794408e-01 9.92172014e-01 -4.58817722e-03 1.03771510e+01] [ 5.70559983e-02 -2.55961823e-03 9.98367699e-01 6.26456250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.92, Y:10.38, Z:6.27 [[ 9.90653520e-01 -1.24347220e-01 -5.60657911e-02 1.36915535e+02] [ 1.24290334e-01 9.92235625e-01 -4.51406389e-03 1.03774068e+01] [ 5.61917866e-02 -2.49656264e-03 9.98416872e-01 6.26598554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.95, Y:10.38, Z:6.27 [[ 9.90812534e-01 -1.23283638e-01 -5.56027534e-02 1.36947663e+02] [ 1.23226389e-01 9.92368518e-01 -4.47011728e-03 1.03825552e+01] [ 5.57295143e-02 -2.42267828e-03 9.98442964e-01 6.26851590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.98, Y:10.38, Z:6.27 [[ 9.91172678e-01 -1.20827787e-01 -5.45652729e-02 1.36977730e+02] [ 1.20769130e-01 9.92670945e-01 -4.38321052e-03 1.03841503e+01] [ 5.46949746e-02 -2.24528204e-03 9.98500585e-01 6.27062494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.01, Y:10.39, Z:6.27 [[ 9.91479003e-01 -1.18140714e-01 -5.48831258e-02 1.37008464e+02] [ 1.18077327e-01 9.92994621e-01 -4.40760639e-03 1.03911412e+01] [ 5.50193665e-02 -2.11040363e-03 9.98483057e-01 6.27183066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.04, Y:10.39, Z:6.27 [[ 9.91626388e-01 -1.16879248e-01 -5.49212880e-02 1.37040266e+02] [ 1.16813967e-01 9.93144029e-01 -4.40841333e-03 1.03944654e+01] [ 5.50600013e-02 -2.04407453e-03 9.98480955e-01 6.27319257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.07, Y:10.40, Z:6.27 [[ 9.91891354e-01 -1.14739132e-01 -5.46486443e-02 1.37071813e+02] [ 1.14671469e-01 9.93393803e-01 -4.38260760e-03 1.03990069e+01] [ 5.47904811e-02 -1.91956975e-03 9.98496028e-01 6.27496293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.10, Y:10.40, Z:6.28 [[ 9.92093793e-01 -1.13067480e-01 -5.44577962e-02 1.37102657e+02] [ 1.12997982e-01 9.93585636e-01 -4.36351151e-03 1.04012065e+01] [ 5.46018553e-02 -1.82460841e-03 9.98506539e-01 6.27641990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.13, Y:10.40, Z:6.28 [[ 9.92256769e-01 -1.11763283e-01 -5.41800128e-02 1.37134703e+02] [ 1.11692716e-01 9.93733323e-01 -4.33821831e-03 1.04038719e+01] [ 5.43253377e-02 -1.74688632e-03 9.98521760e-01 6.27812168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.17, Y:10.41, Z:6.28 [[ 9.92298921e-01 -1.11442600e-01 -5.40684511e-02 1.37166885e+02] [ 1.11372055e-01 9.93769367e-01 -4.32546892e-03 1.04069940e+01] [ 5.42136119e-02 -1.72955639e-03 9.98527863e-01 6.27978904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.20, Y:10.41, Z:6.28 [[ 9.92328351e-01 -1.10869155e-01 -5.47035115e-02 1.37198887e+02] [ 1.10796291e-01 9.93833520e-01 -4.37231993e-03 1.04102335e+01] [ 5.48509387e-02 -1.72216915e-03 9.98493069e-01 6.28082928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.23, Y:10.41, Z:6.28 [[ 9.92311115e-01 -1.10399006e-01 -5.59527439e-02 1.37230195e+02] [ 1.10322255e-01 9.93885826e-01 -4.46818857e-03 1.04099518e+01] [ 5.61039227e-02 -1.73899970e-03 9.98423420e-01 6.28103522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.26, Y:10.41, Z:6.28 [[ 9.92341548e-01 -1.10064563e-01 -5.60717730e-02 1.37262477e+02] [ 1.09987131e-01 9.93922940e-01 -4.47450857e-03 1.04145152e+01] [ 5.62235063e-02 -1.72693269e-03 9.98416714e-01 6.28311080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.29, Y:10.42, Z:6.28 [[ 9.92398676e-01 -1.09701189e-01 -5.57720028e-02 1.37293529e+02] [ 1.09624215e-01 9.93963156e-01 -4.44691881e-03 1.04163742e+01] [ 5.59231482e-02 -1.70084570e-03 9.98433628e-01 6.28455839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.33, Y:10.42, Z:6.29 [[ 9.92414629e-01 -1.09402052e-01 -5.60749138e-02 1.37325803e+02] [ 1.09323893e-01 9.93996135e-01 -4.46877137e-03 1.04178368e+01] [ 5.62271404e-02 -1.69545379e-03 9.98416563e-01 6.28590144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.36, Y:10.42, Z:6.29 [[ 9.92419247e-01 -1.09352350e-01 -5.60901176e-02 1.37357743e+02] [ 1.09274293e-01 9.94001601e-01 -4.46601747e-03 1.04200729e+01] [ 5.62420363e-02 -1.69704628e-03 9.98415722e-01 6.28745424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.39, Y:10.42, Z:6.29 [[ 9.92412567e-01 -1.09241061e-01 -5.64241710e-02 1.37390227e+02] [ 1.09162120e-01 9.94013825e-01 -4.48859930e-03 1.04234227e+01] [ 5.65767453e-02 -1.70483975e-03 9.98396798e-01 6.28902760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.345099893 meters Centerline goodness [0,1] 0.9999783993951831 Centerline is valid? [True, True] Translation: X:137.42, Y:10.42, Z:6.29 [[ 9.92346316e-01 -1.09619433e-01 -5.68539204e-02 1.37421614e+02] [ 1.09540161e-01 9.93972101e-01 -4.51829373e-03 1.04248711e+01] [ 5.70065035e-02 -1.74407548e-03 9.98372284e-01 6.29042851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.45, Y:10.43, Z:6.29 [[ 9.92163018e-01 -1.11410445e-01 -5.65708260e-02 1.37452209e+02] [ 1.11335176e-01 9.93772769e-01 -4.49032404e-03 1.04251691e+01] [ 5.67188154e-02 -1.84318944e-03 9.98388491e-01 6.29166129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.48, Y:10.43, Z:6.29 [[ 9.91922780e-01 -1.13554018e-01 -5.65215381e-02 1.37484240e+02] [ 1.13482438e-01 9.93529880e-01 -4.48491494e-03 1.04299913e+01] [ 5.66651170e-02 -1.96551263e-03 9.98391307e-01 6.29455313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.52, Y:10.43, Z:6.30 [[ 9.91789255e-01 -1.14883137e-01 -5.61777426e-02 1.37515353e+02] [ 1.14814774e-01 9.93376934e-01 -4.45370592e-03 1.04304589e+01] [ 5.63173294e-02 -2.03289715e-03 9.98410850e-01 6.29598939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.55, Y:10.43, Z:6.30 [[ 9.91651335e-01 -1.16055138e-01 -5.62035139e-02 1.37547401e+02] [ 1.15988772e-01 9.93240545e-01 -4.45252562e-03 1.04320561e+01] [ 5.63403473e-02 -2.10362361e-03 9.98409405e-01 6.29761870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.58, Y:10.43, Z:6.30 [[ 9.91370737e-01 -1.18934646e-01 -5.51236130e-02 1.37578721e+02] [ 1.18875445e-01 9.92899587e-01 -4.36335783e-03 1.04316385e+01] [ 5.52511670e-02 -2.22713874e-03 9.98470004e-01 6.29945583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.61, Y:10.43, Z:6.30 [[ 9.91220612e-01 -1.20519311e-01 -5.43764067e-02 1.37610023e+02] [ 1.20464192e-01 9.92708351e-01 -4.30216409e-03 1.04322537e+01] [ 5.44984069e-02 -2.28601616e-03 9.98511241e-01 6.30161369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.64, Y:10.43, Z:6.30 [[ 9.90894249e-01 -1.23653258e-01 -5.32771908e-02 1.37641130e+02] [ 1.23605005e-01 9.92322557e-01 -4.21248848e-03 1.04335212e+01] [ 5.33890462e-02 -2.41119681e-03 9.98570877e-01 6.30480836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.67, Y:10.44, Z:6.31 [[ 9.90730571e-01 -1.25098517e-01 -5.29461627e-02 1.37672854e+02] [ 1.25053029e-01 9.92141236e-01 -4.18422568e-03 1.04357186e+01] [ 5.30535118e-02 -2.47563773e-03 9.98588602e-01 6.30687565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.70, Y:10.43, Z:6.31 [[ 9.90357702e-01 -1.27375765e-01 -5.44705078e-02 1.37703402e+02] [ 1.27331257e-01 9.91850922e-01 -4.30102982e-03 1.04331712e+01] [ 5.45744704e-02 -2.67624022e-03 9.98506117e-01 6.30693068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.74, Y:10.44, Z:6.31 [[ 9.90246952e-01 -1.27887244e-01 -5.52795405e-02 1.37735522e+02] [ 1.27842279e-01 9.91784912e-01 -4.36348646e-03 1.04379754e+01] [ 5.53834485e-02 -2.74613328e-03 9.98461383e-01 6.30826608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.77, Y:10.44, Z:6.31 [[ 9.90210137e-01 -1.27850308e-01 -5.60194933e-02 1.37767422e+02] [ 1.27804303e-01 9.91789566e-01 -4.41783403e-03 1.04432289e+01] [ 5.61243703e-02 -2.78494825e-03 9.98419901e-01 6.30987315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.80, Y:10.44, Z:6.31 [[ 9.90304902e-01 -1.26914468e-01 -5.64705147e-02 1.37799007e+02] [ 1.26866431e-01 9.91909830e-01 -4.44939713e-03 1.04443884e+01] [ 5.65783515e-02 -2.75795287e-03 9.98394353e-01 6.31033921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.83, Y:10.44, Z:6.31 [[ 9.90429158e-01 -1.25950480e-01 -5.64496200e-02 1.37830581e+02] [ 1.25901130e-01 9.92032840e-01 -4.44400567e-03 1.04446257e+01] [ 5.65596016e-02 -2.70559815e-03 9.98395558e-01 6.31202576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.86, Y:10.45, Z:6.31 [[ 9.90542562e-01 -1.25071909e-01 -5.64132049e-02 1.37861986e+02] [ 1.25021581e-01 9.92144113e-01 -4.43444845e-03 1.04512802e+01] [ 5.65246541e-02 -2.66035812e-03 9.98397659e-01 6.31447856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.89, Y:10.45, Z:6.32 [[ 9.90762419e-01 -1.23612991e-01 -5.57642970e-02 1.37892818e+02] [ 1.23561761e-01 9.92327222e-01 -4.37890223e-03 1.04543046e+01] [ 5.58777191e-02 -2.55188299e-03 9.98434359e-01 6.31729059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.92, Y:10.46, Z:6.32 [[ 9.90868656e-01 -1.22946264e-01 -5.53490945e-02 1.37924597e+02] [ 1.22895147e-01 9.92410174e-01 -4.33925132e-03 1.04596075e+01] [ 5.54624993e-02 -2.50250700e-03 9.98457635e-01 6.31982196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.96, Y:10.46, Z:6.32 [[ 9.91137927e-01 -1.21090374e-01 -5.46143842e-02 1.37955210e+02] [ 1.21037993e-01 9.92638657e-01 -4.27801469e-03 1.04609319e+01] [ 5.47303753e-02 -2.37031283e-03 9.98498356e-01 6.32169895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.99, Y:10.46, Z:6.32 [[ 9.91251700e-01 -1.20315414e-01 -5.42611182e-02 1.37986789e+02] [ 1.20262668e-01 9.92733017e-01 -4.24816813e-03 1.04648347e+01] [ 5.43779238e-02 -2.31458295e-03 9.98517744e-01 6.32373139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.02, Y:10.47, Z:6.33 [[ 9.91358997e-01 -1.19392194e-01 -5.43400696e-02 1.38018912e+02] [ 1.19338118e-01 9.92844573e-01 -4.25053889e-03 1.04710907e+01] [ 5.44587243e-02 -2.27103166e-03 9.98513440e-01 6.32583143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.05, Y:10.47, Z:6.33 [[ 9.91440795e-01 -1.18153983e-01 -5.55408576e-02 1.38051199e+02] [ 1.18095783e-01 9.92992723e-01 -4.34037739e-03 1.04740632e+01] [ 5.56645003e-02 -2.25591384e-03 9.98446981e-01 6.32631955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.08, Y:10.48, Z:6.33 [[ 9.91503016e-01 -1.17200536e-01 -5.64429269e-02 1.38082711e+02] [ 1.17139152e-01 9.93105737e-01 -4.40626063e-03 1.04758076e+01] [ 5.65702106e-02 -2.24285590e-03 9.98396104e-01 6.32693781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.12, Y:10.48, Z:6.33 [[ 9.91450215e-01 -1.17406023e-01 -5.69411730e-02 1.38115079e+02] [ 1.17344273e-01 9.93081377e-01 -4.43844673e-03 1.04791280e+01] [ 5.70683188e-02 -2.28122160e-03 9.98367669e-01 6.32886353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.15, Y:10.48, Z:6.33 [[ 9.91412626e-01 -1.17680008e-01 -5.70299938e-02 1.38146661e+02] [ 1.17618743e-01 9.93048894e-01 -4.44142913e-03 1.04813293e+01] [ 5.71562397e-02 -2.30450725e-03 9.98362586e-01 6.33046684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.18, Y:10.48, Z:6.33 [[ 9.91338089e-01 -1.18357567e-01 -5.69234606e-02 1.38178613e+02] [ 1.18297831e-01 9.92968277e-01 -4.42986915e-03 1.04838542e+01] [ 5.70474991e-02 -2.34242392e-03 9.98368717e-01 6.33226370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.21, Y:10.49, Z:6.33 [[ 9.91346715e-01 -1.18285137e-01 -5.69237827e-02 1.38210211e+02] [ 1.18225520e-01 9.92976908e-01 -4.42572656e-03 1.04862522e+01] [ 5.70474994e-02 -2.34241431e-03 9.98368717e-01 6.33377017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.24, Y:10.48, Z:6.33 [[ 9.91125623e-01 -1.20076339e-01 -5.70234434e-02 1.38241110e+02] [ 1.20019688e-01 9.92761629e-01 -4.42963944e-03 1.04842093e+01] [ 5.71425814e-02 -2.45360675e-03 9.98363013e-01 6.33496353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.27, Y:10.49, Z:6.34 [[ 9.91134120e-01 -1.20006087e-01 -5.70236301e-02 1.38272710e+02] [ 1.19949458e-01 9.92770128e-01 -4.42723405e-03 1.04866022e+01] [ 5.71426516e-02 -2.45197082e-03 9.98363013e-01 6.33647067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.30, Y:10.49, Z:6.34 [[ 9.91025802e-01 -1.20721282e-01 -5.73954076e-02 1.38304451e+02] [ 1.20665348e-01 9.92683260e-01 -4.45196394e-03 1.04895452e+01] [ 5.75129071e-02 -2.51362572e-03 9.98341598e-01 6.33869142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.34, Y:10.49, Z:6.34 [[ 9.91045279e-01 -1.20538220e-01 -5.74438246e-02 1.38335982e+02] [ 1.20482118e-01 9.92705516e-01 -4.45168434e-03 1.04900619e+01] [ 5.75613996e-02 -2.50913291e-03 9.98338815e-01 6.33984219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.37, Y:10.49, Z:6.34 [[ 9.91138506e-01 -1.19605756e-01 -5.77834374e-02 1.38367500e+02] [ 1.19547604e-01 9.92818386e-01 -4.47463108e-03 1.04949083e+01] [ 5.79036507e-02 -2.47289235e-03 9.98319113e-01 6.34236637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.40, Y:10.50, Z:6.34 [[ 9.91216375e-01 -1.19205790e-01 -5.72719567e-02 1.38399063e+02] [ 1.19148234e-01 9.92866590e-01 -4.43088931e-03 1.04968417e+01] [ 5.73916001e-02 -2.43188247e-03 9.98348782e-01 6.34459412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.43, Y:10.50, Z:6.35 [[ 9.91203494e-01 -1.19225672e-01 -5.74532226e-02 1.38430722e+02] [ 1.19168025e-01 9.92864171e-01 -4.44075179e-03 1.04998437e+01] [ 5.75726979e-02 -2.44489840e-03 9.98338323e-01 6.34646170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.46, Y:10.50, Z:6.35 [[ 9.91167315e-01 -1.19726030e-01 -5.70353452e-02 1.38462097e+02] [ 1.19670268e-01 9.92803922e-01 -4.40453301e-03 1.05004816e+01] [ 5.71522516e-02 -2.45980587e-03 9.98362444e-01 6.34824810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.49, Y:10.50, Z:6.35 [[ 9.91093778e-01 -1.20324698e-01 -5.70534004e-02 1.38494028e+02] [ 1.20270076e-01 9.92731447e-01 -4.40268582e-03 1.05017188e+01] [ 5.71684565e-02 -2.49834225e-03 9.98361420e-01 6.35009320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.53, Y:10.50, Z:6.35 [[ 9.91010873e-01 -1.21073603e-01 -5.69089762e-02 1.38525625e+02] [ 1.21020708e-01 9.92640286e-01 -4.38767584e-03 1.05033032e+01] [ 5.70213742e-02 -2.53893012e-03 9.98369729e-01 6.35179048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.56, Y:10.50, Z:6.35 [[ 9.90932768e-01 -1.21381388e-01 -5.76090930e-02 1.38557379e+02] [ 1.21327893e-01 9.92602561e-01 -4.43838411e-03 1.05044732e+01] [ 5.77216705e-02 -2.59144963e-03 9.98329351e-01 6.35312588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.59, Y:10.51, Z:6.36 [[ 9.90946932e-01 -1.21293835e-01 -5.75498332e-02 1.38589562e+02] [ 1.21240538e-01 9.92613273e-01 -4.42974614e-03 1.05085895e+01] [ 5.76620292e-02 -2.58772938e-03 9.98332807e-01 6.35528449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.62, Y:10.51, Z:6.36 [[ 9.90982535e-01 -1.20986859e-01 -5.75829354e-02 1.38620857e+02] [ 1.20933215e-01 9.92650768e-01 -4.42830593e-03 1.05086359e+01] [ 5.76955119e-02 -2.57531567e-03 9.98330905e-01 6.35657351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.65, Y:10.51, Z:6.36 [[ 9.91004310e-01 -1.21037969e-01 -5.70987518e-02 1.38651972e+02] [ 1.20985515e-01 9.92644577e-01 -4.38742747e-03 1.05072462e+01] [ 5.72098116e-02 -2.56016236e-03 9.98358895e-01 6.35740702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.68, Y:10.51, Z:6.36 [[ 9.91064503e-01 -1.21066825e-01 -5.59819069e-02 1.38684244e+02] [ 1.21016777e-01 9.92641167e-01 -4.29571783e-03 1.05107185e+01] [ 5.60900143e-02 -2.51741651e-03 9.98422542e-01 6.35957507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.72, Y:10.51, Z:6.36 [[ 9.91104219e-01 -1.21117569e-01 -5.51630417e-02 1.38716757e+02] [ 1.21069264e-01 9.92635053e-01 -4.22902118e-03 1.05124771e+01] [ 5.52689776e-02 -2.48714815e-03 9.98468404e-01 6.36179743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.75, Y:10.51, Z:6.36 [[ 9.91169714e-01 -1.20812334e-01 -5.46532452e-02 1.38748125e+02] [ 1.20764657e-01 9.92672339e-01 -4.18623647e-03 1.05142259e+01] [ 5.47585137e-02 -2.45090960e-03 9.98496619e-01 6.36337972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.78, Y:10.52, Z:6.37 [[ 9.91274341e-01 -1.20324432e-01 -5.38257636e-02 1.38779731e+02] [ 1.20277626e-01 9.92731746e-01 -4.11993848e-03 1.05173267e+01] [ 5.39302736e-02 -2.39004578e-03 9.98541844e-01 6.36587821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.81, Y:10.52, Z:6.37 [[ 9.91210802e-01 -1.20703426e-01 -5.41463668e-02 1.38811479e+02] [ 1.20656835e-01 9.92685642e-01 -4.14062464e-03 1.05202045e+01] [ 5.42501085e-02 -2.42889737e-03 9.98524424e-01 6.36772908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.84, Y:10.52, Z:6.37 [[ 9.91116562e-01 -1.21039204e-01 -5.51132674e-02 1.38844155e+02] [ 1.20991676e-01 9.92644592e-01 -4.21055953e-03 1.05208850e+01] [ 5.52175296e-02 -2.49509130e-03 9.98471231e-01 6.36832128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.88, Y:10.52, Z:6.37 [[ 9.91069597e-01 -1.21277080e-01 -5.54339667e-02 1.38876464e+02] [ 1.21229590e-01 9.92615477e-01 -4.23107945e-03 1.05237305e+01] [ 5.55377463e-02 -2.52694287e-03 9.98453391e-01 6.36934402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.91, Y:10.52, Z:6.37 [[ 9.90976758e-01 -1.21824741e-01 -5.58909463e-02 1.38907619e+02] [ 1.21777555e-01 9.92548267e-01 -4.26203632e-03 1.05228350e+01] [ 5.59936833e-02 -2.58268384e-03 9.98427783e-01 6.37010200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.94, Y:10.53, Z:6.37 [[ 9.91011279e-01 -1.21761151e-01 -5.54154036e-02 1.38939964e+02] [ 1.21714837e-01 9.92556128e-01 -4.22266655e-03 1.05251345e+01] [ 5.55170552e-02 -2.56016663e-03 9.98454457e-01 6.37190755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.97, Y:10.53, Z:6.37 [[ 9.91060683e-01 -1.21122693e-01 -5.59286649e-02 1.38970934e+02] [ 1.21074719e-01 9.92634264e-01 -4.25794077e-03 1.05258767e+01] [ 5.60324423e-02 -2.55166971e-03 9.98425688e-01 6.37341915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.00, Y:10.53, Z:6.37 [[ 9.91325749e-01 -1.18599281e-01 -5.66345305e-02 1.39002117e+02] [ 1.18546146e-01 9.92939195e-01 -4.30881762e-03 1.05317808e+01] [ 5.67456678e-02 -2.44236348e-03 9.98385679e-01 6.37450054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.03, Y:10.53, Z:6.38 [[ 9.91545617e-01 -1.16922748e-01 -5.62704215e-02 1.39032717e+02] [ 1.16867704e-01 9.93138272e-01 -4.27926330e-03 1.05338885e+01] [ 5.63846524e-02 -2.33311022e-03 9.98406394e-01 6.37533151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.06, Y:10.54, Z:6.38 [[ 9.91753673e-01 -1.15069931e-01 -5.64230810e-02 1.39063026e+02] [ 1.15011653e-01 9.93354879e-01 -4.28987157e-03 1.05352228e+01] [ 5.65417780e-02 -2.23481595e-03 9.98397733e-01 6.37644710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.09, Y:10.54, Z:6.38 [[ 9.92173314e-01 -1.11819483e-01 -5.55744461e-02 1.39093755e+02] [ 1.11757916e-01 9.93726484e-01 -4.22423149e-03 1.05432226e+01] [ 5.56981503e-02 -2.01971454e-03 9.98445610e-01 6.37949433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.12, Y:10.54, Z:6.38 [[ 9.92413784e-01 -1.10071597e-01 -5.47642742e-02 1.39124142e+02] [ 1.10009256e-01 9.93921854e-01 -4.16081142e-03 1.05442817e+01] [ 5.48893961e-02 -1.89533045e-03 9.98490642e-01 6.38084179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.15, Y:10.55, Z:6.38 [[ 9.92850690e-01 -1.06191377e-01 -5.45059578e-02 1.39154866e+02] [ 1.06123844e-01 9.94344301e-01 -4.14007347e-03 1.05508631e+01] [ 5.46373286e-02 -1.67390696e-03 9.98504862e-01 6.38277184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.19, Y:10.55, Z:6.38 [[ 9.93103835e-01 -1.04103070e-01 -5.39196086e-02 1.39185697e+02] [ 1.04034015e-01 9.94565315e-01 -4.09356205e-03 1.05530488e+01] [ 5.40527249e-02 -1.54414120e-03 9.98536889e-01 6.38378935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.22, Y:10.56, Z:6.39 [[ 9.93544460e-01 -1.00198623e-01 -5.31943718e-02 1.39215737e+02] [ 1.00125919e-01 9.94966585e-01 -4.03669405e-03 1.05571390e+01] [ 5.33310937e-02 -1.31550037e-03 9.98576018e-01 6.38522703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.25, Y:10.56, Z:6.39 [[ 9.93863884e-01 -9.68835860e-02 -5.33680767e-02 1.39246826e+02] [ 9.68056892e-02 9.95295065e-01 -4.04880199e-03 1.05623703e+01] [ 5.35092458e-02 -1.14237538e-03 9.98566701e-01 6.38682752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.28, Y:10.56, Z:6.39 [[ 9.93962033e-01 -9.56308080e-02 -5.37980119e-02 1.39276754e+02] [ 9.55499168e-02 9.95416280e-01 -4.07958483e-03 1.05644873e+01] [ 5.39415509e-02 -1.08544313e-03 9.98543505e-01 6.38764973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.31, Y:10.57, Z:6.39 [[ 9.94056020e-01 -9.47109357e-02 -5.36886239e-02 1.39307882e+02] [ 9.46290909e-02 9.95504278e-01 -4.07021686e-03 1.05684089e+01] [ 5.38327489e-02 -1.03448210e-03 9.98549430e-01 6.38918864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.34, Y:10.57, Z:6.39 [[ 9.94184802e-01 -9.37122442e-02 -5.30527590e-02 1.39338575e+02] [ 9.36310023e-02 9.95598852e-01 -4.02020997e-03 1.05697566e+01] [ 5.31960088e-02 -9.70551350e-04 9.98583618e-01 6.38999070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.37, Y:10.57, Z:6.39 [[ 9.94212625e-01 -9.37954413e-02 -5.23800655e-02 1.39370201e+02] [ 9.37164160e-02 9.95591024e-01 -3.96821668e-03 1.05713624e+01] [ 5.25213237e-02 -9.63620890e-04 9.98619338e-01 6.39195943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.40, Y:10.57, Z:6.39 [[ 9.94215912e-01 -9.37605136e-02 -5.23802049e-02 1.39400933e+02] [ 9.36815369e-02 9.95594314e-01 -3.96637615e-03 1.05736593e+01] [ 5.25213236e-02 -9.63623811e-04 9.98619338e-01 6.39342511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.43, Y:10.58, Z:6.40 [[ 9.94182522e-01 -9.43309833e-02 -5.19882630e-02 1.39432290e+02] [ 9.42540586e-02 9.95540401e-01 -3.93487268e-03 1.05760119e+01] [ 5.21275966e-02 -9.88123143e-04 9.98639944e-01 6.39531865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.46, Y:10.58, Z:6.40 [[ 9.94102197e-01 -9.51530840e-02 -5.20260798e-02 1.39463927e+02] [ 9.50772695e-02 9.95462115e-01 -3.93586684e-03 1.05776425e+01] [ 5.21645013e-02 -1.03384373e-03 9.98637970e-01 6.39658465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.50, Y:10.58, Z:6.40 [[ 9.93881634e-01 -9.75756519e-02 -5.17522004e-02 1.39495227e+02] [ 9.75040136e-02 9.95227438e-01 -3.91321857e-03 1.05768139e+01] [ 5.18870447e-02 -1.15677119e-03 9.98652290e-01 6.39796787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.53, Y:10.58, Z:6.40 [[ 9.93735791e-01 -9.89874836e-02 -5.18715321e-02 1.39525873e+02] [ 9.89175724e-02 9.95087911e-01 -3.91960973e-03 1.05772164e+01] [ 5.20047268e-02 -1.23594956e-03 9.98646074e-01 6.39917995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.56, Y:10.58, Z:6.40 [[ 9.93627951e-01 -1.00557293e-01 -5.09090024e-02 1.39557471e+02] [ 1.00492058e-01 9.94930427e-01 -3.84593281e-03 1.05784693e+01] [ 5.10376521e-02 -1.29452410e-03 9.98695891e-01 6.40094623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.59, Y:10.58, Z:6.40 [[ 9.93446952e-01 -1.02209865e-01 -5.11497589e-02 1.39588256e+02] [ 1.02146292e-01 9.94761890e-01 -3.86229296e-03 1.05777409e+01] [ 5.12765953e-02 -1.38777505e-03 9.98683526e-01 6.40221978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.62, Y:10.58, Z:6.40 [[ 9.93270832e-01 -1.03903790e-01 -5.11571817e-02 1.39619816e+02] [ 1.03842536e-01 9.94586256e-01 -3.86103572e-03 1.05794049e+01] [ 5.12814061e-02 -1.47723730e-03 9.98683151e-01 6.40393793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.65, Y:10.58, Z:6.41 [[ 9.92889690e-01 -1.07920172e-01 -5.02324588e-02 1.39651276e+02] [ 1.07866329e-01 9.94158184e-01 -3.78949534e-03 1.05783954e+01] [ 5.03479730e-02 -1.65584010e-03 9.98730364e-01 6.40557555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.68, Y:10.58, Z:6.41 [[ 9.92380770e-01 -1.12733393e-01 -4.97150836e-02 1.39682060e+02] [ 1.12686764e-01 9.93623490e-01 -3.74874533e-03 1.05766578e+01] [ 4.98206836e-02 -1.88204912e-03 9.98756405e-01 6.40662962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.71, Y:10.57, Z:6.41 [[ 9.92083445e-01 -1.15340795e-01 -4.96682864e-02 1.39712843e+02] [ 1.15297560e-01 9.93323942e-01 -3.74428480e-03 1.05745481e+01] [ 4.97685668e-02 -2.01198928e-03 9.98758750e-01 6.40780303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.74, Y:10.58, Z:6.41 [[ 9.91769626e-01 -1.17984725e-01 -4.97253854e-02 1.39744400e+02] [ 1.17944801e-01 9.93013085e-01 -3.74667268e-03 1.05754578e+01] [ 4.98200085e-02 -2.14901452e-03 9.98755900e-01 6.40921273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.78, Y:10.57, Z:6.41 [[ 9.91468999e-01 -1.20436275e-01 -4.98430372e-02 1.39775169e+02] [ 1.20399469e-01 9.92718438e-01 -3.75116735e-03 1.05744090e+01] [ 4.99318787e-02 -2.28190909e-03 9.98750019e-01 6.41052295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.81, Y:10.57, Z:6.41 [[ 9.90830840e-01 -1.25884306e-01 -4.90651379e-02 1.39806211e+02] [ 1.25855374e-01 9.92041734e-01 -3.69097802e-03 1.05732866e+01] [ 4.91393007e-02 -2.51797646e-03 9.98788761e-01 6.41257728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.84, Y:10.57, Z:6.41 [[ 9.90300994e-01 -1.29684420e-01 -4.98587298e-02 1.39837455e+02] [ 1.29659358e-01 9.91551504e-01 -3.75041269e-03 1.05748649e+01] [ 4.99238686e-02 -2.75061346e-03 9.98749239e-01 6.41371347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.87, Y:10.57, Z:6.41 [[ 9.90016041e-01 -1.31380199e-01 -5.10635150e-02 1.39869111e+02] [ 1.31356263e-01 9.91327793e-01 -3.83904706e-03 1.05710101e+01] [ 5.11250564e-02 -2.90679434e-03 9.98688029e-01 6.41318788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.90, Y:10.57, Z:6.41 [[ 9.89982076e-01 -1.31649237e-01 -5.10290786e-02 1.39901220e+02] [ 1.31625836e-01 9.91292057e-01 -3.83358646e-03 1.05735782e+01] [ 5.10894091e-02 -2.92156324e-03 9.98689810e-01 6.41487545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:10.58, Z:6.42 [[ 9.90042662e-01 -1.31644276e-01 -4.98529030e-02 1.39933578e+02] [ 1.31622106e-01 9.91292904e-01 -3.74172346e-03 1.05774517e+01] [ 4.99114054e-02 -2.85727825e-03 9.98749562e-01 6.41792525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.97, Y:10.58, Z:6.42 [[ 9.90305296e-01 -1.29673783e-01 -4.98009094e-02 1.39965077e+02] [ 1.29649355e-01 9.91552873e-01 -3.73425437e-03 1.05829418e+01] [ 4.98644697e-02 -2.75860392e-03 9.98752184e-01 6.41976367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.00, Y:10.59, Z:6.42 [[ 9.90470722e-01 -1.28331531e-01 -4.99876675e-02 1.39997596e+02] [ 1.28305359e-01 9.91727637e-01 -3.74541188e-03 1.05858806e+01] [ 5.00548058e-02 -2.70396482e-03 9.98742812e-01 6.42088075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.03, Y:10.59, Z:6.42 [[ 9.90595642e-01 -1.27120288e-01 -5.06034225e-02 1.40029932e+02] [ 1.27092125e-01 9.91883688e-01 -3.78697792e-03 1.05894276e+01] [ 5.06741111e-02 -2.67993270e-03 9.98711646e-01 6.42210242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.06, Y:10.59, Z:6.42 [[ 9.90786194e-01 -1.25482723e-01 -5.09588421e-02 1.40060518e+02] [ 1.25452185e-01 9.92092351e-01 -3.81006326e-03 1.05895691e+01] [ 5.10339745e-02 -2.61794002e-03 9.98693486e-01 6.42265413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:10.59, Z:6.42 [[ 9.91051824e-01 -1.23268173e-01 -5.11980366e-02 1.40091182e+02] [ 1.23234453e-01 9.92370205e-01 -3.82696494e-03 1.05933791e+01] [ 5.12791491e-02 -2.51664143e-03 9.98681188e-01 6.42374522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.12, Y:10.60, Z:6.43 [[ 9.91198261e-01 -1.21968127e-01 -5.14760454e-02 1.40122406e+02] [ 1.21932393e-01 9.92530957e-01 -3.84579625e-03 1.06028196e+01] [ 5.15606331e-02 -2.46465084e-03 9.98666825e-01 6.42558211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.15, Y:10.61, Z:6.43 [[ 9.91500388e-01 -1.19311550e-01 -5.18819252e-02 1.40153151e+02] [ 1.19271813e-01 9.92854087e-01 -3.87247616e-03 1.06060518e+01] [ 5.19732126e-02 -2.34848965e-03 9.98645718e-01 6.42643551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.18, Y:10.61, Z:6.43 [[ 9.91508763e-01 -1.19241864e-01 -5.18820762e-02 1.40184758e+02] [ 1.19202137e-01 9.92862463e-01 -3.87045265e-03 1.06083481e+01] [ 5.19732859e-02 -2.34686664e-03 9.98645718e-01 6.42794269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.22, Y:10.61, Z:6.43 [[ 9.91647881e-01 -1.18062416e-01 -5.19205700e-02 1.40217115e+02] [ 1.18021213e-01 9.93003535e-01 -3.86957447e-03 1.06124461e+01] [ 5.20141608e-02 -2.29047333e-03 9.98643721e-01 6.42939478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.25, Y:10.62, Z:6.43 [[ 9.91774132e-01 -1.16902489e-01 -5.21332844e-02 1.40248862e+02] [ 1.16859586e-01 9.93140864e-01 -3.88090112e-03 1.06169365e+01] [ 5.22293821e-02 -2.24329669e-03 9.98632595e-01 6.43076132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.28, Y:10.62, Z:6.43 [[ 9.91905940e-01 -1.15482156e-01 -5.27870980e-02 1.40280779e+02] [ 1.15436365e-01 9.93307120e-01 -3.92579301e-03 1.06233400e+01] [ 5.28871593e-02 -2.19953332e-03 9.98598073e-01 6.43199642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.31, Y:10.63, Z:6.43 [[ 9.91928282e-01 -1.15103784e-01 -5.31921279e-02 1.40312231e+02] [ 1.15056945e-01 9.93351035e-01 -3.95219202e-03 1.06255308e+01] [ 5.32933676e-02 -2.19983267e-03 9.98576476e-01 6.43324244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.34, Y:10.63, Z:6.43 [[ 9.91945980e-01 -1.14645397e-01 -5.38479853e-02 1.40344423e+02] [ 1.14596886e-01 9.93404032e-01 -3.99790939e-03 1.06305941e+01] [ 5.39511476e-02 -2.20510127e-03 9.98541141e-01 6.43444081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.38, Y:10.63, Z:6.44 [[ 9.91938722e-01 -1.14576847e-01 -5.41268624e-02 1.40376012e+02] [ 1.14527954e-01 9.93411914e-01 -4.01450977e-03 1.06307410e+01] [ 5.42302399e-02 -2.21689109e-03 9.98525997e-01 6.43531788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.41, Y:10.64, Z:6.44 [[ 9.91929574e-01 -1.14735570e-01 -5.39580399e-02 1.40407102e+02] [ 1.14687527e-01 9.93393578e-01 -3.99623600e-03 1.06405031e+01] [ 5.40600807e-02 -2.22432948e-03 9.98535207e-01 6.43784761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.44, Y:10.64, Z:6.44 [[ 9.91973250e-01 -1.14475019e-01 -5.37079218e-02 1.40438596e+02] [ 1.14427245e-01 9.93423683e-01 -3.97387363e-03 1.06421340e+01] [ 5.38096307e-02 -2.20367320e-03 9.98548781e-01 6.43943261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.47, Y:10.64, Z:6.44 [[ 9.92007876e-01 -1.14103551e-01 -5.38586538e-02 1.40469222e+02] [ 1.14055122e-01 9.93466442e-01 -3.98206754e-03 1.06444272e+01] [ 5.39611333e-02 -2.19261300e-03 9.98540629e-01 6.44101891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.50, Y:10.65, Z:6.44 [[ 9.92148382e-01 -1.13323415e-01 -5.29092711e-02 1.40500723e+02] [ 1.13275722e-01 9.93555902e-01 -3.90901368e-03 1.06531574e+01] [ 5.30113014e-02 -2.11501429e-03 9.98591673e-01 6.44450282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.53, Y:10.66, Z:6.45 [[ 9.92171039e-01 -1.13470774e-01 -5.21633247e-02 1.40532058e+02] [ 1.13424809e-01 9.93539123e-01 -3.85026549e-03 1.06553246e+01] [ 5.22631965e-02 -2.09649323e-03 9.98631145e-01 6.44678938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.56, Y:10.66, Z:6.45 [[ 9.92240098e-01 -1.12789797e-01 -5.23263797e-02 1.40564000e+02] [ 1.12742753e-01 9.93616715e-01 -3.85938428e-03 1.06608583e+01] [ 5.24276647e-02 -2.06998426e-03 9.98622579e-01 6.44869042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.59, Y:10.66, Z:6.45 [[ 9.92318935e-01 -1.12123689e-01 -5.22628853e-02 1.40594893e+02] [ 1.12076030e-01 9.93692172e-01 -3.85101016e-03 1.06637734e+01] [ 5.23650095e-02 -2.03598641e-03 9.98625936e-01 6.44983165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:10.66, Z:6.45 [[ 9.92386019e-01 -1.11386329e-01 -5.25649553e-02 1.40626095e+02] [ 1.11337254e-01 9.93775145e-01 -3.87007773e-03 1.06624490e+01] [ 5.26688199e-02 -2.01182676e-03 9.98610008e-01 6.45054277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:10.67, Z:6.45 [[ 9.92529324e-01 -1.09831191e-01 -5.31286307e-02 1.40657725e+02] [ 1.09779164e-01 9.93948330e-01 -3.90541201e-03 1.06714340e+01] [ 5.32360499e-02 -1.95618074e-03 9.98580040e-01 6.45162397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.69, Y:10.68, Z:6.45 [[ 9.92688808e-01 -1.08014914e-01 -5.38675149e-02 1.40690119e+02] [ 1.07958976e-01 9.94147480e-01 -3.95576828e-03 1.06779569e+01] [ 5.39795362e-02 -1.88863485e-03 9.98540256e-01 6.45250080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.72, Y:10.68, Z:6.45 [[ 9.93004900e-01 -1.05271405e-01 -5.34714953e-02 1.40720305e+02] [ 1.05212548e-01 9.94442022e-01 -3.92234451e-03 1.06825126e+01] [ 5.35872126e-02 -1.73096493e-03 9.98561673e-01 6.45402200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.75, Y:10.69, Z:6.46 [[ 9.93418213e-01 -1.01713046e-01 -5.26755117e-02 1.40751164e+02] [ 1.01650985e-01 9.94812623e-01 -3.86293459e-03 1.06889673e+01] [ 5.27951748e-02 -1.51700808e-03 9.98604210e-01 6.45640912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.78, Y:10.69, Z:6.46 [[ 9.93876717e-01 -9.75724605e-02 -5.18525434e-02 1.40780973e+02] [ 9.75067850e-02 9.95227602e-01 -3.80082701e-03 1.06936338e+01] [ 5.19759385e-02 -1.27842133e-03 9.98647519e-01 6.45833620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.81, Y:10.70, Z:6.46 [[ 9.94102839e-01 -9.54472285e-02 -5.14720545e-02 1.40812538e+02] [ 9.53797262e-02 9.95433816e-01 -3.77180007e-03 1.06994721e+01] [ 5.15970315e-02 -1.15983331e-03 9.98667313e-01 6.46038824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.84, Y:10.70, Z:6.46 [[ 9.94312762e-01 -9.33398261e-02 -5.12816637e-02 1.40843428e+02] [ 9.32702083e-02 9.95633755e-01 -3.75423113e-03 1.07026554e+01] [ 5.14081747e-02 -1.05017153e-03 9.98677173e-01 6.46162022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.88, Y:10.70, Z:6.46 [[ 9.94319287e-01 -9.32701781e-02 -5.12818687e-02 1.40875016e+02] [ 9.32006121e-02 9.95640283e-01 -3.75142946e-03 1.07049056e+01] [ 5.14081907e-02 -1.04938289e-03 9.98677173e-01 6.46312596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.91, Y:10.71, Z:6.46 [[ 9.94510283e-01 -9.13283562e-02 -5.10727807e-02 1.40907036e+02] [ 9.12569818e-02 9.95820381e-01 -3.73254979e-03 1.07093407e+01] [ 5.12002036e-02 -9.48688673e-04 9.98687959e-01 6.46466486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.94, Y:10.71, Z:6.47 [[ 9.94671563e-01 -8.94251410e-02 -5.12993796e-02 1.40939099e+02] [ 8.93507923e-02 9.95993177e-01 -3.74542599e-03 1.07133075e+01] [ 5.14287673e-02 -8.58171493e-04 9.98676297e-01 6.46595848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.97, Y:10.72, Z:6.47 [[ 9.94918238e-01 -8.61509221e-02 -5.21125496e-02 1.40969778e+02] [ 8.60699032e-02 9.96281849e-01 -3.80107186e-03 1.07174715e+01] [ 5.22462531e-02 -7.03566375e-04 9.98633984e-01 6.46686787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:10.72, Z:6.47 [[ 9.95000482e-01 -8.49253695e-02 -5.25520841e-02 1.41000819e+02] [ 8.48414146e-02 9.96387105e-01 -3.83038261e-03 1.07212494e+01] [ 5.26875156e-02 -6.47360609e-04 9.98610838e-01 6.46844843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.03, Y:10.72, Z:6.47 [[ 9.95096248e-01 -8.36152869e-02 -5.28388218e-02 1.41031787e+02] [ 8.35286668e-02 9.96497940e-01 -3.84940759e-03 1.07243629e+01] [ 5.29756463e-02 -5.83025286e-04 9.98595634e-01 6.46953215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.06, Y:10.73, Z:6.47 [[ 9.95221091e-01 -8.14456470e-02 -5.38663740e-02 1.41062315e+02] [ 8.13525476e-02 9.96677670e-01 -3.92241827e-03 1.07261548e+01] [ 5.40068760e-02 -4.78493368e-04 9.98540449e-01 6.46960388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.09, Y:10.73, Z:6.47 [[ 9.95271511e-01 -8.05814127e-02 -5.42333405e-02 1.41091770e+02] [ 8.04857974e-02 9.96747935e-01 -3.94841139e-03 1.07279671e+01] [ 5.43751387e-02 -4.35272280e-04 9.98520483e-01 6.47057367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.12, Y:10.73, Z:6.47 [[ 9.95368247e-01 -7.96700435e-02 -5.38027578e-02 1.41121904e+02] [ 7.95745662e-02 9.96821217e-01 -3.91788898e-03 1.07302756e+01] [ 5.39438689e-02 -3.81588822e-04 9.98543897e-01 6.47272895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.15, Y:10.73, Z:6.47 [[ 9.95412798e-01 -7.93083446e-02 -5.35121363e-02 1.41151121e+02] [ 7.92133684e-02 9.96850067e-01 -3.89683493e-03 1.07316919e+01] [ 5.36526282e-02 -3.59917210e-04 9.98559596e-01 6.47432215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.18, Y:10.73, Z:6.48 [[ 9.95487770e-01 -7.92371097e-02 -5.22070885e-02 1.41181172e+02] [ 7.91465710e-02 9.96855737e-01 -3.80262253e-03 1.07338103e+01] [ 5.23442445e-02 -3.46547818e-04 9.98629040e-01 6.47804953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.21, Y:10.73, Z:6.48 [[ 9.95517792e-01 -7.92741707e-02 -5.15745182e-02 1.41211303e+02] [ 7.91858675e-02 9.96852791e-01 -3.75647282e-03 1.07347239e+01] [ 5.17099937e-02 -3.44337441e-04 9.98662084e-01 6.47976070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.24, Y:10.74, Z:6.48 [[ 9.95450276e-01 -7.98631074e-02 -5.19676042e-02 1.41241809e+02] [ 7.97742991e-02 9.96805769e-01 -3.78424587e-03 1.07356562e+01] [ 5.21038293e-02 -3.78650604e-04 9.98641601e-01 6.48104441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.27, Y:10.73, Z:6.48 [[ 9.95343528e-01 -8.09599707e-02 -5.23138997e-02 1.41271884e+02] [ 8.08714926e-02 9.96717257e-01 -3.80937450e-03 1.07343762e+01] [ 5.24505734e-02 -4.39066894e-04 9.98623425e-01 6.48166375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.30, Y:10.74, Z:6.48 [[ 9.95319054e-01 -8.12528067e-02 -5.23255371e-02 1.41301738e+02] [ 8.11647612e-02 9.96693420e-01 -3.80893130e-03 1.07351286e+01] [ 5.24620048e-02 -4.55887822e-04 9.98622817e-01 6.48317142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.33, Y:10.74, Z:6.48 [[ 9.95261164e-01 -8.21367770e-02 -5.20457950e-02 1.41331703e+02] [ 8.20510935e-02 9.96620939e-01 -3.78445530e-03 1.07350137e+01] [ 5.21807720e-02 -5.03892996e-04 9.98637528e-01 6.48446709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.36, Y:10.74, Z:6.49 [[ 9.95116500e-01 -8.35303818e-02 -5.25911318e-02 1.41362131e+02] [ 8.34447924e-02 9.96505061e-01 -3.82494968e-03 1.07353987e+01] [ 5.27268285e-02 -5.82185538e-04 9.98608804e-01 6.48624192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.39, Y:10.73, Z:6.49 [[ 9.94939532e-01 -8.49189557e-02 -5.37038122e-02 1.41392688e+02] [ 8.48317254e-02 9.96387637e-01 -3.90587486e-03 1.07344832e+01] [ 5.38414974e-02 -6.69677755e-04 9.98549270e-01 6.48689924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.42, Y:10.73, Z:6.49 [[ 9.94761859e-01 -8.64867966e-02 -5.44874035e-02 1.41423657e+02] [ 8.63993506e-02 9.96252703e-01 -3.96286540e-03 1.07328656e+01] [ 5.46259585e-02 -7.65568923e-04 9.98506594e-01 6.48736189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.45, Y:10.73, Z:6.49 [[ 9.94653562e-01 -8.79571877e-02 -5.41093774e-02 1.41453107e+02] [ 8.78731182e-02 9.96123901e-01 -3.93549128e-03 1.07315753e+01] [ 5.42457989e-02 -8.40309302e-04 9.98527259e-01 6.48838437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.48, Y:10.73, Z:6.49 [[ 9.94576723e-01 -8.87815426e-02 -5.41754488e-02 1.41483433e+02] [ 8.86984432e-02 9.96050728e-01 -3.94114304e-03 1.07321995e+01] [ 5.43113960e-02 -8.85508833e-04 9.98523654e-01 6.48942962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.51, Y:10.73, Z:6.49 [[ 9.94517466e-01 -8.94413420e-02 -5.41780126e-02 1.41513686e+02] [ 8.93592127e-02 9.95991665e-01 -3.94132956e-03 1.07327394e+01] [ 5.43133668e-02 -9.21583471e-04 9.98523514e-01 6.49042009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.54, Y:10.73, Z:6.49 [[ 9.94517466e-01 -8.94413420e-02 -5.41780126e-02 1.41543578e+02] [ 8.93592127e-02 9.95991665e-01 -3.94132956e-03 1.07349140e+01] [ 5.43133668e-02 -9.21583471e-04 9.98523514e-01 6.49184604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.57, Y:10.73, Z:6.49 [[ 9.94381152e-01 -9.12394898e-02 -5.36794120e-02 1.41574555e+02] [ 9.11614825e-02 9.95828466e-01 -3.90505748e-03 1.07345571e+01] [ 5.38117820e-02 -1.01037923e-03 9.98550585e-01 6.49338169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.61, Y:10.73, Z:6.50 [[ 9.94260240e-01 -9.29899829e-02 -5.29097215e-02 1.41606112e+02] [ 9.29166830e-02 9.95666448e-01 -3.84886664e-03 1.07347205e+01] [ 5.30383406e-02 -1.08942075e-03 9.98591882e-01 6.49627395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.64, Y:10.74, Z:6.50 [[ 9.94162347e-01 -9.38802855e-02 -5.31763020e-02 1.41637806e+02] [ 9.38076193e-02 9.95582835e-01 -3.86634212e-03 1.07357966e+01] [ 5.33043868e-02 -1.14457053e-03 9.98577655e-01 6.49756129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.67, Y:10.74, Z:6.50 [[ 9.94031479e-01 -9.50832162e-02 -5.34845839e-02 1.41669512e+02] [ 9.50115484e-02 9.95468582e-01 -3.88681151e-03 1.07362687e+01] [ 5.36117934e-02 -1.21804014e-03 9.98561111e-01 6.49909518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.70, Y:10.74, Z:6.50 [[ 9.93886727e-01 -9.63584972e-02 -5.38907590e-02 1.41700612e+02] [ 9.62877146e-02 9.95345846e-01 -3.91437235e-03 1.07374943e+01] [ 5.40171262e-02 -1.29857530e-03 9.98539165e-01 6.50113368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.73, Y:10.74, Z:6.50 [[ 9.93540933e-01 -9.91841458e-02 -5.51264038e-02 1.41732078e+02] [ 9.91145352e-02 9.95067984e-01 -4.00207877e-03 1.07374251e+01] [ 5.52514623e-02 -1.48759882e-03 9.98471363e-01 6.50224128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.76, Y:10.74, Z:6.50 [[ 9.93370602e-01 -1.00597713e-01 -5.56322473e-02 1.41763240e+02] [ 1.00529146e-01 9.94925925e-01 -4.03676034e-03 1.07379519e+01] [ 5.57560539e-02 -1.58266325e-03 9.98443167e-01 6.50345715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.79, Y:10.74, Z:6.51 [[ 9.93216904e-01 -1.01928910e-01 -5.59524728e-02 1.41794893e+02] [ 1.01861775e-01 9.94790285e-01 -4.05795875e-03 1.07394913e+01] [ 5.60745997e-02 -1.66898496e-03 9.98425187e-01 6.50544303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.83, Y:10.74, Z:6.51 [[ 9.92925324e-01 -1.03966947e-01 -5.73600439e-02 1.41825351e+02] [ 1.03899915e-01 9.94579067e-01 -4.15781342e-03 1.07386193e+01] [ 5.74813741e-02 -1.83130546e-03 9.98344899e-01 6.50571320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.86, Y:10.74, Z:6.51 [[ 9.92769992e-01 -1.05394675e-01 -5.74430649e-02 1.41855614e+02] [ 1.05329960e-01 9.94428620e-01 -4.16164771e-03 1.07389215e+01] [ 5.75616433e-02 -1.91891676e-03 9.98340110e-01 6.50747552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.89, Y:10.74, Z:6.51 [[ 9.92753724e-01 -1.05915163e-01 -5.67628599e-02 1.41885159e+02] [ 1.05852820e-01 9.94373305e-01 -4.11237305e-03 1.07397234e+01] [ 5.68790353e-02 -1.92593513e-03 9.98379220e-01 6.50934446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.92, Y:10.74, Z:6.51 [[ 9.92693093e-01 -1.06599202e-01 -5.65423165e-02 1.41915283e+02] [ 1.06538448e-01 9.94300145e-01 -4.09642015e-03 1.07412897e+01] [ 5.66567086e-02 -1.95744265e-03 9.98391800e-01 6.51124855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:10.74, Z:6.51 [[ 9.92521000e-01 -1.07912066e-01 -5.70705751e-02 1.41945857e+02] [ 1.07852337e-01 9.94158326e-01 -4.13469182e-03 1.07426270e+01] [ 5.71833706e-02 -2.05142643e-03 9.98361585e-01 6.51251728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.98, Y:10.75, Z:6.51 [[ 9.92454609e-01 -1.08515285e-01 -5.70813710e-02 1.41976531e+02] [ 1.08456550e-01 9.94092590e-01 -4.13512224e-03 1.07463566e+01] [ 5.71928919e-02 -2.08692742e-03 9.98360966e-01 6.51416109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.01, Y:10.75, Z:6.52 [[ 9.92261209e-01 -1.10209499e-01 -5.71975460e-02 1.42007387e+02] [ 1.10153442e-01 9.93905964e-01 -4.14163500e-03 1.07481165e+01] [ 5.73054297e-02 -2.19092279e-03 9.98354290e-01 6.51515081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.04, Y:10.75, Z:6.52 [[ 9.92101621e-01 -1.12107680e-01 -5.62693709e-02 1.42038206e+02] [ 1.12056527e-01 9.93693485e-01 -4.07341804e-03 1.07450582e+01] [ 5.63711687e-02 -2.26410566e-03 9.98407314e-01 6.51541851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.07, Y:10.75, Z:6.52 [[ 9.91855848e-01 -1.15397477e-01 -5.39017517e-02 1.42069188e+02] [ 1.15355435e-01 9.93316619e-01 -3.90097133e-03 1.07484150e+01] [ 5.39916680e-02 -2.34865876e-03 9.98538624e-01 6.51870533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.10, Y:10.75, Z:6.52 [[ 9.91699771e-01 -1.17374898e-01 -5.24852228e-02 1.42099844e+02] [ 1.17337890e-01 9.93084793e-01 -3.79663537e-03 1.07487157e+01] [ 5.25679062e-02 -2.39338287e-03 9.98614484e-01 6.52098303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.13, Y:10.75, Z:6.52 [[ 9.91644244e-01 -1.17912532e-01 -5.23290342e-02 1.42131046e+02] [ 1.17876592e-01 9.93021045e-01 -3.78340155e-03 1.07502897e+01] [ 5.24099427e-02 -2.41657983e-03 9.98622731e-01 6.52254633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.16, Y:10.75, Z:6.52 [[ 9.91652413e-01 -1.17843719e-01 -5.23292375e-02 1.42162660e+02] [ 1.17807831e-01 9.93029215e-01 -3.78058819e-03 1.07525109e+01] [ 5.24099802e-02 -2.41576457e-03 9.98622731e-01 6.52405333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.19, Y:10.76, Z:6.53 [[ 9.91578051e-01 -1.18429748e-01 -5.24152992e-02 1.42194152e+02] [ 1.18394747e-01 9.92959401e-01 -3.78322867e-03 1.07563970e+01] [ 5.24943109e-02 -2.45432957e-03 9.98618207e-01 6.52582316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.23, Y:10.76, Z:6.53 [[ 9.91586434e-01 -1.18359444e-01 -5.24155067e-02 1.42225768e+02] [ 1.18324497e-01 9.92967785e-01 -3.78035265e-03 1.07586162e+01] [ 5.24943500e-02 -2.45349204e-03 9.98618207e-01 6.52733023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.26, Y:10.76, Z:6.53 [[ 9.91482700e-01 -1.19032511e-01 -5.28518424e-02 1.42257583e+02] [ 1.18998135e-01 9.92887175e-01 -3.80802668e-03 1.07623918e+01] [ 5.29291955e-02 -2.51367809e-03 9.98595104e-01 6.52825641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.29, Y:10.76, Z:6.53 [[ 9.91409676e-01 -1.19232431e-01 -5.37631998e-02 1.42289515e+02] [ 1.19197366e-01 9.92863038e-01 -3.86976423e-03 1.07648023e+01] [ 5.38408953e-02 -2.57191012e-03 9.98546215e-01 6.52902682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.32, Y:10.76, Z:6.53 [[ 9.91320481e-01 -1.19571433e-01 -5.46477401e-02 1.42321005e+02] [ 1.19535933e-01 9.92822098e-01 -3.92958027e-03 1.07639285e+01] [ 5.47253495e-02 -2.63689520e-03 9.98497963e-01 6.52974408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:10.77, Z:6.53 [[ 9.91262649e-01 -1.19884783e-01 -5.50090845e-02 1.42352535e+02] [ 1.19849464e-01 9.92784208e-01 -3.95246850e-03 1.07682197e+01] [ 5.50859913e-02 -2.67487493e-03 9.98478031e-01 6.53123040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.38, Y:10.77, Z:6.53 [[ 9.91181793e-01 -1.20366290e-01 -5.54130750e-02 1.42384128e+02] [ 1.20331414e-01 9.92725808e-01 -3.97767999e-03 1.07701989e+01] [ 5.54887682e-02 -2.72532967e-03 9.98455592e-01 6.53273660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.42, Y:10.77, Z:6.54 [[ 9.91033867e-01 -1.21351989e-01 -5.59067960e-02 1.42415580e+02] [ 1.21318248e-01 9.92605564e-01 -4.00965481e-03 1.07742317e+01] [ 5.59799764e-02 -2.80881085e-03 9.98427941e-01 6.53512951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.45, Y:10.77, Z:6.54 [[ 9.90966037e-01 -1.21968759e-01 -5.57668019e-02 1.42446486e+02] [ 1.21936506e-01 9.92529869e-01 -3.99343433e-03 1.07716795e+01] [ 5.58372909e-02 -2.84265116e-03 9.98435835e-01 6.53634302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.48, Y:10.77, Z:6.54 [[ 9.90873247e-01 -1.22967352e-01 -5.52199179e-02 1.42478705e+02] [ 1.22937629e-01 9.92406547e-01 -3.94780070e-03 1.07737692e+01] [ 5.52860586e-02 -2.87683568e-03 9.98466412e-01 6.53851994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.51, Y:10.78, Z:6.54 [[ 9.90829457e-01 -1.23340511e-01 -5.51734172e-02 1.42511160e+02] [ 1.23311627e-01 9.92360174e-01 -3.94063962e-03 1.07758170e+01] [ 5.52379424e-02 -2.89902204e-03 9.98469011e-01 6.54005470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.54, Y:10.78, Z:6.54 [[ 9.90809852e-01 -1.23749748e-01 -5.46061974e-02 1.42543013e+02] [ 1.23722280e-01 9.92309234e-01 -3.89634132e-03 1.07815333e+01] [ 5.46684051e-02 -2.89546986e-03 9.98500366e-01 6.54283237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:10.78, Z:6.54 [[ 9.90758359e-01 -1.24419163e-01 -5.40161662e-02 1.42574241e+02] [ 1.24393475e-01 9.92225497e-01 -3.85051604e-03 1.07816544e+01] [ 5.40752953e-02 -2.90432767e-03 9.98532637e-01 6.54465163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.61, Y:10.78, Z:6.55 [[ 9.90770148e-01 -1.24617227e-01 -5.33391134e-02 1.42606523e+02] [ 1.24592619e-01 9.92200708e-01 -3.79932485e-03 1.07848955e+01] [ 5.33965674e-02 -2.88140221e-03 9.98569229e-01 6.54706295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.64, Y:10.79, Z:6.55 [[ 9.90780126e-01 -1.24363537e-01 -5.37443311e-02 1.42639083e+02] [ 1.24338390e-01 9.92232503e-01 -3.82435996e-03 1.07872369e+01] [ 5.38024830e-02 -2.89338374e-03 9.98547406e-01 6.54846989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.67, Y:10.79, Z:6.55 [[ 9.90820117e-01 -1.23994257e-01 -5.38601944e-02 1.42670836e+02] [ 1.23968665e-01 9.92278746e-01 -3.82879036e-03 1.07917629e+01] [ 5.39190742e-02 -2.88333386e-03 9.98541146e-01 6.55001813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.70, Y:10.80, Z:6.55 [[ 9.90789124e-01 -1.24018911e-01 -5.43711381e-02 1.42702594e+02] [ 1.23993083e-01 9.92275570e-01 -3.86119790e-03 1.07950128e+01] [ 5.44300136e-02 -2.91601215e-03 9.98513330e-01 6.55144454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.73, Y:10.79, Z:6.55 [[ 9.90751366e-01 -1.24332158e-01 -5.43437720e-02 1.42733631e+02] [ 1.24307031e-01 9.92236311e-01 -3.85548929e-03 1.07944993e+01] [ 5.44012252e-02 -2.93548166e-03 9.98514842e-01 6.55279368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.77, Y:10.80, Z:6.56 [[ 9.90747996e-01 -1.24287598e-01 -5.45068897e-02 1.42765829e+02] [ 1.24262418e-01 9.92241866e-01 -3.86402238e-03 1.08002139e+01] [ 5.45642680e-02 -2.94488550e-03 9.98505918e-01 6.55515929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.80, Y:10.80, Z:6.56 [[ 9.90988269e-01 -1.22600640e-01 -5.39567796e-02 1.42796690e+02] [ 1.22573665e-01 9.92452061e-01 -3.82146996e-03 1.08043740e+01] [ 5.40180318e-02 -2.82664832e-03 9.98535959e-01 6.55716463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.83, Y:10.81, Z:6.56 [[ 9.91105375e-01 -1.21733167e-01 -5.37696107e-02 1.42828848e+02] [ 1.21705220e-01 9.92558992e-01 -3.80607799e-03 1.08084184e+01] [ 5.38328366e-02 -2.77181795e-03 9.98546114e-01 6.55916860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.86, Y:10.81, Z:6.56 [[ 9.91288315e-01 -1.20737449e-01 -5.26302725e-02 1.42860362e+02] [ 1.20709482e-01 9.92680901e-01 -3.72143381e-03 1.08095946e+01] [ 5.26943828e-02 -2.66395909e-03 9.98607133e-01 6.56119583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.89, Y:10.82, Z:6.56 [[ 9.91446860e-01 -1.19746695e-01 -5.19023454e-02 1.42892498e+02] [ 1.19718479e-01 9.92801120e-01 -3.66346212e-03 1.08161289e+01] [ 5.19673942e-02 -2.58154184e-03 9.98645445e-01 6.56396027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.92, Y:10.82, Z:6.57 [[ 9.91812469e-01 -1.17275131e-01 -5.05427600e-02 1.42923468e+02] [ 1.17245389e-01 9.93096583e-01 -3.56319133e-03 1.08168109e+01] [ 5.06117159e-02 -2.39188796e-03 9.98715542e-01 6.56583345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.96, Y:10.82, Z:6.57 [[ 9.91922690e-01 -1.16495871e-01 -5.01805669e-02 1.42955143e+02] [ 1.16465654e-01 9.93188426e-01 -3.53575323e-03 1.08227988e+01] [ 5.02506589e-02 -2.33711867e-03 9.98733903e-01 6.56798239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.99, Y:10.82, Z:6.57 [[ 9.92079677e-01 -1.15127739e-01 -5.02346404e-02 1.42986402e+02] [ 1.15095889e-01 9.93348093e-01 -3.53595712e-03 1.08241353e+01] [ 5.03075710e-02 -2.27384942e-03 9.98731184e-01 6.56931756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.02, Y:10.83, Z:6.57 [[ 9.92067446e-01 -1.15271150e-01 -5.01472316e-02 1.43018143e+02] [ 1.15239732e-01 9.93331447e-01 -3.52704348e-03 1.08269480e+01] [ 5.02193885e-02 -2.27988853e-03 9.98735608e-01 6.57104518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.05, Y:10.83, Z:6.57 [[ 9.92016351e-01 -1.15417484e-01 -5.08169602e-02 1.43049714e+02] [ 1.15385599e-01 9.93314359e-01 -3.57050837e-03 1.08281104e+01] [ 5.08893153e-02 -2.32154272e-03 9.98701601e-01 6.57220672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.08, Y:10.83, Z:6.57 [[ 9.92005652e-01 -1.15189690e-01 -5.15375684e-02 1.43081479e+02] [ 1.15156739e-01 9.93340744e-01 -3.61826710e-03 1.08316964e+01] [ 5.16111536e-02 -2.34555690e-03 9.98664502e-01 6.57321662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.11, Y:10.83, Z:6.57 [[ 9.91889588e-01 -1.15448561e-01 -5.31664921e-02 1.43112703e+02] [ 1.15414093e-01 9.93310468e-01 -3.72842638e-03 1.08308229e+01] [ 5.32412746e-02 -2.43797515e-03 9.98578701e-01 6.57272984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.14, Y:10.83, Z:6.57 [[ 9.91884700e-01 -1.15313587e-01 -5.35492175e-02 1.43144244e+02] [ 1.15278745e-01 9.93326106e-01 -3.74931369e-03 1.08342170e+01] [ 5.36241826e-02 -2.45419970e-03 9.98558173e-01 6.57381137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:10.83, Z:6.57 [[ 9.91895301e-01 -1.14812345e-01 -5.44227639e-02 1.43175820e+02] [ 1.14775818e-01 9.93384126e-01 -3.80661429e-03 1.08339509e+01] [ 5.44997561e-02 -2.47065439e-03 9.98510727e-01 6.57456025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.21, Y:10.84, Z:6.58 [[ 9.91957040e-01 -1.14000099e-01 -5.50018990e-02 1.43208130e+02] [ 1.13961719e-01 9.93477705e-01 -3.84400074e-03 1.08362054e+01] [ 5.50813769e-02 -2.45502737e-03 9.98478850e-01 6.57602995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.24, Y:10.84, Z:6.58 [[ 9.92224202e-01 -1.10997180e-01 -5.63095004e-02 1.43239713e+02] [ 1.10952353e-01 9.93817951e-01 -3.93148698e-03 1.08420333e+01] [ 5.63977762e-02 -2.34675501e-03 9.98405621e-01 6.57713716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.27, Y:10.85, Z:6.58 [[ 9.92452408e-01 -1.08829669e-01 -5.65183230e-02 1.43271283e+02] [ 1.08781175e-01 9.94057900e-01 -3.94302178e-03 1.08452552e+01] [ 5.66116032e-02 -2.23486813e-03 9.98393776e-01 6.57826507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.30, Y:10.85, Z:6.58 [[ 9.92695921e-01 -1.06804558e-01 -5.61034223e-02 1.43302900e+02] [ 1.06753713e-01 9.94277802e-01 -3.91109509e-03 1.08499276e+01] [ 5.62001102e-02 -2.10672048e-03 9.98417302e-01 6.58030890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:10.86, Z:6.58 [[ 9.93307158e-01 -1.01483531e-01 -5.51541654e-02 1.43333725e+02] [ 1.01426348e-01 9.94835631e-01 -3.84224143e-03 1.08555721e+01] [ 5.52592531e-02 -1.77755964e-03 9.98470458e-01 6.58281248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.36, Y:10.86, Z:6.59 [[ 9.94036378e-01 -9.50028222e-02 -5.35363723e-02 1.43362913e+02] [ 9.49396004e-02 9.95476052e-01 -3.72863916e-03 1.08613719e+01] [ 5.36484077e-02 -1.37631883e-03 9.98558939e-01 6.58572274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.39, Y:10.87, Z:6.59 [[ 9.94371375e-01 -9.20053523e-02 -5.25412568e-02 1.43393725e+02] [ 9.19402881e-02 9.95757799e-01 -3.65914949e-03 1.08660278e+01] [ 5.26550275e-02 -1.19210478e-03 9.98612050e-01 6.58833812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.42, Y:10.87, Z:6.59 [[ 9.94820583e-01 -8.77446231e-02 -5.13116861e-02 1.43424468e+02] [ 8.76769975e-02 9.96142554e-01 -3.57172332e-03 1.08715566e+01] [ 5.14271535e-02 -9.45630698e-04 9.98676301e-01 6.59138282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.46, Y:10.87, Z:6.59 [[ 9.94984220e-01 -8.60266775e-02 -5.10471666e-02 1.43455364e+02] [ 8.59576016e-02 9.96292467e-01 -3.55110169e-03 1.08722229e+01] [ 5.11633971e-02 -8.54601866e-04 9.98689930e-01 6.59264820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.49, Y:10.87, Z:6.59 [[ 9.95069272e-01 -8.49471328e-02 -5.11969602e-02 1.43486440e+02] [ 8.48765456e-02 9.96385132e-01 -3.55524662e-03 1.08745741e+01] [ 5.13138980e-02 -8.07704459e-04 9.98682248e-01 6.59393298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.52, Y:10.88, Z:6.60 [[ 9.95036579e-01 -8.53648696e-02 -5.11375213e-02 1.43517631e+02] [ 8.52950899e-02 9.96349412e-01 -3.54931439e-03 1.08757988e+01] [ 5.12538260e-02 -8.30081827e-04 9.98685314e-01 6.59507745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.55, Y:10.88, Z:6.59 [[ 9.94772055e-01 -8.73508785e-02 -5.28997325e-02 1.43549517e+02] [ 8.72791131e-02 9.96177138e-01 -3.66968428e-03 1.08751530e+01] [ 5.30180542e-02 -9.66542358e-04 9.98593086e-01 6.59489178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.58, Y:10.88, Z:6.60 [[ 9.94611138e-01 -8.85801883e-02 -5.38723910e-02 1.43580410e+02] [ 8.85076545e-02 9.96068493e-01 -3.73541345e-03 1.08754612e+01] [ 5.39914749e-02 -1.05283514e-03 9.98540842e-01 6.59547388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.61, Y:10.88, Z:6.60 [[ 9.94420733e-01 -8.97566976e-02 -5.54178733e-02 1.43609968e+02] [ 8.96817636e-02 9.95963059e-01 -3.84262325e-03 1.08751843e+01] [ 5.55390558e-02 -1.14878838e-03 9.98455855e-01 6.59569871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.64, Y:10.87, Z:6.60 [[ 9.94054707e-01 -9.26736143e-02 -5.71562765e-02 1.43639211e+02] [ 9.25986820e-02 9.95695622e-01 -3.96380420e-03 1.08738844e+01] [ 5.72775944e-02 -1.35235766e-03 9.98357375e-01 6.59593647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.67, Y:10.87, Z:6.60 [[ 9.93770216e-01 -9.48702375e-02 -5.84841518e-02 1.43668240e+02] [ 9.47953219e-02 9.95488504e-01 -4.06030087e-03 1.08734649e+01] [ 5.86055024e-02 -1.50901792e-03 9.98280080e-01 6.59692884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.70, Y:10.87, Z:6.60 [[ 9.93727181e-01 -9.52362854e-02 -5.86203048e-02 1.43696794e+02] [ 9.51608135e-02 9.95453535e-01 -4.08407938e-03 1.08748964e+01] [ 5.87427421e-02 -1.51989520e-03 9.98271997e-01 6.59833210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.73, Y:10.88, Z:6.60 [[ 9.93785854e-01 -9.51202085e-02 -5.78085054e-02 1.43726471e+02] [ 9.50459302e-02 9.95464693e-01 -4.03934101e-03 1.08783616e+01] [ 5.79305490e-02 -1.48022321e-03 9.98319518e-01 6.60072355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.76, Y:10.88, Z:6.60 [[ 9.93915269e-01 -9.40459997e-02 -5.73392427e-02 1.43756487e+02] [ 9.39710292e-02 9.95566863e-01 -4.00842571e-03 1.08807632e+01] [ 5.74620264e-02 -1.40419214e-03 9.98346705e-01 6.60235310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:10.88, Z:6.60 [[ 9.94092046e-01 -9.24420772e-02 -5.68811538e-02 1.43786744e+02] [ 9.23656292e-02 9.95717215e-01 -3.97724498e-03 1.08841082e+01] [ 5.70052088e-02 -1.30011596e-03 9.98373034e-01 6.60461891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:10.89, Z:6.61 [[ 9.94600444e-01 -8.81359288e-02 -5.47906370e-02 1.43815815e+02] [ 8.80584610e-02 9.96107941e-01 -3.83120441e-03 1.08878511e+01] [ 5.49150553e-02 -1.01426157e-03 9.98490515e-01 6.60743449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.85, Y:10.89, Z:6.61 [[ 9.95103091e-01 -8.33371244e-02 -5.31484855e-02 1.43845576e+02] [ 8.32573283e-02 9.96521147e-01 -3.71754850e-03 1.08929547e+01] [ 5.32733995e-02 -7.25656898e-04 9.98579701e-01 6.61102336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:10.90, Z:6.61 [[ 9.95333420e-01 -8.07390379e-02 -5.28449767e-02 1.43874484e+02] [ 8.06563361e-02 9.96735106e-01 -3.69924766e-03 1.08954906e+01] [ 5.29711172e-02 -5.80297384e-04 9.98595876e-01 6.61239270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.90, Y:10.90, Z:6.61 [[ 9.95519254e-01 -7.84952287e-02 -5.27248969e-02 1.43903535e+02] [ 7.84097029e-02 9.96914384e-01 -3.69187282e-03 1.08983495e+01] [ 5.28520025e-02 -4.58813025e-04 9.98602251e-01 6.61417041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.93, Y:10.90, Z:6.62 [[ 9.95785969e-01 -7.48915296e-02 -5.29297952e-02 1.43931770e+02] [ 7.48000827e-02 9.97191651e-01 -3.70935281e-03 1.09003707e+01] [ 5.30589490e-02 -2.65431578e-04 9.98591347e-01 6.61527982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.96, Y:10.90, Z:6.62 [[ 9.95911089e-01 -7.21940645e-02 -5.43058068e-02 1.43959608e+02] [ 7.20930804e-02 9.97390598e-01 -3.81879935e-03 1.09015847e+01] [ 5.44397957e-02 -1.11888276e-04 9.98517048e-01 6.61569678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.99, Y:10.90, Z:6.62 [[ 9.95914310e-01 -7.16719567e-02 -5.49346660e-02 1.43987227e+02] [ 7.15674637e-02 9.97428255e-01 -3.86956821e-03 1.09030067e+01] [ 5.50707276e-02 -7.77763687e-05 9.98482453e-01 6.61724927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.01, Y:10.90, Z:6.62 [[ 9.95881643e-01 -7.07561649e-02 -5.66861414e-02 1.44014828e+02] [ 7.06425427e-02 9.97493642e-01 -4.00826478e-03 1.09025235e+01] [ 5.68276750e-02 -1.26958502e-05 9.98384002e-01 6.61644043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.04, Y:10.90, Z:6.62 [[ 9.95822773e-01 -7.08543217e-02 -5.75905438e-02 1.44043238e+02] [ 7.07368039e-02 9.97486674e-01 -4.07916723e-03 1.09028302e+01] [ 5.77348266e-02 -1.16433818e-05 9.98331954e-01 6.61727226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.07, Y:10.90, Z:6.62 [[ 9.95628676e-01 -7.26091680e-02 -5.87490219e-02 1.44072152e+02] [ 7.24890440e-02 9.97360466e-01 -4.17611560e-03 1.08991172e+01] [ 5.88971761e-02 -1.00799988e-04 9.98264049e-01 6.61757990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.10, Y:10.90, Z:6.62 [[ 9.95608118e-01 -7.28913757e-02 -5.87479552e-02 1.44099439e+02] [ 7.27708600e-02 9.97339880e-01 -4.19107255e-03 1.09011310e+01] [ 5.88971717e-02 -1.02473372e-04 9.98264050e-01 6.61888557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.13, Y:10.90, Z:6.62 [[ 9.95553251e-01 -7.39114303e-02 -5.84022603e-02 1.44127224e+02] [ 7.37931110e-02 9.97264799e-01 -4.18298889e-03 1.09012338e+01] [ 5.85516891e-02 -1.45296296e-04 9.98284368e-01 6.62099002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.16, Y:10.90, Z:6.62 [[ 9.95518904e-01 -7.60195359e-02 -5.62418146e-02 1.44155122e+02] [ 7.59123879e-02 9.97106298e-01 -4.04220310e-03 1.08992272e+01] [ 5.63863540e-02 -2.45360848e-04 9.98408994e-01 6.62372021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:10.90, Z:6.63 [[ 9.95466377e-01 -7.74813774e-02 -5.51663736e-02 1.44182704e+02] [ 7.73801788e-02 9.96993750e-01 -3.97130963e-03 1.08993878e+01] [ 5.53082322e-02 -3.15478643e-04 9.98469278e-01 6.62630784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:10.90, Z:6.63 [[ 9.95411625e-01 -7.90858994e-02 -5.38620284e-02 1.44210014e+02] [ 7.89910111e-02 9.96867732e-01 -3.89161820e-03 1.08990075e+01] [ 5.40010902e-02 -3.80854090e-04 9.98540804e-01 6.62850502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.24, Y:10.90, Z:6.63 [[ 9.95167712e-01 -8.35706419e-02 -5.15477692e-02 1.44238824e+02] [ 8.34893980e-02 9.96501680e-01 -3.73113858e-03 1.08952413e+01] [ 5.16792523e-02 -5.90583573e-04 9.98663560e-01 6.63174789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.27, Y:10.89, Z:6.63 [[ 9.94973027e-01 -8.61616607e-02 -5.10376734e-02 1.44268427e+02] [ 8.60848123e-02 9.96280919e-01 -3.70612889e-03 1.08939857e+01] [ 5.11671864e-02 -7.06070261e-04 9.98689852e-01 6.63339239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.30, Y:10.89, Z:6.63 [[ 9.94647653e-01 -8.96658974e-02 -5.13426987e-02 1.44298251e+02] [ 8.95926936e-02 9.95971503e-01 -3.73015355e-03 1.08920585e+01] [ 5.14703324e-02 -8.89742200e-04 9.98674128e-01 6.63479622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.33, Y:10.88, Z:6.64 [[ 9.93933080e-01 -9.71833864e-02 -5.15016761e-02 1.44327593e+02] [ 9.71197011e-02 9.95265667e-01 -3.74365233e-03 1.08844415e+01] [ 5.16216709e-02 -1.28088749e-03 9.98665891e-01 6.63556332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.36, Y:10.88, Z:6.64 [[ 9.93468286e-01 -1.01838395e-01 -5.14752987e-02 1.44357181e+02] [ 1.01780873e-01 9.94799796e-01 -3.74443447e-03 1.08801566e+01] [ 5.15889438e-02 -1.51922392e-03 9.98667248e-01 6.63664182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.39, Y:10.88, Z:6.64 [[ 9.92978213e-01 -1.06294883e-01 -5.19198154e-02 1.44387534e+02] [ 1.06242354e-01 9.94333086e-01 -3.77845646e-03 1.08802592e+01] [ 5.20272209e-02 -1.76415846e-03 9.98644109e-01 6.63804731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.42, Y:10.88, Z:6.64 [[ 9.92435334e-01 -1.10649990e-01 -5.31854154e-02 1.44417707e+02] [ 1.10601102e-01 9.93857341e-01 -3.87067433e-03 1.08783735e+01] [ 5.32870056e-02 -2.04097160e-03 9.98577152e-01 6.63874260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.45, Y:10.87, Z:6.64 [[ 9.91397452e-01 -1.18833533e-01 -5.48605855e-02 1.44448298e+02] [ 1.18793947e-01 9.92910897e-01 -3.99363699e-03 1.08703593e+01] [ 5.49462512e-02 -2.55782398e-03 9.98486037e-01 6.63785243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.48, Y:10.87, Z:6.64 [[ 9.90945821e-01 -1.22356368e-01 -5.52747573e-02 1.44479200e+02] [ 1.22321614e-01 9.92482356e-01 -4.02433490e-03 1.08682151e+01] [ 5.53516243e-02 -2.77339968e-03 9.98463072e-01 6.63885531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.51, Y:10.86, Z:6.64 [[ 9.90184820e-01 -1.27707870e-01 -5.67866314e-02 1.44510214e+02] [ 1.27679954e-01 9.91806804e-01 -4.13445453e-03 1.08643221e+01] [ 5.68493697e-02 -3.15664038e-03 9.98377777e-01 6.63945901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.54, Y:10.86, Z:6.64 [[ 9.89916608e-01 -1.29440150e-01 -5.75356940e-02 1.44539858e+02] [ 1.29414385e-01 9.91581749e-01 -4.18941091e-03 1.08625855e+01] [ 5.75936221e-02 -3.29877904e-03 9.98334660e-01 6.63991326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.57, Y:10.86, Z:6.64 [[ 9.89755205e-01 -1.30692916e-01 -5.74803998e-02 1.44569698e+02] [ 1.30669234e-01 9.91417179e-01 -4.18661029e-03 1.08644693e+01] [ 5.75342162e-02 -3.36720049e-03 9.98337857e-01 6.64175755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.60, Y:10.87, Z:6.64 [[ 9.89768587e-01 -1.30870967e-01 -5.68413131e-02 1.44599592e+02] [ 1.30848000e-01 9.91393790e-01 -4.14177059e-03 1.08681988e+01] [ 5.68941623e-02 -3.33817774e-03 9.98374635e-01 6.64402963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.63, Y:10.87, Z:6.65 [[ 9.89894729e-01 -1.30325043e-01 -5.58910382e-02 1.44629901e+02] [ 1.30301967e-01 9.91465991e-01 -4.07252834e-03 1.08701220e+01] [ 5.59448160e-02 -3.25133788e-03 9.98428568e-01 6.64650773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.66, Y:10.87, Z:6.65 [[ 9.89999139e-01 -1.29534069e-01 -5.58804887e-02 1.44659979e+02] [ 1.29509738e-01 9.91569789e-01 -4.07191457e-03 1.08680294e+01] [ 5.59368561e-02 -3.20587554e-03 9.98429161e-01 6.64739674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.69, Y:10.88, Z:6.65 [[ 9.90197929e-01 -1.28236388e-01 -5.53488101e-02 1.44689421e+02] [ 1.28210419e-01 9.91738782e-01 -4.03455869e-03 1.08755466e+01] [ 5.54089387e-02 -3.10128249e-03 9.98458928e-01 6.64963896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.72, Y:10.88, Z:6.65 [[ 9.90279546e-01 -1.27623775e-01 -5.53045391e-02 1.44719315e+02] [ 1.27596721e-01 9.91817927e-01 -4.03448413e-03 1.08818057e+01] [ 5.53669294e-02 -3.06141073e-03 9.98461382e-01 6.65168935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.75, Y:10.88, Z:6.65 [[ 9.90237434e-01 -1.27678256e-01 -5.59293095e-02 1.44749038e+02] [ 1.27650668e-01 9.91810798e-01 -4.08021877e-03 1.08827714e+01] [ 5.59922483e-02 -3.09902834e-03 9.98426394e-01 6.65258969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.78, Y:10.88, Z:6.65 [[ 9.90156187e-01 -1.28075513e-01 -5.64569509e-02 1.44778582e+02] [ 1.28047988e-01 9.91759417e-01 -4.11975785e-03 1.08841423e+01] [ 5.65193527e-02 -3.14999522e-03 9.98396535e-01 6.65323044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.81, Y:10.89, Z:6.65 [[ 9.90061181e-01 -1.28506519e-01 -5.71395897e-02 1.44808009e+02] [ 1.28478972e-01 9.91703463e-01 -4.17078528e-03 1.08865433e+01] [ 5.72015021e-02 -3.21190313e-03 9.98357487e-01 6.65411075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.84, Y:10.89, Z:6.66 [[ 9.89978592e-01 -1.29049054e-01 -5.73474448e-02 1.44838567e+02] [ 1.29022115e-01 9.91632874e-01 -4.18766434e-03 1.08902062e+01] [ 5.74080257e-02 -3.25339059e-03 9.98345498e-01 6.65527900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.87, Y:10.89, Z:6.66 [[ 9.89967813e-01 -1.29066047e-01 -5.74950910e-02 1.44868085e+02] [ 1.29038988e-01 9.91630632e-01 -4.19862745e-03 1.08923951e+01] [ 5.75557937e-02 -3.26260235e-03 9.98336960e-01 6.65606610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.90, Y:10.90, Z:6.66 [[ 9.90006748e-01 -1.28791241e-01 -5.74408764e-02 1.44898423e+02] [ 1.28763723e-01 9.91666426e-01 -4.19551972e-03 1.08981554e+01] [ 5.75025349e-02 -3.24270829e-03 9.98340094e-01 6.65824105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.93, Y:10.90, Z:6.66 [[ 9.90223639e-01 -1.27445115e-01 -5.66999746e-02 1.44928438e+02] [ 1.27416101e-01 9.91840706e-01 -4.14140376e-03 1.09038138e+01] [ 5.67651445e-02 -3.12357377e-03 9.98382673e-01 6.66039612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.96, Y:10.91, Z:6.66 [[ 9.90385693e-01 -1.26396075e-01 -5.62157510e-02 1.44958529e+02] [ 1.26365868e-01 9.91975205e-01 -4.10603575e-03 1.09070335e+01] [ 5.62836180e-02 -3.03719314e-03 9.98410201e-01 6.66207427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:10.91, Z:6.66 [[ 9.90789274e-01 -1.23451778e-01 -5.56441575e-02 1.44988623e+02] [ 1.23417552e-01 9.92346507e-01 -4.06428618e-03 1.09143712e+01] [ 5.57200287e-02 -2.84061456e-03 9.98442392e-01 6.66425901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.02, Y:10.91, Z:6.66 [[ 9.91075468e-01 -1.21164956e-01 -5.55740066e-02 1.45018055e+02] [ 1.21127223e-01 9.92628691e-01 -4.05931009e-03 1.09146402e+01] [ 5.56561995e-02 -2.70844247e-03 9.98446319e-01 6.66486684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.05, Y:10.93, Z:6.67 [[ 9.91804812e-01 -1.15253835e-01 -5.51340917e-02 1.45047831e+02] [ 1.15207537e-01 9.93333277e-01 -4.02800144e-03 1.09282811e+01] [ 5.52307706e-02 -2.35687171e-03 9.98470834e-01 6.66772456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.08, Y:10.94, Z:6.67 [[ 9.92228589e-01 -1.11836520e-01 -5.45437451e-02 1.45077659e+02] [ 1.11786062e-01 9.93724307e-01 -3.98471725e-03 1.09355775e+01] [ 5.46470822e-02 -2.14348011e-03 9.98503431e-01 6.66984313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.11, Y:10.94, Z:6.67 [[ 9.92635767e-01 -1.08250370e-01 -5.43699521e-02 1.45107354e+02] [ 1.08194863e-01 9.94121771e-01 -3.97202072e-03 1.09401088e+01] [ 5.44803257e-02 -1.93977970e-03 9.98512960e-01 6.67162380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.14, Y:10.95, Z:6.67 [[ 9.93435269e-01 -1.01069624e-01 -5.35844854e-02 1.45136662e+02] [ 1.01005270e-01 9.94878189e-01 -3.91469174e-03 1.09485318e+01] [ 5.37056923e-02 -1.52332259e-03 9.98555646e-01 6.67374402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.17, Y:10.95, Z:6.68 [[ 9.93752996e-01 -9.79195791e-02 -5.35419353e-02 1.45166990e+02] [ 9.78507383e-02 9.95193413e-01 -3.91199360e-03 1.09540363e+01] [ 5.36676421e-02 -1.35156254e-03 9.98557939e-01 6.67540221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.20, Y:10.96, Z:6.68 [[ 9.94284281e-01 -9.19912992e-02 -5.41882851e-02 1.45196855e+02] [ 9.19119882e-02 9.95759264e-01 -3.95921857e-03 1.09623872e+01] [ 5.43227006e-02 -1.04396423e-03 9.98522886e-01 6.67643578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.23, Y:10.97, Z:6.68 [[ 9.94531333e-01 -8.94832940e-02 -5.38532124e-02 1.45226142e+02] [ 8.94012746e-02 9.95987916e-01 -3.93496778e-03 1.09666250e+01] [ 5.39892626e-02 -9.01097081e-04 9.98541110e-01 6.67758370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.25, Y:10.97, Z:6.68 [[ 9.94672584e-01 -8.79853677e-02 -5.37124282e-02 1.45254297e+02] [ 8.79014183e-02 9.96121434e-01 -3.92794980e-03 1.09703967e+01] [ 5.38497031e-02 -8.14374645e-04 9.98548720e-01 6.67907642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.28, Y:10.97, Z:6.68 [[ 9.94965032e-01 -8.48775562e-02 -5.32952771e-02 1.45282370e+02] [ 8.47897437e-02 9.96391191e-01 -3.91065153e-03 1.09742532e+01] [ 5.34348712e-02 -6.27931360e-04 9.98571139e-01 6.67985842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.31, Y:10.98, Z:6.68 [[ 9.95170263e-01 -8.28838622e-02 -5.25967064e-02 1.45310690e+02] [ 8.27948746e-02 9.96559087e-01 -3.87227479e-03 1.09771373e+01] [ 5.27366748e-02 -5.01164986e-04 9.98608328e-01 6.68079861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.34, Y:10.98, Z:6.68 [[ 9.95204959e-01 -8.23714866e-02 -5.27449343e-02 1.45338130e+02] [ 8.22806220e-02 9.96601587e-01 -3.89556435e-03 1.09787745e+01] [ 5.28865687e-02 -4.63001045e-04 9.98600419e-01 6.68163597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.37, Y:10.98, Z:6.68 [[ 9.95125639e-01 -8.30931257e-02 -5.31083311e-02 1.45366756e+02] [ 8.30017289e-02 9.96541662e-01 -3.92806762e-03 1.09812972e+01] [ 5.32510599e-02 -4.99162498e-04 9.98581031e-01 6.68270470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.39, Y:10.98, Z:6.68 [[ 9.94904629e-01 -8.62345691e-02 -5.22338788e-02 1.45394752e+02] [ 8.61498471e-02 9.96274653e-01 -3.87552593e-03 1.09813953e+01] [ 5.23734938e-02 -6.44161988e-04 9.98627359e-01 6.68453176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.42, Y:10.98, Z:6.69 [[ 9.94667074e-01 -8.89897918e-02 -5.21366295e-02 1.45424536e+02] [ 8.89089371e-02 9.96032230e-01 -3.87268044e-03 1.09817606e+01] [ 5.22743924e-02 -7.83384587e-04 9.98632452e-01 6.68611118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.45, Y:10.98, Z:6.69 [[ 9.94401805e-01 -9.21273824e-02 -5.17454908e-02 1.45453657e+02] [ 9.20518805e-02 9.95746787e-01 -3.84552997e-03 1.09818843e+01] [ 5.18796848e-02 -9.39267795e-04 9.98652901e-01 6.68743884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.48, Y:10.98, Z:6.69 [[ 9.94049919e-01 -9.58949303e-02 -5.16616073e-02 1.45483358e+02] [ 9.58246170e-02 9.95390819e-01 -3.84193462e-03 1.09800331e+01] [ 5.17919116e-02 -1.13137894e-03 9.98657257e-01 6.68854774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.51, Y:10.98, Z:6.69 [[ 9.93233424e-01 -1.03877349e-01 -5.19313220e-02 1.45513503e+02] [ 1.03817138e-01 9.94588900e-01 -3.86292722e-03 1.09766648e+01] [ 5.20515871e-02 -1.55457277e-03 9.98643187e-01 6.68969157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.54, Y:10.98, Z:6.69 [[ 9.92793107e-01 -1.08034636e-01 -5.18687144e-02 1.45544133e+02] [ 1.07980188e-01 9.94145556e-01 -3.85911104e-03 1.09763580e+01] [ 5.19819696e-02 -1.76949468e-03 9.98646456e-01 6.69063570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:10.97, Z:6.69 [[ 9.92348284e-01 -1.11838076e-01 -5.23175658e-02 1.45574971e+02] [ 1.11787960e-01 9.93724459e-01 -3.89241870e-03 1.09731050e+01] [ 5.24245654e-02 -1.98583892e-03 9.98622913e-01 6.69133837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.61, Y:10.97, Z:6.69 [[ 9.91482619e-01 -1.19374932e-01 -5.20753431e-02 1.45605852e+02] [ 1.19335684e-01 9.92846408e-01 -3.87354441e-03 1.09723376e+01] [ 5.21652214e-02 -2.37389473e-03 9.98635646e-01 6.69315151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.64, Y:10.97, Z:6.69 [[ 9.91154240e-01 -1.22315422e-01 -5.14996076e-02 1.45636542e+02] [ 1.22281006e-01 9.92488128e-01 -3.83042929e-03 1.09723580e+01] [ 5.15812696e-02 -2.50087761e-03 9.98665669e-01 6.69463970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.67, Y:10.97, Z:6.70 [[ 9.91163075e-01 -1.22243747e-01 -5.14997548e-02 1.45668153e+02] [ 1.22209338e-01 9.92496963e-01 -3.82844871e-03 1.09746492e+01] [ 5.15813541e-02 -2.49913394e-03 9.98665669e-01 6.69614710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.70, Y:10.97, Z:6.70 [[ 9.90599783e-01 -1.27049415e-01 -5.07002641e-02 1.45698560e+02] [ 1.27022507e-01 9.91892687e-01 -3.76560704e-03 1.09726581e+01] [ 5.07676394e-02 -2.70986516e-03 9.98706816e-01 6.69759256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.73, Y:10.98, Z:6.70 [[ 9.90435313e-01 -1.28648098e-01 -4.98754218e-02 1.45730323e+02] [ 1.28624096e-01 9.91686504e-01 -3.70392956e-03 1.09752853e+01] [ 4.99372862e-02 -2.74667843e-03 9.98748579e-01 6.69971722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.76, Y:10.97, Z:6.70 [[ 9.90328644e-01 -1.29615412e-01 -4.94876019e-02 1.45761871e+02] [ 1.29593164e-01 9.91560453e-01 -3.67150102e-03 1.09729188e+01] [ 4.95458321e-02 -2.77726229e-03 9.98767990e-01 6.70137210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.79, Y:10.97, Z:6.70 [[ 9.90299387e-01 -1.29898132e-01 -4.93315265e-02 1.45793594e+02] [ 1.29876509e-01 9.91523433e-01 -3.65718713e-03 1.09712185e+01] [ 4.93884263e-02 -2.78529626e-03 9.98775763e-01 6.70299845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.82, Y:10.97, Z:6.70 [[ 9.90308437e-01 -1.29880209e-01 -4.91968672e-02 1.45824615e+02] [ 1.29858810e-01 9.91525797e-01 -3.64460257e-03 1.09738270e+01] [ 4.92533247e-02 -2.77936594e-03 9.98782451e-01 6.70407502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.86, Y:10.98, Z:6.71 [[ 9.90343625e-01 -1.29450830e-01 -4.96184076e-02 1.45856550e+02] [ 1.29428618e-01 9.91581935e-01 -3.67399920e-03 1.09805466e+01] [ 4.96763189e-02 -2.78352022e-03 9.98761491e-01 6.70537063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.89, Y:10.98, Z:6.71 [[ 9.90491382e-01 -1.28155593e-01 -5.00296446e-02 1.45887392e+02] [ 1.28131546e-01 9.91750276e-01 -3.70085597e-03 1.09807589e+01] [ 5.00911992e-02 -2.74470975e-03 9.98740876e-01 6.70577855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.92, Y:10.98, Z:6.71 [[ 9.90562330e-01 -1.27295103e-01 -5.08156171e-02 1.45919743e+02] [ 1.27269270e-01 9.91861088e-01 -3.75701357e-03 1.09826638e+01] [ 5.08802827e-02 -2.74571037e-03 9.98700985e-01 6.70691391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.95, Y:10.99, Z:6.71 [[ 9.90596870e-01 -1.26628358e-01 -5.17986586e-02 1.45951938e+02] [ 1.26600805e-01 9.91946369e-01 -3.82594037e-03 1.09866392e+01] [ 5.18659639e-02 -2.76778732e-03 9.98650220e-01 6.70807371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.98, Y:10.99, Z:6.71 [[ 9.90837908e-01 -1.23935875e-01 -5.36669265e-02 1.45982887e+02] [ 1.23902571e-01 9.92286486e-01 -3.96016922e-03 1.09925909e+01] [ 5.37437729e-02 -2.72558436e-03 9.98551039e-01 6.70772118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.01, Y:10.99, Z:6.71 [[ 9.90842376e-01 -1.23900090e-01 -5.36670703e-02 1.46013656e+02] [ 1.23866838e-01 9.92290955e-01 -3.95821999e-03 1.09948305e+01] [ 5.37437722e-02 -2.72559822e-03 9.98551039e-01 6.70918850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.04, Y:11.00, Z:6.71 [[ 9.91017506e-01 -1.22221353e-01 -5.42793070e-02 1.46044415e+02] [ 1.22184938e-01 9.92499285e-01 -4.00138817e-03 1.09959878e+01] [ 5.43612284e-02 -2.66666805e-03 9.98517774e-01 6.70989094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.07, Y:11.00, Z:6.71 [[ 9.91260340e-01 -1.20057302e-01 -5.46734095e-02 1.46074435e+02] [ 1.20017171e-01 9.92763642e-01 -4.02871191e-03 1.10024287e+01] [ 5.47614494e-02 -2.56824558e-03 9.98496163e-01 6.71187870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.11, Y:11.01, Z:6.71 [[ 9.91547321e-01 -1.17832123e-01 -5.43093129e-02 1.46105811e+02] [ 1.17789214e-01 9.93030558e-01 -4.00150832e-03 1.10090235e+01] [ 5.44023135e-02 -2.42936644e-03 9.98516142e-01 6.71388192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.14, Y:11.01, Z:6.72 [[ 9.91893558e-01 -1.14868386e-01 -5.43362125e-02 1.46135222e+02] [ 1.14821151e-01 9.93378124e-01 -4.00069088e-03 1.10127651e+01] [ 5.44359578e-02 -2.27068694e-03 9.98514682e-01 6.71506993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.17, Y:11.02, Z:6.72 [[ 9.92230075e-01 -1.12131321e-01 -5.39077367e-02 1.46165060e+02] [ 1.12080881e-01 9.93691167e-01 -3.96757344e-03 1.10177723e+01] [ 5.40125311e-02 -2.10528091e-03 9.98538038e-01 6.71691907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:11.03, Z:6.72 [[ 9.92973834e-01 -1.05640569e-01 -5.33201255e-02 1.46195422e+02] [ 1.05581881e-01 9.94402870e-01 -3.92421888e-03 1.10282720e+01] [ 5.34362425e-02 -1.73299248e-03 9.98569760e-01 6.71977414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:11.03, Z:6.72 [[ 9.93320777e-01 -1.02265142e-01 -5.34385108e-02 1.46225379e+02] [ 1.02201367e-01 9.94755960e-01 -3.93196760e-03 1.10329179e+01] [ 5.35603804e-02 -1.55578374e-03 9.98563401e-01 6.72090799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.25, Y:11.04, Z:6.72 [[ 9.93895884e-01 -9.63898937e-02 -5.36652675e-02 1.46254258e+02] [ 9.63170588e-02 9.95342875e-01 -3.94791024e-03 1.10410154e+01] [ 5.37958803e-02 -1.24506899e-03 9.98551177e-01 6.72232028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.28, Y:11.05, Z:6.72 [[ 9.94152162e-01 -9.39265546e-02 -5.32849083e-02 1.46284488e+02] [ 9.38511691e-02 9.95578518e-01 -3.92076146e-03 1.10462152e+01] [ 5.34175736e-02 -1.10301746e-03 9.98571653e-01 6.72388960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.31, Y:11.05, Z:6.73 [[ 9.94375338e-01 -9.17896072e-02 -5.28427361e-02 1.46314919e+02] [ 9.17124531e-02 9.95777941e-01 -3.88822595e-03 1.10521437e+01] [ 5.29765297e-02 -9.79980963e-04 9.98595277e-01 6.72611456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.34, Y:11.06, Z:6.73 [[ 9.94737836e-01 -8.85196030e-02 -5.15840876e-02 1.46344624e+02] [ 8.84416874e-02 9.96074124e-01 -3.79561322e-03 1.10586969e+01] [ 5.17175611e-02 -7.86543670e-04 9.98661442e-01 6.72833920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.38, Y:11.06, Z:6.73 [[ 9.94799139e-01 -8.76451788e-02 -5.18940781e-02 1.46375251e+02] [ 8.75651392e-02 9.96151478e-01 -3.81834137e-03 1.10618899e+01] [ 5.20290218e-02 -7.45629460e-04 9.98645295e-01 6.72983654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.41, Y:11.07, Z:6.73 [[ 9.94863685e-01 -8.69218575e-02 -5.18732950e-02 1.46405202e+02] [ 8.68409441e-02 9.96214881e-01 -3.81595614e-03 1.10653950e+01] [ 5.20086384e-02 -7.08369726e-04 9.98646384e-01 6.73112272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:11.07, Z:6.73 [[ 9.94941354e-01 -8.58672659e-02 -5.21393823e-02 1.46434340e+02] [ 8.57840745e-02 9.96306369e-01 -3.83550218e-03 1.10693568e+01] [ 5.22761428e-02 -6.56628926e-04 9.98632452e-01 6.73211009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.46, Y:11.07, Z:6.73 [[ 9.94976662e-01 -8.53230795e-02 -5.23585123e-02 1.46463511e+02] [ 8.52384444e-02 9.96353137e-01 -3.85142709e-03 1.10722007e+01] [ 5.24961836e-02 -6.30878076e-04 9.98620925e-01 6.73319600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.49, Y:11.07, Z:6.73 [[ 9.94973677e-01 -8.53579309e-02 -5.23584384e-02 1.46492553e+02] [ 8.52732911e-02 9.96350152e-01 -3.85243228e-03 1.10743672e+01] [ 5.24961737e-02 -6.31707653e-04 9.98620925e-01 6.73458186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.52, Y:11.08, Z:6.74 [[ 9.95039674e-01 -8.44236029e-02 -5.26184624e-02 1.46522127e+02] [ 8.43367163e-02 9.96429784e-01 -3.87342678e-03 1.10786155e+01] [ 5.27576118e-02 -5.83455016e-04 9.98607177e-01 6.73564122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.55, Y:11.08, Z:6.74 [[ 9.95036692e-01 -8.44588258e-02 -5.26183255e-02 1.46551168e+02] [ 8.43718901e-02 9.96426799e-01 -3.87528506e-03 1.10807842e+01] [ 5.27576117e-02 -5.83456746e-04 9.98607177e-01 6.73702734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.58, Y:11.08, Z:6.74 [[ 9.95171005e-01 -8.28971430e-02 -5.25617201e-02 1.46579335e+02] [ 8.28081143e-02 9.96557984e-01 -3.87307217e-03 1.10844748e+01] [ 5.27018684e-02 -4.98167805e-04 9.98610167e-01 6.73894716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.61, Y:11.09, Z:6.74 [[ 9.95255637e-01 -8.21223711e-02 -5.21740727e-02 1.46608276e+02] [ 8.20333957e-02 9.96622152e-01 -3.84817093e-03 1.10875050e+01] [ 5.23138575e-02 -4.50102541e-04 9.98630591e-01 6.74020004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.64, Y:11.09, Z:6.74 [[ 9.95299756e-01 -8.12712323e-02 -5.26629222e-02 1.46636917e+02] [ 8.11786999e-02 9.96691943e-01 -3.89728079e-03 1.10909668e+01] [ 5.28054471e-02 -3.96144945e-04 9.98604741e-01 6.74179390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.67, Y:11.09, Z:6.74 [[ 9.95385639e-01 -8.00186122e-02 -5.29570787e-02 1.46665950e+02] [ 7.99225708e-02 9.96793319e-01 -3.93221946e-03 1.10942562e+01] [ 5.31019130e-02 -3.18391092e-04 9.98589047e-01 6.74269817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.69, Y:11.10, Z:6.74 [[ 9.95501571e-01 -7.85169813e-02 -5.30255123e-02 1.46694182e+02] [ 7.84178663e-02 9.96912751e-01 -3.95037675e-03 1.10978461e+01] [ 5.31719810e-02 -2.25541274e-04 9.98585344e-01 6.74362463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.72, Y:11.10, Z:6.74 [[ 9.95625245e-01 -7.69180739e-02 -5.30469660e-02 1.46723079e+02] [ 7.68159018e-02 9.97037408e-01 -3.96527790e-03 1.11011979e+01] [ 5.31948111e-02 -1.26919756e-04 9.98584146e-01 6.74488930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.75, Y:11.11, Z:6.75 [[ 9.95887869e-01 -7.37619381e-02 -5.25977937e-02 1.46751077e+02] [ 7.36563999e-02 9.97275876e-01 -3.94477293e-03 1.11050577e+01] [ 5.27454849e-02 5.43873820e-05 9.98607987e-01 6.74664449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.78, Y:11.11, Z:6.75 [[ 9.95978078e-01 -7.28814859e-02 -5.21148441e-02 1.46778707e+02] [ 7.27759811e-02 9.97340602e-01 -3.92178603e-03 1.11076872e+01] [ 5.22620756e-02 1.13304007e-04 9.98633398e-01 6.74815051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.81, Y:11.11, Z:6.75 [[ 9.96024068e-01 -7.21882522e-02 -5.22007010e-02 1.46806412e+02] [ 7.20806601e-02 9.97391011e-01 -3.94327139e-03 1.11101301e+01] [ 5.23491678e-02 1.64932230e-04 9.98628829e-01 6.74966073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.83, Y:11.11, Z:6.75 [[ 9.96034306e-01 -7.21613375e-02 -5.20423248e-02 1.46834398e+02] [ 7.20535747e-02 9.97392956e-01 -3.94635409e-03 1.11120308e+01] [ 5.21914223e-02 1.80868521e-04 9.98637083e-01 6.75122440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.86, Y:11.11, Z:6.75 [[ 9.96013736e-01 -7.24884470e-02 -5.19813607e-02 1.46862308e+02] [ 7.23805918e-02 9.97369236e-01 -3.95686688e-03 1.11137423e+01] [ 5.21314372e-02 1.78652113e-04 9.98640216e-01 6.75259224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.89, Y:11.11, Z:6.75 [[ 9.95902643e-01 -7.43463871e-02 -5.14834043e-02 1.46889089e+02] [ 7.42423262e-02 9.97232473e-01 -3.93335749e-03 1.11132265e+01] [ 5.16333535e-02 9.49934265e-05 9.98666104e-01 6.75335357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.92, Y:11.11, Z:6.75 [[ 9.95771118e-01 -7.62914194e-02 -5.11810572e-02 1.46917490e+02] [ 7.61906087e-02 9.97085563e-01 -3.92069359e-03 1.11132651e+01] [ 5.13310085e-02 4.59753046e-06 9.98681695e-01 6.75470627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.95, Y:11.11, Z:6.76 [[ 9.95621228e-01 -7.84976935e-02 -5.07590600e-02 1.46946240e+02] [ 7.84006862e-02 9.96914291e-01 -3.90245427e-03 1.11130630e+01] [ 5.09087659e-02 -9.41788196e-05 9.98703304e-01 6.75649736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.98, Y:11.11, Z:6.76 [[ 9.95512674e-01 -8.04782928e-02 -4.97770986e-02 1.46975550e+02] [ 8.03869009e-02 9.96756345e-01 -3.83851818e-03 1.11127951e+01] [ 4.99245563e-02 -1.80133194e-04 9.98752976e-01 6.75824009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.00, Y:11.11, Z:6.76 [[ 9.95329530e-01 -8.29287798e-02 -4.94160345e-02 1.47004624e+02] [ 8.28416387e-02 9.96555432e-01 -3.81246013e-03 1.11122666e+01] [ 4.95619802e-02 -2.99051123e-04 9.98771005e-01 6.76002335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.03, Y:11.11, Z:6.76 [[ 9.95148206e-01 -8.52823164e-02 -4.90609346e-02 1.47034078e+02] [ 8.51991554e-02 9.96356742e-01 -3.78762325e-03 1.11119063e+01] [ 4.92052102e-02 -4.10703704e-04 9.98788606e-01 6.76177674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.06, Y:11.11, Z:6.76 [[ 9.94931574e-01 -8.79658904e-02 -4.87151490e-02 1.47064208e+02] [ 8.78870309e-02 9.96123342e-01 -3.76258364e-03 1.11118399e+01] [ 4.88572760e-02 -5.37916542e-04 9.98805625e-01 6.76359354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.10, Y:11.11, Z:6.77 [[ 9.94689292e-01 -9.09835223e-02 -4.81166316e-02 1.47095186e+02] [ 9.09101170e-02 9.95852167e-01 -3.71634304e-03 1.11113171e+01] [ 4.82551778e-02 -6.77681978e-04 9.98834810e-01 6.76520394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.13, Y:11.11, Z:6.77 [[ 9.94091553e-01 -9.74542739e-02 -4.77980017e-02 1.47125279e+02] [ 9.73893473e-02 9.95239515e-01 -3.69088317e-03 1.11062440e+01] [ 4.79301524e-02 -9.85940410e-04 9.98850203e-01 6.76710334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.16, Y:11.10, Z:6.77 [[ 9.93748557e-01 -1.00627992e-01 -4.83509304e-02 1.47156054e+02] [ 1.00565307e-01 9.94923454e-01 -3.73353451e-03 1.11044301e+01] [ 4.84811728e-02 -1.15223165e-03 9.98823432e-01 6.76785313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.19, Y:11.10, Z:6.77 [[ 9.93386741e-01 -1.03959043e-01 -4.87370511e-02 1.47187238e+02] [ 1.03899467e-01 9.94580693e-01 -3.76108550e-03 1.11046836e+01] [ 4.88639289e-02 -1.32754116e-03 9.98804563e-01 6.76836659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.22, Y:11.10, Z:6.77 [[ 9.92986076e-01 -1.07369970e-01 -4.95009320e-02 1.47218050e+02] [ 1.07312832e-01 9.94217973e-01 -3.81824251e-03 1.11004708e+01] [ 4.96246808e-02 -1.52062352e-03 9.98766779e-01 6.76888040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.25, Y:11.10, Z:6.77 [[ 9.92614301e-01 -1.10744207e-01 -4.95234211e-02 1.47249517e+02] [ 1.10691254e-01 9.93847504e-01 -3.81903920e-03 1.11030235e+01] [ 4.96416649e-02 -1.69097664e-03 9.98765661e-01 6.77015005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.28, Y:11.10, Z:6.77 [[ 9.92250605e-01 -1.13817736e-01 -4.98423519e-02 1.47279653e+02] [ 1.13768067e-01 9.93499909e-01 -3.84165703e-03 1.11003306e+01] [ 4.99556208e-02 -1.85858152e-03 9.98749709e-01 6.77086804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.31, Y:11.09, Z:6.77 [[ 9.91451377e-01 -1.20470924e-01 -5.01091206e-02 1.47309272e+02] [ 1.20429409e-01 9.92714397e-01 -3.85791203e-03 1.10949332e+01] [ 5.02088117e-02 -2.20967960e-03 9.98736298e-01 6.77162330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.34, Y:11.10, Z:6.77 [[ 9.91105484e-01 -1.23417757e-01 -4.97792709e-02 1.47340108e+02] [ 1.23380461e-01 9.92352039e-01 -3.83315256e-03 1.10967997e+01] [ 4.98716400e-02 -2.34273087e-03 9.98752888e-01 6.77287305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.37, Y:11.10, Z:6.77 [[ 9.90806394e-01 -1.25814655e-01 -4.97329133e-02 1.47371340e+02] [ 1.25780485e-01 9.92050710e-01 -3.82863469e-03 1.10963379e+01] [ 4.98192703e-02 -2.46199420e-03 9.98755215e-01 6.77393158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.40, Y:11.09, Z:6.77 [[ 9.90516381e-01 -1.27882895e-01 -5.02321085e-02 1.47402388e+02] [ 1.27850780e-01 9.91785883e-01 -3.86522476e-03 1.10943300e+01] [ 5.03137922e-02 -2.59364580e-03 9.98730091e-01 6.77459472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:11.09, Z:6.78 [[ 9.90108329e-01 -1.31144481e-01 -4.98660467e-02 1.47432269e+02] [ 1.31117035e-01 9.91359477e-01 -3.83539501e-03 1.10917968e+01] [ 4.99381689e-02 -2.74083165e-03 9.98748551e-01 6.77566996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:11.09, Z:6.78 [[ 9.90045181e-01 -1.31834176e-01 -4.92979682e-02 1.47463875e+02] [ 1.31808205e-01 9.91267986e-01 -3.79163533e-03 1.10923734e+01] [ 4.93673648e-02 -2.74398640e-03 9.98776919e-01 6.77736767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.49, Y:11.09, Z:6.78 [[ 9.90011631e-01 -1.32236301e-01 -4.88930618e-02 1.47494952e+02] [ 1.32211325e-01 9.91214425e-01 -3.75880769e-03 1.10941442e+01] [ 4.89605590e-02 -2.74295316e-03 9.98796946e-01 6.77922725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.53, Y:11.10, Z:6.78 [[ 9.90007670e-01 -1.32508487e-01 -4.82318842e-02 1.47526629e+02] [ 1.32484582e-01 9.91178137e-01 -3.70632625e-03 1.10959661e+01] [ 4.82975088e-02 -2.72068959e-03 9.98829289e-01 6.78119841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:11.10, Z:6.78 [[ 9.90027807e-01 -1.32474419e-01 -4.79110566e-02 1.47558686e+02] [ 1.32450870e-01 9.91182740e-01 -3.68000391e-03 1.11046440e+01] [ 4.79761188e-02 -2.70255493e-03 9.98844827e-01 6.78334675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.59, Y:11.11, Z:6.79 [[ 9.90178755e-01 -1.31406375e-01 -4.77325542e-02 1.47590308e+02] [ 1.31381933e-01 9.91325059e-01 -3.66278281e-03 1.11055153e+01] [ 4.77997901e-02 -2.64438550e-03 9.98853436e-01 6.78536284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.62, Y:11.11, Z:6.79 [[ 9.90284058e-01 -1.30617645e-01 -4.77128392e-02 1.47621083e+02] [ 1.30592477e-01 9.91429385e-01 -3.65778666e-03 1.11067783e+01] [ 4.77816823e-02 -2.60869006e-03 9.98854397e-01 6.78656816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:11.11, Z:6.79 [[ 9.90400054e-01 -1.29759912e-01 -4.76455455e-02 1.47653433e+02] [ 1.29733949e-01 9.91542122e-01 -3.65005112e-03 1.11110093e+01] [ 4.77161956e-02 -2.56623394e-03 9.98857637e-01 6.78822147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.69, Y:11.12, Z:6.79 [[ 9.90498458e-01 -1.29035255e-01 -4.75679174e-02 1.47685050e+02] [ 1.29008747e-01 9.91636776e-01 -3.63983519e-03 1.11150957e+01] [ 4.76397633e-02 -2.53142627e-03 9.98861374e-01 6.78987603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.72, Y:11.12, Z:6.79 [[ 9.90788341e-01 -1.26493823e-01 -4.83505593e-02 1.47715736e+02] [ 1.26463591e-01 9.91964363e-01 -3.69619224e-03 1.11188229e+01] [ 4.84295773e-02 -2.45244117e-03 9.98823589e-01 6.79035474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.75, Y:11.12, Z:6.79 [[ 9.91084200e-01 -1.23552379e-01 -4.98690186e-02 1.47746277e+02] [ 1.23516601e-01 9.92335190e-01 -3.81042234e-03 1.11240611e+01] [ 4.99575688e-02 -2.38320228e-03 9.98748498e-01 6.79095717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.78, Y:11.13, Z:6.79 [[ 9.91088519e-01 -1.23517672e-01 -4.98691532e-02 1.47777036e+02] [ 1.23481938e-01 9.92339511e-01 -3.80865996e-03 1.11263790e+01] [ 4.99575679e-02 -2.38322054e-03 9.98748498e-01 6.79242425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.81, Y:11.13, Z:6.79 [[ 9.91506673e-01 -1.20370854e-01 -4.92480876e-02 1.47807716e+02] [ 1.20332215e-01 9.92726561e-01 -3.75951944e-03 1.11314662e+01] [ 4.93424212e-02 -2.19854286e-03 9.98779501e-01 6.79375822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.84, Y:11.13, Z:6.80 [[ 9.91510781e-01 -1.20336965e-01 -4.92482115e-02 1.47838470e+02] [ 1.20298365e-01 9.92730669e-01 -3.75789566e-03 1.11337807e+01] [ 4.93424237e-02 -2.19848526e-03 9.98779501e-01 6.79522511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.87, Y:11.14, Z:6.80 [[ 9.91766210e-01 -1.18234702e-01 -4.91969453e-02 1.47868762e+02] [ 1.18193684e-01 9.92983471e-01 -3.75232744e-03 1.11381134e+01] [ 4.92954088e-02 -2.09333664e-03 9.98782049e-01 6.79693186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.90, Y:11.14, Z:6.80 [[ 9.91770205e-01 -1.18201163e-01 -4.91970112e-02 1.47899513e+02] [ 1.18160146e-01 9.92987465e-01 -3.75146308e-03 1.11404260e+01] [ 4.92954427e-02 -2.09253673e-03 9.98782049e-01 6.79839882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.93, Y:11.14, Z:6.80 [[ 9.91774200e-01 -1.18167585e-01 -4.91971380e-02 1.47930265e+02] [ 1.18126610e-01 9.92991462e-01 -3.74979949e-03 1.11427373e+01] [ 4.92954427e-02 -2.09253673e-03 9.98782049e-01 6.79986556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.96, Y:11.16, Z:6.80 [[ 9.92395559e-01 -1.13291757e-01 -4.81251778e-02 1.47959659e+02] [ 1.13246898e-01 9.93560112e-01 -3.66651828e-03 1.11558327e+01] [ 4.82306433e-02 -1.81139065e-03 9.98834583e-01 6.80191528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.99, Y:11.16, Z:6.80 [[ 9.92679480e-01 -1.10914803e-01 -4.78054004e-02 1.47989667e+02] [ 1.10867787e-01 9.93828491e-01 -3.64214782e-03 1.11600277e+01] [ 4.79143370e-02 -1.68459353e-03 9.98850028e-01 6.80387255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.02, Y:11.16, Z:6.81 [[ 9.92975307e-01 -1.08505023e-01 -4.71879118e-02 1.48020423e+02] [ 1.08456535e-01 9.94094694e-01 -3.59426802e-03 1.11616771e+01] [ 4.72992489e-02 -1.54881803e-03 9.98879563e-01 6.80550593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.05, Y:11.17, Z:6.81 [[ 9.93384605e-01 -1.04752345e-01 -4.70528834e-02 1.48051646e+02] [ 1.04700008e-01 9.94497398e-01 -3.58230352e-03 1.11727267e+01] [ 4.71692248e-02 -1.36783212e-03 9.98885976e-01 6.80682522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.08, Y:11.18, Z:6.81 [[ 9.93558157e-01 -1.03078160e-01 -4.70859005e-02 1.48084067e+02] [ 1.03023994e-01 9.94672421e-01 -3.58223134e-03 1.11760201e+01] [ 4.72042964e-02 -1.29182238e-03 9.98884421e-01 6.80835712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.12, Y:11.18, Z:6.81 [[ 9.93723917e-01 -1.01505058e-01 -4.70053172e-02 1.48115585e+02] [ 1.01449522e-01 9.94834276e-01 -3.57183017e-03 1.11783827e+01] [ 4.71250596e-02 -1.21925388e-03 9.98888253e-01 6.80915460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.15, Y:11.18, Z:6.81 [[ 9.93868100e-01 -9.99592556e-02 -4.72688898e-02 1.48146634e+02] [ 9.99015110e-02 9.94990860e-01 -3.58842415e-03 1.11825324e+01] [ 4.73908095e-02 -1.15581322e-03 9.98875756e-01 6.80995571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.18, Y:11.19, Z:6.81 [[ 9.93945563e-01 -9.87170899e-02 -4.82405798e-02 1.48177659e+02] [ 9.86555705e-02 9.95114908e-01 -3.66042827e-03 1.11861993e+01] [ 4.83662670e-02 -1.12093549e-03 9.98829038e-01 6.81087335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.21, Y:11.19, Z:6.81 [[ 9.94061699e-01 -9.72940142e-02 -4.87361660e-02 1.48208281e+02] [ 9.72296047e-02 9.95255114e-01 -3.69621305e-03 1.11887025e+01] [ 4.88645378e-02 -1.06433432e-03 9.98804848e-01 6.81203442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.24, Y:11.20, Z:6.81 [[ 9.94365699e-01 -9.35185571e-02 -4.99112844e-02 1.48238945e+02] [ 9.34464126e-02 9.95617127e-01 -3.78210517e-03 1.11952316e+01] [ 5.00462266e-02 -9.03234823e-04 9.98746494e-01 6.81342237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:11.20, Z:6.82 [[ 9.94543603e-01 -9.14784341e-02 -5.01469694e-02 1.48269730e+02] [ 9.14031005e-02 9.95806731e-01 -3.79826717e-03 1.11989073e+01] [ 5.02841493e-02 -8.06046174e-04 9.98734627e-01 6.81537772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.30, Y:11.20, Z:6.82 [[ 9.94749203e-01 -8.93429882e-02 -4.99184735e-02 1.48300027e+02] [ 8.92656323e-02 9.96000677e-01 -3.78137012e-03 1.12027777e+01] [ 5.00566723e-02 -6.94489187e-04 9.98746138e-01 6.81724197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.33, Y:11.21, Z:6.82 [[ 9.94950499e-01 -8.72193778e-02 -4.96617119e-02 1.48329436e+02] [ 8.71401701e-02 9.96188957e-01 -3.76196091e-03 1.12061091e+01] [ 4.98005649e-02 -5.84565140e-04 9.98759011e-01 6.81894974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.36, Y:11.21, Z:6.82 [[ 9.95350651e-01 -8.24005265e-02 -4.98721835e-02 1.48358781e+02] [ 8.23145537e-02 9.96599235e-01 -3.77880067e-03 1.12105268e+01] [ 5.00139550e-02 -3.43974818e-04 9.98748460e-01 6.82068319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.39, Y:11.21, Z:6.82 [[ 9.95540277e-01 -8.00607295e-02 -4.98982605e-02 1.48388367e+02] [ 7.99716824e-02 9.96789962e-01 -3.78170828e-03 1.12143112e+01] [ 5.00408515e-02 -2.25604932e-04 9.98747146e-01 6.82222535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.42, Y:11.22, Z:6.82 [[ 9.95700624e-01 -7.80450690e-02 -4.98922275e-02 1.48416796e+02] [ 7.79534205e-02 9.96949824e-01 -3.78312216e-03 1.12177553e+01] [ 5.00353015e-02 -1.22412696e-04 9.98747442e-01 6.82397475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.45, Y:11.22, Z:6.83 [[ 9.95697861e-01 -7.80804617e-02 -4.98919981e-02 1.48445831e+02] [ 7.79887061e-02 9.96947053e-01 -3.78614461e-03 1.12199887e+01] [ 5.00353045e-02 -1.21156287e-04 9.98747442e-01 6.82536118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.47, Y:11.22, Z:6.83 [[ 9.95923078e-01 -7.47819286e-02 -5.04468520e-02 1.48474305e+02] [ 7.46837635e-02 9.97199910e-01 -3.83074198e-03 1.12240025e+01] [ 5.05920666e-02 4.75635795e-05 9.98719400e-01 6.82611529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.50, Y:11.23, Z:6.83 [[ 9.95979826e-01 -7.37556150e-02 -5.08359753e-02 1.48501917e+02] [ 7.36539525e-02 9.97276339e-01 -3.87282844e-03 1.12267866e+01] [ 5.09831582e-02 1.12988490e-04 9.98699507e-01 6.82704436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.53, Y:11.23, Z:6.83 [[ 9.95967389e-01 -7.38394707e-02 -5.09577479e-02 1.48529680e+02] [ 7.37371564e-02 9.97270134e-01 -3.88744885e-03 1.12286325e+01] [ 5.11056872e-02 1.14292859e-04 9.98693244e-01 6.82854023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.56, Y:11.23, Z:6.83 [[ 9.95940118e-01 -7.43770200e-02 -5.07083912e-02 1.48557134e+02] [ 7.42756847e-02 9.97230188e-01 -3.88250394e-03 1.12302264e+01] [ 5.08567076e-02 1.00340955e-04 9.98705955e-01 6.82968678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.58, Y:11.23, Z:6.83 [[ 9.95871901e-01 -7.54251641e-02 -5.04995259e-02 1.48584479e+02] [ 7.53257788e-02 9.97151464e-01 -3.87105200e-03 1.12311194e+01] [ 5.06476509e-02 5.11557971e-05 9.98716583e-01 6.83066697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.61, Y:11.23, Z:6.83 [[ 9.95542865e-01 -7.97628816e-02 -5.03218249e-02 1.48612882e+02] [ 7.96694767e-02 9.96813852e-01 -3.86246205e-03 1.12288914e+01] [ 5.04695733e-02 -1.63866928e-04 9.98725586e-01 6.83186744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.64, Y:11.23, Z:6.83 [[ 9.95307664e-01 -8.27962474e-02 -5.00742894e-02 1.48641834e+02] [ 8.27068772e-02 9.96566451e-01 -3.85774056e-03 1.12283173e+01] [ 5.02217632e-02 -3.01849349e-04 9.98738045e-01 6.83304745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.67, Y:11.23, Z:6.83 [[ 9.95026467e-01 -8.64086633e-02 -4.95567693e-02 1.48672025e+02] [ 8.63250167e-02 9.96259667e-01 -3.82974461e-03 1.12277694e+01] [ 4.97023336e-02 -4.67291691e-04 9.98763966e-01 6.83467461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.70, Y:11.23, Z:6.84 [[ 9.94724686e-01 -9.02307087e-02 -4.87977381e-02 1.48701403e+02] [ 9.01541156e-02 9.95920680e-01 -3.77280800e-03 1.12261136e+01] [ 4.89390996e-02 -6.46411672e-04 9.98801555e-01 6.83618955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.73, Y:11.22, Z:6.84 [[ 9.94353627e-01 -9.45416720e-02 -4.81947736e-02 1.48731470e+02] [ 9.44719807e-02 9.95520545e-01 -3.72696265e-03 1.12238339e+01] [ 4.83312406e-02 -8.47136902e-04 9.98831003e-01 6.83805337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.76, Y:11.22, Z:6.84 [[ 9.93501189e-01 -1.03156236e-01 -4.81059092e-02 1.48762524e+02] [ 1.03097084e-01 9.94664357e-01 -3.71588374e-03 1.12190447e+01] [ 4.82325498e-02 -1.26784403e-03 9.98835329e-01 6.83898189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.79, Y:11.22, Z:6.84 [[ 9.93059418e-01 -1.07171144e-01 -4.84493295e-02 1.48793115e+02] [ 1.07115959e-01 9.94239495e-01 -3.74148649e-03 1.12166872e+01] [ 4.85712162e-02 -1.47417797e-03 9.98818634e-01 6.83918385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.82, Y:11.21, Z:6.84 [[ 9.92160012e-01 -1.15034887e-01 -4.88414336e-02 1.48823362e+02] [ 1.14988404e-01 9.93359681e-01 -3.76978154e-03 1.12079912e+01] [ 4.89507673e-02 -1.87597203e-03 9.98799431e-01 6.83973094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.85, Y:11.21, Z:6.84 [[ 9.91775147e-01 -1.18369700e-01 -4.86895428e-02 1.48854919e+02] [ 1.18327482e-01 9.92967512e-01 -3.75872050e-03 1.12092651e+01] [ 4.87920527e-02 -2.03350543e-03 9.98806888e-01 6.84144877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.89, Y:11.21, Z:6.84 [[ 9.91381594e-01 -1.21543907e-01 -4.88836681e-02 1.48886457e+02] [ 1.21505286e-01 9.92583618e-01 -3.77194835e-03 1.12084448e+01] [ 4.89795855e-02 -2.20018389e-03 9.98797357e-01 6.84314223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.92, Y:11.21, Z:6.84 [[ 9.90972611e-01 -1.24620344e-01 -4.94272567e-02 1.48918154e+02] [ 1.24584763e-01 9.92201645e-01 -3.81211706e-03 1.12079480e+01] [ 4.95168728e-02 -2.38017944e-03 9.98770451e-01 6.84496816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.95, Y:11.21, Z:6.85 [[ 9.90609654e-01 -1.27454186e-01 -4.94766941e-02 1.48949627e+02] [ 1.27422143e-01 9.91841242e-01 -3.81417314e-03 1.12089734e+01] [ 4.95591580e-02 -2.52606967e-03 9.98767995e-01 6.84636073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.98, Y:11.21, Z:6.85 [[ 9.90254215e-01 -1.29914224e-01 -5.01884850e-02 1.48980665e+02] [ 1.29884495e-01 9.91521590e-01 -3.86721204e-03 1.12112212e+01] [ 5.02653723e-02 -2.68918301e-03 9.98732277e-01 6.84751731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.01, Y:11.21, Z:6.85 [[ 9.89946146e-01 -1.32009118e-01 -5.07958643e-02 1.49011482e+02] [ 1.31981507e-01 9.91244459e-01 -3.91218575e-03 1.12122000e+01] [ 5.08675632e-02 -2.83126152e-03 9.98701394e-01 6.84853345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.04, Y:11.21, Z:6.85 [[ 9.89673815e-01 -1.33928023e-01 -5.10786171e-02 1.49041696e+02] [ 1.33902712e-01 9.90986679e-01 -3.93274091e-03 1.12116057e+01] [ 5.11449333e-02 -2.94743465e-03 9.98686892e-01 6.84924384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.07, Y:11.21, Z:6.85 [[ 9.89406375e-01 -1.35786885e-01 -5.13512080e-02 1.49073080e+02] [ 1.35764030e-01 9.90733330e-01 -3.94920549e-03 1.12130391e+01] [ 5.14116037e-02 -3.06427786e-03 9.98672848e-01 6.85054376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.10, Y:11.21, Z:6.85 [[ 9.89221022e-01 -1.37000215e-01 -5.16982627e-02 1.49103967e+02] [ 1.36978796e-01 9.90566008e-01 -3.97405477e-03 1.12070477e+01] [ 5.17549881e-02 -3.15034725e-03 9.98654844e-01 6.85132678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.13, Y:11.21, Z:6.85 [[ 9.89081303e-01 -1.38033980e-01 -5.16216718e-02 1.49134531e+02] [ 1.38014074e-01 9.90422322e-01 -3.96722590e-03 1.12101073e+01] [ 5.16748680e-02 -3.20060827e-03 9.98658833e-01 6.85328826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:11.22, Z:6.86 [[ 9.89097360e-01 -1.37875723e-01 -5.17368030e-02 1.49166737e+02] [ 1.37855573e-01 9.90444365e-01 -3.97492093e-03 1.12163002e+01] [ 5.17904701e-02 -3.20062284e-03 9.98652844e-01 6.85533174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:11.22, Z:6.86 [[ 9.89208972e-01 -1.36979452e-01 -5.19830787e-02 1.49197838e+02] [ 1.36958068e-01 9.90568809e-01 -3.99020386e-03 1.12190618e+01] [ 5.20393923e-02 -3.17235656e-03 9.98639994e-01 6.85675171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.23, Y:11.22, Z:6.86 [[ 9.89386999e-01 -1.35438315e-01 -5.26291688e-02 1.49229042e+02] [ 1.35414329e-01 9.90780831e-01 -4.03787330e-03 1.12221014e+01] [ 5.26908543e-02 -3.13172423e-03 9.98605961e-01 6.85764431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.26, Y:11.22, Z:6.86 [[ 9.89570988e-01 -1.33987810e-01 -5.28821993e-02 1.49258871e+02] [ 1.33961622e-01 9.90978222e-01 -4.05556622e-03 1.12239331e+01] [ 5.29485042e-02 -3.07091452e-03 9.98592522e-01 6.85894574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.29, Y:11.23, Z:6.86 [[ 9.89848934e-01 -1.32149349e-01 -5.23033158e-02 1.49289521e+02] [ 1.32121181e-01 9.91225456e-01 -4.01098880e-03 1.12323262e+01] [ 5.23744277e-02 -2.94010289e-03 9.98623190e-01 6.86106598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.32, Y:11.23, Z:6.86 [[ 9.90347052e-01 -1.28723921e-01 -5.14088401e-02 1.49319673e+02] [ 1.28692194e-01 9.91676757e-01 -3.94066602e-03 1.12327544e+01] [ 5.14882098e-02 -2.71328947e-03 9.98669917e-01 6.86303435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.35, Y:11.24, Z:6.87 [[ 9.90590150e-01 -1.26868195e-01 -5.13382408e-02 1.49350249e+02] [ 1.26834075e-01 9.91916142e-01 -3.93518427e-03 1.12388022e+01] [ 5.14224794e-02 -2.61328348e-03 9.98673570e-01 6.86510418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.38, Y:11.25, Z:6.87 [[ 9.90799484e-01 -1.25067615e-01 -5.17153145e-02 1.49381534e+02] [ 1.25030603e-01 9.92144971e-01 -3.96300451e-03 1.12459159e+01] [ 5.18047327e-02 -2.53945416e-03 9.98654005e-01 6.86693937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.41, Y:11.25, Z:6.87 [[ 9.91052164e-01 -1.22923392e-01 -5.20139170e-02 1.49411723e+02] [ 1.22883148e-01 9.92413153e-01 -3.98319095e-03 1.12472175e+01] [ 5.21089227e-02 -2.44408383e-03 9.98638416e-01 6.86808749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.44, Y:11.25, Z:6.87 [[ 9.91307999e-01 -1.20686481e-01 -5.23758041e-02 1.49442236e+02] [ 1.20642608e-01 9.92687907e-01 -4.01001572e-03 1.12545497e+01] [ 5.24767821e-02 -2.34359294e-03 9.98619394e-01 6.86963464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.47, Y:11.26, Z:6.87 [[ 9.91566555e-01 -1.18475108e-01 -5.25301353e-02 1.49472876e+02] [ 1.18427904e-01 9.92954511e-01 -4.02138643e-03 1.12562370e+01] [ 5.26364690e-02 -2.23356153e-03 9.98611242e-01 6.87050283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.50, Y:11.27, Z:6.87 [[ 9.91883989e-01 -1.15978566e-01 -5.21068664e-02 1.49504107e+02] [ 1.15928783e-01 9.93249526e-01 -3.98704438e-03 1.12652173e+01] [ 5.22175321e-02 -2.08600011e-03 9.98633555e-01 6.87262945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.53, Y:11.27, Z:6.87 [[ 9.92461000e-01 -1.10948431e-01 -5.20731168e-02 1.49534076e+02] [ 1.10891934e-01 9.93824493e-01 -3.98188672e-03 1.12737403e+01] [ 5.21933230e-02 -1.82262134e-03 9.98635336e-01 6.87457021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.56, Y:11.28, Z:6.88 [[ 9.92782465e-01 -1.08089518e-01 -5.19580042e-02 1.49564868e+02] [ 1.08029369e-01 9.94139764e-01 -3.97291935e-03 1.12790126e+01] [ 5.20829490e-02 -1.66874575e-03 9.98641368e-01 6.87619067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.60, Y:11.28, Z:6.88 [[ 9.93111578e-01 -1.04993152e-01 -5.20176134e-02 1.49595244e+02] [ 1.04928712e-01 9.94471799e-01 -3.97576540e-03 1.12843449e+01] [ 5.21474777e-02 -1.50976255e-03 9.98638253e-01 6.87731042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.62, Y:11.29, Z:6.88 [[ 9.93403463e-01 -1.02049623e-01 -5.23013834e-02 1.49624824e+02] [ 1.01980403e-01 9.94778376e-01 -3.99745426e-03 1.12892140e+01] [ 5.24362239e-02 -1.36263127e-03 9.98623345e-01 6.87846179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.65, Y:11.30, Z:6.88 [[ 9.93748545e-01 -9.88455756e-02 -5.18977966e-02 1.49654752e+02] [ 9.87730550e-02 9.95102080e-01 -3.96660766e-03 1.12963797e+01] [ 5.20356870e-02 -1.18429332e-03 9.98644524e-01 6.88023721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.68, Y:11.30, Z:6.88 [[ 9.94053430e-01 -9.58240524e-02 -5.17255131e-02 1.49684697e+02] [ 9.57479254e-02 9.95397762e-01 -3.95343984e-03 1.13020411e+01] [ 5.18662946e-02 -1.02268014e-03 9.98653514e-01 6.88209109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.72, Y:11.31, Z:6.88 [[ 9.94350640e-01 -9.29169888e-02 -5.13150799e-02 1.49715279e+02] [ 9.28382007e-02 9.95673484e-01 -3.92199746e-03 1.13080428e+01] [ 5.14574845e-02 -8.64159004e-04 9.98674812e-01 6.88396167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.74, Y:11.31, Z:6.89 [[ 9.94837597e-01 -8.73882137e-02 -5.15893001e-02 1.49744760e+02] [ 8.73011955e-02 9.96174162e-01 -3.94207714e-03 1.13142375e+01] [ 5.17364188e-02 -5.82081026e-04 9.98660605e-01 6.88517965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.77, Y:11.32, Z:6.89 [[ 9.95081371e-01 -8.46242385e-02 -5.14956599e-02 1.49773865e+02] [ 8.45338292e-02 9.96412840e-01 -3.93507080e-03 1.13194254e+01] [ 5.16439390e-02 -4.37409666e-04 9.98665466e-01 6.88676423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.80, Y:11.32, Z:6.89 [[ 9.95296812e-01 -8.20295636e-02 -5.15306409e-02 1.49803479e+02] [ 8.19354588e-02 9.96629851e-01 -3.93961287e-03 1.13239773e+01] [ 5.16801396e-02 -3.01102569e-04 9.98663643e-01 6.88864743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.83, Y:11.33, Z:6.89 [[ 9.95293855e-01 -8.20655211e-02 -5.15304985e-02 1.49832512e+02] [ 8.19713682e-02 9.96626891e-01 -3.94147350e-03 1.13262267e+01] [ 5.16801396e-02 -3.01101112e-04 9.98663643e-01 6.89003348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.86, Y:11.33, Z:6.89 [[ 9.95451820e-01 -8.00996891e-02 -5.15724165e-02 1.49860462e+02] [ 8.00026452e-02 9.96786838e-01 -3.94662695e-03 1.13299980e+01] [ 5.17228296e-02 -1.97252764e-04 9.98661459e-01 6.89130982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.89, Y:11.33, Z:6.89 [[ 9.95619036e-01 -7.71550013e-02 -5.28189448e-02 1.49887715e+02] [ 7.70488999e-02 9.97019109e-01 -4.04512390e-03 1.13349051e+01] [ 5.29735988e-02 -4.22392330e-05 9.98595912e-01 6.89242693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.91, Y:11.34, Z:6.89 [[ 9.95657513e-01 -7.60185932e-02 -5.37335065e-02 1.49914977e+02] [ 7.59067980e-02 9.97106400e-01 -4.12130349e-03 1.13381515e+01] [ 5.38913189e-02 2.46683609e-05 9.98546807e-01 6.89330034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.94, Y:11.34, Z:6.89 [[ 9.95824896e-01 -7.33512368e-02 -5.43357329e-02 1.49942934e+02] [ 7.32321563e-02 9.97306152e-01 -4.18205951e-03 1.13422752e+01] [ 5.44961199e-02 1.85476094e-04 9.98513965e-01 6.89419093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.97, Y:11.35, Z:6.90 [[ 9.95918113e-01 -7.26016847e-02 -5.36293586e-02 1.49970570e+02] [ 7.24842713e-02 9.97360989e-01 -4.13373132e-03 1.13450328e+01] [ 5.37879460e-02 2.29572923e-04 9.98552354e-01 6.89599629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.00, Y:11.35, Z:6.90 [[ 9.95967984e-01 -7.22851739e-02 -5.31284125e-02 1.49997420e+02] [ 7.21687250e-02 9.97383972e-01 -4.10955827e-03 1.13477041e+01] [ 5.32864872e-02 2.58778671e-04 9.98579232e-01 6.89756887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.02, Y:11.35, Z:6.90 [[ 9.95947513e-01 -7.25671133e-02 -5.31278251e-02 1.50024692e+02] [ 7.24506609e-02 9.97363500e-01 -4.11713868e-03 1.13498820e+01] [ 5.32865225e-02 2.51307987e-04 9.98579232e-01 6.89887254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.05, Y:11.35, Z:6.90 [[ 9.95904208e-01 -7.33359624e-02 -5.28833177e-02 1.50051474e+02] [ 7.32208928e-02 9.97307268e-01 -4.11269667e-03 1.13515746e+01] [ 5.30425256e-02 2.23688182e-04 9.98592229e-01 6.90049479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:11.35, Z:6.90 [[ 9.95673481e-01 -7.68279338e-02 -5.22665098e-02 1.50079909e+02] [ 7.67197981e-02 9.97044365e-01 -4.07507693e-03 1.13507366e+01] [ 5.24251088e-02 4.75699496e-05 9.98624857e-01 6.90222446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.11, Y:11.35, Z:6.90 [[ 9.95444832e-01 -7.97835078e-02 -5.21936604e-02 1.50108150e+02] [ 7.96790601e-02 9.96812210e-01 -4.08222230e-03 1.13506919e+01] [ 5.23529720e-02 -9.51147188e-05 9.98628638e-01 6.90351816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:11.35, Z:6.90 [[ 9.95168116e-01 -8.28665563e-02 -5.26645425e-02 1.50137032e+02] [ 8.27637520e-02 9.96560622e-01 -4.13370622e-03 1.13510235e+01] [ 5.28259553e-02 -2.44982505e-04 9.98603704e-01 6.90478737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:11.35, Z:6.91 [[ 9.94560648e-01 -8.94970988e-02 -5.32858994e-02 1.50164872e+02] [ 8.94006745e-02 9.95986907e-01 -4.19521714e-03 1.13479524e+01] [ 5.34475180e-02 -5.91397477e-04 9.98570485e-01 6.90540971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.19, Y:11.35, Z:6.91 [[ 9.94258305e-01 -9.28429555e-02 -5.32034564e-02 1.50193173e+02] [ 9.27513672e-02 9.95680471e-01 -4.19334452e-03 1.13465405e+01] [ 5.33629651e-02 -7.65425712e-04 9.98574889e-01 6.90622186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.22, Y:11.35, Z:6.91 [[ 9.93972754e-01 -9.58627028e-02 -5.31836992e-02 1.50222581e+02] [ 9.57753355e-02 9.95394137e-01 -4.19486344e-03 1.13469697e+01] [ 5.33408733e-02 -9.24106666e-04 9.98575935e-01 6.90811621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.25, Y:11.35, Z:6.91 [[ 9.93748397e-01 -9.85192887e-02 -5.25173680e-02 1.50252548e+02] [ 9.84377371e-02 9.95134585e-01 -4.14354468e-03 1.13460900e+01] [ 5.26700683e-02 -1.05204998e-03 9.98611414e-01 6.90985934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.28, Y:11.34, Z:6.91 [[ 9.93354757e-01 -1.02854640e-01 -5.16454256e-02 1.50283038e+02] [ 1.02781843e-01 9.94695593e-01 -4.07054474e-03 1.13435954e+01] [ 5.17901517e-02 -1.26471702e-03 9.98657189e-01 6.91282340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.31, Y:11.34, Z:6.91 [[ 9.93202761e-01 -1.04628205e-01 -5.10020957e-02 1.50313952e+02] [ 1.04559552e-01 9.94510504e-01 -4.01970771e-03 1.13447777e+01] [ 5.11426947e-02 -1.34037148e-03 9.98690457e-01 6.91485266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.35, Y:11.35, Z:6.92 [[ 9.93044384e-01 -1.06053198e-01 -5.11426511e-02 1.50345196e+02] [ 1.05986148e-01 9.94359444e-01 -4.02892483e-03 1.13452869e+01] [ 5.12814585e-02 -1.41951141e-03 9.98683232e-01 6.91648415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.38, Y:11.35, Z:6.92 [[ 9.92944102e-01 -1.07160285e-01 -5.07807347e-02 1.50376081e+02] [ 1.07095716e-01 9.94240674e-01 -3.99865265e-03 1.13455880e+01] [ 5.09167687e-02 -1.46796059e-03 9.98701821e-01 6.91808002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.41, Y:11.35, Z:6.92 [[ 9.92768396e-01 -1.08502235e-01 -5.13631895e-02 1.50407459e+02] [ 1.08438021e-01 9.94094988e-01 -4.04351223e-03 1.13467664e+01] [ 5.14986194e-02 -1.55545147e-03 9.98671854e-01 6.91948977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.44, Y:11.35, Z:6.92 [[ 9.92609808e-01 -1.09634979e-01 -5.20186525e-02 1.50437507e+02] [ 1.09570760e-01 9.93970569e-01 -4.09337586e-03 1.13457453e+01] [ 5.21537868e-02 -1.63659825e-03 9.98637724e-01 6.92002765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.47, Y:11.35, Z:6.92 [[ 9.92609808e-01 -1.09634979e-01 -5.20186525e-02 1.50467396e+02] [ 1.09570760e-01 9.93970569e-01 -4.09337586e-03 1.13480972e+01] [ 5.21537868e-02 -1.63659825e-03 9.98637724e-01 6.92145408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.50, Y:11.35, Z:6.92 [[ 9.92272302e-01 -1.12380446e-01 -5.25957609e-02 1.50499162e+02] [ 1.12318652e-01 9.93663621e-01 -4.13860064e-03 1.13474380e+01] [ 5.27275921e-02 -1.80086620e-03 9.98607309e-01 6.92173407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.53, Y:11.35, Z:6.92 [[ 9.92039415e-01 -1.14175073e-01 -5.31211103e-02 1.50530210e+02] [ 1.14114710e-01 9.93458795e-01 -4.17800645e-03 1.13477778e+01] [ 5.32506584e-02 -1.91715304e-03 9.98579337e-01 6.92282322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:11.35, Z:6.92 [[ 9.91802161e-01 -1.15862939e-01 -5.38911228e-02 1.50560443e+02] [ 1.15803401e-01 9.93263119e-01 -4.23671961e-03 1.13461256e+01] [ 5.40189435e-02 -2.03878763e-03 9.98537830e-01 6.92343174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.59, Y:11.35, Z:6.92 [[ 9.91274348e-01 -1.19379154e-01 -5.58908296e-02 1.50591010e+02] [ 1.19320740e-01 9.92846041e-01 -4.39305028e-03 1.13474696e+01] [ 5.60154276e-02 -2.31421711e-03 9.98427221e-01 6.92381517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.62, Y:11.35, Z:6.92 [[ 9.91024365e-01 -1.21031942e-01 -5.67624693e-02 1.50621112e+02] [ 1.20974398e-01 9.92645601e-01 -4.46156165e-03 1.13492390e+01] [ 5.68850069e-02 -2.44528923e-03 9.98377742e-01 6.92494825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.65, Y:11.35, Z:6.93 [[ 9.90797973e-01 -1.22579528e-01 -5.73902083e-02 1.50650591e+02] [ 1.22523284e-01 9.92455387e-01 -4.51108167e-03 1.13496987e+01] [ 5.75101877e-02 -2.56206622e-03 9.98341632e-01 6.92597525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.68, Y:11.35, Z:6.93 [[ 9.90623283e-01 -1.23974858e-01 -5.74085780e-02 1.50680887e+02] [ 1.23920864e-01 9.92281839e-01 -4.51337444e-03 1.13525798e+01] [ 5.75250343e-02 -2.64306680e-03 9.98340565e-01 6.92753559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.71, Y:11.35, Z:6.93 [[ 9.90417257e-01 -1.25397806e-01 -5.78709535e-02 1.50711042e+02] [ 1.25345362e-01 9.92102737e-01 -4.54972570e-03 1.13548238e+01] [ 5.79844569e-02 -2.74772877e-03 9.98313705e-01 6.92897093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.74, Y:11.35, Z:6.93 [[ 9.90224421e-01 -1.26808122e-01 -5.80972936e-02 1.50740553e+02] [ 1.26757675e-01 9.91923196e-01 -4.56771547e-03 1.13545130e+01] [ 5.82072766e-02 -2.84121447e-03 9.98300476e-01 6.92993149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.77, Y:11.36, Z:6.93 [[ 9.90043097e-01 -1.28540684e-01 -5.73755911e-02 1.50770363e+02] [ 1.28494321e-01 9.91699981e-01 -4.51200685e-03 1.13558287e+01] [ 5.74793490e-02 -2.90535636e-03 9.98342468e-01 6.93187649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.80, Y:11.36, Z:6.93 [[ 9.90043096e-01 -1.28540725e-01 -5.73755241e-02 1.50800276e+02] [ 1.28494312e-01 9.91699978e-01 -4.51285876e-03 1.13581819e+01] [ 5.74793921e-02 -2.90450384e-03 9.98342468e-01 6.93330433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.83, Y:11.36, Z:6.94 [[ 9.89900803e-01 -1.30104934e-01 -5.62948087e-02 1.50830216e+02] [ 1.30062760e-01 9.91495875e-01 -4.42801777e-03 1.13604973e+01] [ 5.63921776e-02 -2.93855987e-03 9.98404371e-01 6.93590280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.86, Y:11.36, Z:6.94 [[ 9.89893146e-01 -1.30193894e-01 -5.62237434e-02 1.50860833e+02] [ 1.30151930e-01 9.91484196e-01 -4.42312974e-03 1.13601235e+01] [ 5.63208175e-02 -2.93920291e-03 9.98408397e-01 6.93685200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.89, Y:11.36, Z:6.94 [[ 9.89815016e-01 -1.31050185e-01 -5.56064979e-02 1.50891101e+02] [ 1.31010529e-01 9.91371329e-01 -4.37372449e-03 1.13634258e+01] [ 5.56998651e-02 -2.95585851e-03 9.98443182e-01 6.93887053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:11.37, Z:6.94 [[ 9.89821218e-01 -1.31532473e-01 -5.43430232e-02 1.50921590e+02] [ 1.31495325e-01 9.91307576e-01 -4.27421916e-03 1.13678699e+01] [ 5.44328492e-02 -2.91514069e-03 9.98513178e-01 6.94190841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.95, Y:11.37, Z:6.94 [[ 9.89802539e-01 -1.32111442e-01 -5.32682059e-02 1.50951761e+02] [ 1.32076632e-01 9.91230658e-01 -4.18872988e-03 1.13673431e+01] [ 5.33544580e-02 -2.88946974e-03 9.98571456e-01 6.94434304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.98, Y:11.37, Z:6.95 [[ 9.89771769e-01 -1.32607962e-01 -5.26020284e-02 1.50984022e+02] [ 1.32574778e-01 9.91164380e-01 -4.13512065e-03 1.13723232e+01] [ 5.26856068e-02 -2.88087656e-03 9.98606993e-01 6.94722749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.02, Y:11.37, Z:6.95 [[ 9.89781283e-01 -1.32536813e-01 -5.26023250e-02 1.51015633e+02] [ 1.32503729e-01 9.91173897e-01 -4.13134366e-03 1.13747451e+01] [ 5.26856066e-02 -2.88087761e-03 9.98606993e-01 6.94873489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.05, Y:11.38, Z:6.95 [[ 9.89808489e-01 -1.32542134e-01 -5.20743540e-02 1.51047185e+02] [ 1.32509911e-01 9.91173258e-01 -4.08615044e-03 1.13775079e+01] [ 5.21562942e-02 -2.85586163e-03 9.98634851e-01 6.95071259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.08, Y:11.38, Z:6.95 [[ 9.89777350e-01 -1.32750060e-01 -5.21365388e-02 1.51079338e+02] [ 1.32718245e-01 9.91145379e-01 -4.08726133e-03 1.13800810e+01] [ 5.22174737e-02 -2.87399123e-03 9.98631602e-01 6.95234690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:11.38, Z:6.95 [[ 9.89731936e-01 -1.32942735e-01 -5.25064227e-02 1.51111442e+02] [ 1.32910938e-01 9.91119453e-01 -4.11246649e-03 1.13827923e+01] [ 5.25868595e-02 -2.90843847e-03 9.98612118e-01 6.95332209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.14, Y:11.39, Z:6.95 [[ 9.89741371e-01 -1.32872361e-01 -5.25067146e-02 1.51143054e+02] [ 1.32840662e-01 9.91128890e-01 -4.10873687e-03 1.13852046e+01] [ 5.25868593e-02 -2.90843987e-03 9.98612118e-01 6.95482954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.18, Y:11.39, Z:6.96 [[ 9.89712769e-01 -1.32911490e-01 -5.29449694e-02 1.51175340e+02] [ 1.32879520e-01 9.91123554e-01 -4.13921393e-03 1.13899382e+01] [ 5.30251554e-02 -2.93866924e-03 9.98588853e-01 6.95591792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.21, Y:11.39, Z:6.96 [[ 9.89636812e-01 -1.33085730e-01 -5.39181685e-02 1.51207701e+02] [ 1.33053050e-01 9.91099970e-01 -4.21131749e-03 1.13937478e+01] [ 5.39987615e-02 -3.00630195e-03 9.98536477e-01 6.95628385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.24, Y:11.39, Z:6.96 [[ 9.89621469e-01 -1.33102017e-01 -5.41590289e-02 1.51239071e+02] [ 1.33069279e-01 9.91097728e-01 -4.22628844e-03 1.13939821e+01] [ 5.42394180e-02 -3.02447714e-03 9.98523379e-01 6.95700878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.27, Y:11.40, Z:6.96 [[ 9.89592849e-01 -1.33163981e-01 -5.45284100e-02 1.51269767e+02] [ 1.33131038e-01 9.91089322e-01 -4.25239514e-03 1.13953436e+01] [ 5.46087908e-02 -3.05128401e-03 9.98503165e-01 6.95754976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.30, Y:11.40, Z:6.96 [[ 9.89538642e-01 -1.33067508e-01 -5.57343175e-02 1.51301891e+02] [ 1.33033025e-01 9.91102081e-01 -4.34497844e-03 1.14014733e+01] [ 5.58165735e-02 -3.11498081e-03 9.98436181e-01 6.95835241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:11.40, Z:6.96 [[ 9.89489784e-01 -1.33143227e-01 -5.64167396e-02 1.51332816e+02] [ 1.33108227e-01 9.91091766e-01 -4.39452973e-03 1.14015277e+01] [ 5.64992679e-02 -3.16118991e-03 9.98397636e-01 6.95875861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.36, Y:11.41, Z:6.96 [[ 9.89494296e-01 -1.32883000e-01 -5.69486338e-02 1.51363707e+02] [ 1.32846978e-01 9.91126638e-01 -4.43475901e-03 1.14065844e+01] [ 5.70326120e-02 -3.17728517e-03 9.98367260e-01 6.96018125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.39, Y:11.41, Z:6.96 [[ 9.89550901e-01 -1.32481806e-01 -5.68997785e-02 1.51394552e+02] [ 1.32445291e-01 9.91180421e-01 -4.42909288e-03 1.14068060e+01] [ 5.69847207e-02 -3.15329490e-03 9.98370071e-01 6.96102276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.43, Y:11.41, Z:6.96 [[ 9.89583286e-01 -1.32239990e-01 -5.68990831e-02 1.51425674e+02] [ 1.32203146e-01 9.91212753e-01 -4.42786466e-03 1.14108498e+01] [ 5.69846376e-02 -3.14049692e-03 9.98370116e-01 6.96275945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:11.41, Z:6.96 [[ 9.89591207e-01 -1.32237438e-01 -5.67670989e-02 1.51455742e+02] [ 1.32200863e-01 9.91213112e-01 -4.41577393e-03 1.14127175e+01] [ 5.68522234e-02 -3.13484843e-03 9.98377683e-01 6.96423473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:11.42, Z:6.97 [[ 9.89616922e-01 -1.32282123e-01 -5.62119947e-02 1.51486932e+02] [ 1.32246412e-01 9.91207233e-01 -4.37112942e-03 1.14205899e+01] [ 5.62959581e-02 -3.10809099e-03 9.98409287e-01 6.96691637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:11.42, Z:6.97 [[ 9.89653257e-01 -1.32362707e-01 -5.53763843e-02 1.51517679e+02] [ 1.32328390e-01 9.91196594e-01 -4.30223245e-03 1.14188094e+01] [ 5.54583387e-02 -3.07014943e-03 9.98456282e-01 6.96830546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:11.42, Z:6.97 [[ 9.89698779e-01 -1.32076936e-01 -5.52450043e-02 1.51547734e+02] [ 1.32042526e-01 9.91234775e-01 -4.28862626e-03 1.14208716e+01] [ 5.53271980e-02 -3.05024173e-03 9.98463618e-01 6.96998949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:11.43, Z:6.97 [[ 9.89706956e-01 -1.32124487e-01 -5.49841843e-02 1.51578832e+02] [ 1.32090659e-01 9.91228464e-01 -4.26500137e-03 1.14290510e+01] [ 5.50653997e-02 -3.04179564e-03 9.98478117e-01 6.97272641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:11.43, Z:6.97 [[ 9.89698859e-01 -1.32264395e-01 -5.47932247e-02 1.51609967e+02] [ 1.32231226e-01 9.91209802e-01 -4.24636317e-03 1.14303227e+01] [ 5.48732241e-02 -3.04275448e-03 9.98488693e-01 6.97428964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.64, Y:11.43, Z:6.98 [[ 9.89717720e-01 -1.32376452e-01 -5.41784960e-02 1.51639885e+02] [ 1.32344331e-01 9.91194921e-01 -4.19607041e-03 1.14327777e+01] [ 5.42569110e-02 -3.01729158e-03 9.98522450e-01 6.97638351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.67, Y:11.44, Z:6.98 [[ 9.89720021e-01 -1.32533684e-01 -5.37503738e-02 1.51671485e+02] [ 1.32502368e-01 9.91173952e-01 -4.16162509e-03 1.14387920e+01] [ 5.38275259e-02 -3.00320813e-03 9.98545732e-01 6.97901868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.70, Y:11.44, Z:6.98 [[ 9.89664795e-01 -1.32911237e-01 -5.38349089e-02 1.51703623e+02] [ 1.32880589e-01 9.91123306e-01 -4.16427673e-03 1.14430509e+01] [ 5.39105121e-02 -3.03237636e-03 9.98541167e-01 6.98051185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.74, Y:11.45, Z:6.98 [[ 9.89674494e-01 -1.32838872e-01 -5.38352122e-02 1.51735242e+02] [ 1.32808330e-01 9.91133008e-01 -4.16035272e-03 1.14454347e+01] [ 5.39105124e-02 -3.03236968e-03 9.98541167e-01 6.98201940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.77, Y:11.45, Z:6.98 [[ 9.89605144e-01 -1.33342181e-01 -5.38657735e-02 1.51766181e+02] [ 1.33312554e-01 9.91065319e-01 -4.15887750e-03 1.14466953e+01] [ 5.39390538e-02 -3.06533729e-03 9.98539525e-01 6.98313014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.80, Y:11.45, Z:6.98 [[ 9.89509847e-01 -1.33852302e-01 -5.43490950e-02 1.51797972e+02] [ 1.33823080e-01 9.90996368e-01 -4.19307603e-03 1.14486865e+01] [ 5.44210086e-02 -3.12407327e-03 9.98513192e-01 6.98418495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:11.45, Z:6.99 [[ 9.89390848e-01 -1.34507032e-01 -5.48963475e-02 1.51829937e+02] [ 1.34478443e-01 9.90907485e-01 -4.23131496e-03 1.14507636e+01] [ 5.49663433e-02 -3.19595107e-03 9.98483093e-01 6.98507666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.86, Y:11.45, Z:6.99 [[ 9.89275874e-01 -1.35460303e-01 -5.46237241e-02 1.51862065e+02] [ 1.35433658e-01 9.90777488e-01 -4.20639497e-03 1.14543796e+01] [ 5.46897557e-02 -3.23660569e-03 9.98498150e-01 6.98654324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.89, Y:11.45, Z:6.99 [[ 9.89133174e-01 -1.36438836e-01 -5.47723320e-02 1.51892889e+02] [ 1.36413744e-01 9.90642989e-01 -4.21412208e-03 1.14546312e+01] [ 5.48347966e-02 -3.30337092e-03 9.98489976e-01 6.98766380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.92, Y:11.45, Z:6.99 [[ 9.88782981e-01 -1.38950933e-01 -5.47800549e-02 1.51922699e+02] [ 1.38929763e-01 9.90293275e-01 -4.21300330e-03 1.14535495e+01] [ 5.48337207e-02 -3.44483411e-03 9.98489557e-01 6.98910201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.95, Y:11.45, Z:6.99 [[ 9.88662856e-01 -1.39848270e-01 -5.46645929e-02 1.51954957e+02] [ 1.39828582e-01 9.90166803e-01 -4.20361436e-03 1.14548413e+01] [ 5.47149334e-02 -3.48771514e-03 9.98495925e-01 6.99106394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.99, Y:11.46, Z:6.99 [[ 9.88552775e-01 -1.40668408e-01 -5.45509936e-02 1.51986478e+02] [ 1.40650264e-01 9.90050473e-01 -4.19084962e-03 1.14591773e+01] [ 5.45977572e-02 -3.52973563e-03 9.98502191e-01 6.99297167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:11.47, Z:7.00 [[ 9.88541203e-01 -1.40827904e-01 -5.43487947e-02 1.52018204e+02] [ 1.40810421e-01 9.90027796e-01 -4.17003354e-03 1.14656608e+01] [ 5.43940745e-02 -3.53062671e-03 9.98513305e-01 6.99501498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.05, Y:11.47, Z:7.00 [[ 9.88634736e-01 -1.40147211e-01 -5.44069756e-02 1.52049230e+02] [ 1.40128905e-01 9.90124487e-01 -4.17009942e-03 1.14653478e+01] [ 5.44541066e-02 -3.50128477e-03 9.98510136e-01 6.99651149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.08, Y:11.47, Z:7.00 [[ 9.88813353e-01 -1.39160626e-01 -5.36886627e-02 1.52081227e+02] [ 1.39141693e-01 9.90263959e-01 -4.10865515e-03 1.14683895e+01] [ 5.37377107e-02 -3.40763836e-03 9.98549271e-01 6.99846562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.11, Y:11.47, Z:7.00 [[ 9.88963261e-01 -1.38197752e-01 -5.34139402e-02 1.52113197e+02] [ 1.38177816e-01 9.90399017e-01 -4.08383386e-03 1.14725890e+01] [ 5.34654906e-02 -3.34185997e-03 9.98564106e-01 7.00066375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.14, Y:11.47, Z:7.00 [[ 9.89157757e-01 -1.36978799e-01 -5.29503551e-02 1.52143452e+02] [ 1.36957651e-01 9.90568645e-01 -4.04492278e-03 1.14742982e+01] [ 5.30050301e-02 -3.25088950e-03 9.98588954e-01 7.00250042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.17, Y:11.48, Z:7.00 [[ 9.89373543e-01 -1.35613078e-01 -5.24317187e-02 1.52173965e+02] [ 1.35590484e-01 9.90756876e-01 -4.00428853e-03 1.14810381e+01] [ 5.24901197e-02 -3.14750497e-03 9.98616483e-01 7.00484040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.20, Y:11.48, Z:7.01 [[ 9.89521208e-01 -1.34609495e-01 -5.22308670e-02 1.52204766e+02] [ 1.34585785e-01 9.90893925e-01 -3.98696336e-03 1.14816153e+01] [ 5.22919319e-02 -3.08434744e-03 9.98627078e-01 7.00690911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:11.49, Z:7.01 [[ 9.89878026e-01 -1.31961918e-01 -5.22259094e-02 1.52235795e+02] [ 1.31934684e-01 9.91250406e-01 -3.98383927e-03 1.14873936e+01] [ 5.22946689e-02 -2.94689391e-03 9.98627350e-01 7.00851208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.27, Y:11.49, Z:7.01 [[ 9.90029681e-01 -1.30580481e-01 -5.28201490e-02 1.52267626e+02] [ 1.30550780e-01 9.91433445e-01 -4.02703338e-03 1.14916533e+01] [ 5.28935142e-02 -2.90882911e-03 9.98595922e-01 7.00924421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.30, Y:11.49, Z:7.01 [[ 9.90249284e-01 -1.28350190e-01 -5.41533430e-02 1.52298353e+02] [ 1.28315852e-01 9.91724774e-01 -4.12499667e-03 1.14900818e+01] [ 5.42346559e-02 -2.86395735e-03 9.98524111e-01 7.00874158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.33, Y:11.50, Z:7.01 [[ 9.90321054e-01 -1.27672222e-01 -5.44427526e-02 1.52330185e+02] [ 1.27636572e-01 9.91812341e-01 -4.14565669e-03 1.14964386e+01] [ 5.45262790e-02 -2.84335520e-03 9.98508288e-01 7.01036041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.36, Y:11.50, Z:7.01 [[ 9.90379867e-01 -1.26950829e-01 -5.50563908e-02 1.52361703e+02] [ 1.26913477e-01 9.91904948e-01 -4.18849870e-03 1.14971490e+01] [ 5.51424398e-02 -2.83919317e-03 9.98474462e-01 7.01134221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.39, Y:11.50, Z:7.01 [[ 9.90529077e-01 -1.25592131e-01 -5.54866080e-02 1.52393421e+02] [ 1.25552237e-01 9.92078042e-01 -4.21820787e-03 1.15010816e+01] [ 5.55768192e-02 -2.78821023e-03 9.98450521e-01 7.01249441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:11.51, Z:7.01 [[ 9.90739174e-01 -1.23514102e-01 -5.63928699e-02 1.52425070e+02] [ 1.23469715e-01 9.92339094e-01 -4.28403985e-03 1.15058886e+01] [ 5.64899887e-02 -2.71844546e-03 9.98399465e-01 7.01393359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:11.51, Z:7.02 [[ 9.91019269e-01 -1.20977873e-01 -5.69663233e-02 1.52456312e+02] [ 1.20928569e-01 9.92651791e-01 -4.32466364e-03 1.15105410e+01] [ 5.70709114e-02 -2.60303096e-03 9.98366734e-01 7.01533134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:11.52, Z:7.02 [[ 9.91432873e-01 -1.17653719e-01 -5.67314708e-02 1.52487340e+02] [ 1.17599508e-01 9.93051773e-01 -4.30477362e-03 1.15154915e+01] [ 5.68437603e-02 -2.40369898e-03 9.98380193e-01 7.01721634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:11.52, Z:7.02 [[ 9.92356578e-01 -1.10693901e-01 -5.45461475e-02 1.52516081e+02] [ 1.10633368e-01 9.93852675e-01 -4.13740462e-03 1.15210820e+01] [ 5.46688200e-02 -1.92884333e-03 9.98502679e-01 7.02067143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.55, Y:11.52, Z:7.02 [[ 9.92855838e-01 -1.06619719e-01 -5.35678995e-02 1.52545675e+02] [ 1.06555372e-01 9.94298465e-01 -4.06397984e-03 1.15240312e+01] [ 5.36957807e-02 -1.67300138e-03 9.98555939e-01 7.02260590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.58, Y:11.53, Z:7.03 [[ 9.93301324e-01 -1.02785926e-01 -5.27970931e-02 1.52576432e+02] [ 1.02718019e-01 9.94702451e-01 -4.00530665e-03 1.15313105e+01] [ 5.29290871e-02 -1.44473640e-03 9.98597228e-01 7.02569154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:11.53, Z:7.03 [[ 9.93304982e-01 -1.02750493e-01 -5.27972366e-02 1.52607170e+02] [ 1.02682636e-01 9.94706112e-01 -4.00341384e-03 1.15336115e+01] [ 5.29290867e-02 -1.44474852e-03 9.98597228e-01 7.02715752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.64, Y:11.54, Z:7.03 [[ 9.94114866e-01 -9.49868321e-02 -5.20877682e-02 1.52637850e+02] [ 9.49102267e-02 9.95478007e-01 -3.94785847e-03 1.15402400e+01] [ 5.22272223e-02 -1.01903709e-03 9.98634707e-01 7.02983164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:11.54, Z:7.03 [[ 9.94466443e-01 -9.12084967e-02 -5.21296745e-02 1.52668554e+02] [ 9.11266290e-02 9.95831479e-01 -3.95010058e-03 1.15440350e+01] [ 5.22726536e-02 -8.22159029e-04 9.98632512e-01 7.03134513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:11.55, Z:7.03 [[ 9.94749406e-01 -8.80066299e-02 -5.22345918e-02 1.52698479e+02] [ 8.79200650e-02 9.96119673e-01 -3.95720432e-03 1.15480025e+01] [ 5.23801647e-02 -6.56042054e-04 9.98627001e-01 7.03275764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.73, Y:11.55, Z:7.03 [[ 9.94969758e-01 -8.53058617e-02 -5.25175344e-02 1.52728167e+02] [ 8.52145911e-02 9.96354677e-01 -3.97873244e-03 1.15507665e+01] [ 5.26655002e-02 -5.16541770e-04 9.98612076e-01 7.03420330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.76, Y:11.55, Z:7.04 [[ 9.95106753e-01 -8.35185481e-02 -5.27939652e-02 1.52757282e+02] [ 8.34237439e-02 9.96506133e-01 -4.00073177e-03 1.15532143e+01] [ 5.29436454e-02 -4.23115034e-04 9.98597412e-01 7.03541927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.79, Y:11.56, Z:7.04 [[ 9.95181398e-01 -8.24111116e-02 -5.31261970e-02 1.52786319e+02] [ 8.23134219e-02 9.96598352e-01 -4.02798851e-03 1.15551057e+01] [ 5.32774314e-02 -3.64419832e-04 9.98579683e-01 7.03637137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.81, Y:11.56, Z:7.04 [[ 9.95164841e-01 -8.22711872e-02 -5.36506419e-02 1.52814911e+02] [ 8.21711075e-02 9.96609916e-01 -4.07234334e-03 1.15563549e+01] [ 5.38037982e-02 -3.55879751e-04 9.98551463e-01 7.03735757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.84, Y:11.56, Z:7.04 [[ 9.95135798e-01 -8.18661210e-02 -5.47967404e-02 1.52843239e+02] [ 8.17604037e-02 9.96643281e-01 -4.17205340e-03 1.15561732e+01] [ 5.49543530e-02 -3.28443927e-04 9.98488814e-01 7.03768093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.87, Y:11.56, Z:7.04 [[ 9.95073475e-01 -8.23791960e-02 -5.51583761e-02 1.52870678e+02] [ 8.22725077e-02 9.96600995e-01 -4.20604342e-03 1.15572158e+01] [ 5.53173830e-02 -3.52695682e-04 9.98468759e-01 7.03923216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:11.56, Z:7.04 [[ 9.95014420e-01 -8.29625341e-02 -5.53490854e-02 1.52899062e+02] [ 8.28551162e-02 9.96552598e-01 -4.23662844e-03 1.15576841e+01] [ 5.55097563e-02 -3.70448510e-04 9.98458076e-01 7.04021674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:11.56, Z:7.04 [[ 9.94934908e-01 -8.39356598e-02 -5.53112520e-02 1.52927209e+02] [ 8.38290069e-02 9.96471092e-01 -4.24964927e-03 1.15578116e+01] [ 5.54727608e-02 -4.08562921e-04 9.98460117e-01 7.04180625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.95, Y:11.56, Z:7.04 [[ 9.94837492e-01 -8.56642367e-02 -5.44059046e-02 1.52954892e+02] [ 8.55628570e-02 9.96323946e-01 -4.19425549e-03 1.15556076e+01] [ 5.45652032e-02 -4.82522018e-04 9.98510093e-01 7.04389106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:11.56, Z:7.05 [[ 9.94722045e-01 -8.74833083e-02 -5.36164600e-02 1.52983942e+02] [ 8.73871804e-02 9.96165824e-01 -4.13916001e-03 1.15560488e+01] [ 5.37729925e-02 -5.68077552e-04 9.98553024e-01 7.04617277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:11.56, Z:7.05 [[ 9.94614802e-01 -8.91216391e-02 -5.29030091e-02 1.53011843e+02] [ 8.90297198e-02 9.96020547e-01 -4.09629976e-03 1.15557408e+01] [ 5.30575530e-02 -6.35699701e-04 9.98591254e-01 7.04802183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:11.55, Z:7.05 [[ 9.94329132e-01 -9.25787322e-02 -5.23331263e-02 1.53041627e+02] [ 9.24933378e-02 9.95705040e-01 -4.05651345e-03 1.15531506e+01] [ 5.24839045e-02 -8.06956038e-04 9.98621444e-01 7.04953099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:11.55, Z:7.05 [[ 9.94139100e-01 -9.48680907e-02 -5.18410519e-02 1.53071144e+02] [ 9.47873078e-02 9.95489429e-01 -4.02022336e-03 1.15522998e+01] [ 5.19886101e-02 -9.17212508e-04 9.98647257e-01 7.05076658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:11.55, Z:7.05 [[ 9.93713148e-01 -9.95113930e-02 -5.12997286e-02 1.53100215e+02] [ 9.94383690e-02 9.95035763e-01 -3.98014103e-03 1.15480082e+01] [ 5.14411340e-02 -1.14604287e-03 9.98675371e-01 7.05218744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:11.55, Z:7.05 [[ 9.93713146e-01 -9.95115128e-02 -5.12995329e-02 1.53130099e+02] [ 9.94383588e-02 9.95035754e-01 -3.98266245e-03 1.15503294e+01] [ 5.14411901e-02 -1.14351732e-03 9.98675371e-01 7.05361427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:11.55, Z:7.05 [[ 9.93092451e-01 -1.05056009e-01 -5.22553229e-02 1.53160248e+02] [ 1.04987760e-01 9.94465239e-01 -4.05695267e-03 1.15467418e+01] [ 5.23923094e-02 -1.45724022e-03 9.98625517e-01 7.05446286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:11.55, Z:7.06 [[ 9.93092450e-01 -1.05056049e-01 -5.22552576e-02 1.53190136e+02] [ 1.04987756e-01 9.94465236e-01 -4.05779350e-03 1.15490631e+01] [ 5.23923328e-02 -1.45639814e-03 9.98625517e-01 7.05588938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.22, Y:11.55, Z:7.06 [[ 9.92791115e-01 -1.07836434e-01 -5.23173584e-02 1.53220204e+02] [ 1.07771827e-01 9.94167354e-01 -4.06270353e-03 1.15476690e+01] [ 5.24503172e-02 -1.60492134e-03 9.98622245e-01 7.05691204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.25, Y:11.55, Z:7.06 [[ 9.92395099e-01 -1.11328524e-01 -5.25159626e-02 1.53249327e+02] [ 1.11268251e-01 9.93782037e-01 -4.07915218e-03 1.15457445e+01] [ 5.26435463e-02 -1.79522865e-03 9.98611753e-01 7.05749873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.28, Y:11.54, Z:7.06 [[ 9.91900051e-01 -1.15035061e-01 -5.38630128e-02 1.53279688e+02] [ 1.14977008e-01 9.93359335e-01 -4.18564227e-03 1.15444078e+01] [ 5.39868221e-02 -2.04126928e-03 9.98539562e-01 7.05795392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:11.54, Z:7.06 [[ 9.91405595e-01 -1.18857991e-01 -5.46600733e-02 1.53309969e+02] [ 1.18803936e-01 9.92908643e-01 -4.24878243e-03 1.15436564e+01] [ 5.47774609e-02 -2.28156520e-03 9.98495981e-01 7.05860945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:11.53, Z:7.06 [[ 9.90535266e-01 -1.25195263e-01 -5.62675189e-02 1.53340425e+02] [ 1.25148115e-01 9.92128424e-01 -4.37477649e-03 1.15349836e+01] [ 5.63723062e-02 -2.70840354e-03 9.98406144e-01 7.05782940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:11.54, Z:7.06 [[ 9.90208248e-01 -1.27698838e-01 -5.63970920e-02 1.53370611e+02] [ 1.27655469e-01 9.91808876e-01 -4.38575115e-03 1.15416802e+01] [ 5.64951917e-02 -2.85659024e-03 9.98398785e-01 7.06022842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:11.54, Z:7.06 [[ 9.89886067e-01 -1.30405080e-01 -5.58577652e-02 1.53400504e+02] [ 1.30366817e-01 9.91456314e-01 -4.34396123e-03 1.15380800e+01] [ 5.59470086e-02 -2.98197237e-03 9.98429286e-01 7.06218629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:11.54, Z:7.06 [[ 9.89809395e-01 -1.31111281e-01 -5.55625218e-02 1.53430623e+02] [ 1.31074482e-01 9.91363103e-01 -4.32184068e-03 1.15415884e+01] [ 5.56492761e-02 -3.00503026e-03 9.98445856e-01 7.06393250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:11.55, Z:7.07 [[ 9.89977280e-01 -1.30340053e-01 -5.43732975e-02 1.53461183e+02] [ 1.30303657e-01 9.91465113e-01 -4.22920986e-03 1.15472051e+01] [ 5.44604630e-02 -2.89821782e-03 9.98511722e-01 7.06658603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:11.55, Z:7.07 [[ 9.90261316e-01 -1.28783192e-01 -5.28905995e-02 1.53491558e+02] [ 1.28746585e-01 9.91668997e-01 -4.11293366e-03 1.15496082e+01] [ 5.29796445e-02 -2.73660499e-03 9.98591843e-01 7.06854613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:11.55, Z:7.07 [[ 9.90401759e-01 -1.27888707e-01 -5.24293307e-02 1.53522786e+02] [ 1.27851541e-01 9.91784941e-01 -4.07602347e-03 1.15530538e+01] [ 5.25198980e-02 -2.66626989e-03 9.98616318e-01 7.07023055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:11.56, Z:7.07 [[ 9.90550861e-01 -1.26702218e-01 -5.24932391e-02 1.53553451e+02] [ 1.26663399e-01 9.91937369e-01 -4.07910716e-03 1.15559096e+01] [ 5.25868374e-02 -2.60840900e-03 9.98612948e-01 7.07121908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:11.56, Z:7.07 [[ 9.90663195e-01 -1.25861850e-01 -5.23949262e-02 1.53584156e+02] [ 1.25822102e-01 9.92044473e-01 -4.06960059e-03 1.15614699e+01] [ 5.24903044e-02 -2.56083625e-03 9.98618150e-01 7.07269422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.61, Y:11.56, Z:7.07 [[ 9.90667707e-01 -1.25826270e-01 -5.23950723e-02 1.53614913e+02] [ 1.25786572e-01 9.92048987e-01 -4.06771911e-03 1.15638278e+01] [ 5.24903043e-02 -2.56083858e-03 9.98618150e-01 7.07416139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.65, Y:11.57, Z:7.08 [[ 9.90733365e-01 -1.25322044e-01 -5.23620486e-02 1.53646030e+02] [ 1.25281793e-01 9.92112878e-01 -4.06326377e-03 1.15689655e+01] [ 5.24582793e-02 -2.53440037e-03 9.98619901e-01 7.07541702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:11.57, Z:7.08 [[ 9.90737944e-01 -1.25285782e-01 -5.23621970e-02 1.53676786e+02] [ 1.25245582e-01 9.92117458e-01 -4.06135086e-03 1.15713219e+01] [ 5.24582793e-02 -2.53439944e-03 9.98619901e-01 7.07688416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:11.57, Z:7.08 [[ 9.90816528e-01 -1.24779315e-01 -5.20838734e-02 1.53707591e+02] [ 1.24738937e-01 9.92181381e-01 -4.03794462e-03 1.15716303e+01] [ 5.21805014e-02 -2.49602476e-03 9.98634550e-01 7.07809786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:11.57, Z:7.08 [[ 9.90887178e-01 -1.24210367e-01 -5.20997678e-02 1.53738402e+02] [ 1.24169230e-01 9.92252838e-01 -4.03822919e-03 1.15721213e+01] [ 5.21977324e-02 -2.46775853e-03 9.98633720e-01 7.07922392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:11.58, Z:7.08 [[ 9.90989367e-01 -1.23326972e-01 -5.22545044e-02 1.53769126e+02] [ 1.23284419e-01 9.92363117e-01 -4.04921652e-03 1.15782717e+01] [ 5.23548205e-02 -2.42943572e-03 9.98625591e-01 7.08056908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:11.59, Z:7.08 [[ 9.91085414e-01 -1.22528535e-01 -5.23111795e-02 1.53800362e+02] [ 1.22484882e-01 9.92462109e-01 -4.05167335e-03 1.15867340e+01] [ 5.24133092e-02 -2.39177432e-03 9.98622614e-01 7.08225154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:11.59, Z:7.08 [[ 9.91212473e-01 -1.21463423e-01 -5.23876975e-02 1.53830660e+02] [ 1.21418302e-01 9.92593146e-01 -4.05488316e-03 1.15875642e+01] [ 5.24921894e-02 -2.34157448e-03 9.98618589e-01 7.08307561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:11.59, Z:7.08 [[ 9.91405004e-01 -1.20079063e-01 -5.19339560e-02 1.53861340e+02] [ 1.20032878e-01 9.92761783e-01 -4.01874065e-03 1.15929287e+01] [ 5.20406134e-02 -2.24958260e-03 9.98642435e-01 7.08482243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:11.60, Z:7.09 [[ 9.91608043e-01 -1.18738085e-01 -5.11346829e-02 1.53892537e+02] [ 1.18691625e-01 9.92923288e-01 -3.95504852e-03 1.16004124e+01] [ 5.12424323e-02 -2.14740066e-03 9.98683935e-01 7.08721923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:11.60, Z:7.09 [[ 9.91812001e-01 -1.17241291e-01 -5.06303625e-02 1.53923146e+02] [ 1.17193917e-01 9.93101339e-01 -3.91365009e-03 1.16045913e+01] [ 5.07399222e-02 -2.05196539e-03 9.98709793e-01 7.08894515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.95, Y:11.61, Z:7.09 [[ 9.92026114e-01 -1.15597412e-01 -5.02138205e-02 1.53953803e+02] [ 1.15548804e-01 9.93294227e-01 -3.87963275e-03 1.16095624e+01] [ 5.03255735e-02 -1.95344992e-03 9.98730955e-01 7.09079766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:11.62, Z:7.09 [[ 9.92413622e-01 -1.11924107e-01 -5.08743322e-02 1.53983644e+02] [ 1.11869486e-01 9.93715141e-01 -3.92886095e-03 1.16158343e+01] [ 5.09943285e-02 -1.79223028e-03 9.98697335e-01 7.09242239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.01, Y:11.62, Z:7.09 [[ 9.92623100e-01 -1.09739604e-01 -5.15422133e-02 1.54014617e+02] [ 1.09680653e-01 9.93958912e-01 -3.97941783e-03 1.16211216e+01] [ 5.16675419e-02 -1.70312153e-03 9.98662888e-01 7.09343328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:11.63, Z:7.09 [[ 9.92857508e-01 -1.07585264e-01 -5.15691673e-02 1.54045741e+02] [ 1.07523443e-01 9.94194584e-01 -3.97967650e-03 1.16281134e+01] [ 5.16979413e-02 -1.59364272e-03 9.98661496e-01 7.09488861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:11.63, Z:7.10 [[ 9.93106752e-01 -1.05301034e-01 -5.14846638e-02 1.54075975e+02] [ 1.05236456e-01 9.94439299e-01 -3.97110373e-03 1.16323416e+01] [ 5.16165343e-02 -1.47433365e-03 9.98665890e-01 7.09653060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:11.64, Z:7.10 [[ 9.93632825e-01 -1.00466733e-01 -5.09925973e-02 1.54105901e+02] [ 1.00397221e-01 9.94939676e-01 -3.92929312e-03 1.16398664e+01] [ 5.11293215e-02 -1.21524042e-03 9.98691301e-01 7.09879876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:11.65, Z:7.10 [[ 9.93904313e-01 -9.80354375e-02 -5.04308333e-02 1.54136641e+02] [ 9.79643697e-02 9.95182339e-01 -3.88505286e-03 1.16462028e+01] [ 5.05687476e-02 -1.07905401e-03 9.98720000e-01 7.10086002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.17, Y:11.65, Z:7.10 [[ 9.94165045e-01 -9.54567098e-02 -5.02382323e-02 1.54167451e+02] [ 9.53829840e-02 9.95433133e-01 -3.86843112e-03 1.16517633e+01] [ 5.03780687e-02 -9.46013515e-04 9.98729771e-01 7.10246445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.20, Y:11.66, Z:7.10 [[ 9.94586643e-01 -9.08534673e-02 -5.04287367e-02 1.54197350e+02] [ 9.07733564e-02 9.95864013e-01 -3.88133395e-03 1.16583677e+01] [ 5.05727967e-02 -7.17262779e-04 9.98720120e-01 7.10344429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.23, Y:11.66, Z:7.10 [[ 9.94772996e-01 -8.88261724e-02 -5.03646391e-02 1.54226409e+02] [ 8.87437084e-02 9.96046954e-01 -3.87560902e-03 1.16617812e+01] [ 5.05098008e-02 -6.14193652e-04 9.98723377e-01 7.10458121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.26, Y:11.67, Z:7.11 [[ 9.94960808e-01 -8.68957519e-02 -5.00211783e-02 1.54256571e+02] [ 8.68119294e-02 9.96217279e-01 -3.85001157e-03 1.16659211e+01] [ 5.01665118e-02 -5.11824379e-04 9.98740737e-01 7.10549767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.29, Y:11.67, Z:7.11 [[ 9.95134902e-01 -8.49521061e-02 -4.98965570e-02 1.54287328e+02] [ 8.48662611e-02 9.96384950e-01 -3.84037591e-03 1.16696732e+01] [ 5.00424265e-02 -4.12842135e-04 9.98747008e-01 7.10651364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.32, Y:11.67, Z:7.11 [[ 9.95250114e-01 -8.35377379e-02 -4.99865690e-02 1.54317534e+02] [ 8.34498415e-02 9.96504555e-01 -3.84647554e-03 1.16733150e+01] [ 5.01331696e-02 -3.43166045e-04 9.98742483e-01 7.10776313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.35, Y:11.68, Z:7.11 [[ 9.95379882e-01 -8.21200292e-02 -4.97512899e-02 1.54346781e+02] [ 8.20311867e-02 9.96622410e-01 -3.82841146e-03 1.16771440e+01] [ 4.98976397e-02 -2.70433606e-04 9.98754300e-01 7.10904203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.38, Y:11.68, Z:7.11 [[ 9.95636544e-01 -7.92232040e-02 -4.93108201e-02 1.54376998e+02] [ 7.91323371e-02 9.96856895e-01 -3.79532395e-03 1.16823550e+01] [ 4.94565087e-02 -1.23317213e-04 9.98776271e-01 7.11088426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.41, Y:11.69, Z:7.11 [[ 9.95736505e-01 -7.80724093e-02 -4.91275016e-02 1.54406360e+02] [ 7.79808142e-02 9.96947689e-01 -3.78127615e-03 1.16853221e+01] [ 4.92727626e-02 -6.58478795e-05 9.98785358e-01 7.11239479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.44, Y:11.69, Z:7.11 [[ 9.95733762e-01 -7.81074760e-02 -4.91273685e-02 1.54435391e+02] [ 7.80158382e-02 9.96944942e-01 -3.78300485e-03 1.16875873e+01] [ 4.92727625e-02 -6.58471874e-05 9.98785358e-01 7.11378080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.47, Y:11.69, Z:7.12 [[ 9.95847500e-01 -7.67114420e-02 -4.90215452e-02 1.54465231e+02] [ 7.66184230e-02 9.97053336e-01 -3.77658714e-03 1.16894386e+01] [ 4.91668026e-02 4.95137534e-06 9.98790581e-01 7.11513034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.49, Y:11.69, Z:7.12 [[ 9.95835129e-01 -7.67093223e-02 -4.92755137e-02 1.54493552e+02] [ 7.66152452e-02 9.97053499e-01 -3.79794388e-03 1.16907177e+01] [ 4.94216610e-02 6.87037093e-06 9.98778003e-01 7.11624199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.52, Y:11.69, Z:7.12 [[ 9.95765389e-01 -7.73402295e-02 -4.96968750e-02 1.54522108e+02] [ 7.72451666e-02 9.97004758e-01 -3.83350992e-03 1.16918038e+01] [ 4.98445054e-02 -2.15668951e-05 9.98756990e-01 7.11718592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.55, Y:11.69, Z:7.12 [[ 9.95663121e-01 -7.81752651e-02 -5.04338982e-02 1.54551386e+02] [ 7.80778310e-02 9.96939630e-01 -3.90219668e-03 1.16925962e+01] [ 5.05846070e-02 -5.24960588e-05 9.98719778e-01 7.11857806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.58, Y:11.69, Z:7.12 [[ 9.95522923e-01 -7.95680954e-02 -5.10198849e-02 1.54580624e+02] [ 7.94701153e-02 9.96829425e-01 -3.94938785e-03 1.16934275e+01] [ 5.11723678e-02 -1.22849994e-04 9.98689829e-01 7.11976308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.61, Y:11.69, Z:7.12 [[ 9.95343968e-01 -8.14690598e-02 -5.15090002e-02 1.54609464e+02] [ 8.13716341e-02 9.96675847e-01 -3.98918503e-03 1.16937110e+01] [ 5.16627716e-02 -2.20760258e-04 9.98664563e-01 7.12052182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.64, Y:11.69, Z:7.12 [[ 9.95140551e-01 -8.36071035e-02 -5.20109292e-02 1.54638718e+02] [ 8.35105443e-02 9.96498742e-01 -4.03077620e-03 1.16937520e+01] [ 5.21658270e-02 -3.32272158e-04 9.98638381e-01 7.12196802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.67, Y:11.69, Z:7.12 [[ 9.94689901e-01 -8.87953643e-02 -5.20325244e-02 1.54667985e+02] [ 8.87057090e-02 9.96049708e-01 -4.03447245e-03 1.16889884e+01] [ 5.21852231e-02 -6.02532959e-04 9.98637241e-01 7.12322538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.70, Y:11.69, Z:7.13 [[ 9.94455831e-01 -9.16228169e-02 -5.16028945e-02 1.54697161e+02] [ 9.15382486e-02 9.95793508e-01 -4.00483558e-03 1.16889137e+01] [ 5.17527616e-02 -7.41006488e-04 9.98659653e-01 7.12505215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.73, Y:11.69, Z:7.13 [[ 9.94202082e-01 -9.46258570e-02 -5.10702221e-02 1.54727304e+02] [ 9.45468518e-02 9.95512513e-01 -3.96606408e-03 1.16880491e+01] [ 5.12163373e-02 -8.85459560e-04 9.98687190e-01 7.12693927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.76, Y:11.69, Z:7.13 [[ 9.93943141e-01 -9.75140521e-02 -5.06758565e-02 1.54757332e+02] [ 9.74399838e-02 9.95233620e-01 -3.93598819e-03 1.16867769e+01] [ 5.08181302e-02 -1.02570617e-03 9.98707397e-01 7.12889104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.79, Y:11.69, Z:7.13 [[ 9.93683604e-01 -1.00364555e-01 -5.01981190e-02 1.54788787e+02] [ 1.00295724e-01 9.94950049e-01 -3.89460835e-03 1.16866735e+01] [ 5.03355016e-02 -1.16464824e-03 9.98731686e-01 7.13083741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.82, Y:11.69, Z:7.13 [[ 9.93407205e-01 -1.02975711e-01 -5.03798322e-02 1.54819617e+02] [ 1.02909823e-01 9.94683017e-01 -3.90694774e-03 1.16863499e+01] [ 5.05142842e-02 -1.30338957e-03 9.98722488e-01 7.13264541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.85, Y:11.68, Z:7.13 [[ 9.92926813e-01 -1.07687845e-01 -4.99967265e-02 1.54850660e+02] [ 1.07628962e-01 9.94183575e-01 -3.87634730e-03 1.16835319e+01] [ 5.01233597e-02 -1.53216659e-03 9.98741859e-01 7.13443707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.88, Y:11.68, Z:7.14 [[ 9.92728270e-01 -1.09534266e-01 -4.99282173e-02 1.54881577e+02] [ 1.09477920e-01 9.93981694e-01 -3.87014430e-03 1.16819426e+01] [ 5.00516474e-02 -1.62403571e-03 9.98745310e-01 7.13540904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.91, Y:11.68, Z:7.14 [[ 9.92487248e-01 -1.11378976e-01 -5.06338456e-02 1.54912028e+02] [ 1.11323473e-01 9.93776478e-01 -3.92385097e-03 1.16808572e+01] [ 5.07557592e-02 -1.74236346e-03 9.98709576e-01 7.13591167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.94, Y:11.68, Z:7.14 [[ 9.92033846e-01 -1.15054380e-01 -5.12965710e-02 1.54942769e+02] [ 1.15002420e-01 9.93357266e-01 -3.97318454e-03 1.16784586e+01] [ 5.14129538e-02 -1.95769628e-03 9.98675561e-01 7.13636836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.97, Y:11.68, Z:7.14 [[ 9.91831809e-01 -1.16785406e-01 -5.12916390e-02 1.54973467e+02] [ 1.16735770e-01 9.93155062e-01 -3.97273264e-03 1.16801743e+01] [ 5.14045081e-02 -2.04728636e-03 9.98675816e-01 7.13758193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.00, Y:11.68, Z:7.14 [[ 9.91835950e-01 -1.16750194e-01 -5.12917149e-02 1.55004213e+02] [ 1.16700561e-01 9.93159204e-01 -3.97175202e-03 1.16825252e+01] [ 5.14045416e-02 -2.04644548e-03 9.98675816e-01 7.13904875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.04, Y:11.68, Z:7.14 [[ 9.91606639e-01 -1.18675546e-01 -5.13068128e-02 1.55035107e+02] [ 1.18628545e-01 9.92930762e-01 -3.97115741e-03 1.16845229e+01] [ 5.14153920e-02 -2.14862648e-03 9.98675043e-01 7.14081318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.07, Y:11.69, Z:7.14 [[ 9.91433365e-01 -1.19986882e-01 -5.16045640e-02 1.55066537e+02] [ 1.19941159e-01 9.92772971e-01 -3.99318298e-03 1.16861157e+01] [ 5.17107460e-02 -2.23053640e-03 9.98659613e-01 7.14218047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.10, Y:11.68, Z:7.14 [[ 9.91089508e-01 -1.22502304e-01 -5.22950535e-02 1.55096415e+02] [ 1.22458934e-01 9.92465339e-01 -4.04485598e-03 1.16847370e+01] [ 5.23965321e-02 -2.39518217e-03 9.98623486e-01 7.14266774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.13, Y:11.68, Z:7.14 [[ 9.90999927e-01 -1.23125116e-01 -5.25295111e-02 1.55126404e+02] [ 1.23082229e-01 9.92388158e-01 -4.06299054e-03 1.16840934e+01] [ 5.26299210e-02 -2.43902600e-03 9.98611107e-01 7.14361754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.16, Y:11.69, Z:7.15 [[ 9.90926291e-01 -1.23538883e-01 -5.29455409e-02 1.55158141e+02] [ 1.23495926e-01 9.92336631e-01 -4.09475583e-03 1.16906212e+01] [ 5.30456612e-02 -2.48095742e-03 9.98589006e-01 7.14578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:11.69, Z:7.15 [[ 9.90936645e-01 -1.23441080e-01 -5.29798548e-02 1.55188547e+02] [ 1.23398134e-01 9.92348801e-01 -4.09352735e-03 1.16884767e+01] [ 5.30798049e-02 -2.48118899e-03 9.98587191e-01 7.14643744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.22, Y:11.70, Z:7.15 [[ 9.91061067e-01 -1.22421955e-01 -5.30172263e-02 1.55219050e+02] [ 1.22377668e-01 9.92475165e-01 -4.09315293e-03 1.16959374e+01] [ 5.31193721e-02 -2.43156000e-03 9.98585209e-01 7.14892803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.25, Y:11.70, Z:7.15 [[ 9.91165990e-01 -1.21641019e-01 -5.28530350e-02 1.55249357e+02] [ 1.21595995e-01 9.92571296e-01 -4.07863860e-03 1.16970233e+01] [ 5.29565352e-02 -2.38410954e-03 9.98593972e-01 7.15070203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.28, Y:11.70, Z:7.15 [[ 9.91170316e-01 -1.21605731e-01 -5.28531163e-02 1.55280110e+02] [ 1.21560714e-01 9.92575622e-01 -4.07758419e-03 1.16993661e+01] [ 5.29565725e-02 -2.38328213e-03 9.98593972e-01 7.15216918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.31, Y:11.70, Z:7.15 [[ 9.91489257e-01 -1.19347733e-01 -5.20112606e-02 1.55309345e+02] [ 1.19301120e-01 9.92850016e-01 -4.01104841e-03 1.17025639e+01] [ 5.21180905e-02 -2.22809023e-03 9.98638443e-01 7.15434196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.34, Y:11.71, Z:7.16 [[ 9.91586875e-01 -1.18337866e-01 -5.24558676e-02 1.55340080e+02] [ 1.18289008e-01 9.92970967e-01 -4.04600517e-03 1.17073156e+01] [ 5.25659492e-02 -2.19298694e-03 9.98615047e-01 7.15607768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.37, Y:11.71, Z:7.16 [[ 9.91717978e-01 -1.16915008e-01 -5.31632661e-02 1.55370907e+02] [ 1.16862887e-01 9.93139601e-01 -4.09865654e-03 1.17126863e+01] [ 5.32777393e-02 -2.14810138e-03 9.98577422e-01 7.15728818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:11.72, Z:7.16 [[ 9.91788516e-01 -1.16080567e-01 -5.36734794e-02 1.55401663e+02] [ 1.16026328e-01 9.93237527e-01 -4.13604888e-03 1.17188434e+01] [ 5.37906288e-02 -2.12545093e-03 9.98549974e-01 7.15896491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.43, Y:11.72, Z:7.16 [[ 9.91878653e-01 -1.15381890e-01 -5.35140811e-02 1.55432008e+02] [ 1.15327057e-01 9.93319022e-01 -4.12190745e-03 1.17186931e+01] [ 5.36321482e-02 -2.08318946e-03 9.98558588e-01 7.15973696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.46, Y:11.72, Z:7.16 [[ 9.91960236e-01 -1.14546599e-01 -5.37956038e-02 1.55462136e+02] [ 1.14490010e-01 9.93415762e-01 -4.14271869e-03 1.17231792e+01] [ 5.39159351e-02 -2.04964699e-03 9.98543375e-01 7.16162821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.49, Y:11.73, Z:7.16 [[ 9.92043720e-01 -1.13590044e-01 -5.42822179e-02 1.55491911e+02] [ 1.13530998e-01 9.93525661e-01 -4.18019211e-03 1.17281665e+01] [ 5.44056046e-02 -2.01578102e-03 9.98516884e-01 7.16316550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.52, Y:11.73, Z:7.16 [[ 9.92134402e-01 -1.12634445e-01 -5.46151078e-02 1.55522185e+02] [ 1.12573228e-01 9.93634530e-01 -4.20582746e-03 1.17318730e+01] [ 5.47411780e-02 -1.97545285e-03 9.98498623e-01 7.16427344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.55, Y:11.74, Z:7.17 [[ 9.92336064e-01 -1.10417153e-01 -5.54724133e-02 1.55551546e+02] [ 1.10350549e-01 9.93883549e-01 -4.27170310e-03 1.17357622e+01] [ 5.56047883e-02 -1.88244624e-03 9.98451082e-01 7.16524179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.58, Y:11.74, Z:7.17 [[ 9.92336065e-01 -1.10417113e-01 -5.54724780e-02 1.55581441e+02] [ 1.10350556e-01 9.93883552e-01 -4.27086376e-03 1.17380635e+01] [ 5.56047599e-02 -1.88328667e-03 9.98451082e-01 7.16666811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.61, Y:11.74, Z:7.17 [[ 9.92454716e-01 -1.09419844e-01 -5.53257164e-02 1.55611202e+02] [ 1.09352092e-01 9.93993952e-01 -4.25956449e-03 1.17435682e+01] [ 5.54595084e-02 -1.82255800e-03 9.98459274e-01 7.16861955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.64, Y:11.75, Z:7.17 [[ 9.92626148e-01 -1.08021849e-01 -5.49964571e-02 1.55640809e+02] [ 1.07952751e-01 9.94147008e-01 -4.23435170e-03 1.17462222e+01] [ 5.51319658e-02 -1.73389061e-03 9.98477571e-01 7.16998942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.67, Y:11.75, Z:7.17 [[ 9.92758964e-01 -1.06670630e-01 -5.52359949e-02 1.55670649e+02] [ 1.06598794e-01 9.94293017e-01 -4.25365140e-03 1.17508033e+01] [ 5.53745037e-02 -1.66523986e-03 9.98464266e-01 7.17178856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.70, Y:11.75, Z:7.17 [[ 9.92925435e-01 -1.05047654e-01 -5.53540499e-02 1.55700897e+02] [ 1.04972992e-01 9.94465937e-01 -4.26274267e-03 1.17543208e+01] [ 5.54955082e-02 -1.57809460e-03 9.98457690e-01 7.17288465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.73, Y:11.76, Z:7.17 [[ 9.93075227e-01 -1.03135790e-01 -5.62548048e-02 1.55731573e+02] [ 1.03055625e-01 9.94666161e-01 -4.33194664e-03 1.17592547e+01] [ 5.64015295e-02 -1.49542515e-03 9.98407047e-01 7.17435642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.76, Y:11.76, Z:7.17 [[ 9.93515253e-01 -9.87332058e-02 -5.63843540e-02 1.55760457e+02] [ 9.86456180e-02 9.95113157e-01 -4.34138117e-03 1.17637045e+01] [ 5.65374510e-02 -1.24884104e-03 9.98399698e-01 7.17424302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.79, Y:11.77, Z:7.18 [[ 9.93491088e-01 -9.89762384e-02 -5.63840529e-02 1.55788589e+02] [ 9.88888199e-02 9.95089001e-01 -4.34528660e-03 1.17659145e+01] [ 5.65372310e-02 -1.25874894e-03 9.98399698e-01 7.17558616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.82, Y:11.77, Z:7.18 [[ 9.93730026e-01 -9.61964917e-02 -5.69813203e-02 1.55818182e+02] [ 9.61019511e-02 9.95361756e-01 -4.40345212e-03 1.17718197e+01] [ 5.71406236e-02 -1.10017346e-03 9.98365534e-01 7.17759453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.85, Y:11.78, Z:7.18 [[ 9.94328521e-01 -8.97253247e-02 -5.70977908e-02 1.55846149e+02] [ 8.96196036e-02 9.95966283e-01 -4.41470888e-03 1.17785463e+01] [ 5.72635857e-02 -7.27410429e-04 9.98358830e-01 7.17892185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.87, Y:11.78, Z:7.18 [[ 9.94657577e-01 -8.60783914e-02 -5.69808309e-02 1.55874090e+02] [ 8.59668384e-02 9.96288236e-01 -4.41063231e-03 1.17831306e+01] [ 5.71489917e-02 -5.11393039e-04 9.98365530e-01 7.18018603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.90, Y:11.79, Z:7.18 [[ 9.94942828e-01 -8.26292107e-02 -5.71067573e-02 1.55902962e+02] [ 8.25106747e-02 9.96580315e-01 -4.43451392e-03 1.17880494e+01] [ 5.72778905e-02 -2.99829255e-04 9.98358229e-01 7.18159786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.93, Y:11.79, Z:7.18 [[ 9.95191290e-01 -7.94039086e-02 -5.73525485e-02 1.55930965e+02] [ 7.92782006e-02 9.96842520e-01 -4.46741472e-03 1.17927178e+01] [ 5.75261892e-02 -1.00874626e-04 9.98343993e-01 7.18301076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.96, Y:11.80, Z:7.18 [[ 9.95443583e-01 -7.63972085e-02 -5.70573312e-02 1.55958210e+02] [ 7.62669280e-02 9.97077459e-01 -4.46060806e-03 1.17970268e+01] [ 5.72313568e-02 8.86962958e-05 9.98360939e-01 7.18459002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.99, Y:11.80, Z:7.19 [[ 9.95657659e-01 -7.36760247e-02 -5.69005279e-02 1.55985940e+02] [ 7.35411959e-02 9.97282195e-01 -4.46274773e-03 1.18014231e+01] [ 5.70746809e-02 2.58836093e-04 9.98369878e-01 7.18575996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.01, Y:11.81, Z:7.19 [[ 9.95976808e-01 -6.95394201e-02 -5.65196124e-02 1.56013941e+02] [ 6.93994531e-02 9.97579080e-01 -4.43783922e-03 1.18057767e+01] [ 5.66913878e-02 4.97554750e-04 9.98391626e-01 7.18723351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.04, Y:11.81, Z:7.19 [[ 9.96045672e-01 -6.84628305e-02 -5.66203164e-02 1.56042072e+02] [ 6.83203449e-02 9.97653508e-01 -4.45068433e-03 1.18083998e+01] [ 5.67921638e-02 5.64765314e-04 9.98385863e-01 7.18830642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.07, Y:11.81, Z:7.19 [[ 9.96036930e-01 -6.82565601e-02 -5.70217150e-02 1.56070530e+02] [ 6.81113306e-02 9.97667629e-01 -4.48881416e-03 1.18090612e+01] [ 5.71951102e-02 5.87199795e-04 9.98362847e-01 7.19034193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.10, Y:11.81, Z:7.19 [[ 9.96030517e-01 -6.85480399e-02 -5.67835764e-02 1.56097514e+02] [ 6.84037442e-02 9.97647647e-01 -4.48323182e-03 1.18113318e+01] [ 5.69573181e-02 5.81226472e-04 9.98376445e-01 7.19065958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.13, Y:11.81, Z:7.19 [[ 9.95998942e-01 -6.94366132e-02 -5.62553520e-02 1.56125583e+02] [ 6.92959304e-02 9.97586223e-01 -4.44998387e-03 1.18112321e+01] [ 5.64285559e-02 5.33912272e-04 9.98406497e-01 7.19320663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.15, Y:11.81, Z:7.19 [[ 9.95913559e-01 -7.10143155e-02 -5.57956029e-02 1.56154226e+02] [ 7.08775226e-02 9.97475192e-01 -4.42924148e-03 1.18114054e+01] [ 5.59692693e-02 4.56487540e-04 9.98432388e-01 7.19478665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.18, Y:11.81, Z:7.20 [[ 9.95744627e-01 -7.30562137e-02 -5.61731847e-02 1.56182168e+02] [ 7.29199912e-02 9.97327760e-01 -4.47367402e-03 1.18111697e+01] [ 5.63499062e-02 3.58488736e-04 9.98411017e-01 7.19586249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.21, Y:11.81, Z:7.20 [[ 9.95552697e-01 -7.57851056e-02 -5.59593214e-02 1.56210803e+02] [ 7.56533447e-02 9.97124150e-01 -4.47231425e-03 1.18103468e+01] [ 5.61373256e-02 2.18914678e-04 9.98423033e-01 7.19701220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.24, Y:11.81, Z:7.20 [[ 9.95156353e-01 -8.15172936e-02 -5.49432855e-02 1.56239830e+02] [ 8.13982493e-02 9.96671923e-01 -4.40477787e-03 1.18063344e+01] [ 5.51194956e-02 -8.88445684e-05 9.98479761e-01 7.19947463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.27, Y:11.80, Z:7.20 [[ 9.94932181e-01 -8.46973550e-02 -5.41877566e-02 1.56267364e+02] [ 8.45856019e-02 9.96406692e-01 -4.35659161e-03 1.18049522e+01] [ 5.43620351e-02 -2.48990821e-04 9.98521260e-01 7.20097334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.30, Y:11.80, Z:7.20 [[ 9.94679701e-01 -8.75384212e-02 -5.43076171e-02 1.56295493e+02] [ 8.74301385e-02 9.96161064e-01 -4.37107628e-03 1.18034897e+01] [ 5.44817708e-02 -4.00301645e-04 9.98514685e-01 7.20243349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.32, Y:11.80, Z:7.20 [[ 9.94363809e-01 -9.07870027e-02 -5.47570579e-02 1.56324290e+02] [ 9.06815082e-02 9.95870166e-01 -4.41326646e-03 1.18021511e+01] [ 5.49315876e-02 -5.77060151e-04 9.98489954e-01 7.20347853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.35, Y:11.80, Z:7.20 [[ 9.93786940e-01 -9.66125069e-02 -5.52588610e-02 1.56353823e+02] [ 9.65132985e-02 9.95321669e-01 -4.46744643e-03 1.17975095e+01] [ 5.54319529e-02 -8.93525027e-04 9.98462067e-01 7.20441003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.38, Y:11.80, Z:7.21 [[ 9.93491339e-01 -9.93855223e-02 -5.56549762e-02 1.56382220e+02] [ 9.92885188e-02 9.95048456e-01 -4.51221022e-03 1.17964734e+01] [ 5.58278465e-02 -1.04305838e-03 9.98439865e-01 7.20561277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.41, Y:11.80, Z:7.21 [[ 9.93250776e-01 -1.01681594e-01 -5.58009714e-02 1.56409851e+02] [ 1.01587416e-01 9.94816307e-01 -4.52909547e-03 1.17950838e+01] [ 5.59722419e-02 -1.17014892e-03 9.98431640e-01 7.20651281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.44, Y:11.79, Z:7.21 [[ 9.93006259e-01 -1.04099519e-01 -5.56943451e-02 1.56438988e+02] [ 1.04009144e-01 9.94566039e-01 -4.52676673e-03 1.17945477e+01] [ 5.58629384e-02 -1.29761347e-03 9.98437604e-01 7.20833995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.47, Y:11.79, Z:7.21 [[ 9.92827149e-01 -1.05880970e-01 -5.55290199e-02 1.56467729e+02] [ 1.05793140e-01 9.94377854e-01 -4.52718463e-03 1.17939539e+01] [ 5.56961703e-02 -1.37987755e-03 9.98446810e-01 7.21001954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.50, Y:11.79, Z:7.21 [[ 9.92564502e-01 -1.08168396e-01 -5.58149412e-02 1.56495401e+02] [ 1.08082533e-01 9.94131450e-01 -4.56362226e-03 1.17912717e+01] [ 5.59810281e-02 -1.50293079e-03 9.98430701e-01 7.21120786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.52, Y:11.79, Z:7.21 [[ 9.92506613e-01 -1.08725387e-01 -5.57621105e-02 1.56524196e+02] [ 1.08640038e-01 9.94070656e-01 -4.56870994e-03 1.17943675e+01] [ 5.59282125e-02 -1.52352298e-03 9.98433630e-01 7.21307436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.55, Y:11.79, Z:7.21 [[ 9.92456700e-01 -1.09193515e-01 -5.57357600e-02 1.56552095e+02] [ 1.09108247e-01 9.94019324e-01 -4.57969912e-03 1.17948908e+01] [ 5.59024960e-02 -1.53607800e-03 9.98435051e-01 7.21440015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.58, Y:11.80, Z:7.22 [[ 9.92457490e-01 -1.09363855e-01 -5.53866212e-02 1.56580620e+02] [ 1.09279449e-01 9.94000610e-01 -4.55942907e-03 1.17964617e+01] [ 5.55529720e-02 -1.52757992e-03 9.98454573e-01 7.21584435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.61, Y:11.80, Z:7.22 [[ 9.92465274e-01 -1.09241798e-01 -5.54879141e-02 1.56609487e+02] [ 1.09156107e-01 9.94014060e-01 -4.58186606e-03 1.17983062e+01] [ 5.56562980e-02 -1.50950171e-03 9.98448846e-01 7.21761069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.64, Y:11.80, Z:7.22 [[ 9.92450888e-01 -1.09305871e-01 -5.56189007e-02 1.56638376e+02] [ 1.09219078e-01 9.94007027e-01 -4.60693274e-03 1.18005324e+01] [ 5.57891429e-02 -1.50249058e-03 9.98441442e-01 7.21870969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.67, Y:11.80, Z:7.22 [[ 9.92423690e-01 -1.09172364e-01 -5.63614548e-02 1.56666780e+02] [ 1.09082281e-01 9.94021700e-01 -4.68154241e-03 1.18006370e+01] [ 5.65356041e-02 -1.50196245e-03 9.98399454e-01 7.21885008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.69, Y:11.80, Z:7.22 [[ 9.92421792e-01 -1.09089946e-01 -5.65541299e-02 1.56693907e+02] [ 1.08998717e-01 9.94030758e-01 -4.70452197e-03 1.18048010e+01] [ 5.67297606e-02 -1.49545744e-03 9.98388450e-01 7.22059376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.72, Y:11.81, Z:7.22 [[ 9.92423838e-01 -1.08924104e-01 -5.68371740e-02 1.56722014e+02] [ 1.08830848e-01 9.94048969e-01 -4.74276565e-03 1.18062668e+01] [ 5.70155357e-02 -1.47880417e-03 9.98372196e-01 7.22120765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.75, Y:11.81, Z:7.22 [[ 9.92422915e-01 -1.08954719e-01 -5.67946035e-02 1.56748964e+02] [ 1.08861300e-01 9.94045622e-01 -4.74539223e-03 1.18081559e+01] [ 5.69734598e-02 -1.47329836e-03 9.98374606e-01 7.22198123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.78, Y:11.81, Z:7.22 [[ 9.92396940e-01 -1.08969160e-01 -5.72191821e-02 1.56776380e+02] [ 1.08873646e-01 9.94044040e-01 -4.79334588e-03 1.18113395e+01] [ 5.74007138e-02 -1.47275918e-03 9.98350133e-01 7.22327692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.80, Y:11.82, Z:7.22 [[ 9.92389378e-01 -1.08952045e-01 -5.73826983e-02 1.56804213e+02] [ 1.08855018e-01 9.94045935e-01 -4.82329677e-03 1.18158629e+01] [ 5.75665460e-02 -1.45980617e-03 9.98340604e-01 7.22482225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.83, Y:11.82, Z:7.23 [[ 9.92457403e-01 -1.08022867e-01 -5.79600212e-02 1.56832156e+02] [ 1.07921338e-01 9.94147419e-01 -4.88826812e-03 1.18203137e+01] [ 5.81488502e-02 -1.40372514e-03 9.98306937e-01 7.22575136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.86, Y:11.82, Z:7.23 [[ 9.92506655e-01 -1.07500369e-01 -5.80879551e-02 1.56860465e+02] [ 1.07396650e-01 9.94204112e-01 -4.91357924e-03 1.18239903e+01] [ 5.82794954e-02 -1.36169166e-03 9.98299377e-01 7.22735351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.89, Y:11.83, Z:7.23 [[ 9.92600058e-01 -1.06761409e-01 -5.78543483e-02 1.56889320e+02] [ 1.06656445e-01 9.94283820e-01 -4.90798682e-03 1.18289431e+01] [ 5.80476260e-02 -1.29887110e-03 9.98312970e-01 7.22938571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.92, Y:11.83, Z:7.23 [[ 9.92734276e-01 -1.05686015e-01 -5.75249782e-02 1.56917139e+02] [ 1.05579749e-01 9.94398806e-01 -4.89198749e-03 1.18312936e+01] [ 5.77197842e-02 -1.21702908e-03 9.98332082e-01 7.23019257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.95, Y:11.84, Z:7.23 [[ 9.92900168e-01 -1.04513182e-01 -5.68000969e-02 1.56945821e+02] [ 1.04407295e-01 9.94522862e-01 -4.83674676e-03 1.18378773e+01] [ 5.69944987e-02 -1.12793780e-03 9.98373855e-01 7.23333099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.97, Y:11.84, Z:7.24 [[ 9.93055591e-01 -1.03153263e-01 -5.65685149e-02 1.56974362e+02] [ 1.03045267e-01 9.94664938e-01 -4.83052321e-03 1.18427931e+01] [ 5.67650026e-02 -1.03213964e-03 9.98387034e-01 7.23528770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.00, Y:11.85, Z:7.24 [[ 9.93446674e-01 -9.99607581e-02 -5.54215924e-02 1.57002046e+02] [ 9.98513573e-02 9.94991044e-01 -4.74652902e-03 1.18493208e+01] [ 5.56184547e-02 -8.18497762e-04 9.98451760e-01 7.23722988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.03, Y:11.85, Z:7.24 [[ 9.93604185e-01 -9.84619882e-02 -5.52807336e-02 1.57030799e+02] [ 9.83500490e-02 9.95140553e-01 -4.74843538e-03 1.18539684e+01] [ 5.54796402e-02 -7.18797591e-04 9.98459560e-01 7.23904571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.06, Y:11.86, Z:7.24 [[ 9.93776574e-01 -9.70594228e-02 -5.46588523e-02 1.57059584e+02] [ 9.69471340e-02 9.95278395e-01 -4.70840199e-03 1.18583100e+01] [ 5.48577696e-02 -6.19919489e-04 9.98493986e-01 7.24073902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.09, Y:11.86, Z:7.24 [[ 9.93912020e-01 -9.58349342e-02 -5.43558873e-02 1.57088387e+02] [ 9.57213252e-02 9.95397096e-01 -4.69571118e-03 1.18629197e+01] [ 5.45557055e-02 -5.35893780e-04 9.98510585e-01 7.24295504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.12, Y:11.87, Z:7.24 [[ 9.94190904e-01 -9.34410338e-02 -5.34155402e-02 1.57116324e+02] [ 9.33272113e-02 9.95624741e-01 -4.62675222e-03 1.18669356e+01] [ 5.36141618e-02 -3.85248433e-04 9.98561652e-01 7.24484394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.14, Y:11.87, Z:7.25 [[ 9.94229975e-01 -9.30352809e-02 -5.33965746e-02 1.57144673e+02] [ 9.29207337e-02 9.95662748e-01 -4.62922386e-03 1.18703288e+01] [ 5.35956614e-02 -3.59135777e-04 9.98562655e-01 7.24643666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.17, Y:11.87, Z:7.25 [[ 9.94254890e-01 -9.25999815e-02 -5.36885133e-02 1.57173062e+02] [ 9.24828672e-02 9.95703338e-01 -4.66706287e-03 1.18737147e+01] [ 5.38900019e-02 -3.25017569e-04 9.98546825e-01 7.24809769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.20, Y:11.88, Z:7.25 [[ 9.94217318e-01 -9.32110421e-02 -5.33256539e-02 1.57201127e+02] [ 9.30961769e-02 9.95646312e-01 -4.63939810e-03 1.18756411e+01] [ 5.35259337e-02 -3.51844570e-04 9.98566398e-01 7.24924062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.23, Y:11.88, Z:7.25 [[ 9.94099276e-01 -9.43173585e-02 -5.35804482e-02 1.57229386e+02] [ 9.42025705e-02 9.95542099e-01 -4.66950039e-03 1.18775405e+01] [ 5.37820068e-02 -4.05468985e-04 9.98552618e-01 7.25076068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.26, Y:11.88, Z:7.25 [[ 9.93992262e-01 -9.53273117e-02 -5.37781204e-02 1.57257810e+02] [ 9.52124684e-02 9.95445881e-01 -4.69936276e-03 1.18782913e+01] [ 5.39811861e-02 -4.49217376e-04 9.98541852e-01 7.25123648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.29, Y:11.88, Z:7.25 [[ 9.93844744e-01 -9.69306008e-02 -5.36384424e-02 1.57285796e+02] [ 9.68184902e-02 9.95291001e-01 -4.69079807e-03 1.18785790e+01] [ 5.38405409e-02 -5.31267995e-04 9.98549405e-01 7.25177764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.31, Y:11.88, Z:7.25 [[ 9.93654870e-01 -9.86894368e-02 -5.39480622e-02 1.57314040e+02] [ 9.85782946e-02 9.95118086e-01 -4.72381907e-03 1.18799307e+01] [ 5.41508835e-02 -6.24262143e-04 9.98532569e-01 7.25321728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.34, Y:11.88, Z:7.25 [[ 9.93452690e-01 -1.00683572e-01 -5.39867638e-02 1.57343059e+02] [ 1.00574467e-01 9.94918238e-01 -4.74093419e-03 1.18809539e+01] [ 5.41897501e-02 -7.19796154e-04 9.98530397e-01 7.25432126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.37, Y:11.88, Z:7.26 [[ 9.93261007e-01 -1.02664272e-01 -5.37830699e-02 1.57372875e+02] [ 1.02558228e-01 9.94715732e-01 -4.73526192e-03 1.18818317e+01] [ 5.39850079e-02 -8.12545337e-04 9.98541416e-01 7.25571861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.40, Y:11.88, Z:7.26 [[ 9.93257310e-01 -1.02700126e-01 -5.37828991e-02 1.57401885e+02] [ 1.02594030e-01 9.94712031e-01 -4.73720051e-03 1.18844158e+01] [ 5.39850079e-02 -8.12545337e-04 9.98541416e-01 7.25710481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.43, Y:11.89, Z:7.26 [[ 9.93068943e-01 -1.04590664e-01 -5.36177891e-02 1.57431532e+02] [ 1.04487866e-01 9.94514939e-01 -4.72459955e-03 1.18850763e+01] [ 5.38178413e-02 -9.10555303e-04 9.98550355e-01 7.25845197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.46, Y:11.88, Z:7.26 [[ 9.92639159e-01 -1.08976982e-01 -5.28348218e-02 1.57461285e+02] [ 1.08883269e-01 9.94043632e-01 -4.65749735e-03 1.18828622e+01] [ 5.30276781e-02 -1.12961386e-03 9.98592404e-01 7.26002417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.49, Y:11.88, Z:7.26 [[ 9.92363633e-01 -1.11608537e-01 -5.25162257e-02 1.57491781e+02] [ 1.11519541e-01 9.93751450e-01 -4.63111378e-03 1.18832875e+01] [ 5.27049473e-02 -1.26083650e-03 9.98609332e-01 7.26147615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.52, Y:11.88, Z:7.26 [[ 9.92095599e-01 -1.14354339e-01 -5.16663196e-02 1.57521398e+02] [ 1.14271914e-01 9.93439062e-01 -4.55624366e-03 1.18805243e+01] [ 5.18483663e-02 -1.38377995e-03 9.98654010e-01 7.26241061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.55, Y:11.88, Z:7.26 [[ 9.91810637e-01 -1.16787508e-01 -5.16946732e-02 1.57551491e+02] [ 1.16708248e-01 9.93155776e-01 -4.55960195e-03 1.18829039e+01] [ 5.18733678e-02 -1.51093300e-03 9.98652528e-01 7.26407080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.58, Y:11.88, Z:7.27 [[ 9.91520343e-01 -1.19397967e-01 -5.12984827e-02 1.57581776e+02] [ 1.19323407e-01 9.92845130e-01 -4.52458557e-03 1.18814507e+01] [ 5.14716750e-02 -1.63489111e-03 9.98673117e-01 7.26555813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.61, Y:11.88, Z:7.27 [[ 9.91259901e-01 -1.21909929e-01 -5.04160563e-02 1.57613049e+02] [ 1.21841202e-01 9.92539650e-01 -4.44580426e-03 1.18836583e+01] [ 5.05819225e-02 -1.73580541e-03 9.98718407e-01 7.26775963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.64, Y:11.89, Z:7.27 [[ 9.90999686e-01 -1.24305273e-01 -4.96771746e-02 1.57643879e+02] [ 1.24241635e-01 9.92242330e-01 -4.37891383e-03 1.18850076e+01] [ 4.98361176e-02 -1.83247119e-03 9.98755728e-01 7.26962739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.68, Y:11.89, Z:7.27 [[ 9.90761656e-01 -1.26358352e-01 -4.92433450e-02 1.57675475e+02] [ 1.26298396e-01 9.91982803e-01 -4.33974305e-03 1.18855418e+01] [ 4.93969142e-02 -1.91970450e-03 9.98777382e-01 7.27128021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.71, Y:11.88, Z:7.27 [[ 9.90286585e-01 -1.30147889e-01 -4.89285847e-02 1.57707039e+02] [ 1.30093398e-01 9.91492375e-01 -4.31022122e-03 1.18833616e+01] [ 4.90732849e-02 -2.09693159e-03 9.98792979e-01 7.27256007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.74, Y:11.89, Z:7.27 [[ 9.90090576e-01 -1.31570266e-01 -4.90908941e-02 1.57738400e+02] [ 1.31517245e-01 9.91304458e-01 -4.32272468e-03 1.18851305e+01] [ 4.92327642e-02 -2.17641016e-03 9.98784961e-01 7.27377214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.77, Y:11.88, Z:7.27 [[ 9.89958063e-01 -1.32619388e-01 -4.89400818e-02 1.57769310e+02] [ 1.32568057e-01 9.91164544e-01 -4.30767573e-03 1.18836294e+01] [ 4.90789552e-02 -2.22347323e-03 9.98792427e-01 7.27492785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:11.89, Z:7.28 [[ 9.89797052e-01 -1.33752205e-01 -4.91135802e-02 1.57801246e+02] [ 1.33701950e-01 9.91012164e-01 -4.32194727e-03 1.18878077e+01] [ 4.92502254e-02 -2.28873078e-03 9.98783849e-01 7.27667836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.83, Y:11.89, Z:7.28 [[ 9.89661085e-01 -1.34785312e-01 -4.90291345e-02 1.57832809e+02] [ 1.34736669e-01 9.90872063e-01 -4.31096381e-03 1.18891667e+01] [ 4.91626543e-02 -2.33962913e-03 9.98788045e-01 7.27774389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.86, Y:11.89, Z:7.28 [[ 9.89543710e-01 -1.35614018e-01 -4.91129782e-02 1.57863925e+02] [ 1.35566323e-01 9.90758871e-01 -4.31636827e-03 1.18865010e+01] [ 4.92444789e-02 -2.38683079e-03 9.98783903e-01 7.27873613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.90, Y:11.89, Z:7.28 [[ 9.89285621e-01 -1.37349491e-01 -4.94881476e-02 1.57895694e+02] [ 1.37303535e-01 9.90519498e-01 -4.34316530e-03 1.18873478e+01] [ 4.96155067e-02 -2.49826664e-03 9.98765268e-01 7.27906713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.93, Y:11.89, Z:7.28 [[ 9.89184156e-01 -1.37893399e-01 -5.00011645e-02 1.57927325e+02] [ 1.37847269e-01 9.90443784e-01 -4.38641199e-03 1.18894731e+01] [ 5.01281999e-02 -2.55355474e-03 9.98739527e-01 7.28003252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.96, Y:11.89, Z:7.28 [[ 9.89060169e-01 -1.38549501e-01 -5.06361277e-02 1.57957452e+02] [ 1.38503139e-01 9.90352040e-01 -4.44036464e-03 1.18900118e+01] [ 5.07628027e-02 -2.62147482e-03 9.98707297e-01 7.28073627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.99, Y:11.89, Z:7.28 [[ 9.88934942e-01 -1.39358243e-01 -5.08621765e-02 1.57988283e+02] [ 1.39312581e-01 9.90238416e-01 -4.45922962e-03 1.18943093e+01] [ 5.09871115e-02 -2.67585312e-03 9.98695727e-01 7.28187508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.02, Y:11.90, Z:7.28 [[ 9.88683533e-01 -1.40869217e-01 -5.15823208e-02 1.58018999e+02] [ 1.40824396e-01 9.90024269e-01 -4.52057853e-03 1.18985836e+01] [ 5.17045598e-02 -2.79462763e-03 9.98658514e-01 7.28275732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.05, Y:11.90, Z:7.28 [[ 9.88597913e-01 -1.41427482e-01 -5.16955916e-02 1.58049655e+02] [ 1.41383274e-01 9.89944571e-01 -4.52955540e-03 1.18972399e+01] [ 5.18163738e-02 -2.83098297e-03 9.98652617e-01 7.28382467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:11.90, Z:7.29 [[ 9.88506196e-01 -1.41927412e-01 -5.20779295e-02 1.58079488e+02] [ 1.41883281e-01 9.89872881e-01 -4.56227033e-03 1.18991064e+01] [ 5.21980413e-02 -2.87915501e-03 9.98632603e-01 7.28506997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.11, Y:11.90, Z:7.29 [[ 9.88425825e-01 -1.42363346e-01 -5.24124573e-02 1.58109931e+02] [ 1.42319219e-01 9.89810159e-01 -4.59232027e-03 1.19048824e+01] [ 5.25321608e-02 -2.92013203e-03 9.98614963e-01 7.28644034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.14, Y:11.91, Z:7.29 [[ 9.88361752e-01 -1.42854774e-01 -5.22834729e-02 1.58140114e+02] [ 1.42811598e-01 9.89739294e-01 -4.58007997e-03 1.19059078e+01] [ 5.24012939e-02 -2.93991045e-03 9.98621781e-01 7.28767422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.17, Y:11.91, Z:7.29 [[ 9.88356694e-01 -1.43058796e-01 -5.18191648e-02 1.58170624e+02] [ 1.43016713e-01 9.89709868e-01 -4.53840373e-03 1.19122859e+01] [ 5.19351974e-02 -2.92544493e-03 9.98646172e-01 7.28951393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.20, Y:11.91, Z:7.29 [[ 9.88383969e-01 -1.42994258e-01 -5.14759273e-02 1.58200898e+02] [ 1.42952736e-01 9.89719256e-01 -4.50654234e-03 1.19129456e+01] [ 5.15911262e-02 -2.90443042e-03 9.98664068e-01 7.29154565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.23, Y:11.92, Z:7.29 [[ 9.88417477e-01 -1.42887594e-01 -5.11275489e-02 1.58231396e+02] [ 1.42846539e-01 9.89734732e-01 -4.47505080e-03 1.19181503e+01] [ 5.12421402e-02 -2.88017501e-03 9.98682105e-01 7.29349624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.26, Y:11.92, Z:7.30 [[ 9.88511740e-01 -1.42448327e-01 -5.05273677e-02 1.58262560e+02] [ 1.42407749e-01 9.89798207e-01 -4.42072165e-03 1.19225244e+01] [ 5.06416223e-02 -2.82555343e-03 9.98712893e-01 7.29554425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.29, Y:11.92, Z:7.30 [[ 9.88575155e-01 -1.42119700e-01 -5.02110861e-02 1.58293261e+02] [ 1.42079296e-01 9.89845539e-01 -4.39124558e-03 1.19249972e+01] [ 5.03253021e-02 -2.79287949e-03 9.98728974e-01 7.29749419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.32, Y:11.93, Z:7.30 [[ 9.88627657e-01 -1.41751619e-01 -5.02178680e-02 1.58323989e+02] [ 1.41710822e-01 9.89898364e-01 -4.39003740e-03 1.19271680e+01] [ 5.03328803e-02 -2.77630295e-03 9.98728638e-01 7.29915660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.36, Y:11.93, Z:7.30 [[ 9.88545181e-01 -1.42532529e-01 -4.96276372e-02 1.58355084e+02] [ 1.42493751e-01 9.89786201e-01 -4.33670132e-03 1.19340185e+01] [ 4.97388715e-02 -2.78460296e-03 9.98758375e-01 7.30133753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:11.94, Z:7.30 [[ 9.88550261e-01 -1.42497239e-01 -4.96277918e-02 1.58385828e+02] [ 1.42458504e-01 9.89791283e-01 -4.33493185e-03 1.19366734e+01] [ 4.97388715e-02 -2.78460296e-03 9.98758375e-01 7.30280524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.42, Y:11.94, Z:7.30 [[ 9.88218464e-01 -1.44158446e-01 -5.14063219e-02 1.58418012e+02] [ 1.44119235e-01 9.89550151e-01 -4.48822314e-03 1.19419631e+01] [ 5.15161489e-02 -2.97329479e-03 9.98667735e-01 7.30318942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.45, Y:11.94, Z:7.30 [[ 9.88025612e-01 -1.45087185e-01 -5.24890444e-02 1.58449208e+02] [ 1.45047816e-01 9.89414051e-01 -4.57890834e-03 1.19403281e+01] [ 5.25977390e-02 -3.08934253e-03 9.98611002e-01 7.30286912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.48, Y:11.94, Z:7.30 [[ 9.87813275e-01 -1.46279525e-01 -5.31717503e-02 1.58479211e+02] [ 1.46240993e-01 9.89238132e-01 -4.63572361e-03 1.19418718e+01] [ 5.32776344e-02 -3.19666026e-03 9.98574622e-01 7.30352019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.51, Y:11.95, Z:7.31 [[ 9.87651098e-01 -1.47369257e-01 -5.31752919e-02 1.58510555e+02] [ 1.47332360e-01 9.89076182e-01 -4.63476645e-03 1.19512864e+01] [ 5.32774368e-02 -3.25690908e-03 9.98574438e-01 7.30542762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.54, Y:11.95, Z:7.31 [[ 9.87529875e-01 -1.48202124e-01 -5.31119161e-02 1.58542037e+02] [ 1.48166719e-01 9.88951581e-01 -4.62538677e-03 1.19519183e+01] [ 5.32106055e-02 -3.30171074e-03 9.98577854e-01 7.30675603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.57, Y:11.96, Z:7.31 [[ 9.87367153e-01 -1.49309970e-01 -5.30343070e-02 1.58573847e+02] [ 1.49276422e-01 9.88784732e-01 -4.61556950e-03 1.19579835e+01] [ 5.31286636e-02 -3.35950985e-03 9.98582024e-01 7.30808734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.61, Y:11.96, Z:7.31 [[ 9.87411791e-01 -1.49177969e-01 -5.25726936e-02 1.58606164e+02] [ 1.49145019e-01 9.88804766e-01 -4.57150288e-03 1.19622449e+01] [ 5.26660975e-02 -3.32699956e-03 9.98606636e-01 7.30983733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.64, Y:11.97, Z:7.31 [[ 9.87488101e-01 -1.48723784e-01 -5.24260163e-02 1.58638046e+02] [ 1.48690586e-01 9.88873280e-01 -4.55483930e-03 1.19657591e+01] [ 5.25200996e-02 -3.29740548e-03 9.98614423e-01 7.31136095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.67, Y:11.97, Z:7.31 [[ 9.87637775e-01 -1.47811436e-01 -5.21862574e-02 1.58669081e+02] [ 1.47777464e-01 9.89010261e-01 -4.53033157e-03 1.19655475e+01] [ 5.22823789e-02 -3.23762620e-03 9.98627093e-01 7.31253888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.70, Y:11.97, Z:7.31 [[ 9.87776894e-01 -1.46948805e-01 -5.19889956e-02 1.58700451e+02] [ 1.46914007e-01 9.89138981e-01 -4.51113385e-03 1.19742161e+01] [ 5.20872479e-02 -3.18191789e-03 9.98637469e-01 7.31467090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.73, Y:11.98, Z:7.32 [[ 9.88120320e-01 -1.45054917e-01 -5.07671540e-02 1.58730725e+02] [ 1.45019423e-01 9.89419018e-01 -4.40157472e-03 1.19793535e+01] [ 5.08684577e-02 -3.01293795e-03 9.98700817e-01 7.31652807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.76, Y:11.98, Z:7.32 [[ 9.88211565e-01 -1.44375878e-01 -5.09264923e-02 1.58762640e+02] [ 1.44339365e-01 9.89518403e-01 -4.41338753e-03 1.19839292e+01] [ 5.10298880e-02 -2.98933697e-03 9.98692653e-01 7.31823207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.80, Y:11.99, Z:7.32 [[ 9.88299524e-01 -1.43835239e-01 -5.07491365e-02 1.58795027e+02] [ 1.43798461e-01 9.89597238e-01 -4.39425938e-03 1.19889995e+01] [ 5.08532547e-02 -2.95480329e-03 9.98701765e-01 7.31972720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.83, Y:11.99, Z:7.32 [[ 9.88369398e-01 -1.43172804e-01 -5.12589635e-02 1.58826397e+02] [ 1.43134649e-01 9.89693294e-01 -4.43351374e-03 1.19924079e+01] [ 5.13654110e-02 -2.95498443e-03 9.98675554e-01 7.32017675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.86, Y:12.00, Z:7.32 [[ 9.88350920e-01 -1.43201611e-01 -5.15340351e-02 1.58858527e+02] [ 1.43163407e-01 9.89689056e-01 -4.45107443e-03 1.19967293e+01] [ 5.16400715e-02 -2.97856452e-03 9.98661320e-01 7.32101598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.89, Y:12.00, Z:7.32 [[ 9.88322192e-01 -1.43287770e-01 -5.18445749e-02 1.58890143e+02] [ 1.43249420e-01 9.89676506e-01 -4.47411811e-03 1.20019419e+01] [ 5.19504441e-02 -3.00483508e-03 9.98645143e-01 7.32271687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.92, Y:12.00, Z:7.32 [[ 9.88305573e-01 -1.43400931e-01 -5.18484963e-02 1.58921165e+02] [ 1.43362937e-01 9.89660085e-01 -4.47048045e-03 1.20037060e+01] [ 5.19534583e-02 -3.01495197e-03 9.98644956e-01 7.32428445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.95, Y:12.01, Z:7.33 [[ 9.88154165e-01 -1.44381636e-01 -5.20124051e-02 1.58952569e+02] [ 1.44345049e-01 9.89517279e-01 -4.47897167e-03 1.20064489e+01] [ 5.21138549e-02 -3.08181866e-03 9.98636395e-01 7.32550775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.98, Y:12.01, Z:7.33 [[ 9.88060951e-01 -1.44965486e-01 -5.21590361e-02 1.58984391e+02] [ 1.44929655e-01 9.89431780e-01 -4.48870335e-03 1.20145412e+01] [ 5.22585150e-02 -3.12427861e-03 9.98628703e-01 7.32670554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.02, Y:12.02, Z:7.33 [[ 9.87962333e-01 -1.45496782e-01 -5.25463123e-02 1.59015930e+02] [ 1.45461381e-01 9.89353615e-01 -4.51795545e-03 1.20168230e+01] [ 5.26442320e-02 -3.17988937e-03 9.98608268e-01 7.32776182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.05, Y:12.02, Z:7.33 [[ 9.87709930e-01 -1.47164789e-01 -5.26461716e-02 1.59047192e+02] [ 1.47131900e-01 9.89106548e-01 -4.52107353e-03 1.20199057e+01] [ 5.27380159e-02 -3.28042206e-03 9.98602994e-01 7.32912377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.08, Y:12.03, Z:7.33 [[ 9.87663820e-01 -1.47694538e-01 -5.20240509e-02 1.59078334e+02] [ 1.47663297e-01 9.89027611e-01 -4.46484819e-03 1.20271337e+01] [ 5.21126565e-02 -3.27227388e-03 9.98635851e-01 7.33118745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.11, Y:12.03, Z:7.33 [[ 9.87705698e-01 -1.47689977e-01 -5.12359729e-02 1.59109752e+02] [ 1.47659825e-01 9.89028446e-01 -4.39413028e-03 1.20271591e+01] [ 5.13228037e-02 -3.22538730e-03 9.98676908e-01 7.33301969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.14, Y:12.03, Z:7.34 [[ 9.87896567e-01 -1.46701594e-01 -5.03886322e-02 1.59140387e+02] [ 1.46671461e-01 9.89175849e-01 -4.31528286e-03 1.20312394e+01] [ 5.04762769e-02 -3.12752118e-03 9.98720363e-01 7.33503477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.17, Y:12.04, Z:7.34 [[ 9.88060602e-01 -1.45638809e-01 -5.02551941e-02 1.59172544e+02] [ 1.45607808e-01 9.89333059e-01 -4.29706748e-03 1.20356915e+01] [ 5.03449447e-02 -3.07178561e-03 9.98727165e-01 7.33630720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.20, Y:12.05, Z:7.34 [[ 9.88337841e-01 -1.43866960e-01 -4.99060146e-02 1.59203181e+02] [ 1.43834308e-01 9.89592599e-01 -4.26380015e-03 1.20463986e+01] [ 5.00000427e-02 -2.96412206e-03 9.98744817e-01 7.33790510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.23, Y:12.05, Z:7.34 [[ 9.88516551e-01 -1.42754160e-01 -4.95608458e-02 1.59234337e+02] [ 1.42720657e-01 9.89753960e-01 -4.23245423e-03 1.20490212e+01] [ 4.96572439e-02 -2.88950541e-03 9.98762138e-01 7.33909461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.27, Y:12.05, Z:7.34 [[ 9.88544288e-01 -1.42290188e-01 -5.03358038e-02 1.59266099e+02] [ 1.42255175e-01 9.89820697e-01 -4.29578741e-03 1.20539785e+01] [ 5.04346688e-02 -2.91395249e-03 9.98723111e-01 7.34034280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.30, Y:12.05, Z:7.34 [[ 9.88609946e-01 -1.41738331e-01 -5.06025761e-02 1.59297320e+02] [ 1.41702423e-01 9.89899897e-01 -4.31468799e-03 1.20537523e+01] [ 5.07030416e-02 -2.90496418e-03 9.98709549e-01 7.34081998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.33, Y:12.06, Z:7.34 [[ 9.88709367e-01 -1.40370326e-01 -5.24400509e-02 1.59328547e+02] [ 1.40330198e-01 9.90094693e-01 -4.46479829e-03 1.20629515e+01] [ 5.25473413e-02 -2.94453481e-03 9.98614093e-01 7.34096197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.36, Y:12.07, Z:7.34 [[ 9.88719483e-01 -1.40298939e-01 -5.24403729e-02 1.59360145e+02] [ 1.40258910e-01 9.90104811e-01 -4.46101364e-03 1.20655791e+01] [ 5.25473410e-02 -2.94453843e-03 9.98614093e-01 7.34246947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.39, Y:12.07, Z:7.34 [[ 9.88745500e-01 -1.39919237e-01 -5.29617158e-02 1.59391441e+02] [ 1.39878089e-01 9.90158502e-01 -4.50119736e-03 1.20655649e+01] [ 5.30702973e-02 -2.95764493e-03 9.98586399e-01 7.34297442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.42, Y:12.07, Z:7.34 [[ 9.88861097e-01 -1.39004935e-01 -5.32105059e-02 1.59422615e+02] [ 1.38962418e-01 9.90287358e-01 -4.51603485e-03 1.20734266e+01] [ 5.33214424e-02 -2.92852939e-03 9.98573106e-01 7.34454599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.45, Y:12.08, Z:7.35 [[ 9.89138666e-01 -1.37201322e-01 -5.27304101e-02 1.59452607e+02] [ 1.37157226e-01 9.90539198e-01 -4.47126899e-03 1.20760296e+01] [ 5.28450022e-02 -2.80965171e-03 9.98598774e-01 7.34595441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.48, Y:12.08, Z:7.35 [[ 9.89371336e-01 -1.35604750e-01 -5.24948764e-02 1.59484300e+02] [ 1.35559092e-01 9.90759288e-01 -4.44586651e-03 1.20798453e+01] [ 5.26126670e-02 -2.71754489e-03 9.98611297e-01 7.34786432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.51, Y:12.08, Z:7.35 [[ 9.89913649e-01 -1.31752714e-01 -5.20786923e-02 1.59513594e+02] [ 1.31702632e-01 9.91279472e-01 -4.40732801e-03 1.20847093e+01] [ 5.22052161e-02 -2.49602668e-03 9.98633259e-01 7.34991395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.54, Y:12.09, Z:7.35 [[ 9.90576887e-01 -1.26713478e-01 -5.19723590e-02 1.59544056e+02] [ 1.26656683e-01 9.91936863e-01 -4.39824640e-03 1.20943943e+01] [ 5.21106158e-02 -2.22584538e-03 9.98638838e-01 7.35144649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.58, Y:12.10, Z:7.35 [[ 9.90585925e-01 -1.26642761e-01 -5.19724582e-02 1.59575635e+02] [ 1.26585930e-01 9.91945900e-01 -4.39707360e-03 1.20970069e+01] [ 5.21107244e-02 -2.22330274e-03 9.98638838e-01 7.35295380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.61, Y:12.10, Z:7.35 [[ 9.90889235e-01 -1.24135380e-01 -5.22391815e-02 1.59607053e+02] [ 1.24074681e-01 9.92263056e-01 -4.41595222e-03 1.21018009e+01] [ 5.23831858e-02 -2.10584027e-03 9.98624838e-01 7.35407566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.64, Y:12.11, Z:7.36 [[ 9.91241661e-01 -1.21207383e-01 -5.24284339e-02 1.59638742e+02] [ 1.21142305e-01 9.92625269e-01 -4.42910971e-03 1.21065036e+01] [ 5.25786291e-02 -1.96098326e-03 9.98614862e-01 7.35508417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.67, Y:12.11, Z:7.36 [[ 9.91600176e-01 -1.18200136e-01 -5.25149360e-02 1.59669744e+02] [ 1.18130778e-01 9.92988148e-01 -4.43366769e-03 1.21122648e+01] [ 5.26707692e-02 -1.80720461e-03 9.98610296e-01 7.35618547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:12.12, Z:7.36 [[ 9.92313841e-01 -1.11962760e-01 -5.27027618e-02 1.59699488e+02] [ 1.11884209e-01 9.93711297e-01 -4.44778424e-03 1.21191945e+01] [ 5.28693159e-02 -1.48300896e-03 9.98600339e-01 7.35678308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.73, Y:12.12, Z:7.36 [[ 9.92661906e-01 -1.08676836e-01 -5.30253266e-02 1.59730577e+02] [ 1.08592648e-01 9.94076261e-01 -4.47480421e-03 1.21243783e+01] [ 5.31975260e-02 -1.31619296e-03 9.98583142e-01 7.35813888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:12.13, Z:7.36 [[ 9.93287872e-01 -1.02940442e-01 -5.27491086e-02 1.59761832e+02] [ 1.02849149e-01 9.94687013e-01 -4.44952650e-03 1.21314302e+01] [ 5.29268895e-02 -1.00554023e-03 9.98597884e-01 7.35941669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.79, Y:12.14, Z:7.36 [[ 9.93547187e-01 -1.00408442e-01 -5.27459282e-02 1.59793365e+02] [ 1.00313742e-01 9.94945919e-01 -4.44646785e-03 1.21360687e+01] [ 5.29258089e-02 -8.73365808e-04 9.98598065e-01 7.36091188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.82, Y:12.14, Z:7.36 [[ 9.93781382e-01 -9.80455536e-02 -5.27791134e-02 1.59823992e+02] [ 9.79475470e-02 9.95181645e-01 -4.44658254e-03 1.21406041e+01] [ 5.29607725e-02 -7.50653753e-04 9.98596311e-01 7.36241748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.86, Y:12.15, Z:7.36 [[ 9.94162842e-01 -9.39924543e-02 -5.29684953e-02 1.59855423e+02] [ 9.38880982e-02 9.95572764e-01 -4.46055589e-03 1.21456856e+01] [ 5.31532499e-02 -5.38592373e-04 9.98586222e-01 7.36352511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.89, Y:12.15, Z:7.36 [[ 9.94343675e-01 -9.20150678e-02 -5.30460504e-02 1.59885645e+02] [ 9.19077457e-02 9.95757519e-01 -4.46423399e-03 1.21493468e+01] [ 5.32317803e-02 -4.36360076e-04 9.98582088e-01 7.36434338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.92, Y:12.15, Z:7.37 [[ 9.94651655e-01 -8.84519947e-02 -5.33322540e-02 1.59915669e+02] [ 8.83385431e-02 9.96080410e-01 -4.48548419e-03 1.21545223e+01] [ 5.35199634e-02 -2.49799347e-04 9.98566748e-01 7.36603968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.95, Y:12.16, Z:7.37 [[ 9.94821983e-01 -8.67095174e-02 -5.30158591e-02 1.59946342e+02] [ 8.65949359e-02 9.96233625e-01 -4.45887394e-03 1.21582929e+01] [ 5.32028083e-02 -1.55119099e-04 9.98583716e-01 7.36770779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.98, Y:12.16, Z:7.37 [[ 9.94956975e-01 -8.53235181e-02 -5.27305822e-02 1.59975680e+02] [ 8.52082169e-02 9.96353296e-01 -4.43497494e-03 1.21614336e+01] [ 5.29166971e-02 -8.04696379e-05 9.98598927e-01 7.36886204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.01, Y:12.16, Z:7.37 [[ 9.95057082e-01 -8.41774158e-02 -5.26836522e-02 1.60005457e+02] [ 8.40606706e-02 9.96450783e-01 -4.43185589e-03 1.21647160e+01] [ 5.28697286e-02 -1.86735475e-05 9.98601418e-01 7.37125123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.04, Y:12.17, Z:7.37 [[ 9.95140513e-01 -8.32590996e-02 -5.25669280e-02 1.60035026e+02] [ 8.31415922e-02 9.96527933e-01 -4.42201526e-03 1.21675648e+01] [ 5.27525851e-02 3.00284424e-05 9.98607613e-01 7.37240831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.06, Y:12.17, Z:7.37 [[ 9.95156023e-01 -8.28326596e-02 -5.29456397e-02 1.60064163e+02] [ 8.27128483e-02 9.96563469e-01 -4.45387878e-03 1.21691645e+01] [ 5.31326170e-02 5.30196260e-05 9.98587463e-01 7.37389529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.09, Y:12.17, Z:7.38 [[ 9.95088114e-01 -8.35844230e-02 -5.30404601e-02 1.60093663e+02] [ 8.34651463e-02 9.96500699e-01 -4.46378264e-03 1.21708106e+01] [ 5.32279583e-02 1.48272915e-05 9.98582387e-01 7.37533458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.12, Y:12.17, Z:7.38 [[ 9.94998338e-01 -8.46420397e-02 -5.30474520e-02 1.60123223e+02] [ 8.45241313e-02 9.96411423e-01 -4.46628609e-03 1.21722865e+01] [ 5.32351227e-02 -3.98425607e-05 9.98582005e-01 7.37649031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.15, Y:12.17, Z:7.38 [[ 9.94655598e-01 -8.82286499e-02 -5.36278580e-02 1.60151752e+02] [ 8.81132421e-02 9.96100222e-01 -4.51720794e-03 1.21716448e+01] [ 5.38172684e-02 -2.32258269e-04 9.98550774e-01 7.37752829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.18, Y:12.17, Z:7.38 [[ 9.94188806e-01 -9.30337255e-02 -5.41603569e-02 1.60182568e+02] [ 9.29229951e-02 9.95662835e-01 -4.56461894e-03 1.21702827e+01] [ 5.43501180e-02 -4.94649527e-04 9.98521817e-01 7.37879225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.21, Y:12.17, Z:7.38 [[ 9.93938279e-01 -9.57656088e-02 -5.39967258e-02 1.60213033e+02] [ 9.56595935e-02 9.95403705e-01 -4.55046280e-03 1.21698417e+01] [ 5.41843188e-02 -6.42425685e-04 9.98530744e-01 7.37965744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.24, Y:12.17, Z:7.38 [[ 9.93632719e-01 -9.88076886e-02 -5.41392658e-02 1.60244019e+02] [ 9.87057713e-02 9.95106215e-01 -4.55974148e-03 1.21692632e+01] [ 5.43248574e-02 -8.13149662e-04 9.98522984e-01 7.38113983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.27, Y:12.16, Z:7.38 [[ 9.93044935e-01 -1.04829584e-01 -5.35958522e-02 1.60274429e+02] [ 1.04738504e-01 9.94489556e-01 -4.51313197e-03 1.21648265e+01] [ 5.37736250e-02 -1.13180655e-03 9.98552511e-01 7.38179670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.31, Y:12.16, Z:7.38 [[ 9.92415031e-01 -1.10770542e-01 -5.33131591e-02 1.60305519e+02] [ 1.10688982e-01 9.93844956e-01 -4.48921947e-03 1.21634141e+01] [ 5.34822876e-02 -1.44601045e-03 9.98567751e-01 7.38378935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.34, Y:12.16, Z:7.39 [[ 9.92078159e-01 -1.13660843e-01 -5.34989577e-02 1.60337101e+02] [ 1.13582973e-01 9.93518306e-01 -4.50366620e-03 1.21639922e+01] [ 5.36640844e-02 -1.60858180e-03 9.98557749e-01 7.38541356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.37, Y:12.16, Z:7.39 [[ 9.91761211e-01 -1.16253034e-01 -5.38045755e-02 1.60368479e+02] [ 1.16178239e-01 9.93218067e-01 -4.52641954e-03 1.21635624e+01] [ 5.39658864e-02 -1.76179352e-03 9.98541226e-01 7.38643306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.40, Y:12.16, Z:7.39 [[ 9.91458303e-01 -1.18730366e-01 -5.39771558e-02 1.60400032e+02] [ 1.18658931e-01 9.92924704e-01 -4.53768369e-03 1.21627863e+01] [ 5.41340122e-02 -1.90594741e-03 9.98531860e-01 7.38756124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.43, Y:12.16, Z:7.39 [[ 9.91135436e-01 -1.21227972e-01 -5.43537192e-02 1.60431710e+02] [ 1.21159583e-01 9.92622550e-01 -4.56385676e-03 1.21635075e+01] [ 5.45059945e-02 -2.06207383e-03 9.98511314e-01 7.38889838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.46, Y:12.16, Z:7.39 [[ 9.90861726e-01 -1.23391326e-01 -5.44758694e-02 1.60462849e+02] [ 1.23326170e-01 9.92355672e-01 -4.56900544e-03 1.21620960e+01] [ 5.46232136e-02 -2.19104773e-03 9.98504634e-01 7.38986594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.49, Y:12.16, Z:7.39 [[ 9.90617407e-01 -1.25297442e-01 -5.45683421e-02 1.60494490e+02] [ 1.25235110e-01 9.92116549e-01 -4.57381788e-03 1.21643706e+01] [ 5.47112430e-02 -2.30296873e-03 9.98499562e-01 7.39166937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.53, Y:12.16, Z:7.39 [[ 9.90194889e-01 -1.28433670e-01 -5.49442866e-02 1.60525307e+02] [ 1.28375440e-01 9.91714960e-01 -4.60260580e-03 1.21618150e+01] [ 5.50802006e-02 -2.49602023e-03 9.98478814e-01 7.39273614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.56, Y:12.17, Z:7.39 [[ 9.89893998e-01 -1.29954557e-01 -5.67598888e-02 1.60556897e+02] [ 1.29894991e-01 9.91516363e-01 -4.75330782e-03 1.21656670e+01] [ 5.68960725e-02 -2.66755438e-03 9.98376543e-01 7.39343252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.59, Y:12.17, Z:7.39 [[ 9.89835752e-01 -1.29867875e-01 -5.79613517e-02 1.60588365e+02] [ 1.29805804e-01 9.91527571e-01 -4.85070256e-03 1.21668553e+01] [ 5.81002287e-02 -2.72232103e-03 9.98307043e-01 7.39388661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.62, Y:12.17, Z:7.40 [[ 9.89852102e-01 -1.29514905e-01 -5.84697026e-02 1.60620144e+02] [ 1.29451328e-01 9.91573721e-01 -4.88982968e-03 1.21720534e+01] [ 5.86103264e-02 -2.72877247e-03 9.98277208e-01 7.39511024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.65, Y:12.18, Z:7.40 [[ 9.89973173e-01 -1.28279677e-01 -5.91391700e-02 1.60651430e+02] [ 1.28212676e-01 9.91734384e-01 -4.94184611e-03 1.21757799e+01] [ 5.92842867e-02 -2.69009618e-03 9.98237515e-01 7.39656270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.68, Y:12.18, Z:7.40 [[ 9.90066496e-01 -1.27414211e-01 -5.94470485e-02 1.60681432e+02] [ 1.27345073e-01 9.91846044e-01 -4.96561607e-03 1.21757923e+01] [ 5.95950099e-02 -2.65399862e-03 9.98219110e-01 7.39738974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.71, Y:12.18, Z:7.40 [[ 9.90190758e-01 -1.26501651e-01 -5.93261799e-02 1.60712080e+02] [ 1.26431223e-01 9.91963003e-01 -4.95445262e-03 1.21799714e+01] [ 5.94761221e-02 -2.59482829e-03 9.98226356e-01 7.39887736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.74, Y:12.18, Z:7.40 [[ 9.90247618e-01 -1.25744622e-01 -5.99828710e-02 1.60741942e+02] [ 1.25671294e-01 9.92059293e-01 -5.00845044e-03 1.21835940e+01] [ 6.01363503e-02 -2.57851887e-03 9.98186842e-01 7.40041402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.77, Y:12.19, Z:7.40 [[ 9.90514773e-01 -1.23613508e-01 -6.00015484e-02 1.60772429e+02] [ 1.23536247e-01 9.92327415e-01 -5.00978349e-03 1.21894000e+01] [ 6.01604583e-02 -2.45010158e-03 9.98185712e-01 7.40182943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.80, Y:12.19, Z:7.40 [[ 9.90649702e-01 -1.22435147e-01 -6.01897182e-02 1.60803459e+02] [ 1.22355311e-01 9.92473645e-01 -5.02417924e-03 1.21938733e+01] [ 6.03518451e-02 -2.38733004e-03 9.98174311e-01 7.40347219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.83, Y:12.20, Z:7.40 [[ 9.90799948e-01 -1.21198687e-01 -6.02191136e-02 1.60833583e+02] [ 1.21116599e-01 9.92625569e-01 -5.02491792e-03 1.21974337e+01] [ 6.03840453e-02 -2.31484580e-03 9.98172534e-01 7.40467902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.86, Y:12.20, Z:7.41 [[ 9.91008314e-01 -1.19498453e-01 -6.01883739e-02 1.60864854e+02] [ 1.19413348e-01 9.92831926e-01 -5.02187970e-03 1.22031107e+01] [ 6.03570460e-02 -2.21057070e-03 9.98174404e-01 7.40692156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.89, Y:12.21, Z:7.41 [[ 9.91494328e-01 -1.15473639e-01 -6.00402819e-02 1.60893964e+02] [ 1.15381675e-01 9.93308607e-01 -5.00801320e-03 1.22091374e+01] [ 6.02168223e-02 -1.96213161e-03 9.98183392e-01 7.40836243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.92, Y:12.21, Z:7.41 [[ 9.91751363e-01 -1.13328861e-01 -5.98815786e-02 1.60924335e+02] [ 1.13233428e-01 9.93555854e-01 -4.99563747e-03 1.22137636e+01] [ 6.00618428e-02 -1.82616615e-03 9.98192987e-01 7.40981726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.95, Y:12.22, Z:7.41 [[ 9.92066609e-01 -1.10616771e-01 -5.97308394e-02 1.60953407e+02] [ 1.10516896e-01 9.93861752e-01 -4.98328337e-03 1.22179369e+01] [ 5.99154314e-02 -1.65751795e-03 9.98202081e-01 7.41136757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.98, Y:12.23, Z:7.41 [[ 9.92676955e-01 -1.04912453e-01 -5.98818899e-02 1.60983613e+02] [ 1.04801654e-01 9.94480591e-01 -4.99669585e-03 1.22262783e+01] [ 6.00755929e-02 -1.31561628e-03 9.98192963e-01 7.41337062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.01, Y:12.23, Z:7.42 [[ 9.92976139e-01 -1.01888525e-01 -6.01424692e-02 1.61014039e+02] [ 1.01771227e-01 9.94795172e-01 -5.01829241e-03 1.22318033e+01] [ 6.03407444e-02 -1.13772829e-03 9.98177189e-01 7.41508154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.04, Y:12.24, Z:7.42 [[ 9.93285445e-01 -9.89543113e-02 -5.99338676e-02 1.61043063e+02] [ 9.88324624e-02 9.95091519e-01 -5.00133821e-03 1.22374103e+01] [ 6.01345873e-02 -9.55655266e-04 9.98189821e-01 7.41673241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.07, Y:12.24, Z:7.42 [[ 9.93573025e-01 -9.61691135e-02 -5.97004627e-02 1.61072009e+02] [ 9.60430603e-02 9.95364702e-01 -4.98399819e-03 1.22425814e+01] [ 5.99030399e-02 -7.81848974e-04 9.98203894e-01 7.41841745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.10, Y:12.25, Z:7.42 [[ 9.93849027e-01 -9.34791345e-02 -5.93781410e-02 1.61100663e+02] [ 9.33495029e-02 9.95621050e-01 -4.95942554e-03 1.22471735e+01] [ 5.95817298e-02 -6.13999695e-04 9.98223242e-01 7.41956066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.13, Y:12.25, Z:7.42 [[ 9.94394454e-01 -8.78115622e-02 -5.88965174e-02 1.61129368e+02] [ 8.76737836e-02 9.96137068e-01 -4.92436496e-03 1.22547196e+01] [ 5.91014204e-02 -2.66919322e-04 9.98251948e-01 7.42064136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.16, Y:12.26, Z:7.42 [[ 9.94617036e-01 -8.49669666e-02 -5.93090779e-02 1.61157246e+02] [ 8.48213599e-02 9.96383765e-01 -4.97287490e-03 1.22597947e+01] [ 5.95171325e-02 -8.45705546e-05 9.98227281e-01 7.42231688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.19, Y:12.26, Z:7.42 [[ 9.94870782e-01 -8.20968437e-02 -5.90951391e-02 1.61185456e+02] [ 8.19463328e-02 9.96624351e-01 -4.96997586e-03 1.22647284e+01] [ 5.93036740e-02 1.01853832e-04 9.98239983e-01 7.42377223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.21, Y:12.27, Z:7.42 [[ 9.95423698e-01 -7.63852095e-02 -5.74191792e-02 1.61212489e+02] [ 7.62328892e-02 9.97078284e-01 -4.84174755e-03 1.22725620e+01] [ 5.76212545e-02 4.42360333e-04 9.98338417e-01 7.42455882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.24, Y:12.28, Z:7.43 [[ 9.95619862e-01 -7.40912121e-02 -5.70226574e-02 1.61240800e+02] [ 7.39368446e-02 9.97251302e-01 -4.81504599e-03 1.22758382e+01] [ 5.72226719e-02 5.77880061e-04 9.98361273e-01 7.42703498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.27, Y:12.28, Z:7.43 [[ 9.95849429e-01 -7.11987747e-02 -5.66978826e-02 1.61268189e+02] [ 7.10407454e-02 9.97461863e-01 -4.80047483e-03 1.22798557e+01] [ 5.68957635e-02 7.52690272e-04 9.98379840e-01 7.42757801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.30, Y:12.28, Z:7.43 [[ 9.95829030e-01 -7.14839771e-02 -5.66972957e-02 1.61295440e+02] [ 7.13260156e-02 9.97441471e-01 -4.80739530e-03 1.22822229e+01] [ 5.68958858e-02 7.43351603e-04 9.98379840e-01 7.42888096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.32, Y:12.29, Z:7.43 [[ 9.95878302e-01 -7.10602518e-02 -5.63635352e-02 1.61323242e+02] [ 7.09026537e-02 9.97471722e-01 -4.79347767e-03 1.22853731e+01] [ 5.65616582e-02 7.77396180e-04 9.98398805e-01 7.42935631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.35, Y:12.28, Z:7.43 [[ 9.95797207e-01 -7.28954623e-02 -5.54452343e-02 1.61351795e+02] [ 7.27454595e-02 9.97339363e-01 -4.72156970e-03 1.22849660e+01] [ 5.56418957e-02 6.68336876e-04 9.98450566e-01 7.43034908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.38, Y:12.29, Z:7.43 [[ 9.95686849e-01 -7.48618668e-02 -5.48032883e-02 1.61380388e+02] [ 7.47175465e-02 9.97193753e-01 -4.68051370e-03 1.22856758e+01] [ 5.49998888e-02 5.65558696e-04 9.98486200e-01 7.43125978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.41, Y:12.29, Z:7.43 [[ 9.95543703e-01 -7.69697526e-02 -5.44829524e-02 1.61408434e+02] [ 7.68295915e-02 9.97033323e-01 -4.66553561e-03 1.22860678e+01] [ 5.46804242e-02 4.58841620e-04 9.98503801e-01 7.43216973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.44, Y:12.28, Z:7.43 [[ 9.95016784e-01 -8.35738577e-02 -5.43783911e-02 1.61437404e+02] [ 8.34437591e-02 9.96501581e-01 -4.66252334e-03 1.22830638e+01] [ 5.45778177e-02 1.01751618e-04 9.98509515e-01 7.43325458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.47, Y:12.28, Z:7.43 [[ 9.94722615e-01 -8.72372457e-02 -5.40053995e-02 1.61466834e+02] [ 8.71136679e-02 9.96187560e-01 -4.64256293e-03 1.22824560e+01] [ 5.42045115e-02 -8.65460937e-05 9.98529851e-01 7.43455970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.50, Y:12.28, Z:7.44 [[ 9.94386859e-01 -9.10653836e-02 -5.38690136e-02 1.61496694e+02] [ 9.09479355e-02 9.95844873e-01 -4.63278193e-03 1.22814078e+01] [ 5.40670670e-02 -2.92498102e-04 9.98537264e-01 7.43576617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.53, Y:12.28, Z:7.44 [[ 9.94065159e-01 -9.49582484e-02 -5.30790957e-02 1.61527233e+02] [ 9.48496743e-02 9.95481133e-01 -4.56654470e-03 1.22806314e+01] [ 5.32728694e-02 -4.95091956e-04 9.98579870e-01 7.43736286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.56, Y:12.28, Z:7.44 [[ 9.93418528e-01 -1.02235608e-01 -5.16479368e-02 1.61557718e+02] [ 1.02142643e-01 9.94759840e-01 -4.44322388e-03 1.22766274e+01] [ 5.18315490e-02 -8.61475821e-04 9.98655470e-01 7.43993762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.59, Y:12.28, Z:7.44 [[ 9.93157193e-01 -1.05088997e-01 -5.09420603e-02 1.61589774e+02] [ 1.05002426e-01 9.94462320e-01 -4.38012936e-03 1.22766228e+01] [ 5.11202629e-02 -9.98882970e-04 9.98692005e-01 7.44187519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.62, Y:12.28, Z:7.44 [[ 9.92890205e-01 -1.07861183e-01 -5.03488498e-02 1.61621343e+02] [ 1.07780353e-01 9.94165320e-01 -4.32563347e-03 1.22772019e+01] [ 5.05216484e-02 -1.13173771e-03 9.98722325e-01 7.44435114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.65, Y:12.28, Z:7.45 [[ 9.92682900e-01 -1.09996927e-01 -4.98130133e-02 1.61653010e+02] [ 1.09920593e-01 9.93931167e-01 -4.27761707e-03 1.22776684e+01] [ 4.99812312e-02 -1.22915864e-03 9.98749401e-01 7.44629008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.68, Y:12.27, Z:7.45 [[ 9.92453919e-01 -1.11858905e-01 -5.02275299e-02 1.61684518e+02] [ 1.11783960e-01 9.93723196e-01 -4.30758086e-03 1.22749264e+01] [ 5.03941028e-02 -1.33955671e-03 9.98728512e-01 7.44720087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.72, Y:12.28, Z:7.45 [[ 9.92274032e-01 -1.13586560e-01 -4.99032853e-02 1.61716292e+02] [ 1.13515031e-01 9.93527084e-01 -4.27439249e-03 1.22783434e+01] [ 5.00657791e-02 -1.42340432e-03 9.98744908e-01 7.44906426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.75, Y:12.28, Z:7.45 [[ 9.92194375e-01 -1.14567567e-01 -4.92401794e-02 1.61747230e+02] [ 1.14499306e-01 9.93414390e-01 -4.21409428e-03 1.22779157e+01] [ 4.93987013e-02 -1.45676573e-03 9.98778077e-01 7.45054666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.78, Y:12.28, Z:7.45 [[ 9.92117118e-01 -1.15438843e-01 -4.87595864e-02 1.61779003e+02] [ 1.15373088e-01 9.93313475e-01 -4.17031839e-03 1.22796209e+01] [ 4.89149709e-02 -1.48809978e-03 9.98801838e-01 7.45259122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.81, Y:12.28, Z:7.45 [[ 9.92174139e-01 -1.15127908e-01 -4.83326176e-02 1.61809745e+02] [ 1.15063100e-01 9.93349598e-01 -4.13032044e-03 1.22811496e+01] [ 4.84867014e-02 -1.46330367e-03 9.98822756e-01 7.45442976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.84, Y:12.28, Z:7.46 [[ 9.92414293e-01 -1.13324877e-01 -4.76586222e-02 1.61840560e+02] [ 1.13259911e-01 9.93557058e-01 -4.07014186e-03 1.22829127e+01] [ 4.78128088e-02 -1.35854434e-03 9.98855390e-01 7.45591789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.87, Y:12.29, Z:7.46 [[ 9.92554803e-01 -1.12105854e-01 -4.76155479e-02 1.61871422e+02] [ 1.12039900e-01 9.93695414e-01 -4.06026189e-03 1.22852602e+01] [ 4.77705307e-02 -1.30480879e-03 9.98857484e-01 7.45743185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.90, Y:12.29, Z:7.46 [[ 9.92848568e-01 -1.09440089e-01 -4.76926367e-02 1.61903981e+02] [ 1.09370972e-01 9.93992692e-01 -4.06426773e-03 1.22888505e+01] [ 4.78509262e-02 -1.18098764e-03 9.98853790e-01 7.45910404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.94, Y:12.29, Z:7.46 [[ 9.93011708e-01 -1.07903208e-01 -4.77979757e-02 1.61935586e+02] [ 1.07832251e-01 9.94160780e-01 -4.06815076e-03 1.22928324e+01] [ 4.79578393e-02 -1.11444198e-03 9.98848739e-01 7.46027005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.97, Y:12.30, Z:7.46 [[ 9.93203455e-01 -1.05721369e-01 -4.86814998e-02 1.61967265e+02] [ 1.05645321e-01 9.94395258e-01 -4.13975335e-03 1.22960926e+01] [ 4.88463130e-02 -1.03135537e-03 9.98805774e-01 7.46074333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.00, Y:12.30, Z:7.46 [[ 9.93267107e-01 -1.04781887e-01 -4.94086050e-02 1.61998615e+02] [ 1.04702578e-01 9.94494720e-01 -4.19779142e-03 1.22973684e+01] [ 4.95764493e-02 -1.00368017e-03 9.98769827e-01 7.46139835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.03, Y:12.30, Z:7.46 [[ 9.93282878e-01 -1.04127145e-01 -5.04644586e-02 1.62030117e+02] [ 1.04043883e-01 9.94563493e-01 -4.28123476e-03 1.22990996e+01] [ 5.06359009e-02 -9.98041022e-04 9.98716681e-01 7.46169989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.06, Y:12.30, Z:7.46 [[ 9.93352336e-01 -1.02466125e-01 -5.24578919e-02 1.62061872e+02] [ 1.02373991e-01 9.94736038e-01 -4.44746261e-03 1.23023216e+01] [ 5.26374698e-02 -9.52426379e-04 9.98613233e-01 7.46167275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.09, Y:12.31, Z:7.46 [[ 9.93437841e-01 -1.01655332e-01 -5.24161174e-02 1.62092132e+02] [ 1.01562350e-01 9.94819262e-01 -4.44140029e-03 1.23051538e+01] [ 5.25960552e-02 -9.11248927e-04 9.98615454e-01 7.46270962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.12, Y:12.31, Z:7.46 [[ 9.93470509e-01 -1.01238456e-01 -5.26034471e-02 1.62123166e+02] [ 1.01144234e-01 9.94861789e-01 -4.45708235e-03 1.23083307e+01] [ 5.27843876e-02 -8.92555506e-04 9.98605534e-01 7.46459915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.15, Y:12.31, Z:7.47 [[ 9.93620068e-01 -9.99775626e-02 -5.21885713e-02 1.62152927e+02] [ 9.98831778e-02 9.94989353e-01 -4.42013343e-03 1.23109617e+01] [ 5.23689870e-02 -8.20827066e-04 9.98627466e-01 7.46642413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.18, Y:12.31, Z:7.47 [[ 9.93656121e-01 -9.95273202e-02 -5.23624420e-02 1.62182056e+02] [ 9.94317210e-02 9.95034508e-01 -4.43409257e-03 1.23131262e+01] [ 5.25437500e-02 -8.00524499e-04 9.98618302e-01 7.46787167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.21, Y:12.32, Z:7.47 [[ 9.93709015e-01 -9.89960489e-02 -5.23657933e-02 1.62212534e+02] [ 9.88996560e-02 9.95087527e-01 -4.43521858e-03 1.23159185e+01] [ 5.25476169e-02 -7.71642264e-04 9.98618121e-01 7.46947330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.24, Y:12.32, Z:7.47 [[ 9.93778081e-01 -9.86783413e-02 -5.16498945e-02 1.62244063e+02] [ 9.85841465e-02 9.95119104e-01 -4.37442713e-03 1.23191681e+01] [ 5.18294579e-02 -7.44650963e-04 9.98655673e-01 7.47162360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.27, Y:12.32, Z:7.47 [[ 9.93992843e-01 -9.73101521e-02 -5.00895356e-02 1.62274216e+02] [ 9.72199157e-02 9.95253890e-01 -4.24054597e-03 1.23216761e+01] [ 5.02644533e-02 -6.54628076e-04 9.98735729e-01 7.47458069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.31, Y:12.33, Z:7.48 [[ 9.94096423e-01 -9.64461621e-02 -4.97035180e-02 1.62305593e+02] [ 9.63562794e-02 9.95338018e-01 -4.20692910e-03 1.23250084e+01] [ 4.98775432e-02 -6.07152898e-04 9.98755156e-01 7.47705178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.34, Y:12.33, Z:7.48 [[ 9.94215662e-01 -9.54950989e-02 -4.91518457e-02 1.62336996e+02] [ 9.54061268e-02 9.95429745e-01 -4.15847102e-03 1.23282874e+01] [ 4.93243229e-02 -5.54970206e-04 9.98782661e-01 7.47908415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.37, Y:12.33, Z:7.48 [[ 9.94385282e-01 -9.37642873e-02 -4.90527130e-02 1.62367811e+02] [ 9.36736574e-02 9.95594314e-01 -4.14829313e-03 1.23312802e+01] [ 4.92255639e-02 -4.69945389e-04 9.98787577e-01 7.48132379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.40, Y:12.33, Z:7.48 [[ 9.94445155e-01 -9.31112020e-02 -4.90829628e-02 1.62398518e+02] [ 9.30197532e-02 9.95655619e-01 -4.14906713e-03 1.23339042e+01] [ 4.92560523e-02 -4.39665384e-04 9.98786087e-01 7.48302712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.43, Y:12.34, Z:7.48 [[ 9.94462472e-01 -9.29471546e-02 -4.90430145e-02 1.62430179e+02] [ 9.28557426e-02 9.95670949e-01 -4.14391932e-03 1.23364325e+01] [ 4.92158703e-02 -4.32953278e-04 9.98788071e-01 7.48454821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.46, Y:12.34, Z:7.49 [[ 9.94398241e-01 -9.33889485e-02 -4.95039657e-02 1.62460441e+02] [ 9.32964442e-02 9.95629596e-01 -4.18109997e-03 1.23378293e+01] [ 4.96780819e-02 -4.60865514e-04 9.98765175e-01 7.48574417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:12.34, Z:7.49 [[ 9.94152187e-01 -9.53605808e-02 -5.06733550e-02 1.62491689e+02] [ 9.52662617e-02 9.95442631e-01 -4.27887634e-03 1.23388687e+01] [ 5.08504539e-02 -5.73606822e-04 9.98706114e-01 7.48684556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.52, Y:12.34, Z:7.49 [[ 9.93932151e-01 -9.70616017e-02 -5.17486720e-02 1.62522041e+02] [ 9.69656335e-02 9.95278146e-01 -4.36784845e-03 1.23393230e+01] [ 5.19282727e-02 -6.76497760e-04 9.98650588e-01 7.48745435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.55, Y:12.34, Z:7.49 [[ 9.93711187e-01 -9.87698187e-02 -5.27503565e-02 1.62552178e+02] [ 9.86725470e-02 9.95110000e-01 -4.45154225e-03 1.23385836e+01] [ 5.29320853e-02 -7.81464702e-04 9.98597809e-01 7.48755152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.58, Y:12.34, Z:7.49 [[ 9.93455122e-01 -1.00940129e-01 -5.34603670e-02 1.62582051e+02] [ 1.00843347e-01 9.94892087e-01 -4.51168562e-03 1.23409306e+01] [ 5.36427062e-02 -9.08965149e-04 9.98559780e-01 7.48905494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.61, Y:12.34, Z:7.49 [[ 9.92974796e-01 -1.04850596e-01 -5.48398377e-02 1.62612095e+02] [ 1.04754644e-01 9.94487323e-01 -4.62925246e-03 1.23404814e+01] [ 5.50229032e-02 -1.14799663e-03 9.98484433e-01 7.48944574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.64, Y:12.34, Z:7.49 [[ 9.92740476e-01 -1.06714870e-01 -5.54822917e-02 1.62641965e+02] [ 1.06619458e-01 9.94288861e-01 -4.68536728e-03 1.23405843e+01] [ 5.56654229e-02 -1.26413813e-03 9.98448678e-01 7.49000657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.67, Y:12.34, Z:7.49 [[ 9.92527189e-01 -1.08527391e-01 -5.57815826e-02 1.62672506e+02] [ 1.08433757e-01 9.94092512e-01 -4.71149733e-03 1.23424925e+01] [ 5.59633801e-02 -1.37231735e-03 9.98431879e-01 7.49149856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.70, Y:12.34, Z:7.49 [[ 9.92155465e-01 -1.12218656e-01 -5.50863541e-02 1.62701703e+02] [ 1.12133006e-01 9.93682312e-01 -4.65305368e-03 1.23417997e+01] [ 5.52604951e-02 -1.56044581e-03 9.98470752e-01 7.49361370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.73, Y:12.34, Z:7.50 [[ 9.91944584e-01 -1.14150291e-01 -5.49149580e-02 1.62731771e+02] [ 1.14068026e-01 9.93462104e-01 -4.64040581e-03 1.23427452e+01] [ 5.50856334e-02 -1.66101542e-03 9.98480252e-01 7.49537727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.76, Y:12.34, Z:7.50 [[ 9.91743466e-01 -1.16110894e-01 -5.44348969e-02 1.62761801e+02] [ 1.16032960e-01 9.93234708e-01 -4.60073315e-03 1.23435501e+01] [ 5.46008242e-02 -1.75349516e-03 9.98506723e-01 7.49747455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.79, Y:12.34, Z:7.50 [[ 9.91327283e-01 -1.19403821e-01 -5.48903084e-02 1.62791182e+02] [ 1.19329585e-01 9.92843856e-01 -4.63974277e-03 1.23432946e+01] [ 5.50515085e-02 -1.95053411e-03 9.98481611e-01 7.49868474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.82, Y:12.34, Z:7.50 [[ 9.91150483e-01 -1.21010203e-01 -5.45641887e-02 1.62821343e+02] [ 1.20939229e-01 9.92649194e-01 -4.61300487e-03 1.23449124e+01] [ 5.47213186e-02 -2.02676889e-03 9.98499609e-01 7.50063391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.85, Y:12.35, Z:7.50 [[ 9.91055494e-01 -1.22201609e-01 -5.36262578e-02 1.62850452e+02] [ 1.22134788e-01 9.92503168e-01 -4.53381928e-03 1.23457706e+01] [ 5.37782707e-02 -2.05636511e-03 9.98550784e-01 7.50276331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.88, Y:12.35, Z:7.51 [[ 9.90845957e-01 -1.23837647e-01 -5.37450133e-02 1.62881028e+02] [ 1.23772891e-01 9.92300165e-01 -4.54457742e-03 1.23483954e+01] [ 5.38939753e-02 -2.14919953e-03 9.98544351e-01 7.50512590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.91, Y:12.35, Z:7.51 [[ 9.90503100e-01 -1.26039830e-01 -5.49324047e-02 1.62911659e+02] [ 1.25975615e-01 9.92022468e-01 -4.64400329e-03 1.23513322e+01] [ 5.50795091e-02 -2.32024382e-03 9.98479276e-01 7.50621362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.94, Y:12.35, Z:7.51 [[ 9.90358809e-01 -1.26863434e-01 -5.56336122e-02 1.62941509e+02] [ 1.26798913e-01 9.91917296e-01 -4.70243953e-03 1.23521715e+01] [ 5.57805098e-02 -2.39717914e-03 9.98440178e-01 7.50676280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.97, Y:12.36, Z:7.51 [[ 9.90207614e-01 -1.27753948e-01 -5.62833058e-02 1.62971975e+02] [ 1.27689371e-01 9.91802801e-01 -4.75694499e-03 1.23580148e+01] [ 5.64296589e-02 -2.47641677e-03 9.98403506e-01 7.50879411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.00, Y:12.36, Z:7.51 [[ 9.90002032e-01 -1.29008501e-01 -5.70331794e-02 1.63002707e+02] [ 1.28944405e-01 9.91640120e-01 -4.81794685e-03 1.23604381e+01] [ 5.71779450e-02 -2.58433219e-03 9.98360658e-01 7.51007646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.03, Y:12.37, Z:7.51 [[ 9.89905511e-01 -1.29661415e-01 -5.72275824e-02 1.63033818e+02] [ 1.29598039e-01 9.91554834e-01 -4.83315433e-03 1.23662599e+01] [ 5.73709596e-02 -2.63221633e-03 9.98349460e-01 7.51240467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.06, Y:12.37, Z:7.51 [[ 9.89838895e-01 -1.29884828e-01 -5.78696242e-02 1.63064961e+02] [ 1.29820542e-01 9.91525473e-01 -4.88501843e-03 1.23680623e+01] [ 5.80136963e-02 -2.67728473e-03 9.98312197e-01 7.51339289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.10, Y:12.37, Z:7.51 [[ 9.89912362e-01 -1.29172502e-01 -5.82063639e-02 1.63095948e+02] [ 1.29106416e-01 9.91618587e-01 -4.91040489e-03 1.23728314e+01] [ 5.83528016e-02 -2.65394455e-03 9.98292496e-01 7.51495472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.13, Y:12.37, Z:7.52 [[ 9.90092806e-01 -1.27928416e-01 -5.78839875e-02 1.63126180e+02] [ 1.27861050e-01 9.91780079e-01 -4.88129806e-03 1.23743436e+01] [ 5.80326425e-02 -2.56816935e-03 9.98311383e-01 7.51562311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.16, Y:12.38, Z:7.52 [[ 9.90509910e-01 -1.24513157e-01 -5.81944300e-02 1.63155939e+02] [ 1.24439237e-01 9.92215098e-01 -4.90661571e-03 1.23826054e+01] [ 5.83523303e-02 -2.38161896e-03 9.98293210e-01 7.51724909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.19, Y:12.38, Z:7.52 [[ 9.90768857e-01 -1.22206515e-01 -5.86740126e-02 1.63185992e+02] [ 1.22127335e-01 9.92502111e-01 -4.94705132e-03 1.23847448e+01] [ 5.88386432e-02 -2.26431642e-03 9.98264938e-01 7.51740833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.22, Y:12.39, Z:7.52 [[ 9.90764713e-01 -1.22240124e-01 -5.86739801e-02 1.63215031e+02] [ 1.22160981e-01 9.92497969e-01 -4.94743558e-03 1.23872248e+01] [ 5.88385812e-02 -2.26592639e-03 9.98264938e-01 7.51879497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.24, Y:12.40, Z:7.52 [[ 9.91414685e-01 -1.16354891e-01 -5.96528360e-02 1.63244807e+02] [ 1.16262364e-01 9.93205793e-01 -5.03139873e-03 1.23996824e+01] [ 5.98329702e-02 -1.94717714e-03 9.98206504e-01 7.52054600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.27, Y:12.41, Z:7.52 [[ 9.91779459e-01 -1.13266310e-01 -5.95335837e-02 1.63274613e+02] [ 1.13168647e-01 9.93563109e-01 -5.02049391e-03 1.24052069e+01] [ 5.97190254e-02 -1.75811237e-03 9.98213678e-01 7.52143169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.30, Y:12.41, Z:7.52 [[ 9.92096639e-01 -1.10402869e-01 -5.96277170e-02 1.63304320e+02] [ 1.10299718e-01 9.93885650e-01 -5.02865105e-03 1.24107093e+01] [ 5.98183097e-02 -1.58801258e-03 9.98208018e-01 7.52283487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.33, Y:12.42, Z:7.52 [[ 9.92402448e-01 -1.07809367e-01 -5.92834086e-02 1.63333509e+02] [ 1.07702708e-01 9.94170568e-01 -5.00087774e-03 1.24158776e+01] [ 5.94769615e-02 -1.42210030e-03 9.98228666e-01 7.52443734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.36, Y:12.42, Z:7.53 [[ 9.92691948e-01 -1.05471586e-01 -5.86382191e-02 1.63363208e+02] [ 1.05363052e-01 9.94421511e-01 -4.94831796e-03 1.24208476e+01] [ 5.88330134e-02 -1.26614632e-03 9.98267035e-01 7.52607794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.39, Y:12.43, Z:7.53 [[ 9.93103772e-01 -1.01680199e-01 -5.83612536e-02 1.63392508e+02] [ 1.01566075e-01 9.94816599e-01 -4.92616791e-03 1.24281123e+01] [ 5.85596375e-02 -1.03532754e-03 9.98283375e-01 7.52784285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.42, Y:12.43, Z:7.53 [[ 9.93242899e-01 -1.00209926e-01 -5.85364412e-02 1.63421300e+02] [ 1.00092455e-01 9.94965863e-01 -4.94282849e-03 1.24325786e+01] [ 5.87370812e-02 -9.49626795e-04 9.98273036e-01 7.52880474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.45, Y:12.44, Z:7.53 [[ 9.93433514e-01 -9.78756253e-02 -5.92470693e-02 1.63450549e+02] [ 9.77510609e-02 9.95198317e-01 -5.00409034e-03 1.24395993e+01] [ 5.94523621e-02 -8.20232822e-04 9.98230807e-01 7.53012858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.48, Y:12.44, Z:7.53 [[ 9.93525567e-01 -9.66497614e-02 -5.97140762e-02 1.63480220e+02] [ 9.65208848e-02 9.95318170e-01 -5.04565870e-03 1.24448277e+01] [ 5.99221668e-02 -7.50664547e-04 9.98202770e-01 7.53195775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.51, Y:12.45, Z:7.53 [[ 9.93758516e-01 -9.42287375e-02 -5.97072609e-02 1.63508401e+02] [ 9.40953820e-02 9.95550392e-01 -5.04744898e-03 1.24505667e+01] [ 5.99172017e-02 -6.02232119e-04 9.98203169e-01 7.53343438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.54, Y:12.45, Z:7.54 [[ 9.93828667e-01 -9.35347551e-02 -5.96307824e-02 1.63536645e+02] [ 9.34001560e-02 9.95615861e-01 -5.04660914e-03 1.24548003e+01] [ 5.98413861e-02 -5.54059546e-04 9.98207745e-01 7.53567770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.56, Y:12.46, Z:7.54 [[ 9.93954822e-01 -9.26965193e-02 -5.88316770e-02 1.63564530e+02] [ 9.25632520e-02 9.95694291e-01 -4.99228331e-03 1.24582871e+01] [ 5.90411323e-02 -4.83547278e-04 9.98255434e-01 7.53722948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.59, Y:12.46, Z:7.54 [[ 9.94215562e-01 -9.10348272e-02 -5.69918903e-02 1.63593012e+02] [ 9.09066613e-02 9.95847642e-01 -4.84280518e-03 1.24636434e+01] [ 5.71961035e-02 -3.66150199e-04 9.98362896e-01 7.54049031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.62, Y:12.47, Z:7.54 [[ 9.94409138e-01 -8.95214231e-02 -5.60033937e-02 1.63622134e+02] [ 8.93951148e-02 9.95984860e-01 -4.76154912e-03 1.24685959e+01] [ 5.62047928e-02 -2.71501847e-04 9.98419224e-01 7.54336159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.65, Y:12.47, Z:7.54 [[ 9.94458157e-01 -8.92907848e-02 -5.54989115e-02 1.63651543e+02] [ 8.91662845e-02 9.96005568e-01 -4.72044984e-03 1.24713151e+01] [ 5.56987175e-02 -2.54341882e-04 9.98447589e-01 7.54448845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.68, Y:12.47, Z:7.55 [[ 9.94476401e-01 -8.92276859e-02 -5.52730373e-02 1.63680954e+02] [ 8.91040391e-02 9.96011224e-01 -4.70233918e-03 1.24740933e+01] [ 5.54721444e-02 -2.48685536e-04 9.98460204e-01 7.54587722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.71, Y:12.48, Z:7.55 [[ 9.94460523e-01 -8.95640429e-02 -5.50140871e-02 1.63710375e+02] [ 8.94419684e-02 9.95981030e-01 -4.68209036e-03 1.24759291e+01] [ 5.52123340e-02 -2.64414215e-04 9.98474601e-01 7.54665867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.74, Y:12.48, Z:7.55 [[ 9.94352005e-01 -9.07567562e-02 -5.50209088e-02 1.63740693e+02] [ 9.06364303e-02 9.95873035e-01 -4.68349293e-03 1.24781336e+01] [ 5.52188980e-02 -3.29858171e-04 9.98474218e-01 7.54855813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.77, Y:12.48, Z:7.55 [[ 9.94033610e-01 -9.40897975e-02 -5.51751002e-02 1.63770004e+02] [ 9.39739166e-02 9.95563581e-01 -4.69675916e-03 1.24767180e+01] [ 5.53722375e-02 -5.16283802e-04 9.98465647e-01 7.54877726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.80, Y:12.48, Z:7.55 [[ 9.93643313e-01 -9.80729936e-02 -5.52689318e-02 1.63800964e+02] [ 9.79628242e-02 9.95178950e-01 -4.70560212e-03 1.24763765e+01] [ 5.54639700e-02 -7.38610573e-04 9.98460416e-01 7.55043373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.83, Y:12.48, Z:7.55 [[ 9.93423718e-01 -1.00010466e-01 -5.57424642e-02 1.63832619e+02] [ 9.99014627e-02 9.94986018e-01 -4.74562110e-03 1.24771680e+01] [ 5.59375842e-02 -8.54341147e-04 9.98433902e-01 7.55179868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.86, Y:12.48, Z:7.55 [[ 9.93218164e-01 -1.01873720e-01 -5.60305698e-02 1.63863507e+02] [ 1.01766652e-01 9.94796870e-01 -4.76830703e-03 1.24779423e+01] [ 5.62248006e-02 -9.66074353e-04 9.98417667e-01 7.55305165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.89, Y:12.48, Z:7.55 [[ 9.93024321e-01 -1.03546877e-01 -5.63980601e-02 1.63893944e+02] [ 1.03441168e-01 9.94624000e-01 -4.79828124e-03 1.24783350e+01] [ 5.65917112e-02 -1.06907123e-03 9.98396833e-01 7.55373779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.93, Y:12.48, Z:7.55 [[ 9.92596779e-01 -1.06947398e-01 -5.75663875e-02 1.63925301e+02] [ 1.06843134e-01 9.94263841e-01 -4.89487860e-03 1.24794963e+01] [ 5.77596720e-02 -1.29193249e-03 9.98329681e-01 7.55466833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.96, Y:12.48, Z:7.55 [[ 9.92409306e-01 -1.08661536e-01 -5.75885328e-02 1.63955934e+02] [ 1.08560184e-01 9.94077827e-01 -4.89484007e-03 1.24787144e+01] [ 5.77793644e-02 -1.39413686e-03 9.98328404e-01 7.55499570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.99, Y:12.48, Z:7.56 [[ 9.92221785e-01 -1.10291302e-01 -5.77213813e-02 1.63986287e+02] [ 1.10192285e-01 9.93898183e-01 -4.90526997e-03 1.24798771e+01] [ 5.79101846e-02 -1.49333516e-03 9.98320680e-01 7.55604086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.02, Y:12.48, Z:7.56 [[ 9.92049214e-01 -1.11654909e-01 -5.80649542e-02 1.64016283e+02] [ 1.11557096e-01 9.93745780e-01 -4.93352268e-03 1.24800707e+01] [ 5.82526552e-02 -1.58326040e-03 9.98300617e-01 7.55707626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.05, Y:12.48, Z:7.56 [[ 9.91814490e-01 -1.13967629e-01 -5.75794811e-02 1.64047622e+02] [ 1.13875596e-01 9.93482993e-01 -4.88776645e-03 1.24814349e+01] [ 5.77612824e-02 -1.70914016e-03 9.98328960e-01 7.55957704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.08, Y:12.48, Z:7.56 [[ 9.91710288e-01 -1.14984424e-01 -5.73523049e-02 1.64077486e+02] [ 1.14894921e-01 9.93365730e-01 -4.86660826e-03 1.24827141e+01] [ 5.75313984e-02 -1.76322308e-03 9.98342140e-01 7.56118099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.11, Y:12.48, Z:7.56 [[ 9.91591211e-01 -1.16156786e-01 -5.70479717e-02 1.64108322e+02] [ 1.16070241e-01 9.93229218e-01 -4.83947539e-03 1.24839578e+01] [ 5.72238502e-02 -1.82279058e-03 9.98359709e-01 7.56292948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.14, Y:12.48, Z:7.57 [[ 9.91233357e-01 -1.19533390e-01 -5.62867807e-02 1.64139461e+02] [ 1.19454707e-01 9.92828181e-01 -4.77248828e-03 1.24836267e+01] [ 5.64535738e-02 -1.99307129e-03 9.98403236e-01 7.56501006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.17, Y:12.49, Z:7.57 [[ 9.91021078e-01 -1.21390139e-01 -5.60504878e-02 1.64171426e+02] [ 1.21315160e-01 9.92602670e-01 -4.75098012e-03 1.24870507e+01] [ 5.62125860e-02 -2.09145248e-03 9.98416632e-01 7.56737021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.20, Y:12.49, Z:7.57 [[ 9.90761105e-01 -1.23410665e-01 -5.62338015e-02 1.64202575e+02] [ 1.23338691e-01 9.92353208e-01 -4.76211255e-03 1.24861638e+01] [ 5.63914888e-02 -2.21768754e-03 9.98406271e-01 7.56856114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.23, Y:12.49, Z:7.57 [[ 9.90488434e-01 -1.25568685e-01 -5.62598230e-02 1.64234543e+02] [ 1.25500428e-01 9.92082152e-01 -4.75878294e-03 1.24877200e+01] [ 5.64119204e-02 -2.34711243e-03 9.98404821e-01 7.57048717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.27, Y:12.49, Z:7.57 [[ 9.89891274e-01 -1.29888368e-01 -5.69585628e-02 1.64265361e+02] [ 1.29825751e-01 9.91525138e-01 -4.81409139e-03 1.24873692e+01] [ 5.71011413e-02 -2.62926113e-03 9.98364937e-01 7.57178711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.30, Y:12.49, Z:7.57 [[ 9.89575618e-01 -1.32038956e-01 -5.74961844e-02 1.64296153e+02] [ 1.31978879e-01 9.91240626e-01 -4.85765449e-03 1.24854257e+01] [ 5.76339535e-02 -2.78126551e-03 9.98333908e-01 7.57225670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.33, Y:12.49, Z:7.57 [[ 9.89219764e-01 -1.34247471e-01 -5.84967933e-02 1.64326995e+02] [ 1.34189212e-01 9.90943411e-01 -4.94088023e-03 1.24867645e+01] [ 5.86303125e-02 -2.96202223e-03 9.98275369e-01 7.57357315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.36, Y:12.49, Z:7.58 [[ 9.88850019e-01 -1.36706242e-01 -5.90511971e-02 1.64357571e+02] [ 1.36651369e-01 9.90606656e-01 -4.98558344e-03 1.24896869e+01] [ 5.91780692e-02 -3.13943265e-03 9.98242506e-01 7.57523838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.39, Y:12.49, Z:7.58 [[ 9.88222662e-01 -1.40595152e-01 -6.04067392e-02 1.64388114e+02] [ 1.40545029e-01 9.90061157e-01 -5.09903771e-03 1.24885869e+01] [ 6.05232660e-02 -3.45088230e-03 9.98160822e-01 7.57549636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.42, Y:12.49, Z:7.58 [[ 9.87965417e-01 -1.42092139e-01 -6.11077650e-02 1.64419467e+02] [ 1.42043756e-01 9.89846945e-01 -5.15729712e-03 1.24892867e+01] [ 6.12201459e-02 -3.58474527e-03 9.98117850e-01 7.57630312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.45, Y:12.49, Z:7.58 [[ 9.87809196e-01 -1.42976651e-01 -6.15684110e-02 1.64450247e+02] [ 1.42929370e-01 9.89719261e-01 -5.19420878e-03 1.24871169e+01] [ 6.16780928e-02 -3.66904700e-03 9.98089350e-01 7.57644205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.48, Y:12.49, Z:7.58 [[ 9.87710945e-01 -1.43512312e-01 -6.18975441e-02 1.64480984e+02] [ 1.43465658e-01 9.89641526e-01 -5.22061286e-03 1.24932041e+01] [ 6.20056022e-02 -3.72371540e-03 9.98068855e-01 7.57917165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.51, Y:12.50, Z:7.58 [[ 9.87806571e-01 -1.43060550e-01 -6.14154451e-02 1.64512177e+02] [ 1.43013881e-01 9.89707139e-01 -5.17778870e-03 1.24971956e+01] [ 6.15240417e-02 -3.66860746e-03 9.98098860e-01 7.58140977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.54, Y:12.50, Z:7.58 [[ 9.87945248e-01 -1.42133181e-01 -6.13379635e-02 1.64543151e+02] [ 1.42084983e-01 9.89840966e-01 -5.16909156e-03 1.25016255e+01] [ 6.14495285e-02 -3.60842404e-03 9.98103669e-01 7.58372382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.57, Y:12.51, Z:7.59 [[ 9.88472294e-01 -1.38904086e-01 -6.02343595e-02 1.64573676e+02] [ 1.38851741e-01 9.90300180e-01 -5.07422541e-03 1.25081100e+01] [ 6.03549277e-02 -3.34791445e-03 9.98171365e-01 7.58582624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.61, Y:12.51, Z:7.59 [[ 9.88813696e-01 -1.36891941e-01 -5.92289644e-02 1.64605147e+02] [ 1.36837813e-01 9.90580906e-01 -4.98808719e-03 1.25137410e+01] [ 5.93539102e-02 -3.17247300e-03 9.98231961e-01 7.58788359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.64, Y:12.52, Z:7.59 [[ 9.89135277e-01 -1.34805930e-01 -5.86409782e-02 1.64635634e+02] [ 1.34749384e-01 9.90867419e-01 -4.93569354e-03 1.25166214e+01] [ 5.87707955e-02 -3.01976711e-03 9.98266936e-01 7.58948263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.67, Y:12.53, Z:7.59 [[ 9.89772860e-01 -1.30575636e-01 -5.74429211e-02 1.64665578e+02] [ 1.30514376e-01 9.91434637e-01 -4.83298523e-03 1.25291706e+01] [ 5.75819718e-02 -2.71356939e-03 9.98337094e-01 7.59264879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.70, Y:12.53, Z:7.59 [[ 9.90056998e-01 -1.28512120e-01 -5.71994307e-02 1.64696100e+02] [ 1.28448019e-01 9.91704572e-01 -4.81117443e-03 1.25307166e+01] [ 5.73432312e-02 -2.58381665e-03 9.98351180e-01 7.59333188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.73, Y:12.54, Z:7.59 [[ 9.90431188e-01 -1.25575404e-01 -5.72440318e-02 1.64727603e+02] [ 1.25506389e-01 9.92081134e-01 -4.81354975e-03 1.25375436e+01] [ 5.73951874e-02 -2.41700190e-03 9.98348612e-01 7.59497172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.76, Y:12.55, Z:7.60 [[ 9.90526960e-01 -1.24553357e-01 -5.78169800e-02 1.64759165e+02] [ 1.24481409e-01 9.92210045e-01 -4.85843751e-03 1.25451061e+01] [ 5.79717230e-02 -2.38472582e-03 9.98315377e-01 7.59696993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.79, Y:12.55, Z:7.60 [[ 9.90622947e-01 -1.23683689e-01 -5.80389614e-02 1.64791292e+02] [ 1.23609948e-01 9.92318919e-01 -4.87282861e-03 1.25492201e+01] [ 5.81958489e-02 -2.34705714e-03 9.98302426e-01 7.59823195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.82, Y:12.55, Z:7.60 [[ 9.90716246e-01 -1.22589268e-01 -5.87638644e-02 1.64823510e+02] [ 1.22512010e-01 9.92454789e-01 -4.92934256e-03 1.25539078e+01] [ 5.89247632e-02 -2.31569938e-03 9.98259741e-01 7.59934675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.85, Y:12.56, Z:7.60 [[ 9.90724398e-01 -1.22328744e-01 -5.91679423e-02 1.64854912e+02] [ 1.22250204e-01 9.92486924e-01 -4.95907974e-03 1.25562035e+01] [ 5.93300470e-02 -2.32021175e-03 9.98235725e-01 7.60053494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.89, Y:12.56, Z:7.60 [[ 9.90737178e-01 -1.22199362e-01 -5.92212725e-02 1.64885718e+02] [ 1.22120643e-01 9.92502868e-01 -4.96030853e-03 1.25582799e+01] [ 5.93834293e-02 -2.31777782e-03 9.98232556e-01 7.60161091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.92, Y:12.56, Z:7.60 [[ 9.90855964e-01 -1.21456751e-01 -5.87598152e-02 1.64917602e+02] [ 1.21378149e-01 9.92594154e-01 -4.91830185e-03 1.25617088e+01] [ 5.89220100e-02 -2.25882887e-03 9.98260033e-01 7.60320227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.95, Y:12.56, Z:7.61 [[ 9.90949737e-01 -1.21055744e-01 -5.80010783e-02 1.64949993e+02] [ 1.20978711e-01 9.92643250e-01 -4.85069818e-03 1.25648889e+01] [ 5.81615838e-02 -2.21009760e-03 9.98304736e-01 7.60549874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.98, Y:12.57, Z:7.61 [[ 9.91041681e-01 -1.20643360e-01 -5.72849497e-02 1.64981971e+02] [ 1.20567763e-01 9.92693559e-01 -4.78674034e-03 1.25701033e+01] [ 5.74438890e-02 -2.16285902e-03 9.98346394e-01 7.60830682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.01, Y:12.57, Z:7.61 [[ 9.91122701e-01 -1.20267753e-01 -5.66697318e-02 1.65013181e+02] [ 1.20193382e-01 9.92739223e-01 -4.73139009e-03 1.25706824e+01] [ 5.68272991e-02 -2.12193857e-03 9.98381768e-01 7.60992664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.05, Y:12.58, Z:7.61 [[ 9.91228806e-01 -1.19971510e-01 -5.54282502e-02 1.65045128e+02] [ 1.19900071e-01 9.92775194e-01 -4.62462727e-03 1.25760921e+01] [ 5.55826153e-02 -2.06178734e-03 9.98451963e-01 7.61263562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.08, Y:12.58, Z:7.61 [[ 9.91220895e-01 -1.20153066e-01 -5.51758871e-02 1.65075927e+02] [ 1.20082768e-01 9.92753228e-01 -4.59974200e-03 1.25780533e+01] [ 5.53287131e-02 -2.06631290e-03 9.98466055e-01 7.61431533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.11, Y:12.58, Z:7.62 [[ 9.91209785e-01 -1.20321803e-01 -5.50075066e-02 1.65108471e+02] [ 1.20252364e-01 9.92732778e-01 -4.58262001e-03 1.25807262e+01] [ 5.51591439e-02 -2.07244488e-03 9.98475425e-01 7.61564278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.14, Y:12.58, Z:7.62 [[ 9.90976024e-01 -1.22026836e-01 -5.54614385e-02 1.65139955e+02] [ 1.21959123e-01 9.92524387e-01 -4.61661932e-03 1.25819189e+01] [ 5.56101817e-02 -2.18906933e-03 9.98450157e-01 7.61601596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.17, Y:12.58, Z:7.62 [[ 9.90984507e-01 -1.21957812e-01 -5.54616921e-02 1.65171535e+02] [ 1.21890160e-01 9.92532873e-01 -4.61357058e-03 1.25844839e+01] [ 5.56102136e-02 -2.18825758e-03 9.98450157e-01 7.61752257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.20, Y:12.59, Z:7.62 [[ 9.90835735e-01 -1.23082549e-01 -5.56348103e-02 1.65203153e+02] [ 1.23016455e-01 9.92393858e-01 -4.62420010e-03 1.25872230e+01] [ 5.57808024e-02 -2.26217443e-03 9.98440476e-01 7.61852891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.23, Y:12.59, Z:7.62 [[ 9.90399427e-01 -1.26522774e-01 -5.56862964e-02 1.65233135e+02] [ 1.26462120e-01 9.91960651e-01 -4.62594332e-03 1.25859722e+01] [ 5.58239020e-02 -2.46067551e-03 9.98437598e-01 7.61890252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.27, Y:12.59, Z:7.62 [[ 9.90171428e-01 -1.28319276e-01 -5.56300799e-02 1.65265268e+02] [ 1.28261605e-01 9.91729605e-01 -4.62066727e-03 1.25912104e+01] [ 5.57629178e-02 -2.55995064e-03 9.98440756e-01 7.62097227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.30, Y:12.59, Z:7.62 [[ 9.90025357e-01 -1.29651900e-01 -5.51377973e-02 1.65296706e+02] [ 1.29597518e-01 9.91556123e-01 -4.57591403e-03 1.25916979e+01] [ 5.52654965e-02 -2.61545075e-03 9.98468269e-01 7.62205115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.33, Y:12.59, Z:7.62 [[ 9.89944539e-01 -1.30360873e-01 -5.49167786e-02 1.65328098e+02] [ 1.30308177e-01 9.91463078e-01 -4.55458802e-03 1.25910333e+01] [ 5.50416984e-02 -2.64731579e-03 9.98480547e-01 7.62271428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.36, Y:12.60, Z:7.63 [[ 9.89968533e-01 -1.30462627e-01 -5.42384270e-02 1.65359577e+02] [ 1.30411542e-01 9.91449758e-01 -4.49529003e-03 1.25963919e+01] [ 5.43611427e-02 -2.62312122e-03 9.98517894e-01 7.62513377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.39, Y:12.60, Z:7.63 [[ 9.90013933e-01 -1.30388159e-01 -5.35848957e-02 1.65391046e+02] [ 1.30338391e-01 9.91459638e-01 -4.43734140e-03 1.25953110e+01] [ 5.37058381e-02 -2.59113928e-03 9.98553438e-01 7.62639609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.42, Y:12.60, Z:7.63 [[ 9.90047925e-01 -1.30505548e-01 -5.26631577e-02 1.65423185e+02] [ 1.30457795e-01 9.91444285e-01 -4.35808113e-03 1.25990375e+01] [ 5.27813405e-02 -2.55561025e-03 9.98602823e-01 7.62834740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.46, Y:12.60, Z:7.63 [[ 9.90052814e-01 -1.30712650e-01 -5.20541000e-02 1.65455216e+02] [ 1.30666474e-01 9.91417041e-01 -4.30396046e-03 1.26002154e+01] [ 5.21699038e-02 -2.54057753e-03 9.98634992e-01 7.63004321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.49, Y:12.60, Z:7.63 [[ 9.89982424e-01 -1.31433654e-01 -5.15751473e-02 1.65486659e+02] [ 1.31389485e-01 9.91321668e-01 -4.26074300e-03 1.25985680e+01] [ 5.16875661e-02 -2.55837135e-03 9.98660027e-01 7.63135007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.52, Y:12.60, Z:7.63 [[ 9.89954746e-01 -1.31903570e-01 -5.09023487e-02 1.65518627e+02] [ 1.31861305e-01 9.91259268e-01 -4.20238573e-03 1.26039087e+01] [ 5.10117346e-02 -2.55187842e-03 9.98694794e-01 7.63322667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.55, Y:12.60, Z:7.63 [[ 9.89754408e-01 -1.33295617e-01 -5.11711959e-02 1.65549676e+02] [ 1.33254945e-01 9.91072804e-01 -4.22095305e-03 1.26012286e+01] [ 5.12770152e-02 -2.64110802e-03 9.98680976e-01 7.63447302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.58, Y:12.60, Z:7.64 [[ 9.89630097e-01 -1.34132671e-01 -5.13877270e-02 1.65580799e+02] [ 1.34092881e-01 9.90959711e-01 -4.23685962e-03 1.26015197e+01] [ 5.14914683e-02 -2.69780456e-03 9.98669791e-01 7.63546054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.61, Y:12.60, Z:7.64 [[ 9.89538124e-01 -1.34651853e-01 -5.17994130e-02 1.65613241e+02] [ 1.34612281e-01 9.90889156e-01 -4.26794458e-03 1.26025853e+01] [ 5.19021632e-02 -2.74954325e-03 9.98648389e-01 7.63636461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.64, Y:12.60, Z:7.64 [[ 9.89308307e-01 -1.35755867e-01 -5.32862013e-02 1.65644402e+02] [ 1.35715791e-01 9.90738099e-01 -4.38669491e-03 1.26007916e+01] [ 5.33881894e-02 -2.89198524e-03 9.98569646e-01 7.63595733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.68, Y:12.60, Z:7.64 [[ 9.89241809e-01 -1.36031485e-01 -5.38152244e-02 1.65675921e+02] [ 1.35991177e-01 9.90700156e-01 -4.42727410e-03 1.26047178e+01] [ 5.39169998e-02 -2.93875108e-03 9.98541096e-01 7.63695922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.71, Y:12.60, Z:7.64 [[ 9.89235694e-01 -1.35882474e-01 -5.43018925e-02 1.65707075e+02] [ 1.35841418e-01 9.90720539e-01 -4.46353389e-03 1.26048819e+01] [ 5.44045163e-02 -2.96095905e-03 9.98514587e-01 7.63802741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.74, Y:12.61, Z:7.64 [[ 9.89287477e-01 -1.35418224e-01 -5.45178186e-02 1.65738954e+02] [ 1.35376305e-01 9.90784135e-01 -4.47824993e-03 1.26102891e+01] [ 5.46218264e-02 -2.95014428e-03 9.98502755e-01 7.64025331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.77, Y:12.61, Z:7.64 [[ 9.89363308e-01 -1.34884986e-01 -5.44636084e-02 1.65770764e+02] [ 1.34842559e-01 9.90856955e-01 -4.46988255e-03 1.26142060e+01] [ 5.45685652e-02 -2.92167455e-03 9.98505751e-01 7.64219452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.80, Y:12.61, Z:7.64 [[ 9.89455182e-01 -1.34120993e-01 -5.46809198e-02 1.65802219e+02] [ 1.34077276e-01 9.90960735e-01 -4.48388033e-03 1.26140177e+01] [ 5.47880270e-02 -2.89487014e-03 9.98493812e-01 7.64354876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.83, Y:12.62, Z:7.65 [[ 9.89637571e-01 -1.33000075e-01 -5.41152394e-02 1.65833910e+02] [ 1.32955749e-01 9.91112054e-01 -4.43448227e-03 1.26184300e+01] [ 5.42240526e-02 -2.80640192e-03 9.98524850e-01 7.64527414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.86, Y:12.62, Z:7.65 [[ 9.89958077e-01 -1.30534071e-01 -5.42573619e-02 1.65864294e+02] [ 1.30486012e-01 9.91440197e-01 -4.44260016e-03 1.26209636e+01] [ 5.43728402e-02 -2.68183884e-03 9.98517101e-01 7.64674445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.90, Y:12.63, Z:7.65 [[ 9.90341968e-01 -1.27864827e-01 -5.36038531e-02 1.65895281e+02] [ 1.27814075e-01 9.91788439e-01 -4.38802161e-03 1.26253434e+01] [ 5.37247554e-02 -2.50568493e-03 9.98552639e-01 7.64878775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.93, Y:12.63, Z:7.65 [[ 9.90534445e-01 -1.26262867e-01 -5.38442289e-02 1.65927701e+02] [ 1.26209422e-01 9.91993838e-01 -4.40541540e-03 1.26300257e+01] [ 5.39693836e-02 -2.43193333e-03 9.98539629e-01 7.65049978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.96, Y:12.63, Z:7.65 [[ 9.90777044e-01 -1.24492930e-01 -5.35010215e-02 1.65958474e+02] [ 1.24437834e-01 9.92217771e-01 -4.37277816e-03 1.26318465e+01] [ 5.36290442e-02 -2.32510302e-03 9.98558220e-01 7.65179124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.99, Y:12.64, Z:7.65 [[ 9.91157672e-01 -1.21244789e-01 -5.39089153e-02 1.65990046e+02] [ 1.21184213e-01 9.92620269e-01 -4.40322161e-03 1.26364184e+01] [ 5.40449496e-02 -2.16862260e-03 9.98536149e-01 7.65308491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.02, Y:12.64, Z:7.65 [[ 9.91332376e-01 -1.19540899e-01 -5.44985639e-02 1.66021420e+02] [ 1.19476575e-01 9.92827053e-01 -4.44859692e-03 1.26399987e+01] [ 5.46394379e-02 -2.10126357e-03 9.98503939e-01 7.65458235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.05, Y:12.64, Z:7.66 [[ 9.91508988e-01 -1.17967102e-01 -5.47146236e-02 1.66051457e+02] [ 1.17899974e-01 9.93015440e-01 -4.46442854e-03 1.26417050e+01] [ 5.48591218e-02 -2.02433171e-03 9.98492052e-01 7.65535155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.08, Y:12.65, Z:7.66 [[ 9.91655900e-01 -1.16462899e-01 -5.52717668e-02 1.66083651e+02] [ 1.16392152e-01 9.93193104e-01 -4.50833790e-03 1.26475908e+01] [ 5.54205917e-02 -1.96248002e-03 9.98461169e-01 7.65719862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.12, Y:12.65, Z:7.66 [[ 9.91931019e-01 -1.13638307e-01 -5.62066538e-02 1.66115305e+02] [ 1.13560893e-01 9.93520483e-01 -4.57976722e-03 1.26512790e+01] [ 5.63628988e-02 -1.84006461e-03 9.98408653e-01 7.65850022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.15, Y:12.65, Z:7.66 [[ 9.92076558e-01 -1.12121090e-01 -5.66830095e-02 1.66145297e+02] [ 1.12040042e-01 9.93692972e-01 -4.61585168e-03 1.26528741e+01] [ 5.68430425e-02 -1.77148850e-03 9.98381555e-01 7.65989689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.18, Y:12.66, Z:7.66 [[ 9.92219451e-01 -1.10515987e-01 -5.73304301e-02 1.66176943e+02] [ 1.10430477e-01 9.93872892e-01 -4.66725834e-03 1.26563174e+01] [ 5.74949670e-02 -1.70008224e-03 9.98344349e-01 7.66159493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.21, Y:12.66, Z:7.66 [[ 9.92535587e-01 -1.07392318e-01 -5.77927275e-02 1.66207257e+02] [ 1.07300271e-01 9.94215539e-01 -4.70255606e-03 1.26587812e+01] [ 5.79634461e-02 -1.53372111e-03 9.98317528e-01 7.66303950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.24, Y:12.66, Z:7.66 [[ 9.92725726e-01 -1.05518312e-01 -5.79786013e-02 1.66237986e+02] [ 1.05422541e-01 9.94416332e-01 -4.71664458e-03 1.26620332e+01] [ 5.81525604e-02 -1.42991703e-03 9.98306684e-01 7.66466590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.27, Y:12.66, Z:7.67 [[ 9.92915067e-01 -1.03649393e-01 -5.81074325e-02 1.66267179e+02] [ 1.03550038e-01 9.94613015e-01 -4.72646801e-03 1.26645203e+01] [ 5.82843042e-02 -1.32404551e-03 9.98299147e-01 7.66621771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.30, Y:12.67, Z:7.67 [[ 9.93295799e-01 -1.00310882e-01 -5.74559212e-02 1.66297084e+02] [ 1.00208115e-01 9.94955519e-01 -4.67430419e-03 1.26687846e+01] [ 5.76349694e-02 -1.11458283e-03 9.98337101e-01 7.66927145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.33, Y:12.67, Z:7.67 [[ 9.93482287e-01 -9.85628467e-02 -5.72565319e-02 1.66326136e+02] [ 9.84578812e-02 9.95130316e-01 -4.65826014e-03 1.26713228e+01] [ 5.74368420e-02 -1.00945788e-03 9.98348632e-01 7.67087647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.36, Y:12.68, Z:7.67 [[ 9.93671158e-01 -9.68536360e-02 -5.68946599e-02 1.66356683e+02] [ 9.67471463e-02 9.95298225e-01 -4.62966211e-03 1.26751035e+01] [ 5.70755536e-02 -9.04034273e-04 9.98369453e-01 7.67320873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.39, Y:12.68, Z:7.68 [[ 9.93957031e-01 -9.42267555e-02 -5.63093244e-02 1.66386549e+02] [ 9.41182344e-02 9.95550482e-01 -4.58203188e-03 1.26778191e+01] [ 5.64905250e-02 -7.45391389e-04 9.98402857e-01 7.67572783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.42, Y:12.68, Z:7.68 [[ 9.94033226e-01 -9.35217447e-02 -5.61393720e-02 1.66415944e+02] [ 9.34127367e-02 9.95616989e-01 -4.56852135e-03 1.26798640e+01] [ 5.63205686e-02 -7.02870352e-04 9.98412490e-01 7.67739178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.44, Y:12.68, Z:7.68 [[ 9.94082578e-01 -9.31053380e-02 -5.59573488e-02 1.66444512e+02] [ 9.29962544e-02 9.95656035e-01 -4.55588898e-03 1.26804984e+01] [ 5.61384497e-02 -6.74893989e-04 9.98422766e-01 7.67838629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.47, Y:12.68, Z:7.68 [[ 9.94129208e-01 -9.27566613e-02 -5.57074419e-02 1.66473873e+02] [ 9.26478439e-02 9.95688596e-01 -4.53839100e-03 1.26816639e+01] [ 5.58882306e-02 -6.49427323e-04 9.98436820e-01 7.68057599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.50, Y:12.68, Z:7.68 [[ 9.94088099e-01 -9.33162722e-02 -5.55060770e-02 1.66503534e+02] [ 9.32090003e-02 9.95636287e-01 -4.52398806e-03 1.26832827e+01] [ 5.56860261e-02 -6.76423257e-04 9.98448100e-01 7.68272830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.53, Y:12.68, Z:7.68 [[ 9.94039724e-01 -9.40016241e-02 -5.52152283e-02 1.66532474e+02] [ 9.38964104e-02 9.95571792e-01 -4.50244250e-03 1.26835998e+01] [ 5.53939607e-02 -7.08905038e-04 9.98464324e-01 7.68405656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.56, Y:12.68, Z:7.69 [[ 9.93942435e-01 -9.52536394e-02 -5.48195149e-02 1.66561099e+02] [ 9.51516678e-02 9.95452737e-01 -4.47314438e-03 1.26836589e+01] [ 5.49963194e-02 -7.70120245e-04 9.98486260e-01 7.68553620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.59, Y:12.68, Z:7.69 [[ 9.93682206e-01 -9.81094806e-02 -5.44995737e-02 1.66590667e+02] [ 9.80128340e-02 9.95175202e-01 -4.44981730e-03 1.26814060e+01] [ 5.46731936e-02 -9.19953396e-04 9.98503879e-01 7.68694818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.62, Y:12.68, Z:7.69 [[ 9.93536246e-01 -9.96873609e-02 -5.42969418e-02 1.66620074e+02] [ 9.95936868e-02 9.95018305e-01 -4.43507845e-03 1.26806591e+01] [ 5.44685723e-02 -1.00122142e-03 9.98514983e-01 7.68835534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.65, Y:12.68, Z:7.69 [[ 9.93360456e-01 -1.01564524e-01 -5.40338088e-02 1.66650667e+02] [ 1.01474484e-01 9.94828348e-01 -4.41442085e-03 1.26807149e+01] [ 5.42027133e-02 -1.09794174e-03 9.98529349e-01 7.68964003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.68, Y:12.68, Z:7.69 [[ 9.93157600e-01 -1.03472912e-01 -5.41418307e-02 1.66681647e+02] [ 1.03385343e-01 9.94631543e-01 -4.42324595e-03 1.26803907e+01] [ 5.43088587e-02 -1.20449139e-03 9.98523458e-01 7.69103242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.71, Y:12.68, Z:7.69 [[ 9.92715226e-01 -1.07760213e-01 -5.38907856e-02 1.66712323e+02] [ 1.07679761e-01 9.94175882e-01 -4.40273623e-03 1.26778462e+01] [ 5.40513591e-02 -1.43228362e-03 9.98537130e-01 7.69265479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.74, Y:12.68, Z:7.69 [[ 9.92461548e-01 -1.09956428e-01 -5.41263325e-02 1.66742400e+02] [ 1.09878524e-01 9.93935186e-01 -4.42210203e-03 1.26755846e+01] [ 5.42843049e-02 -1.55855531e-03 9.98524304e-01 7.69318455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.77, Y:12.67, Z:7.69 [[ 9.91891278e-01 -1.14544385e-01 -5.50570362e-02 1.66772827e+02] [ 1.14470775e-01 9.93416428e-01 -4.49914870e-03 1.26726512e+01] [ 5.52099165e-02 -1.83975528e-03 9.98473074e-01 7.69410428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.80, Y:12.67, Z:7.69 [[ 9.91606131e-01 -1.16901008e-01 -5.52397950e-02 1.66802375e+02] [ 1.16830503e-01 9.93141605e-01 -4.51507307e-03 1.26710887e+01] [ 5.53887553e-02 -1.97651887e-03 9.98462908e-01 7.69492398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.83, Y:12.67, Z:7.70 [[ 9.91362424e-01 -1.18939836e-01 -5.52617307e-02 1.66832476e+02] [ 1.18872388e-01 9.92899263e-01 -4.51770793e-03 1.26724223e+01] [ 5.54066671e-02 -2.09040803e-03 9.98461683e-01 7.69681095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.86, Y:12.67, Z:7.70 [[ 9.91100654e-01 -1.20974184e-01 -5.55404308e-02 1.66861913e+02] [ 1.20909233e-01 9.92653182e-01 -4.54063924e-03 1.26712922e+01] [ 5.56816855e-02 -2.21512037e-03 9.98446114e-01 7.69758270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.89, Y:12.67, Z:7.70 [[ 9.90644096e-01 -1.24698617e-01 -5.54484377e-02 1.66891240e+02] [ 1.24639645e-01 9.92191716e-01 -4.53406489e-03 1.26673434e+01] [ 5.55808722e-02 -2.41942896e-03 9.98451257e-01 7.69836763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.92, Y:12.67, Z:7.70 [[ 9.90357908e-01 -1.27079382e-01 -5.51547290e-02 1.66921437e+02] [ 1.27024674e-01 9.91889301e-01 -4.51073834e-03 1.26662999e+01] [ 5.52806075e-02 -2.53876608e-03 9.98467630e-01 7.70011569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.95, Y:12.67, Z:7.70 [[ 9.90269794e-01 -1.27862209e-01 -5.49271437e-02 1.66951497e+02] [ 1.27809098e-01 9.91788610e-01 -4.49309456e-03 1.26667917e+01] [ 5.50506125e-02 -2.57081290e-03 9.98480256e-01 7.70163653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.98, Y:12.67, Z:7.70 [[ 9.90197148e-01 -1.28528287e-01 -5.46816996e-02 1.66982300e+02] [ 1.28476616e-01 9.91702447e-01 -4.47384853e-03 1.26675427e+01] [ 5.48029914e-02 -2.59532766e-03 9.98493814e-01 7.70331125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.01, Y:12.67, Z:7.71 [[ 9.90259450e-01 -1.28365985e-01 -5.39295348e-02 1.67012088e+02] [ 1.28315484e-01 9.91723584e-01 -4.41230926e-03 1.26715444e+01] [ 5.40495819e-02 -2.55066342e-03 9.98534995e-01 7.70618707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.04, Y:12.67, Z:7.71 [[ 9.90337577e-01 -1.27940541e-01 -5.35042165e-02 1.67043150e+02] [ 1.27890226e-01 9.91778670e-01 -4.37728691e-03 1.26746574e+01] [ 5.36243731e-02 -2.50767464e-03 9.98558029e-01 7.70812861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.07, Y:12.67, Z:7.71 [[ 9.90456782e-01 -1.27106321e-01 -5.32855134e-02 1.67073350e+02] [ 1.27055310e-01 9.91886062e-01 -4.35756262e-03 1.26726573e+01] [ 5.34070318e-02 -2.45422997e-03 9.98569810e-01 7.70907040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.10, Y:12.68, Z:7.71 [[ 9.90452384e-01 -1.27140566e-01 -5.32855664e-02 1.67102404e+02] [ 1.27089639e-01 9.91881667e-01 -4.35691428e-03 1.26750634e+01] [ 5.34069169e-02 -2.45672727e-03 9.98569810e-01 7.71045722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.13, Y:12.68, Z:7.71 [[ 9.90562318e-01 -1.26506328e-01 -5.27488760e-02 1.67132275e+02] [ 1.26455437e-01 9.91962906e-01 -4.31466687e-03 1.26805650e+01] [ 5.28707610e-02 -2.39643575e-03 9.98598488e-01 7.71252369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.16, Y:12.68, Z:7.71 [[ 9.90690408e-01 -1.25689766e-01 -5.22933775e-02 1.67161783e+02] [ 1.25638610e-01 9.92066854e-01 -4.27749699e-03 1.26775515e+01] [ 5.24161641e-02 -2.33239204e-03 9.98622604e-01 7.71385949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.19, Y:12.68, Z:7.72 [[ 9.90826493e-01 -1.24803773e-01 -5.18351125e-02 1.67192178e+02] [ 1.24752255e-01 9.92178860e-01 -4.24085248e-03 1.26829239e+01] [ 5.19589772e-02 -2.26459820e-03 9.98646652e-01 7.71642350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.22, Y:12.69, Z:7.72 [[ 9.90823819e-01 -1.24651854e-01 -5.22501272e-02 1.67223006e+02] [ 1.24599308e-01 9.92197934e-01 -4.27462941e-03 1.26885441e+01] [ 5.23753087e-02 -2.27492505e-03 9.98624880e-01 7.71776102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.25, Y:12.69, Z:7.72 [[ 9.90804972e-01 -1.24752360e-01 -5.23675013e-02 1.67253327e+02] [ 1.24699813e-01 9.92185274e-01 -4.28241988e-03 1.26896165e+01] [ 5.24925056e-02 -2.28717471e-03 9.98618699e-01 7.71847967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.28, Y:12.69, Z:7.72 [[ 9.90650661e-01 -1.25899237e-01 -5.25418878e-02 1.67283148e+02] [ 1.25847989e-01 9.92040235e-01 -4.29591719e-03 1.26893086e+01] [ 5.26645195e-02 -2.35653771e-03 9.98609481e-01 7.71948820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.31, Y:12.69, Z:7.72 [[ 9.90496453e-01 -1.26918068e-01 -5.29960392e-02 1.67314564e+02] [ 1.26867351e-01 9.91910225e-01 -4.33369477e-03 1.26941505e+01] [ 5.31173374e-02 -2.43095778e-03 9.98585319e-01 7.72142418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.34, Y:12.69, Z:7.72 [[ 9.90334284e-01 -1.27807260e-01 -5.38823677e-02 1.67344295e+02] [ 1.27756236e-01 9.91795818e-01 -4.40451892e-03 1.26938302e+01] [ 5.40032365e-02 -2.52186237e-03 9.98537576e-01 7.72219994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.37, Y:12.69, Z:7.72 [[ 9.90001853e-01 -1.29822301e-01 -5.51588699e-02 1.67373813e+02] [ 1.29771894e-01 9.91533618e-01 -4.50989014e-03 1.26923678e+01] [ 5.52773581e-02 -2.69327139e-03 9.98467406e-01 7.72288670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.40, Y:12.70, Z:7.73 [[ 9.89827660e-01 -1.30910025e-01 -5.57114710e-02 1.67404095e+02] [ 1.30860273e-01 9.91390353e-01 -4.55592609e-03 1.26993227e+01] [ 5.58282313e-02 -2.78083665e-03 9.98436516e-01 7.72553180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.43, Y:12.70, Z:7.73 [[ 9.89731424e-01 -1.31836510e-01 -5.52344403e-02 1.67433501e+02] [ 1.31789035e-01 9.91267495e-01 -4.51705927e-03 1.26988046e+01] [ 5.53476186e-02 -2.80861810e-03 9.98463196e-01 7.72705845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.46, Y:12.70, Z:7.73 [[ 9.89688204e-01 -1.32385900e-01 -5.46921538e-02 1.67463404e+02] [ 1.32340140e-01 9.91194267e-01 -4.47356571e-03 1.27040389e+01] [ 5.48027863e-02 -2.81053211e-03 9.98493243e-01 7.72961890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.49, Y:12.70, Z:7.73 [[ 9.89683344e-01 -1.32483590e-01 -5.45433563e-02 1.67493977e+02] [ 1.32438234e-01 9.91181220e-01 -4.46126356e-03 1.27038964e+01] [ 5.46533947e-02 -2.80838756e-03 9.98501437e-01 7.73177967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.52, Y:12.71, Z:7.73 [[ 9.89766564e-01 -1.31864909e-01 -5.45325085e-02 1.67524929e+02] [ 1.31818696e-01 9.91263813e-01 -4.45925027e-03 1.27098260e+01] [ 5.46441209e-02 -2.77478735e-03 9.98502038e-01 7.73399122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.55, Y:12.71, Z:7.74 [[ 9.90079198e-01 -1.29900065e-01 -5.35644938e-02 1.67554975e+02] [ 1.29852700e-01 9.91523629e-01 -4.37840198e-03 1.27144093e+01] [ 5.36792159e-02 -2.62052942e-03 9.98554793e-01 7.73624552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.59, Y:12.72, Z:7.74 [[ 9.90258597e-01 -1.28610692e-01 -5.33591731e-02 1.67585269e+02] [ 1.28561828e-01 9.91691905e-01 -4.36151141e-03 1.27160712e+01] [ 5.34767970e-02 -2.54092867e-03 9.98565860e-01 7.73743029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.62, Y:12.72, Z:7.74 [[ 9.90417462e-01 -1.27341450e-01 -5.34547190e-02 1.67616401e+02] [ 1.27290625e-01 9.91855844e-01 -4.36824657e-03 1.27235819e+01] [ 5.35756343e-02 -2.47789694e-03 9.98560720e-01 7.73936439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.65, Y:12.73, Z:7.74 [[ 9.90571614e-01 -1.26149098e-01 -5.34254864e-02 1.67647547e+02] [ 1.26096704e-01 9.92008356e-01 -4.36389674e-03 1.27270681e+01] [ 5.35490305e-02 -2.41402550e-03 9.98562303e-01 7.74104488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.68, Y:12.73, Z:7.74 [[ 9.90729423e-01 -1.24566304e-01 -5.42074434e-02 1.67677442e+02] [ 1.24510107e-01 9.92208468e-01 -4.42588042e-03 1.27297021e+01] [ 5.43363999e-02 -2.36452460e-03 9.98519887e-01 7.74187768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.71, Y:12.73, Z:7.74 [[ 9.90788318e-01 -1.24057025e-01 -5.42988426e-02 1.67708141e+02] [ 1.23999930e-01 9.92272327e-01 -4.43235263e-03 1.27340470e+01] [ 5.44291034e-02 -2.34152946e-03 9.98514892e-01 7.74311478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.74, Y:12.74, Z:7.74 [[ 9.90762258e-01 -1.23986131e-01 -5.49325718e-02 1.67739344e+02] [ 1.23927651e-01 9.92281130e-01 -4.48293891e-03 1.27386482e+01] [ 5.50643766e-02 -2.36613790e-03 9.98480003e-01 7.74444440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.77, Y:12.74, Z:7.74 [[ 9.90732350e-01 -1.24086554e-01 -5.52443539e-02 1.67769414e+02] [ 1.24027654e-01 9.92268527e-01 -4.50677336e-03 1.27375221e+01] [ 5.53764636e-02 -2.38682143e-03 9.98462694e-01 7.74460476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.80, Y:12.74, Z:7.75 [[ 9.90631756e-01 -1.24664591e-01 -5.57446370e-02 1.67799176e+02] [ 1.24605476e-01 9.92195941e-01 -4.54860444e-03 1.27393819e+01] [ 5.58766525e-02 -2.44009501e-03 9.98434698e-01 7.74502181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.83, Y:12.74, Z:7.75 [[ 9.90597469e-01 -1.24812632e-01 -5.60219652e-02 1.67828417e+02] [ 1.24753100e-01 9.92177281e-01 -4.57235977e-03 1.27417159e+01] [ 5.61544093e-02 -2.45954580e-03 9.98419067e-01 7.74586453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.86, Y:12.75, Z:7.75 [[ 9.90499288e-01 -1.25223146e-01 -5.68359346e-02 1.67858535e+02] [ 1.25162453e-01 9.92125409e-01 -4.64044706e-03 1.27498268e+01] [ 5.69694662e-02 -2.51736550e-03 9.98372747e-01 7.74802697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.89, Y:12.75, Z:7.75 [[ 9.90492601e-01 -1.25365961e-01 -5.66372920e-02 1.67887940e+02] [ 1.25305926e-01 9.92107374e-01 -4.62419754e-03 1.27504046e+01] [ 5.67699920e-02 -2.51675486e-03 9.98384111e-01 7.74845380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.92, Y:12.76, Z:7.75 [[ 9.90471649e-01 -1.25739526e-01 -5.61736902e-02 1.67918185e+02] [ 1.25681077e-01 9.92060096e-01 -4.58618899e-03 1.27578509e+01] [ 5.63043417e-02 -2.51747969e-03 9.98410478e-01 7.75127705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.95, Y:12.76, Z:7.75 [[ 9.90512001e-01 -1.25514445e-01 -5.59651672e-02 1.67949202e+02] [ 1.25456087e-01 9.92088653e-01 -4.56884984e-03 1.27608609e+01] [ 5.60958640e-02 -2.49567030e-03 9.98422268e-01 7.75291148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.98, Y:12.76, Z:7.75 [[ 9.90526418e-01 -1.25619758e-01 -5.54715428e-02 1.67979087e+02] [ 1.25562677e-01 9.92075360e-01 -4.52698118e-03 1.27596902e+01] [ 5.56006291e-02 -2.48106094e-03 9.98450006e-01 7.75373457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.01, Y:12.77, Z:7.76 [[ 9.90580190e-01 -1.25790298e-01 -5.41081211e-02 1.68009673e+02] [ 1.25736207e-01 9.92053881e-01 -4.41630702e-03 1.27685488e+01] [ 5.42337001e-02 -2.42864364e-03 9.98525316e-01 7.75720078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.04, Y:12.77, Z:7.76 [[ 9.90598305e-01 -1.26093860e-01 -5.30597485e-02 1.68041128e+02] [ 1.26042389e-01 9.92015413e-01 -4.32862780e-03 1.27722154e+01] [ 5.31819017e-02 -2.39984611e-03 9.98581958e-01 7.75956404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.07, Y:12.78, Z:7.76 [[ 9.90538968e-01 -1.26684508e-01 -5.27597217e-02 1.68073024e+02] [ 1.26634656e-01 9.91940105e-01 -4.30030108e-03 1.27769341e+01] [ 5.28792654e-02 -2.42159338e-03 9.98597977e-01 7.76186412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.10, Y:12.78, Z:7.76 [[ 9.90286675e-01 -1.28397170e-01 -5.33522929e-02 1.68104324e+02] [ 1.28348894e-01 9.91719561e-01 -4.34442958e-03 1.27765491e+01] [ 5.34683249e-02 -2.54547707e-03 9.98566302e-01 7.76221424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.14, Y:12.78, Z:7.76 [[ 9.90154140e-01 -1.29271471e-01 -5.36997745e-02 1.68136137e+02] [ 1.29224136e-01 9.91605793e-01 -4.36736549e-03 1.27806185e+01] [ 5.38135833e-02 -2.61494193e-03 9.98547575e-01 7.76368768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.17, Y:12.78, Z:7.76 [[ 9.89728308e-01 -1.32327377e-01 -5.41049056e-02 1.68166877e+02] [ 1.32284069e-01 9.91202095e-01 -4.39675835e-03 1.27839191e+01] [ 5.42107073e-02 -2.80562085e-03 9.98525577e-01 7.76483548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.20, Y:12.78, Z:7.77 [[ 9.89547512e-01 -1.33392749e-01 -5.47913830e-02 1.68197882e+02] [ 1.33350033e-01 9.91059007e-01 -4.45127034e-03 1.27840825e+01] [ 5.48952608e-02 -2.90168926e-03 9.98487902e-01 7.76514745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.23, Y:12.79, Z:7.77 [[ 9.89184678e-01 -1.35556608e-01 -5.60185627e-02 1.68228419e+02] [ 1.35515574e-01 9.90764777e-01 -4.54818147e-03 1.27887519e+01] [ 5.61177549e-02 -3.09239626e-03 9.98419368e-01 7.76597925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.26, Y:12.79, Z:7.77 [[ 9.89099593e-01 -1.36225096e-01 -5.58991723e-02 1.68260576e+02] [ 1.36185382e-01 9.90672982e-01 -4.53702054e-03 1.27917217e+01] [ 5.59958558e-02 -3.12508497e-03 9.98426110e-01 7.76766044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.29, Y:12.80, Z:7.77 [[ 9.89048034e-01 -1.36677027e-01 -5.57079593e-02 1.68292215e+02] [ 1.36638522e-01 9.90610674e-01 -4.51749399e-03 1.27957614e+01] [ 5.58023368e-02 -3.14383470e-03 9.98436886e-01 7.76955866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.32, Y:12.80, Z:7.77 [[ 9.89028193e-01 -1.36865781e-01 -5.55966936e-02 1.68324525e+02] [ 1.36827951e-01 9.90584586e-01 -4.50444434e-03 1.27989367e+01] [ 5.56897320e-02 -3.15215922e-03 9.98443147e-01 7.77091116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.36, Y:12.80, Z:7.77 [[ 9.89016258e-01 -1.36949467e-01 -5.56029237e-02 1.68356818e+02] [ 1.36911985e-01 9.90572991e-01 -4.50092573e-03 1.28024327e+01] [ 5.56951538e-02 -3.16121791e-03 9.98442816e-01 7.77250540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.39, Y:12.81, Z:7.77 [[ 9.89073354e-01 -1.36618223e-01 -5.54018214e-02 1.68387654e+02] [ 1.36580706e-01 9.90618813e-01 -4.48080911e-03 1.28052350e+01] [ 5.54942468e-02 -3.13497097e-03 9.98454085e-01 7.77393173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.42, Y:12.81, Z:7.78 [[ 9.89184518e-01 -1.36007579e-01 -5.49174686e-02 1.68418681e+02] [ 1.35969937e-01 9.90703020e-01 -4.43871225e-03 1.28090225e+01] [ 5.50106005e-02 -3.07641930e-03 9.98481031e-01 7.77552417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.45, Y:12.82, Z:7.78 [[ 9.89257287e-01 -1.35578888e-01 -5.46661250e-02 1.68449777e+02] [ 1.35541104e-01 9.90761886e-01 -4.41534886e-03 1.28172974e+01] [ 5.47597411e-02 -3.04159089e-03 9.98494927e-01 7.77790537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.48, Y:12.82, Z:7.78 [[ 9.89312135e-01 -1.35284819e-01 -5.44014420e-02 1.68481306e+02] [ 1.35247193e-01 9.90802164e-01 -4.38962302e-03 1.28188616e+01] [ 5.44949158e-02 -3.01493502e-03 9.98509496e-01 7.77914880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.51, Y:12.82, Z:7.78 [[ 9.89308635e-01 -1.35434947e-01 -5.40906652e-02 1.68513295e+02] [ 1.35398313e-01 9.90781662e-01 -4.35826728e-03 1.28239539e+01] [ 5.41823009e-02 -3.01211335e-03 9.98526517e-01 7.78090062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.55, Y:12.82, Z:7.78 [[ 9.89293310e-01 -1.35511344e-01 -5.41795394e-02 1.68545028e+02] [ 1.35474912e-01 9.90771177e-01 -4.36159211e-03 1.28232041e+01] [ 5.42705713e-02 -3.02507447e-03 9.98521684e-01 7.78202507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.58, Y:12.83, Z:7.78 [[ 9.89282444e-01 -1.35662623e-01 -5.39990697e-02 1.68576664e+02] [ 1.35626822e-01 9.90750470e-01 -4.34403027e-03 1.28255168e+01] [ 5.40889262e-02 -3.02624932e-03 9.98531537e-01 7.78315332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.61, Y:12.83, Z:7.78 [[ 9.89155889e-01 -1.36254030e-01 -5.48221316e-02 1.68608272e+02] [ 1.36218252e-01 9.90669053e-01 -4.40633834e-03 1.28300482e+01] [ 5.49109705e-02 -3.10921940e-03 9.98486414e-01 7.78465209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.64, Y:12.83, Z:7.78 [[ 9.88951232e-01 -1.37442479e-01 -5.55430108e-02 1.68639210e+02] [ 1.37407870e-01 9.90504511e-01 -4.45984281e-03 1.28286652e+01] [ 5.56285747e-02 -3.22147976e-03 9.98446335e-01 7.78453406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.67, Y:12.83, Z:7.79 [[ 9.88834372e-01 -1.38019260e-01 -5.61895726e-02 1.68671133e+02] [ 1.37985140e-01 9.90424053e-01 -4.50519520e-03 1.28349360e+01] [ 5.62733079e-02 -3.29843419e-03 9.98409953e-01 7.78618865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.70, Y:12.83, Z:7.79 [[ 9.88734005e-01 -1.38479549e-01 -5.68197245e-02 1.68702988e+02] [ 1.38445644e-01 9.90359574e-01 -4.55178076e-03 1.28315224e+01] [ 5.69022867e-02 -3.36594291e-03 9.98374078e-01 7.78635097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.73, Y:12.84, Z:7.79 [[ 9.88653431e-01 -1.38940240e-01 -5.70964411e-02 1.68734289e+02] [ 1.38906956e-01 9.90294889e-01 -4.57071554e-03 1.28380697e+01] [ 5.71773701e-02 -3.41223921e-03 9.98358205e-01 7.78834188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.77, Y:12.84, Z:7.79 [[ 9.88665204e-01 -1.38427486e-01 -5.81286891e-02 1.68766684e+02] [ 1.38392365e-01 9.90366569e-01 -4.64897547e-03 1.28430564e+01] [ 5.82122563e-02 -3.44828646e-03 9.98298273e-01 7.78979683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.80, Y:12.85, Z:7.79 [[ 9.88741349e-01 -1.37876774e-01 -5.81424094e-02 1.68798916e+02] [ 1.37840981e-01 9.90443480e-01 -4.64503645e-03 1.28478813e+01] [ 5.82272130e-02 -3.42166717e-03 9.98297493e-01 7.79152074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.83, Y:12.85, Z:7.79 [[ 9.88862663e-01 -1.37087653e-01 -5.79448762e-02 1.68829665e+02] [ 1.37050987e-01 9.90553196e-01 -4.62523678e-03 1.28503841e+01] [ 5.80315452e-02 -3.36767853e-03 9.98309070e-01 7.79321418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.86, Y:12.85, Z:7.80 [[ 9.89224716e-01 -1.34975015e-01 -5.67116072e-02 1.68860698e+02] [ 1.34936591e-01 9.90843908e-01 -4.52393657e-03 1.28548381e+01] [ 5.68029689e-02 -3.17728110e-03 9.98380352e-01 7.79538884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.89, Y:12.86, Z:7.80 [[ 9.89429542e-01 -1.33702919e-01 -5.61490047e-02 1.68891497e+02] [ 1.33663377e-01 9.91016683e-01 -4.47612414e-03 1.28567786e+01] [ 5.62430713e-02 -3.07625612e-03 9.98412367e-01 7.79696004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.92, Y:12.86, Z:7.80 [[ 9.89706561e-01 -1.31919824e-01 -5.54804737e-02 1.68922496e+02] [ 1.31878809e-01 9.91256011e-01 -4.41588351e-03 1.28617396e+01] [ 5.55778957e-02 -2.94626994e-03 9.98450007e-01 7.79895272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.95, Y:12.86, Z:7.80 [[ 9.89978218e-01 -1.29977272e-01 -5.52180772e-02 1.68952341e+02] [ 1.29933733e-01 9.91512948e-01 -4.39317395e-03 1.28645357e+01] [ 5.53204512e-02 -2.82554435e-03 9.98464653e-01 7.80031675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.98, Y:12.87, Z:7.80 [[ 9.90373053e-01 -1.27012823e-01 -5.50359840e-02 1.68983370e+02] [ 1.26965068e-01 9.91897529e-01 -4.37756645e-03 1.28710296e+01] [ 5.51460636e-02 -2.65222358e-03 9.98474776e-01 7.80157962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.01, Y:12.87, Z:7.80 [[ 9.90476183e-01 -1.26069599e-01 -5.53478708e-02 1.69014808e+02] [ 1.26019953e-01 9.92017948e-01 -4.40022990e-03 1.28706750e+01] [ 5.54608165e-02 -2.61661316e-03 9.98457436e-01 7.80221495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.05, Y:12.87, Z:7.80 [[ 9.90526865e-01 -1.25511942e-01 -5.57071106e-02 1.69046367e+02] [ 1.25460930e-01 9.92088689e-01 -4.42595363e-03 1.28735937e+01] [ 5.58219043e-02 -2.60503990e-03 9.98437343e-01 7.80324575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.08, Y:12.88, Z:7.80 [[ 9.90531159e-01 -1.25477984e-01 -5.57072620e-02 1.69077119e+02] [ 1.25427025e-01 9.92092984e-01 -4.42404682e-03 1.28760039e+01] [ 5.58219043e-02 -2.60503990e-03 9.98437343e-01 7.80471281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.11, Y:12.88, Z:7.81 [[ 9.90509722e-01 -1.25469972e-01 -5.61050568e-02 1.69108770e+02] [ 1.25418380e-01 9.92093944e-01 -4.45369390e-03 1.28784814e+01] [ 5.62202919e-02 -2.62517822e-03 9.98414937e-01 7.80544309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.14, Y:12.88, Z:7.81 [[ 9.90269369e-01 -1.27078206e-01 -5.67248255e-02 1.69140238e+02] [ 1.27028244e-01 9.91888891e-01 -4.50033805e-03 1.28816746e+01] [ 5.68366191e-02 -2.74910807e-03 9.98379708e-01 7.80633503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.17, Y:12.88, Z:7.81 [[ 9.90079868e-01 -1.28488340e-01 -5.68559799e-02 1.69171647e+02] [ 1.28440756e-01 9.91706948e-01 -4.50565112e-03 1.28817443e+01] [ 5.69633940e-02 -2.84167056e-03 9.98372224e-01 7.80761658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.20, Y:12.89, Z:7.81 [[ 9.89817431e-01 -1.30361643e-01 -5.71602550e-02 1.69203746e+02] [ 1.30316846e-01 9.91462067e-01 -4.52652720e-03 1.28859970e+01] [ 5.72623101e-02 -2.96850864e-03 9.98354754e-01 7.80962138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.24, Y:12.88, Z:7.81 [[ 9.89655027e-01 -1.31553881e-01 -5.72407553e-02 1.69235147e+02] [ 1.31511166e-01 9.91304343e-01 -4.52907071e-03 1.28800798e+01] [ 5.73388262e-02 -3.04558089e-03 9.98350131e-01 7.80967014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.27, Y:12.88, Z:7.81 [[ 9.89491437e-01 -1.33043398e-01 -5.66228800e-02 1.69265105e+02] [ 1.33004166e-01 9.91105364e-01 -4.47772524e-03 1.28788220e+01] [ 5.67149719e-02 -3.10040817e-03 9.98385597e-01 7.81170539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.30, Y:12.88, Z:7.81 [[ 9.89399126e-01 -1.33978219e-01 -5.60286169e-02 1.69295570e+02] [ 1.33941520e-01 9.90979350e-01 -4.42676714e-03 1.28843768e+01] [ 5.61162928e-02 -3.12471856e-03 9.98419350e-01 7.81474496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.33, Y:12.88, Z:7.82 [[ 9.89388112e-01 -1.34455308e-01 -5.50720799e-02 1.69325862e+02] [ 1.34420635e-01 9.90914814e-01 -4.35025685e-03 1.28800945e+01] [ 5.51566550e-02 -3.09873154e-03 9.98472905e-01 7.81598595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.36, Y:12.89, Z:7.82 [[ 9.89159426e-01 -1.36494247e-01 -5.41567271e-02 1.69356291e+02] [ 1.36463807e-01 9.90635824e-01 -4.27703537e-03 1.28870315e+01] [ 5.42333847e-02 -3.15976330e-03 9.98523288e-01 7.81929335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:12.89, Z:7.82 [[ 9.89168935e-01 -1.36425278e-01 -5.41568295e-02 1.69387908e+02] [ 1.36394805e-01 9.90645333e-01 -4.27573857e-03 1.28894657e+01] [ 5.42335292e-02 -3.15728244e-03 9.98523288e-01 7.82080180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.42, Y:12.89, Z:7.82 [[ 9.89101106e-01 -1.37008926e-01 -5.39217702e-02 1.69419758e+02] [ 1.36979785e-01 9.90564711e-01 -4.25339746e-03 1.28936372e+01] [ 5.39957561e-02 -3.17915234e-03 9.98536104e-01 7.82270283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.45, Y:12.89, Z:7.82 [[ 9.89075712e-01 -1.37380419e-01 -5.34402216e-02 1.69452194e+02] [ 1.37352540e-01 9.90513272e-01 -4.21158180e-03 1.28929742e+01] [ 5.35118377e-02 -3.17457689e-03 9.98562169e-01 7.82356024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.48, Y:12.90, Z:7.83 [[ 9.88951230e-01 -1.38169401e-01 -5.37092373e-02 1.69484433e+02] [ 1.38142611e-01 9.90403320e-01 -4.22886852e-03 1.28952713e+01] [ 5.37781071e-02 -3.23738952e-03 9.98547663e-01 7.82521256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.52, Y:12.89, Z:7.83 [[ 9.88906128e-01 -1.38699967e-01 -5.31694379e-02 1.69515823e+02] [ 1.38674674e-01 9.90329158e-01 -4.18261156e-03 1.28922732e+01] [ 5.32353727e-02 -3.23704425e-03 9.98576745e-01 7.82623567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.55, Y:12.89, Z:7.83 [[ 9.88756226e-01 -1.39407739e-01 -5.40981348e-02 1.69547684e+02] [ 1.39382780e-01 9.90229446e-01 -4.25256685e-03 1.28942692e+01] [ 5.41624068e-02 -3.33559649e-03 9.98526568e-01 7.82648849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.58, Y:12.89, Z:7.83 [[ 9.88669656e-01 -1.39956717e-01 -5.42625921e-02 1.69579444e+02] [ 1.39932636e-01 9.90151855e-01 -4.26171970e-03 1.28922543e+01] [ 5.43246625e-02 -3.37967460e-03 9.98517606e-01 7.82664688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.61, Y:12.89, Z:7.83 [[ 9.88560887e-01 -1.40501273e-01 -5.48339695e-02 1.69609894e+02] [ 1.40477680e-01 9.90074492e-01 -4.30366465e-03 1.28911449e+01] [ 5.48943848e-02 -3.44851427e-03 9.98486211e-01 7.82726307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.64, Y:12.89, Z:7.83 [[ 9.88435628e-01 -1.41339497e-01 -5.49377474e-02 1.69641176e+02] [ 1.41317248e-01 9.89954982e-01 -4.30917280e-03 1.28921909e+01] [ 5.49949531e-02 -3.50431138e-03 9.98480483e-01 7.82821705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.67, Y:12.89, Z:7.83 [[ 9.88152572e-01 -1.43154191e-01 -5.53296600e-02 1.69671919e+02] [ 1.43134555e-01 9.89693730e-01 -4.33812322e-03 1.28922422e+01] [ 5.53804381e-02 -3.63285865e-03 9.98458717e-01 7.82941742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.70, Y:12.89, Z:7.83 [[ 9.88096488e-01 -1.43615967e-01 -5.51342503e-02 1.69703280e+02] [ 1.43597244e-01 9.89626775e-01 -4.32170090e-03 1.28947683e+01] [ 5.51829956e-02 -3.64686890e-03 9.98469598e-01 7.83119330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.74, Y:12.90, Z:7.83 [[ 9.88004107e-01 -1.44208355e-01 -5.52434090e-02 1.69735060e+02] [ 1.44190604e-01 9.89540468e-01 -4.32800430e-03 1.28974250e+01] [ 5.52897232e-02 -3.68949451e-03 9.98463537e-01 7.83302329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.77, Y:12.90, Z:7.83 [[ 9.88112367e-01 -1.43438098e-01 -5.53123995e-02 1.69766753e+02] [ 1.43419308e-01 9.89652543e-01 -4.32970876e-03 1.28976082e+01] [ 5.53611020e-02 -3.65462731e-03 9.98459710e-01 7.83479488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.80, Y:12.90, Z:7.84 [[ 9.88325913e-01 -1.42052952e-01 -5.50712997e-02 1.69796969e+02] [ 1.42032284e-01 9.89852647e-01 -4.30902071e-03 1.28986812e+01] [ 5.51245809e-02 -3.56318565e-03 9.98473126e-01 7.83597457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.83, Y:12.90, Z:7.84 [[ 9.88546368e-01 -1.40687309e-01 -5.46182996e-02 1.69827243e+02] [ 1.40664948e-01 9.90048037e-01 -4.27274506e-03 1.29007950e+01] [ 5.46758614e-02 -3.45907367e-03 9.98498165e-01 7.83733640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.86, Y:12.90, Z:7.84 [[ 9.88752027e-01 -1.39464827e-01 -5.40276882e-02 1.69857540e+02] [ 1.39441128e-01 9.90221343e-01 -4.22654201e-03 1.29025388e+01] [ 5.40888240e-02 -3.35467978e-03 9.98530493e-01 7.83923395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.89, Y:12.90, Z:7.84 [[ 9.89234111e-01 -1.36719800e-01 -5.21878393e-02 1.69887976e+02] [ 1.36693875e-01 9.90604925e-01 -4.08261213e-03 1.29046112e+01] [ 5.22557045e-02 -3.09509881e-03 9.98628941e-01 7.84199321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.92, Y:12.91, Z:7.84 [[ 9.89534849e-01 -1.34892672e-01 -5.12323099e-02 1.69919246e+02] [ 1.34865257e-01 9.90855843e-01 -4.00764800e-03 1.29131195e+01] [ 5.13044360e-02 -2.94375127e-03 9.98678722e-01 7.84442938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.95, Y:12.92, Z:7.85 [[ 9.90068543e-01 -1.31294586e-01 -5.02594431e-02 1.69949357e+02] [ 1.31263707e-01 9.91339701e-01 -3.92896642e-03 1.29150943e+01] [ 5.03400333e-02 -2.70729477e-03 9.98728467e-01 7.84599254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.98, Y:12.92, Z:7.85 [[ 9.90244078e-01 -1.30098859e-01 -4.99094523e-02 1.69980341e+02] [ 1.30066911e-01 9.91497543e-01 -3.90127830e-03 1.29161008e+01] [ 4.99926512e-02 -2.62835057e-03 9.98746127e-01 7.84727240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.01, Y:12.92, Z:7.85 [[ 9.90358322e-01 -1.29178127e-01 -5.00340509e-02 1.70012458e+02] [ 1.29145167e-01 9.91618011e-01 -3.90467049e-03 1.29176083e+01] [ 5.01190641e-02 -2.59463294e-03 9.98739880e-01 7.84875267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.04, Y:12.92, Z:7.85 [[ 9.90495710e-01 -1.27926855e-01 -5.05269064e-02 1.70043762e+02] [ 1.27891801e-01 9.91780302e-01 -3.93959129e-03 1.29204986e+01] [ 5.06155700e-02 -2.55982877e-03 9.98714930e-01 7.84903130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.08, Y:12.92, Z:7.85 [[ 9.90572881e-01 -1.26998268e-01 -5.13498604e-02 1.70075466e+02] [ 1.26960925e-01 9.91899647e-01 -4.00171763e-03 1.29214619e+01] [ 5.14421197e-02 -2.55543282e-03 9.98672708e-01 7.84954353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.11, Y:12.92, Z:7.85 [[ 9.90759714e-01 -1.25328653e-01 -5.18451252e-02 1.70106181e+02] [ 1.25288493e-01 9.92112140e-01 -4.03676990e-03 1.29203267e+01] [ 5.19421010e-02 -2.49612861e-03 9.98646978e-01 7.84993108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.14, Y:12.92, Z:7.85 [[ 9.90939064e-01 -1.23682137e-01 -5.23688974e-02 1.70136480e+02] [ 1.23638919e-01 9.92318900e-01 -4.07661023e-03 1.29218739e+01] [ 5.24708505e-02 -2.43516152e-03 9.98619487e-01 7.85129564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.17, Y:12.93, Z:7.85 [[ 9.91170573e-01 -1.21910401e-01 -5.21416280e-02 1.70166436e+02] [ 1.21865154e-01 9.92538370e-01 -4.05810018e-03 1.29251870e+01] [ 5.22472911e-02 -2.33197805e-03 9.98631455e-01 7.85273619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.20, Y:12.93, Z:7.85 [[ 9.91940122e-01 -1.15604951e-01 -5.18679973e-02 1.70195714e+02] [ 1.15551567e-01 9.93293279e-01 -4.03689721e-03 1.29295807e+01] [ 5.19868184e-02 -1.98906804e-03 9.98645790e-01 7.85401491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.23, Y:12.94, Z:7.86 [[ 9.92368930e-01 -1.11893167e-01 -5.18056541e-02 1.70225823e+02] [ 1.11834814e-01 9.93718627e-01 -4.03294669e-03 1.29393320e+01] [ 5.19315026e-02 -1.79150469e-03 9.98649042e-01 7.85639203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.26, Y:12.94, Z:7.86 [[ 9.93448670e-01 -1.02343232e-01 -5.08488321e-02 1.70255033e+02] [ 1.02274552e-01 9.94748336e-01 -3.95765912e-03 1.29446348e+01] [ 5.09868308e-02 -1.26881034e-03 9.98698520e-01 7.85868897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.29, Y:12.95, Z:7.86 [[ 9.94009887e-01 -9.69182267e-02 -5.05094210e-02 1.70285050e+02] [ 9.68434211e-02 9.95291862e-01 -3.93202421e-03 1.29510792e+01] [ 5.06527005e-02 -9.83034184e-04 9.98715844e-01 7.86090536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.31, Y:12.95, Z:7.86 [[ 9.94006391e-01 -9.69540852e-02 -5.05094122e-02 1.70314086e+02] [ 9.68793201e-02 9.95288368e-01 -3.93213722e-03 1.29533679e+01] [ 5.06526672e-02 -9.84747991e-04 9.98715844e-01 7.86229113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.34, Y:12.96, Z:7.86 [[ 9.94535020e-01 -9.15992608e-02 -5.00966077e-02 1.70344005e+02] [ 9.15188364e-02 9.95795702e-01 -3.90170774e-03 1.29584958e+01] [ 5.02433801e-02 -7.04398260e-04 9.98736755e-01 7.86431565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.37, Y:12.97, Z:7.87 [[ 9.95460799e-01 -8.12256698e-02 -4.96002861e-02 1.70373575e+02] [ 8.11339454e-02 9.96695720e-01 -3.86319046e-03 1.29650466e+01] [ 4.97501831e-02 -1.78612243e-04 9.98761677e-01 7.86590884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.40, Y:12.97, Z:7.87 [[ 9.95823957e-01 -7.65221093e-02 -4.97896900e-02 1.70401787e+02] [ 7.64236267e-02 9.97067883e-01 -3.88150815e-03 1.29688973e+01] [ 4.99407219e-02 6.01901214e-05 9.98752182e-01 7.86723857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.43, Y:12.97, Z:7.87 [[ 9.96493549e-01 -6.76462675e-02 -4.92401116e-02 1.70430300e+02] [ 6.75385044e-02 9.97709236e-01 -3.85096438e-03 1.29731384e+01] [ 4.93878175e-02 5.11857677e-04 9.98779546e-01 7.86847699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.46, Y:12.98, Z:7.87 [[ 9.96757043e-01 -6.39082854e-02 -4.88991652e-02 1.70457492e+02] [ 6.37969179e-02 9.97955528e-01 -3.83645387e-03 1.29768414e+01] [ 4.90443734e-02 7.04396387e-04 9.98796352e-01 7.86968795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.49, Y:12.98, Z:7.87 [[ 9.96966972e-01 -6.10552730e-02 -4.82608497e-02 1.70485903e+02] [ 6.09432404e-02 9.98134035e-01 -3.79081884e-03 1.29784266e+01] [ 4.84022462e-02 8.38148616e-04 9.98827573e-01 7.87154281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.51, Y:12.98, Z:7.87 [[ 9.97154197e-01 -5.74386809e-02 -4.88293537e-02 1.70513876e+02] [ 5.73190593e-02 9.98348497e-01 -3.84769099e-03 1.29808256e+01] [ 4.89697181e-02 1.03788860e-03 9.98799724e-01 7.87235326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.54, Y:12.98, Z:7.87 [[ 9.97157018e-01 -5.71121291e-02 -4.91536975e-02 1.70543183e+02] [ 5.69902833e-02 9.98367202e-01 -3.87794969e-03 1.29798466e+01] [ 4.92949173e-02 1.06564161e-03 9.98783698e-01 7.87296990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.57, Y:12.98, Z:7.87 [[ 9.97077314e-01 -5.75742056e-02 -5.02199165e-02 1.70569847e+02] [ 5.74469657e-02 9.98340648e-01 -3.97458723e-03 1.29796589e+01] [ 5.03654176e-02 1.07798895e-03 9.98730275e-01 7.87353576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.60, Y:12.97, Z:7.87 [[ 9.96841960e-01 -6.14262089e-02 -5.03282063e-02 1.70599706e+02] [ 6.13029883e-02 9.98111229e-01 -3.98976712e-03 1.29739679e+01] [ 5.04782241e-02 8.91897832e-04 9.98724764e-01 7.87412978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.63, Y:12.97, Z:7.88 [[ 9.96622711e-01 -6.47749223e-02 -5.04715815e-02 1.70628806e+02] [ 6.46546798e-02 9.97899628e-01 -4.01311941e-03 1.29719164e+01] [ 5.06255218e-02 7.36342013e-04 9.98717435e-01 7.87595304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:12.97, Z:7.88 [[ 9.96377851e-01 -6.87686224e-02 -5.00205405e-02 1.70657936e+02] [ 6.86549101e-02 9.97632489e-01 -3.98996325e-03 1.29698096e+01] [ 5.01765006e-02 5.41355292e-04 9.98740219e-01 7.87757281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.69, Y:12.97, Z:7.88 [[ 9.96067748e-01 -7.32063602e-02 -4.98986055e-02 1.70686371e+02] [ 7.30981239e-02 9.97316760e-01 -3.99302375e-03 1.29680098e+01] [ 5.00570303e-02 3.29827724e-04 9.98746307e-01 7.87919309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.71, Y:12.96, Z:7.88 [[ 9.95393080e-01 -8.25708343e-02 -4.87306146e-02 1.70714914e+02] [ 8.24782326e-02 9.96585190e-01 -3.91147563e-03 1.29599028e+01] [ 4.88871827e-02 -1.25759190e-04 9.98804299e-01 7.88125152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.74, Y:12.96, Z:7.88 [[ 9.94978069e-01 -8.74497286e-02 -4.86948418e-02 1.70743971e+02] [ 8.73628786e-02 9.96168869e-01 -3.91312615e-03 1.29568996e+01] [ 4.88504873e-02 -3.60646851e-04 9.98806037e-01 7.88337670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.77, Y:12.95, Z:7.89 [[ 9.94550494e-01 -9.25244880e-02 -4.80472117e-02 1.70772884e+02] [ 9.24452809e-02 9.95710234e-01 -3.87285386e-03 1.29539289e+01] [ 4.81994342e-02 -5.89989259e-04 9.98837558e-01 7.88515756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.80, Y:12.94, Z:7.89 [[ 9.93687763e-01 -1.01562915e-01 -4.76403682e-02 1.70802329e+02] [ 1.01494842e-01 9.94828608e-01 -3.85200648e-03 1.29433686e+01] [ 4.77852221e-02 -1.00755994e-03 9.98857126e-01 7.88695308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.83, Y:12.94, Z:7.89 [[ 9.93232194e-01 -1.06107564e-01 -4.72334018e-02 1.70832129e+02] [ 1.06045660e-01 9.94353917e-01 -3.82162984e-03 1.29408248e+01] [ 4.73722220e-02 -1.21313149e-03 9.98876569e-01 7.88835708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.86, Y:12.94, Z:7.89 [[ 9.92789624e-01 -1.10182792e-01 -4.72071570e-02 1.70861521e+02] [ 1.10125476e-01 9.93910347e-01 -3.82118183e-03 1.29394853e+01] [ 4.73407103e-02 -1.40508097e-03 9.98877812e-01 7.88990128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.89, Y:12.94, Z:7.89 [[ 9.92348486e-01 -1.14010467e-01 -4.73929923e-02 1.70891486e+02] [ 1.13956931e-01 9.93478274e-01 -3.83883496e-03 1.29376205e+01] [ 4.75215755e-02 -1.59129789e-03 9.98868944e-01 7.89118997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.92, Y:12.93, Z:7.89 [[ 9.91915403e-01 -1.17646796e-01 -4.75716798e-02 1.70920698e+02] [ 1.17596944e-01 9.93053925e-01 -3.85506893e-03 1.29344830e+01] [ 4.76947798e-02 -1.77038191e-03 9.98860388e-01 7.89256082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.95, Y:12.93, Z:7.89 [[ 9.91187755e-01 -1.23341894e-01 -4.83074644e-02 1.70950232e+02] [ 1.23297103e-01 9.92362070e-01 -3.91736474e-03 1.29276741e+01] [ 4.84216706e-02 -2.07332646e-03 9.98824831e-01 7.89364774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.98, Y:12.93, Z:7.89 [[ 9.91152543e-01 -1.23624599e-01 -4.83073051e-02 1.70977552e+02] [ 1.23580048e-01 9.92326867e-01 -3.91932856e-03 1.29299605e+01] [ 4.84211621e-02 -2.08516659e-03 9.98824831e-01 7.89495247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.01, Y:12.93, Z:7.90 [[ 9.90816582e-01 -1.26309624e-01 -4.82532870e-02 1.71007451e+02] [ 1.26267687e-01 9.91988426e-01 -3.92857297e-03 1.29283274e+01] [ 4.83629188e-02 -2.20033569e-03 9.98827406e-01 7.89652048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.04, Y:12.93, Z:7.90 [[ 9.90547652e-01 -1.28385937e-01 -4.82949228e-02 1.71036449e+02] [ 1.28346294e-01 9.91721611e-01 -3.93389777e-03 1.29294064e+01] [ 4.84001758e-02 -2.30176119e-03 9.98825373e-01 7.89753724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.07, Y:12.93, Z:7.90 [[ 9.90218696e-01 -1.29889729e-01 -5.09469580e-02 1.71065421e+02] [ 1.29846898e-01 9.91525313e-01 -4.16370685e-03 1.29270367e+01] [ 5.10560213e-02 -2.49232411e-03 9.98692681e-01 7.89625239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.09, Y:12.93, Z:7.90 [[ 9.90222931e-01 -1.29477751e-01 -5.19043223e-02 1.71093985e+02] [ 1.29432030e-01 9.91579165e-01 -4.25546211e-03 1.29293913e+01] [ 5.20182322e-02 -2.50422561e-03 9.98642995e-01 7.89716970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.12, Y:12.93, Z:7.90 [[ 9.90595865e-01 -1.26408765e-01 -5.23512888e-02 1.71123580e+02] [ 1.26357323e-01 9.91975452e-01 -4.30457775e-03 1.29330113e+01] [ 5.24753298e-02 -2.35087178e-03 9.98619454e-01 7.89835044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.15, Y:12.93, Z:7.90 [[ 9.90861210e-01 -1.24203541e-01 -5.26074486e-02 1.71151138e+02] [ 1.24148377e-01 9.92254227e-01 -4.32785852e-03 1.29338083e+01] [ 5.27374986e-02 -2.24282220e-03 9.98605891e-01 7.89934927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.18, Y:12.94, Z:7.90 [[ 9.91423090e-01 -1.19411625e-01 -5.31142215e-02 1.71179833e+02] [ 1.19348287e-01 9.92842814e-01 -4.37408902e-03 1.29373549e+01] [ 5.32563903e-02 -2.00251852e-03 9.98578864e-01 7.90008772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.21, Y:12.94, Z:7.90 [[ 9.91693820e-01 -1.17072390e-01 -5.32674599e-02 1.71208249e+02] [ 1.17005206e-01 9.93121604e-01 -4.38880131e-03 1.29449981e+01] [ 5.34148726e-02 -1.88022299e-03 9.98570637e-01 7.90214530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.24, Y:12.95, Z:7.90 [[ 9.91911826e-01 -1.15216431e-01 -5.32550841e-02 1.71236692e+02] [ 1.15146343e-01 9.93338826e-01 -4.39271526e-03 1.29489430e+01] [ 5.34064557e-02 -1.77494198e-03 9.98571279e-01 7.90381167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.27, Y:12.95, Z:7.91 [[ 9.92282974e-01 -1.12160427e-01 -5.28633952e-02 1.71265631e+02] [ 1.12086334e-01 9.93688847e-01 -4.37361205e-03 1.29549319e+01] [ 5.30203124e-02 -1.58540342e-03 9.98592176e-01 7.90626669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.29, Y:12.96, Z:7.91 [[ 9.92250490e-01 -1.12447938e-01 -5.28623396e-02 1.71292933e+02] [ 1.12373576e-01 9.93656349e-01 -4.38633590e-03 1.29572631e+01] [ 5.30202337e-02 -1.58798617e-03 9.98592176e-01 7.90757284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.32, Y:12.96, Z:7.91 [[ 9.92363284e-01 -1.11474023e-01 -5.28077068e-02 1.71320864e+02] [ 1.11397680e-01 9.93766185e-01 -4.39608346e-03 1.29605018e+01] [ 5.29685625e-02 -1.52014419e-03 9.98595023e-01 7.90955677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.35, Y:12.96, Z:7.91 [[ 9.92474588e-01 -1.10274140e-01 -5.32335053e-02 1.71349904e+02] [ 1.10194534e-01 9.93900134e-01 -4.43721701e-03 1.29646176e+01] [ 5.33980984e-02 -1.46221617e-03 9.98572233e-01 7.91079255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.38, Y:12.97, Z:7.91 [[ 9.92452108e-01 -1.10219062e-01 -5.37640422e-02 1.71377272e+02] [ 1.10137128e-01 9.93906244e-01 -4.49349983e-03 1.29666104e+01] [ 5.39316866e-02 -1.46183383e-03 9.98543558e-01 7.91149706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.40, Y:12.97, Z:7.91 [[ 9.92398522e-01 -1.10370607e-01 -5.44380610e-02 1.71404816e+02] [ 1.10286394e-01 9.93889399e-01 -4.55788609e-03 1.29695665e+01] [ 5.46084683e-02 -1.48053801e-03 9.98506747e-01 7.91248819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.43, Y:12.97, Z:7.91 [[ 9.92367129e-01 -1.10653157e-01 -5.44367611e-02 1.71432114e+02] [ 1.10568519e-01 9.93857981e-01 -4.57336199e-03 1.29719329e+01] [ 5.46084664e-02 -1.48053796e-03 9.98506747e-01 7.91379481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.46, Y:12.98, Z:7.92 [[ 9.92318249e-01 -1.11016569e-01 -5.45876776e-02 1.71460115e+02] [ 1.10931150e-01 9.93817440e-01 -4.60172032e-03 1.29752142e+01] [ 5.47610532e-02 -1.48910283e-03 9.98498377e-01 7.91544281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.49, Y:12.98, Z:7.92 [[ 9.92206034e-01 -1.11842480e-01 -5.49403925e-02 1.71487836e+02] [ 1.11756401e-01 9.93724770e-01 -4.64625987e-03 1.29773729e+01] [ 5.51152782e-02 -1.52989347e-03 9.98478826e-01 7.91693486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.52, Y:12.98, Z:7.92 [[ 9.92087659e-01 -1.12698641e-01 -5.53271403e-02 1.71516364e+02] [ 1.12612187e-01 9.93627959e-01 -4.68775096e-03 1.29826111e+01] [ 5.55028967e-02 -1.57985037e-03 9.98457276e-01 7.91895887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.54, Y:12.98, Z:7.92 [[ 9.91847413e-01 -1.14591356e-01 -5.57452231e-02 1.71544740e+02] [ 1.14505776e-01 9.93411287e-01 -4.73742134e-03 1.29849674e+01] [ 5.59208014e-02 -1.68435093e-03 9.98433787e-01 7.92006585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.57, Y:12.99, Z:7.92 [[ 9.91720599e-01 -1.15871136e-01 -5.53546201e-02 1.71573261e+02] [ 1.15787967e-01 9.93262748e-01 -4.71814965e-03 1.29880930e+01] [ 5.55283794e-02 -1.73031271e-03 9.98455610e-01 7.92186449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.60, Y:12.99, Z:7.92 [[ 9.91597433e-01 -1.16995146e-01 -5.51966091e-02 1.71601496e+02] [ 1.16913412e-01 9.93130902e-01 -4.71869061e-03 1.29905079e+01] [ 5.53695220e-02 -1.77418241e-03 9.98464355e-01 7.92341974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.63, Y:12.99, Z:7.93 [[ 9.91491301e-01 -1.18160082e-01 -5.46186413e-02 1.71630236e+02] [ 1.18081063e-01 9.92992917e-01 -4.68297522e-03 1.29939881e+01] [ 5.47892647e-02 -1.80629803e-03 9.98496306e-01 7.92552843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.66, Y:13.00, Z:7.93 [[ 9.91511878e-01 -1.18105535e-01 -5.43624705e-02 1.71657798e+02] [ 1.18026490e-01 9.92999449e-01 -4.67352660e-03 1.29952585e+01] [ 5.45338726e-02 -1.78235442e-03 9.98510330e-01 7.92702704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.69, Y:13.00, Z:7.93 [[ 9.91614273e-01 -1.17583082e-01 -5.36223087e-02 1.71686276e+02] [ 1.17505101e-01 9.93061552e-01 -4.61565854e-03 1.30022014e+01] [ 5.37929765e-02 -1.72394192e-03 9.98550622e-01 7.92995556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.71, Y:13.00, Z:7.93 [[ 9.91785130e-01 -1.16441446e-01 -5.29494682e-02 1.71714326e+02] [ 1.16363078e-01 9.93196224e-01 -4.57103184e-03 1.30047702e+01] [ 5.31214695e-02 -1.62788170e-03 9.98586731e-01 7.93194617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.74, Y:13.01, Z:7.93 [[ 9.92212544e-01 -1.12839866e-01 -5.27392752e-02 1.71741669e+02] [ 1.12756384e-01 9.93612176e-01 -4.56522201e-03 1.30110425e+01] [ 5.29175250e-02 -1.41701943e-03 9.98597881e-01 7.93437463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.77, Y:13.02, Z:7.94 [[ 9.92412861e-01 -1.10953859e-01 -5.29712522e-02 1.71770223e+02] [ 1.10866667e-01 9.93824686e-01 -4.59075548e-03 1.30187305e+01] [ 5.31535001e-02 -1.31682139e-03 9.98585485e-01 7.93643299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.80, Y:13.02, Z:7.94 [[ 9.92579988e-01 -1.09227496e-01 -5.34258458e-02 1.71797855e+02] [ 1.09135649e-01 9.94016026e-01 -4.64232261e-03 1.30229450e+01] [ 5.36132161e-02 -1.22278782e-03 9.98561029e-01 7.93787674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.83, Y:13.03, Z:7.94 [[ 9.92687029e-01 -1.07991691e-01 -5.39468004e-02 1.71826246e+02] [ 1.07895774e-01 9.94151121e-01 -4.69582332e-03 1.30275196e+01] [ 5.41383820e-02 -1.15914891e-03 9.98532770e-01 7.93941784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.85, Y:13.03, Z:7.94 [[ 9.92834471e-01 -1.06178278e-01 -5.48259718e-02 1.71854041e+02] [ 1.06075734e-01 9.94346539e-01 -4.78529361e-03 1.30318363e+01] [ 5.50241095e-02 -1.06470075e-03 9.98484458e-01 7.94073416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.88, Y:13.04, Z:7.94 [[ 9.92826503e-01 -1.06112016e-01 -5.50978626e-02 1.71881422e+02] [ 1.06007986e-01 9.94353618e-01 -4.81558581e-03 1.30352620e+01] [ 5.52977505e-02 -1.05977224e-03 9.98469346e-01 7.94264881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.91, Y:13.04, Z:7.94 [[ 9.92769068e-01 -1.06371924e-01 -5.56290433e-02 1.71907799e+02] [ 1.06265408e-01 9.94325837e-01 -4.87770843e-03 1.30372630e+01] [ 5.58322463e-02 -1.06900496e-03 9.98439591e-01 7.94375742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.94, Y:13.04, Z:7.94 [[ 9.92666954e-01 -1.07160139e-01 -5.59376671e-02 1.71935213e+02] [ 1.07053086e-01 9.94241155e-01 -4.91546073e-03 1.30385360e+01] [ 5.61422723e-02 -1.10888444e-03 9.98422163e-01 7.94466895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.96, Y:13.04, Z:7.95 [[ 9.92573068e-01 -1.07942838e-01 -5.60985652e-02 1.71964240e+02] [ 1.07836054e-01 9.94156437e-01 -4.93601723e-03 1.30412659e+01] [ 5.63035574e-02 -1.15009017e-03 9.98413034e-01 7.94641544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.99, Y:13.04, Z:7.95 [[ 9.92343205e-01 -1.09753441e-01 -5.66493277e-02 1.71992553e+02] [ 1.09646676e-01 9.93958056e-01 -4.99889047e-03 1.30440199e+01] [ 5.68557011e-02 -1.25079547e-03 9.98381623e-01 7.94846190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.02, Y:13.05, Z:7.95 [[ 9.92213722e-01 -1.10754743e-01 -5.69676776e-02 1.72020925e+02] [ 1.10647595e-01 9.93846917e-01 -5.04141655e-03 1.30463615e+01] [ 5.71755115e-02 -1.30117382e-03 9.98363295e-01 7.95002692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.05, Y:13.05, Z:7.95 [[ 9.92182152e-01 -1.11037864e-01 -5.69663884e-02 1.72048203e+02] [ 1.10930349e-01 9.93815322e-01 -5.05594582e-03 1.30488529e+01] [ 5.71754711e-02 -1.30288211e-03 9.98363295e-01 7.95133302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.08, Y:13.05, Z:7.95 [[ 9.92039846e-01 -1.12341603e-01 -5.68885511e-02 1.72076387e+02] [ 1.12235605e-01 9.93668714e-01 -5.06505759e-03 1.30521112e+01] [ 5.70973901e-02 -1.36018199e-03 9.98367687e-01 7.95314050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.10, Y:13.05, Z:7.95 [[ 9.91892038e-01 -1.13758644e-01 -5.66494083e-02 1.72103863e+02] [ 1.13655108e-01 9.93507396e-01 -5.05666288e-03 1.30527731e+01] [ 5.68568452e-02 -1.42283098e-03 9.98381327e-01 7.95434792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.13, Y:13.05, Z:7.96 [[ 9.91517659e-01 -1.17462347e-01 -5.56356735e-02 1.72133124e+02] [ 1.17368045e-01 9.93076046e-01 -4.97081741e-03 1.30530553e+01] [ 5.58343385e-02 -1.60119696e-03 9.98438763e-01 7.95653614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.16, Y:13.05, Z:7.96 [[ 9.91252637e-01 -1.19958728e-01 -5.50283022e-02 1.72161764e+02] [ 1.19870070e-01 9.92777392e-01 -4.92092146e-03 1.30544247e+01] [ 5.52211618e-02 -1.71837006e-03 9.98472669e-01 7.95849216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.19, Y:13.06, Z:7.96 [[ 9.90999635e-01 -1.22209242e-01 -5.46317185e-02 1.72190087e+02] [ 1.22124596e-01 9.92502693e-01 -4.89773366e-03 1.30561700e+01] [ 5.48206760e-02 -1.81822429e-03 9.98494561e-01 7.96025311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.22, Y:13.06, Z:7.96 [[ 9.90717963e-01 -1.24631222e-01 -5.42676310e-02 1.72218632e+02] [ 1.24550998e-01 9.92201250e-01 -4.87109228e-03 1.30598261e+01] [ 5.44515015e-02 -1.93320899e-03 9.98514545e-01 7.96217919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.25, Y:13.06, Z:7.96 [[ 9.90091645e-01 -1.29300815e-01 -5.47707466e-02 1.72248053e+02] [ 1.29225533e-01 9.91602979e-01 -4.92878163e-03 1.30606638e+01] [ 5.49481310e-02 -2.19783340e-03 9.98486791e-01 7.96345766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.28, Y:13.06, Z:7.96 [[ 9.89773607e-01 -1.31638208e-01 -5.49507851e-02 1.72276889e+02] [ 1.31565866e-01 9.91295083e-01 -4.94782753e-03 1.30630304e+01] [ 5.51237662e-02 -2.33241851e-03 9.98476805e-01 7.96493417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.31, Y:13.06, Z:7.97 [[ 9.89476514e-01 -1.33730548e-01 -5.52482453e-02 1.72305846e+02] [ 1.33659964e-01 9.91014702e-01 -4.98736946e-03 1.30620017e+01] [ 5.54187870e-02 -2.44959353e-03 9.98460193e-01 7.96585101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.34, Y:13.07, Z:7.97 [[ 9.88938692e-01 -1.37181044e-01 -5.64058863e-02 1.72335886e+02] [ 1.37112907e-01 9.90542324e-01 -5.09469753e-03 1.30663789e+01] [ 5.65713136e-02 -2.69563153e-03 9.98394922e-01 7.96712872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.36, Y:13.07, Z:7.97 [[ 9.88708543e-01 -1.38632573e-01 -5.68895970e-02 1.72364182e+02] [ 1.38565468e-01 9.90339928e-01 -5.14172063e-03 1.30691897e+01] [ 5.70528494e-02 -2.79927051e-03 9.98367235e-01 7.96798245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.39, Y:13.07, Z:7.97 [[ 9.88435606e-01 -1.40252320e-01 -5.76570883e-02 1.72393100e+02] [ 1.40185392e-01 9.90111492e-01 -5.22400230e-03 1.30685380e+01] [ 5.78196241e-02 -2.91909163e-03 9.98322778e-01 7.96804629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.42, Y:13.07, Z:7.97 [[ 9.88207909e-01 -1.41713546e-01 -5.79861980e-02 1.72421364e+02] [ 1.41648152e-01 9.89903107e-01 -5.25738297e-03 1.30717770e+01] [ 5.81457599e-02 -3.01825034e-03 9.98303541e-01 7.96922964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.45, Y:13.08, Z:7.97 [[ 9.87989403e-01 -1.43347833e-01 -5.76917459e-02 1.72449602e+02] [ 1.43285477e-01 9.89667540e-01 -5.23755565e-03 1.30754961e+01] [ 5.78464405e-02 -3.09173986e-03 9.98320705e-01 7.97064535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.48, Y:13.08, Z:7.97 [[ 9.87753742e-01 -1.44929229e-01 -5.77759716e-02 1.72478169e+02] [ 1.44868651e-01 9.89436925e-01 -5.25786514e-03 1.30769830e+01] [ 5.79276980e-02 -3.17645110e-03 9.98315728e-01 7.97184925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.51, Y:13.08, Z:7.97 [[ 9.87369232e-01 -1.47376692e-01 -5.81559184e-02 1.72506867e+02] [ 1.47319358e-01 9.89074802e-01 -5.29560282e-03 1.30776082e+01] [ 5.83010018e-02 -3.33877727e-03 9.98293467e-01 7.97237216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.53, Y:13.08, Z:7.97 [[ 9.87184102e-01 -1.48587559e-01 -5.82175833e-02 1.72534791e+02] [ 1.48531996e-01 9.88893375e-01 -5.30471213e-03 1.30791964e+01] [ 5.83591966e-02 -3.41044635e-03 9.98289824e-01 7.97314282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:13.08, Z:7.97 [[ 9.86976364e-01 -1.49858821e-01 -5.84806804e-02 1.72563701e+02] [ 1.49804571e-01 9.88701230e-01 -5.33560099e-03 1.30824613e+01] [ 5.86195075e-02 -3.49456120e-03 9.98274282e-01 7.97400079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.59, Y:13.09, Z:7.98 [[ 9.86662363e-01 -1.51486122e-01 -5.95763054e-02 1.72593035e+02] [ 1.51432042e-01 9.88452658e-01 -5.44786304e-03 1.30888105e+01] [ 5.97136331e-02 -3.64656017e-03 9.98208888e-01 7.97526338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.62, Y:13.10, Z:7.98 [[ 9.86547241e-01 -1.52281829e-01 -5.94540674e-02 1.72620804e+02] [ 1.52229210e-01 9.88330245e-01 -5.44001000e-03 1.30950226e+01] [ 5.95886677e-02 -3.68381882e-03 9.98216219e-01 7.97751436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.65, Y:13.10, Z:7.98 [[ 9.86405252e-01 -1.53267951e-01 -5.92757443e-02 1.72649053e+02] [ 1.53216854e-01 9.88177654e-01 -5.43317350e-03 1.31000706e+01] [ 5.94076973e-02 -3.72273217e-03 9.98226861e-01 7.97972472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.68, Y:13.10, Z:7.98 [[ 9.86407680e-01 -1.53404532e-01 -5.88807150e-02 1.72677293e+02] [ 1.53353597e-01 9.88156571e-01 -5.40976187e-03 1.31024680e+01] [ 5.90132475e-02 -3.69333877e-03 9.98250367e-01 7.98105799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.71, Y:13.11, Z:7.98 [[ 9.86352232e-01 -1.53657632e-01 -5.91490216e-02 1.72705818e+02] [ 1.53606493e-01 9.88117137e-01 -5.43766181e-03 1.31071939e+01] [ 5.92817002e-02 -3.72222391e-03 9.98234354e-01 7.98203891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.74, Y:13.11, Z:7.98 [[ 9.86434326e-01 -1.53378908e-01 -5.84998379e-02 1.72735359e+02] [ 1.53328222e-01 9.88160666e-01 -5.38090979e-03 1.31126901e+01] [ 5.86325568e-02 -3.66176200e-03 9.98272916e-01 7.98411715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.76, Y:13.12, Z:7.99 [[ 9.86512671e-01 -1.52971810e-01 -5.82441091e-02 1.72764303e+02] [ 1.52920737e-01 9.88223924e-01 -5.35946601e-03 1.31168990e+01] [ 5.83780693e-02 -3.61955098e-03 9.98287984e-01 7.98573187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.79, Y:13.12, Z:7.99 [[ 9.86507274e-01 -1.53006678e-01 -5.82439200e-02 1.72793358e+02] [ 1.52955545e-01 9.88218526e-01 -5.36152036e-03 1.31196048e+01] [ 5.83780692e-02 -3.61955168e-03 9.98287984e-01 7.98712062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.82, Y:13.12, Z:7.99 [[ 9.86630478e-01 -1.52409369e-01 -5.77207353e-02 1.72822244e+02] [ 1.52357895e-01 9.88311083e-01 -5.31742306e-03 1.31240785e+01] [ 5.78564675e-02 -3.54787807e-03 9.98318607e-01 7.98882763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:13.13, Z:7.99 [[ 9.87008074e-01 -1.50317513e-01 -5.67424635e-02 1.72851813e+02] [ 1.50263686e-01 9.88632077e-01 -5.23848113e-03 1.31323202e+01] [ 5.68848550e-02 -3.35590854e-03 9.98375105e-01 7.99092423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.88, Y:13.14, Z:7.99 [[ 9.87167248e-01 -1.49420985e-01 -5.63399921e-02 1.72882034e+02] [ 1.49366330e-01 9.88768234e-01 -5.20365987e-03 1.31383031e+01] [ 5.64847305e-02 -3.27841528e-03 9.98398081e-01 7.99291512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.91, Y:13.15, Z:8.00 [[ 9.87503766e-01 -1.47021824e-01 -5.67529263e-02 1.72912594e+02] [ 1.46962450e-01 9.89128186e-01 -5.24127126e-03 1.31506806e+01] [ 5.69065002e-02 -3.16477395e-03 9.98374496e-01 7.99501681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.94, Y:13.15, Z:8.00 [[ 9.87615058e-01 -1.46252618e-01 -5.68037774e-02 1.72943607e+02] [ 1.46192041e-01 9.89242336e-01 -5.24296769e-03 1.31498974e+01] [ 5.69594992e-02 -3.12622633e-03 9.98371595e-01 7.99530530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.97, Y:13.16, Z:8.00 [[ 9.87742576e-01 -1.45417182e-01 -5.67313483e-02 1.72974480e+02] [ 1.45355504e-01 9.89365646e-01 -5.23420993e-03 1.31558806e+01] [ 5.68891911e-02 -3.07616173e-03 9.98375760e-01 7.99713868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.01, Y:13.16, Z:8.00 [[ 9.87870639e-01 -1.44627411e-01 -5.65200214e-02 1.73005872e+02] [ 1.44565025e-01 9.89481573e-01 -5.21255526e-03 1.31610420e+01] [ 5.66793980e-02 -3.02148803e-03 9.98387859e-01 7.99853230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.04, Y:13.17, Z:8.00 [[ 9.87926889e-01 -1.44206364e-01 -5.66126014e-02 1.73037071e+02] [ 1.44143258e-01 9.89543073e-01 -5.21806373e-03 1.31687702e+01] [ 5.67730855e-02 -3.00525933e-03 9.98382585e-01 8.00056887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.07, Y:13.17, Z:8.00 [[ 9.87995192e-01 -1.43531389e-01 -5.71335436e-02 1.73068201e+02] [ 1.43466164e-01 9.89641228e-01 -5.26309907e-03 1.31739399e+01] [ 5.72971301e-02 -2.99681378e-03 9.98352672e-01 8.00154509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.10, Y:13.17, Z:8.00 [[ 9.88000246e-01 -1.43376918e-01 -5.74332033e-02 1.73098775e+02] [ 1.43310859e-01 9.89663593e-01 -5.28878502e-03 1.31732372e+01] [ 5.75978400e-02 -3.00548081e-03 9.98335342e-01 8.00191267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.13, Y:13.18, Z:8.00 [[ 9.88017423e-01 -1.43389334e-01 -5.71057935e-02 1.73129157e+02] [ 1.43324115e-01 9.89661840e-01 -5.25743280e-03 1.31803784e+01] [ 5.72692844e-02 -2.99020208e-03 9.98354290e-01 8.00416242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.16, Y:13.19, Z:8.01 [[ 9.88008107e-01 -1.43473908e-01 -5.70545159e-02 1.73161206e+02] [ 1.43409085e-01 9.89649569e-01 -5.25029569e-03 1.31859315e+01] [ 5.72172575e-02 -2.99480120e-03 9.98357259e-01 8.00608165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.19, Y:13.19, Z:8.01 [[ 9.87920823e-01 -1.44091951e-01 -5.70084014e-02 1.73192411e+02] [ 1.44028487e-01 9.89559658e-01 -5.24204573e-03 1.31883619e+01] [ 5.71685508e-02 -3.03210766e-03 9.98359937e-01 8.00728835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.22, Y:13.19, Z:8.01 [[ 9.87837896e-01 -1.44651046e-01 -5.70295153e-02 1.73223687e+02] [ 1.44588632e-01 9.89477973e-01 -5.24104199e-03 1.31918831e+01] [ 5.71875714e-02 -3.06851968e-03 9.98358736e-01 8.00871505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.25, Y:13.20, Z:8.01 [[ 9.87777971e-01 -1.44982094e-01 -5.72264950e-02 1.73254435e+02] [ 1.44919920e-01 9.89429421e-01 -5.25708061e-03 1.31955732e+01] [ 5.73837603e-02 -3.10043067e-03 9.98347380e-01 8.01038901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.29, Y:13.20, Z:8.01 [[ 9.87668311e-01 -1.45507690e-01 -5.77825189e-02 1.73285380e+02] [ 1.45445322e-01 9.89352063e-01 -5.30606416e-03 1.32007907e+01] [ 5.79393274e-02 -3.16356566e-03 9.98315094e-01 8.01159866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.32, Y:13.21, Z:8.01 [[ 9.87641480e-01 -1.45625881e-01 -5.79431643e-02 1.73317553e+02] [ 1.45563514e-01 9.89334614e-01 -5.31831569e-03 1.32062874e+01] [ 5.80996625e-02 -3.18182144e-03 9.98305717e-01 8.01336379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.35, Y:13.21, Z:8.01 [[ 9.87592473e-01 -1.45927014e-01 -5.80208021e-02 1.73348466e+02] [ 1.45865235e-01 9.89290158e-01 -5.32136457e-03 1.32091007e+01] [ 5.81759393e-02 -3.20787836e-03 9.98301192e-01 8.01493500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.38, Y:13.21, Z:8.02 [[ 9.87557599e-01 -1.46646327e-01 -5.67876963e-02 1.73378888e+02] [ 1.46588491e-01 9.89183865e-01 -5.20538640e-03 1.32123989e+01] [ 5.69368237e-02 -3.18380385e-03 9.98372707e-01 8.01725831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.41, Y:13.22, Z:8.02 [[ 9.87544528e-01 -1.47051055e-01 -5.59624219e-02 1.73410705e+02] [ 1.46995663e-01 9.89123847e-01 -5.12741769e-03 1.32165809e+01] [ 5.61077582e-02 -3.16268002e-03 9.98419710e-01 8.01944061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.44, Y:13.22, Z:8.02 [[ 9.87527863e-01 -1.47407931e-01 -5.53138514e-02 1.73442917e+02] [ 1.47354591e-01 9.89070766e-01 -5.06403126e-03 1.32195911e+01] [ 5.54557917e-02 -3.14987797e-03 9.98456175e-01 8.02138099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.47, Y:13.22, Z:8.02 [[ 9.87459684e-01 -1.47978288e-01 -5.50072608e-02 1.73474938e+02] [ 1.47926636e-01 9.88985535e-01 -5.03201255e-03 1.32236435e+01] [ 5.51460139e-02 -3.16812949e-03 9.98473275e-01 8.02318164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.51, Y:13.23, Z:8.02 [[ 9.87214303e-01 -1.49797023e-01 -5.44864382e-02 1.73506546e+02] [ 1.49749316e-01 9.88711453e-01 -4.98042975e-03 1.32292730e+01] [ 5.46174191e-02 -3.24255534e-03 9.98502090e-01 8.02495688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.54, Y:13.23, Z:8.03 [[ 9.87039376e-01 -1.50737553e-01 -5.50586973e-02 1.73538381e+02] [ 1.50690519e-01 9.88568197e-01 -5.02873757e-03 1.32256151e+01] [ 5.51872967e-02 -3.33326167e-03 9.98470456e-01 8.02515755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.57, Y:13.23, Z:8.03 [[ 9.86935435e-01 -1.51330104e-01 -5.52959863e-02 1.73570772e+02] [ 1.51283768e-01 9.88477490e-01 -5.04719987e-03 1.32291488e+01] [ 5.54226310e-02 -3.38412475e-03 9.98457250e-01 8.02659792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.60, Y:13.24, Z:8.03 [[ 9.86672029e-01 -1.52990674e-01 -5.54270839e-02 1.73601990e+02] [ 1.52946938e-01 9.88221472e-01 -5.05535527e-03 1.32362980e+01] [ 5.55476566e-02 -3.48942514e-03 9.98449940e-01 8.02849865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.63, Y:13.24, Z:8.03 [[ 9.86617005e-01 -1.53352720e-01 -5.54060437e-02 1.73632840e+02] [ 1.53309755e-01 9.88165276e-01 -5.05037722e-03 1.32372716e+01] [ 5.55248176e-02 -3.51149893e-03 9.98451133e-01 8.03006717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.66, Y:13.24, Z:8.03 [[ 9.86579671e-01 -1.53536366e-01 -5.55620142e-02 1.73663835e+02] [ 1.53493620e-01 9.88136675e-01 -5.06154792e-03 1.32397037e+01] [ 5.56799957e-02 -3.53479440e-03 9.98442409e-01 8.03121302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.70, Y:13.25, Z:8.03 [[ 9.86633185e-01 -1.53086179e-01 -5.58531956e-02 1.73695056e+02] [ 1.53042445e-01 9.88206534e-01 -5.08487995e-03 1.32470129e+01] [ 5.59729177e-02 -3.53099834e-03 9.98426044e-01 8.03300921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.73, Y:13.25, Z:8.03 [[ 9.86694025e-01 -1.52726445e-01 -5.57632062e-02 1.73726611e+02] [ 1.52682501e-01 9.88262274e-01 -5.07273165e-03 1.32484467e+01] [ 5.58834132e-02 -3.50883179e-03 9.98431135e-01 8.03415439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.76, Y:13.25, Z:8.04 [[ 9.86803546e-01 -1.51770773e-01 -5.64304351e-02 1.73758934e+02] [ 1.51724415e-01 9.88409523e-01 -5.12997112e-03 1.32533908e+01] [ 5.65549591e-02 -3.49960107e-03 9.98393354e-01 8.03569768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:13.26, Z:8.04 [[ 9.86933776e-01 -1.50749034e-01 -5.68898179e-02 1.73790985e+02] [ 1.50700516e-01 9.88565961e-01 -5.16673034e-03 1.32591382e+01] [ 5.70182171e-02 -3.47410422e-03 9.98367094e-01 8.03717956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.82, Y:13.26, Z:8.04 [[ 9.87113037e-01 -1.49394283e-01 -5.73515569e-02 1.73822849e+02] [ 1.49342943e-01 9.88771763e-01 -5.20444654e-03 1.32590360e+01] [ 5.74851145e-02 -3.42767326e-03 9.98340479e-01 8.03741750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.85, Y:13.27, Z:8.04 [[ 9.87588146e-01 -1.45950530e-01 -5.80353067e-02 1.73853054e+02] [ 1.45892250e-01 9.89286487e-01 -5.26283233e-03 1.32678751e+01] [ 5.81816579e-02 -3.26939067e-03 9.98300659e-01 8.03883357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.88, Y:13.27, Z:8.04 [[ 9.87914458e-01 -1.44024046e-01 -5.72896022e-02 1.73883436e+02] [ 1.43964093e-01 9.89569281e-01 -5.19402031e-03 1.32718952e+01] [ 5.74400943e-02 -3.11639784e-03 9.98344091e-01 8.04029221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.91, Y:13.28, Z:8.04 [[ 9.88209374e-01 -1.41915480e-01 -5.74650254e-02 1.73914208e+02] [ 1.41851725e-01 9.89874217e-01 -5.20787463e-03 1.32774594e+01] [ 5.76222251e-02 -3.00504243e-03 9.98333937e-01 8.04227760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.94, Y:13.29, Z:8.04 [[ 9.88829792e-01 -1.37792463e-01 -5.68232375e-02 1.73943788e+02] [ 1.37723428e-01 9.90457346e-01 -5.14804998e-03 1.32867166e+01] [ 5.69903555e-02 -2.73534586e-03 9.98370982e-01 8.04493236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.98, Y:13.29, Z:8.05 [[ 9.89049046e-01 -1.36170466e-01 -5.69173921e-02 1.73975959e+02] [ 1.36098574e-01 9.90681885e-01 -5.15570916e-03 1.32931374e+01] [ 5.70890846e-02 -2.64712665e-03 9.98365579e-01 8.04705653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.01, Y:13.30, Z:8.05 [[ 9.89424782e-01 -1.33406512e-01 -5.69324390e-02 1.74006868e+02] [ 1.33330283e-01 9.91058267e-01 -5.15241981e-03 1.33002396e+01] [ 5.71107306e-02 -2.49288637e-03 9.98364738e-01 8.04886919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.04, Y:13.30, Z:8.05 [[ 9.89434428e-01 -1.33334862e-01 -5.69326578e-02 1.74038434e+02] [ 1.33258654e-01 9.91067913e-01 -5.15000092e-03 1.33030369e+01] [ 5.71108050e-02 -2.49118115e-03 9.98364738e-01 8.05037635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.07, Y:13.31, Z:8.05 [[ 9.89606191e-01 -1.31900997e-01 -5.72862494e-02 1.74069145e+02] [ 1.31821675e-01 9.91259923e-01 -5.17796959e-03 1.33062444e+01] [ 5.74685425e-02 -2.42741860e-03 9.98344367e-01 8.05159490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.10, Y:13.31, Z:8.05 [[ 9.89851249e-01 -1.29945352e-01 -5.75213845e-02 1.74100623e+02] [ 1.29862275e-01 9.91518428e-01 -5.19590777e-03 1.33114356e+01] [ 5.77086967e-02 -2.32668204e-03 9.98330753e-01 8.05292526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.13, Y:13.32, Z:8.05 [[ 9.89982434e-01 -1.29055183e-01 -5.72672690e-02 1.74132203e+02] [ 1.28971589e-01 9.91634818e-01 -5.16884513e-03 1.33173104e+01] [ 5.74552842e-02 -2.26878479e-03 9.98345503e-01 8.05496595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.16, Y:13.32, Z:8.06 [[ 9.90077762e-01 -1.28335150e-01 -5.72373476e-02 1.74164086e+02] [ 1.28250683e-01 9.91728348e-01 -5.16194932e-03 1.33210117e+01] [ 5.74263597e-02 -2.22999771e-03 9.98347254e-01 8.05665858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.20, Y:13.33, Z:8.06 [[ 9.90085566e-01 -1.28254079e-01 -5.72840615e-02 1.74195586e+02] [ 1.28169581e-01 9.91738833e-01 -5.16197323e-03 1.33253763e+01] [ 5.74728725e-02 -2.23127896e-03 9.98344575e-01 8.05822867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.23, Y:13.33, Z:8.06 [[ 9.90056716e-01 -1.28513455e-01 -5.72013238e-02 1.74227383e+02] [ 1.28429874e-01 9.91705219e-01 -5.15032110e-03 1.33284634e+01] [ 5.73887369e-02 -2.24724881e-03 9.98349379e-01 8.05962958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.26, Y:13.33, Z:8.06 [[ 9.89983289e-01 -1.28968839e-01 -5.74467211e-02 1.74258228e+02] [ 1.28885538e-01 9.91646008e-01 -5.16837395e-03 1.33294546e+01] [ 5.76333709e-02 -2.28744771e-03 9.98335195e-01 8.06055829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.29, Y:13.33, Z:8.06 [[ 9.89844052e-01 -1.29943542e-01 -5.76491796e-02 1.74290059e+02] [ 1.29861495e-01 9.91518596e-01 -5.18324496e-03 1.33329863e+01] [ 5.78337628e-02 -2.35580444e-03 9.98323448e-01 8.06233051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.32, Y:13.34, Z:8.06 [[ 9.89482176e-01 -1.32554116e-01 -5.79174368e-02 1.74322312e+02] [ 1.32476007e-01 9.91172555e-01 -5.20316764e-03 1.33364340e+01] [ 5.80958752e-02 -2.52422911e-03 9.98307817e-01 8.06348507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.35, Y:13.34, Z:8.06 [[ 9.89287794e-01 -1.33909162e-01 -5.81205358e-02 1.74354068e+02] [ 1.33833105e-01 9.90990154e-01 -5.21681871e-03 1.33352744e+01] [ 5.82954585e-02 -2.61751668e-03 9.98295942e-01 8.06414597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.39, Y:13.34, Z:8.07 [[ 9.88808408e-01 -1.37575857e-01 -5.77132295e-02 1.74385664e+02] [ 1.37507394e-01 9.90487222e-01 -5.17491962e-03 1.33355746e+01] [ 5.78761603e-02 -2.81899174e-03 9.98319790e-01 8.06532332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.42, Y:13.34, Z:8.07 [[ 9.88527805e-01 -1.39435395e-01 -5.80564393e-02 1.74417361e+02] [ 1.39369442e-01 9.90226783e-01 -5.20346146e-03 1.33361319e+01] [ 5.82145879e-02 -2.94752722e-03 9.98299741e-01 8.06658156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.45, Y:13.34, Z:8.07 [[ 9.88318461e-01 -1.41172019e-01 -5.74202077e-02 1.74449139e+02] [ 1.41110606e-01 9.89980477e-01 -5.14324394e-03 1.33417396e+01] [ 5.75709667e-02 -3.01943735e-03 9.98336850e-01 8.06905466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.48, Y:13.34, Z:8.07 [[ 9.87918451e-01 -1.44107581e-01 -5.70099997e-02 1.74479766e+02] [ 1.44052130e-01 9.89556945e-01 -5.10261691e-03 1.33431312e+01] [ 5.71499669e-02 -3.17144250e-03 9.98360568e-01 8.07116308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.51, Y:13.34, Z:8.07 [[ 9.87783222e-01 -1.45132377e-01 -5.67529773e-02 1.74511759e+02] [ 1.45079272e-01 9.89407010e-01 -5.07673633e-03 1.33444866e+01] [ 5.68885924e-02 -3.21896568e-03 9.98375343e-01 8.07239064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.54, Y:13.35, Z:8.07 [[ 9.87712705e-01 -1.45626940e-01 -5.67133770e-02 1.74543281e+02] [ 1.45574947e-01 9.89334240e-01 -5.06923279e-03 1.33450678e+01] [ 5.68467026e-02 -3.24910126e-03 9.98377632e-01 8.07363110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.58, Y:13.35, Z:8.08 [[ 9.87657008e-01 -1.46021860e-01 -5.66679050e-02 1.74575692e+02] [ 1.45970781e-01 9.89275951e-01 -5.06193242e-03 1.33471867e+01] [ 5.67993484e-02 -3.27240533e-03 9.98380251e-01 8.07505664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.61, Y:13.35, Z:8.08 [[ 9.87803072e-01 -1.45233895e-01 -5.61445179e-02 1.74607477e+02] [ 1.45182712e-01 9.89392171e-01 -5.01117176e-03 1.33536471e+01] [ 5.62767385e-02 -3.20116251e-03 9.98410077e-01 8.07685509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.64, Y:13.35, Z:8.08 [[ 9.87948255e-01 -1.44474632e-01 -5.55457189e-02 1.74639371e+02] [ 1.44423564e-01 9.89503560e-01 -4.95365780e-03 1.33526820e+01] [ 5.56783645e-02 -3.12815312e-03 9.98443856e-01 8.07823939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.67, Y:13.36, Z:8.08 [[ 9.88121451e-01 -1.43488829e-01 -5.50177692e-02 1.74670909e+02] [ 1.43437423e-01 9.89647245e-01 -4.90258141e-03 1.33571554e+01] [ 5.51516494e-02 -3.04726121e-03 9.98473340e-01 8.08039915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.70, Y:13.36, Z:8.08 [[ 9.88469407e-01 -1.41258046e-01 -5.45380215e-02 1.74700843e+02] [ 1.41204340e-01 9.89968560e-01 -4.85632693e-03 1.33612344e+01] [ 5.46769218e-02 -2.90067471e-03 9.98499885e-01 8.08245834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.73, Y:13.36, Z:8.08 [[ 9.88679860e-01 -1.39963756e-01 -5.40581336e-02 1.74732145e+02] [ 1.39909126e-01 9.90152654e-01 -4.81239254e-03 1.33621952e+01] [ 5.41993650e-02 -2.80531065e-03 9.98526193e-01 8.08364585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.76, Y:13.36, Z:8.09 [[ 9.88689443e-01 -1.39895946e-01 -5.40583960e-02 1.74763726e+02] [ 1.39841376e-01 9.90162239e-01 -4.80944360e-03 1.33649405e+01] [ 5.41994041e-02 -2.80455439e-03 9.98526193e-01 8.08515325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.80, Y:13.37, Z:8.09 [[ 9.88876530e-01 -1.38686113e-01 -5.37528732e-02 1.74795517e+02] [ 1.38630576e-01 9.90332635e-01 -4.77855382e-03 1.33719899e+01] [ 5.38959436e-02 -2.72639207e-03 9.98542835e-01 8.08697700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.83, Y:13.38, Z:8.09 [[ 9.89136902e-01 -1.36629592e-01 -5.42267893e-02 1.74827010e+02] [ 1.36570196e-01 9.90618685e-01 -4.81691147e-03 1.33760575e+01] [ 5.43762034e-02 -2.64117838e-03 9.98517027e-01 8.08773379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.86, Y:13.38, Z:8.09 [[ 9.89254790e-01 -1.35581344e-01 -5.47052014e-02 1.74858884e+02] [ 1.35519468e-01 9.90762782e-01 -4.85633458e-03 1.33795771e+01] [ 5.48583059e-02 -2.60946753e-03 9.98490740e-01 8.08848580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.89, Y:13.38, Z:8.09 [[ 9.89415723e-01 -1.34213337e-01 -5.51661756e-02 1.74891408e+02] [ 1.34148521e-01 9.90949157e-01 -4.89316117e-03 1.33831021e+01] [ 5.53236027e-02 -2.55909025e-03 9.98465197e-01 8.08942862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.92, Y:13.39, Z:8.09 [[ 9.89596323e-01 -1.32795197e-01 -5.53584120e-02 1.74922252e+02] [ 1.32727973e-01 9.91140364e-01 -4.90558206e-03 1.33858443e+01] [ 5.55193943e-02 -2.49306386e-03 9.98454496e-01 8.09022453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.95, Y:13.39, Z:8.09 [[ 9.89748553e-01 -1.31477846e-01 -5.57797240e-02 1.74954174e+02] [ 1.31407685e-01 9.91316104e-01 -4.93978274e-03 1.33933040e+01] [ 5.59448106e-02 -2.44074159e-03 9.98430879e-01 8.09211162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.99, Y:13.40, Z:8.09 [[ 9.90188010e-01 -1.28210578e-01 -5.55855441e-02 1.74985098e+02] [ 1.28135977e-01 9.91744411e-01 -4.91883571e-03 1.33979613e+01] [ 5.57572994e-02 -2.25193584e-03 9.98441812e-01 8.09338018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.02, Y:13.40, Z:8.09 [[ 9.90395714e-01 -1.26614651e-01 -5.55433214e-02 1.75016414e+02] [ 1.26537780e-01 9.91949622e-01 -4.91292055e-03 1.33995714e+01] [ 5.57182244e-02 -2.16259314e-03 9.98444191e-01 8.09467849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.05, Y:13.40, Z:8.10 [[ 9.90847384e-01 -1.23841939e-01 -5.37088122e-02 1.75046713e+02] [ 1.23766135e-01 9.92300055e-01 -4.74805110e-03 1.34022725e+01] [ 5.38832651e-02 -1.94273808e-03 9.98545352e-01 8.09695632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.08, Y:13.41, Z:8.10 [[ 9.91076487e-01 -1.22277345e-01 -5.30626824e-02 1.75078583e+02] [ 1.22201180e-01 9.92494271e-01 -4.68969022e-03 1.34080881e+01] [ 5.32378511e-02 -1.83648071e-03 9.98580171e-01 8.09935174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.11, Y:13.41, Z:8.10 [[ 9.91317335e-01 -1.20569038e-01 -5.24694966e-02 1.75110594e+02] [ 1.20492374e-01 9.92703439e-01 -4.63353714e-03 1.34115897e+01] [ 5.26453108e-02 -1.72886850e-03 9.98611778e-01 8.10138958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.14, Y:13.41, Z:8.10 [[ 9.91493839e-01 -1.19243182e-01 -5.21634948e-02 1.75141868e+02] [ 1.19165768e-01 9.92863703e-01 -4.60288625e-03 1.34143658e+01] [ 5.23401034e-02 -1.65236955e-03 9.98627950e-01 8.10310204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.17, Y:13.42, Z:8.11 [[ 9.91749616e-01 -1.17403225e-01 -5.14702122e-02 1.75174022e+02] [ 1.17325525e-01 9.93083138e-01 -4.53891613e-03 1.34189228e+01] [ 5.16470833e-02 -1.53730135e-03 9.98664216e-01 8.10503901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.21, Y:13.42, Z:8.11 [[ 9.91852847e-01 -1.16783391e-01 -5.08878131e-02 1.75205181e+02] [ 1.16706809e-01 9.93156289e-01 -4.48395519e-03 1.34207906e+01] [ 5.10632031e-02 -1.49153057e-03 9.98694310e-01 8.10674564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.24, Y:13.42, Z:8.11 [[ 9.91917411e-01 -1.16322509e-01 -5.06845447e-02 1.75237572e+02] [ 1.16246079e-01 9.93210415e-01 -4.46324178e-03 1.34228952e+01] [ 5.08595931e-02 -1.46471236e-03 9.98704739e-01 8.10845389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.27, Y:13.42, Z:8.11 [[ 9.91868887e-01 -1.16970678e-01 -5.01395143e-02 1.75269672e+02] [ 1.16896890e-01 9.93134258e-01 -4.41167156e-03 1.34231769e+01] [ 5.03113056e-02 -1.48535354e-03 9.98732480e-01 8.11015464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.30, Y:13.42, Z:8.11 [[ 9.91811053e-01 -1.17640982e-01 -4.97135336e-02 1.75300781e+02] [ 1.17569458e-01 9.93055044e-01 -4.37068533e-03 1.34235585e+01] [ 4.98824470e-02 -1.50989920e-03 9.98753955e-01 8.11148748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.33, Y:13.42, Z:8.11 [[ 9.91537483e-01 -1.19891996e-01 -4.97928539e-02 1.75332592e+02] [ 1.19823216e-01 9.92785605e-01 -4.37487110e-03 1.34240409e+01] [ 4.99581406e-02 -1.62849121e-03 9.98749985e-01 8.11267107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.36, Y:13.43, Z:8.11 [[ 9.91364432e-01 -1.21140271e-01 -5.02155201e-02 1.75364954e+02] [ 1.21072171e-01 9.92633924e-01 -4.40697055e-03 1.34268358e+01] [ 5.03794904e-02 -1.71078818e-03 9.98728682e-01 8.11386394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.40, Y:13.43, Z:8.11 [[ 9.91148274e-01 -1.22569228e-01 -5.10086530e-02 1.75396703e+02] [ 1.22501039e-01 9.92458306e-01 -4.47285850e-03 1.34261830e+01] [ 5.11721961e-02 -1.81534703e-03 9.98688195e-01 8.11464615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.43, Y:13.43, Z:8.12 [[ 9.90959502e-01 -1.23901693e-01 -5.14551780e-02 1.75429175e+02] [ 1.23834248e-01 9.92292672e-01 -4.50911298e-03 1.34281300e+01] [ 5.16172828e-02 -1.90356490e-03 9.98665125e-01 8.11561513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.46, Y:13.43, Z:8.12 [[ 9.90669413e-01 -1.26277061e-01 -5.12661584e-02 1.75460064e+02] [ 1.26213482e-01 9.91992948e-01 -4.48868512e-03 1.34264706e+01] [ 5.14224856e-02 -2.02367730e-03 9.98674938e-01 8.11615050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.49, Y:13.43, Z:8.12 [[ 9.90580649e-01 -1.27161432e-01 -5.07931828e-02 1.75491847e+02] [ 1.27100490e-01 9.91879903e-01 -4.44119648e-03 1.34301940e+01] [ 5.09454861e-02 -2.05647514e-03 9.98699318e-01 8.11802369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.52, Y:13.43, Z:8.12 [[ 9.90504352e-01 -1.27977050e-01 -5.02295051e-02 1.75523304e+02] [ 1.27918678e-01 9.91774951e-01 -4.38836271e-03 1.34334591e+01] [ 5.03779747e-02 -2.07859953e-03 9.98728061e-01 8.11991439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.55, Y:13.43, Z:8.12 [[ 9.90366788e-01 -1.29314058e-01 -4.95126255e-02 1.75554806e+02] [ 1.29259140e-01 9.91601425e-01 -4.32302913e-03 1.34335885e+01] [ 4.96558184e-02 -2.11857494e-03 9.98764142e-01 8.12247395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.59, Y:13.44, Z:8.12 [[ 9.90349211e-01 -1.29586893e-01 -4.91495376e-02 1.75587193e+02] [ 1.29533247e-01 9.91565805e-01 -4.28861879e-03 1.34363697e+01] [ 4.92907496e-02 -2.11926895e-03 9.98782224e-01 8.12452100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.62, Y:13.44, Z:8.13 [[ 9.90314938e-01 -1.30099416e-01 -4.84816029e-02 1.75618651e+02] [ 1.30047996e-01 9.91498690e-01 -4.22691606e-03 1.34398945e+01] [ 4.86193651e-02 -2.11895719e-03 9.98815132e-01 8.12619088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.65, Y:13.44, Z:8.13 [[ 9.90197127e-01 -1.31043804e-01 -4.83442908e-02 1.75649652e+02] [ 1.30993925e-01 9.91374222e-01 -4.21231536e-03 1.34402743e+01] [ 4.84792815e-02 -2.16178582e-03 9.98821849e-01 8.12807029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.68, Y:13.44, Z:8.13 [[ 9.90097851e-01 -1.31764543e-01 -4.84184991e-02 1.75681186e+02] [ 1.31715498e-01 9.91278594e-01 -4.21616053e-03 1.34430611e+01] [ 4.85517622e-02 -2.20305523e-03 9.98818238e-01 8.12946304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.71, Y:13.44, Z:8.13 [[ 9.89930384e-01 -1.32784621e-01 -4.90518092e-02 1.75713378e+02] [ 1.32735667e-01 9.91142281e-01 -4.26860284e-03 1.34438948e+01] [ 4.91841269e-02 -2.28530495e-03 9.98787114e-01 8.13057350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.74, Y:13.44, Z:8.13 [[ 9.89759995e-01 -1.33981302e-01 -4.92357898e-02 1.75744275e+02] [ 1.33933629e-01 9.90981057e-01 -4.28112152e-03 1.34448404e+01] [ 4.93653253e-02 -2.35704519e-03 9.98778008e-01 8.13162590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.78, Y:13.45, Z:8.13 [[ 9.89523092e-01 -1.35509487e-01 -4.98119291e-02 1.75776367e+02] [ 1.35462760e-01 9.90772984e-01 -4.32848123e-03 1.34469960e+01] [ 4.99388639e-02 -2.46452926e-03 9.98749236e-01 8.13308984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.81, Y:13.44, Z:8.13 [[ 9.88987305e-01 -1.39212248e-01 -5.02400383e-02 1.75807085e+02] [ 1.39169648e-01 9.90258946e-01 -4.36223406e-03 1.34441632e+01] [ 5.03579238e-02 -2.67769434e-03 9.98727645e-01 8.13364545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.84, Y:13.45, Z:8.14 [[ 9.88672987e-01 -1.41325782e-01 -5.05247249e-02 1.75838066e+02] [ 1.41285498e-01 9.89959177e-01 -4.38594912e-03 1.34465369e+01] [ 5.06372627e-02 -2.80214152e-03 9.98713180e-01 8.13515554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.87, Y:13.45, Z:8.14 [[ 9.88392836e-01 -1.43046315e-01 -5.11600686e-02 1.75868836e+02] [ 1.43007462e-01 9.89711659e-01 -4.43813333e-03 1.34463876e+01] [ 5.12685750e-02 -2.92965236e-03 9.98680605e-01 8.13607283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.90, Y:13.45, Z:8.14 [[ 9.88188018e-01 -1.44373517e-01 -5.13880306e-02 1.75900491e+02] [ 1.44336421e-01 9.89518660e-01 -4.45175868e-03 1.34523466e+01] [ 5.14921313e-02 -3.01798985e-03 9.98668840e-01 8.13740998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.93, Y:13.45, Z:8.14 [[ 9.87953062e-01 -1.45579292e-01 -5.24920642e-02 1.75931834e+02] [ 1.45542485e-01 9.89341569e-01 -4.54356388e-03 1.34513708e+01] [ 5.25940300e-02 -3.15099764e-03 9.98611005e-01 8.13816529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.96, Y:13.46, Z:8.14 [[ 9.87666733e-01 -1.46979036e-01 -5.39591339e-02 1.75963443e+02] [ 1.46942392e-01 9.89134039e-01 -4.66751844e-03 1.34552771e+01] [ 5.40588434e-02 -3.31893153e-03 9.98532236e-01 8.13888036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.00, Y:13.46, Z:8.14 [[ 9.87642237e-01 -1.46933565e-01 -5.45283312e-02 1.75995779e+02] [ 1.46896251e-01 9.89140674e-01 -4.71358315e-03 1.34577207e+01] [ 5.46287738e-02 -3.35467361e-03 9.98501098e-01 8.13991712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.03, Y:13.46, Z:8.14 [[ 9.87626017e-01 -1.46771181e-01 -5.52546075e-02 1.76027051e+02] [ 1.46732864e-01 9.89164645e-01 -4.77189194e-03 1.34581917e+01] [ 5.53562805e-02 -3.39482219e-03 9.98460894e-01 8.14084859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.06, Y:13.46, Z:8.14 [[ 9.87667047e-01 -1.46453811e-01 -5.53632148e-02 1.76059004e+02] [ 1.46415197e-01 9.89211701e-01 -4.77497117e-03 1.34625406e+01] [ 5.54652526e-02 -3.38993434e-03 9.98454863e-01 8.14228304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.09, Y:13.47, Z:8.14 [[ 9.87907068e-01 -1.44735483e-01 -5.55991518e-02 1.76090702e+02] [ 1.44694054e-01 9.89464842e-01 -4.79132226e-03 1.34668796e+01] [ 5.57068803e-02 -3.31148553e-03 9.98441675e-01 8.14375920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.12, Y:13.47, Z:8.15 [[ 9.88113589e-01 -1.43458661e-01 -5.52371889e-02 1.76122155e+02] [ 1.43415981e-01 9.89651066e-01 -4.75651428e-03 1.34669060e+01] [ 5.53479060e-02 -3.22191926e-03 9.98461931e-01 8.14508324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.15, Y:13.48, Z:8.15 [[ 9.88329428e-01 -1.42280000e-01 -5.44182196e-02 1.76153839e+02] [ 1.42236959e-01 9.89821558e-01 -4.68296828e-03 1.34763313e+01] [ 5.45306197e-02 -3.11196670e-03 9.98507249e-01 8.14790838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.18, Y:13.48, Z:8.15 [[ 9.88642672e-01 -1.40494284e-01 -5.33574962e-02 1.76184507e+02] [ 1.40450504e-01 9.90077071e-01 -4.58807505e-03 1.34773448e+01] [ 5.34726318e-02 -2.95812045e-03 9.98564934e-01 8.15025266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.22, Y:13.49, Z:8.15 [[ 9.88773855e-01 -1.39656332e-01 -5.31260131e-02 1.76216561e+02] [ 1.39611845e-01 9.90195781e-01 -4.56592609e-03 1.34852149e+01] [ 5.32428145e-02 -2.90235235e-03 9.98577378e-01 8.15261866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.25, Y:13.49, Z:8.15 [[ 9.88878582e-01 -1.38898786e-01 -5.31627371e-02 1.76248162e+02] [ 1.38853394e-01 9.90302429e-01 -4.56441985e-03 1.34860445e+01] [ 5.32811800e-02 -2.86816946e-03 9.98575430e-01 8.15401390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.28, Y:13.49, Z:8.16 [[ 9.88929473e-01 -1.38283410e-01 -5.38163253e-02 1.76279278e+02] [ 1.38236150e-01 9.90388532e-01 -4.61756343e-03 1.34873728e+01] [ 5.39376039e-02 -2.87291705e-03 9.98540175e-01 8.15555926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.31, Y:13.50, Z:8.16 [[ 9.88978310e-01 -1.38031434e-01 -5.35651595e-02 1.76310769e+02] [ 1.37984404e-01 9.90423752e-01 -4.59306718e-03 1.34951055e+01] [ 5.36861939e-02 -2.84871279e-03 9.98553793e-01 8.15782162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.34, Y:13.50, Z:8.16 [[ 9.89011581e-01 -1.37746010e-01 -5.36854626e-02 1.76342566e+02] [ 1.37698560e-01 9.90463503e-01 -4.59947336e-03 1.34986476e+01] [ 5.38070505e-02 -2.84347849e-03 9.98547303e-01 8.15965356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.37, Y:13.50, Z:8.16 [[ 9.89068525e-01 -1.37277386e-01 -5.38365249e-02 1.76373637e+02] [ 1.37229210e-01 9.90528601e-01 -4.60811111e-03 1.34967200e+01] [ 5.39592072e-02 -2.83020611e-03 9.98539130e-01 8.16056425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.41, Y:13.50, Z:8.16 [[ 9.89153398e-01 -1.36745559e-01 -5.36302804e-02 1.76405102e+02] [ 1.36697321e-01 9.90602256e-01 -4.58397753e-03 1.35043943e+01] [ 5.37531153e-02 -2.79685869e-03 9.98550339e-01 8.16290289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.44, Y:13.51, Z:8.16 [[ 9.89342102e-01 -1.35462723e-01 -5.34046477e-02 1.76436614e+02] [ 1.35413233e-01 9.90778712e-01 -4.56083458e-03 1.35070780e+01] [ 5.35300111e-02 -2.71947032e-03 9.98562538e-01 8.16473891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.47, Y:13.51, Z:8.17 [[ 9.89371634e-01 -1.35227297e-01 -5.34541601e-02 1.76467409e+02] [ 1.35177573e-01 9.90810889e-01 -4.56132881e-03 1.35089149e+01] [ 5.35797801e-02 -2.71295430e-03 9.98559887e-01 8.16643152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.50, Y:13.52, Z:8.17 [[ 9.89392950e-01 -1.34677109e-01 -5.44395661e-02 1.76499400e+02] [ 1.34624875e-01 9.90885761e-01 -4.64235470e-03 1.35150999e+01] [ 5.45686098e-02 -2.73580674e-03 9.98506275e-01 8.16815053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.53, Y:13.52, Z:8.17 [[ 9.89563137e-01 -1.33186330e-01 -5.50109019e-02 1.76531205e+02] [ 1.33130917e-01 9.91087378e-01 -4.68710863e-03 1.35178441e+01] [ 5.51448693e-02 -2.68546191e-03 9.98474753e-01 8.16871987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.56, Y:13.52, Z:8.17 [[ 9.89780152e-01 -1.31247867e-01 -5.57606345e-02 1.76561196e+02] [ 1.31188067e-01 9.91346132e-01 -4.74743561e-03 1.35209998e+01] [ 5.59011801e-02 -2.61621233e-03 9.98432879e-01 8.16919762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.59, Y:13.53, Z:8.17 [[ 9.90115927e-01 -1.28620956e-01 -5.59204899e-02 1.76592589e+02] [ 1.28556715e-01 9.91690737e-01 -4.75961368e-03 1.35279411e+01] [ 5.60680179e-02 -2.47638515e-03 9.98423880e-01 8.17094290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.62, Y:13.53, Z:8.17 [[ 9.90870997e-01 -1.22906447e-01 -5.53955922e-02 1.76622307e+02] [ 1.22834671e-01 9.92415963e-01 -4.71169226e-03 1.35335726e+01] [ 5.55545673e-02 -2.13582013e-03 9.98453368e-01 8.17275819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.65, Y:13.53, Z:8.17 [[ 9.91240827e-01 -1.19941057e-01 -5.52789750e-02 1.76652821e+02] [ 1.19864978e-01 9.92779069e-01 -4.70179436e-03 1.35329313e+01] [ 5.54437475e-02 -1.96540259e-03 9.98459878e-01 8.17339022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.68, Y:13.54, Z:8.18 [[ 9.91610043e-01 -1.17044080e-01 -5.48653460e-02 1.76683570e+02] [ 1.16964768e-01 9.93125106e-01 -4.66551433e-03 1.35427417e+01] [ 5.50342234e-02 -1.79094162e-03 9.98482863e-01 8.17659023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.71, Y:13.55, Z:8.18 [[ 9.91959136e-01 -1.14083853e-01 -5.47900288e-02 1.76714407e+02] [ 1.14000355e-01 9.93469793e-01 -4.65718711e-03 1.35481378e+01] [ 5.49635485e-02 -1.62634346e-03 9.98487037e-01 8.17871309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.74, Y:13.55, Z:8.18 [[ 9.92650622e-01 -1.08131240e-01 -5.43357906e-02 1.76743389e+02] [ 1.08040295e-01 9.94135794e-01 -4.61703229e-03 1.35527424e+01] [ 5.45163998e-02 -1.28735485e-03 9.98512045e-01 8.18033823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.77, Y:13.56, Z:8.18 [[ 9.92657988e-01 -1.08063607e-01 -5.43357612e-02 1.76774948e+02] [ 1.07972542e-01 9.94143154e-01 -4.61737754e-03 1.35553625e+01] [ 5.45164955e-02 -1.28329357e-03 9.98512045e-01 8.18184515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.81, Y:13.56, Z:8.18 [[ 9.92952308e-01 -1.05611179e-01 -5.37772554e-02 1.76805803e+02] [ 1.05518570e-01 9.94406848e-01 -4.56647639e-03 1.35591501e+01] [ 5.39587420e-02 -1.14020581e-03 9.98542515e-01 8.18384105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.84, Y:13.56, Z:8.19 [[ 9.93480768e-01 -1.01160932e-01 -5.25588116e-02 1.76836130e+02] [ 1.01066342e-01 9.94869686e-01 -4.46125285e-03 1.35635184e+01] [ 5.27404729e-02 -8.79757905e-04 9.98607865e-01 8.18653659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.87, Y:13.57, Z:8.19 [[ 9.93729834e-01 -9.89166935e-02 -5.21201020e-02 1.76868119e+02] [ 9.88206931e-02 9.95095431e-01 -4.42206964e-03 1.35694281e+01] [ 5.23018918e-02 -7.56202078e-04 9.98631033e-01 8.18917892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.90, Y:13.57, Z:8.19 [[ 9.93969322e-01 -9.67034222e-02 -5.17052756e-02 1.76899068e+02] [ 9.66061362e-02 9.95313037e-01 -4.38332500e-03 1.35732196e+01] [ 5.18868174e-02 -6.38156322e-04 9.98652768e-01 8.19080802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.93, Y:13.58, Z:8.19 [[ 9.94423395e-01 -9.24724579e-02 -5.07046001e-02 1.76930015e+02] [ 9.23734968e-02 9.95715158e-01 -4.29668691e-03 1.35762700e+01] [ 5.08846641e-02 -4.11035226e-04 9.98704452e-01 8.19249900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.96, Y:13.58, Z:8.19 [[ 9.94430041e-01 -9.24008676e-02 -5.07047644e-02 1.76961568e+02] [ 9.23019124e-02 9.95721805e-01 -4.29474647e-03 1.35788856e+01] [ 5.08846778e-02 -4.09321818e-04 9.98704452e-01 8.19400477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.99, Y:13.58, Z:8.20 [[ 9.94608319e-01 -9.06201847e-02 -5.04209668e-02 1.76994099e+02] [ 9.05202320e-02 9.95885475e-01 -4.26707146e-03 1.35801650e+01] [ 5.06001913e-02 -3.20052841e-04 9.98718939e-01 8.19556688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.03, Y:13.58, Z:8.20 [[ 9.94569843e-01 -9.10235316e-02 -5.04533889e-02 1.77025754e+02] [ 9.09241524e-02 9.95848682e-01 -4.26619499e-03 1.35814682e+01] [ 5.06322650e-02 -3.44402741e-04 9.98717305e-01 8.19706218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.06, Y:13.58, Z:8.20 [[ 9.94474114e-01 -9.17580062e-02 -5.10069172e-02 1.77057274e+02] [ 9.16575434e-02 9.95781260e-01 -4.31017665e-03 1.35824028e+01] [ 5.11872255e-02 -3.88809620e-04 9.98688999e-01 8.19800094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.09, Y:13.58, Z:8.20 [[ 9.94325277e-01 -9.29388240e-02 -5.17650344e-02 1.77088721e+02] [ 9.28370940e-02 9.95671715e-01 -4.37146626e-03 1.35831589e+01] [ 5.19472595e-02 -4.59055962e-04 9.98649724e-01 8.19901465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.12, Y:13.58, Z:8.20 [[ 9.93956319e-01 -9.61460103e-02 -5.29790591e-02 1.77120334e+02] [ 9.60441044e-02 9.95367033e-01 -4.47204246e-03 1.35808227e+01] [ 5.31635780e-02 -6.43311423e-04 9.98585610e-01 8.19866456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.15, Y:13.58, Z:8.20 [[ 9.93749915e-01 -9.79146847e-02 -5.36080270e-02 1.77151645e+02] [ 9.78130189e-02 9.95194531e-01 -4.52319146e-03 1.35804005e+01] [ 5.37933022e-02 -7.48641839e-04 9.98551811e-01 8.19967571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.18, Y:13.58, Z:8.20 [[ 9.93400399e-01 -1.01681542e-01 -5.30708114e-02 1.77183619e+02] [ 1.01587373e-01 9.94816552e-01 -4.47598638e-03 1.35770665e+01] [ 5.32508468e-02 -9.44877644e-04 9.98580720e-01 8.20086653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.21, Y:13.58, Z:8.20 [[ 9.93216921e-01 -1.03509490e-01 -5.29710568e-02 1.77214112e+02] [ 1.03418366e-01 9.94627920e-01 -4.46578720e-03 1.35760911e+01] [ 5.31487433e-02 -1.04268474e-03 9.98586062e-01 8.20187019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.25, Y:13.58, Z:8.20 [[ 9.93053393e-01 -1.05146005e-01 -5.28136070e-02 1.77245854e+02] [ 1.05057788e-01 9.94456156e-01 -4.45148731e-03 1.35756160e+01] [ 5.29888727e-02 -1.12791615e-03 9.98594466e-01 8.20315953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:13.57, Z:8.21 [[ 9.92822111e-01 -1.07744845e-01 -5.19163272e-02 1.77277580e+02] [ 1.07663241e-01 9.94177798e-01 -4.37407183e-03 1.35748052e+01] [ 5.20853435e-02 -1.24680484e-03 9.98641859e-01 8.20538182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.31, Y:13.58, Z:8.21 [[ 9.92765747e-01 -1.08649813e-01 -5.11017612e-02 1.77308677e+02] [ 1.08572042e-01 9.94079268e-01 -4.30361845e-03 1.35752556e+01] [ 5.12667887e-02 -1.27573756e-03 9.98684179e-01 8.20738774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.34, Y:13.57, Z:8.21 [[ 9.92661629e-01 -1.09974333e-01 -5.02845558e-02 1.77340046e+02] [ 1.09900820e-01 9.93933545e-01 -4.23294717e-03 1.35734907e+01] [ 5.04450223e-02 -1.32442967e-03 9.98725961e-01 8.20959708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.37, Y:13.57, Z:8.21 [[ 9.92579763e-01 -1.10466224e-01 -5.08195580e-02 1.77371987e+02] [ 1.10391927e-01 9.93878939e-01 -4.27513938e-03 1.35743409e+01] [ 5.09807469e-02 -1.36665212e-03 9.98698701e-01 8.21128497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.40, Y:13.58, Z:8.21 [[ 9.92549795e-01 -1.10593791e-01 -5.11264918e-02 1.77404643e+02] [ 1.10518953e-01 9.93864726e-01 -4.29725766e-03 1.35751485e+01] [ 5.12880668e-02 -1.38520414e-03 9.98682940e-01 8.21284613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:13.58, Z:8.21 [[ 9.92541758e-01 -1.10569359e-01 -5.13349321e-02 1.77436481e+02] [ 1.10494069e-01 9.93867434e-01 -4.31106736e-03 1.35767113e+01] [ 5.14967891e-02 -1.39329113e-03 9.98672188e-01 8.21386613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.47, Y:13.57, Z:8.21 [[ 9.92436572e-01 -1.10978806e-01 -5.24724156e-02 1.77466669e+02] [ 1.10900904e-01 9.93821716e-01 -4.40296675e-03 1.35748714e+01] [ 5.26368621e-02 -1.44957309e-03 9.98612667e-01 8.21430969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.50, Y:13.57, Z:8.22 [[ 9.92418385e-01 -1.10684556e-01 -5.34291825e-02 1.77498025e+02] [ 1.10603420e-01 9.93854513e-01 -4.48216056e-03 1.35739232e+01] [ 5.35969402e-02 -1.46127176e-03 9.98561582e-01 8.21519297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.53, Y:13.57, Z:8.22 [[ 9.92379980e-01 -1.10325879e-01 -5.48650667e-02 1.77529055e+02] [ 1.10239871e-01 9.93894362e-01 -4.60088371e-03 1.35743120e+01] [ 5.50376770e-02 -1.48249301e-03 9.98483178e-01 8.21588981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.56, Y:13.58, Z:8.22 [[ 9.92378740e-01 -1.09771847e-01 -5.59873045e-02 1.77559634e+02] [ 1.09681405e-01 9.93955707e-01 -4.69499251e-03 1.35768681e+01] [ 5.61642788e-02 -1.48155546e-03 9.98420442e-01 8.21694661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.59, Y:13.58, Z:8.22 [[ 9.92418048e-01 -1.09018210e-01 -5.67578035e-02 1.77590371e+02] [ 1.08924030e-01 9.94038682e-01 -4.75960514e-03 1.35790287e+01] [ 5.69383358e-02 -1.45877064e-03 9.98376631e-01 8.21797058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.62, Y:13.58, Z:8.22 [[ 9.92467258e-01 -1.08282386e-01 -5.73032866e-02 1.77619099e+02] [ 1.08185131e-01 9.94119148e-01 -4.80588710e-03 1.35804420e+01] [ 5.74866874e-02 -1.42967800e-03 9.98345249e-01 8.21868138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.65, Y:13.58, Z:8.22 [[ 9.92440229e-01 -1.08530059e-01 -5.73028643e-02 1.77647221e+02] [ 1.08432926e-01 9.94092126e-01 -4.81091658e-03 1.35828384e+01] [ 5.74864552e-02 -1.43897011e-03 9.98345249e-01 8.22002497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.68, Y:13.59, Z:8.22 [[ 9.92521911e-01 -1.07623623e-01 -5.75969812e-02 1.77676322e+02] [ 1.07523134e-01 9.94190753e-01 -4.84997345e-03 1.35852836e+01] [ 5.77843578e-02 -1.37930301e-03 9.98328135e-01 8.22153458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.70, Y:13.59, Z:8.22 [[ 9.92591012e-01 -1.06886707e-01 -5.77781530e-02 1.77704553e+02] [ 1.06783539e-01 9.94270321e-01 -4.87900417e-03 1.35875571e+01] [ 5.79686034e-02 -1.32689995e-03 9.98317525e-01 8.22240679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.73, Y:13.59, Z:8.22 [[ 9.92658368e-01 -1.06259676e-01 -5.77775498e-02 1.77732291e+02] [ 1.06154698e-01 9.94337593e-01 -4.89189462e-03 1.35876565e+01] [ 5.79702009e-02 -1.27737820e-03 9.98317497e-01 8.22284483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.76, Y:13.59, Z:8.23 [[ 9.92705597e-01 -1.05863841e-01 -5.76926751e-02 1.77760891e+02] [ 1.05758104e-01 9.94379855e-01 -4.89159843e-03 1.35920441e+01] [ 5.78862773e-02 -1.24555077e-03 9.98322407e-01 8.22581844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.79, Y:13.59, Z:8.23 [[ 9.92857282e-01 -1.05518922e-01 -5.56792062e-02 1.77789336e+02] [ 1.05419120e-01 9.94416608e-01 -4.73474980e-03 1.35937429e+01] [ 5.58679331e-02 -1.16872211e-03 9.98437483e-01 8.22930538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.82, Y:13.59, Z:8.23 [[ 9.92914706e-01 -1.05307289e-01 -5.50523479e-02 1.77818444e+02] [ 1.05208709e-01 9.94439086e-01 -4.69388271e-03 1.35949904e+01] [ 5.52405066e-02 -1.13136128e-03 9.98472437e-01 8.23081478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.85, Y:13.59, Z:8.23 [[ 9.92930137e-01 -1.05752507e-01 -5.39087258e-02 1.77847229e+02] [ 1.05658525e-01 9.94391839e-01 -4.59843466e-03 1.35944854e+01] [ 5.40926930e-02 -1.12999211e-03 9.98535279e-01 8.23324452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.88, Y:13.60, Z:8.24 [[ 9.92950886e-01 -1.06239569e-01 -5.25518043e-02 1.77876422e+02] [ 1.06150800e-01 9.94339926e-01 -4.48538596e-03 1.35972021e+01] [ 5.27308827e-02 -1.12464808e-03 9.98608126e-01 8.23579773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.91, Y:13.60, Z:8.24 [[ 9.92915845e-01 -1.07134350e-01 -5.13843884e-02 1.77905899e+02] [ 1.07050586e-01 9.94243894e-01 -4.38752212e-03 1.35976571e+01] [ 5.15586687e-02 -1.14428868e-03 9.98669312e-01 8.23808840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.94, Y:13.60, Z:8.24 [[ 9.92839070e-01 -1.08185998e-01 -5.06593648e-02 1.77936330e+02] [ 1.08105915e-01 9.94129969e-01 -4.32628935e-03 1.35979647e+01] [ 5.08300367e-02 -1.18126790e-03 9.98706620e-01 8.23977202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.97, Y:13.60, Z:8.24 [[ 9.92685498e-01 -1.09699090e-01 -5.04143990e-02 1.77966311e+02] [ 1.09621853e-01 9.93964051e-01 -4.30290119e-03 1.35970388e+01] [ 5.05821246e-02 -1.25509220e-03 9.98719116e-01 8.24101536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.00, Y:13.60, Z:8.24 [[ 9.92496121e-01 -1.11217191e-01 -5.08152074e-02 1.77997134e+02] [ 1.11140664e-01 9.93795218e-01 -4.33796129e-03 1.35984838e+01] [ 5.09823660e-02 -1.34222614e-03 9.98698652e-01 8.24244785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.03, Y:13.59, Z:8.24 [[ 9.91950814e-01 -1.15480495e-01 -5.19407188e-02 1.78027382e+02] [ 1.15406368e-01 9.93308466e-01 -4.43413640e-03 1.35938126e+01] [ 5.21052120e-02 -1.59584450e-03 9.98640326e-01 8.24267295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.06, Y:13.60, Z:8.24 [[ 9.91629520e-01 -1.17837044e-01 -5.27761844e-02 1.78057991e+02] [ 1.17763793e-01 9.93031410e-01 -4.50643576e-03 1.35961620e+01] [ 5.29394339e-02 -1.74640891e-03 9.98596198e-01 8.24405625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.09, Y:13.60, Z:8.25 [[ 9.91326195e-01 -1.20458106e-01 -5.25568195e-02 1.78088325e+02] [ 1.20389138e-01 9.92716634e-01 -4.48770470e-03 1.35959661e+01] [ 5.27146093e-02 -1.87849096e-03 9.98607852e-01 8.24537043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.12, Y:13.59, Z:8.25 [[ 9.90682380e-01 -1.25331944e-01 -5.32947158e-02 1.78118243e+02] [ 1.25268053e-01 9.92112496e-01 -4.55081707e-03 1.35924125e+01] [ 5.34447162e-02 -2.16771100e-03 9.98568457e-01 8.24640646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.15, Y:13.59, Z:8.25 [[ 9.90407918e-01 -1.27359255e-01 -5.35889610e-02 1.78148511e+02] [ 1.27297567e-01 9.91854012e-01 -4.57686141e-03 1.35923227e+01] [ 5.37353316e-02 -2.28878459e-03 9.98552590e-01 8.24723688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.18, Y:13.59, Z:8.25 [[ 9.90106668e-01 -1.29166508e-01 -5.48160445e-02 1.78177736e+02] [ 1.29104673e-01 9.91619915e-01 -4.68265262e-03 1.35926799e+01] [ 5.49615233e-02 -2.44068191e-03 9.98485490e-01 8.24757293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:13.59, Z:8.25 [[ 9.89866388e-01 -1.30583883e-01 -5.57887478e-02 1.78206202e+02] [ 1.30521905e-01 9.91433957e-01 -4.76887071e-03 1.35921727e+01] [ 5.59335967e-02 -2.56110882e-03 9.98431206e-01 8.24760430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.24, Y:13.60, Z:8.25 [[ 9.89460909e-01 -1.33020563e-01 -5.72069803e-02 1.78235833e+02] [ 1.32959251e-01 9.91109424e-01 -4.89366685e-03 1.35970331e+01] [ 5.73493356e-02 -2.76410521e-03 9.98350346e-01 8.24843725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.26, Y:13.60, Z:8.25 [[ 9.89277742e-01 -1.34331576e-01 -5.73112210e-02 1.78264738e+02] [ 1.34272151e-01 9.90932359e-01 -4.90401314e-03 1.35953930e+01] [ 5.74503072e-02 -2.84386984e-03 9.98344317e-01 8.24916451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.29, Y:13.60, Z:8.25 [[ 9.89267291e-01 -1.34743630e-01 -5.65188579e-02 1.78294428e+02] [ 1.34686340e-01 9.90876467e-01 -4.83912385e-03 1.35985981e+01] [ 5.66552474e-02 -2.82513117e-03 9.98389804e-01 8.25134930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.32, Y:13.60, Z:8.25 [[ 9.89253117e-01 -1.35151880e-01 -5.57874441e-02 1.78323629e+02] [ 1.35096595e-01 9.90820910e-01 -4.77850995e-03 1.36001410e+01] [ 5.59211907e-02 -2.80953789e-03 9.98431233e-01 8.25315617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.35, Y:13.60, Z:8.25 [[ 9.89211045e-01 -1.35597539e-01 -5.54510234e-02 1.78352621e+02] [ 1.35543406e-01 9.90760006e-01 -4.75344585e-03 1.36019862e+01] [ 5.55832118e-02 -2.81385945e-03 9.98450093e-01 8.25493927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.38, Y:13.61, Z:8.26 [[ 9.89212542e-01 -1.35897650e-01 -5.46843252e-02 1.78382527e+02] [ 1.35844797e-01 9.90718983e-01 -4.69978653e-03 1.36052766e+01] [ 5.48154890e-02 -2.77949326e-03 9.98492632e-01 8.25674046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.41, Y:13.61, Z:8.26 [[ 9.89248919e-01 -1.35920702e-01 -5.39642306e-02 1.78410884e+02] [ 1.35869153e-01 9.90715925e-01 -4.63994927e-03 1.36063259e+01] [ 5.40938878e-02 -2.74200952e-03 9.98532089e-01 8.25817852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.44, Y:13.61, Z:8.26 [[ 9.89234852e-01 -1.36579272e-01 -5.25405595e-02 1.78439157e+02] [ 1.36531183e-01 9.90625460e-01 -4.52030140e-03 1.36079227e+01] [ 5.26653954e-02 -2.70178508e-03 9.98608560e-01 8.26058222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.47, Y:13.61, Z:8.26 [[ 9.89227872e-01 -1.36829343e-01 -5.20187261e-02 1.78469527e+02] [ 1.36782418e-01 9.90590995e-01 -4.47789064e-03 1.36126056e+01] [ 5.21419885e-02 -2.68559292e-03 9.98636070e-01 8.26266023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.50, Y:13.62, Z:8.26 [[ 9.89178035e-01 -1.37425346e-01 -5.13915208e-02 1.78500081e+02] [ 1.37380354e-01 9.90508490e-01 -4.42374995e-03 1.36179235e+01] [ 5.15116730e-02 -2.68430905e-03 9.98668785e-01 8.26470012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.53, Y:13.62, Z:8.27 [[ 9.89136411e-01 -1.37827107e-01 -5.11160349e-02 1.78531596e+02] [ 1.37783234e-01 9.90452643e-01 -4.39801095e-03 1.36221063e+01] [ 5.12341770e-02 -2.69269983e-03 9.98683037e-01 8.26669191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.56, Y:13.62, Z:8.27 [[ 9.89051266e-01 -1.38623546e-01 -5.06073594e-02 1.78561986e+02] [ 1.38581768e-01 9.90341439e-01 -4.35054095e-03 1.36222850e+01] [ 5.07216526e-02 -2.71034931e-03 9.98709151e-01 8.26798706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.59, Y:13.63, Z:8.27 [[ 9.89001139e-01 -1.38969144e-01 -5.06391606e-02 1.78593021e+02] [ 1.38927888e-01 9.90292943e-01 -4.35084990e-03 1.36254055e+01] [ 5.07522373e-02 -2.73219613e-03 9.98707538e-01 8.26971470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.62, Y:13.63, Z:8.27 [[ 9.89008420e-01 -1.38955209e-01 -5.05350890e-02 1.78624604e+02] [ 1.38914198e-01 9.90294910e-01 -4.34005745e-03 1.36285129e+01] [ 5.06477151e-02 -2.72768799e-03 9.98712856e-01 8.27110188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.65, Y:13.63, Z:8.27 [[ 9.89053039e-01 -1.38451608e-01 -5.10415346e-02 1.78654669e+02] [ 1.38409206e-01 9.90365434e-01 -4.38155776e-03 1.36309059e+01] [ 5.11564053e-02 -2.73102526e-03 9.98686920e-01 8.27213226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.69, Y:13.63, Z:8.27 [[ 9.89058012e-01 -1.38415973e-01 -5.10418132e-02 1.78685413e+02] [ 1.38373690e-01 9.90370412e-01 -4.37831016e-03 1.36335120e+01] [ 5.11563296e-02 -2.73244132e-03 9.98686920e-01 8.27359941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.72, Y:13.64, Z:8.27 [[ 9.89153315e-01 -1.37128541e-01 -5.26448687e-02 1.78715484e+02] [ 1.37081846e-01 9.90549439e-01 -4.51395658e-03 1.36364070e+01] [ 5.27663375e-02 -2.75166067e-03 9.98603095e-01 8.27320178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.75, Y:13.64, Z:8.27 [[ 9.89274839e-01 -1.36028853e-01 -5.32113174e-02 1.78745337e+02] [ 1.35979605e-01 9.90701134e-01 -4.56177084e-03 1.36412742e+01] [ 5.33370450e-02 -2.72280879e-03 9.98572855e-01 8.27452706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.78, Y:13.65, Z:8.28 [[ 9.89428279e-01 -1.34849459e-01 -5.33601291e-02 1.78775571e+02] [ 1.34798180e-01 9.90862511e-01 -4.57537230e-03 1.36459145e+01] [ 5.34895380e-02 -2.66584554e-03 9.98564851e-01 8.27596841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.81, Y:13.65, Z:8.28 [[ 9.89865777e-01 -1.31456643e-01 -5.37112206e-02 1.78805338e+02] [ 1.31399706e-01 9.91318772e-01 -4.60547670e-03 1.36546598e+01] [ 5.38503617e-02 -2.49883484e-03 9.98545890e-01 8.27762400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.84, Y:13.66, Z:8.28 [[ 9.90152964e-01 -1.29410365e-01 -5.33859968e-02 1.78836264e+02] [ 1.29351160e-01 9.91588284e-01 -4.57736623e-03 1.36600480e+01] [ 5.35292876e-02 -2.37324786e-03 9.98563460e-01 8.27944652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.87, Y:13.66, Z:8.28 [[ 9.90661340e-01 -1.25818349e-01 -5.25342948e-02 1.78866250e+02] [ 1.25756067e-01 9.92050976e-01 -4.50261087e-03 1.36627338e+01] [ 5.26832095e-02 -2.14594378e-03 9.98608970e-01 8.28128709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.90, Y:13.67, Z:8.28 [[ 9.90892492e-01 -1.24036018e-01 -5.24131330e-02 1.78896627e+02] [ 1.23971545e-01 9.92275606e-01 -4.49203911e-03 1.36721718e+01] [ 5.25654480e-02 -2.04660924e-03 9.98615384e-01 8.28328315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.93, Y:13.68, Z:8.28 [[ 9.91202213e-01 -1.21280859e-01 -5.30011947e-02 1.78927408e+02] [ 1.21211105e-01 9.92616367e-01 -4.54045979e-03 1.36756434e+01] [ 5.31605242e-02 -1.92381960e-03 9.98584126e-01 8.28414395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.96, Y:13.68, Z:8.29 [[ 9.91202215e-01 -1.21280777e-01 -5.30013432e-02 1.78957285e+02] [ 1.21211115e-01 9.92616374e-01 -4.53872543e-03 1.36782010e+01] [ 5.31604612e-02 -1.92555723e-03 9.98584126e-01 8.28557014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.99, Y:13.68, Z:8.29 [[ 9.91312836e-01 -1.20449285e-01 -5.28283206e-02 1.78987196e+02] [ 1.20378900e-01 9.92717712e-01 -4.52390879e-03 1.36804743e+01] [ 5.29885111e-02 -1.87480625e-03 9.98593362e-01 8.28675169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.02, Y:13.69, Z:8.29 [[ 9.91474905e-01 -1.19029749e-01 -5.30040747e-02 1.79017082e+02] [ 1.18956869e-01 9.92889048e-01 -4.53895934e-03 1.36878648e+01] [ 5.31674365e-02 -1.80493451e-03 9.98583980e-01 8.28834134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.05, Y:13.69, Z:8.29 [[ 9.91498799e-01 -1.18712015e-01 -5.32690281e-02 1.79046668e+02] [ 1.18637941e-01 9.92927102e-01 -4.56175608e-03 1.36907252e+01] [ 5.34337969e-02 -1.79675216e-03 9.98569778e-01 8.28949906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.08, Y:13.69, Z:8.29 [[ 9.91549572e-01 -1.18261381e-01 -5.33262743e-02 1.79077765e+02] [ 1.18186464e-01 9.92980916e-01 -4.56730224e-03 1.36949290e+01] [ 5.34921082e-02 -1.77373720e-03 9.98566697e-01 8.29137729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.11, Y:13.70, Z:8.29 [[ 9.91618083e-01 -1.17780227e-01 -5.31168169e-02 1.79106590e+02] [ 1.17705294e-01 9.93038157e-01 -4.54774423e-03 1.36981882e+01] [ 5.32826603e-02 -1.74250514e-03 9.98577950e-01 8.29298778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.14, Y:13.70, Z:8.29 [[ 9.91633502e-01 -1.17600461e-01 -5.32271572e-02 1.79136335e+02] [ 1.17524906e-01 9.93059474e-01 -4.55815652e-03 1.36998257e+01] [ 5.33937740e-02 -1.73549592e-03 9.98572027e-01 8.29407923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.17, Y:13.71, Z:8.30 [[ 9.91644906e-01 -1.17481235e-01 -5.32779433e-02 1.79166620e+02] [ 1.17405319e-01 9.93073596e-01 -4.56334867e-03 1.37051212e+01] [ 5.34450266e-02 -1.72989246e-03 9.98569295e-01 8.29634232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.20, Y:13.71, Z:8.30 [[ 9.91686048e-01 -1.17185895e-01 -5.31624664e-02 1.79197019e+02] [ 1.17109884e-01 9.93108524e-01 -4.55345787e-03 1.37083143e+01] [ 5.33296996e-02 -1.71024965e-03 9.98575494e-01 8.29822033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.23, Y:13.71, Z:8.30 [[ 9.91830105e-01 -1.15751082e-01 -5.36164987e-02 1.79227457e+02] [ 1.15671674e-01 9.93276887e-01 -4.59234653e-03 1.37136529e+01] [ 5.37875980e-02 -1.64708262e-03 9.98551041e-01 8.30078116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.26, Y:13.72, Z:8.30 [[ 9.91934790e-01 -1.14693382e-01 -5.39518329e-02 1.79256673e+02] [ 1.14611410e-01 9.93399652e-01 -4.62118599e-03 1.37162502e+01] [ 5.41257515e-02 -1.59958047e-03 9.98532846e-01 8.30235453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.29, Y:13.72, Z:8.30 [[ 9.92068066e-01 -1.13508362e-01 -5.40074374e-02 1.79286745e+02] [ 1.13424421e-01 9.93535854e-01 -4.62679226e-03 1.37225754e+01] [ 5.41835050e-02 -1.53566949e-03 9.98529814e-01 8.30487406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.32, Y:13.73, Z:8.31 [[ 9.92207229e-01 -1.12120984e-01 -5.43479457e-02 1.79317041e+02] [ 1.12033902e-01 9.93693477e-01 -4.65596345e-03 1.37268633e+01] [ 5.45272303e-02 -1.46913185e-03 9.98511203e-01 8.30669732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.35, Y:13.73, Z:8.31 [[ 9.92457378e-01 -1.09579717e-01 -5.49603437e-02 1.79346584e+02] [ 1.09486763e-01 9.93977101e-01 -4.70856289e-03 1.37313598e+01] [ 5.51452861e-02 -1.34438214e-03 9.98477436e-01 8.30817389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:13.74, Z:8.31 [[ 9.92546824e-01 -1.08439635e-01 -5.56025821e-02 1.79376814e+02] [ 1.08342661e-01 9.94102192e-01 -4.76443804e-03 1.37372389e+01] [ 5.57913027e-02 -1.29520383e-03 9.98441612e-01 8.31024564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.41, Y:13.74, Z:8.31 [[ 9.92617888e-01 -1.07591283e-01 -5.59807520e-02 1.79406147e+02] [ 1.07491629e-01 9.94194417e-01 -4.79699528e-03 1.37385990e+01] [ 5.61718659e-02 -1.25587889e-03 9.98420324e-01 8.31119672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.44, Y:13.75, Z:8.31 [[ 9.92670666e-01 -1.06693015e-01 -5.67586903e-02 1.79435839e+02] [ 1.06589056e-01 9.94291260e-01 -4.86450701e-03 1.37457030e+01] [ 5.69536786e-02 -1.22100179e-03 9.98376075e-01 8.31405781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.46, Y:13.75, Z:8.32 [[ 9.92604122e-01 -1.06903384e-01 -5.75215012e-02 1.79464666e+02] [ 1.06796942e-01 9.94268629e-01 -4.93025115e-03 1.37483120e+01] [ 5.77188846e-02 -1.24933282e-03 9.98332094e-01 8.31538032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.50, Y:13.75, Z:8.32 [[ 9.92538437e-01 -1.07179939e-01 -5.81370155e-02 1.79495118e+02] [ 1.07071579e-01 9.94238819e-01 -4.98473580e-03 1.37516960e+01] [ 5.83363413e-02 -1.27728018e-03 9.98296168e-01 8.31687259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.53, Y:13.75, Z:8.32 [[ 9.92463085e-01 -1.07523614e-01 -5.87851792e-02 1.79525095e+02] [ 1.07413402e-01 9.94201666e-01 -5.04072335e-03 1.37538611e+01] [ 5.89863199e-02 -1.31158423e-03 9.98257930e-01 8.31765344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.55, Y:13.76, Z:8.32 [[ 9.92361526e-01 -1.08255600e-01 -5.91551169e-02 1.79554163e+02] [ 1.08145167e-01 9.94122161e-01 -5.07459211e-03 1.37563104e+01] [ 5.93567657e-02 -1.36151000e-03 9.98235904e-01 8.31911105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.58, Y:13.76, Z:8.32 [[ 9.92327298e-01 -1.08800178e-01 -5.87286483e-02 1.79582898e+02] [ 1.08692138e-01 9.94062680e-01 -5.04048328e-03 1.37567053e+01] [ 5.89283631e-02 -1.38153320e-03 9.98261258e-01 8.31967145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.61, Y:13.76, Z:8.32 [[ 9.92231621e-01 -1.09608802e-01 -5.88414954e-02 1.79611906e+02] [ 1.09501550e-01 9.93973777e-01 -5.05382374e-03 1.37598281e+01] [ 5.90408470e-02 -1.42867125e-03 9.98254545e-01 8.32151694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.64, Y:13.76, Z:8.32 [[ 9.92199615e-01 -1.09831859e-01 -5.89651243e-02 1.79641809e+02] [ 1.09724426e-01 9.93949134e-01 -5.06652499e-03 1.37620576e+01] [ 5.91648001e-02 -1.44291026e-03 9.98247186e-01 8.32279538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.67, Y:13.77, Z:8.33 [[ 9.92212200e-01 -1.09838919e-01 -5.87397760e-02 1.79671532e+02] [ 1.09732195e-01 9.93948364e-01 -5.04923939e-03 1.37661196e+01] [ 5.89389073e-02 -1.43572765e-03 9.98260559e-01 8.32506510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.70, Y:13.77, Z:8.33 [[ 9.92203821e-01 -1.09841442e-01 -5.88764375e-02 1.79701829e+02] [ 1.09734123e-01 9.93948083e-01 -5.06271780e-03 1.37688520e+01] [ 5.90762184e-02 -1.43750628e-03 9.98252440e-01 8.32686178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.73, Y:13.77, Z:8.33 [[ 9.92198831e-01 -1.09916028e-01 -5.88213088e-02 1.79731657e+02] [ 1.09809028e-01 9.93939833e-01 -5.05818617e-03 1.37704849e+01] [ 5.90208176e-02 -1.44038435e-03 9.98255713e-01 8.32758362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:13.77, Z:8.33 [[ 9.92160607e-01 -1.10195571e-01 -5.89429075e-02 1.79760825e+02] [ 1.10088545e-01 9.93908853e-01 -5.06992798e-03 1.37728262e+01] [ 5.91425612e-02 -1.45875609e-03 9.98248481e-01 8.32882037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.79, Y:13.77, Z:8.33 [[ 9.92077690e-01 -1.11112509e-01 -5.86162731e-02 1.79789709e+02] [ 1.11008127e-01 9.93806698e-01 -5.04415580e-03 1.37739574e+01] [ 5.88137136e-02 -1.50268825e-03 9.98267844e-01 8.32945730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.82, Y:13.78, Z:8.33 [[ 9.92009434e-01 -1.11846666e-01 -5.83747078e-02 1.79818997e+02] [ 1.11744250e-01 9.93724288e-01 -5.02611793e-03 1.37753841e+01] [ 5.85705195e-02 -1.53708155e-03 9.98282090e-01 8.33030883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.85, Y:13.78, Z:8.33 [[ 9.91949948e-01 -1.12544492e-01 -5.80434070e-02 1.79848423e+02] [ 1.12444357e-01 9.93645449e-01 -4.99881596e-03 1.37775365e+01] [ 5.82371564e-02 -1.56807832e-03 9.98301545e-01 8.33171307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.88, Y:13.78, Z:8.33 [[ 9.91889073e-01 -1.13077012e-01 -5.80487376e-02 1.79878542e+02] [ 1.12977670e-01 9.93584942e-01 -5.00097269e-03 1.37796218e+01] [ 5.82418466e-02 -1.59780097e-03 9.98301224e-01 8.33323488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.91, Y:13.78, Z:8.33 [[ 9.91854608e-01 -1.13655485e-01 -5.75053732e-02 1.79908498e+02] [ 1.13558964e-01 9.93518907e-01 -4.95416115e-03 1.37817704e+01] [ 5.76957431e-02 -1.61644305e-03 9.98332905e-01 8.33472110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.94, Y:13.78, Z:8.34 [[ 9.91707301e-01 -1.15271006e-01 -5.68262663e-02 1.79938493e+02] [ 1.15179400e-01 9.93332642e-01 -4.89565523e-03 1.37840004e+01] [ 5.70117124e-02 -1.69015820e-03 9.98372079e-01 8.33715187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.97, Y:13.79, Z:8.34 [[ 9.91610974e-01 -1.16325851e-01 -5.63557779e-02 1.79968785e+02] [ 1.16237455e-01 9.93209586e-01 -4.85512205e-03 1.37857419e+01] [ 5.65378750e-02 -1.73625988e-03 9.98398945e-01 8.33900416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.00, Y:13.79, Z:8.34 [[ 9.91513239e-01 -1.17360311e-01 -5.59290159e-02 1.79998792e+02] [ 1.17274892e-01 9.93087802e-01 -4.81835596e-03 1.37871619e+01] [ 5.61079072e-02 -1.78160556e-03 9.98423121e-01 8.34061244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.03, Y:13.79, Z:8.34 [[ 9.91307521e-01 -1.19267275e-01 -5.55402232e-02 1.80029531e+02] [ 1.19186034e-01 9.92860411e-01 -4.78471036e-03 1.37879954e+01] [ 5.57143482e-02 -1.87649958e-03 9.98444986e-01 8.34301730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.06, Y:13.79, Z:8.34 [[ 9.91176188e-01 -1.20219339e-01 -5.58307658e-02 1.80059906e+02] [ 1.20138811e-01 9.92745457e-01 -4.80871058e-03 1.37875452e+01] [ 5.60038391e-02 -1.94116240e-03 9.98428666e-01 8.34393448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.09, Y:13.79, Z:8.34 [[ 9.91059822e-01 -1.21060311e-01 -5.60787920e-02 1.80089256e+02] [ 1.20980450e-01 9.92643142e-01 -4.82935935e-03 1.37880492e+01] [ 5.62508721e-02 -1.99825348e-03 9.98414667e-01 8.34454021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.12, Y:13.79, Z:8.35 [[ 9.90828411e-01 -1.22280931e-01 -5.75016026e-02 1.80119034e+02] [ 1.22198958e-01 9.92493266e-01 -4.95292441e-03 1.37918913e+01] [ 5.76756016e-02 -2.11913773e-03 9.98333128e-01 8.34586981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.15, Y:13.79, Z:8.35 [[ 9.90727705e-01 -1.22795633e-01 -5.81364536e-02 1.80148661e+02] [ 1.22712664e-01 9.92429602e-01 -5.00866085e-03 1.37912772e+01] [ 5.83113792e-02 -2.17186002e-03 9.98296081e-01 8.34638868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.18, Y:13.79, Z:8.35 [[ 9.90679403e-01 -1.23014560e-01 -5.84956351e-02 1.80177802e+02] [ 1.22930870e-01 9.92402434e-01 -5.04083744e-03 1.37930666e+01] [ 5.86713071e-02 -2.19706552e-03 9.98274937e-01 8.34734888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.21, Y:13.80, Z:8.35 [[ 9.90651463e-01 -1.23082432e-01 -5.88251179e-02 1.80208194e+02] [ 1.22997821e-01 9.92393985e-01 -5.07086204e-03 1.37991490e+01] [ 5.90018272e-02 -2.21190444e-03 9.98255424e-01 8.34985168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.24, Y:13.80, Z:8.35 [[ 9.90617000e-01 -1.22917332e-01 -5.97435267e-02 1.80237612e+02] [ 1.22829747e-01 9.92414393e-01 -5.15025280e-03 1.38000118e+01] [ 5.99233911e-02 -2.23635430e-03 9.98200474e-01 8.35063218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.27, Y:13.81, Z:8.35 [[ 9.90576176e-01 -1.22873847e-01 -6.05050154e-02 1.80267489e+02] [ 1.22783883e-01 9.92419721e-01 -5.21675538e-03 1.38051997e+01] [ 6.06873733e-02 -2.26144712e-03 9.98154261e-01 8.35301194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.30, Y:13.81, Z:8.35 [[ 9.90556003e-01 -1.22855073e-01 -6.08722856e-02 1.80297320e+02] [ 1.22763949e-01 9.92422018e-01 -5.24890414e-03 1.38080709e+01] [ 6.10558511e-02 -2.27358865e-03 9.98131762e-01 8.35466268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.33, Y:13.81, Z:8.36 [[ 9.90572382e-01 -1.22645815e-01 -6.10275349e-02 1.80325985e+02] [ 1.22553681e-01 9.92447922e-01 -5.26471105e-03 1.38101455e+01] [ 6.12123450e-02 -2.26407168e-03 9.98122198e-01 8.35594758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.36, Y:13.81, Z:8.36 [[ 9.90565276e-01 -1.22721649e-01 -6.09904167e-02 1.80355067e+02] [ 1.22629587e-01 9.92438547e-01 -5.26450429e-03 1.38143568e+01] [ 6.11753092e-02 -2.26439447e-03 9.98124468e-01 8.35834144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.38, Y:13.82, Z:8.36 [[ 9.90575397e-01 -1.22789689e-01 -6.06883371e-02 1.80384548e+02] [ 1.22698533e-01 9.92430152e-01 -5.24057312e-03 1.38184449e+01] [ 6.08724240e-02 -2.25518715e-03 9.98143007e-01 8.36022308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.41, Y:13.82, Z:8.36 [[ 9.90593128e-01 -1.22824817e-01 -6.03267625e-02 1.80413864e+02] [ 1.22734692e-01 9.92425835e-01 -5.21126629e-03 1.38209035e+01] [ 6.05099105e-02 -2.24194203e-03 9.98165079e-01 8.36184202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.44, Y:13.82, Z:8.36 [[ 9.90567832e-01 -1.23108308e-01 -6.01640576e-02 1.80443953e+02] [ 1.23019139e-01 9.92390685e-01 -5.19805079e-03 1.38248357e+01] [ 6.03461736e-02 -2.25230867e-03 9.98174968e-01 8.36372670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.47, Y:13.83, Z:8.37 [[ 9.90478611e-01 -1.24005160e-01 -5.97899840e-02 1.80473573e+02] [ 1.23918713e-01 9.92278925e-01 -5.16595896e-03 1.38295041e+01] [ 5.99689467e-02 -2.29232599e-03 9.98197611e-01 8.36647517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.50, Y:13.83, Z:8.37 [[ 9.90438898e-01 -1.24500462e-01 -5.94173698e-02 1.80502828e+02] [ 1.24415913e-01 9.92216868e-01 -5.13484261e-03 1.38308492e+01] [ 5.95942069e-02 -2.30671848e-03 9.98220021e-01 8.36781134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.53, Y:13.83, Z:8.37 [[ 9.90327824e-01 -1.25283024e-01 -5.96235234e-02 1.80533525e+02] [ 1.25199251e-01 9.92118233e-01 -5.15351905e-03 1.38339562e+01] [ 5.97992332e-02 -2.36114716e-03 9.98207632e-01 8.36975527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.56, Y:13.84, Z:8.37 [[ 9.90057315e-01 -1.27132897e-01 -6.01974976e-02 1.80562995e+02] [ 1.27050900e-01 9.91882550e-01 -5.20335850e-03 1.38354605e+01] [ 6.03703655e-02 -2.49652310e-03 9.98172924e-01 8.37099836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.59, Y:13.84, Z:8.37 [[ 9.90057315e-01 -1.27132937e-01 -6.01974255e-02 1.80592877e+02] [ 1.27050889e-01 9.91882547e-01 -5.20419335e-03 1.38380443e+01] [ 6.03704001e-02 -2.49568672e-03 9.98172924e-01 8.37242564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.62, Y:13.84, Z:8.37 [[ 9.89880349e-01 -1.28207317e-01 -6.08257989e-02 1.80621842e+02] [ 1.28125542e-01 9.91744014e-01 -5.25898965e-03 1.38395094e+01] [ 6.09978629e-02 -2.58756797e-03 9.98134543e-01 8.37333029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.65, Y:13.84, Z:8.37 [[ 9.89685905e-01 -1.29359359e-01 -6.15464446e-02 1.80652166e+02] [ 1.29277754e-01 9.91594135e-01 -5.32297383e-03 1.38434079e+01] [ 6.17176699e-02 -2.68851394e-03 9.98090027e-01 8.37488429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.68, Y:13.84, Z:8.38 [[ 9.89513117e-01 -1.30314323e-01 -6.23054537e-02 1.80681227e+02] [ 1.30232549e-01 9.91468830e-01 -5.38915103e-03 1.38445428e+01] [ 6.24761988e-02 -2.78156242e-03 9.98042578e-01 8.37552952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.71, Y:13.85, Z:8.38 [[ 9.89201686e-01 -1.32039869e-01 -6.36042311e-02 1.80711552e+02] [ 1.31958099e-01 9.91240019e-01 -5.50321004e-03 1.38501670e+01] [ 6.37737024e-02 -2.94930881e-03 9.97960027e-01 8.37777710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.74, Y:13.85, Z:8.38 [[ 9.89109025e-01 -1.32594291e-01 -6.38912429e-02 1.80741320e+02] [ 1.32512930e-01 9.91165861e-01 -5.52813001e-03 1.38510642e+01] [ 6.40598173e-02 -2.99849253e-03 9.97941556e-01 8.37883156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.77, Y:13.86, Z:8.38 [[ 9.89143613e-01 -1.32406800e-01 -6.37444288e-02 1.80770992e+02] [ 1.32325409e-01 9.91190982e-01 -5.51567512e-03 1.38563696e+01] [ 6.39132159e-02 -2.97921279e-03 9.97951013e-01 8.38132001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.80, Y:13.86, Z:8.38 [[ 9.89204552e-01 -1.31780850e-01 -6.40949404e-02 1.80800327e+02] [ 1.31697233e-01 9.91274471e-01 -5.54630648e-03 1.38596282e+01] [ 6.42665751e-02 -2.95469470e-03 9.97928393e-01 8.38317983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.83, Y:13.87, Z:8.39 [[ 9.89372875e-01 -1.30643466e-01 -6.38247594e-02 1.80830410e+02] [ 1.30558137e-01 9.91425267e-01 -5.52377753e-03 1.38654140e+01] [ 6.39991246e-02 -2.86776602e-03 9.97945834e-01 8.38577507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.86, Y:13.87, Z:8.39 [[ 9.89923777e-01 -1.26871787e-01 -6.28845457e-02 1.80859607e+02] [ 1.26781359e-01 9.91915756e-01 -5.44240579e-03 1.38707409e+01] [ 6.30666594e-02 -2.58502124e-03 9.98005969e-01 8.38797536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.89, Y:13.88, Z:8.39 [[ 9.90248145e-01 -1.24421437e-01 -6.26731018e-02 1.80889506e+02] [ 1.24326719e-01 9.92226509e-01 -5.42410617e-03 1.38759074e+01] [ 6.28607881e-02 -2.42073005e-03 9.98019369e-01 8.39025625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.92, Y:13.88, Z:8.39 [[ 9.90599236e-01 -1.21857220e-01 -6.21608546e-02 1.80919951e+02] [ 1.21759021e-01 9.92545113e-01 -5.37950403e-03 1.38837335e+01] [ 6.23529839e-02 -2.23971222e-03 9.98051647e-01 8.39353214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.95, Y:13.89, Z:8.40 [[ 9.90948147e-01 -1.19116326e-01 -6.19118050e-02 1.80950587e+02] [ 1.19013659e-01 9.92878168e-01 -5.35656026e-03 1.38891505e+01] [ 6.21089333e-02 -2.06027700e-03 9.98067250e-01 8.39553125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.98, Y:13.90, Z:8.40 [[ 9.91513232e-01 -1.14465730e-01 -6.16368997e-02 1.80980520e+02] [ 1.14355107e-01 9.93425634e-01 -5.33104792e-03 1.38973223e+01] [ 6.18418984e-02 -1.76268968e-03 9.98084402e-01 8.39793230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.01, Y:13.90, Z:8.40 [[ 9.91828240e-01 -1.12021423e-01 -6.10568870e-02 1.81010092e+02] [ 1.11908246e-01 9.93704512e-01 -5.28088194e-03 1.39018136e+01] [ 6.12640759e-02 -1.59504131e-03 9.98120318e-01 8.39948379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.04, Y:13.91, Z:8.40 [[ 9.92369721e-01 -1.07319320e-01 -6.07033735e-02 1.81039392e+02] [ 1.07198662e-01 9.94223758e-01 -5.25030614e-03 1.39085980e+01] [ 6.09161954e-02 -1.29707558e-03 9.98142041e-01 8.40105613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.07, Y:13.91, Z:8.40 [[ 9.92623504e-01 -1.04708943e-01 -6.11115135e-02 1.81070577e+02] [ 1.04581745e-01 9.94502250e-01 -5.28510638e-03 1.39141280e+01] [ 6.13289356e-02 -1.14502792e-03 9.98116952e-01 8.40282559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.10, Y:13.92, Z:8.40 [[ 9.92876337e-01 -1.02231113e-01 -6.11994932e-02 1.81099484e+02] [ 1.02098938e-01 9.94760177e-01 -5.29124229e-03 1.39181337e+01] [ 6.14197483e-02 -9.94853974e-04 9.98111529e-01 8.40352568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.13, Y:13.92, Z:8.40 [[ 9.93136830e-01 -9.95019709e-02 -6.14702830e-02 1.81128474e+02] [ 9.93633308e-02 9.95037020e-01 -5.31576024e-03 1.39227052e+01] [ 6.16941358e-02 -8.28614787e-04 9.98094759e-01 8.40407478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.16, Y:13.93, Z:8.41 [[ 9.93651624e-01 -9.38671160e-02 -6.20114110e-02 1.81157279e+02] [ 9.37149708e-02 9.95584619e-01 -5.36391617e-03 1.39301596e+01] [ 6.22411023e-02 -4.81533552e-04 9.98061027e-01 8.40548624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.19, Y:13.93, Z:8.41 [[ 9.93840745e-01 -9.15748054e-02 -6.24069521e-02 1.81185843e+02] [ 9.14158556e-02 9.95798144e-01 -5.40355201e-03 1.39345834e+01] [ 6.26395563e-02 -3.34714767e-04 9.98036159e-01 8.40695220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.21, Y:13.94, Z:8.41 [[ 9.94035751e-01 -8.96028057e-02 -6.21632022e-02 1.81214222e+02] [ 8.94402813e-02 9.95977560e-01 -5.39783331e-03 1.39386318e+01] [ 6.23968154e-02 -1.94255002e-04 9.98051401e-01 8.40869016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.24, Y:13.94, Z:8.41 [[ 9.94180840e-01 -8.79389725e-02 -6.22189195e-02 1.81242086e+02] [ 8.77718976e-02 9.96125861e-01 -5.41870336e-03 1.39421746e+01] [ 6.24543900e-02 -7.39015730e-05 9.98047816e-01 8.41009580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.27, Y:13.95, Z:8.41 [[ 9.94392306e-01 -8.58837485e-02 -6.17083685e-02 1.81269215e+02] [ 8.57144510e-02 9.96305162e-01 -5.39037716e-03 1.39456988e+01] [ 6.19433119e-02 7.08506504e-05 9.98079667e-01 8.41126230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.30, Y:13.95, Z:8.41 [[ 9.94451612e-01 -8.56832326e-02 -6.10276557e-02 1.81296455e+02] [ 8.55164729e-02 9.96322425e-01 -5.34399910e-03 1.39478948e+01] [ 6.12611130e-02 9.54786588e-05 9.98121770e-01 8.41372048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.32, Y:13.95, Z:8.42 [[ 9.94431108e-01 -8.62010052e-02 -6.06313281e-02 1.81324085e+02] [ 8.60363063e-02 9.96277763e-01 -5.32670461e-03 1.39493845e+01] [ 6.08648112e-02 8.05452514e-05 9.98146016e-01 8.41505041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.35, Y:13.95, Z:8.42 [[ 9.94259393e-01 -8.92654335e-02 -5.89910292e-02 1.81352532e+02] [ 8.91139619e-02 9.96007869e-01 -5.19876454e-03 1.39480468e+01] [ 5.92195993e-02 -8.80038597e-05 9.98244976e-01 8.41654627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.38, Y:13.95, Z:8.42 [[ 9.94086048e-01 -9.17919449e-02 -5.80273068e-02 1.81380979e+02] [ 9.16488520e-02 9.95778183e-01 -5.12812189e-03 1.39479361e+01] [ 5.82530464e-02 -2.20341629e-04 9.98301825e-01 8.41835654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:13.95, Z:8.42 [[ 9.93826007e-01 -9.50679185e-02 -5.72010367e-02 1.81411114e+02] [ 9.49336041e-02 9.95470710e-01 -5.06710477e-03 1.39476372e+01] [ 5.74236757e-02 -3.94480071e-04 9.98349821e-01 8.42059951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.44, Y:13.95, Z:8.42 [[ 9.93523182e-01 -9.85278045e-02 -5.66035170e-02 1.81441580e+02] [ 9.84017954e-02 9.95134126e-01 -5.01586616e-03 1.39470021e+01] [ 5.68222937e-02 -5.86508390e-04 9.98384136e-01 8.42235856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.47, Y:13.95, Z:8.42 [[ 9.93120344e-01 -1.02648542e-01 -5.63494291e-02 1.81473489e+02] [ 1.02530305e-01 9.94717350e-01 -4.99302368e-03 1.39457444e+01] [ 5.65642814e-02 -8.18850773e-04 9.98398624e-01 8.42348210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.51, Y:13.94, Z:8.42 [[ 9.92624056e-01 -1.07289572e-01 -5.64484746e-02 1.81505046e+02] [ 1.07178527e-01 9.94227220e-01 -4.99975145e-03 1.39440687e+01] [ 5.66590312e-02 -1.08719081e-03 9.98392995e-01 8.42446083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.54, Y:13.94, Z:8.43 [[ 9.91569800e-01 -1.16630522e-01 -5.64504447e-02 1.81536885e+02] [ 1.16534676e-01 9.93174048e-01 -4.99805671e-03 1.39384445e+01] [ 5.66480426e-02 -1.62251218e-03 9.98392892e-01 8.42589439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.57, Y:13.94, Z:8.43 [[ 9.91030471e-01 -1.21400321e-01 -5.58620360e-02 1.81567796e+02] [ 1.21314076e-01 9.92601855e-01 -4.94499665e-03 1.39351963e+01] [ 5.60490847e-02 -1.87620892e-03 9.98426252e-01 8.42703536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.60, Y:13.93, Z:8.43 [[ 9.90504624e-01 -1.25742103e-01 -5.55833870e-02 1.81598979e+02] [ 1.25663591e-01 9.92060715e-01 -4.91932798e-03 1.39331746e+01] [ 5.57606613e-02 -2.11219088e-03 9.98441930e-01 8.42868539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.63, Y:13.93, Z:8.43 [[ 9.89978343e-01 -1.29891495e-01 -5.54173273e-02 1.81630586e+02] [ 1.29819996e-01 9.91525453e-01 -4.90349726e-03 1.39330512e+01] [ 5.55846131e-02 -2.33992112e-03 9.98451238e-01 8.43046837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.66, Y:13.93, Z:8.43 [[ 9.89049429e-01 -1.37102962e-01 -5.46260529e-02 1.81660971e+02] [ 1.37044541e-01 9.90553102e-01 -4.83174278e-03 1.39254650e+01] [ 5.47724524e-02 -2.70736994e-03 9.98495192e-01 8.43123832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.69, Y:13.92, Z:8.43 [[ 9.88669352e-01 -1.39809764e-01 -5.46456136e-02 1.81691301e+02] [ 1.39755437e-01 9.90174256e-01 -4.83317185e-03 1.39230223e+01] [ 5.47844044e-02 -2.85861275e-03 9.98494115e-01 8.43220174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.72, Y:13.92, Z:8.43 [[ 9.88365681e-01 -1.42140752e-01 -5.41228943e-02 1.81722144e+02] [ 1.42090946e-01 9.89842033e-01 -4.78682199e-03 1.39228885e+01] [ 5.42535182e-02 -2.95924265e-03 9.98522808e-01 8.43385881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.75, Y:13.92, Z:8.44 [[ 9.88133189e-01 -1.44033227e-01 -5.33594514e-02 1.81753540e+02] [ 1.43987616e-01 9.89568241e-01 -4.71828396e-03 1.39227800e+01] [ 5.34824081e-02 -3.02080723e-03 9.98564223e-01 8.43520381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.79, Y:13.92, Z:8.44 [[ 9.87827770e-01 -1.46605575e-01 -5.19913636e-02 1.81785089e+02] [ 1.46565908e-01 9.89190232e-01 -4.59555806e-03 1.39223293e+01] [ 5.21030835e-02 -3.08054153e-03 9.98636961e-01 8.43719913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.82, Y:13.93, Z:8.44 [[ 9.87785121e-01 -1.47090827e-01 -5.14280380e-02 1.81816071e+02] [ 1.47052763e-01 9.89118212e-01 -4.54390981e-03 1.39310174e+01] [ 5.15367765e-02 -3.07422858e-03 9.98666366e-01 8.43947438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.85, Y:13.93, Z:8.44 [[ 9.87772730e-01 -1.47349203e-01 -5.09239323e-02 1.81847322e+02] [ 1.47312366e-01 9.89079798e-01 -4.49654761e-03 1.39295132e+01] [ 5.10303954e-02 -3.06015787e-03 9.98692412e-01 8.44044450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.88, Y:13.93, Z:8.44 [[ 9.87843645e-01 -1.47078645e-01 -5.03269854e-02 1.81879914e+02] [ 1.47042457e-01 9.89120212e-01 -4.44102790e-03 1.39307662e+01] [ 5.04326188e-02 -3.01316241e-03 9.98722920e-01 8.44107290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.91, Y:13.93, Z:8.44 [[ 9.87885898e-01 -1.46620236e-01 -5.08326476e-02 1.81912152e+02] [ 1.46582904e-01 9.89188235e-01 -4.48194521e-03 1.39332091e+01] [ 5.09402008e-02 -3.02354661e-03 9.98697128e-01 8.44171691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.94, Y:13.94, Z:8.44 [[ 9.87978310e-01 -1.46084047e-01 -5.05797443e-02 1.81944396e+02] [ 1.46046572e-01 9.89267680e-01 -4.45595191e-03 1.39394550e+01] [ 5.06878498e-02 -2.98461443e-03 9.98710085e-01 8.44286888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.98, Y:13.94, Z:8.44 [[ 9.87988878e-01 -1.45892143e-01 -5.09260202e-02 1.81975430e+02] [ 1.45854137e-01 9.89295954e-01 -4.48182365e-03 1.39401507e+01] [ 5.10347686e-02 -2.99977882e-03 9.98692372e-01 8.44361675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.01, Y:13.94, Z:8.44 [[ 9.87962342e-01 -1.45998617e-01 -5.11352666e-02 1.82006840e+02] [ 1.45960587e-01 9.89280183e-01 -4.49739054e-03 1.39408010e+01] [ 5.12437187e-02 -3.02048104e-03 9.98681610e-01 8.44437877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.04, Y:13.95, Z:8.44 [[ 9.87961432e-01 -1.45440975e-01 -5.27174680e-02 1.82038535e+02] [ 1.45399932e-01 9.89362113e-01 -4.63349226e-03 1.39462702e+01] [ 5.28305651e-02 -3.08740459e-03 9.98598718e-01 8.44349847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.07, Y:13.94, Z:8.44 [[ 9.87936846e-01 -1.45437822e-01 -5.31848506e-02 1.82070049e+02] [ 1.45396249e-01 9.89362479e-01 -4.67073812e-03 1.39442988e+01] [ 5.32983976e-02 -3.11848349e-03 9.98573761e-01 8.44386675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.10, Y:13.95, Z:8.45 [[ 9.88003949e-01 -1.44978230e-01 -5.31931267e-02 1.82101868e+02] [ 1.44936142e-01 9.89429998e-01 -4.66844851e-03 1.39511149e+01] [ 5.33076986e-02 -3.09716100e-03 9.98573331e-01 8.44552034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.13, Y:13.96, Z:8.45 [[ 9.88147738e-01 -1.44369255e-01 -5.21686285e-02 1.82133248e+02] [ 1.44328118e-01 9.89519310e-01 -4.57483305e-03 1.39553105e+01] [ 5.22823305e-02 -3.00878903e-03 9.98627811e-01 8.44735260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.16, Y:13.96, Z:8.45 [[ 9.88301820e-01 -1.43769720e-01 -5.08898916e-02 1.82164687e+02] [ 1.43729960e-01 9.89606899e-01 -4.45913462e-03 1.39586044e+01] [ 5.10020764e-02 -2.90743126e-03 9.98694315e-01 8.44951454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.20, Y:13.97, Z:8.45 [[ 9.88412541e-01 -1.43268856e-01 -5.01466128e-02 1.82196679e+02] [ 1.43229787e-01 9.89679722e-01 -4.39040190e-03 1.39669520e+01] [ 5.02580937e-02 -2.84296037e-03 9.98732217e-01 8.45188418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.23, Y:13.97, Z:8.45 [[ 9.88784280e-01 -1.41386098e-01 -4.81208892e-02 1.82226557e+02] [ 1.41348125e-01 9.89951008e-01 -4.20828054e-03 1.39702722e+01] [ 4.82323151e-02 -2.64071580e-03 9.98832654e-01 8.45444848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.26, Y:13.98, Z:8.46 [[ 9.89035204e-01 -1.40164218e-01 -4.65119142e-02 1.82258303e+02] [ 1.40127429e-01 9.90125126e-01 -4.06678762e-03 1.39770316e+01] [ 4.66226330e-02 -2.49539883e-03 9.98909457e-01 8.45655243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.29, Y:13.98, Z:8.46 [[ 9.89256311e-01 -1.39084024e-01 -4.50287265e-02 1.82290467e+02] [ 1.39048569e-01 9.90277749e-01 -3.93392460e-03 1.39822449e+01] [ 4.51380919e-02 -2.36952024e-03 9.98977947e-01 8.45860029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.32, Y:13.98, Z:8.46 [[ 9.89605468e-01 -1.37282470e-01 -4.28315491e-02 1.82321143e+02] [ 1.37248837e-01 9.90529544e-01 -3.73890037e-03 1.39841319e+01] [ 4.29392002e-02 -2.17854406e-03 9.99075312e-01 8.46122021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.35, Y:13.99, Z:8.46 [[ 9.89747616e-01 -1.36458701e-01 -4.21743899e-02 1.82352993e+02] [ 1.36425436e-01 9.90643509e-01 -3.67940879e-03 1.39935038e+01] [ 4.22818729e-02 -2.11197343e-03 9.99103490e-01 8.46224595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.38, Y:13.99, Z:8.46 [[ 9.89832292e-01 -1.35930539e-01 -4.18918057e-02 1.82383884e+02] [ 1.35897380e-01 9.90716190e-01 -3.65155899e-03 1.39940477e+01] [ 4.19992485e-02 -2.07855563e-03 9.99115480e-01 8.46327383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.42, Y:14.00, Z:8.46 [[ 9.89896459e-01 -1.34982800e-01 -4.34124854e-02 1.82415684e+02] [ 1.34946389e-01 9.90845685e-01 -3.78167824e-03 1.39995545e+01] [ 4.35255353e-02 -2.11488826e-03 9.99050076e-01 8.46259021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.45, Y:14.00, Z:8.46 [[ 9.89969707e-01 -1.34437697e-01 -4.34336829e-02 1.82447988e+02] [ 1.34400865e-01 9.90919833e-01 -3.78035784e-03 1.40044870e+01] [ 4.35475204e-02 -2.09508480e-03 9.99049160e-01 8.46319727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.48, Y:14.01, Z:8.46 [[ 9.90030474e-01 -1.33751047e-01 -4.41624145e-02 1.82480030e+02] [ 1.33712436e-01 9.91012732e-01 -3.84046904e-03 1.40089352e+01] [ 4.42791818e-02 -2.10288264e-03 9.99016983e-01 8.46406210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.51, Y:14.01, Z:8.47 [[ 9.90045213e-01 -1.33641812e-01 -4.41626856e-02 1.82512455e+02] [ 1.33603232e-01 9.91027472e-01 -3.83734875e-03 1.40116660e+01] [ 4.42792649e-02 -2.10112876e-03 9.99016983e-01 8.46560923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.54, Y:14.01, Z:8.47 [[ 9.90166622e-01 -1.32570859e-01 -4.46657360e-02 1.82544027e+02] [ 1.32530538e-01 9.91171344e-01 -3.87593378e-03 1.40148155e+01] [ 4.47852334e-02 -2.08175378e-03 9.98994469e-01 8.46659596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.58, Y:14.02, Z:8.47 [[ 9.90394644e-01 -1.30947947e-01 -4.43968846e-02 1.82575702e+02] [ 1.30906627e-01 9.91387229e-01 -3.84937676e-03 1.40209687e+01] [ 4.45185724e-02 -1.99944428e-03 9.99006556e-01 8.46760357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.61, Y:14.03, Z:8.47 [[ 9.91014059e-01 -1.26024193e-01 -4.48223018e-02 1.82605439e+02] [ 1.25977209e-01 9.92025538e-01 -3.88271275e-03 1.40270111e+01] [ 4.49541838e-02 -1.79876556e-03 9.98987430e-01 8.46755262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.64, Y:14.03, Z:8.47 [[ 9.91424093e-01 -1.22853304e-01 -4.45570875e-02 1.82636969e+02] [ 1.22803670e-01 9.92423478e-01 -3.85989150e-03 1.40321912e+01] [ 4.46937001e-02 -1.64498445e-03 9.98999383e-01 8.46826296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.67, Y:14.04, Z:8.47 [[ 9.91860119e-01 -1.19429880e-01 -4.41588967e-02 1.82667148e+02] [ 1.19377853e-01 9.92841535e-01 -3.82288412e-03 1.40366075e+01] [ 4.42993533e-02 -1.47982796e-03 9.99017206e-01 8.46922193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.70, Y:14.04, Z:8.47 [[ 9.92269497e-01 -1.16095989e-01 -4.38516343e-02 1.82697525e+02] [ 1.16041463e-01 9.93237118e-01 -3.79554899e-03 1.40410738e+01] [ 4.39957189e-02 -1.32240031e-03 9.99030844e-01 8.47033751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.73, Y:14.05, Z:8.47 [[ 9.92669007e-01 -1.12780566e-01 -4.34601677e-02 1.82728431e+02] [ 1.12723902e-01 9.93619235e-01 -3.76012409e-03 1.40473296e+01] [ 4.36069275e-02 -1.16644103e-03 9.99048085e-01 8.47195870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.76, Y:14.06, Z:8.47 [[ 9.93063690e-01 -1.09608237e-01 -4.25504741e-02 1.82760070e+02] [ 1.09551066e-01 9.93974356e-01 -3.68012464e-03 1.40552214e+01] [ 4.26974521e-02 -1.00685165e-03 9.99087541e-01 8.47322822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.79, Y:14.06, Z:8.48 [[ 9.93760700e-01 -1.03435410e-01 -4.17227344e-02 1.82789963e+02] [ 1.03375141e-01 9.94635905e-01 -3.60522672e-03 1.40630727e+01] [ 4.18718378e-02 -7.30360912e-04 9.99122723e-01 8.47527558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.82, Y:14.07, Z:8.48 [[ 9.94038759e-01 -1.01068318e-01 -4.08918099e-02 1.82821972e+02] [ 1.01008440e-01 9.94879295e-01 -3.53304378e-03 1.40690363e+01] [ 4.10394938e-02 -6.18435489e-04 9.99157334e-01 8.47670208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.85, Y:14.07, Z:8.48 [[ 9.94404726e-01 -9.78143663e-02 -3.98947516e-02 1.82852569e+02] [ 9.77548745e-02 9.95204564e-01 -3.44392541e-03 1.40744959e+01] [ 4.00403042e-02 -4.75250735e-04 9.99197952e-01 8.47874964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.88, Y:14.08, Z:8.48 [[ 9.94471397e-01 -9.72017357e-02 -3.97298774e-02 1.82884501e+02] [ 9.71423268e-02 9.95264598e-01 -3.42767135e-03 1.40781381e+01] [ 3.98749161e-02 -4.50731617e-04 9.99204578e-01 8.47992096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.92, Y:14.08, Z:8.48 [[ 9.94480375e-01 -9.72316258e-02 -3.94308879e-02 1.82916032e+02] [ 9.71732374e-02 9.95261678e-01 -3.39920005e-03 1.40801337e+01] [ 3.95745614e-02 -4.51189287e-04 9.99216518e-01 8.48147844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.95, Y:14.08, Z:8.48 [[ 9.94419215e-01 -9.81238097e-02 -3.87574839e-02 1.82947852e+02] [ 9.80682143e-02 9.95174098e-01 -3.33760183e-03 1.40833692e+01] [ 3.88979423e-02 -4.81901847e-04 9.99243072e-01 8.48196754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.98, Y:14.09, Z:8.48 [[ 9.94275454e-01 -9.94666205e-02 -3.90219593e-02 1.82979476e+02] [ 9.94114169e-02 9.95040752e-01 -3.35732178e-03 1.40850795e+01] [ 3.91623811e-02 -5.41125618e-04 9.99232713e-01 8.48294611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.01, Y:14.08, Z:8.48 [[ 9.93863716e-01 -1.03369387e-01 -3.93660235e-02 1.83011206e+02] [ 1.03316351e-01 9.94642788e-01 -3.38472496e-03 1.40839831e+01] [ 3.95050083e-02 -7.03198561e-04 9.99219125e-01 8.48351786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.04, Y:14.09, Z:8.48 [[ 9.93635818e-01 -1.05556398e-01 -3.93154882e-02 1.83043424e+02] [ 1.05505287e-01 9.94413003e-01 -3.37838499e-03 1.40862724e+01] [ 3.94524429e-02 -7.91107528e-04 9.99221136e-01 8.48403746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.08, Y:14.09, Z:8.49 [[ 9.93370481e-01 -1.07905375e-01 -3.96423814e-02 1.83075801e+02] [ 1.07855395e-01 9.94160766e-01 -3.40354675e-03 1.40869811e+01] [ 3.97781613e-02 -8.94661848e-04 9.99208135e-01 8.48514087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.11, Y:14.08, Z:8.49 [[ 9.92795794e-01 -1.13215110e-01 -3.92281788e-02 1.83106793e+02] [ 1.13170436e-01 9.93569892e-01 -3.36471255e-03 1.40848988e+01] [ 3.93568737e-02 -1.09899765e-03 9.99224614e-01 8.48563362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.14, Y:14.09, Z:8.49 [[ 9.92482476e-01 -1.15832868e-01 -3.95130654e-02 1.83138777e+02] [ 1.15789626e-01 9.93267979e-01 -3.38885451e-03 1.40853692e+01] [ 3.96396034e-02 -1.21182435e-03 9.99213307e-01 8.48698177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.17, Y:14.09, Z:8.49 [[ 9.92174208e-01 -1.18636761e-01 -3.89314809e-02 1.83169458e+02] [ 1.18597058e-01 9.92936861e-01 -3.33589810e-03 1.40850302e+01] [ 3.90522626e-02 -1.30736703e-03 9.99236314e-01 8.48871470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.20, Y:14.08, Z:8.49 [[ 9.91567141e-01 -1.23759875e-01 -3.84460417e-02 1.83199536e+02] [ 1.23725063e-01 9.92311074e-01 -3.29261233e-03 1.40800158e+01] [ 3.85579262e-02 -1.49189273e-03 9.99255253e-01 8.49088700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.23, Y:14.08, Z:8.49 [[ 9.91579920e-01 -1.23657470e-01 -3.84459629e-02 1.83231953e+02] [ 1.23622546e-01 9.92323848e-01 -3.29353311e-03 1.40826988e+01] [ 3.85581158e-02 -1.48698650e-03 9.99255253e-01 8.49243456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.26, Y:14.08, Z:8.49 [[ 9.91024051e-01 -1.27762983e-01 -3.93440061e-02 1.83263052e+02] [ 1.27729829e-01 9.91803289e-01 -3.36555630e-03 1.40819444e+01] [ 3.94515081e-02 -1.69005591e-03 9.99220057e-01 8.49260705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.29, Y:14.08, Z:8.49 [[ 9.90841641e-01 -1.29165800e-01 -3.93578200e-02 1.83294566e+02] [ 1.29133743e-01 9.91621472e-01 -3.36632986e-03 1.40824600e+01] [ 3.94628741e-02 -1.74692280e-03 9.99219510e-01 8.49385360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.33, Y:14.09, Z:8.49 [[ 9.90720090e-01 -1.29901546e-01 -3.99911328e-02 1.83326267e+02] [ 1.29869126e-01 9.91525251e-01 -3.41851914e-03 1.40868690e+01] [ 4.00962889e-02 -1.80681789e-03 9.99194187e-01 8.49383180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.36, Y:14.08, Z:8.50 [[ 9.90771357e-01 -1.29470838e-01 -4.01175748e-02 1.83357817e+02] [ 1.29437983e-01 9.91581600e-01 -3.42630359e-03 1.40846787e+01] [ 4.02234554e-02 -1.79805449e-03 9.99189092e-01 8.49517680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.39, Y:14.09, Z:8.50 [[ 9.90867003e-01 -1.28643896e-01 -4.04144878e-02 1.83389779e+02] [ 1.28609944e-01 9.91689257e-01 -3.44974467e-03 1.40940908e+01] [ 4.05224020e-02 -1.77946686e-03 9.99177046e-01 8.49559308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.42, Y:14.10, Z:8.50 [[ 9.91043833e-01 -1.27251298e-01 -4.04873898e-02 1.83421622e+02] [ 1.27216220e-01 9.91869002e-01 -3.45212648e-03 1.40983858e+01] [ 4.05974745e-02 -1.72944403e-03 9.99174086e-01 8.49669817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.45, Y:14.10, Z:8.50 [[ 9.91228853e-01 -1.25607081e-01 -4.10879880e-02 1.83453090e+02] [ 1.25569673e-01 9.92078629e-01 -3.50024216e-03 1.41000407e+01] [ 4.12021700e-02 -1.68986419e-03 9.99149401e-01 8.49853104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.48, Y:14.11, Z:8.50 [[ 9.91511973e-01 -1.23268745e-01 -4.13379235e-02 1.83484072e+02] [ 1.23228988e-01 9.92372026e-01 -3.51825712e-03 1.41052563e+01] [ 4.14562900e-02 -1.60563641e-03 9.99139028e-01 8.49980596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.51, Y:14.11, Z:8.50 [[ 9.92160778e-01 -1.17841905e-01 -4.15965981e-02 1.83513529e+02] [ 1.17796957e-01 9.93031397e-01 -3.53854173e-03 1.41116316e+01] [ 4.17237164e-02 -1.38915035e-03 9.99128221e-01 8.50159759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.54, Y:14.12, Z:8.50 [[ 9.92549691e-01 -1.14472540e-01 -4.17270618e-02 1.83544274e+02] [ 1.14424326e-01 9.93425625e-01 -3.54984695e-03 1.41185174e+01] [ 4.18590925e-02 -1.25119144e-03 9.99122741e-01 8.50282831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.57, Y:14.12, Z:8.50 [[ 9.92921313e-01 -1.11224963e-01 -4.16686078e-02 1.83574385e+02] [ 1.11174075e-01 9.93794630e-01 -3.54373885e-03 1.41227393e+01] [ 4.18041909e-02 -1.11381510e-03 9.99125202e-01 8.50426135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.61, Y:14.13, Z:8.51 [[ 9.93296404e-01 -1.07795330e-01 -4.17423017e-02 1.83605930e+02] [ 1.07741430e-01 9.94172628e-01 -3.54535851e-03 1.41281794e+01] [ 4.18812268e-02 -9.75783401e-04 9.99122120e-01 8.50558298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.64, Y:14.14, Z:8.51 [[ 9.93982917e-01 -1.01311259e-01 -4.16412058e-02 1.83636834e+02] [ 1.01252061e-01 9.94854529e-01 -3.53364803e-03 1.41350384e+01] [ 4.17849405e-02 -7.03872149e-04 9.99126380e-01 8.50669684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.67, Y:14.14, Z:8.51 [[ 9.94287300e-01 -9.83113267e-02 -4.15649828e-02 1.83668583e+02] [ 9.82497793e-02 9.95155540e-01 -3.52588942e-03 1.41395561e+01] [ 4.17102578e-02 -5.78003322e-04 9.99129581e-01 8.50812568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.70, Y:14.14, Z:8.51 [[ 9.94658034e-01 -9.41017894e-02 -4.24293453e-02 1.83701032e+02] [ 9.40339569e-02 9.95562496e-01 -3.59613505e-03 1.41443763e+01] [ 4.25794677e-02 -4.12874610e-04 9.99092998e-01 8.50924351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.73, Y:14.15, Z:8.51 [[ 9.94777914e-01 -9.27577651e-02 -4.25781503e-02 1.83732856e+02] [ 9.26883960e-02 9.95688640e-01 -3.60475530e-03 1.41476151e+01] [ 4.27289496e-02 -3.60569493e-04 9.99086636e-01 8.51013636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.76, Y:14.15, Z:8.51 [[ 9.94795417e-01 -9.20644113e-02 -4.36603078e-02 1.83763893e+02] [ 9.19909494e-02 9.95752995e-01 -3.69302019e-03 1.41498072e+01] [ 4.38148780e-02 -3.42553605e-04 9.99039608e-01 8.51149583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.80, Y:14.15, Z:8.51 [[ 9.94698054e-01 -9.23011959e-02 -4.53461117e-02 1.83796531e+02] [ 9.22223107e-02 9.95731065e-01 -3.83307422e-03 1.41505658e+01] [ 4.55063294e-02 -3.69171738e-04 9.98963982e-01 8.51160960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.83, Y:14.15, Z:8.51 [[ 9.94558453e-01 -9.34632587e-02 -4.60228556e-02 1.83828505e+02] [ 9.33833969e-02 9.95622636e-01 -3.88696488e-03 1.41522010e+01] [ 4.61846852e-02 -4.31956812e-04 9.98932825e-01 8.51253179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.86, Y:14.15, Z:8.51 [[ 9.94184157e-01 -9.69071554e-02 -4.69772806e-02 1.83861027e+02] [ 9.68279529e-02 9.95293240e-01 -3.96404315e-03 1.41511851e+01] [ 4.71403139e-02 -6.07725015e-04 9.98888093e-01 8.51404040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.89, Y:14.15, Z:8.52 [[ 9.93982556e-01 -9.89709810e-02 -4.69406456e-02 1.83892451e+02] [ 9.88943616e-02 9.95090068e-01 -3.95754881e-03 1.41508154e+01] [ 4.71018527e-02 -7.08430698e-04 9.98889841e-01 8.51563826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.92, Y:14.15, Z:8.52 [[ 9.93748411e-01 -1.01140843e-01 -4.72718340e-02 1.83924991e+02] [ 1.01065850e-01 9.94871777e-01 -3.98000567e-03 1.41511012e+01] [ 4.74319546e-02 -8.22443770e-04 9.98874133e-01 8.51731453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.96, Y:14.15, Z:8.52 [[ 9.93525801e-01 -1.03486076e-01 -4.68733911e-02 1.83956858e+02] [ 1.03415106e-01 9.94630468e-01 -3.94313343e-03 1.41508767e+01] [ 4.70297623e-02 -9.29811933e-04 9.98893056e-01 8.51894513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.99, Y:14.15, Z:8.52 [[ 9.92964497e-01 -1.08684497e-01 -4.70020079e-02 1.83987970e+02] [ 1.08619070e-01 9.94075593e-01 -3.95142854e-03 1.41479145e+01] [ 4.71530079e-02 -1.18168614e-03 9.98886979e-01 8.52114055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.02, Y:14.15, Z:8.52 [[ 9.92701761e-01 -1.11091891e-01 -4.69233998e-02 1.84019816e+02] [ 1.11029406e-01 9.93809295e-01 -3.94402682e-03 1.41484958e+01] [ 4.70710603e-02 -1.29463484e-03 9.98890704e-01 8.52292500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.05, Y:14.15, Z:8.52 [[ 9.92425327e-01 -1.13521214e-01 -4.69564056e-02 1.84051530e+02] [ 1.13461570e-01 9.93534564e-01 -3.94225382e-03 1.41461947e+01] [ 4.71003414e-02 -1.41535498e-03 9.98889160e-01 8.52424465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.08, Y:14.15, Z:8.53 [[ 9.92108939e-01 -1.16120117e-01 -4.72860656e-02 1.84084084e+02] [ 1.16062700e-01 9.93233965e-01 -3.96738054e-03 1.41464236e+01] [ 4.74268191e-02 -1.55207477e-03 9.98873509e-01 8.52546805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.12, Y:14.15, Z:8.53 [[ 9.91416834e-01 -1.21516174e-01 -4.82336145e-02 1.84115628e+02] [ 1.21462967e-01 9.92587728e-01 -4.04349522e-03 1.41474777e+01] [ 4.83674439e-02 -1.84980871e-03 9.98827897e-01 8.52676692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.15, Y:14.15, Z:8.53 [[ 9.91045749e-01 -1.24231387e-01 -4.89375750e-02 1.84147400e+02] [ 1.24180013e-01 9.92251233e-01 -4.10059794e-03 1.41475275e+01] [ 4.90677921e-02 -2.01318852e-03 9.98793422e-01 8.52811607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.18, Y:14.15, Z:8.53 [[ 9.90701846e-01 -1.26843777e-01 -4.91986717e-02 1.84178334e+02] [ 1.26795290e-01 9.91920358e-01 -4.11792834e-03 1.41458599e+01] [ 4.93234976e-02 -2.15852065e-03 9.98780523e-01 8.52922065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.21, Y:14.15, Z:8.53 [[ 9.90365921e-01 -1.29431245e-01 -4.92229159e-02 1.84210404e+02] [ 1.29385989e-01 9.91585754e-01 -4.11808087e-03 1.41469964e+01] [ 4.93417505e-02 -2.29034870e-03 9.98779328e-01 8.53117294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.24, Y:14.14, Z:8.53 [[ 9.89802933e-01 -1.33749336e-01 -4.90027384e-02 1.84240369e+02] [ 1.33709932e-01 9.91012046e-01 -4.09609650e-03 1.41434576e+01] [ 4.91101543e-02 -2.49782449e-03 9.98790245e-01 8.53326236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.27, Y:14.15, Z:8.53 [[ 9.89578723e-01 -1.35298863e-01 -4.92764481e-02 1.84272242e+02] [ 1.35261091e-01 9.90801442e-01 -4.11577319e-03 1.41458680e+01] [ 4.93800353e-02 -2.59230455e-03 9.98776698e-01 8.53469412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.30, Y:14.15, Z:8.54 [[ 9.89423145e-01 -1.36185201e-01 -4.99542863e-02 1.84303382e+02] [ 1.36147701e-01 9.90679780e-01 -4.16857598e-03 1.41462147e+01] [ 5.00563997e-02 -2.67667568e-03 9.98742806e-01 8.53550292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.34, Y:14.15, Z:8.54 [[ 9.89261242e-01 -1.36911845e-01 -5.11599599e-02 1.84335735e+02] [ 1.36873769e-01 9.90579322e-01 -4.26364176e-03 1.41488905e+01] [ 5.12617415e-02 -2.78460102e-03 9.98681371e-01 8.53694812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.37, Y:14.15, Z:8.54 [[ 9.89286712e-01 -1.36607575e-01 -5.14798236e-02 1.84368107e+02] [ 1.36568809e-01 9.90621313e-01 -4.28648859e-03 1.41512214e+01] [ 5.15825773e-02 -2.78997199e-03 9.98664836e-01 8.53845505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.40, Y:14.16, Z:8.54 [[ 9.89373074e-01 -1.35868253e-01 -5.17758501e-02 1.84399807e+02] [ 1.35828230e-01 9.90723038e-01 -4.30731893e-03 1.41557028e+01] [ 5.18807554e-02 -2.77107669e-03 9.98649442e-01 8.53986597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.43, Y:14.16, Z:8.54 [[ 9.89482830e-01 -1.34833895e-01 -5.23789146e-02 1.84431869e+02] [ 1.34791699e-01 9.90864393e-01 -4.35355647e-03 1.41584651e+01] [ 5.24874084e-02 -2.75247350e-03 9.98617793e-01 8.54113820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.46, Y:14.16, Z:8.54 [[ 9.89653059e-01 -1.33453069e-01 -5.26982167e-02 1.84462874e+02] [ 1.33408608e-01 9.91051458e-01 -4.37627003e-03 1.41606558e+01] [ 5.28106711e-02 -2.69940670e-03 9.98600894e-01 8.54261048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.49, Y:14.16, Z:8.54 [[ 9.90099839e-01 -1.29732986e-01 -5.35878845e-02 1.84492696e+02] [ 1.29681723e-01 9.91545698e-01 -4.44748891e-03 1.41647698e+01] [ 5.37118223e-02 -2.54591113e-03 9.98553233e-01 8.54383803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.52, Y:14.17, Z:8.55 [[ 9.90104488e-01 -1.29697490e-01 -5.35879030e-02 1.84523439e+02] [ 1.29646187e-01 9.91550346e-01 -4.44726544e-03 1.41672919e+01] [ 5.37119029e-02 -2.54420981e-03 9.98553233e-01 8.54530559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.55, Y:14.17, Z:8.55 [[ 9.90360599e-01 -1.27433411e-01 -5.42826773e-02 1.84554725e+02] [ 1.27377487e-01 9.91844090e-01 -4.50293873e-03 1.41721177e+01] [ 5.44137775e-02 -2.45485791e-03 9.98515455e-01 8.54703804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.59, Y:14.18, Z:8.55 [[ 9.90702120e-01 -1.24740657e-01 -5.43054077e-02 1.84586252e+02] [ 1.24680765e-01 9.92186692e-01 -4.50271384e-03 1.41769359e+01] [ 5.44427743e-02 -2.30999165e-03 9.98514220e-01 8.54849411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.62, Y:14.18, Z:8.55 [[ 9.91050143e-01 -1.21711272e-01 -5.48268211e-02 1.84616810e+02] [ 1.21645757e-01 9.92563182e-01 -4.54306411e-03 1.41813430e+01] [ 5.49720261e-02 -2.16704583e-03 9.98485543e-01 8.54979390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.65, Y:14.19, Z:8.55 [[ 9.91864250e-01 -1.14588513e-01 -5.54507223e-02 1.84646303e+02] [ 1.14510475e-01 9.93411423e-01 -4.59311458e-03 1.41894555e+01] [ 5.56116991e-02 -1.79394238e-03 9.98450860e-01 8.55141105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.68, Y:14.19, Z:8.55 [[ 9.92313324e-01 -1.10609184e-01 -5.54966159e-02 1.84675815e+02] [ 1.10524773e-01 9.93862736e-01 -4.59742023e-03 1.41948828e+01] [ 5.56645354e-02 -1.57166955e-03 9.98448291e-01 8.55267020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.71, Y:14.20, Z:8.55 [[ 9.92738771e-01 -1.06645469e-01 -5.56459876e-02 1.84705334e+02] [ 1.06554375e-01 9.94296190e-01 -4.60993844e-03 1.42008180e+01] [ 5.58202225e-02 -1.35285880e-03 9.98439919e-01 8.55390495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.73, Y:14.21, Z:8.56 [[ 9.93178584e-01 -1.02475010e-01 -5.56342838e-02 1.84734982e+02] [ 1.02377370e-01 9.94734952e-01 -4.60979197e-03 1.42078620e+01] [ 5.58137551e-02 -1.11734501e-03 9.98440572e-01 8.55595786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.76, Y:14.21, Z:8.56 [[ 9.93612065e-01 -9.83351126e-02 -5.53648819e-02 1.84764257e+02] [ 9.82320025e-02 9.95152968e-01 -4.58731818e-03 1.42131640e+01] [ 5.55476210e-02 -8.80588522e-04 9.98455651e-01 8.55729870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.79, Y:14.22, Z:8.56 [[ 9.94396379e-01 -9.02035099e-02 -5.51286500e-02 1.84793007e+02] [ 9.00888179e-02 9.95923263e-01 -4.56712898e-03 1.42229045e+01] [ 5.53158760e-02 -4.24938383e-04 9.98468814e-01 8.55937871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.82, Y:14.23, Z:8.56 [[ 9.94693329e-01 -8.68962137e-02 -5.50838317e-02 1.84821260e+02] [ 8.67764404e-02 9.96217342e-01 -4.56701289e-03 1.42283156e+01] [ 5.52723245e-02 -2.37201578e-04 9.98471288e-01 8.56062634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.85, Y:14.23, Z:8.56 [[ 9.94988711e-01 -8.33570508e-02 -5.52183516e-02 1.84849004e+02] [ 8.32305528e-02 9.96519745e-01 -4.59062044e-03 1.42332805e+01] [ 5.54088382e-02 -2.82384143e-05 9.98463750e-01 8.56157914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.88, Y:14.24, Z:8.56 [[ 9.95206899e-01 -8.05641883e-02 -5.54314026e-02 1.84876976e+02] [ 8.04320244e-02 9.96749414e-01 -4.61474701e-03 1.42379008e+01] [ 5.56230014e-02 1.34168132e-04 9.98451833e-01 8.56267746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.91, Y:14.24, Z:8.56 [[ 9.95391423e-01 -7.80108505e-02 -5.57693753e-02 1.84905482e+02] [ 7.78722067e-02 9.96952467e-01 -4.65817063e-03 1.42421632e+01] [ 5.59628041e-02 2.93818773e-04 9.98432811e-01 8.56341963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:14.25, Z:8.56 [[ 9.95669527e-01 -7.37308629e-02 -5.66211337e-02 1.84933022e+02] [ 7.35803249e-02 9.97278021e-01 -4.74172375e-03 1.42477876e+01] [ 5.68166235e-02 5.54988430e-04 9.98384477e-01 8.56404497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.96, Y:14.25, Z:8.57 [[ 9.95803150e-01 -7.21599501e-02 -5.62941174e-02 1.84961137e+02] [ 7.20082923e-02 9.97392863e-01 -4.72047344e-03 1.42512705e+01] [ 5.64879800e-02 6.47019058e-04 9.98403070e-01 8.56576044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.99, Y:14.25, Z:8.57 [[ 9.95911810e-01 -7.06643712e-02 -5.62691194e-02 1.84989192e+02] [ 7.05097120e-02 9.97499871e-01 -4.73165846e-03 1.42545293e+01] [ 5.64627990e-02 7.44795131e-04 9.98404426e-01 8.56788130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.02, Y:14.26, Z:8.57 [[ 9.96129236e-01 -6.87260375e-02 -5.48021694e-02 1.85017479e+02] [ 6.85757196e-02 9.97635213e-01 -4.62091081e-03 1.42567522e+01] [ 5.49901509e-02 8.44926151e-04 9.98486539e-01 8.57068612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.05, Y:14.26, Z:8.57 [[ 9.96153179e-01 -6.85122706e-02 -5.46343598e-02 1.85045805e+02] [ 6.83618292e-02 9.97649897e-01 -4.61991860e-03 1.42578775e+01] [ 5.48224846e-02 8.67241821e-04 9.98495740e-01 8.57251144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.07, Y:14.26, Z:8.57 [[ 9.96174185e-01 -6.84983200e-02 -5.42676146e-02 1.85072824e+02] [ 6.83491245e-02 9.97650847e-01 -4.60262823e-03 1.42596926e+01] [ 5.44554040e-02 8.75875479e-04 9.98515820e-01 8.57354127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.10, Y:14.26, Z:8.57 [[ 9.96125160e-01 -6.90607645e-02 -5.44543443e-02 1.85100948e+02] [ 6.89109664e-02 9.97612088e-01 -4.62600370e-03 1.42607935e+01] [ 5.46437875e-02 8.55577183e-04 9.98505546e-01 8.57499449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.13, Y:14.26, Z:8.58 [[ 9.95958932e-01 -7.11366734e-02 -5.48213364e-02 1.85130229e+02] [ 7.09871877e-02 9.97466287e-01 -4.67171801e-03 1.42569786e+01] [ 5.50147653e-02 7.61226789e-04 9.98485251e-01 8.57628193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.16, Y:14.26, Z:8.58 [[ 9.95813229e-01 -7.26387552e-02 -5.54943668e-02 1.85159075e+02] [ 7.24871277e-02 9.97358070e-01 -4.74296891e-03 1.42559559e+01] [ 5.56922780e-02 7.00483932e-04 9.98447735e-01 8.57713145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.19, Y:14.26, Z:8.58 [[ 9.95639126e-01 -7.43103826e-02 -5.63976817e-02 1.85187263e+02] [ 7.41556137e-02 9.97234961e-01 -4.83497172e-03 1.42551979e+01] [ 5.66010286e-02 6.31682316e-04 9.98396677e-01 8.57770735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.22, Y:14.25, Z:8.58 [[ 9.95434715e-01 -7.62749017e-02 -5.73748006e-02 1.85215343e+02] [ 7.61170952e-02 9.97086678e-01 -4.93403641e-03 1.42548314e+01] [ 5.75839924e-02 5.44307974e-04 9.98340517e-01 8.57848545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.24, Y:14.25, Z:8.58 [[ 9.95137059e-01 -7.97896711e-02 -5.77567467e-02 1.85243477e+02] [ 7.96352376e-02 9.96811660e-01 -4.97428129e-03 1.42509232e+01] [ 5.79694948e-02 3.50619405e-04 9.98318293e-01 8.57915495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.27, Y:14.25, Z:8.58 [[ 9.94992957e-01 -8.18603773e-02 -5.73401576e-02 1.85272861e+02] [ 8.17112243e-02 9.96643780e-01 -4.94493140e-03 1.42499467e+01] [ 5.75525054e-02 2.34837435e-04 9.98342453e-01 8.58127071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.30, Y:14.25, Z:8.58 [[ 9.94835030e-01 -8.40485939e-02 -5.69130621e-02 1.85300979e+02] [ 8.39045498e-02 9.96461650e-01 -4.92005147e-03 1.42494503e+01] [ 5.71252071e-02 1.19374701e-04 9.98367015e-01 8.58273326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.33, Y:14.25, Z:8.58 [[ 9.94520761e-01 -8.81234220e-02 -5.62380546e-02 1.85329761e+02] [ 8.79888986e-02 9.96109558e-01 -4.86852819e-03 1.42450313e+01] [ 5.64482951e-02 -1.06472120e-04 9.98405518e-01 8.58495947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.36, Y:14.24, Z:8.59 [[ 9.94314220e-01 -9.03399925e-02 -5.63730188e-02 1.85358025e+02] [ 9.02075163e-02 9.95910959e-01 -4.89546757e-03 1.42436975e+01] [ 5.65847637e-02 -2.17636989e-04 9.98397775e-01 8.58508981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.39, Y:14.24, Z:8.59 [[ 9.94074167e-01 -9.27451794e-02 -5.66999300e-02 1.85387003e+02] [ 9.26145567e-02 9.95689817e-01 -4.93285301e-03 1.42426974e+01] [ 5.69130413e-02 -3.47617137e-04 9.98379079e-01 8.58626156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.41, Y:14.24, Z:8.59 [[ 9.93842533e-01 -9.51149260e-02 -5.68345814e-02 1.85414873e+02] [ 9.49868171e-02 9.95466186e-01 -4.95743393e-03 1.42409634e+01] [ 5.70484300e-02 -4.71627292e-04 9.98371301e-01 8.58636002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.44, Y:14.24, Z:8.59 [[ 9.93596299e-01 -9.76644573e-02 -5.68159200e-02 1.85443572e+02] [ 9.75402178e-02 9.95219212e-01 -4.96242738e-03 1.42400878e+01] [ 5.70289479e-02 -6.11187730e-04 9.98372338e-01 8.58775814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.47, Y:14.24, Z:8.59 [[ 9.93304747e-01 -1.00328078e-01 -5.72709058e-02 1.85472020e+02] [ 1.00205520e-01 9.94954121e-01 -5.01503774e-03 1.42381492e+01] [ 5.74850729e-02 -7.57400099e-04 9.98346079e-01 8.58811455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.50, Y:14.24, Z:8.59 [[ 9.92768006e-01 -1.05849139e-01 -5.66360775e-02 1.85501068e+02] [ 1.05737881e-01 9.94381637e-01 -4.96600180e-03 1.42352875e+01] [ 5.68435224e-02 -1.05849110e-03 9.98382539e-01 8.59018078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.53, Y:14.23, Z:8.59 [[ 9.92510776e-01 -1.08376684e-01 -5.63635870e-02 1.85528993e+02] [ 1.08269806e-01 9.94109195e-01 -4.95547617e-03 1.42323057e+01] [ 5.65686182e-02 -1.18411114e-03 9.98398011e-01 8.59065800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.56, Y:14.23, Z:8.59 [[ 9.92171878e-01 -1.11425248e-01 -5.63859743e-02 1.85557371e+02] [ 1.11322783e-01 9.93771900e-01 -4.96481752e-03 1.42328709e+01] [ 5.65880028e-02 -1.35109124e-03 9.98396701e-01 8.59254992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.59, Y:14.23, Z:8.59 [[ 9.91569713e-01 -1.16683437e-01 -5.63425224e-02 1.85587142e+02] [ 1.16589335e-01 9.93167795e-01 -4.96568130e-03 1.42289184e+01] [ 5.65369915e-02 -1.64511802e-03 9.98399150e-01 8.59380552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.62, Y:14.23, Z:8.60 [[ 9.91234700e-01 -1.19529105e-01 -5.62722217e-02 1.85616176e+02] [ 1.19439542e-01 9.92829065e-01 -4.96427126e-03 1.42300606e+01] [ 5.64620721e-02 -1.80037046e-03 9.98403122e-01 8.59553047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.64, Y:14.23, Z:8.60 [[ 9.90909346e-01 -1.22082797e-01 -5.65195402e-02 1.85644735e+02] [ 1.21995770e-01 9.92518023e-01 -5.00052740e-03 1.42306297e+01] [ 5.67071407e-02 -1.94007547e-03 9.98388970e-01 8.59700305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.67, Y:14.23, Z:8.60 [[ 9.90641195e-01 -1.24198724e-01 -5.66100645e-02 1.85673579e+02] [ 1.24114042e-01 9.92255246e-01 -5.02301480e-03 1.42308261e+01] [ 5.67954855e-02 -2.05009853e-03 9.98383729e-01 8.59790687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.70, Y:14.23, Z:8.60 [[ 9.90282828e-01 -1.26804262e-01 -5.71016621e-02 1.85703218e+02] [ 1.26721706e-01 9.91925305e-01 -5.07913960e-03 1.42309786e+01] [ 5.72846402e-02 -2.20623530e-03 9.98355449e-01 8.59888061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.73, Y:14.23, Z:8.60 [[ 9.90158212e-01 -1.27655621e-01 -5.73651261e-02 1.85730890e+02] [ 1.27573574e-01 9.91815971e-01 -5.10521967e-03 1.42302173e+01] [ 5.75473582e-02 -2.26329898e-03 9.98340212e-01 8.59920494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.76, Y:14.23, Z:8.60 [[ 9.90084728e-01 -1.28118409e-01 -5.76012580e-02 1.85759654e+02] [ 1.28036067e-01 9.91756228e-01 -5.13315082e-03 1.42343633e+01] [ 5.77840575e-02 -2.29278427e-03 9.98326473e-01 8.60099423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.79, Y:14.24, Z:8.60 [[ 9.90046951e-01 -1.28416439e-01 -5.75869090e-02 1.85787579e+02] [ 1.28333771e-01 9.91717678e-01 -5.14689098e-03 1.42365304e+01] [ 5.77709011e-02 -2.29468149e-03 9.98327230e-01 8.60204825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.82, Y:14.24, Z:8.60 [[ 9.90093506e-01 -1.27835094e-01 -5.80778557e-02 1.85816184e+02] [ 1.27749043e-01 9.91792854e-01 -5.20740178e-03 1.42423172e+01] [ 5.82668910e-02 -2.26357579e-03 9.98298475e-01 8.60340288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.84, Y:14.25, Z:8.60 [[ 9.90154340e-01 -1.27215951e-01 -5.83993569e-02 1.85843589e+02] [ 1.27127087e-01 9.91872545e-01 -5.24956821e-03 1.42452444e+01] [ 5.85925476e-02 -2.22625739e-03 9.98279499e-01 8.60415428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.87, Y:14.25, Z:8.61 [[ 9.90259397e-01 -1.26023125e-01 -5.91988031e-02 1.85871873e+02] [ 1.25929244e-01 9.92024913e-01 -5.32886006e-03 1.42505936e+01] [ 5.93982471e-02 -2.17790676e-03 9.98231990e-01 8.60514842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.90, Y:14.26, Z:8.61 [[ 9.90284446e-01 -1.25828061e-01 -5.91947195e-02 1.85899942e+02] [ 1.25732940e-01 9.92049733e-01 -5.34370197e-03 1.42557608e+01] [ 5.93964933e-02 -2.15094120e-03 9.98232152e-01 8.60670322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.93, Y:14.26, Z:8.61 [[ 9.90317634e-01 -1.25535829e-01 -5.92599356e-02 1.85927897e+02] [ 1.25439173e-01 9.92086816e-01 -5.36308618e-03 1.42582373e+01] [ 5.94642604e-02 -2.12235849e-03 9.98228179e-01 8.60756579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.96, Y:14.26, Z:8.61 [[ 9.90354842e-01 -1.25262427e-01 -5.92166437e-02 1.85956085e+02] [ 1.25165100e-01 9.92121423e-01 -5.36462251e-03 1.42594021e+01] [ 5.94220865e-02 -2.09897724e-03 9.98230740e-01 8.60811016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.98, Y:14.26, Z:8.61 [[ 9.90420968e-01 -1.24882373e-01 -5.89126443e-02 1.85983228e+02] [ 1.24785057e-01 9.92169415e-01 -5.34239216e-03 1.42632250e+01] [ 5.91184944e-02 -2.06020044e-03 9.98248846e-01 8.60956487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.01, Y:14.27, Z:8.61 [[ 9.90416358e-01 -1.24969512e-01 -5.88052647e-02 1.86010479e+02] [ 1.24872258e-01 9.92158456e-01 -5.34019423e-03 1.42703098e+01] [ 5.90115021e-02 -2.05413045e-03 9.98255189e-01 8.61245408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.04, Y:14.27, Z:8.61 [[ 9.90506446e-01 -1.24381211e-01 -5.85345587e-02 1.86038201e+02] [ 1.24282949e-01 9.92232500e-01 -5.33049866e-03 1.42727466e+01] [ 5.87429054e-02 -1.99495428e-03 9.98271151e-01 8.61334099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.07, Y:14.28, Z:8.62 [[ 9.90516098e-01 -1.24204544e-01 -5.87459919e-02 1.86066874e+02] [ 1.24104835e-01 9.92254651e-01 -5.35695772e-03 1.42773942e+01] [ 5.89563422e-02 -1.98450878e-03 9.98258589e-01 8.61508750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.10, Y:14.28, Z:8.62 [[ 9.90672514e-01 -1.23003623e-01 -5.86351345e-02 1.86095638e+02] [ 1.22901397e-01 9.92404410e-01 -5.36028715e-03 1.42842499e+01] [ 5.88491008e-02 -1.89605082e-03 9.98265089e-01 8.61728258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.12, Y:14.29, Z:8.62 [[ 9.90754165e-01 -1.22520414e-01 -5.82660581e-02 1.86123422e+02] [ 1.22418208e-01 9.92464272e-01 -5.33386472e-03 1.42868599e+01] [ 5.84804883e-02 -1.84827777e-03 9.98286841e-01 8.61829019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.15, Y:14.29, Z:8.62 [[ 9.90827183e-01 -1.22136059e-01 -5.78297248e-02 1.86152067e+02] [ 1.22034327e-01 9.92511725e-01 -5.30076021e-03 1.42925335e+01] [ 5.80440939e-02 -1.80507425e-03 9.98312388e-01 8.62053154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.18, Y:14.30, Z:8.62 [[ 9.91035906e-01 -1.20738660e-01 -5.71839850e-02 1.86181758e+02] [ 1.20636193e-01 9.92682886e-01 -5.25326063e-03 1.43018246e+01] [ 5.73998349e-02 -1.69228834e-03 9.98349836e-01 8.62422548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.21, Y:14.31, Z:8.63 [[ 9.91201594e-01 -1.19576573e-01 -5.67524655e-02 1.86210989e+02] [ 1.19473735e-01 9.92823672e-01 -5.21379280e-03 1.43056024e+01] [ 5.69686387e-02 -1.61250930e-03 9.98374666e-01 8.62569293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.24, Y:14.31, Z:8.63 [[ 9.91399979e-01 -1.18248577e-01 -5.60656286e-02 1.86240040e+02] [ 1.18146026e-01 9.92982867e-01 -5.15187443e-03 1.43110839e+01] [ 5.62814104e-02 -1.51636301e-03 9.98413794e-01 8.62771376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.27, Y:14.32, Z:8.63 [[ 9.91581107e-01 -1.16768849e-01 -5.59637707e-02 1.86269646e+02] [ 1.16664203e-01 9.93158093e-01 -5.14454288e-03 1.43166431e+01] [ 5.61815941e-02 -1.42773719e-03 9.98419546e-01 8.62967834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.30, Y:14.32, Z:8.63 [[ 9.91794708e-01 -1.15241269e-01 -5.53417254e-02 1.86298029e+02] [ 1.15136443e-01 9.93336648e-01 -5.08948636e-03 1.43202292e+01] [ 5.55594829e-02 -1.32412377e-03 9.98454501e-01 8.63070333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.33, Y:14.32, Z:8.63 [[ 9.91790739e-01 -1.15275544e-01 -5.53414674e-02 1.86327034e+02] [ 1.15170615e-01 9.93332672e-01 -5.09229023e-03 1.43229298e+01] [ 5.55595042e-02 -1.32322456e-03 9.98454501e-01 8.63209002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.36, Y:14.33, Z:8.63 [[ 9.91985750e-01 -1.13827268e-01 -5.48418265e-02 1.86356510e+02] [ 1.13721910e-01 9.93499795e-01 -5.04821013e-03 1.43288315e+01] [ 5.50599674e-02 -1.22896474e-03 9.98482293e-01 8.63386071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.39, Y:14.34, Z:8.64 [[ 9.92321865e-01 -1.11302516e-01 -5.39357567e-02 1.86386391e+02] [ 1.11196796e-01 9.93785997e-01 -4.96644595e-03 1.43368948e+01] [ 5.41533776e-02 -1.06917044e-03 9.98532057e-01 8.63564767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.42, Y:14.34, Z:8.64 [[ 9.92473440e-01 -1.10129862e-01 -5.35526258e-02 1.86416282e+02] [ 1.10023935e-01 9.93916705e-01 -4.93116696e-03 1.43416548e+01] [ 5.37699181e-02 -9.98018352e-04 9.98552853e-01 8.63685060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.45, Y:14.35, Z:8.64 [[ 9.92557102e-01 -1.09262111e-01 -5.37790842e-02 1.86445114e+02] [ 1.09154007e-01 9.94012515e-01 -4.95213462e-03 1.43458360e+01] [ 5.39981634e-02 -9.54926120e-04 9.98540578e-01 8.63766981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.47, Y:14.35, Z:8.64 [[ 9.92680553e-01 -1.08082088e-01 -5.38849033e-02 1.86474931e+02] [ 1.07971775e-01 9.94141573e-01 -4.96272469e-03 1.43513343e+01] [ 5.41056041e-02 -8.91648372e-04 9.98534821e-01 8.63895821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.50, Y:14.36, Z:8.64 [[ 9.92819999e-01 -1.06901978e-01 -5.36695100e-02 1.86504637e+02] [ 1.06790822e-01 9.94269223e-01 -4.94288727e-03 1.43567587e+01] [ 5.38903464e-02 -8.24013766e-04 9.98546519e-01 8.63985714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.53, Y:14.36, Z:8.64 [[ 9.92908931e-01 -1.06574101e-01 -5.26670200e-02 1.86534904e+02] [ 1.06466600e-01 9.94304448e-01 -4.85055934e-03 1.43608539e+01] [ 5.28839963e-02 -7.91114880e-04 9.98600349e-01 8.64161541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.56, Y:14.36, Z:8.64 [[ 9.92966474e-01 -1.06400015e-01 -5.19289673e-02 1.86564737e+02] [ 1.06295274e-01 9.94323108e-01 -4.78250157e-03 1.43638720e+01] [ 5.21430304e-02 -7.70940058e-04 9.98639329e-01 8.64305705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.60, Y:14.37, Z:8.64 [[ 9.93057562e-01 -1.05643920e-01 -5.17304585e-02 1.86596273e+02] [ 1.05539007e-01 9.94403756e-01 -4.76320150e-03 1.43674119e+01] [ 5.19441655e-02 -7.29447931e-04 9.98649724e-01 8.64426993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.63, Y:14.37, Z:8.65 [[ 9.93167078e-01 -1.04964508e-01 -5.10059590e-02 1.86627443e+02] [ 1.04861710e-01 9.94475732e-01 -4.69469797e-03 1.43722607e+01] [ 5.12169651e-02 -6.85952630e-04 9.98687314e-01 8.64554741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.66, Y:14.38, Z:8.65 [[ 9.93245371e-01 -1.04552201e-01 -5.03236535e-02 1.86657906e+02] [ 1.04451695e-01 9.94519183e-01 -4.63017504e-03 1.43758895e+01] [ 5.05319337e-02 -6.57490957e-04 9.98722229e-01 8.64763993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.69, Y:14.38, Z:8.65 [[ 9.93265575e-01 -1.04807191e-01 -4.93857309e-02 1.86689974e+02] [ 1.04710761e-01 9.94492342e-01 -4.54290498e-03 1.43800410e+01] [ 4.95898603e-02 -6.58906321e-04 9.98769449e-01 8.64998472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.72, Y:14.38, Z:8.65 [[ 9.93065703e-01 -1.06739328e-01 -4.92668720e-02 1.86721077e+02] [ 1.06645913e-01 9.94286751e-01 -4.52841885e-03 1.43817201e+01] [ 4.94687585e-02 -7.57093104e-04 9.98775385e-01 8.65110088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.75, Y:14.38, Z:8.65 [[ 9.92916716e-01 -1.08268088e-01 -4.89327703e-02 1.86752005e+02] [ 1.08177920e-01 9.94121387e-01 -4.49509629e-03 1.43835829e+01] [ 4.91317889e-02 -8.30189049e-04 9.98791959e-01 8.65255114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.78, Y:14.38, Z:8.65 [[ 9.92756431e-01 -1.09880920e-01 -4.85885995e-02 1.86783086e+02] [ 1.09794035e-01 9.93944346e-01 -4.46164334e-03 1.43840201e+01] [ 4.87846133e-02 -9.05413292e-04 9.98808912e-01 8.65403688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.81, Y:14.38, Z:8.66 [[ 9.92598082e-01 -1.11560855e-01 -4.79919126e-02 1.86813203e+02] [ 1.11478309e-01 9.93757120e-01 -4.40155419e-03 1.43839737e+01] [ 4.81833460e-02 -9.81083003e-04 9.98838026e-01 8.65544943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.84, Y:14.39, Z:8.66 [[ 9.92357301e-01 -1.13906408e-01 -4.74585787e-02 1.86844618e+02] [ 1.13828404e-01 9.93490894e-01 -4.35181939e-03 1.43857164e+01] [ 4.76453659e-02 -1.08357451e-03 9.98863727e-01 8.65757736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.88, Y:14.39, Z:8.66 [[ 9.92286990e-01 -1.14614224e-01 -4.72240242e-02 1.86876930e+02] [ 1.14537869e-01 9.93409452e-01 -4.32864686e-03 1.43887654e+01] [ 4.74089166e-02 -1.11367912e-03 9.98874944e-01 8.65907370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.91, Y:14.39, Z:8.66 [[ 9.92265170e-01 -1.14847439e-01 -4.71157934e-02 1.86908395e+02] [ 1.14771860e-01 9.93382504e-01 -4.31527134e-03 1.43894040e+01] [ 4.72996026e-02 -1.12567378e-03 9.98880113e-01 8.66061969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.94, Y:14.39, Z:8.66 [[ 9.92272633e-01 -1.14714667e-01 -4.72817739e-02 1.86940397e+02] [ 1.14638527e-01 9.93397845e-01 -4.32787805e-03 1.43927589e+01] [ 4.74660834e-02 -1.12587795e-03 9.98872216e-01 8.66208775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.97, Y:14.39, Z:8.66 [[ 9.92424866e-01 -1.13452495e-01 -4.71319160e-02 1.86971487e+02] [ 1.13375577e-01 9.93542851e-01 -4.31073329e-03 1.43932578e+01] [ 4.73166417e-02 -1.06552929e-03 9.98879372e-01 8.66304087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.00, Y:14.40, Z:8.66 [[ 9.92562763e-01 -1.12458410e-01 -4.66075988e-02 1.87003474e+02] [ 1.12382378e-01 9.93655917e-01 -4.25683642e-03 1.43965178e+01] [ 4.67906334e-02 -1.01269546e-03 9.98904205e-01 8.66440080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:14.40, Z:8.67 [[ 9.92716467e-01 -1.11192954e-01 -4.63696336e-02 1.87035295e+02] [ 1.11116475e-01 9.93798381e-01 -4.23171443e-03 1.43990152e+01] [ 4.65526036e-02 -9.51537625e-04 9.98915387e-01 8.66607951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.07, Y:14.40, Z:8.67 [[ 9.92839284e-01 -1.10061731e-01 -4.64388916e-02 1.87067372e+02] [ 1.09983947e-01 9.93924343e-01 -4.23460760e-03 1.44015002e+01] [ 4.66228130e-02 -9.03247832e-04 9.98912157e-01 8.66752854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.10, Y:14.40, Z:8.67 [[ 9.92961849e-01 -1.09028099e-01 -4.62562368e-02 1.87098494e+02] [ 1.08949964e-01 9.94038301e-01 -4.21453691e-03 1.44034649e+01] [ 4.64399740e-02 -8.54740955e-04 9.98920717e-01 8.66836282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.13, Y:14.41, Z:8.67 [[ 9.93114750e-01 -1.07469875e-01 -4.66188648e-02 1.87130302e+02] [ 1.07388914e-01 9.94208027e-01 -4.24500945e-03 1.44057599e+01] [ 4.68050603e-02 -7.90567774e-04 9.98903730e-01 8.66878108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.16, Y:14.41, Z:8.67 [[ 9.93178218e-01 -1.06903632e-01 -4.65686670e-02 1.87161958e+02] [ 1.06822386e-01 9.94269091e-01 -4.23697193e-03 1.44074278e+01] [ 4.67547339e-02 -7.66507869e-04 9.98906105e-01 8.67006557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.19, Y:14.41, Z:8.67 [[ 9.93166417e-01 -1.06733590e-01 -4.72060317e-02 1.87193246e+02] [ 1.06650080e-01 9.94287355e-01 -4.29142496e-03 1.44076288e+01] [ 4.73943996e-02 -7.72427908e-04 9.98875955e-01 8.67126473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.22, Y:14.41, Z:8.67 [[ 9.93007042e-01 -1.07986347e-01 -4.77070590e-02 1.87224284e+02] [ 1.07902624e-01 9.94152019e-01 -4.33434333e-03 1.44094813e+01] [ 4.78961190e-02 -8.43683414e-04 9.98851966e-01 8.67201296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.26, Y:14.41, Z:8.67 [[ 9.92897439e-01 -1.09190123e-01 -4.72460955e-02 1.87255958e+02] [ 1.09109453e-01 9.94020481e-01 -4.29077044e-03 1.44110778e+01] [ 4.74320963e-02 -8.94700638e-04 9.98874064e-01 8.67332809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.29, Y:14.41, Z:8.67 [[ 9.92716934e-01 -1.10655222e-01 -4.76288770e-02 1.87286160e+02] [ 1.10575050e-01 9.93858376e-01 -4.32288302e-03 1.44112351e+01] [ 4.78147079e-02 -9.75166286e-04 9.98855747e-01 8.67439609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.32, Y:14.41, Z:8.68 [[ 9.92525611e-01 -1.12556062e-01 -4.71597763e-02 1.87317352e+02] [ 1.12479645e-01 9.93644814e-01 -4.27945744e-03 1.44124085e+01] [ 4.73417460e-02 -1.05704381e-03 9.98878192e-01 8.67552307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.35, Y:14.41, Z:8.68 [[ 9.91978768e-01 -1.17226096e-01 -4.72881161e-02 1.87348355e+02] [ 1.17154642e-01 9.93104421e-01 -4.28936582e-03 1.44096600e+01] [ 4.74648627e-02 -1.28506251e-03 9.98872082e-01 8.67636306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.38, Y:14.41, Z:8.68 [[ 9.91684880e-01 -1.19714035e-01 -4.72191570e-02 1.87379278e+02] [ 1.19645646e-01 9.92807424e-01 -4.28225288e-03 1.44100355e+01] [ 4.73921755e-02 -1.40292114e-03 9.98875374e-01 8.67762852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.41, Y:14.41, Z:8.68 [[ 9.91388271e-01 -1.22272236e-01 -4.68913237e-02 1.87410045e+02] [ 1.22207689e-01 9.92495443e-01 -4.25168233e-03 1.44109609e+01] [ 4.70592877e-02 -1.51541231e-03 9.98890948e-01 8.67896356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.44, Y:14.41, Z:8.68 [[ 9.91075003e-01 -1.24789141e-01 -4.68829250e-02 1.87440345e+02] [ 1.24727468e-01 9.92181937e-01 -4.25007761e-03 1.44099841e+01] [ 4.70467549e-02 -1.63544285e-03 9.98891350e-01 8.68061706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.47, Y:14.41, Z:8.68 [[ 9.90582205e-01 -1.29167453e-01 -4.54165667e-02 1.87472009e+02] [ 1.29114253e-01 9.91621185e-01 -4.11528227e-03 1.44090738e+01] [ 4.55675902e-02 -1.78740070e-03 9.98959659e-01 8.68247779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.50, Y:14.41, Z:8.68 [[ 9.90351233e-01 -1.30969216e-01 -4.52934827e-02 1.87504014e+02] [ 1.30918254e-01 9.91384678e-01 -4.10256391e-03 1.44093597e+01] [ 4.54405743e-02 -1.86676444e-03 9.98965299e-01 8.68420485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.54, Y:14.41, Z:8.69 [[ 9.90121910e-01 -1.32810870e-01 -4.49430384e-02 1.87535595e+02] [ 1.32762734e-01 9.91139502e-01 -4.06754977e-03 1.44116035e+01] [ 4.50850355e-02 -1.93939050e-03 9.98981270e-01 8.68602693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.57, Y:14.41, Z:8.69 [[ 9.89751270e-01 -1.35634763e-01 -4.46725354e-02 1.87565644e+02] [ 1.35590179e-01 9.90756769e-01 -4.04069495e-03 1.44099818e+01] [ 4.48076755e-02 -2.05787409e-03 9.98993512e-01 8.68766422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.60, Y:14.41, Z:8.69 [[ 9.89429479e-01 -1.37995108e-01 -4.45719159e-02 1.87596571e+02] [ 1.37953302e-01 9.90430546e-01 -4.02733839e-03 1.44091792e+01] [ 4.47011400e-02 -2.16407565e-03 9.98998060e-01 8.68881161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.63, Y:14.41, Z:8.69 [[ 9.89293244e-01 -1.38992697e-01 -4.44961523e-02 1.87628142e+02] [ 1.38952070e-01 9.90290949e-01 -4.01978830e-03 1.44118492e+01] [ 4.46228581e-02 -2.20608307e-03 9.99001468e-01 8.69024784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.66, Y:14.41, Z:8.69 [[ 9.89132765e-01 -1.39975808e-01 -4.49794059e-02 1.87659986e+02] [ 1.39935422e-01 9.90152305e-01 -4.06093360e-03 1.44125666e+01] [ 4.51048949e-02 -2.27740964e-03 9.98979660e-01 8.69152003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.69, Y:14.41, Z:8.69 [[ 9.88917955e-01 -1.41278268e-01 -4.56259780e-02 1.87692329e+02] [ 1.41238253e-01 9.89967078e-01 -4.11587074e-03 1.44116944e+01] [ 4.57496992e-02 -2.37387492e-03 9.98950114e-01 8.69240588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.72, Y:14.41, Z:8.69 [[ 9.88810558e-01 -1.41854633e-01 -4.61621492e-02 1.87723377e+02] [ 1.41814458e-01 9.89884512e-01 -4.16077455e-03 1.44118175e+01] [ 4.62854217e-02 -2.43224237e-03 9.98925294e-01 8.69341885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.76, Y:14.42, Z:8.69 [[ 9.88782432e-01 -1.41835440e-01 -4.68188981e-02 1.87755044e+02] [ 1.41794216e-01 9.89887172e-01 -4.21737142e-03 1.44165287e+01] [ 4.69435993e-02 -2.46858619e-03 9.98894491e-01 8.69455423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.79, Y:14.42, Z:8.70 [[ 9.88782719e-01 -1.41595490e-01 -4.75336857e-02 1.87785878e+02] [ 1.41552895e-01 9.89921449e-01 -4.27816363e-03 1.44179789e+01] [ 4.76603837e-02 -2.49835653e-03 9.98860474e-01 8.69528217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.82, Y:14.42, Z:8.70 [[ 9.88912218e-01 -1.40199634e-01 -4.89559769e-02 1.87815842e+02] [ 1.40152884e-01 9.90120083e-01 -4.40343282e-03 1.44203927e+01] [ 4.90896556e-02 -2.50671283e-03 9.98791230e-01 8.69630436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.85, Y:14.42, Z:8.70 [[ 9.88917284e-01 -1.40163870e-01 -4.89560593e-02 1.87846570e+02] [ 1.40117121e-01 9.90125149e-01 -4.40251651e-03 1.44231266e+01] [ 4.90896992e-02 -2.50585743e-03 9.98791230e-01 8.69777188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.88, Y:14.43, Z:8.70 [[ 9.89084933e-01 -1.39067902e-01 -4.86940893e-02 1.87877758e+02] [ 1.39020414e-01 9.90279842e-01 -4.37719195e-03 1.44268587e+01] [ 4.88295019e-02 -2.44005786e-03 9.98804148e-01 8.69935104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.91, Y:14.43, Z:8.70 [[ 9.89544078e-01 -1.36101412e-01 -4.77380738e-02 1.87908985e+02] [ 1.36052407e-01 9.90692355e-01 -4.28953094e-03 1.44325018e+01] [ 4.78775559e-02 -2.25019993e-03 9.98850678e-01 8.70216904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.94, Y:14.43, Z:8.70 [[ 9.89824393e-01 -1.34169817e-01 -4.73933630e-02 1.87939145e+02] [ 1.34119432e-01 9.90956036e-01 -4.25597943e-03 1.44325330e+01] [ 4.75357631e-02 -2.14369866e-03 9.98867236e-01 8.70433302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.97, Y:14.44, Z:8.71 [[ 9.90183124e-01 -1.31718204e-01 -4.67728152e-02 1.87969757e+02] [ 1.31666439e-01 9.91285183e-01 -4.19940557e-03 1.44388897e+01] [ 4.69183368e-02 -2.00022947e-03 9.98896726e-01 8.70674222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.00, Y:14.44, Z:8.71 [[ 9.90546900e-01 -1.29166625e-01 -4.61824904e-02 1.88000348e+02] [ 1.29113427e-01 9.91621166e-01 -4.14560462e-03 1.44445669e+01] [ 4.63310088e-02 -1.85636381e-03 9.98924417e-01 8.70891164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.03, Y:14.45, Z:8.71 [[ 9.90957243e-01 -1.26141681e-01 -4.57385878e-02 1.88031262e+02] [ 1.26086360e-01 9.92010779e-01 -4.10409334e-03 1.44503700e+01] [ 4.58908694e-02 -1.70003104e-03 9.98945013e-01 8.71076149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.06, Y:14.46, Z:8.71 [[ 9.91841783e-01 -1.19025913e-01 -4.56367107e-02 1.88061037e+02] [ 1.18963393e-01 9.92890204e-01 -4.09318515e-03 1.44568389e+01] [ 4.57994380e-02 -1.36930588e-03 9.98949717e-01 8.71255444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.09, Y:14.46, Z:8.71 [[ 9.92310847e-01 -1.15162746e-01 -4.53511186e-02 1.88092167e+02] [ 1.15096971e-01 9.93345932e-01 -4.06764971e-03 1.44623654e+01] [ 4.55177909e-02 -1.18340343e-03 9.98962827e-01 8.71434657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.12, Y:14.47, Z:8.72 [[ 9.92765874e-01 -1.11183605e-01 -4.53224567e-02 1.88122686e+02] [ 1.11113845e-01 9.93799377e-01 -4.06340527e-03 1.44669138e+01] [ 4.54932133e-02 -1.00194237e-03 9.98964145e-01 8.71625984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.15, Y:14.47, Z:8.72 [[ 9.93175183e-01 -1.07313087e-01 -4.56832367e-02 1.88153376e+02] [ 1.07238197e-01 9.94224928e-01 -4.09406410e-03 1.44727217e+01] [ 4.58587594e-02 -8.32865101e-04 9.98947586e-01 8.71759764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.18, Y:14.48, Z:8.72 [[ 9.93833861e-01 -1.00445514e-01 -4.69569543e-02 1.88182881e+02] [ 1.00358807e-01 9.94942418e-01 -4.20643129e-03 1.44786831e+01] [ 4.71419828e-02 -5.32050079e-04 9.98888057e-01 8.71833965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.21, Y:14.48, Z:8.72 [[ 9.94038536e-01 -9.81620257e-02 -4.74510940e-02 1.88212875e+02] [ 9.80708837e-02 9.95170354e-01 -4.25069662e-03 1.44826419e+01] [ 4.76391790e-02 -4.28214479e-04 9.98864518e-01 8.71930530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.24, Y:14.49, Z:8.72 [[ 9.94167161e-01 -9.63927148e-02 -4.83745925e-02 1.88242388e+02] [ 9.62958937e-02 9.95343319e-01 -4.33346184e-03 1.44859790e+01] [ 4.85670416e-02 -3.50089160e-04 9.98819864e-01 8.72006904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.27, Y:14.49, Z:8.72 [[ 9.94200129e-01 -9.58163513e-02 -4.88398386e-02 1.88271144e+02] [ 9.57168591e-02 9.95398977e-01 -4.37725181e-03 1.44883762e+01] [ 4.90345376e-02 -3.22931634e-04 9.98797031e-01 8.72105362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.30, Y:14.49, Z:8.72 [[ 9.94176061e-01 -9.60663150e-02 -4.88387346e-02 1.88299246e+02] [ 9.59665209e-02 9.95374884e-01 -4.38953525e-03 1.44909379e+01] [ 4.90345362e-02 -3.22912573e-04 9.98797031e-01 8.72239946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.33, Y:14.49, Z:8.72 [[ 9.94126421e-01 -9.62609706e-02 -4.94619453e-02 1.88326889e+02] [ 9.61582399e-02 9.95356077e-01 -4.45787460e-03 1.44914260e+01] [ 4.96613672e-02 -3.24482679e-04 9.98766060e-01 8.72251914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.36, Y:14.49, Z:8.72 [[ 9.93971993e-01 -9.73254989e-02 -5.04720120e-02 1.88355858e+02] [ 9.72196395e-02 9.95252532e-01 -4.55401559e-03 1.44924536e+01] [ 5.06756195e-02 -3.80306856e-04 9.98715093e-01 8.72304999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.38, Y:14.49, Z:8.72 [[ 9.93780646e-01 -9.89828785e-02 -5.10138977e-02 1.88384378e+02] [ 9.88762584e-02 9.95089032e-01 -4.61569891e-03 1.44937050e+01] [ 5.12202453e-02 -4.57071088e-04 9.98687277e-01 8.72365124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.41, Y:14.49, Z:8.72 [[ 9.93576984e-01 -1.00862845e-01 -5.12977908e-02 1.88412659e+02] [ 1.00756894e-01 9.94900191e-01 -4.65385914e-03 1.44937818e+01] [ 5.15055834e-02 -5.44638749e-04 9.98672558e-01 8.72449813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.44, Y:14.49, Z:8.73 [[ 9.93054745e-01 -1.05757315e-01 -5.15525430e-02 1.88441601e+02] [ 1.05656618e-01 9.94391651e-01 -4.68232258e-03 1.44929827e+01] [ 5.17586082e-02 -7.97064661e-04 9.98659307e-01 8.72526936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.47, Y:14.49, Z:8.73 [[ 9.92729410e-01 -1.08516198e-01 -5.20821707e-02 1.88469647e+02] [ 1.08416546e-01 9.94094239e-01 -4.74313077e-03 1.44927541e+01] [ 5.22892923e-02 -9.37923665e-04 9.98631539e-01 8.72607773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.50, Y:14.49, Z:8.73 [[ 9.92387380e-01 -1.11782368e-01 -5.16913040e-02 1.88498295e+02] [ 1.11688244e-01 9.93732109e-01 -4.71499369e-03 1.44928411e+01] [ 5.18943618e-02 -1.09421074e-03 9.98651980e-01 8.72720071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.53, Y:14.49, Z:8.73 [[ 9.91963536e-01 -1.15246947e-01 -5.22157388e-02 1.88527231e+02] [ 1.15155018e-01 9.93336053e-01 -4.77575067e-03 1.44943529e+01] [ 5.24181665e-02 -1.27553380e-03 9.98624408e-01 8.72873933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.56, Y:14.49, Z:8.73 [[ 9.91567668e-01 -1.18583181e-01 -5.22645986e-02 1.88556073e+02] [ 1.18495012e-01 9.92943078e-01 -4.79342183e-03 1.44946767e+01] [ 5.24641906e-02 -1.44009214e-03 9.98621768e-01 8.72974289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.59, Y:14.49, Z:8.73 [[ 9.90739546e-01 -1.25289716e-01 -5.23224502e-02 1.88586990e+02] [ 1.25210051e-01 9.92118592e-01 -4.81069520e-03 1.44928808e+01] [ 5.25128063e-02 -1.78515068e-03 9.98618655e-01 8.73109133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.62, Y:14.49, Z:8.73 [[ 9.90323043e-01 -1.28570487e-01 -5.22484398e-02 1.88615543e+02] [ 1.28495589e-01 9.91698444e-01 -4.80415548e-03 1.44927359e+01] [ 5.24323690e-02 -1.95602817e-03 9.98622562e-01 8.73223782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.64, Y:14.49, Z:8.73 [[ 9.89885868e-01 -1.31880691e-01 -5.22824314e-02 1.88644661e+02] [ 1.31810151e-01 9.91263309e-01 -4.81009593e-03 1.44930352e+01] [ 5.24600147e-02 -2.12990922e-03 9.98620754e-01 8.73369895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.67, Y:14.49, Z:8.74 [[ 9.89141335e-01 -1.37577984e-01 -5.16886576e-02 1.88674672e+02] [ 1.37516656e-01 9.90488026e-01 -4.75803798e-03 1.44919029e+01] [ 5.18515978e-02 -2.40167932e-03 9.98651913e-01 8.73577436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.70, Y:14.49, Z:8.74 [[ 9.88802807e-01 -1.40093902e-01 -5.14072686e-02 1.88704529e+02] [ 1.40036592e-01 9.90135018e-01 -4.73286285e-03 1.44925614e+01] [ 5.15631820e-02 -2.51903061e-03 9.98666557e-01 8.73752976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.73, Y:14.49, Z:8.74 [[ 9.88541718e-01 -1.42193709e-01 -5.06578798e-02 1.88733133e+02] [ 1.42140705e-01 9.89835466e-01 -4.66579528e-03 1.44921866e+01] [ 5.08064128e-02 -2.58821346e-03 9.98705166e-01 8.73977177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.76, Y:14.50, Z:8.74 [[ 9.88315441e-01 -1.43818986e-01 -5.04845455e-02 1.88762079e+02] [ 1.43768263e-01 9.89600440e-01 -4.65365027e-03 1.44951233e+01] [ 5.06288117e-02 -2.65880100e-03 9.98714000e-01 8.74130200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.79, Y:14.50, Z:8.74 [[ 9.88202722e-01 -1.44208172e-01 -5.15692142e-02 1.88791671e+02] [ 1.44155636e-01 9.89543597e-01 -4.75635691e-03 1.45003524e+01] [ 5.17158912e-02 -2.73374803e-03 9.98658096e-01 8.74129587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.82, Y:14.50, Z:8.74 [[ 9.88222160e-01 -1.43964128e-01 -5.18776616e-02 1.88820501e+02] [ 1.43910521e-01 9.89579127e-01 -4.78683679e-03 1.45010081e+01] [ 5.20261838e-02 -2.73528310e-03 9.98641975e-01 8.74215297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.85, Y:14.51, Z:8.74 [[ 9.88358737e-01 -1.43173017e-01 -5.14635248e-02 1.88850128e+02] [ 1.43119023e-01 9.89694076e-01 -4.75191768e-03 1.45074242e+01] [ 5.16134920e-02 -2.66881002e-03 9.98663569e-01 8.74404825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.88, Y:14.51, Z:8.75 [[ 9.88457123e-01 -1.42479116e-01 -5.14996901e-02 1.88880013e+02] [ 1.42424059e-01 9.89794305e-01 -4.75617767e-03 1.45117072e+01] [ 5.16517560e-02 -2.63351722e-03 9.98661685e-01 8.74574939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.91, Y:14.52, Z:8.75 [[ 9.88534835e-01 -1.41899313e-01 -5.16087585e-02 1.88909048e+02] [ 1.41843184e-01 9.89877661e-01 -4.76725102e-03 1.45167774e+01] [ 5.17628268e-02 -2.60775692e-03 9.98656002e-01 8.74736627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.94, Y:14.52, Z:8.75 [[ 9.88571103e-01 -1.41547018e-01 -5.18807861e-02 1.88938065e+02] [ 1.41489707e-01 9.89928117e-01 -4.79440136e-03 1.45186278e+01] [ 5.20368821e-02 -2.60099058e-03 9.98641776e-01 8.74852099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:14.52, Z:8.75 [[ 9.88562711e-01 -1.40953194e-01 -5.36280031e-02 1.88966985e+02] [ 1.40890900e-01 9.90012706e-01 -4.95940553e-03 1.45225866e+01] [ 5.37914485e-02 -2.65301426e-03 9.98548668e-01 8.74871922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:14.53, Z:8.75 [[ 9.88523771e-01 -1.41022950e-01 -5.41597897e-02 1.88995848e+02] [ 1.40959416e-01 9.90002696e-01 -5.01049380e-03 1.45282833e+01] [ 5.43249324e-02 -2.68134008e-03 9.98519710e-01 8.74977952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:14.54, Z:8.75 [[ 9.88524134e-01 -1.40284935e-01 -5.60372566e-02 1.89025620e+02] [ 1.40215644e-01 9.90107408e-01 -5.18592723e-03 1.45374883e+01] [ 5.62104103e-02 -2.73088579e-03 9.98415210e-01 8.75091509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.06, Y:14.54, Z:8.75 [[ 9.88626639e-01 -1.39323516e-01 -5.66244267e-02 1.89055214e+02] [ 1.39251176e-01 9.90243226e-01 -5.24061008e-03 1.45422782e+01] [ 5.68020951e-02 -2.70401124e-03 9.98381796e-01 8.75173126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.08, Y:14.55, Z:8.75 [[ 9.88771839e-01 -1.37879467e-01 -5.76151328e-02 1.89084149e+02] [ 1.37802006e-01 9.90445430e-01 -5.33445500e-03 1.45466831e+01] [ 5.78001568e-02 -2.66492199e-03 9.98324617e-01 8.75248327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.11, Y:14.56, Z:8.75 [[ 9.89376880e-01 -1.33088447e-01 -5.84880680e-02 1.89112561e+02] [ 1.33000142e-01 9.91101213e-01 -5.41743903e-03 1.45550062e+01] [ 5.86885937e-02 -2.41903244e-03 9.98273408e-01 8.75345380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.14, Y:14.56, Z:8.76 [[ 9.89732702e-01 -1.30518613e-01 -5.82586523e-02 1.89141317e+02] [ 1.30426375e-01 9.91443296e-01 -5.39928606e-03 1.45626139e+01] [ 5.84648575e-02 -2.25461486e-03 9.98286921e-01 8.75562512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.17, Y:14.57, Z:8.76 [[ 9.90210832e-01 -1.27274839e-01 -5.73029029e-02 1.89170957e+02] [ 1.27179805e-01 9.91865427e-01 -5.31721744e-03 1.45697468e+01] [ 5.75135162e-02 -2.02260570e-03 9.98342679e-01 8.75841938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.20, Y:14.58, Z:8.76 [[ 9.91180691e-01 -1.20803779e-01 -5.44727949e-02 1.89199588e+02] [ 1.20707982e-01 9.92675176e-01 -5.05742232e-03 1.45782485e+01] [ 5.46847470e-02 -1.56248178e-03 9.98502447e-01 8.76228366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.23, Y:14.58, Z:8.77 [[ 9.91641358e-01 -1.17552274e-01 -5.31872224e-02 1.89228921e+02] [ 1.17456188e-01 9.93065780e-01 -4.93965497e-03 1.45849871e+01] [ 5.33990781e-02 -1.34880225e-03 9.98572340e-01 8.76505350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.26, Y:14.59, Z:8.77 [[ 9.92045591e-01 -1.14423993e-01 -5.24661368e-02 1.89258373e+02] [ 1.14326071e-01 9.93431325e-01 -4.87370297e-03 1.45927963e+01] [ 5.26791723e-02 -1.16331173e-03 9.98610811e-01 8.76794680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.29, Y:14.60, Z:8.77 [[ 9.92414258e-01 -1.11418482e-01 -5.19601928e-02 1.89288111e+02] [ 1.11318323e-01 9.93773080e-01 -4.82670464e-03 1.45975024e+01] [ 5.21744249e-02 -9.94031030e-04 9.98637492e-01 8.76930083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.32, Y:14.61, Z:8.77 [[ 9.92949059e-01 -1.06332750e-01 -5.23976309e-02 1.89318237e+02] [ 1.06223829e-01 9.94330332e-01 -4.86715027e-03 1.46080369e+01] [ 5.26180912e-02 -7.33044702e-04 9.98614440e-01 8.77067527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.35, Y:14.61, Z:8.77 [[ 9.93136172e-01 -1.04102584e-01 -5.33216292e-02 1.89348727e+02] [ 1.03986670e-01 9.94566367e-01 -4.95118700e-03 1.46133033e+01] [ 5.35473304e-02 -6.27535771e-04 9.98565115e-01 8.77139123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.38, Y:14.62, Z:8.77 [[ 9.93268348e-01 -1.02309845e-01 -5.43201977e-02 1.89377858e+02] [ 1.02186860e-01 9.94752433e-01 -5.04403667e-03 1.46180195e+01] [ 5.45512034e-02 -5.40728475e-04 9.98510828e-01 8.77187615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.41, Y:14.62, Z:8.77 [[ 9.93417692e-01 -1.00696818e-01 -5.46025602e-02 1.89407501e+02] [ 1.00570061e-01 9.94917054e-01 -5.07125319e-03 1.46218305e+01] [ 5.48356775e-02 -4.53510172e-04 9.98495289e-01 8.77200631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.44, Y:14.63, Z:8.77 [[ 9.93561870e-01 -9.89369176e-02 -5.51932700e-02 1.89436543e+02] [ 9.88046242e-02 9.95093643e-01 -5.12726523e-03 1.46274036e+01] [ 5.54297479e-02 -3.59095069e-04 9.98462525e-01 8.77378986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:14.63, Z:8.77 [[ 9.93642215e-01 -9.81350739e-02 -5.51783951e-02 1.89465128e+02] [ 9.80014965e-02 9.95173055e-01 -5.12804381e-03 1.46312165e+01] [ 5.54152930e-02 -3.12124487e-04 9.98463343e-01 8.77491981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.49, Y:14.64, Z:8.78 [[ 9.93753887e-01 -9.71078698e-02 -5.49842996e-02 1.89493853e+02] [ 9.69734096e-02 9.95273831e-01 -5.11453068e-03 1.46364135e+01] [ 5.52210957e-02 -2.49430263e-04 9.98474120e-01 8.77667936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.52, Y:14.64, Z:8.78 [[ 9.93782830e-01 -9.69309402e-02 -5.47729890e-02 1.89521831e+02] [ 9.67964767e-02 9.95291084e-01 -5.10879551e-03 1.46401430e+01] [ 5.50102680e-02 -2.24799102e-04 9.98485763e-01 8.77832818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.55, Y:14.64, Z:8.78 [[ 9.93852155e-01 -9.65691459e-02 -5.41506527e-02 1.89551462e+02] [ 9.64365208e-02 9.95326260e-01 -5.06296270e-03 1.46438079e+01] [ 5.43864926e-02 -1.90264161e-04 9.98519941e-01 8.78001828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.58, Y:14.65, Z:8.78 [[ 9.93914255e-01 -9.61837748e-02 -5.36948389e-02 1.89579566e+02] [ 9.60527014e-02 9.95363579e-01 -5.02240465e-03 1.46470918e+01] [ 5.39289609e-02 -1.65694757e-04 9.98544761e-01 8.78129872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.61, Y:14.65, Z:8.78 [[ 9.93921907e-01 -9.60818426e-02 -5.37356728e-02 1.89609079e+02] [ 9.59502691e-02 9.95373425e-01 -5.02902971e-03 1.46503901e+01] [ 5.39702591e-02 -1.57489471e-04 9.98542531e-01 8.78275105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:14.65, Z:8.78 [[ 9.93934454e-01 -9.59953145e-02 -5.36581852e-02 1.89639007e+02] [ 9.58638892e-02 9.95381774e-01 -5.02372764e-03 1.46535822e+01] [ 5.38926339e-02 -1.50626328e-04 9.98546725e-01 8.78331678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.67, Y:14.66, Z:8.78 [[ 9.93923524e-01 -9.61214883e-02 -5.36347707e-02 1.89667945e+02] [ 9.59902494e-02 9.95369597e-01 -5.02361019e-03 1.46562473e+01] [ 5.38692970e-02 -1.55330675e-04 9.98547983e-01 8.78431786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.70, Y:14.66, Z:8.79 [[ 9.93782749e-01 -9.73978266e-02 -5.39398826e-02 1.89697741e+02] [ 9.72668144e-02 9.95245504e-01 -5.05501423e-03 1.46587832e+01] [ 5.41757730e-02 -2.22974609e-04 9.98531390e-01 8.78584341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.73, Y:14.66, Z:8.79 [[ 9.93648789e-01 -9.86227777e-02 -5.41814736e-02 1.89727045e+02] [ 9.84923022e-02 9.95124849e-01 -5.07959641e-03 1.46612632e+01] [ 5.44182946e-02 -2.89123253e-04 9.98518185e-01 8.78732802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.76, Y:14.66, Z:8.79 [[ 9.93154138e-01 -1.02694484e-01 -5.56659818e-02 1.89755774e+02] [ 1.02563009e-01 9.94712807e-01 -5.22117493e-03 1.46611176e+01] [ 5.59078509e-02 -5.23839114e-04 9.98435796e-01 8.78751742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.78, Y:14.66, Z:8.79 [[ 9.92832741e-01 -1.05525750e-01 -5.61022746e-02 1.89784892e+02] [ 1.05396393e-01 9.94416336e-01 -5.26786583e-03 1.46614383e+01] [ 5.63449139e-02 -6.82867733e-04 9.98411130e-01 8.78821064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.81, Y:14.66, Z:8.79 [[ 9.92440887e-01 -1.08767842e-01 -5.68387477e-02 1.89814781e+02] [ 1.08639671e-01 9.94066802e-01 -5.34932543e-03 1.46619409e+01] [ 5.70833468e-02 -8.66053597e-04 9.98369041e-01 8.78907408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.84, Y:14.66, Z:8.79 [[ 9.92072536e-01 -1.12020461e-01 -5.69517322e-02 1.89844211e+02] [ 1.11897014e-01 9.93705342e-01 -5.36201565e-03 1.46624142e+01] [ 5.71938960e-02 -1.05322032e-03 9.98362534e-01 8.79032947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.87, Y:14.66, Z:8.79 [[ 9.91718219e-01 -1.15308288e-01 -5.65594534e-02 1.89873608e+02] [ 1.15191769e-01 9.93328989e-01 -5.32695550e-03 1.46619192e+01] [ 5.67963868e-02 -1.23234465e-03 9.98385022e-01 8.79137200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.90, Y:14.66, Z:8.79 [[ 9.91378274e-01 -1.18214978e-01 -5.65184657e-02 1.89904115e+02] [ 1.18103294e-01 9.92987043e-01 -5.32394736e-03 1.46627622e+01] [ 5.67514745e-02 -1.39697123e-03 9.98387359e-01 8.79298190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.93, Y:14.66, Z:8.79 [[ 9.91076861e-01 -1.20838815e-01 -5.62550986e-02 1.89934039e+02] [ 1.20732380e-01 9.92670947e-01 -5.29930204e-03 1.46638892e+01] [ 5.64831634e-02 -1.53979629e-03 9.98402364e-01 8.79449542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.96, Y:14.66, Z:8.80 [[ 9.90736835e-01 -1.23960750e-01 -5.54459698e-02 1.89963574e+02] [ 1.23862178e-01 9.92285680e-01 -5.22408062e-03 1.46618696e+01] [ 5.56658228e-02 -1.69196950e-03 9.98448022e-01 8.79591048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.99, Y:14.66, Z:8.80 [[ 9.90694303e-01 -1.24551244e-01 -5.48797384e-02 1.89994291e+02] [ 1.24455533e-01 9.92211709e-01 -5.17157910e-03 1.46648885e+01] [ 5.50964456e-02 -1.70663315e-03 9.98479579e-01 8.79789966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.03, Y:14.67, Z:8.80 [[ 9.90688029e-01 -1.24635127e-01 -5.48025097e-02 1.90025528e+02] [ 1.24539828e-01 9.92201171e-01 -5.16402859e-03 1.46686169e+01] [ 5.50187337e-02 -1.70915385e-03 9.98483860e-01 8.80009402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.06, Y:14.67, Z:8.80 [[ 9.90758147e-01 -1.24219542e-01 -5.44775155e-02 1.90055908e+02] [ 1.24124863e-01 9.92253339e-01 -5.13122367e-03 1.46706881e+01] [ 5.46928949e-02 -1.67821248e-03 9.98501813e-01 8.80134280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.09, Y:14.67, Z:8.80 [[ 9.90876037e-01 -1.23415295e-01 -5.41603547e-02 1.90086151e+02] [ 1.23320682e-01 9.92353776e-01 -5.09828259e-03 1.46735338e+01] [ 5.43754386e-02 -1.62732585e-03 9.98519235e-01 8.80297993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.12, Y:14.68, Z:8.81 [[ 9.91107128e-01 -1.21704222e-01 -5.38028200e-02 1.90117294e+02] [ 1.21608350e-01 9.92565243e-01 -5.06438910e-03 1.46790664e+01] [ 5.40191667e-02 -1.52352005e-03 9.98538737e-01 8.80543947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.15, Y:14.68, Z:8.81 [[ 9.91111543e-01 -1.21668180e-01 -5.38030038e-02 1.90147985e+02] [ 1.21572361e-01 9.92569661e-01 -5.06243613e-03 1.46819251e+01] [ 5.40191667e-02 -1.52351931e-03 9.98538737e-01 8.80690548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.18, Y:14.68, Z:8.81 [[ 9.91180372e-01 -1.21120664e-01 -5.37703822e-02 1.90178667e+02] [ 1.21024256e-01 9.92636666e-01 -5.05751710e-03 1.46833356e+01] [ 5.39870228e-02 -1.49460883e-03 9.98540519e-01 8.80826166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.21, Y:14.69, Z:8.81 [[ 9.91200300e-01 -1.20843659e-01 -5.40256907e-02 1.90209870e+02] [ 1.20745983e-01 9.92670437e-01 -5.08042064e-03 1.46878385e+01] [ 5.42436426e-02 -1.48767066e-03 9.98526622e-01 8.81011219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.24, Y:14.69, Z:8.81 [[ 9.91160575e-01 -1.20776141e-01 -5.48984437e-02 1.90240079e+02] [ 1.20675285e-01 9.92678621e-01 -5.16059181e-03 1.46883010e+01] [ 5.51197877e-02 -1.50991020e-03 9.98478607e-01 8.81059164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.27, Y:14.69, Z:8.81 [[ 9.91131141e-01 -1.20744516e-01 -5.54961535e-02 1.90269575e+02] [ 1.20641442e-01 9.92682444e-01 -5.21605301e-03 1.46899357e+01] [ 5.57198671e-02 -1.52534341e-03 9.98445276e-01 8.81137604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.30, Y:14.69, Z:8.81 [[ 9.91074585e-01 -1.20869127e-01 -5.62300662e-02 1.90300127e+02] [ 1.20763461e-01 9.92667238e-01 -5.28587689e-03 1.46946184e+01] [ 5.64566438e-02 -1.55183915e-03 9.98403846e-01 8.81304615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.33, Y:14.70, Z:8.81 [[ 9.91026209e-01 -1.20983578e-01 -5.68333251e-02 1.90329454e+02] [ 1.20875810e-01 9.92653259e-01 -5.34275870e-03 1.46965049e+01] [ 5.70621714e-02 -1.57496031e-03 9.98369385e-01 8.81393034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.36, Y:14.70, Z:8.81 [[ 9.91022532e-01 -1.20295276e-01 -5.83385629e-02 1.90359092e+02] [ 1.20180469e-01 9.92736907e-01 -5.48534143e-03 1.46989480e+01] [ 5.85747051e-02 -1.57505889e-03 9.98281785e-01 8.81475046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.39, Y:14.70, Z:8.82 [[ 9.91063055e-01 -1.19571184e-01 -5.91333414e-02 1.90389350e+02] [ 1.19451889e-01 9.92824417e-01 -5.56093101e-03 1.47037819e+01] [ 5.93739523e-02 -1.55235608e-03 9.98234604e-01 8.81668487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.42, Y:14.71, Z:8.82 [[ 9.91144012e-01 -1.18600175e-01 -5.97289355e-02 1.90418625e+02] [ 1.18476678e-01 9.92940946e-01 -5.61739109e-03 1.47071661e+01] [ 5.99735293e-02 -1.50884230e-03 9.98198827e-01 8.81812041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:14.71, Z:8.82 [[ 9.91323229e-01 -1.16812557e-01 -6.02750584e-02 1.90446949e+02] [ 1.16683342e-01 9.93152977e-01 -5.67118318e-03 1.47093291e+01] [ 6.05248191e-02 -1.41111966e-03 9.98165695e-01 8.81903451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.48, Y:14.71, Z:8.82 [[ 9.91410456e-01 -1.16392818e-01 -5.96491330e-02 1.90475561e+02] [ 1.16265176e-01 9.93202320e-01 -5.61795201e-03 1.47144409e+01] [ 5.98975465e-02 -1.36542057e-03 9.98203596e-01 8.82199680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.50, Y:14.72, Z:8.82 [[ 9.91491488e-01 -1.16039936e-01 -5.89861269e-02 1.90504522e+02] [ 1.15913763e-01 9.93243676e-01 -5.56781711e-03 1.47178467e+01] [ 5.92336866e-02 -1.31686064e-03 9.98243275e-01 8.82439851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.53, Y:14.72, Z:8.83 [[ 9.91554959e-01 -1.15831379e-01 -5.83254177e-02 1.90533313e+02] [ 1.15707521e-01 9.93268058e-01 -5.50775826e-03 1.47193583e+01] [ 5.85707456e-02 -1.28744447e-03 9.98282430e-01 8.82582657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.56, Y:14.72, Z:8.83 [[ 9.91634208e-01 -1.15909864e-01 -5.68022990e-02 1.90562621e+02] [ 1.15792359e-01 9.93258943e-01 -5.36677139e-03 1.47220575e+01] [ 5.70414532e-02 -1.25539812e-03 9.98371022e-01 8.82854031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.59, Y:14.73, Z:8.83 [[ 9.91675131e-01 -1.15984785e-01 -5.59282013e-02 1.90593168e+02] [ 1.15870895e-01 9.93250218e-01 -5.28585024e-03 1.47257140e+01] [ 5.61637763e-02 -1.23860450e-03 9.98420801e-01 8.83116591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.62, Y:14.73, Z:8.83 [[ 9.91666777e-01 -1.16220434e-01 -5.55860900e-02 1.90622974e+02] [ 1.16108294e-01 9.93222665e-01 -5.25366822e-03 1.47257055e+01] [ 5.58199481e-02 -1.24411786e-03 9.98440076e-01 8.83219947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.65, Y:14.73, Z:8.83 [[ 9.91657233e-01 -1.16435854e-01 -5.53048276e-02 1.90653136e+02] [ 1.16325133e-01 9.93197429e-01 -5.22794607e-03 1.47293304e+01] [ 5.55373330e-02 -1.24901090e-03 9.98455830e-01 8.83414073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.68, Y:14.73, Z:8.84 [[ 9.91519273e-01 -1.17604475e-01 -5.53056847e-02 1.90682696e+02] [ 1.17495559e-01 9.93059646e-01 -5.22816813e-03 1.47297220e+01] [ 5.55366996e-02 -1.31434285e-03 9.98455781e-01 8.83565319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.71, Y:14.73, Z:8.84 [[ 9.91420873e-01 -1.18450419e-01 -5.52643786e-02 1.90712772e+02] [ 1.18342931e-01 9.92959037e-01 -5.22509741e-03 1.47338101e+01] [ 5.54941791e-02 -1.35987791e-03 9.98458085e-01 8.83773371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.74, Y:14.73, Z:8.84 [[ 9.91289770e-01 -1.19528450e-01 -5.52950414e-02 1.90742676e+02] [ 1.19422510e-01 9.92829759e-01 -5.22813893e-03 1.47342823e+01] [ 5.55234740e-02 -1.42087200e-03 9.98456371e-01 8.83855807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.77, Y:14.74, Z:8.84 [[ 9.91102554e-01 -1.20987592e-01 -5.54772950e-02 1.90773535e+02] [ 1.20883187e-01 9.92652876e-01 -5.24621779e-03 1.47361163e+01] [ 5.57044237e-02 -1.50673238e-03 9.98446166e-01 8.84007770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.80, Y:14.73, Z:8.84 [[ 9.90704123e-01 -1.23958869e-01 -5.60315918e-02 1.90803561e+02] [ 1.23857101e-01 9.92285917e-01 -5.29878858e-03 1.47339205e+01] [ 5.62561913e-02 -1.69037883e-03 9.98414936e-01 8.84108850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.83, Y:14.74, Z:8.84 [[ 9.90496762e-01 -1.25790466e-01 -5.56140492e-02 1.90834840e+02] [ 1.25693062e-01 9.92055235e-01 -5.25982001e-03 1.47387899e+01] [ 5.58338438e-02 -1.78046543e-03 9.98438487e-01 8.84391651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.87, Y:14.74, Z:8.84 [[ 9.90349357e-01 -1.27118963e-01 -5.52170347e-02 1.90865551e+02] [ 1.27025110e-01 9.91885764e-01 -5.22037270e-03 1.47364754e+01] [ 5.54325991e-02 -1.84395716e-03 9.98460729e-01 8.84455186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.90, Y:14.74, Z:8.85 [[ 9.90106957e-01 -1.29130907e-01 -5.48946526e-02 1.90896912e+02] [ 1.29041296e-01 9.91625646e-01 -5.18874178e-03 1.47397319e+01] [ 5.51049723e-02 -1.94626777e-03 9.98478670e-01 8.84698583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.93, Y:14.74, Z:8.85 [[ 9.90054774e-01 -1.29685202e-01 -5.45279114e-02 1.90926860e+02] [ 1.29597712e-01 9.91553269e-01 -5.15246374e-03 1.47365563e+01] [ 5.47355271e-02 -1.96547122e-03 9.98498953e-01 8.84736228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.96, Y:14.74, Z:8.85 [[ 9.90089483e-01 -1.29511331e-01 -5.43105082e-02 1.90957103e+02] [ 1.29424228e-01 9.91576030e-01 -5.13278887e-03 1.47419221e+01] [ 5.45177525e-02 -1.94717534e-03 9.98510903e-01 8.84943826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.99, Y:14.75, Z:8.85 [[ 9.90163357e-01 -1.28962304e-01 -5.42701589e-02 1.90988185e+02] [ 1.28874522e-01 9.91647646e-01 -5.12872012e-03 1.47454152e+01] [ 5.44782869e-02 -1.91577005e-03 9.98513118e-01 8.85128074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.02, Y:14.75, Z:8.85 [[ 9.90461223e-01 -1.26590506e-01 -5.44188408e-02 1.91019096e+02] [ 1.26498777e-01 9.91953442e-01 -5.14076755e-03 1.47488694e+01] [ 5.46317288e-02 -1.79218589e-03 9.98504964e-01 8.85244333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.05, Y:14.75, Z:8.85 [[ 9.90633020e-01 -1.25102648e-01 -5.47315924e-02 1.91049408e+02] [ 1.25007699e-01 9.92142310e-01 -5.16842137e-03 1.47514516e+01] [ 5.49481117e-02 -1.72186155e-03 9.98487727e-01 8.85376661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.08, Y:14.75, Z:8.86 [[ 9.90932766e-01 -1.22972240e-01 -5.41302282e-02 1.91079736e+02] [ 1.22876238e-01 9.92408842e-01 -5.11078332e-03 1.47548126e+01] [ 5.43478015e-02 -1.58687617e-03 9.98520805e-01 8.85588531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.11, Y:14.76, Z:8.86 [[ 9.91031960e-01 -1.22465517e-01 -5.34588720e-02 1.91108700e+02] [ 1.22371140e-01 9.92471575e-01 -5.04750638e-03 1.47565676e+01] [ 5.36745564e-02 -1.53958297e-03 9.98557295e-01 8.85728072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.14, Y:14.76, Z:8.86 [[ 9.91106715e-01 -1.22156846e-01 -5.27748464e-02 1.91139126e+02] [ 1.22064388e-01 9.92509671e-01 -4.98375839e-03 1.47586515e+01] [ 5.29883456e-02 -1.50249291e-03 9.98594000e-01 8.85907100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.17, Y:14.76, Z:8.86 [[ 9.91176136e-01 -1.21766934e-01 -5.23706052e-02 1.91169238e+02] [ 1.21675343e-01 9.92557632e-01 -4.94558414e-03 1.47613977e+01] [ 5.25830524e-02 -1.47026639e-03 9.98615472e-01 8.86120498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.20, Y:14.76, Z:8.86 [[ 9.91214541e-01 -1.21512290e-01 -5.22350269e-02 1.91200030e+02] [ 1.21420820e-01 9.92588864e-01 -4.93278089e-03 1.47635430e+01] [ 5.24472995e-02 -1.45297564e-03 9.98622636e-01 8.86259296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.23, Y:14.77, Z:8.86 [[ 9.91325317e-01 -1.20529027e-01 -5.24105826e-02 1.91230563e+02] [ 1.20435569e-01 9.92708808e-01 -4.94935938e-03 1.47670181e+01] [ 5.26249885e-02 -1.40567307e-03 9.98613356e-01 8.86424833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.26, Y:14.77, Z:8.87 [[ 9.91432193e-01 -1.19391654e-01 -5.29890595e-02 1.91260354e+02] [ 1.19294492e-01 9.92846304e-01 -5.00409065e-03 1.47687122e+01] [ 5.32074385e-02 -1.36008638e-03 9.98582555e-01 8.86514037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.29, Y:14.77, Z:8.87 [[ 9.91590931e-01 -1.17922502e-01 -5.33076737e-02 1.91290443e+02] [ 1.17822002e-01 9.93021966e-01 -5.03504448e-03 1.47730320e+01] [ 5.35294360e-02 -1.28811240e-03 9.98565441e-01 8.86694980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.32, Y:14.78, Z:8.87 [[ 9.92084695e-01 -1.13720418e-01 -5.32505887e-02 1.91319899e+02] [ 1.13614078e-01 9.93512226e-01 -5.02975990e-03 1.47763343e+01] [ 5.34770973e-02 -1.06006874e-03 9.98568514e-01 8.86884486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.35, Y:14.78, Z:8.87 [[ 9.92392610e-01 -1.10935514e-01 -5.33874366e-02 1.91348569e+02] [ 1.10824537e-01 9.93827189e-01 -5.04386752e-03 1.47790559e+01] [ 5.36174301e-02 -9.11141069e-04 9.98561135e-01 8.87028634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.38, Y:14.78, Z:8.87 [[ 9.92681588e-01 -1.08480643e-01 -5.30585899e-02 1.91377668e+02] [ 1.08367380e-01 9.94098263e-01 -5.01551935e-03 1.47826417e+01] [ 5.32895388e-02 -7.71006635e-04 9.98578805e-01 8.87169932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.41, Y:14.79, Z:8.87 [[ 9.93179565e-01 -1.04021235e-01 -5.26681456e-02 1.91406616e+02] [ 1.03903266e-01 9.94574937e-01 -4.98047824e-03 1.47866702e+01] [ 5.29004931e-02 -5.25883115e-04 9.98599650e-01 8.87386419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.44, Y:14.79, Z:8.88 [[ 9.93373498e-01 -1.02387056e-01 -5.22109526e-02 1.91435522e+02] [ 1.02268717e-01 9.94744542e-01 -4.94018402e-03 1.47893767e+01] [ 5.24423710e-02 -4.32099241e-04 9.98623859e-01 8.87525716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.46, Y:14.79, Z:8.88 [[ 9.93486104e-01 -1.01260076e-01 -5.22662334e-02 1.91464686e+02] [ 1.01139258e-01 9.94859923e-01 -4.95814546e-03 1.47917451e+01] [ 5.24996431e-02 -3.60319465e-04 9.98620878e-01 8.87651300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.49, Y:14.79, Z:8.88 [[ 9.93564201e-01 -1.00386596e-01 -5.24662789e-02 1.91492575e+02] [ 1.00263244e-01 9.94948459e-01 -4.98450804e-03 1.47931096e+01] [ 5.27016211e-02 -3.08010594e-04 9.98610256e-01 8.87716071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.52, Y:14.79, Z:8.88 [[ 9.93514500e-01 -1.00394657e-01 -5.33840038e-02 1.91520545e+02] [ 1.00266516e-01 9.94947647e-01 -5.07999004e-03 1.47926599e+01] [ 5.36242928e-02 -3.05584290e-04 9.98561136e-01 8.87725321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.55, Y:14.79, Z:8.88 [[ 9.93381940e-01 -1.01592307e-01 -5.35847470e-02 1.91548281e+02] [ 1.01464103e-01 9.94826053e-01 -5.11462414e-03 1.47932174e+01] [ 5.38271088e-02 -3.56153062e-04 9.98550207e-01 8.87801985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.58, Y:14.79, Z:8.88 [[ 9.93225688e-01 -1.02768607e-01 -5.42341727e-02 1.91576218e+02] [ 1.02638239e-01 9.94705205e-01 -5.19105629e-03 1.47933412e+01] [ 5.44804915e-02 -4.10609517e-04 9.98514751e-01 8.87857858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.60, Y:14.79, Z:8.88 [[ 9.93047396e-01 -1.04407300e-01 -5.43689691e-02 1.91603874e+02] [ 1.04278470e-01 9.94534499e-01 -5.20882624e-03 1.47929918e+01] [ 5.46156549e-02 -4.96901593e-04 9.98507328e-01 8.87909255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.63, Y:14.79, Z:8.88 [[ 9.92473319e-01 -1.09740229e-01 -5.43488159e-02 1.91633244e+02] [ 1.09619153e-01 9.93959993e-01 -5.21286384e-03 1.47904752e+01] [ 5.45926095e-02 -7.84042901e-04 9.98508404e-01 8.88088338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.66, Y:14.79, Z:8.88 [[ 9.92117675e-01 -1.13225524e-01 -5.36889121e-02 1.91662419e+02] [ 1.13111741e-01 9.93568859e-01 -5.16301493e-03 1.47898190e+01] [ 5.39282162e-02 -9.50527961e-04 9.98544363e-01 8.88244117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.69, Y:14.79, Z:8.88 [[ 9.91689969e-01 -1.16854201e-01 -5.38154334e-02 1.91691025e+02] [ 1.16744475e-01 9.93148430e-01 -5.18886813e-03 1.47896053e+01] [ 5.40530542e-02 -1.13690604e-03 9.98537418e-01 8.88425644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.72, Y:14.78, Z:8.88 [[ 9.90751730e-01 -1.24394394e-01 -5.41945087e-02 1.91720774e+02] [ 1.24293686e-01 9.92231648e-01 -5.23799824e-03 1.47821837e+01] [ 5.44250842e-02 -1.54647941e-03 9.98516659e-01 8.88487492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.75, Y:14.78, Z:8.89 [[ 9.90256397e-01 -1.28175625e-01 -5.44360003e-02 1.91750859e+02] [ 1.28079608e-01 9.91749924e-01 -5.26333020e-03 1.47805430e+01] [ 5.46615298e-02 -1.76009520e-03 9.98503390e-01 8.88586075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.78, Y:14.78, Z:8.89 [[ 9.89722886e-01 -1.31996179e-01 -5.50056119e-02 1.91779852e+02] [ 1.31903901e-01 9.91248229e-01 -5.32070082e-03 1.47830883e+01] [ 5.52265275e-02 -1.98943543e-03 9.98471869e-01 8.88771844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.81, Y:14.78, Z:8.89 [[ 9.88714644e-01 -1.39161054e-01 -5.54756961e-02 1.91809930e+02] [ 1.39078207e-01 9.90266839e-01 -5.37022445e-03 1.47787900e+01] [ 5.56830684e-02 -2.40584081e-03 9.98445596e-01 8.88899885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.84, Y:14.78, Z:8.89 [[ 9.88285121e-01 -1.42269204e-01 -5.52448439e-02 1.91838905e+02] [ 1.42191806e-01 9.89824669e-01 -5.34930431e-03 1.47750166e+01] [ 5.54437506e-02 -2.56872630e-03 9.98458508e-01 8.88982559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.87, Y:14.78, Z:8.89 [[ 9.87784457e-01 -1.45693592e-01 -5.52742673e-02 1.91867760e+02] [ 1.45621275e-01 9.89325914e-01 -5.35537194e-03 1.47775765e+01] [ 5.54645084e-02 -2.75915610e-03 9.98456847e-01 8.89189939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.90, Y:14.77, Z:8.89 [[ 9.87338092e-01 -1.48731506e-01 -5.51582400e-02 1.91896284e+02] [ 1.48663969e-01 9.88873307e-01 -5.34854511e-03 1.47731004e+01] [ 5.53400084e-02 -2.91922056e-03 9.98463300e-01 8.89262323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.93, Y:14.78, Z:8.90 [[ 9.86385299e-01 -1.54969413e-01 -5.50320261e-02 1.91926817e+02] [ 1.54911622e-01 9.87913898e-01 -5.34034411e-03 1.47762290e+01] [ 5.51944934e-02 -3.25746351e-03 9.98470308e-01 8.89557374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.96, Y:14.77, Z:8.90 [[ 9.85996802e-01 -1.57426963e-01 -5.50187033e-02 1.91955435e+02] [ 1.57372979e-01 9.87524802e-01 -5.33957819e-03 1.47742615e+01] [ 5.51729276e-02 -3.39365021e-03 9.98471047e-01 8.89668159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.98, Y:14.78, Z:8.90 [[ 9.85578193e-01 -1.59912877e-01 -5.53488611e-02 1.91984661e+02] [ 1.59861924e-01 9.87124748e-01 -5.37556824e-03 1.47774566e+01] [ 5.54958532e-02 -3.55013261e-03 9.98452606e-01 8.89826175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.01, Y:14.78, Z:8.90 [[ 9.85245732e-01 -1.62024561e-01 -5.51261253e-02 1.92014282e+02] [ 1.61977144e-01 9.86779970e-01 -5.35683148e-03 1.47797134e+01] [ 5.52652945e-02 -3.65137699e-03 9.98465029e-01 8.89998053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.04, Y:14.78, Z:8.90 [[ 9.85197870e-01 -1.62315467e-01 -5.51257309e-02 1.92041599e+02] [ 1.62268278e-01 9.86732115e-01 -5.36088584e-03 1.47824311e+01] [ 5.52644837e-02 -3.66362409e-03 9.98465029e-01 8.90128697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.07, Y:14.78, Z:8.90 [[ 9.84636570e-01 -1.65567640e-01 -5.54813590e-02 1.92071568e+02] [ 1.65524174e-01 9.86190895e-01 -5.40982250e-03 1.47777415e+01] [ 5.56109027e-02 -3.85679706e-03 9.98445067e-01 8.90175344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.10, Y:14.78, Z:8.90 [[ 9.84428816e-01 -1.66712117e-01 -5.57402533e-02 1.92099960e+02] [ 1.66669895e-01 9.85997755e-01 -5.43817210e-03 1.47841374e+01] [ 5.58663738e-02 -3.93672887e-03 9.98430494e-01 8.90283482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.13, Y:14.79, Z:8.90 [[ 9.84252435e-01 -1.67604639e-01 -5.61767603e-02 1.92128278e+02] [ 1.67562456e-01 9.85846154e-01 -5.49397261e-03 1.47860116e+01] [ 5.63024584e-02 -4.00565998e-03 9.98405723e-01 8.90339959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.16, Y:14.79, Z:8.90 [[ 9.84068559e-01 -1.68307391e-01 -5.72860678e-02 1.92155581e+02] [ 1.68264395e-01 9.85725947e-01 -5.60804055e-03 1.47866928e+01] [ 5.74122381e-02 -4.12050913e-03 9.98342054e-01 8.90380683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.18, Y:14.79, Z:8.90 [[ 9.83923128e-01 -1.68823692e-01 -5.82566641e-02 1.92183738e+02] [ 1.68779731e-01 9.85637256e-01 -5.70989844e-03 1.47889086e+01] [ 5.83839047e-02 -4.21444296e-03 9.98285309e-01 8.90341418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.21, Y:14.80, Z:8.90 [[ 9.83837013e-01 -1.69001656e-01 -5.91876089e-02 1.92211247e+02] [ 1.68955999e-01 9.85606463e-01 -5.81133551e-03 1.47950431e+01] [ 5.93178151e-02 -4.28269459e-03 9.98229961e-01 8.90444973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.24, Y:14.80, Z:8.90 [[ 9.83921085e-01 -1.68412598e-01 -5.94684376e-02 1.92238811e+02] [ 1.68364529e-01 9.85707418e-01 -5.85414880e-03 1.47959090e+01] [ 5.96043925e-02 -4.25235505e-03 9.98213020e-01 8.90493185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.27, Y:14.80, Z:8.91 [[ 9.84040284e-01 -1.67602992e-01 -5.97825810e-02 1.92267426e+02] [ 1.67552476e-01 9.85845548e-01 -5.89263786e-03 1.48017836e+01] [ 5.99240151e-02 -4.21812645e-03 9.98194029e-01 8.90637692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:14.81, Z:8.91 [[ 9.84546802e-01 -1.64648740e-01 -5.96522129e-02 1.92296455e+02] [ 1.64592312e-01 9.86344085e-01 -5.89209083e-03 1.48106404e+01] [ 5.98077327e-02 -4.01725642e-03 9.98201832e-01 8.90847772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:14.81, Z:8.91 [[ 9.84905835e-01 -1.62678588e-01 -5.91284474e-02 1.92325032e+02] [ 1.62619521e-01 9.86671558e-01 -5.84186771e-03 1.48108835e+01] [ 5.92907041e-02 -3.86175023e-03 9.98233289e-01 8.90904900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.35, Y:14.82, Z:8.91 [[ 9.85287683e-01 -1.60540251e-01 -5.86089579e-02 1.92354333e+02] [ 1.60478275e-01 9.87022370e-01 -5.79350458e-03 1.48160644e+01] [ 5.87784432e-02 -3.69719573e-03 9.98264206e-01 8.91102507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.38, Y:14.82, Z:8.91 [[ 9.85642681e-01 -1.58569280e-01 -5.80024968e-02 1.92383370e+02] [ 1.58505062e-01 9.87341505e-01 -5.73557886e-03 1.48240922e+01] [ 5.81777591e-02 -3.54045803e-03 9.98299962e-01 8.91353091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.41, Y:14.84, Z:8.92 [[ 9.86518665e-01 -1.53594443e-01 -5.64771730e-02 1.92412141e+02] [ 1.53525332e-01 9.88128921e-01 -5.58641410e-03 1.48388273e+01] [ 5.66647702e-02 -3.15957498e-03 9.98388262e-01 8.91721190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.44, Y:14.84, Z:8.92 [[ 9.86918622e-01 -1.51279133e-01 -5.57338167e-02 1.92441815e+02] [ 1.51208131e-01 9.88486573e-01 -5.51319424e-03 1.48442158e+01] [ 5.59261608e-02 -2.98633219e-03 9.98430441e-01 8.91930586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.47, Y:14.85, Z:8.92 [[ 9.87699822e-01 -1.46572683e-01 -5.44565035e-02 1.92470141e+02] [ 1.46497705e-01 9.89196337e-01 -5.38786124e-03 1.48518923e+01] [ 5.46578871e-02 -2.65616320e-03 9.98501607e-01 8.92158118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.50, Y:14.85, Z:8.92 [[ 9.87978890e-01 -1.44648538e-01 -5.45390982e-02 1.92499188e+02] [ 1.44570335e-01 9.89479806e-01 -5.39738409e-03 1.48536017e+01] [ 5.47460600e-02 -2.55223414e-03 9.98497048e-01 8.92235749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:14.86, Z:8.92 [[ 9.88240543e-01 -1.42842446e-01 -5.45588215e-02 1.92528423e+02] [ 1.42761340e-01 9.89742404e-01 -5.40116795e-03 1.48638192e+01] [ 5.47706952e-02 -2.45123733e-03 9.98495950e-01 8.92429306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.56, Y:14.87, Z:8.93 [[ 9.88582419e-01 -1.40326963e-01 -5.48921245e-02 1.92558110e+02] [ 1.40240947e-01 9.90102488e-01 -5.43502341e-03 1.48741042e+01] [ 5.51115094e-02 -2.32515496e-03 9.98477499e-01 8.92606597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.59, Y:14.88, Z:8.93 [[ 9.88639323e-01 -1.40136728e-01 -5.43505955e-02 1.92587530e+02] [ 1.40052116e-01 9.90129510e-01 -5.38136186e-03 1.48761878e+01] [ 5.45682549e-02 -2.29168999e-03 9.98507413e-01 8.92735798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.62, Y:14.88, Z:8.93 [[ 9.88518606e-01 -1.40643233e-01 -5.52308479e-02 1.92617718e+02] [ 1.40556664e-01 9.90057535e-01 -5.46822308e-03 1.48822101e+01] [ 5.54507857e-02 -2.35762350e-03 9.98458638e-01 8.92913679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.65, Y:14.89, Z:8.93 [[ 9.87927297e-01 -1.42961348e-01 -5.96800555e-02 1.92648024e+02] [ 1.42864494e-01 9.89724620e-01 -5.90872437e-03 1.48864819e+01] [ 5.99115395e-02 -2.68877083e-03 9.98200069e-01 8.92722518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.68, Y:14.89, Z:8.93 [[ 9.87554067e-01 -1.44477115e-01 -6.21556798e-02 1.92678063e+02] [ 1.44375039e-01 9.89503904e-01 -6.15410417e-03 1.48901164e+01] [ 6.23924150e-02 -2.89621808e-03 9.98047493e-01 8.92670294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.71, Y:14.89, Z:8.93 [[ 9.87438070e-01 -1.44804374e-01 -6.32277709e-02 1.92706275e+02] [ 1.44699305e-01 9.89455860e-01 -6.26202958e-03 1.48926447e+01] [ 6.34678576e-02 -2.96564810e-03 9.97979477e-01 8.92626998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.73, Y:14.90, Z:8.93 [[ 9.87338638e-01 -1.45198234e-01 -6.38739940e-02 1.92734645e+02] [ 1.45091386e-01 9.89397991e-01 -6.33292179e-03 1.48964315e+01] [ 6.41163303e-02 -3.01482796e-03 9.97937877e-01 8.92698685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.76, Y:14.90, Z:8.93 [[ 9.87630933e-01 -1.43665010e-01 -6.28132630e-02 1.92762226e+02] [ 1.43557711e-01 9.89622264e-01 -6.24161495e-03 1.49013521e+01] [ 6.30581052e-02 -2.85291627e-03 9.98005780e-01 8.92881671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:14.91, Z:8.93 [[ 9.87954834e-01 -1.41772133e-01 -6.20153911e-02 1.92790061e+02] [ 1.41663390e-01 9.89895663e-01 -6.16925231e-03 1.49058743e+01] [ 6.22633948e-02 -2.69036792e-03 9.98056126e-01 8.93092772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.82, Y:14.91, Z:8.93 [[ 9.88317000e-01 -1.39628554e-01 -6.11013444e-02 1.92817927e+02] [ 1.39518641e-01 9.90200763e-01 -6.08261296e-03 1.49136579e+01] [ 6.13519043e-02 -2.51322672e-03 9.98113033e-01 8.93439522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.85, Y:14.92, Z:8.94 [[ 9.88716085e-01 -1.37193544e-01 -6.01534252e-02 1.92845653e+02] [ 1.37082258e-01 9.90541541e-01 -5.99251664e-03 1.49187695e+01] [ 6.04066011e-02 -2.32106977e-03 9.98171155e-01 8.93667865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.87, Y:14.93, Z:8.94 [[ 9.89451397e-01 -1.32295623e-01 -5.90237395e-02 1.92874663e+02] [ 1.32179568e-01 9.91208326e-01 -5.88348693e-03 1.49297483e+01] [ 5.92831817e-02 -1.98030803e-03 9.98239241e-01 8.94021867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.90, Y:14.93, Z:8.94 [[ 9.89766197e-01 -1.30093691e-01 -5.86387907e-02 1.92904171e+02] [ 1.29975222e-01 9.91500007e-01 -5.84619060e-03 1.49330782e+01] [ 5.89009139e-02 -1.83522802e-03 9.98262147e-01 8.94138975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:14.94, Z:8.94 [[ 9.90040924e-01 -1.28385073e-01 -5.77602044e-02 1.92934410e+02] [ 1.28267176e-01 9.91722925e-01 -5.75944955e-03 1.49391367e+01] [ 5.80215462e-02 -1.70664755e-03 9.98313872e-01 8.94437010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.96, Y:14.94, Z:8.95 [[ 9.90238326e-01 -1.27332005e-01 -5.66975965e-02 1.92964371e+02] [ 1.27216682e-01 9.91858838e-01 -5.65349362e-03 1.49442968e+01] [ 5.69558829e-02 -1.61457408e-03 9.98375391e-01 8.94724032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.99, Y:14.95, Z:8.95 [[ 9.90353956e-01 -1.26812063e-01 -5.58367434e-02 1.92994130e+02] [ 1.26699392e-01 9.91925534e-01 -5.56765527e-03 1.49475498e+01] [ 5.60919373e-02 -1.56053201e-03 9.98424388e-01 8.94996536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.02, Y:14.95, Z:8.95 [[ 9.90322366e-01 -1.27032796e-01 -5.58952657e-02 1.93024522e+02] [ 1.26920239e-01 9.91897267e-01 -5.57349071e-03 1.49499664e+01] [ 5.61503774e-02 -1.57468800e-03 9.98421081e-01 8.95173519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.05, Y:14.95, Z:8.95 [[ 9.90281315e-01 -1.27576392e-01 -5.53821315e-02 1.93053933e+02] [ 1.27466733e-01 9.91827472e-01 -5.52246972e-03 1.49482073e+01] [ 5.56340562e-02 -1.59058080e-03 9.98449960e-01 8.95236818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.08, Y:14.95, Z:8.96 [[ 9.90072097e-01 -1.29265598e-01 -5.52054975e-02 1.93083899e+02] [ 1.29159212e-01 9.91608585e-01 -5.50570214e-03 1.49536100e+01] [ 5.54539432e-02 -1.67925648e-03 9.98459834e-01 8.95500471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.11, Y:14.96, Z:8.96 [[ 9.89919436e-01 -1.30249457e-01 -5.56290241e-02 1.93114098e+02] [ 1.30142982e-01 9.91479715e-01 -5.54794089e-03 1.49555208e+01] [ 5.58776652e-02 -1.74771258e-03 9.98436093e-01 8.95609625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.14, Y:14.96, Z:8.96 [[ 9.89610497e-01 -1.32422851e-01 -5.59933305e-02 1.93144076e+02] [ 1.32318449e-01 9.91191527e-01 -5.58427355e-03 1.49557843e+01] [ 5.62396002e-02 -1.88269494e-03 9.98415526e-01 8.95690290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.17, Y:14.96, Z:8.96 [[ 9.89407714e-01 -1.33823714e-01 -5.62457996e-02 1.93173273e+02] [ 1.33720618e-01 9.91003193e-01 -5.60961226e-03 1.49568081e+01] [ 5.64904661e-02 -1.97102942e-03 9.98401193e-01 8.95787576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.20, Y:14.96, Z:8.96 [[ 9.89196034e-01 -1.35216867e-01 -5.66357204e-02 1.93202311e+02] [ 1.35114583e-01 9.90813876e-01 -5.64907016e-03 1.49573041e+01] [ 5.68793072e-02 -2.06427392e-03 9.98378928e-01 8.95881382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.23, Y:14.96, Z:8.96 [[ 9.88825383e-01 -1.37604101e-01 -5.73539279e-02 1.93232882e+02] [ 1.37503294e-01 9.90484797e-01 -5.71927689e-03 1.49581316e+01] [ 5.75951897e-02 -2.23098786e-03 9.98337527e-01 8.95927405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.26, Y:14.96, Z:8.96 [[ 9.88656002e-01 -1.38788506e-01 -5.74200309e-02 1.93261990e+02] [ 1.38689428e-01 9.90319368e-01 -5.72640312e-03 1.49596115e+01] [ 5.76589276e-02 -2.30210841e-03 9.98333686e-01 8.96042092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.29, Y:14.96, Z:8.96 [[ 9.88429923e-01 -1.40701910e-01 -5.66503306e-02 1.93292104e+02] [ 1.40608463e-01 9.90049147e-01 -5.65210294e-03 1.49642930e+01] [ 5.68818731e-02 -2.37880827e-03 9.98378082e-01 8.96275996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.32, Y:14.97, Z:8.96 [[ 9.88221064e-01 -1.42293257e-01 -5.63183554e-02 1.93322545e+02] [ 1.42203479e-01 9.89821498e-01 -5.61898119e-03 1.49659699e+01] [ 5.65446620e-02 -2.45587048e-03 9.98397050e-01 8.96447949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.35, Y:14.97, Z:8.97 [[ 9.88008065e-01 -1.43700657e-01 -5.64817250e-02 1.93353433e+02] [ 1.43612659e-01 9.89617931e-01 -5.63511374e-03 1.49652726e+01] [ 5.67050974e-02 -2.54395291e-03 9.98387730e-01 8.96587444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.38, Y:14.98, Z:8.97 [[ 9.87933580e-01 -1.42348805e-01 -6.10250761e-02 1.93383620e+02] [ 1.42243606e-01 9.89812965e-01 -6.08696375e-03 1.49762269e+01] [ 6.12698835e-02 -2.66691101e-03 9.98117673e-01 8.96830927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.41, Y:14.98, Z:8.97 [[ 9.88161044e-01 -1.40667487e-01 -6.12405864e-02 1.93412899e+02] [ 1.40558416e-01 9.90053552e-01 -6.10696733e-03 1.49789510e+01] [ 6.14905118e-02 -2.57321261e-03 9.98104351e-01 8.96899662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.44, Y:14.99, Z:8.97 [[ 9.88416057e-01 -1.38821750e-01 -6.13369338e-02 1.93441923e+02] [ 1.38708705e-01 9.90314327e-01 -6.11795487e-03 1.49850797e+01] [ 6.15921495e-02 -2.46088181e-03 9.98098367e-01 8.97057865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.47, Y:14.99, Z:8.97 [[ 9.88416056e-01 -1.38821831e-01 -6.13367629e-02 1.93471768e+02] [ 1.38708680e-01 9.90314320e-01 -6.11966774e-03 1.49880582e+01] [ 6.15922181e-02 -2.45916359e-03 9.98098367e-01 8.97200610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.50, Y:14.99, Z:8.97 [[ 9.88416056e-01 -1.38821831e-01 -6.13367629e-02 1.93501613e+02] [ 1.38708680e-01 9.90314320e-01 -6.11966774e-03 1.49910358e+01] [ 6.15922181e-02 -2.45916359e-03 9.98098367e-01 8.97343308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.53, Y:14.99, Z:8.97 [[ 9.88416056e-01 -1.38821831e-01 -6.13367629e-02 1.93531458e+02] [ 1.38708680e-01 9.90314320e-01 -6.11966774e-03 1.49940135e+01] [ 6.15922181e-02 -2.45916359e-03 9.98098367e-01 8.97486006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.56, Y:15.00, Z:8.98 [[ 9.88691799e-01 -1.36832850e-01 -6.13620219e-02 1.93560475e+02] [ 1.36715752e-01 9.90591397e-01 -6.12269799e-03 1.49967594e+01] [ 6.16224772e-02 -2.33569365e-03 9.98096796e-01 8.97544738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.59, Y:15.00, Z:8.98 [[ 9.88686990e-01 -1.36867691e-01 -6.13618031e-02 1.93589474e+02] [ 1.36750524e-01 9.90586584e-01 -6.12488957e-03 1.49996847e+01] [ 6.16224784e-02 -2.33566010e-03 9.98096796e-01 8.97683453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:15.01, Z:8.98 [[ 9.88957214e-01 -1.34788294e-01 -6.16096203e-02 1.93618823e+02] [ 1.34666015e-01 9.90871949e-01 -6.15183401e-03 1.50064424e+01] [ 6.18764397e-02 -2.21282145e-03 9.98081364e-01 8.97880439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.65, Y:15.01, Z:8.98 [[ 9.88952364e-01 -1.34823976e-01 -6.16093984e-02 1.93647819e+02] [ 1.34701628e-01 9.90867095e-01 -6.15405567e-03 1.50093682e+01] [ 6.18764398e-02 -2.21281837e-03 9.98081364e-01 8.98019142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.68, Y:15.01, Z:8.98 [[ 9.88947512e-01 -1.34859658e-01 -6.16091767e-02 1.93676815e+02] [ 1.34737241e-01 9.90862239e-01 -6.15627426e-03 1.50122950e+01] [ 6.18764398e-02 -2.21281837e-03 9.98081364e-01 8.98157845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.71, Y:15.02, Z:8.98 [[ 9.89221122e-01 -1.32657068e-01 -6.19973712e-02 1.93705525e+02] [ 1.32528645e-01 9.91159801e-01 -6.19732578e-03 1.50165714e+01] [ 6.22714212e-02 -2.08590205e-03 9.98057072e-01 8.98242386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.73, Y:15.02, Z:8.98 [[ 9.89216431e-01 -1.32692149e-01 -6.19971502e-02 1.93734519e+02] [ 1.32563657e-01 9.91155105e-01 -6.19953533e-03 1.50195010e+01] [ 6.22714216e-02 -2.08588674e-03 9.98057072e-01 8.98381080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.76, Y:15.02, Z:8.99 [[ 9.89451056e-01 -1.30678476e-01 -6.25279503e-02 1.93763303e+02] [ 1.30543529e-01 9.91422839e-01 -6.25630010e-03 1.50249953e+01] [ 6.28092018e-02 -1.97231656e-03 9.98023604e-01 8.98512727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.79, Y:15.03, Z:8.99 [[ 9.89729624e-01 -1.28702283e-01 -6.22173074e-02 1.93792185e+02] [ 1.28564177e-01 9.91681592e-01 -6.23476391e-03 1.50304007e+01] [ 6.25021868e-02 -1.82818639e-03 9.98043153e-01 8.98669595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.82, Y:15.04, Z:8.99 [[ 9.90009331e-01 -1.26598206e-01 -6.20839593e-02 1.93820913e+02] [ 1.26455672e-01 9.91952660e-01 -6.23562034e-03 1.50358432e+01] [ 6.23737669e-02 -1.67754647e-03 9.98051451e-01 8.98877201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.85, Y:15.04, Z:8.99 [[ 9.90438311e-01 -1.23952854e-01 -6.05610573e-02 1.93849658e+02] [ 1.23811463e-01 9.92287034e-01 -6.09621854e-03 1.50419737e+01] [ 6.08495956e-02 -1.46022470e-03 9.98145878e-01 8.99122131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.88, Y:15.04, Z:8.99 [[ 9.90434036e-01 -1.23987555e-01 -6.05599383e-02 1.93878639e+02] [ 1.23845551e-01 9.92282712e-01 -6.10731519e-03 1.50449320e+01] [ 6.08498109e-02 -1.45118607e-03 9.98145878e-01 8.99261043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.91, Y:15.05, Z:9.00 [[ 9.90611591e-01 -1.22983578e-01 -5.96968643e-02 1.93908579e+02] [ 1.22843675e-01 9.92407763e-01 -6.02190249e-03 1.50510749e+01] [ 5.99842267e-02 -1.36801582e-03 9.98198388e-01 8.99581701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.94, Y:15.06, Z:9.00 [[ 9.90709708e-01 -1.22602145e-01 -5.88471565e-02 1.93938663e+02] [ 1.22465526e-01 9.92455015e-01 -5.93618848e-03 1.50559973e+01] [ 5.91309450e-02 -1.32570841e-03 9.98249355e-01 8.99836771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.97, Y:15.06, Z:9.00 [[ 9.90640208e-01 -1.23254050e-01 -5.86550769e-02 1.93967906e+02] [ 1.23119451e-01 9.92374219e-01 -5.91701846e-03 1.50581380e+01] [ 5.89370826e-02 -1.35994445e-03 9.98260773e-01 8.99940407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.00, Y:15.06, Z:9.00 [[ 9.90408451e-01 -1.24877183e-01 -5.91336639e-02 1.93998111e+02] [ 1.24743214e-01 9.92171122e-01 -5.96616050e-03 1.50612998e+01] [ 5.94157510e-02 -1.46758753e-03 9.98232245e-01 9.00087009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.03, Y:15.06, Z:9.00 [[ 9.89330904e-01 -1.32537776e-01 -6.04822254e-02 1.94028215e+02] [ 1.32411882e-01 9.91175995e-01 -6.10254014e-03 1.50587604e+01] [ 6.07573470e-02 -1.97113372e-03 9.98150620e-01 9.00014146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.06, Y:15.06, Z:9.00 [[ 9.88842722e-01 -1.35811264e-01 -6.11994482e-02 1.94058107e+02] [ 1.35688533e-01 9.90732292e-01 -6.17631122e-03 1.50585555e+01] [ 6.14710822e-02 -2.19666294e-03 9.98106448e-01 9.00029022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.09, Y:15.06, Z:9.00 [[ 9.87824053e-01 -1.42436458e-01 -6.25739169e-02 1.94088354e+02] [ 1.42321342e-01 9.89800356e-01 -6.31592158e-03 1.50602613e+01] [ 6.28353027e-02 -2.66658456e-03 9.98020348e-01 9.00159425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.12, Y:15.06, Z:9.00 [[ 9.87824053e-01 -1.42436464e-01 -6.25739046e-02 1.94118199e+02] [ 1.42321340e-01 9.89800356e-01 -6.31604365e-03 1.50632738e+01] [ 6.28353079e-02 -2.66646210e-03 9.98020348e-01 9.00302144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.15, Y:15.07, Z:9.00 [[ 9.87392092e-01 -1.45456355e-01 -6.24444128e-02 1.94148268e+02] [ 1.45347726e-01 9.89360557e-01 -6.30297310e-03 1.50664567e+01] [ 6.26968465e-02 -2.85264759e-03 9.98028541e-01 9.00498309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.18, Y:15.07, Z:9.01 [[ 9.86989616e-01 -1.48092492e-01 -6.26107984e-02 1.94178295e+02] [ 1.47988568e-01 9.88968879e-01 -6.31976762e-03 1.50678913e+01] [ 6.28560413e-02 -3.02813740e-03 9.98018010e-01 9.00607600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:15.07, Z:9.01 [[ 9.86701363e-01 -1.49865327e-01 -6.29349116e-02 1.94208295e+02] [ 1.49764002e-01 9.88701374e-01 -6.35116492e-03 1.50696744e+01] [ 6.31756530e-02 -3.15868115e-03 9.97997425e-01 9.00723979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.24, Y:15.07, Z:9.01 [[ 9.86332815e-01 -1.52589424e-01 -6.21614526e-02 1.94239421e+02] [ 1.52496238e-01 9.88284170e-01 -6.26863859e-03 1.50723557e+01] [ 6.23897075e-02 -3.29642375e-03 9.98046421e-01 9.00933412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.27, Y:15.07, Z:9.01 [[ 9.86295173e-01 -1.53117547e-01 -6.14560670e-02 1.94269962e+02] [ 1.53027605e-01 9.88202493e-01 -6.19554786e-03 1.50744454e+01] [ 6.16796857e-02 -3.29383577e-03 9.98090561e-01 9.01109992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.30, Y:15.08, Z:9.01 [[ 9.86272568e-01 -1.53624124e-01 -6.05479146e-02 1.94300783e+02] [ 1.53537849e-01 9.88123923e-01 -6.10267054e-03 1.50791432e+01] [ 6.07663603e-02 -3.27750002e-03 9.98146636e-01 9.01374580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.33, Y:15.08, Z:9.02 [[ 9.86346606e-01 -1.53559144e-01 -5.94975859e-02 1.94331872e+02] [ 1.53475842e-01 9.88134217e-01 -5.99467114e-03 1.50828158e+01] [ 5.97121370e-02 -3.21861857e-03 9.98210449e-01 9.01573685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.36, Y:15.09, Z:9.02 [[ 9.86315894e-01 -1.53725812e-01 -5.95762662e-02 1.94363227e+02] [ 1.53642750e-01 9.88108246e-01 -5.99996557e-03 1.50876031e+01] [ 5.97901495e-02 -3.23559998e-03 9.98205725e-01 9.01778750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.39, Y:15.09, Z:9.02 [[ 9.86259164e-01 -1.54123386e-01 -5.94881709e-02 1.94394286e+02] [ 1.54041538e-01 9.88046234e-01 -5.98694644e-03 1.50893427e+01] [ 5.96997917e-02 -3.25896853e-03 9.98211057e-01 9.01919725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.43, Y:15.09, Z:9.02 [[ 9.86225793e-01 -1.54517800e-01 -5.90163918e-02 1.94425515e+02] [ 1.54438137e-01 9.87984627e-01 -5.93626633e-03 1.50915600e+01] [ 5.92245467e-02 -3.25988262e-03 9.98239363e-01 9.02094981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:15.10, Z:9.02 [[ 9.86184744e-01 -1.54863595e-01 -5.87955611e-02 1.94457072e+02] [ 1.54785338e-01 9.87930444e-01 -5.91067989e-03 1.50974222e+01] [ 5.90012740e-02 -3.27166845e-03 9.98252546e-01 9.02360834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:15.10, Z:9.02 [[ 9.86022350e-01 -1.55891310e-01 -5.88032674e-02 1.94488890e+02] [ 1.55815093e-01 9.87768576e-01 -5.90738290e-03 1.50961444e+01] [ 5.90049294e-02 -3.33762501e-03 9.98252112e-01 9.02400304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.52, Y:15.10, Z:9.03 [[ 9.85953273e-01 -1.56209373e-01 -5.91166304e-02 1.94520487e+02] [ 1.56133115e-01 9.87718189e-01 -5.93543953e-03 1.51026571e+01] [ 5.93177424e-02 -3.37799761e-03 9.98233437e-01 9.02627154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.55, Y:15.11, Z:9.03 [[ 9.85922483e-01 -1.56440658e-01 -5.90184596e-02 1.94551770e+02] [ 1.56365315e-01 9.87681541e-01 -5.92137921e-03 1.51081928e+01] [ 5.92177876e-02 -3.39041915e-03 9.98239329e-01 9.02841946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.58, Y:15.11, Z:9.03 [[ 9.85966619e-01 -1.56370725e-01 -5.84638612e-02 1.94583158e+02] [ 1.56296913e-01 9.87692724e-01 -5.86154087e-03 1.51143951e+01] [ 5.86609038e-02 -3.35843739e-03 9.98272317e-01 9.03045609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.61, Y:15.11, Z:9.03 [[ 9.86057720e-01 -1.55836438e-01 -5.83538951e-02 1.94614549e+02] [ 1.55762208e-01 9.87777279e-01 -5.84648309e-03 1.51134370e+01] [ 5.85517468e-02 -3.32436178e-03 9.98278840e-01 9.03095070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.65, Y:15.12, Z:9.03 [[ 9.86223844e-01 -1.54706976e-01 -5.85515271e-02 1.94646074e+02] [ 1.54630460e-01 9.87954983e-01 -5.86289459e-03 1.51236449e+01] [ 5.87533036e-02 -3.27172309e-03 9.98267171e-01 9.03278667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.68, Y:15.13, Z:9.03 [[ 9.86402172e-01 -1.53195428e-01 -5.95139991e-02 1.94677888e+02] [ 1.53113900e-01 9.88190606e-01 -5.95489704e-03 1.51289204e+01] [ 5.97234378e-02 -3.23849711e-03 9.98209709e-01 9.03357279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.71, Y:15.14, Z:9.03 [[ 9.87064346e-01 -1.48612803e-01 -6.01515667e-02 1.94708157e+02] [ 1.48521260e-01 9.88890922e-01 -6.01500144e-03 1.51389482e+01] [ 6.03772445e-02 -2.99659300e-03 9.98171132e-01 9.03419116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.74, Y:15.14, Z:9.03 [[ 9.87515953e-01 -1.45444958e-01 -6.04814610e-02 1.94738772e+02] [ 1.45346565e-01 9.89362327e-01 -6.04664936e-03 1.51431961e+01] [ 6.07175337e-02 -2.81960993e-03 9.98151006e-01 9.03461223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.77, Y:15.15, Z:9.04 [[ 9.87971630e-01 -1.42131714e-01 -6.09149768e-02 1.94769544e+02] [ 1.42025761e-01 9.89844241e-01 -6.08777528e-03 1.51516173e+01] [ 6.11616049e-02 -2.63694665e-03 9.98124393e-01 9.03656920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.80, Y:15.16, Z:9.04 [[ 9.88948771e-01 -1.35555138e-01 -6.00427547e-02 1.94799325e+02] [ 1.35440197e-01 9.90767362e-01 -5.99890348e-03 1.51627467e+01] [ 6.03015839e-02 -2.19959429e-03 9.98177780e-01 9.03900299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.83, Y:15.17, Z:9.04 [[ 9.89390850e-01 -1.32496825e-01 -5.95847142e-02 1.94829813e+02] [ 1.32378127e-01 9.91181415e-01 -5.95258583e-03 1.51692468e+01] [ 5.98479601e-02 -1.99827889e-03 9.98205504e-01 9.04074204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.86, Y:15.18, Z:9.04 [[ 9.90087656e-01 -1.27753293e-01 -5.83569111e-02 1.94858581e+02] [ 1.27631346e-01 9.91804557e-01 -5.82755022e-03 1.51765838e+01] [ 5.86231391e-02 -1.67838557e-03 9.98278774e-01 9.04261334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.89, Y:15.18, Z:9.04 [[ 9.90377293e-01 -1.25984338e-01 -5.72779556e-02 1.94888530e+02] [ 1.25864091e-01 9.92031023e-01 -5.71658133e-03 1.51809759e+01] [ 5.75417086e-02 -1.54766545e-03 9.98341904e-01 9.04450514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.92, Y:15.19, Z:9.05 [[ 9.90552736e-01 -1.24819683e-01 -5.67919302e-02 1.94920359e+02] [ 1.24699642e-01 9.92178356e-01 -5.66656861e-03 1.51884908e+01] [ 5.70550232e-02 -1.46889834e-03 9.98369955e-01 9.04757001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.95, Y:15.19, Z:9.05 [[ 9.90695193e-01 -1.23806891e-01 -5.65233362e-02 1.94952661e+02] [ 1.23686571e-01 9.92305332e-01 -5.63565676e-03 1.51925064e+01] [ 5.67861410e-02 -1.40795959e-03 9.98385372e-01 9.04934067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.98, Y:15.20, Z:9.05 [[ 9.90754055e-01 -1.23282668e-01 -5.66373228e-02 1.94984293e+02] [ 1.23161243e-01 9.92370629e-01 -5.64289767e-03 1.51970106e+01] [ 5.69008871e-02 -1.38479930e-03 9.98378872e-01 9.05110838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.02, Y:15.20, Z:9.05 [[ 9.90709959e-01 -1.23233970e-01 -5.75079578e-02 1.95016483e+02] [ 1.23108946e-01 9.92376646e-01 -5.72537704e-03 1.52013545e+01] [ 5.77751152e-02 -1.40755602e-03 9.98328631e-01 9.05206131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.05, Y:15.20, Z:9.05 [[ 9.90631574e-01 -1.23604610e-01 -5.80601906e-02 1.95047958e+02] [ 1.23478048e-01 9.92330493e-01 -5.77626774e-03 1.52038377e+01] [ 5.83288709e-02 -1.44700578e-03 9.98296373e-01 9.05312849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.08, Y:15.21, Z:9.05 [[ 9.90517314e-01 -1.24472415e-01 -5.81555465e-02 1.95079462e+02] [ 1.24347116e-01 9.92221929e-01 -5.78257542e-03 1.52068489e+01] [ 5.84229796e-02 -1.50373340e-03 9.98290786e-01 9.05453704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.11, Y:15.21, Z:9.06 [[ 9.90392241e-01 -1.25382728e-01 -5.83299293e-02 1.95111232e+02] [ 1.25258451e-01 9.92107212e-01 -5.79651711e-03 1.52097343e+01] [ 5.85963266e-02 -1.56549100e-03 9.98280532e-01 9.05613124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:15.21, Z:9.06 [[ 9.90025397e-01 -1.28373174e-01 -5.80520568e-02 1.95142561e+02] [ 1.28255445e-01 9.91724411e-01 -5.76487081e-03 1.52101826e+01] [ 5.83116966e-02 -1.73812384e-03 9.98296912e-01 9.05745271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.17, Y:15.21, Z:9.06 [[ 9.89856853e-01 -1.29885048e-01 -5.75611423e-02 1.95174886e+02] [ 1.29772044e-01 9.91527398e-01 -5.71281193e-03 1.52134544e+01] [ 5.78154585e-02 -1.81496107e-03 9.98325638e-01 9.05954145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:15.21, Z:9.06 [[ 9.89654000e-01 -1.31381001e-01 -5.76540726e-02 1.95205912e+02] [ 1.31270399e-01 9.91330110e-01 -5.71800756e-03 1.52148682e+01] [ 5.79054557e-02 -1.90942405e-03 9.98320245e-01 9.06101369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.24, Y:15.21, Z:9.06 [[ 9.89250222e-01 -1.34546344e-01 -5.72824593e-02 1.95236807e+02] [ 1.34442625e-01 9.90905111e-01 -5.67823486e-03 1.52135911e+01] [ 5.75254674e-02 -2.08400909e-03 9.98341864e-01 9.06222170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.27, Y:15.22, Z:9.06 [[ 9.89100699e-01 -1.35763014e-01 -5.69930828e-02 1.95268623e+02] [ 1.35662492e-01 9.90739016e-01 -5.64716985e-03 1.52182237e+01] [ 5.72319475e-02 -2.14620397e-03 9.98358602e-01 9.06440683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.30, Y:15.22, Z:9.07 [[ 9.88809792e-01 -1.38006192e-01 -5.66523263e-02 1.95300405e+02] [ 1.37910760e-01 9.90428773e-01 -5.60953563e-03 1.52198520e+01] [ 5.68842447e-02 -2.26620163e-03 9.98378208e-01 9.06577972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.33, Y:15.22, Z:9.07 [[ 9.88646969e-01 -1.39335751e-01 -5.62380502e-02 1.95332098e+02] [ 1.39244026e-01 9.90242458e-01 -5.56548827e-03 1.52199946e+01] [ 5.64647765e-02 -2.32850941e-03 9.98401877e-01 9.06693849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.36, Y:15.22, Z:9.07 [[ 9.88556578e-01 -1.40134540e-01 -5.58408696e-02 1.95363996e+02] [ 1.40045552e-01 9.90129658e-01 -5.52305082e-03 1.52221424e+01] [ 5.60636713e-02 -2.36041721e-03 9.98424405e-01 9.06844393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.40, Y:15.23, Z:9.07 [[ 9.88286470e-01 -1.41983568e-01 -5.59510438e-02 1.95396023e+02] [ 1.41897407e-01 9.89865923e-01 -5.52998554e-03 1.52268844e+01] [ 5.61691987e-02 -2.47409815e-03 9.98418199e-01 9.07064306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.43, Y:15.23, Z:9.07 [[ 9.88104291e-01 -1.43049767e-01 -5.64506423e-02 1.95426896e+02] [ 1.42964011e-01 9.89712183e-01 -5.57557869e-03 1.52268887e+01] [ 5.66674736e-02 -2.56115699e-03 9.98389823e-01 9.07160240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:15.23, Z:9.07 [[ 9.87938234e-01 -1.43986030e-01 -5.69742857e-02 1.95458599e+02] [ 1.43900356e-01 9.89576195e-01 -5.62506559e-03 1.52292264e+01] [ 5.71903278e-02 -2.64140265e-03 9.98359800e-01 9.07259282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.49, Y:15.23, Z:9.07 [[ 9.87468290e-01 -1.46869498e-01 -5.77557545e-02 1.95489393e+02] [ 1.46786549e-01 9.89151772e-01 -5.69920592e-03 1.52299286e+01] [ 5.79662464e-02 -2.84998275e-03 9.98314475e-01 9.07266706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.52, Y:15.23, Z:9.07 [[ 9.87242964e-01 -1.48125602e-01 -5.83963698e-02 1.95521079e+02] [ 1.48043157e-01 9.88964130e-01 -5.75965199e-03 1.52323846e+01] [ 5.86050669e-02 -2.95900701e-03 9.98276861e-01 9.07398879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.55, Y:15.24, Z:9.08 [[ 9.87038209e-01 -1.49513386e-01 -5.83208554e-02 1.95552520e+02] [ 1.49433764e-01 9.88755026e-01 -5.74884343e-03 1.52378036e+01] [ 5.85245679e-02 -3.04077682e-03 9.98281337e-01 9.07617130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.58, Y:15.24, Z:9.08 [[ 9.86817523e-01 -1.50859124e-01 -5.85892581e-02 1.95583948e+02] [ 1.50781376e-01 9.88550287e-01 -5.77114217e-03 1.52373239e+01] [ 5.87890574e-02 -3.13910474e-03 9.98265492e-01 9.07713307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.61, Y:15.24, Z:9.08 [[ 9.86636764e-01 -1.52075816e-01 -5.84879701e-02 1.95614727e+02] [ 1.52000643e-01 9.88363622e-01 -5.75814407e-03 1.52366301e+01] [ 5.86830564e-02 -3.20901241e-03 9.98271507e-01 9.07832253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.65, Y:15.24, Z:9.08 [[ 9.86249917e-01 -1.54230253e-01 -5.93643796e-02 1.95645795e+02] [ 1.54156814e-01 9.88029120e-01 -5.84248722e-03 1.52383151e+01] [ 5.95548240e-02 -3.38927109e-03 9.98219282e-01 9.07982878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.68, Y:15.24, Z:9.08 [[ 9.86092912e-01 -1.55206103e-01 -5.94292383e-02 1.95677555e+02] [ 1.55134370e-01 9.87876074e-01 -5.84717831e-03 1.52431426e+01] [ 5.96162404e-02 -3.45365635e-03 9.98215396e-01 9.08205794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:15.24, Z:9.08 [[ 9.85948120e-01 -1.56088825e-01 -5.95196091e-02 1.95709378e+02] [ 1.56018716e-01 9.87736763e-01 -5.85203417e-03 1.52417807e+01] [ 5.97031432e-02 -3.51637093e-03 9.98209983e-01 9.08333309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.74, Y:15.25, Z:9.09 [[ 9.85832696e-01 -1.56972714e-01 -5.91055267e-02 1.95741093e+02] [ 1.56905355e-01 9.87596566e-01 -5.80797952e-03 1.52475451e+01] [ 5.92841095e-02 -3.54827756e-03 9.98234844e-01 9.08673114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:15.25, Z:9.09 [[ 9.85776281e-01 -1.57297375e-01 -5.91832786e-02 1.95772678e+02] [ 1.57230672e-01 9.87544806e-01 -5.81142338e-03 1.52517875e+01] [ 5.93602610e-02 -3.57666333e-03 9.98230217e-01 9.08894169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.81, Y:15.26, Z:9.09 [[ 9.85794089e-01 -1.57179535e-01 -5.91997323e-02 1.95805547e+02] [ 1.57112861e-01 9.87563574e-01 -5.80837524e-03 1.52574399e+01] [ 5.93764569e-02 -3.57517731e-03 9.98229259e-01 9.09141698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.84, Y:15.27, Z:9.09 [[ 9.85818639e-01 -1.56954622e-01 -5.93873523e-02 1.95836837e+02] [ 1.56887481e-01 9.87599331e-01 -5.82069906e-03 1.52651811e+01] [ 5.95644950e-02 -3.57897850e-03 9.98218043e-01 9.09449445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.87, Y:15.27, Z:9.10 [[ 9.85836123e-01 -1.56844588e-01 -5.93878278e-02 1.95869257e+02] [ 1.56777541e-01 9.87616818e-01 -5.81584379e-03 1.52682705e+01] [ 5.95646011e-02 -3.57720871e-03 9.98218043e-01 9.09604275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.90, Y:15.27, Z:9.10 [[ 9.85962837e-01 -1.56229635e-01 -5.89031917e-02 1.95900433e+02] [ 1.56162933e-01 9.87714499e-01 -5.76245627e-03 1.52686351e+01] [ 5.90798029e-02 -3.51692746e-03 9.98247068e-01 9.09708753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.93, Y:15.27, Z:9.10 [[ 9.86057443e-01 -1.55611571e-01 -5.89555540e-02 1.95932519e+02] [ 1.55543858e-01 9.87812170e-01 -5.76408831e-03 1.52734568e+01] [ 5.91339726e-02 -3.48645212e-03 9.98243967e-01 9.09908579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:15.28, Z:9.10 [[ 9.86156953e-01 -1.54978385e-01 -5.89590110e-02 1.95964824e+02] [ 1.54909806e-01 9.87911826e-01 -5.75988835e-03 1.52788971e+01] [ 5.91389624e-02 -3.45317501e-03 9.98243787e-01 9.10105058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.00, Y:15.28, Z:9.10 [[ 9.86267111e-01 -1.54233841e-01 -5.90686718e-02 1.95996580e+02] [ 1.54163989e-01 9.88028454e-01 -5.76535511e-03 1.52791369e+01] [ 5.92507413e-02 -3.42008191e-03 9.98237273e-01 9.10215038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.03, Y:15.28, Z:9.10 [[ 9.86339938e-01 -1.53806459e-01 -5.89669436e-02 1.96028100e+02] [ 1.53736340e-01 9.88095169e-01 -5.75113465e-03 1.52829971e+01] [ 5.91495137e-02 -3.39278831e-03 9.98243369e-01 9.10398499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.06, Y:15.29, Z:9.11 [[ 9.86306840e-01 -1.53912634e-01 -5.92428745e-02 1.96059531e+02] [ 1.53842302e-01 9.88078544e-01 -5.77380023e-03 1.52874965e+01] [ 5.94252740e-02 -3.41932150e-03 9.98226901e-01 9.10539208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.09, Y:15.29, Z:9.11 [[ 9.86158755e-01 -1.54682212e-01 -5.97019568e-02 1.96091186e+02] [ 1.54612453e-01 9.87958089e-01 -5.81418899e-03 1.52919239e+01] [ 5.98823828e-02 -3.49695260e-03 9.98199315e-01 9.10711519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.12, Y:15.29, Z:9.11 [[ 9.86104578e-01 -1.55052442e-01 -5.96364041e-02 1.96121978e+02] [ 1.54983744e-01 9.87899972e-01 -5.80389288e-03 1.52926406e+01] [ 5.98147097e-02 -3.51942786e-03 9.98203293e-01 9.10812732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.15, Y:15.30, Z:9.11 [[ 9.86024543e-01 -1.55472709e-01 -5.98651621e-02 1.96153638e+02] [ 1.55404414e-01 9.87833769e-01 -5.82351701e-03 1.52966535e+01] [ 6.00422267e-02 -3.56117976e-03 9.98189486e-01 9.10962653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.19, Y:15.30, Z:9.11 [[ 9.85888059e-01 -1.56311304e-01 -5.99292136e-02 1.96185481e+02] [ 1.56244667e-01 9.87701204e-01 -5.82540086e-03 1.52996251e+01] [ 6.01027324e-02 -3.62042688e-03 9.98185631e-01 9.11112470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.22, Y:15.30, Z:9.11 [[ 9.85769257e-01 -1.57164818e-01 -5.96505849e-02 1.96217301e+02] [ 1.57100612e-01 9.87565607e-01 -5.79400162e-03 1.53019714e+01] [ 5.98194793e-02 -3.65959470e-03 9.98202503e-01 9.11267556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.25, Y:15.30, Z:9.11 [[ 9.85644838e-01 -1.57908552e-01 -5.97423074e-02 1.96247899e+02] [ 1.57845741e-01 9.87446755e-01 -5.79903112e-03 1.53032326e+01] [ 5.99080641e-02 -3.71428369e-03 9.98196989e-01 9.11413224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.28, Y:15.31, Z:9.12 [[ 9.85546801e-01 -1.58596029e-01 -5.95382540e-02 1.96280040e+02] [ 1.58535048e-01 9.87336452e-01 -5.77664335e-03 1.53059290e+01] [ 5.97004412e-02 -3.74574757e-03 9.98209310e-01 9.11580884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.31, Y:15.31, Z:9.12 [[ 9.85601977e-01 -1.58342641e-01 -5.92988305e-02 1.96310871e+02] [ 1.58281932e-01 9.87377220e-01 -5.74938529e-03 1.53071971e+01] [ 5.94606872e-02 -3.71932792e-03 9.98223719e-01 9.11712944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.34, Y:15.31, Z:9.12 [[ 9.85800607e-01 -1.57333565e-01 -5.86797380e-02 1.96343187e+02] [ 1.57272553e-01 9.87538869e-01 -5.68565838e-03 1.53111267e+01] [ 5.88430670e-02 -3.62378673e-03 9.98260668e-01 9.11943299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.38, Y:15.32, Z:9.12 [[ 9.85952827e-01 -1.56554151e-01 -5.82049854e-02 1.96375195e+02] [ 1.56493132e-01 9.87662981e-01 -5.63342862e-03 1.53195536e+01] [ 5.83688461e-02 -3.55438558e-03 9.98288758e-01 9.12230461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.41, Y:15.32, Z:9.12 [[ 9.86322396e-01 -1.54573678e-01 -5.72285697e-02 1.96405760e+02] [ 1.54511695e-01 9.87975465e-01 -5.53319178e-03 1.53197222e+01] [ 5.73957086e-02 -3.38497234e-03 9.98345769e-01 9.12383603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.44, Y:15.33, Z:9.13 [[ 9.86561741e-01 -1.53268116e-01 -5.66110845e-02 1.96436690e+02] [ 1.53205408e-01 9.88179215e-01 -5.47193862e-03 1.53298113e+01] [ 5.67805707e-02 -3.27471901e-03 9.98381311e-01 9.12682115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.47, Y:15.33, Z:9.13 [[ 9.86774732e-01 -1.52137833e-01 -5.59437967e-02 1.96469130e+02] [ 1.52075023e-01 9.88354184e-01 -5.40317808e-03 1.53334360e+01] [ 5.61143133e-02 -3.17593456e-03 9.98419299e-01 9.12854531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.50, Y:15.34, Z:9.13 [[ 9.86965139e-01 -1.51040068e-01 -5.55581829e-02 1.96500551e+02] [ 1.50976654e-01 9.88522791e-01 -5.36114311e-03 1.53351407e+01] [ 5.57302775e-02 -3.09672722e-03 9.98441058e-01 9.13004891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.53, Y:15.34, Z:9.13 [[ 9.87163135e-01 -1.49981406e-01 -5.49046683e-02 1.96532170e+02] [ 1.49918014e-01 9.88684253e-01 -5.29494647e-03 1.53398704e+01] [ 5.50775245e-02 -3.00422287e-03 9.98477562e-01 9.13170235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.56, Y:15.34, Z:9.13 [[ 9.87427434e-01 -1.48488910e-01 -5.42042946e-02 1.96563576e+02] [ 1.48425083e-01 9.88909858e-01 -5.22370432e-03 1.53429153e+01] [ 5.43788235e-02 -2.88724800e-03 9.98516203e-01 9.13376038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.60, Y:15.35, Z:9.14 [[ 9.87491119e-01 -1.48132303e-01 -5.40195487e-02 1.96595575e+02] [ 1.48068500e-01 9.88963417e-01 -5.20368221e-03 1.53454960e+01] [ 5.41941910e-02 -2.86000356e-03 9.98526319e-01 9.13537392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.63, Y:15.35, Z:9.14 [[ 9.87558820e-01 -1.47881219e-01 -5.34670149e-02 1.96627505e+02] [ 1.47818553e-01 9.89001106e-01 -5.14659720e-03 1.53486809e+01] [ 5.36400219e-02 -2.82084933e-03 9.98556353e-01 9.13712786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.66, Y:15.35, Z:9.14 [[ 9.87548046e-01 -1.48169311e-01 -5.28650407e-02 1.96659110e+02] [ 1.48108656e-01 9.88958022e-01 -5.08492872e-03 1.53478683e+01] [ 5.30347365e-02 -2.80815871e-03 9.98588720e-01 9.13809777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.69, Y:15.35, Z:9.14 [[ 9.87481569e-01 -1.48415597e-01 -5.34131150e-02 1.96690755e+02] [ 1.48354223e-01 9.88920960e-01 -5.13420746e-03 1.53497418e+01] [ 5.35833454e-02 -2.85412591e-03 9.98559302e-01 9.13961837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.72, Y:15.35, Z:9.14 [[ 9.87416105e-01 -1.48946646e-01 -5.31444559e-02 1.96723188e+02] [ 1.48887019e-01 9.88841054e-01 -5.10153791e-03 1.53517191e+01] [ 5.33112767e-02 -2.87517891e-03 9.98573804e-01 9.14052158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.76, Y:15.35, Z:9.14 [[ 9.87261394e-01 -1.50165910e-01 -5.25845926e-02 1.96755103e+02] [ 1.50109448e-01 9.88656518e-01 -5.04411685e-03 1.53492536e+01] [ 5.27455547e-02 -2.91358234e-03 9.98603734e-01 9.14148048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.79, Y:15.36, Z:9.14 [[ 9.87190264e-01 -1.50453085e-01 -5.30966290e-02 1.96786539e+02] [ 1.50396094e-01 9.88612717e-01 -5.09022300e-03 1.53558396e+01] [ 5.32578425e-02 -2.96050703e-03 9.98576405e-01 9.14347691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.82, Y:15.36, Z:9.14 [[ 9.87158391e-01 -1.50711484e-01 -5.29562021e-02 1.96818512e+02] [ 1.50655370e-01 9.88573328e-01 -5.07288804e-03 1.53573585e+01] [ 5.31156314e-02 -2.97039223e-03 9.98583951e-01 9.14469180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:15.36, Z:9.15 [[ 9.87137540e-01 -1.50800109e-01 -5.30924185e-02 1.96849880e+02] [ 1.50744035e-01 9.88559764e-01 -5.08216315e-03 1.53577307e+01] [ 5.32514195e-02 -2.98657137e-03 9.98576670e-01 9.14596923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.88, Y:15.36, Z:9.15 [[ 9.87048593e-01 -1.51424749e-01 -5.29680992e-02 1.96881355e+02] [ 1.51369985e-01 9.88464187e-01 -5.06739779e-03 1.53577412e+01] [ 5.31243986e-02 -3.01601254e-03 9.98583348e-01 9.14714197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.91, Y:15.37, Z:9.15 [[ 9.87053900e-01 -1.51320347e-01 -5.31672077e-02 1.96914289e+02] [ 1.51265191e-01 9.88480148e-01 -5.08325628e-03 1.53651269e+01] [ 5.33239295e-02 -3.02489988e-03 9.98572686e-01 9.14910481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.95, Y:15.36, Z:9.15 [[ 9.87108333e-01 -1.51018916e-01 -5.30134536e-02 1.96946369e+02] [ 1.50963942e-01 9.88526304e-01 -5.06296547e-03 1.53613425e+01] [ 5.31697969e-02 -3.00542454e-03 9.98580963e-01 9.15000262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.98, Y:15.37, Z:9.15 [[ 9.87234953e-01 -1.50241643e-01 -5.28639467e-02 1.96978200e+02] [ 1.50186029e-01 9.88644880e-01 -5.04567503e-03 1.53679901e+01] [ 5.30217408e-02 -2.95815947e-03 9.98588977e-01 9.15195702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:15.37, Z:9.15 [[ 9.87386054e-01 -1.49217797e-01 -5.29417546e-02 1.97009995e+02] [ 1.49160758e-01 9.88800068e-01 -5.04923983e-03 1.53706188e+01] [ 5.31022469e-02 -2.91128323e-03 9.98584837e-01 9.15374050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.04, Y:15.37, Z:9.16 [[ 9.87798246e-01 -1.46920111e-01 -5.16633904e-02 1.97040138e+02] [ 1.46862835e-01 9.89144612e-01 -4.92389503e-03 1.53713022e+01] [ 5.18259835e-02 -2.72361713e-03 9.98652417e-01 9.15597729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.07, Y:15.38, Z:9.16 [[ 9.88103839e-01 -1.45071876e-01 -5.10387578e-02 1.97070780e+02] [ 1.45013568e-01 9.89417714e-01 -4.86338021e-03 1.53769560e+01] [ 5.12041907e-02 -2.59578770e-03 9.98684832e-01 9.15822310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.10, Y:15.38, Z:9.16 [[ 9.88726543e-01 -1.41279956e-01 -4.95963408e-02 1.97100897e+02] [ 1.41220221e-01 9.89966934e-01 -4.72423228e-03 1.53826909e+01] [ 4.97661768e-02 -2.33303233e-03 9.98758171e-01 9.16052541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:15.39, Z:9.16 [[ 9.89091925e-01 -1.38979484e-01 -4.88043693e-02 1.97131646e+02] [ 1.38918901e-01 9.90292855e-01 -4.64767360e-03 1.53864855e+01] [ 4.89765495e-02 -2.18287290e-03 9.98797543e-01 9.16216423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:15.39, Z:9.16 [[ 9.89476473e-01 -1.36510834e-01 -4.79697939e-02 1.97163257e+02] [ 1.36449493e-01 9.90636504e-01 -4.56645351e-03 1.53917724e+01] [ 4.81439993e-02 -2.02705574e-03 9.98838348e-01 9.16356117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:15.39, Z:9.16 [[ 9.89811375e-01 -1.34203615e-01 -4.75692214e-02 1.97194981e+02] [ 1.34140812e-01 9.90951952e-01 -4.52461844e-03 1.53949908e+01] [ 4.77460329e-02 -1.90245518e-03 9.98857696e-01 9.16481055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.23, Y:15.40, Z:9.17 [[ 9.90131300e-01 -1.32045635e-01 -4.69463410e-02 1.97227028e+02] [ 1.31982209e-01 9.91242043e-01 -4.46188996e-03 1.53990871e+01] [ 4.71243601e-02 -1.77822488e-03 9.98887447e-01 9.16658975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.26, Y:15.40, Z:9.17 [[ 9.90452999e-01 -1.29771148e-01 -4.65006004e-02 1.97258554e+02] [ 1.29706574e-01 9.91542587e-01 -4.41616529e-03 1.53983015e+01] [ 4.66804165e-02 -1.65742943e-03 9.98908500e-01 9.16901934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.29, Y:15.40, Z:9.17 [[ 9.90462185e-01 -1.29071495e-01 -4.82204308e-02 1.97290685e+02] [ 1.29001583e-01 9.91633847e-01 -4.57219366e-03 1.54026228e+01] [ 4.84071512e-02 -1.69192698e-03 9.98826254e-01 9.16914792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.32, Y:15.41, Z:9.17 [[ 9.90341109e-01 -1.28999644e-01 -5.08289230e-02 1.97323069e+02] [ 1.28922065e-01 9.91643036e-01 -4.81572085e-03 1.54069326e+01] [ 5.10253738e-02 -1.78376341e-03 9.98695764e-01 9.16868396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.35, Y:15.41, Z:9.17 [[ 9.89968783e-01 -1.30309857e-01 -5.45998994e-02 1.97354956e+02] [ 1.30222556e-01 9.91471315e-01 -5.16887175e-03 1.54054685e+01] [ 5.48077890e-02 -1.99311678e-03 9.98494934e-01 9.16600820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.39, Y:15.41, Z:9.17 [[ 9.89855908e-01 -1.30789166e-01 -5.54930140e-02 1.97386910e+02] [ 1.30699917e-01 9.91408073e-01 -5.25020019e-03 1.54078986e+01] [ 5.57028914e-02 -2.05599067e-03 9.98445272e-01 9.16636378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.42, Y:15.41, Z:9.17 [[ 9.89765286e-01 -1.31418801e-01 -5.56217412e-02 1.97419285e+02] [ 1.31330356e-01 9.91324713e-01 -5.25833895e-03 1.54109068e+01] [ 5.58302513e-02 -2.10030173e-03 9.98438066e-01 9.16779612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.45, Y:15.41, Z:9.17 [[ 9.89832764e-01 -1.31461663e-01 -5.43040645e-02 1.97450731e+02] [ 1.31377655e-01 9.91319121e-01 -5.12950152e-03 1.54105554e+01] [ 5.45069903e-02 -2.05699198e-03 9.98511270e-01 9.17031463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.48, Y:15.41, Z:9.17 [[ 9.90001882e-01 -1.30608392e-01 -5.32702765e-02 1.97482985e+02] [ 1.30526646e-01 9.91432064e-01 -5.02573515e-03 1.54136863e+01] [ 5.34702634e-02 -1.97770327e-03 9.98567484e-01 9.17293961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.51, Y:15.42, Z:9.18 [[ 9.90289630e-01 -1.29020905e-01 -5.17692373e-02 1.97514704e+02] [ 1.28941723e-01 9.91640163e-01 -4.88049761e-03 1.54174570e+01] [ 5.19661411e-02 -1.84210849e-03 9.98647148e-01 9.17638068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.55, Y:15.42, Z:9.18 [[ 9.90468537e-01 -1.27937416e-01 -5.10303335e-02 1.97546403e+02] [ 1.27859228e-01 9.91780676e-01 -4.80721838e-03 1.54230956e+01] [ 5.12259217e-02 -1.76330050e-03 9.98685534e-01 9.17895372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.58, Y:15.43, Z:9.18 [[ 9.90648243e-01 -1.26847497e-01 -5.02570437e-02 1.97577471e+02] [ 1.26770453e-01 9.91920800e-01 -4.73056132e-03 1.54255846e+01] [ 5.04510669e-02 -1.68478594e-03 9.98725113e-01 9.18099904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.61, Y:15.43, Z:9.18 [[ 9.90730913e-01 -1.26646941e-01 -4.91203601e-02 1.97609608e+02] [ 1.26573388e-01 9.91946498e-01 -4.61766460e-03 1.54281940e+01] [ 4.93095822e-02 -1.64246731e-03 9.98782192e-01 9.18370167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:15.43, Z:9.19 [[ 9.90758631e-01 -1.27309480e-01 -4.67934996e-02 1.97641264e+02] [ 1.27243621e-01 9.91861754e-01 -4.39565624e-03 1.54265653e+01] [ 4.69722913e-02 -1.59913997e-03 9.98894913e-01 9.18687844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.67, Y:15.43, Z:9.19 [[ 9.90672170e-01 -1.28151301e-01 -4.63238166e-02 1.97672933e+02] [ 1.28087792e-01 9.91753298e-01 -4.34905508e-03 1.54295117e+01] [ 4.64991350e-02 -1.62502753e-03 9.98917008e-01 9.18864298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.71, Y:15.43, Z:9.19 [[ 9.90302048e-01 -1.30799059e-01 -4.68343838e-02 1.97705615e+02] [ 1.30737258e-01 9.91407316e-01 -4.39355834e-03 1.54290857e+01] [ 4.70066240e-02 -1.77204909e-03 9.98893006e-01 9.19007611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.74, Y:15.43, Z:9.19 [[ 9.90088911e-01 -1.32097735e-01 -4.76879142e-02 1.97737761e+02] [ 1.32035333e-01 9.91234931e-01 -4.47011425e-03 1.54315938e+01] [ 4.78604183e-02 -1.87067907e-03 9.98852282e-01 9.19137659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.77, Y:15.43, Z:9.19 [[ 9.89829789e-01 -1.33880312e-01 -4.80941960e-02 1.97768911e+02] [ 1.33819113e-01 9.90995536e-01 -4.50464874e-03 1.54298515e+01] [ 4.82642173e-02 -1.97708713e-03 9.98832647e-01 9.19198438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.80, Y:15.43, Z:9.19 [[ 9.89456618e-01 -1.36423922e-01 -4.86221686e-02 1.97801331e+02] [ 1.36364568e-01 9.90648267e-01 -4.55138412e-03 1.54311647e+01] [ 4.87883848e-02 -2.12694388e-03 9.98806873e-01 9.19256079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:15.43, Z:9.19 [[ 9.89407430e-01 -1.36963266e-01 -4.81040659e-02 1.97833401e+02] [ 1.36905971e-01 9.90573829e-01 -4.49944798e-03 1.54331419e+01] [ 4.82668878e-02 -2.13394660e-03 9.98832195e-01 9.19388129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.87, Y:15.44, Z:9.20 [[ 9.89422230e-01 -1.36856195e-01 -4.81043916e-02 1.97865802e+02] [ 1.36798943e-01 9.90588631e-01 -4.49596341e-03 1.54360810e+01] [ 4.82669639e-02 -2.13222380e-03 9.98832195e-01 9.19542815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.90, Y:15.44, Z:9.20 [[ 9.89439832e-01 -1.36860811e-01 -4.77277477e-02 1.97898730e+02] [ 1.36804705e-01 9.90588018e-01 -4.45559424e-03 1.54377574e+01] [ 4.78883312e-02 -2.12083801e-03 9.98850444e-01 9.19710336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.93, Y:15.44, Z:9.20 [[ 9.89487762e-01 -1.36679263e-01 -4.72519537e-02 1.97930205e+02] [ 1.36624304e-01 9.90613136e-01 -4.40610108e-03 1.54369907e+01] [ 4.74106287e-02 -2.09598217e-03 9.98873285e-01 9.19874847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:15.44, Z:9.20 [[ 9.89583313e-01 -1.36108684e-01 -4.68966166e-02 1.97961628e+02] [ 1.36054026e-01 9.90691779e-01 -4.37047407e-03 1.54414247e+01] [ 4.70549520e-02 -2.05552528e-03 9.98890187e-01 9.20022890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.99, Y:15.45, Z:9.20 [[ 9.89939230e-01 -1.33707639e-01 -4.62881030e-02 1.97992252e+02] [ 1.33651921e-01 9.91018962e-01 -4.31051852e-03 1.54471174e+01] [ 4.64487370e-02 -1.91934251e-03 9.98918831e-01 9.20239281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.02, Y:15.45, Z:9.20 [[ 9.90437773e-01 -1.30425097e-01 -4.49701116e-02 1.98023530e+02] [ 1.30369194e-01 9.91456680e-01 -4.18632362e-03 1.54527442e+01] [ 4.51319192e-02 -1.71642416e-03 9.98979561e-01 9.20396679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:15.46, Z:9.21 [[ 9.90819469e-01 -1.27733841e-01 -4.42814453e-02 1.98054894e+02] [ 1.27677095e-01 9.91807236e-01 -4.11902085e-03 1.54575129e+01] [ 4.44447962e-02 -1.57252025e-03 9.99010604e-01 9.20566962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:15.46, Z:9.21 [[ 9.91041070e-01 -1.26000389e-01 -4.42888291e-02 1.98086300e+02] [ 1.25942041e-01 9.92029061e-01 -4.11643618e-03 1.54591077e+01] [ 4.44544780e-02 -1.49826823e-03 9.99010288e-01 9.20701309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.12, Y:15.47, Z:9.20 [[ 9.91769480e-01 -1.16898547e-01 -5.22305289e-02 1.98116180e+02] [ 1.16804944e-01 9.93143025e-01 -4.85152034e-03 1.54672641e+01] [ 5.24395211e-02 -1.28919422e-03 9.98623270e-01 9.20358436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.15, Y:15.47, Z:9.21 [[ 9.92005415e-01 -1.15016662e-01 -5.19270945e-02 1.98148493e+02] [ 1.14921604e-01 9.93362858e-01 -4.82265776e-03 1.54710326e+01] [ 5.21371329e-02 -1.18344238e-03 9.98639234e-01 9.20535687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.435099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.18, Y:15.47, Z:9.21 [[ 9.92013730e-01 -1.14944773e-01 -5.19274432e-02 1.98180029e+02] [ 1.14849813e-01 9.93371179e-01 -4.81889943e-03 1.54739009e+01] [ 5.21371328e-02 -1.18344275e-03 9.98639234e-01 9.20686238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.21, Y:15.48, Z:9.21 [[ 9.92207730e-01 -1.13231118e-01 -5.19859054e-02 1.98211869e+02] [ 1.13133793e-01 9.93568069e-01 -4.82052044e-03 1.54783917e+01] [ 5.21973686e-02 -1.09840502e-03 9.98636184e-01 9.20850663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.24, Y:15.48, Z:9.21 [[ 9.92423538e-01 -1.11504559e-01 -5.15970359e-02 1.98243216e+02] [ 1.11406547e-01 9.93763415e-01 -4.78073768e-03 1.54808363e+01] [ 5.18083207e-02 -1.00373102e-03 9.98656543e-01 9.20967923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.27, Y:15.48, Z:9.21 [[ 9.92431442e-01 -1.11434070e-01 -5.15973043e-02 1.98274750e+02] [ 1.11336114e-01 9.93771323e-01 -4.77783939e-03 1.54836969e+01] [ 5.18083354e-02 -1.00296531e-03 9.98656543e-01 9.21118488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:15.49, Z:9.21 [[ 9.92439340e-01 -1.11363545e-01 -5.15976431e-02 1.98306284e+02] [ 1.11265683e-01 9.93779229e-01 -4.77417763e-03 1.54865549e+01] [ 5.18083353e-02 -1.00296531e-03 9.98656543e-01 9.21269029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.34, Y:15.49, Z:9.21 [[ 9.92667220e-01 -1.09475280e-01 -5.12538047e-02 1.98337248e+02] [ 1.09376384e-01 9.93989109e-01 -4.73885752e-03 1.54903182e+01] [ 5.14645114e-02 -9.01847319e-04 9.98674417e-01 9.21431813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.37, Y:15.49, Z:9.22 [[ 9.92675036e-01 -1.09404309e-01 -5.12539865e-02 1.98368781e+02] [ 1.09305420e-01 9.93996925e-01 -4.73688988e-03 1.54931744e+01] [ 5.14645412e-02 -9.00146205e-04 9.98674417e-01 9.21582401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.40, Y:15.50, Z:9.22 [[ 9.92840088e-01 -1.07974586e-01 -5.10886380e-02 1.98399885e+02] [ 1.07874626e-01 9.94153311e-01 -4.71807273e-03 1.54966196e+01] [ 5.12993705e-02 -8.26875949e-04 9.98682978e-01 9.21728357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.43, Y:15.50, Z:9.22 [[ 9.92847788e-01 -1.07903671e-01 -5.10888183e-02 1.98431418e+02] [ 1.07803716e-01 9.94161012e-01 -4.71611963e-03 1.54994722e+01] [ 5.12993979e-02 -8.25175532e-04 9.98682978e-01 9.21878940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.46, Y:15.50, Z:9.22 [[ 9.92855484e-01 -1.07832674e-01 -5.10891548e-02 1.98462950e+02] [ 1.07732813e-01 9.94168715e-01 -4.71247117e-03 1.55023217e+01] [ 5.12993977e-02 -8.25175530e-04 9.98682978e-01 9.22029472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.50, Y:15.51, Z:9.22 [[ 9.92991137e-01 -1.06513288e-01 -5.12203157e-02 1.98495196e+02] [ 1.06411350e-01 9.94310987e-01 -4.72087063e-03 1.55058154e+01] [ 5.14317581e-02 -7.62640255e-04 9.98676220e-01 9.22187156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.53, Y:15.51, Z:9.22 [[ 9.92994939e-01 -1.06477688e-01 -5.12206411e-02 1.98525884e+02] [ 1.06375885e-01 9.94314798e-01 -4.71733767e-03 1.55086116e+01] [ 5.14317327e-02 -7.64348617e-04 9.98676220e-01 9.22333661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.56, Y:15.51, Z:9.23 [[ 9.93128505e-01 -1.05391277e-01 -5.08768341e-02 1.98558275e+02] [ 1.05289512e-01 9.94430581e-01 -4.68372301e-03 1.55117828e+01] [ 5.10871033e-02 -7.05258221e-04 9.98693952e-01 9.22516971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.59, Y:15.51, Z:9.23 [[ 9.93170072e-01 -1.05019603e-01 -5.08339480e-02 1.98589605e+02] [ 1.04917708e-01 9.94469913e-01 -4.67616287e-03 1.55144137e+01] [ 5.10439206e-02 -6.89156286e-04 9.98696172e-01 9.22685393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.62, Y:15.52, Z:9.23 [[ 9.93121629e-01 -1.05611388e-01 -5.05535797e-02 1.98620511e+02] [ 1.05511519e-01 9.94407220e-01 -4.64765861e-03 1.55166828e+01] [ 5.07616903e-02 -7.18294677e-04 9.98710536e-01 9.22870088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.65, Y:15.52, Z:9.23 [[ 9.92962703e-01 -1.06892606e-01 -5.09807835e-02 1.98652078e+02] [ 1.06792865e-01 9.94270256e-01 -4.68425731e-03 1.55185949e+01] [ 5.11893892e-02 -7.93091112e-04 9.98688649e-01 9.23045055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.68, Y:15.52, Z:9.23 [[ 9.92448183e-01 -1.11411575e-01 -5.13231345e-02 1.98683226e+02] [ 1.11316613e-01 9.93773812e-01 -4.71395204e-03 1.55168896e+01] [ 5.15287759e-02 -1.03476438e-03 9.98670974e-01 9.23185020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.71, Y:15.51, Z:9.23 [[ 9.91692255e-01 -1.17674203e-01 -5.19543339e-02 1.98714501e+02] [ 1.17585517e-01 9.93051300e-01 -4.77099864e-03 1.55141000e+01] [ 5.21547422e-02 -1.37771481e-03 9.98638065e-01 9.23278786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.75, Y:15.51, Z:9.23 [[ 9.91294222e-01 -1.20740059e-01 -5.25128852e-02 1.98745447e+02] [ 1.20653799e-01 9.92682938e-01 -4.82134408e-03 1.55127992e+01] [ 5.27107745e-02 -1.55650856e-03 9.98608608e-01 9.23357335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.78, Y:15.51, Z:9.23 [[ 9.90521394e-01 -1.26541589e-01 -5.34283940e-02 1.98775935e+02] [ 1.26460759e-01 9.91959486e-01 -4.90454590e-03 1.55100144e+01] [ 5.36194313e-02 -1.89853763e-03 9.98559639e-01 9.23468481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.81, Y:15.51, Z:9.24 [[ 9.89993307e-01 -1.30836490e-01 -5.28683743e-02 1.98807131e+02] [ 1.30763458e-01 9.91401718e-01 -4.85304135e-03 1.55094084e+01] [ 5.30487520e-02 -2.10877300e-03 9.98589697e-01 9.23693613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.84, Y:15.51, Z:9.24 [[ 9.89831126e-01 -1.32249534e-01 -5.23870510e-02 1.98838795e+02] [ 1.32179857e-01 9.91214089e-01 -4.80777583e-03 1.55106317e+01] [ 5.25626092e-02 -2.16562675e-03 9.98615282e-01 9.23892732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.87, Y:15.51, Z:9.24 [[ 9.89608086e-01 -1.34149850e-01 -5.17653640e-02 1.98868735e+02] [ 1.34084556e-01 9.90958521e-01 -4.74788734e-03 1.55093785e+01] [ 5.19342569e-02 -2.24238814e-03 9.98647988e-01 9.24133694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.90, Y:15.51, Z:9.24 [[ 9.89612645e-01 -1.34116068e-01 -5.17657490e-02 1.98899449e+02] [ 1.34050947e-01 9.90963088e-01 -4.74368565e-03 1.55121594e+01] [ 5.19341509e-02 -2.24483637e-03 9.98647988e-01 9.24280304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.93, Y:15.52, Z:9.25 [[ 9.89518270e-01 -1.34850969e-01 -5.16605263e-02 1.98930818e+02] [ 1.34787212e-01 9.90863267e-01 -4.73211518e-03 1.55173307e+01] [ 5.18266482e-02 -2.28066386e-03 9.98653492e-01 9.24509769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.185099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.96, Y:15.52, Z:9.25 [[ 9.89445044e-01 -1.35281573e-01 -5.19365147e-02 1.98962689e+02] [ 1.35217919e-01 9.90804480e-01 -4.75366120e-03 1.55198210e+01] [ 5.21020142e-02 -2.31926091e-03 9.98639075e-01 9.24664108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.99, Y:15.52, Z:9.25 [[ 9.89371128e-01 -1.35809580e-01 -5.19666189e-02 1.98994687e+02] [ 1.35746774e-01 9.90732166e-01 -4.75268253e-03 1.55220383e+01] [ 5.21304607e-02 -2.35213400e-03 9.98637513e-01 9.24827175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.03, Y:15.52, Z:9.25 [[ 9.89299018e-01 -1.36305728e-01 -5.20403763e-02 1.99027037e+02] [ 1.36243624e-01 9.90663948e-01 -4.75568948e-03 1.55244394e+01] [ 5.22027524e-02 -2.38537052e-03 9.98633658e-01 9.24959030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.06, Y:15.53, Z:9.25 [[ 9.89143268e-01 -1.37013270e-01 -5.31315203e-02 1.99059210e+02] [ 1.36949760e-01 9.90566114e-01 -4.85152662e-03 1.55256635e+01] [ 5.32950071e-02 -2.47749407e-03 9.98575738e-01 9.25006746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.09, Y:15.53, Z:9.25 [[ 9.89114622e-01 -1.37142537e-01 -5.33309461e-02 1.99089746e+02] [ 1.37078924e-01 9.90548176e-01 -4.86625252e-03 1.55269975e+01] [ 5.34942415e-02 -2.49726719e-03 9.98565035e-01 9.25085637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:15.53, Z:9.25 [[ 9.89076162e-01 -1.37233773e-01 -5.38074169e-02 1.99120477e+02] [ 1.37169206e-01 9.90535468e-01 -4.90877435e-03 1.55287354e+01] [ 5.39718045e-02 -2.52556895e-03 9.98539266e-01 9.25202242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.15, Y:15.53, Z:9.25 [[ 9.89187135e-01 -1.36296090e-01 -5.41496724e-02 1.99151493e+02] [ 1.36229356e-01 9.90665014e-01 -4.93893195e-03 1.55313361e+01] [ 5.43173431e-02 -2.49124705e-03 9.98520616e-01 9.25285496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.18, Y:15.53, Z:9.25 [[ 9.89275904e-01 -1.35408589e-01 -5.47512582e-02 1.99181290e+02] [ 1.35339108e-01 9.90786761e-01 -4.99202284e-03 1.55344129e+01] [ 5.49227845e-02 -2.47149852e-03 9.98487546e-01 9.25411835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.21, Y:15.54, Z:9.26 [[ 9.89438297e-01 -1.34050034e-01 -5.51583545e-02 1.99211143e+02] [ 1.33977456e-01 9.90971623e-01 -5.02832147e-03 1.55394288e+01] [ 5.53344107e-02 -2.41476217e-03 9.98464958e-01 9.25552424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.24, Y:15.55, Z:9.26 [[ 9.89882200e-01 -1.30393071e-01 -5.59542457e-02 1.99241444e+02] [ 1.30312572e-01 9.91459842e-01 -5.10056275e-03 1.55503346e+01] [ 5.61414656e-02 -2.24258539e-03 9.98420306e-01 9.25741055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.27, Y:15.55, Z:9.26 [[ 9.90103417e-01 -1.28517748e-01 -5.63774133e-02 1.99272078e+02] [ 1.28433110e-01 9.91704869e-01 -5.13708176e-03 1.55540765e+01] [ 5.65699615e-02 -2.15448431e-03 9.98396313e-01 9.25845129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.30, Y:15.56, Z:9.26 [[ 9.90621255e-01 -1.24533577e-01 -5.62220348e-02 1.99302536e+02] [ 1.24443098e-01 9.92213530e-01 -5.12116137e-03 1.55591910e+01] [ 5.64220202e-02 -1.92331286e-03 9.98405156e-01 9.25955998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.33, Y:15.56, Z:9.26 [[ 9.90906353e-01 -1.22468706e-01 -5.57316376e-02 1.99334049e+02] [ 1.22376586e-01 9.92470760e-01 -5.07562671e-03 1.55646686e+01] [ 5.59336262e-02 -1.79077679e-03 9.98432883e-01 9.26156373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.36, Y:15.57, Z:9.26 [[ 9.91099572e-01 -1.20953305e-01 -5.56051897e-02 1.99364775e+02] [ 1.20859384e-01 9.92656735e-01 -5.06120934e-03 1.55674030e+01] [ 5.58090361e-02 -1.70424655e-03 9.98440007e-01 9.26287039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.40, Y:15.57, Z:9.26 [[ 9.91475353e-01 -1.17755929e-01 -5.57688608e-02 1.99395431e+02] [ 1.17656516e-01 9.93041388e-01 -5.07408398e-03 1.55726347e+01] [ 5.59782904e-02 -1.53074064e-03 9.98430813e-01 9.26484408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.43, Y:15.57, Z:9.26 [[ 9.91613595e-01 -1.16509418e-01 -5.59288339e-02 1.99425573e+02] [ 1.16407541e-01 9.93188505e-01 -5.08709099e-03 1.55716931e+01] [ 5.61405689e-02 -1.46610942e-03 9.98421798e-01 9.26474177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.46, Y:15.58, Z:9.27 [[ 9.91704811e-01 -1.15503817e-01 -5.63953575e-02 1.99456232e+02] [ 1.15398580e-01 9.93306021e-01 -5.13003377e-03 1.55813251e+01] [ 5.66103866e-02 -1.42046500e-03 9.98395336e-01 9.26828252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.49, Y:15.58, Z:9.27 [[ 9.91843244e-01 -1.14400247e-01 -5.62099907e-02 1.99486651e+02] [ 1.14294063e-01 9.93433816e-01 -5.11082548e-03 1.55795843e+01] [ 5.64255852e-02 -1.35533052e-03 9.98405888e-01 9.26797295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.52, Y:15.59, Z:9.27 [[ 9.91865091e-01 -1.14296455e-01 -5.60353582e-02 1.99516953e+02] [ 1.14190968e-01 9.93445772e-01 -5.09133833e-03 1.55864469e+01] [ 5.62500116e-02 -1.34881105e-03 9.98415804e-01 9.27103348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.55, Y:15.59, Z:9.27 [[ 9.91863977e-01 -1.14357349e-01 -5.59307419e-02 1.99547981e+02] [ 1.14252466e-01 9.93438760e-01 -5.07980514e-03 1.55892823e+01] [ 5.61446799e-02 -1.35174947e-03 9.98421728e-01 9.27257501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.58, Y:15.59, Z:9.27 [[ 9.91825344e-01 -1.14765917e-01 -5.57787623e-02 1.99578230e+02] [ 1.14662354e-01 9.93391614e-01 -5.06413589e-03 1.55914216e+01] [ 5.59913449e-02 -1.37298586e-03 9.98430310e-01 9.27429094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.61, Y:15.59, Z:9.28 [[ 9.91766540e-01 -1.15360913e-01 -5.55966645e-02 1.99608607e+02] [ 1.15259006e-01 9.93322652e-01 -5.04675366e-03 1.55937021e+01] [ 5.58076244e-02 -1.40281486e-03 9.98440555e-01 9.27595257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.64, Y:15.60, Z:9.28 [[ 9.91641018e-01 -1.16559590e-01 -5.53349295e-02 1.99638629e+02] [ 1.16460503e-01 9.93182622e-01 -5.02299482e-03 1.55955885e+01] [ 5.55431686e-02 -1.46332604e-03 9.98455214e-01 9.27793280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.67, Y:15.60, Z:9.28 [[ 9.91569675e-01 -1.17143268e-01 -5.53808143e-02 1.99670191e+02] [ 1.17044942e-01 9.93113897e-01 -5.02686756e-03 1.55989166e+01] [ 5.55883200e-02 -1.49755479e-03 9.98452651e-01 9.27968030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.70, Y:15.60, Z:9.28 [[ 9.91518010e-01 -1.17701415e-01 -5.51218063e-02 1.99701864e+02] [ 1.17604979e-01 9.93047862e-01 -5.00136575e-03 1.56011062e+01] [ 5.53272597e-02 -1.52365465e-03 9.98467112e-01 9.28097025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.935099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.73, Y:15.60, Z:9.28 [[ 9.91367860e-01 -1.18887745e-01 -5.52762990e-02 1.99732618e+02] [ 1.18792711e-01 9.92906419e-01 -5.01352539e-03 1.56037733e+01] [ 5.54802388e-02 -1.59617350e-03 9.98458510e-01 9.28237082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:15.60, Z:9.28 [[ 9.91331009e-01 -1.19073385e-01 -5.55370074e-02 1.99763491e+02] [ 1.18977820e-01 9.92884142e-01 -5.03581433e-03 1.56048123e+01] [ 5.57414454e-02 -1.61551316e-03 9.98443930e-01 9.28305455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:15.61, Z:9.28 [[ 9.91265627e-01 -1.19537221e-01 -5.57073564e-02 1.99794556e+02] [ 1.19441977e-01 9.92828349e-01 -5.04808933e-03 1.56098760e+01] [ 5.59112773e-02 -1.64979934e-03 9.98434378e-01 9.28477006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.83, Y:15.61, Z:9.29 [[ 9.91243405e-01 -1.19544461e-01 -5.60859446e-02 1.99825275e+02] [ 1.19448044e-01 9.92827455e-01 -5.08035752e-03 1.56129984e+01] [ 5.62909942e-02 -1.66348551e-03 9.98413019e-01 9.28586945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.86, Y:15.62, Z:9.29 [[ 9.91247675e-01 -1.19508965e-01 -5.60861261e-02 1.99855978e+02] [ 1.19412605e-01 9.92831728e-01 -5.07835304e-03 1.56157488e+01] [ 5.62909942e-02 -1.66348480e-03 9.98413019e-01 9.28733555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:15.62, Z:9.29 [[ 9.91244363e-01 -1.19571598e-01 -5.60111259e-02 1.99886062e+02] [ 1.19475700e-01 9.92824181e-01 -5.06970311e-03 1.56176301e+01] [ 5.62153927e-02 -1.66665384e-03 9.98417273e-01 9.28839364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:15.62, Z:9.29 [[ 9.91261334e-01 -1.19600956e-01 -5.56469101e-02 1.99916156e+02] [ 1.19506394e-01 9.92820659e-01 -5.03589594e-03 1.56209010e+01] [ 5.58496999e-02 -1.65827266e-03 9.98437810e-01 9.29001426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.95, Y:15.62, Z:9.29 [[ 9.91272602e-01 -1.19799109e-01 -5.50163716e-02 1.99947253e+02] [ 1.19706998e-01 9.92796781e-01 -4.97856209e-03 1.56240390e+01] [ 5.52165039e-02 -1.65073248e-03 9.98473041e-01 9.29160482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.98, Y:15.63, Z:9.29 [[ 9.91285706e-01 -1.19772353e-01 -5.48382382e-02 1.99977998e+02] [ 1.19680904e-01 9.92800017e-01 -4.96050833e-03 1.56271973e+01] [ 5.50375356e-02 -1.64580889e-03 9.98482930e-01 9.29323133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.01, Y:15.63, Z:9.30 [[ 9.91374782e-01 -1.19276746e-01 -5.43056154e-02 2.00008727e+02] [ 1.19186426e-01 9.92859750e-01 -4.91041594e-03 1.56314660e+01] [ 5.45035582e-02 -1.60442968e-03 9.98512287e-01 9.29523337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:15.64, Z:9.30 [[ 9.91463920e-01 -1.18660184e-01 -5.40282945e-02 2.00038867e+02] [ 1.18569969e-01 9.92933690e-01 -4.88352221e-03 1.56353853e+01] [ 5.42259935e-02 -1.56429713e-03 9.98527463e-01 9.29667504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.07, Y:15.64, Z:9.30 [[ 9.91481384e-01 -1.18327378e-01 -5.44361634e-02 2.00070944e+02] [ 1.18235369e-01 9.92973414e-01 -4.91902245e-03 1.56396770e+01] [ 5.46357180e-02 -1.55916070e-03 9.98505136e-01 9.29798976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.10, Y:15.64, Z:9.30 [[ 9.91499629e-01 -1.17818299e-01 -5.52026700e-02 2.00102934e+02] [ 1.17723117e-01 9.93033950e-01 -4.98424495e-03 1.56442575e+01] [ 5.54053607e-02 -1.55675337e-03 9.98462730e-01 9.29908427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:15.65, Z:9.30 [[ 9.91521738e-01 -1.17383325e-01 -5.57296814e-02 2.00134304e+02] [ 1.17285885e-01 9.93085468e-01 -5.02730682e-03 1.56454713e+01] [ 5.59344587e-02 -1.55162100e-03 9.98433237e-01 9.29954774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.16, Y:15.65, Z:9.30 [[ 9.91549873e-01 -1.17152113e-01 -5.57156293e-02 2.00164853e+02] [ 1.17054695e-01 9.93112782e-01 -5.02002013e-03 1.56510876e+01] [ 5.59200096e-02 -1.54417567e-03 9.98434058e-01 9.30158180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.20, Y:15.65, Z:9.30 [[ 9.91565578e-01 -1.17192010e-01 -5.53510417e-02 2.00195739e+02] [ 1.17096035e-01 9.93108084e-01 -4.98517828e-03 1.56542278e+01] [ 5.55537901e-02 -1.53825636e-03 9.98454511e-01 9.30296618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:15.66, Z:9.30 [[ 9.91591670e-01 -1.17034992e-01 -5.52156787e-02 2.00227347e+02] [ 1.16939388e-01 9.93126616e-01 -4.97036680e-03 1.56563785e+01] [ 5.54178670e-02 -1.52831336e-03 9.98462080e-01 9.30437400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.26, Y:15.66, Z:9.31 [[ 9.91603668e-01 -1.16995890e-01 -5.50829122e-02 2.00257628e+02] [ 1.16900997e-01 9.93131223e-01 -4.95277593e-03 1.56597699e+01] [ 5.52840144e-02 -1.52805660e-03 9.98469500e-01 9.30590973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.29, Y:15.67, Z:9.31 [[ 9.91603729e-01 -1.17091073e-01 -5.48791837e-02 2.00288777e+02] [ 1.16997095e-01 9.93120004e-01 -4.93321882e-03 1.56663242e+01] [ 5.50792511e-02 -1.52890688e-03 9.98480815e-01 9.30836580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.32, Y:15.67, Z:9.31 [[ 9.91667807e-01 -1.16583969e-01 -5.48008941e-02 2.00320767e+02] [ 1.16489659e-01 9.93179703e-01 -4.92303524e-03 1.56700373e+01] [ 5.50010827e-02 -1.50172190e-03 9.98485166e-01 9.30918944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.35, Y:15.67, Z:9.31 [[ 9.91673441e-01 -1.16593286e-01 -5.46789945e-02 2.00353143e+02] [ 1.16499628e-01 9.93178608e-01 -4.90811037e-03 1.56729584e+01] [ 5.48782604e-02 -1.50283980e-03 9.98491922e-01 9.31021958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.38, Y:15.67, Z:9.31 [[ 9.91666606e-01 -1.16608428e-01 -5.47705867e-02 2.00384498e+02] [ 1.16514691e-01 9.93176819e-01 -4.91248976e-03 1.56745311e+01] [ 5.49697148e-02 -1.51002593e-03 9.98486880e-01 9.31111000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.42, Y:15.68, Z:9.31 [[ 9.91678619e-01 -1.16721728e-01 -5.43098018e-02 2.00415825e+02] [ 1.16629882e-01 9.93163516e-01 -4.86838169e-03 1.56772000e+01] [ 5.45067597e-02 -1.50627576e-03 9.98512265e-01 9.31220187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.45, Y:15.68, Z:9.31 [[ 9.91614257e-01 -1.17758585e-01 -5.32360960e-02 2.00447720e+02] [ 1.17671937e-01 9.93041067e-01 -4.77008159e-03 1.56835828e+01] [ 5.34273477e-02 -1.53431361e-03 9.98570561e-01 9.31454627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.48, Y:15.68, Z:9.32 [[ 9.91545966e-01 -1.18625322e-01 -5.25797426e-02 2.00478475e+02] [ 1.18542213e-01 9.92937855e-01 -4.70751158e-03 1.56849366e+01] [ 5.27668469e-02 -1.56520494e-03 9.98605633e-01 9.31595587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.685099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.51, Y:15.69, Z:9.32 [[ 9.91299112e-01 -1.21215763e-01 -5.13109173e-02 2.00510827e+02] [ 1.21140227e-01 9.92624787e-01 -4.59107339e-03 1.56869409e+01] [ 5.14889988e-02 -1.66468918e-03 9.98672174e-01 9.31776290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.54, Y:15.69, Z:9.32 [[ 9.91131065e-01 -1.22464415e-01 -5.15914547e-02 2.00542983e+02] [ 1.22389933e-01 9.92471375e-01 -4.61243130e-03 1.56897102e+01] [ 5.17679007e-02 -1.74275073e-03 9.98657623e-01 9.31923716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.57, Y:15.69, Z:9.32 [[ 9.90973387e-01 -1.23764953e-01 -5.15168122e-02 2.00574940e+02] [ 1.23692632e-01 9.92309908e-01 -4.60203530e-03 1.56922285e+01] [ 5.16902138e-02 -1.81175559e-03 9.98661524e-01 9.31987003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.61, Y:15.69, Z:9.32 [[ 9.90798861e-01 -1.25096891e-01 -5.16564156e-02 2.00607150e+02] [ 1.25026179e-01 9.92142729e-01 -4.61075277e-03 1.56945983e+01] [ 5.18273280e-02 -1.89007567e-03 9.98654272e-01 9.32057659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.64, Y:15.70, Z:9.32 [[ 9.90471122e-01 -1.27866676e-01 -5.11573036e-02 2.00638212e+02] [ 1.27801194e-01 9.91789311e-01 -4.56260056e-03 1.56955444e+01] [ 5.13206715e-02 -2.01884040e-03 9.98680186e-01 9.32181115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.67, Y:15.70, Z:9.32 [[ 9.90257203e-01 -1.29874541e-01 -5.02322111e-02 2.00669898e+02] [ 1.29814119e-01 9.91528238e-01 -4.47737589e-03 1.56992022e+01] [ 5.03881529e-02 -2.08709650e-03 9.98727529e-01 9.32348345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.70, Y:15.70, Z:9.32 [[ 9.90169261e-01 -1.30585478e-01 -5.01225221e-02 2.00700775e+02] [ 1.30526416e-01 9.91434783e-01 -4.46385796e-03 1.56992692e+01] [ 5.02761269e-02 -2.12233824e-03 9.98733101e-01 9.32473304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.73, Y:15.70, Z:9.33 [[ 9.90082246e-01 -1.31358387e-01 -4.98208827e-02 2.00732564e+02] [ 1.31301312e-01 9.91332604e-01 -4.43095931e-03 1.57019452e+01] [ 4.99711091e-02 -2.15453310e-03 9.98748340e-01 9.32599161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.76, Y:15.70, Z:9.33 [[ 9.89988875e-01 -1.31835768e-01 -5.04118756e-02 2.00764134e+02] [ 1.31778125e-01 9.91269113e-01 -4.48003139e-03 1.57045627e+01] [ 5.05623636e-02 -2.20800121e-03 9.98718465e-01 9.32719481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.80, Y:15.71, Z:9.33 [[ 9.89789637e-01 -1.33349093e-01 -5.03437474e-02 2.00795531e+02] [ 1.33293691e-01 9.91066496e-01 -4.47135923e-03 1.57101193e+01] [ 5.04902530e-02 -2.28479885e-03 9.98721940e-01 9.32877522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.83, Y:15.72, Z:9.33 [[ 9.89655190e-01 -1.34063878e-01 -5.10830803e-02 2.00827433e+02] [ 1.34007932e-01 9.90969886e-01 -4.53419045e-03 1.57152835e+01] [ 5.12296654e-02 -2.35825285e-03 9.98684114e-01 9.33005958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.86, Y:15.72, Z:9.33 [[ 9.89536854e-01 -1.34688260e-01 -5.17289678e-02 2.00859754e+02] [ 1.34631940e-01 9.90885056e-01 -4.58771877e-03 1.57193158e+01] [ 5.18753730e-02 -2.42465450e-03 9.98650623e-01 9.33126694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.89, Y:15.72, Z:9.33 [[ 9.89398212e-01 -1.35442125e-01 -5.24080951e-02 2.00891318e+02] [ 1.35385577e-01 9.90782104e-01 -4.64404648e-03 1.57237441e+01] [ 5.25540022e-02 -2.50048893e-03 9.98614953e-01 9.33222731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.92, Y:15.72, Z:9.33 [[ 9.89241413e-01 -1.36342552e-01 -5.30295783e-02 2.00922307e+02] [ 1.36286153e-01 9.90658387e-01 -4.69522878e-03 1.57239290e+01] [ 5.31743560e-02 -2.58248245e-03 9.98581904e-01 9.33317084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.95, Y:15.73, Z:9.34 [[ 9.89282543e-01 -1.36596285e-01 -5.15897817e-02 2.00953945e+02] [ 1.36543397e-01 9.90623573e-01 -4.56487791e-03 1.57306109e+01] [ 5.17295992e-02 -2.52829000e-03 9.98657928e-01 9.33694420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.99, Y:15.73, Z:9.34 [[ 9.89349922e-01 -1.36328906e-01 -5.10015818e-02 2.00985314e+02] [ 1.36277048e-01 9.90660504e-01 -4.50919756e-03 1.57336902e+01] [ 5.11399866e-02 -2.48917074e-03 9.98688393e-01 9.33933065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.02, Y:15.74, Z:9.34 [[ 9.89490362e-01 -1.35444895e-01 -5.06310511e-02 2.01017504e+02] [ 1.35392776e-01 9.90781905e-01 -4.47362876e-03 1.57387546e+01] [ 5.07702594e-02 -2.42846600e-03 9.98707406e-01 9.34132068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.05, Y:15.74, Z:9.34 [[ 9.89648757e-01 -1.34380286e-01 -5.03713770e-02 2.01049055e+02] [ 1.34327508e-01 9.90927013e-01 -4.44703887e-03 1.57438001e+01] [ 5.05119525e-02 -2.36525508e-03 9.98720656e-01 9.34267167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:15.75, Z:9.34 [[ 9.90073738e-01 -1.31433241e-01 -4.97925374e-02 2.01078911e+02] [ 1.31378124e-01 9.91322599e-01 -4.39246861e-03 1.57500618e+01] [ 4.99377840e-02 -2.19278233e-03 9.98749923e-01 9.34450396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:15.76, Z:9.35 [[ 9.90269331e-01 -1.30100596e-01 -4.94012770e-02 2.01110640e+02] [ 1.30044736e-01 9.91498555e-01 -4.35694308e-03 1.57551924e+01] [ 4.95481357e-02 -2.10982893e-03 9.98769508e-01 9.34686105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.14, Y:15.76, Z:9.35 [[ 9.90464808e-01 -1.28692792e-01 -4.91694025e-02 2.01142817e+02] [ 1.28635900e-01 9.91682424e-01 -4.33294298e-03 1.57612713e+01] [ 4.93180508e-02 -2.03332280e-03 9.98781055e-01 9.34881638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.17, Y:15.77, Z:9.35 [[ 9.90722649e-01 -1.26432187e-01 -4.98350804e-02 2.01173917e+02] [ 1.26371127e-01 9.91973333e-01 -4.38688127e-03 1.57669865e+01] [ 4.99897138e-02 -1.95153265e-03 9.98747826e-01 9.35004884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:15.77, Z:9.35 [[ 9.90754216e-01 -1.25655931e-01 -5.11533939e-02 2.01204770e+02] [ 1.25590937e-01 9.92071925e-01 -4.49572778e-03 1.57707625e+01] [ 5.13127608e-02 -1.97024139e-03 9.98680689e-01 9.35090949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.24, Y:15.78, Z:9.35 [[ 9.90814060e-01 -1.24898998e-01 -5.18434144e-02 2.01237066e+02] [ 1.24831355e-01 9.92167526e-01 -4.55348052e-03 1.57753043e+01] [ 5.20060773e-02 -1.96003114e-03 9.98644845e-01 9.35214056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.27, Y:15.78, Z:9.35 [[ 9.90848424e-01 -1.24439867e-01 -5.22888228e-02 2.01268665e+02] [ 1.24370615e-01 9.92225223e-01 -4.58885881e-03 1.57791685e+01] [ 5.24533258e-02 -1.95632955e-03 9.98621461e-01 9.35339764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.30, Y:15.79, Z:9.36 [[ 9.90862174e-01 -1.24251648e-01 -5.24755255e-02 2.01300518e+02] [ 1.24181834e-01 9.92248809e-01 -4.60152160e-03 1.57861506e+01] [ 5.26405243e-02 -1.95703331e-03 9.98611609e-01 9.35620601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.33, Y:15.79, Z:9.36 [[ 9.90905902e-01 -1.24092674e-01 -5.20240416e-02 2.01332691e+02] [ 1.24024032e-01 9.92268745e-01 -4.55820900e-03 1.57906925e+01] [ 5.21874708e-02 -1.93547520e-03 9.98635430e-01 9.35826372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.36, Y:15.79, Z:9.36 [[ 9.91017792e-01 -1.23296373e-01 -5.17855273e-02 2.01363638e+02] [ 1.23227485e-01 9.92368095e-01 -4.53324448e-03 1.57934348e+01] [ 5.19492377e-02 -1.88887436e-03 9.98647940e-01 9.36019765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:15.80, Z:9.36 [[ 9.91110215e-01 -1.22734314e-01 -5.13500745e-02 2.01396032e+02] [ 1.22666194e-01 9.92437838e-01 -4.48799966e-03 1.57975308e+01] [ 5.15125885e-02 -1.85081591e-03 9.98670630e-01 9.36207315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.43, Y:15.80, Z:9.36 [[ 9.91404377e-01 -1.20374314e-01 -5.12580325e-02 2.01428190e+02] [ 1.20303523e-01 9.92727069e-01 -4.47541936e-03 1.58036748e+01] [ 5.14239619e-02 -1.72957154e-03 9.98675415e-01 9.36393605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.46, Y:15.81, Z:9.37 [[ 9.91534318e-01 -1.19224951e-01 -5.14306096e-02 2.01460050e+02] [ 1.19152372e-01 9.92865846e-01 -4.48597895e-03 1.58079786e+01] [ 5.15985363e-02 -1.68007703e-03 9.98666495e-01 9.36576058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.49, Y:15.81, Z:9.37 [[ 9.91673232e-01 -1.18213447e-01 -5.10860155e-02 2.01491987e+02] [ 1.18140683e-01 9.92986886e-01 -4.45229231e-03 1.58121028e+01] [ 5.12540643e-02 -1.62011767e-03 9.98684333e-01 9.36776503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.52, Y:15.82, Z:9.37 [[ 9.91918020e-01 -1.16009074e-01 -5.13861560e-02 2.01523673e+02] [ 1.15932690e-01 9.93246992e-01 -4.47475609e-03 1.58191752e+01] [ 5.15582572e-02 -1.51874407e-03 9.98668834e-01 9.37022572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.55, Y:15.82, Z:9.37 [[ 9.91994145e-01 -1.15084049e-01 -5.19930535e-02 2.01554969e+02] [ 1.15004776e-01 9.93354638e-01 -4.52385114e-03 1.58219390e+01] [ 5.21681639e-02 -1.49181564e-03 9.98637200e-01 9.37152780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.59, Y:15.83, Z:9.37 [[ 9.92103627e-01 -1.13799152e-01 -5.27270929e-02 2.01587141e+02] [ 1.13715972e-01 9.93502722e-01 -4.58471629e-03 1.58265880e+01] [ 5.29062471e-02 -1.44739896e-03 9.98598435e-01 9.37278741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.62, Y:15.83, Z:9.37 [[ 9.92190668e-01 -1.13071511e-01 -5.26546533e-02 2.01618843e+02] [ 1.12987738e-01 9.93585851e-01 -4.57460492e-03 1.58295037e+01] [ 5.28341761e-02 -1.41044989e-03 9.98602303e-01 9.37399498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.65, Y:15.83, Z:9.38 [[ 9.92269998e-01 -1.12504139e-01 -5.23743264e-02 2.01650428e+02] [ 1.12420680e-01 9.93650302e-01 -4.54620238e-03 1.58306177e+01] [ 5.25532319e-02 -1.37689715e-03 9.98617175e-01 9.37532127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.68, Y:15.84, Z:9.38 [[ 9.92368069e-01 -1.11743338e-01 -5.21444316e-02 2.01681954e+02] [ 1.11659875e-01 9.93736202e-01 -4.52024858e-03 1.58350648e+01] [ 5.23229171e-02 -1.33669036e-03 9.98629323e-01 9.37734680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.71, Y:15.84, Z:9.38 [[ 9.92520790e-01 -1.10359922e-01 -5.21839848e-02 2.01713512e+02] [ 1.10274621e-01 9.93890879e-01 -4.51988175e-03 1.58385259e+01] [ 5.23640003e-02 -1.26849254e-03 9.98627259e-01 9.37883196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.75, Y:15.84, Z:9.38 [[ 9.92704702e-01 -1.08439045e-01 -5.27100361e-02 2.01745182e+02] [ 1.08349515e-01 9.94102396e-01 -4.56158818e-03 1.58431199e+01] [ 5.28938274e-02 -1.18279681e-03 9.98599441e-01 9.38057752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.77, Y:15.85, Z:9.38 [[ 9.93146510e-01 -1.03878506e-01 -5.35655195e-02 2.01774833e+02] [ 1.03779613e-01 9.94589532e-01 -4.63197757e-03 1.58484633e+01] [ 5.37568679e-02 -9.58776538e-04 9.98553594e-01 9.38189196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.81, Y:15.85, Z:9.38 [[ 9.93359399e-01 -1.01383643e-01 -5.43917428e-02 2.01807035e+02] [ 1.01278013e-01 9.94847051e-01 -4.70204065e-03 1.58535436e+01] [ 5.45881749e-02 -8.37871340e-04 9.98508602e-01 9.38314401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.84, Y:15.86, Z:9.38 [[ 9.93366682e-01 -1.01312071e-01 -5.43920815e-02 2.01838588e+02] [ 1.01206549e-01 9.94854342e-01 -4.69812004e-03 1.58562111e+01] [ 5.45881747e-02 -8.37878917e-04 9.98508602e-01 9.38464934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.87, Y:15.86, Z:9.39 [[ 9.93588285e-01 -9.90061756e-02 -5.45902736e-02 2.01869212e+02] [ 9.88966149e-02 9.95086560e-01 -4.71140358e-03 1.58601224e+01] [ 5.47885056e-02 -7.17597862e-04 9.98497724e-01 9.38573099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.90, Y:15.86, Z:9.39 [[ 9.93805307e-01 -9.67574303e-02 -5.46718565e-02 2.01901531e+02] [ 9.66443109e-02 9.95307813e-01 -4.71535494e-03 1.58645048e+01] [ 5.48715716e-02 -5.97579143e-04 9.98493242e-01 9.38738256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.93, Y:15.87, Z:9.39 [[ 9.94096172e-01 -9.36773562e-02 -5.47481025e-02 2.01932627e+02] [ 9.35594627e-02 9.95602514e-01 -4.71811320e-03 1.58684017e+01] [ 5.49493288e-02 -4.31944782e-04 9.98489051e-01 9.38833756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.96, Y:15.87, Z:9.39 [[ 9.94243173e-01 -9.19768736e-02 -5.49615189e-02 2.01963284e+02] [ 9.18556251e-02 9.95761085e-01 -4.73355225e-03 1.58708732e+01] [ 5.51639191e-02 -3.42222671e-04 9.98477253e-01 9.38929465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.99, Y:15.87, Z:9.39 [[ 9.94249543e-01 -9.19078351e-02 -5.49617772e-02 2.01994835e+02] [ 9.17866472e-02 9.95767459e-01 -4.73055164e-03 1.58735279e+01] [ 5.51639240e-02 -3.41408445e-04 9.98477253e-01 9.39080014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.03, Y:15.88, Z:9.39 [[ 9.94171014e-01 -9.25635656e-02 -5.52809229e-02 2.02027011e+02] [ 9.24421948e-02 9.95706703e-01 -4.75412035e-03 1.58751681e+01] [ 5.54836439e-02 -3.83881201e-04 9.98459522e-01 9.39280545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.06, Y:15.88, Z:9.39 [[ 9.94049305e-01 -9.38845613e-02 -5.52419083e-02 2.02059556e+02] [ 9.37656211e-02 9.95582983e-01 -4.74677923e-03 1.58766702e+01] [ 5.54435531e-02 -4.61259240e-04 9.98461717e-01 9.39429040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.09, Y:15.88, Z:9.39 [[ 9.93881005e-01 -9.58123633e-02 -5.49594285e-02 2.02091118e+02] [ 9.56977936e-02 9.95399250e-01 -4.71866764e-03 1.58765581e+01] [ 5.51586806e-02 -5.69701911e-04 9.98477439e-01 9.39490202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.12, Y:15.88, Z:9.40 [[ 9.93762175e-01 -9.70968042e-02 -5.48539037e-02 2.02123124e+02] [ 9.69847997e-02 9.95274735e-01 -4.70651148e-03 1.58775311e+01] [ 5.50516916e-02 -6.42841774e-04 9.98483299e-01 9.39649882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.15, Y:15.88, Z:9.40 [[ 9.93769014e-01 -9.70265888e-02 -5.48542353e-02 2.02154677e+02] [ 9.69146910e-02 9.95281582e-01 -4.70264262e-03 1.58801763e+01] [ 5.50516915e-02 -6.42840746e-04 9.98483299e-01 9.39800407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.19, Y:15.88, Z:9.40 [[ 9.93667871e-01 -9.83677645e-02 -5.42949840e-02 2.02186007e+02] [ 9.82603633e-02 9.95149875e-01 -4.65056845e-03 1.58805681e+01] [ 5.44891126e-02 -7.13924409e-04 9.98514110e-01 9.39926306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.22, Y:15.88, Z:9.40 [[ 9.93352917e-01 -1.01578142e-01 -5.41466779e-02 2.02217781e+02] [ 1.01476406e-01 9.94827162e-01 -4.63207012e-03 1.58796951e+01] [ 5.43371030e-02 -8.93329900e-04 9.98522249e-01 9.40089610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.25, Y:15.88, Z:9.40 [[ 9.93171325e-01 -1.03385761e-01 -5.40564851e-02 2.02249360e+02] [ 1.03287195e-01 9.94640838e-01 -4.62145961e-03 1.58816709e+01] [ 5.42445808e-02 -9.93441551e-04 9.98527185e-01 9.40308833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.28, Y:15.88, Z:9.40 [[ 9.92860353e-01 -1.06531893e-01 -5.36588764e-02 2.02281833e+02] [ 1.06439524e-01 9.94308609e-01 -4.58442703e-03 1.58810888e+01] [ 5.38418705e-02 -1.15972941e-03 9.98548801e-01 9.40497292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.31, Y:15.88, Z:9.41 [[ 9.92689777e-01 -1.08186552e-01 -5.35039831e-02 2.02313152e+02] [ 1.08097317e-01 9.94129825e-01 -4.56743221e-03 1.58796164e+01] [ 5.36840401e-02 -1.24959377e-03 9.98557190e-01 9.40595820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.35, Y:15.88, Z:9.41 [[ 9.92512937e-01 -1.09910182e-01 -5.32712046e-02 2.02345284e+02] [ 1.09824361e-01 9.93940620e-01 -4.54458154e-03 1.58821005e+01] [ 5.34479099e-02 -1.33992005e-03 9.98569740e-01 9.40790162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.38, Y:15.88, Z:9.41 [[ 9.92293050e-01 -1.12016343e-01 -5.29796331e-02 2.02377410e+02] [ 1.11934657e-01 9.93705308e-01 -4.51592008e-03 1.58828367e+01] [ 5.31519995e-02 -1.44914098e-03 9.98585382e-01 9.40975494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.41, Y:15.88, Z:9.41 [[ 9.91818336e-01 -1.16362035e-01 -5.25001421e-02 2.02408644e+02] [ 1.16288081e-01 9.93205461e-01 -4.47157403e-03 1.58817996e+01] [ 5.26637493e-02 -1.67015164e-03 9.98610905e-01 9.41189868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.44, Y:15.88, Z:9.41 [[ 9.91607387e-01 -1.18165172e-01 -5.24574395e-02 2.02440249e+02] [ 1.18093915e-01 9.92992384e-01 -4.46680384e-03 1.58817415e+01] [ 5.26176586e-02 -1.76558871e-03 9.98613171e-01 9.41356864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.47, Y:15.88, Z:9.42 [[ 9.91363835e-01 -1.20392512e-01 -5.19941365e-02 2.02471844e+02] [ 1.20325711e-01 9.92724608e-01 -4.42455742e-03 1.58833632e+01] [ 5.21485423e-02 -1.86988524e-03 9.98637588e-01 9.41530234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.50, Y:15.88, Z:9.42 [[ 9.90881973e-01 -1.24155708e-01 -5.23285445e-02 2.02503645e+02] [ 1.24093425e-01 9.92260559e-01 -4.45023804e-03 1.58826296e+01] [ 5.24760733e-02 -2.08396765e-03 9.98620007e-01 9.41596180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.54, Y:15.88, Z:9.42 [[ 9.90644755e-01 -1.26074182e-01 -5.22328365e-02 2.02535178e+02] [ 1.26014890e-01 9.92018414e-01 -4.44011751e-03 1.58823427e+01] [ 5.23757198e-02 -2.18353601e-03 9.98625063e-01 9.41732491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.57, Y:15.88, Z:9.42 [[ 9.90069535e-01 -1.30469364e-01 -5.23455877e-02 2.02566738e+02] [ 1.30416084e-01 9.91449378e-01 -4.44694641e-03 1.58803821e+01] [ 5.24781907e-02 -2.42392038e-03 9.98619129e-01 9.41799188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.60, Y:15.88, Z:9.42 [[ 9.89712314e-01 -1.33055544e-01 -5.25904677e-02 2.02598288e+02] [ 1.33005504e-01 9.91105238e-01 -4.46585629e-03 1.58804946e+01] [ 5.27168949e-02 -2.57490872e-03 9.98606178e-01 9.41910160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.63, Y:15.88, Z:9.42 [[ 9.89404777e-01 -1.35315466e-01 -5.26109465e-02 2.02630205e+02] [ 1.35268675e-01 9.90798892e-01 -4.46561014e-03 1.58807345e+01] [ 5.27311336e-02 -2.69831702e-03 9.98605100e-01 9.41996014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.66, Y:15.88, Z:9.42 [[ 9.89113488e-01 -1.37183992e-01 -5.32452833e-02 2.02661128e+02] [ 1.37138943e-01 9.90541526e-01 -4.51614023e-03 1.58802094e+01] [ 5.33612063e-02 -2.83502664e-03 9.98571251e-01 9.42020560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.69, Y:15.88, Z:9.42 [[ 9.88607733e-01 -1.40225074e-01 -5.46962411e-02 2.02692760e+02] [ 1.40182524e-01 9.90114840e-01 -4.63284700e-03 1.58787733e+01] [ 5.48052014e-02 -3.08738878e-03 9.98492292e-01 9.41975974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.72, Y:15.88, Z:9.42 [[ 9.88463232e-01 -1.41105743e-01 -5.50418751e-02 2.02724477e+02] [ 1.41064131e-01 9.89989493e-01 -4.66001525e-03 1.58801299e+01] [ 5.51484329e-02 -3.15818052e-03 9.98473173e-01 9.42097641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.76, Y:15.88, Z:9.42 [[ 9.88414546e-01 -1.41157847e-01 -5.57776695e-02 2.02756291e+02] [ 1.41115377e-01 9.89981909e-01 -4.71914929e-03 1.58821259e+01] [ 5.58850287e-02 -3.20661106e-03 9.98432061e-01 9.42228844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.79, Y:15.89, Z:9.42 [[ 9.88523258e-01 -1.40335381e-01 -5.59262764e-02 2.02787973e+02] [ 1.40291598e-01 9.90098943e-01 -4.72774481e-03 1.58876185e+01] [ 5.60360170e-02 -3.17250097e-03 9.98423708e-01 9.42411591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:15.89, Z:9.43 [[ 9.88982253e-01 -1.37232724e-01 -5.55093080e-02 2.02817458e+02] [ 1.37184907e-01 9.90534358e-01 -4.68910486e-03 1.58918648e+01] [ 5.56273754e-02 -2.97759780e-03 9.98447159e-01 9.42628357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.85, Y:15.90, Z:9.43 [[ 9.89316227e-01 -1.35104679e-01 -5.47734348e-02 2.02848704e+02] [ 1.35054891e-01 9.90827317e-01 -4.62653537e-03 1.58983643e+01] [ 5.48960820e-02 -2.82031377e-03 9.98488090e-01 9.42871573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:15.90, Z:9.43 [[ 9.90045965e-01 -1.30236118e-01 -5.33623472e-02 2.02878407e+02] [ 1.30181937e-01 9.91479889e-01 -4.50486134e-03 1.59033574e+01] [ 5.34943897e-02 -2.48679395e-03 9.98565054e-01 9.43160555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:15.91, Z:9.43 [[ 9.90055105e-01 -1.30166620e-01 -5.33623514e-02 2.02909992e+02] [ 1.30112341e-01 9.91489024e-01 -4.50481165e-03 1.59059638e+01] [ 5.34945618e-02 -2.48308871e-03 9.98565054e-01 9.43311352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:15.91, Z:9.44 [[ 9.90772127e-01 -1.24958515e-01 -5.24972506e-02 2.02939713e+02] [ 1.24898863e-01 9.92159596e-01 -4.42839253e-03 1.59149593e+01] [ 5.26390163e-02 -2.16931900e-03 9.98611250e-01 9.43665886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:15.92, Z:9.44 [[ 9.91016585e-01 -1.22623257e-01 -5.33822466e-02 2.02971021e+02] [ 1.22558259e-01 9.92451110e-01 -4.50186893e-03 1.59204958e+01] [ 5.35313037e-02 -2.08100843e-03 9.98564003e-01 9.43776570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:15.93, Z:9.44 [[ 9.91250359e-01 -1.20035317e-01 -5.49021801e-02 2.03002614e+02] [ 1.19962773e-01 9.92767608e-01 -4.62700471e-03 1.59251483e+01] [ 5.50605100e-02 -1.99969769e-03 9.98481017e-01 9.43806917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:15.93, Z:9.44 [[ 9.91549705e-01 -1.16892081e-01 -5.62621035e-02 2.03032866e+02] [ 1.16811006e-01 9.93142856e-01 -4.73883116e-03 1.59290765e+01] [ 5.64302380e-02 -1.87324627e-03 9.98404787e-01 9.43753408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:15.94, Z:9.44 [[ 9.92149232e-01 -1.11165528e-01 -5.72898557e-02 2.03063244e+02] [ 1.11071989e-01 9.93800654e-01 -4.82434656e-03 1.59374072e+01] [ 5.74709971e-02 -1.57682649e-03 9.98345931e-01 9.43841573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:15.94, Z:9.44 [[ 9.92483642e-01 -1.08213239e-01 -5.71499432e-02 2.03094595e+02] [ 1.08115346e-01 9.94126714e-01 -4.81117867e-03 1.59433193e+01] [ 5.73349185e-02 -1.40376978e-03 9.98354014e-01 9.44110986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.13, Y:15.95, Z:9.44 [[ 9.92813057e-01 -1.05394833e-01 -5.66935930e-02 2.03125817e+02] [ 1.05294084e-01 9.94429689e-01 -4.76967729e-03 1.59475872e+01] [ 5.68804914e-02 -1.23410203e-03 9.98380232e-01 9.44314619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:15.95, Z:9.44 [[ 9.93046196e-01 -1.03087229e-01 -5.68531028e-02 2.03156342e+02] [ 1.02982310e-01 9.94671702e-01 -4.78000575e-03 1.59517673e+01] [ 5.70429301e-02 -1.10809732e-03 9.98371111e-01 9.44488844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.19, Y:15.96, Z:9.45 [[ 9.93294532e-01 -9.98034447e-02 -5.83544837e-02 2.03187440e+02] [ 9.96874228e-02 9.95006722e-01 -4.90324503e-03 1.59569021e+01] [ 5.85524643e-02 -9.46841614e-04 9.98283884e-01 9.44630557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.22, Y:15.96, Z:9.45 [[ 9.93414330e-01 -9.86768175e-02 -5.82310498e-02 2.03218129e+02] [ 9.85594728e-02 9.95119144e-01 -4.89081886e-03 1.59599047e+01] [ 5.84294428e-02 -8.80612026e-04 9.98291152e-01 9.44713764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:15.96, Z:9.45 [[ 9.93449547e-01 -9.81184405e-02 -5.85727742e-02 2.03249336e+02] [ 9.79988666e-02 9.95174377e-01 -4.91744390e-03 1.59637407e+01] [ 5.87726160e-02 -8.54833071e-04 9.98271030e-01 9.44913396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:15.97, Z:9.45 [[ 9.93445731e-01 -9.82651364e-02 -5.83912911e-02 2.03279657e+02] [ 9.81466676e-02 9.95159896e-01 -4.90030248e-03 1.59651508e+01] [ 5.85902001e-02 -8.62726053e-04 9.98281746e-01 9.45026014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.31, Y:15.97, Z:9.45 [[ 9.93403311e-01 -9.89351401e-02 -5.79801615e-02 2.03310964e+02] [ 9.88195455e-02 9.95093480e-01 -4.86457862e-03 1.59671087e+01] [ 5.81769584e-02 -8.97084701e-04 9.98305883e-01 9.45224116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:15.97, Z:9.45 [[ 9.93308513e-01 -1.00039087e-01 -5.77094404e-02 2.03342484e+02] [ 9.99265487e-02 9.94983046e-01 -4.83983224e-03 1.59687008e+01] [ 5.79040871e-02 -9.59258643e-04 9.98321690e-01 9.45407566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.37, Y:15.97, Z:9.46 [[ 9.93020361e-01 -1.03309896e-01 -5.69001559e-02 2.03374046e+02] [ 1.03205969e-01 9.94648569e-01 -4.76996205e-03 1.59691885e+01] [ 5.70884430e-02 -1.13576630e-03 9.98368479e-01 9.45696599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.41, Y:15.97, Z:9.46 [[ 9.92846116e-01 -1.05214861e-01 -5.64484057e-02 2.03406213e+02] [ 1.05115786e-01 9.94448742e-01 -4.72972844e-03 1.59699371e+01] [ 5.66326838e-02 -1.23772604e-03 9.98394314e-01 9.45912255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:15.97, Z:9.46 [[ 9.92676961e-01 -1.07358931e-01 -5.53760786e-02 2.03437745e+02] [ 1.07267129e-01 9.94219427e-01 -4.63606775e-03 1.59698294e+01] [ 5.55536965e-02 -1.33791534e-03 9.98454805e-01 9.46127043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.47, Y:15.97, Z:9.46 [[ 9.92449285e-01 -1.10044191e-01 -5.41728006e-02 2.03469553e+02] [ 1.09960502e-01 9.93925625e-01 -4.53214508e-03 1.59703518e+01] [ 5.43424709e-02 -1.45894423e-03 9.98521290e-01 9.46375981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:15.97, Z:9.47 [[ 9.92012895e-01 -1.14828712e-01 -5.21994530e-02 2.03500100e+02] [ 1.14757860e-01 9.93383915e-01 -4.36248243e-03 1.59670237e+01] [ 5.23550352e-02 -1.66265868e-03 9.98627151e-01 9.46743079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:15.97, Z:9.47 [[ 9.91409319e-01 -1.19594000e-01 -5.29607137e-02 2.03531724e+02] [ 1.19527906e-01 9.92820980e-01 -4.42503154e-03 1.59653627e+01] [ 5.31097149e-02 -1.94326568e-03 9.98586792e-01 9.46832086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.56, Y:15.96, Z:9.47 [[ 9.91094940e-01 -1.20863650e-01 -5.58820035e-02 2.03563461e+02] [ 1.20792210e-01 9.92666844e-01 -4.66680756e-03 1.59635734e+01] [ 5.60362595e-02 -2.12486133e-03 9.98426473e-01 9.46692213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:15.97, Z:9.47 [[ 9.90864146e-01 -1.21591699e-01 -5.83412639e-02 2.03595115e+02] [ 1.21515319e-01 9.92577617e-01 -4.86835841e-03 1.59656410e+01] [ 5.85001847e-02 -2.26547551e-03 9.98284827e-01 9.46619571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.63, Y:15.97, Z:9.46 [[ 9.91083390e-01 -1.18536847e-01 -6.08500675e-02 2.03625991e+02] [ 1.18448348e-01 9.92947260e-01 -5.07225740e-03 1.59673757e+01] [ 6.10221572e-02 -2.18055991e-03 9.98134030e-01 9.46435186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.66, Y:15.97, Z:9.47 [[ 9.91472703e-01 -1.15816274e-01 -5.97366742e-02 2.03656887e+02] [ 1.15726181e-01 9.93268683e-01 -4.97732460e-03 1.59719838e+01] [ 5.99110229e-02 -1.97821569e-03 9.98201761e-01 9.46705906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.69, Y:15.98, Z:9.47 [[ 9.92664173e-01 -1.06872734e-01 -5.65336872e-02 2.03687098e+02] [ 1.06777648e-01 9.94271775e-01 -4.70864597e-03 1.59807018e+01] [ 5.67130754e-02 -1.36243001e-03 9.98389589e-01 9.47214310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.72, Y:15.99, Z:9.47 [[ 9.93285851e-01 -1.01524784e-01 -5.54611335e-02 2.03717738e+02] [ 1.01425011e-01 9.94832469e-01 -4.61807497e-03 1.59851630e+01] [ 5.56433854e-02 -1.03807755e-03 9.98450167e-01 9.47461886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.75, Y:15.99, Z:9.48 [[ 9.93791522e-01 -9.66212193e-02 -5.51611294e-02 2.03749140e+02] [ 9.65150900e-02 9.95320933e-01 -4.59098709e-03 1.59904668e+01] [ 5.53466135e-02 -7.61397319e-04 9.98466911e-01 9.47677085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.78, Y:16.00, Z:9.48 [[ 9.94554026e-01 -8.77091585e-02 -5.62973661e-02 2.03780094e+02] [ 8.75844873e-02 9.96146088e-01 -4.68282471e-03 1.59978308e+01] [ 5.64911276e-02 -2.73453780e-04 9.98403064e-01 9.47742379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.81, Y:16.00, Z:9.48 [[ 9.95080986e-01 -8.17770013e-02 -5.59138074e-02 2.03810079e+02] [ 8.16447556e-02 9.96650650e-01 -4.64925615e-03 1.60028973e+01] [ 5.61067347e-02 6.13172479e-05 9.98424775e-01 9.47936797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.84, Y:16.01, Z:9.48 [[ 9.95078041e-01 -8.18128442e-02 -5.59137818e-02 2.03839096e+02] [ 8.16806377e-02 9.96647709e-01 -4.64956453e-03 1.60053380e+01] [ 5.61067366e-02 5.96062128e-05 9.98424775e-01 9.48075343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.87, Y:16.01, Z:9.48 [[ 9.95219299e-01 -8.06946690e-02 -5.50174330e-02 2.03867521e+02] [ 8.05647622e-02 9.96738860e-01 -4.57866286e-03 1.60070238e+01] [ 5.52074872e-02 1.24307235e-04 9.98474896e-01 9.48240687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.90, Y:16.01, Z:9.48 [[ 9.95220408e-01 -8.10319749e-02 -5.44991664e-02 2.03897118e+02] [ 8.09043451e-02 9.96711496e-01 -4.54769595e-03 1.60050732e+01] [ 5.46884545e-02 1.16740454e-04 9.98503460e-01 9.48432641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.93, Y:16.00, Z:9.49 [[ 9.94698774e-01 -8.73026247e-02 -5.43378413e-02 2.03925543e+02] [ 8.71849667e-02 9.96181811e-01 -4.53656860e-03 1.59976337e+01] [ 5.45264235e-02 -2.24923662e-04 9.98512303e-01 9.48515743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.96, Y:15.99, Z:9.49 [[ 9.94117597e-01 -9.36735252e-02 -5.43642699e-02 2.03955296e+02] [ 9.35650194e-02 9.95602805e-01 -4.54328082e-03 1.59933055e+01] [ 5.45508048e-02 -5.70038558e-04 9.98510834e-01 9.48648839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:15.99, Z:9.49 [[ 9.93771185e-01 -9.73380638e-02 -5.42598672e-02 2.03985458e+02] [ 9.72353364e-02 9.95251080e-01 -4.53627520e-03 1.59912544e+01] [ 5.44437436e-02 -7.67956855e-04 9.98516544e-01 9.48749242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.02, Y:15.99, Z:9.49 [[ 9.93424694e-01 -1.00867502e-01 -5.41583233e-02 2.04016102e+02] [ 1.00770397e-01 9.94899405e-01 -4.52778585e-03 1.59897282e+01] [ 5.43387901e-02 -9.59541459e-04 9.98522095e-01 9.48906422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:15.99, Z:9.49 [[ 9.93428302e-01 -1.00831949e-01 -5.41583436e-02 2.04046815e+02] [ 1.00734805e-01 9.94903011e-01 -4.52754225e-03 1.59922672e+01] [ 5.43388200e-02 -9.57841547e-04 9.98522095e-01 9.49053042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:15.99, Z:9.49 [[ 9.93073138e-01 -1.04460198e-01 -5.37941407e-02 2.04077317e+02] [ 1.04369769e-01 9.94528403e-01 -4.49528381e-03 1.59890172e+01] [ 5.39693790e-02 -1.15033645e-03 9.98541928e-01 9.49117425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.11, Y:15.99, Z:9.49 [[ 9.92672722e-01 -1.08237147e-01 -5.37176662e-02 2.04109014e+02] [ 1.08152553e-01 9.94124180e-01 -4.48781404e-03 1.59876571e+01] [ 5.38877791e-02 -1.35477220e-03 9.98546079e-01 9.49250922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:15.99, Z:9.49 [[ 9.92676659e-01 -1.08200947e-01 -5.37178293e-02 2.04139732e+02] [ 1.08116407e-01 9.94128120e-01 -4.48586113e-03 1.59901935e+01] [ 5.38877791e-02 -1.35476906e-03 9.98546079e-01 9.49397512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:15.98, Z:9.49 [[ 9.91924514e-01 -1.15534887e-01 -5.23206229e-02 2.04170660e+02] [ 1.15464966e-01 9.93301952e-01 -4.36727826e-03 1.59801493e+01] [ 5.24747498e-02 -1.70918856e-03 9.98620789e-01 9.49461314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:15.98, Z:9.50 [[ 9.91579428e-01 -1.18863021e-01 -5.13986468e-02 2.04202407e+02] [ 1.18800114e-01 9.92908931e-01 -4.28817202e-03 1.59791976e+01] [ 5.15438805e-02 -1.85410194e-03 9.98669010e-01 9.49662110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.23, Y:15.98, Z:9.50 [[ 9.91239042e-01 -1.22182714e-01 -5.01651921e-02 2.04233424e+02] [ 1.22127115e-01 9.92505650e-01 -4.18358096e-03 1.59796226e+01] [ 5.03003979e-02 -1.97960140e-03 9.98732172e-01 9.49854813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.26, Y:15.97, Z:9.50 [[ 9.90611038e-01 -1.27750510e-01 -4.86783103e-02 2.04263906e+02] [ 1.27704897e-01 9.91803905e-01 -4.05876321e-03 1.59737284e+01] [ 4.87978473e-02 -2.19580298e-03 9.98806262e-01 9.50011212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.29, Y:15.97, Z:9.50 [[ 9.90080348e-01 -1.32216996e-01 -4.75349481e-02 2.04294482e+02] [ 1.32178605e-01 9.91217990e-01 -3.96394559e-03 1.59677984e+01] [ 4.76415967e-02 -2.35847847e-03 9.98861710e-01 9.50085443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.33, Y:15.96, Z:9.50 [[ 9.88959677e-01 -1.38694648e-01 -5.21780825e-02 2.04326719e+02] [ 1.38657384e-01 9.90330853e-01 -4.35100843e-03 1.59560775e+01] [ 5.22770265e-02 -2.93190453e-03 9.98628317e-01 9.49604772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.36, Y:15.96, Z:9.50 [[ 9.89150917e-01 -1.37180628e-01 -5.25541573e-02 2.04357734e+02] [ 1.37140775e-01 9.90541880e-01 -4.38090268e-03 1.59615296e+01] [ 5.26580687e-02 -2.87394394e-03 9.98608466e-01 9.49718795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.39, Y:15.96, Z:9.50 [[ 9.89155896e-01 -1.37144655e-01 -5.25543174e-02 2.04388486e+02] [ 1.37104853e-01 9.90546861e-01 -4.37898098e-03 1.59640624e+01] [ 5.26580680e-02 -2.87395708e-03 9.98608466e-01 9.49865556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.42, Y:15.97, Z:9.50 [[ 9.89160875e-01 -1.37108682e-01 -5.25544763e-02 2.04419239e+02] [ 1.37068930e-01 9.90551841e-01 -4.37707241e-03 1.59665941e+01] [ 5.26580679e-02 -2.87395708e-03 9.98608466e-01 9.50012316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:15.97, Z:9.50 [[ 9.89349179e-01 -1.35492165e-01 -5.31984458e-02 2.04449956e+02] [ 1.35449211e-01 9.90774393e-01 -4.42873997e-03 1.59702331e+01] [ 5.33077174e-02 -2.82411726e-03 9.98574139e-01 9.50146578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:15.97, Z:9.50 [[ 9.89354048e-01 -1.35456548e-01 -5.31986062e-02 2.04480706e+02] [ 1.35413646e-01 9.90779263e-01 -4.42681215e-03 1.59727619e+01] [ 5.33077166e-02 -2.82413269e-03 9.98574139e-01 9.50293326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.51, Y:15.98, Z:9.50 [[ 9.89358915e-01 -1.35420931e-01 -5.31987653e-02 2.04511456e+02] [ 1.35378080e-01 9.90784132e-01 -4.42489975e-03 1.59752895e+01] [ 5.33077165e-02 -2.82413269e-03 9.98574139e-01 9.50440074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.54, Y:15.98, Z:9.51 [[ 9.89609568e-01 -1.33473441e-01 -5.34578566e-02 2.04541393e+02] [ 1.33427433e-01 9.91048619e-01 -4.44472752e-03 1.59771921e+01] [ 5.35725880e-02 -2.73419968e-03 9.98560214e-01 9.50565036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:15.98, Z:9.51 [[ 9.89609568e-01 -1.33473441e-01 -5.34578566e-02 2.04571295e+02] [ 1.33427433e-01 9.91048619e-01 -4.44472752e-03 1.59796783e+01] [ 5.35725880e-02 -2.73419968e-03 9.98560214e-01 9.50707795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.60, Y:15.99, Z:9.51 [[ 9.89920147e-01 -1.31521385e-01 -5.25378731e-02 2.04601742e+02] [ 1.31474208e-01 9.91309968e-01 -4.36814387e-03 1.59853032e+01] [ 5.26558216e-02 -2.58326164e-03 9.98609379e-01 9.50930766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.63, Y:15.99, Z:9.51 [[ 9.89920148e-01 -1.31521346e-01 -5.25379426e-02 2.04631642e+02] [ 1.31474212e-01 9.91309971e-01 -4.36730761e-03 1.59877882e+01] [ 5.26557806e-02 -2.58409883e-03 9.98609379e-01 9.51073487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.66, Y:15.99, Z:9.51 [[ 9.89920148e-01 -1.31521346e-01 -5.25379426e-02 2.04661541e+02] [ 1.31474212e-01 9.91309971e-01 -4.36730761e-03 1.59902737e+01] [ 5.26557806e-02 -2.58409883e-03 9.98609379e-01 9.51216231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:16.00, Z:9.51 [[ 9.90199436e-01 -1.29563424e-01 -5.21382426e-02 2.04692610e+02] [ 1.29514306e-01 9.91568082e-01 -4.33390585e-03 1.59972856e+01] [ 5.22601329e-02 -2.46121721e-03 9.98630473e-01 9.51477224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:16.00, Z:9.52 [[ 9.90505065e-01 -1.27386911e-01 -5.16942138e-02 2.04722562e+02] [ 1.27335763e-01 9.91850369e-01 -4.29518863e-03 1.60011699e+01] [ 5.18200759e-02 -2.32811607e-03 9.98653724e-01 9.51687879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:16.01, Z:9.52 [[ 9.91165047e-01 -1.22583036e-01 -5.06482774e-02 2.04751552e+02] [ 1.22527715e-01 9.92456173e-01 -4.20750064e-03 1.60073259e+01] [ 5.07819638e-02 -2.03549014e-03 9.98707689e-01 9.51907212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:16.01, Z:9.52 [[ 9.91461228e-01 -1.20246183e-01 -5.04528354e-02 2.04782506e+02] [ 1.20188231e-01 9.92742271e-01 -4.19199964e-03 1.60139230e+01] [ 5.05907343e-02 -1.90763190e-03 9.98717647e-01 9.52093032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:16.02, Z:9.52 [[ 9.91753719e-01 -1.17883917e-01 -5.02786456e-02 2.04814097e+02] [ 1.17823428e-01 9.93025782e-01 -4.17565523e-03 1.60189983e+01] [ 5.04202340e-02 -1.78278077e-03 9.98726500e-01 9.52238339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.85, Y:16.02, Z:9.52 [[ 9.92074469e-01 -1.15223669e-01 -5.01174108e-02 2.04845505e+02] [ 1.15160313e-01 9.93338210e-01 -4.15955724e-03 1.60248474e+01] [ 5.02628186e-02 -1.64494620e-03 9.98734671e-01 9.52383506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:16.03, Z:9.53 [[ 9.92324930e-01 -1.12948804e-01 -5.03368744e-02 2.04875739e+02] [ 1.12882105e-01 9.93599617e-01 -4.17510482e-03 1.60281112e+01] [ 5.04862722e-02 -1.53907173e-03 9.98723569e-01 9.52500683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.91, Y:16.04, Z:9.53 [[ 9.92842016e-01 -1.08281649e-01 -5.03965918e-02 2.04906410e+02] [ 1.08208834e-01 9.94119401e-01 -4.17908806e-03 1.60366334e+01] [ 5.05527482e-02 -1.30418221e-03 9.98720541e-01 9.52643677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.94, Y:16.04, Z:9.53 [[ 9.93086288e-01 -1.06079870e-01 -5.02661456e-02 2.04936931e+02] [ 1.06004713e-01 9.94356899e-01 -4.16630359e-03 1.60392551e+01] [ 5.04244496e-02 -1.19094936e-03 9.98727168e-01 9.52760500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:16.05, Z:9.53 [[ 9.93526677e-01 -1.01365124e-01 -5.12820943e-02 2.04967251e+02] [ 1.01280798e-01 9.94848814e-01 -4.24707702e-03 1.60458566e+01] [ 5.14484362e-02 -9.74307120e-04 9.98675177e-01 9.52834179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:16.05, Z:9.53 [[ 9.93801587e-01 -9.85048003e-02 -5.15287275e-02 2.04997670e+02] [ 9.84158184e-02 9.95136229e-01 -4.26750267e-03 1.60513513e+01] [ 5.16984731e-02 -8.30190963e-04 9.98662395e-01 9.52954299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:16.06, Z:9.53 [[ 9.94369364e-01 -9.23287897e-02 -5.20092480e-02 2.05027935e+02] [ 9.22296944e-02 9.95728442e-01 -4.30729839e-03 1.60587199e+01] [ 5.21847752e-02 -5.13751492e-04 9.98637314e-01 9.53078398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.06, Y:16.06, Z:9.53 [[ 9.94696118e-01 -8.88219586e-02 -5.18680228e-02 2.05057701e+02] [ 8.87186311e-02 9.96047465e-01 -4.29568458e-03 1.60636198e+01] [ 5.20445638e-02 -3.28759201e-04 9.98644709e-01 9.53229965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.09, Y:16.07, Z:9.53 [[ 9.95003402e-01 -8.51900531e-02 -5.20661551e-02 2.05086226e+02] [ 8.50809051e-02 9.96364710e-01 -4.31321581e-03 1.60683443e+01] [ 5.22443226e-02 -1.38171190e-04 9.98634323e-01 9.53344918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:16.07, Z:9.53 [[ 9.94980139e-01 -8.54615177e-02 -5.20658370e-02 2.05113496e+02] [ 8.53525403e-02 9.96341461e-01 -4.31705162e-03 1.60706829e+01] [ 5.22442939e-02 -1.48570832e-04 9.98634323e-01 9.53475213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:16.08, Z:9.54 [[ 9.95536418e-01 -7.84341085e-02 -5.24912557e-02 2.05141220e+02] [ 7.83128146e-02 9.96919272e-01 -4.36673596e-03 1.60783118e+01] [ 5.26720455e-02 2.36506702e-04 9.98611836e-01 9.53656147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:16.08, Z:9.54 [[ 9.95788359e-01 -7.56627704e-02 -5.17753712e-02 2.05169203e+02] [ 7.55403522e-02 9.97133388e-01 -4.32003098e-03 1.60824503e+01] [ 5.19538168e-02 3.90706782e-04 9.98649412e-01 9.53864160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:16.09, Z:9.54 [[ 9.96134960e-01 -7.16045686e-02 -5.08716704e-02 2.05196701e+02] [ 7.14804695e-02 9.97432915e-01 -4.25696476e-03 1.60876334e+01] [ 5.10458967e-02 6.04180532e-04 9.98696126e-01 9.54051465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.22, Y:16.09, Z:9.54 [[ 9.96189230e-01 -7.11666384e-02 -5.04214947e-02 2.05224999e+02] [ 7.10437971e-02 9.97464242e-01 -4.22659883e-03 1.60892423e+01] [ 5.05944308e-02 6.28357796e-04 9.98719084e-01 9.54210655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.25, Y:16.09, Z:9.54 [[ 9.96131364e-01 -7.25479288e-02 -4.95893489e-02 2.05254188e+02] [ 7.24301242e-02 9.97364768e-01 -4.17085089e-03 1.60890066e+01] [ 4.97612560e-02 5.62952690e-04 9.98760983e-01 9.54403231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:16.09, Z:9.54 [[ 9.95731154e-01 -7.74473001e-02 -5.02133882e-02 2.05283619e+02] [ 7.73320725e-02 9.96996391e-01 -4.23641704e-03 1.60868939e+01] [ 5.03906659e-02 3.35227050e-04 9.98729527e-01 9.54464075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.31, Y:16.09, Z:9.55 [[ 9.95428036e-01 -8.12730365e-02 -5.01768667e-02 2.05311825e+02] [ 8.11621991e-02 9.96691863e-01 -4.24589496e-03 1.60863471e+01] [ 5.03559515e-02 1.54018032e-04 9.98731322e-01 9.54562494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:16.09, Z:9.55 [[ 9.95095608e-01 -8.54885804e-02 -4.97637680e-02 2.05341191e+02] [ 8.53844789e-02 9.96339149e-01 -4.21791673e-03 1.60851762e+01] [ 4.99421739e-02 -5.18229788e-05 9.98752110e-01 9.54701352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:16.08, Z:9.55 [[ 9.94727963e-01 -8.99492626e-02 -4.92484457e-02 2.05370954e+02] [ 8.98521788e-02 9.95946315e-01 -4.18615899e-03 1.60838665e+01] [ 4.94253499e-02 -2.60990735e-04 9.98777786e-01 9.54913666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.40, Y:16.08, Z:9.55 [[ 9.94349877e-01 -9.42379021e-02 -4.88624573e-02 2.05400298e+02] [ 9.41474182e-02 9.95549596e-01 -4.15516615e-03 1.60819270e+01] [ 4.90365738e-02 -4.68585256e-04 9.98796874e-01 9.55057945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:16.08, Z:9.55 [[ 9.93640602e-01 -1.01763377e-01 -4.81930318e-02 2.05431131e+02] [ 1.01684070e-01 9.94808290e-01 -4.10081009e-03 1.60758945e+01] [ 4.83601398e-02 -8.25732204e-04 9.98829623e-01 9.55145881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:16.07, Z:9.55 [[ 9.93359376e-01 -1.04457909e-01 -4.82254649e-02 2.05462305e+02] [ 1.04381668e-01 9.94528847e-01 -4.10353803e-03 1.60747175e+01] [ 4.83902630e-02 -9.57566483e-04 9.98828046e-01 9.55249710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:16.07, Z:9.55 [[ 9.93035483e-01 -1.07599801e-01 -4.79876244e-02 2.05493759e+02] [ 1.07528058e-01 9.94193672e-01 -4.08155898e-03 1.60727047e+01] [ 4.81481674e-02 -1.10688317e-03 9.98839591e-01 9.55359839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:16.07, Z:9.55 [[ 9.93003206e-01 -1.07900146e-01 -4.79811655e-02 2.05524980e+02] [ 1.07828857e-01 9.94161102e-01 -4.07926053e-03 1.60738445e+01] [ 4.81411611e-02 -1.12303543e-03 9.98839911e-01 9.55467604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:16.07, Z:9.56 [[ 9.93014020e-01 -1.07768322e-01 -4.80535613e-02 2.05555837e+02] [ 1.07696748e-01 9.94175404e-01 -4.08367232e-03 1.60737625e+01] [ 4.82137593e-02 -1.12006841e-03 9.98836412e-01 9.55583309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:16.08, Z:9.56 [[ 9.93143432e-01 -1.06178565e-01 -4.89104810e-02 2.05586074e+02] [ 1.06102532e-01 9.94346511e-01 -4.15562163e-03 1.60765352e+01] [ 4.90752040e-02 -1.06239752e-03 9.98794521e-01 9.55671546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:16.08, Z:9.56 [[ 9.93287877e-01 -1.04557532e-01 -4.94663079e-02 2.05615369e+02] [ 1.04477750e-01 9.94518343e-01 -4.20288468e-03 1.60781305e+01] [ 4.96345939e-02 -9.93454142e-04 9.98766950e-01 9.55734711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:16.08, Z:9.56 [[ 9.93496532e-01 -1.02496153e-01 -4.95901179e-02 2.05645923e+02] [ 1.02413363e-01 9.94733001e-01 -4.21425461e-03 1.60824591e+01] [ 4.97608717e-02 -8.91843403e-04 9.98760762e-01 9.55859487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:16.09, Z:9.56 [[ 9.93988266e-01 -9.75696245e-02 -4.96738917e-02 2.05675255e+02] [ 9.74804023e-02 9.95228492e-01 -4.22141600e-03 1.60863552e+01] [ 4.98487543e-02 -6.46192982e-04 9.98756569e-01 9.56025552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:16.09, Z:9.56 [[ 9.94242415e-01 -9.51121318e-02 -4.93528460e-02 2.05704510e+02] [ 9.50209876e-02 9.95466430e-01 -4.19506032e-03 1.60910972e+01] [ 4.95281025e-02 -5.18649258e-04 9.98772596e-01 9.56238969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:16.09, Z:9.56 [[ 9.94218074e-01 -9.53663255e-02 -4.93526554e-02 2.05732624e+02] [ 9.52753830e-02 9.95442105e-01 -4.19730031e-03 1.60935136e+01] [ 4.95279923e-02 -5.29061317e-04 9.98772596e-01 9.56373268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:16.10, Z:9.57 [[ 9.94484868e-01 -9.30922957e-02 -4.83080829e-02 2.05762306e+02] [ 9.30019006e-02 9.95657405e-01 -4.12044214e-03 1.60972594e+01] [ 4.84818819e-02 -3.95026167e-04 9.98823984e-01 9.56602313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:16.10, Z:9.57 [[ 9.94811809e-01 -8.89146601e-02 -4.94332572e-02 2.05790730e+02] [ 8.88147531e-02 9.96039229e-01 -4.21829934e-03 1.61013894e+01] [ 4.96125320e-02 -1.93988529e-04 9.98768521e-01 9.56721417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.82, Y:16.10, Z:9.57 [[ 9.94797307e-01 -8.73949488e-02 -5.23492129e-02 2.05819178e+02] [ 8.72805867e-02 9.96173734e-01 -4.47112554e-03 1.61045592e+01] [ 5.25396647e-02 -1.21206363e-04 9.98618831e-01 9.56639947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.85, Y:16.11, Z:9.57 [[ 9.94860022e-01 -8.53362820e-02 -5.45092205e-02 2.05846385e+02] [ 8.52084462e-02 9.96352206e-01 -4.66923254e-03 1.61074211e+01] [ 5.47088370e-02 5.86807749e-07 9.98502350e-01 9.56543333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.87, Y:16.11, Z:9.57 [[ 9.94992527e-01 -8.31245131e-02 -5.54994259e-02 2.05874503e+02] [ 8.29881053e-02 9.96539160e-01 -4.76199360e-03 1.61104198e+01] [ 5.57031897e-02 1.32355843e-04 9.98447363e-01 9.56564226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.90, Y:16.11, Z:9.57 [[ 9.95362451e-01 -7.95696148e-02 -5.40579949e-02 2.05901796e+02] [ 7.94346373e-02 9.96829257e-01 -4.64435867e-03 1.61136082e+01] [ 5.42561407e-02 3.28743008e-04 9.98526997e-01 9.56877085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.93, Y:16.12, Z:9.57 [[ 9.95501003e-01 -7.80772729e-02 -5.36814000e-02 2.05929854e+02] [ 7.79412281e-02 9.96947221e-01 -4.62636149e-03 1.61165529e+01] [ 5.38787362e-02 4.21553268e-04 9.98547397e-01 9.57042899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.96, Y:16.12, Z:9.57 [[ 9.95572833e-01 -7.63074767e-02 -5.48808094e-02 2.05957875e+02] [ 7.61623130e-02 9.97084191e-01 -4.73478830e-03 1.61190888e+01] [ 5.50820872e-02 5.33977220e-04 9.98481687e-01 9.57178813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.99, Y:16.12, Z:9.57 [[ 9.95575755e-01 -7.58780072e-02 -5.54206103e-02 2.05986732e+02] [ 7.57289574e-02 9.97116946e-01 -4.78762179e-03 1.61211303e+01] [ 5.56241049e-02 5.69495139e-04 9.98451619e-01 9.57300983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.01, Y:16.12, Z:9.57 [[ 9.95577449e-01 -7.60554690e-02 -5.51462546e-02 2.06014918e+02] [ 7.59073916e-02 9.97103425e-01 -4.77786598e-03 1.61224375e+01] [ 5.53499022e-02 5.70727277e-04 9.98466856e-01 9.57496164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.04, Y:16.12, Z:9.58 [[ 9.95560947e-01 -7.71523077e-02 -5.39066005e-02 2.06043694e+02] [ 7.70116106e-02 9.97019186e-01 -4.68549479e-03 1.61221756e+01] [ 5.41074117e-02 5.13261508e-04 9.98534989e-01 9.57671270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.07, Y:16.12, Z:9.58 [[ 9.95514358e-01 -7.83227577e-02 -5.30726815e-02 2.06071802e+02] [ 7.81873915e-02 9.96927951e-01 -4.62527092e-03 1.61231531e+01] [ 5.32719036e-02 4.54909089e-04 9.98579940e-01 9.57870786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.10, Y:16.12, Z:9.58 [[ 9.95320716e-01 -8.15407608e-02 -5.18437673e-02 2.06099494e+02] [ 8.14157212e-02 9.96669968e-01 -4.52269542e-03 1.61212386e+01] [ 5.20399099e-02 2.80634746e-04 9.98644966e-01 9.58131038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.13, Y:16.12, Z:9.58 [[ 9.95100364e-01 -8.39293654e-02 -5.22601897e-02 2.06127056e+02] [ 8.38053020e-02 9.96471693e-01 -4.56466607e-03 1.61207772e+01] [ 5.24589092e-02 1.62619892e-04 9.98623070e-01 9.58234143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.15, Y:16.12, Z:9.58 [[ 9.94644415e-01 -8.87425131e-02 -5.29835317e-02 2.06154385e+02] [ 8.86210341e-02 9.96054597e-01 -4.64241524e-03 1.61173359e+01] [ 5.31864699e-02 -7.79029790e-05 9.98584595e-01 9.58199236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.18, Y:16.12, Z:9.58 [[ 9.94420122e-01 -9.17846552e-02 -5.20019043e-02 2.06182016e+02] [ 9.16714201e-02 9.95778853e-01 -4.56356204e-03 1.61168135e+01] [ 5.22012616e-02 -2.28990502e-04 9.98636558e-01 9.58442274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.21, Y:16.11, Z:9.59 [[ 9.93935538e-01 -9.82580332e-02 -4.93710959e-02 2.06210701e+02] [ 9.81632924e-02 9.95160832e-01 -4.34588741e-03 1.61113174e+01] [ 4.95591992e-02 -5.26897374e-04 9.98771049e-01 9.58757973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.24, Y:16.11, Z:9.59 [[ 9.93600687e-01 -1.01794986e-01 -4.89433953e-02 2.06239634e+02] [ 1.01705834e-01 9.94805159e-01 -4.31498590e-03 1.61113819e+01] [ 4.91283860e-02 -6.90455906e-04 9.98792233e-01 9.58980351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:16.11, Z:9.59 [[ 9.93279759e-01 -1.04866152e-01 -4.89735742e-02 2.06268430e+02] [ 1.04780012e-01 9.94485998e-01 -4.32997659e-03 1.61106084e+01] [ 4.91576018e-02 -8.30573582e-04 9.98790689e-01 9.59125596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.30, Y:16.11, Z:9.59 [[ 9.92721228e-01 -1.09629067e-01 -4.98601216e-02 2.06298262e+02] [ 1.09545163e-01 9.93971989e-01 -4.42061574e-03 1.61074115e+01] [ 5.00441922e-02 -1.07349608e-03 9.98746427e-01 9.59153571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.33, Y:16.11, Z:9.59 [[ 9.92689696e-01 -1.09914316e-01 -4.98599069e-02 2.06325539e+02] [ 1.09830650e-01 9.93940474e-01 -4.42303485e-03 1.61098946e+01] [ 5.00439343e-02 -1.08544487e-03 9.98746428e-01 9.59283925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.35, Y:16.11, Z:9.59 [[ 9.92410785e-01 -1.12145766e-01 -5.04396790e-02 2.06353642e+02] [ 1.12062304e-01 9.93691045e-01 -4.48862329e-03 1.61071936e+01] [ 5.06248374e-02 -1.19782846e-03 9.98717023e-01 9.59303057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.38, Y:16.11, Z:9.59 [[ 9.92357310e-01 -1.12713340e-01 -5.02262064e-02 2.06381404e+02] [ 1.12631052e-01 9.93626803e-01 -4.47470672e-03 1.61102584e+01] [ 5.04104640e-02 -1.21652255e-03 9.98727843e-01 9.59449886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.41, Y:16.11, Z:9.60 [[ 9.92364667e-01 -1.12671666e-01 -5.01743336e-02 2.06409440e+02] [ 1.12588749e-01 9.93631551e-01 -4.48488545e-03 1.61119680e+01] [ 5.03601205e-02 -1.19842359e-03 9.98730405e-01 9.59595842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.44, Y:16.11, Z:9.60 [[ 9.92385026e-01 -1.12536738e-01 -5.00743752e-02 2.06437000e+02] [ 1.12453233e-01 9.93646871e-01 -4.49077258e-03 1.61140917e+01] [ 5.02616231e-02 -1.17444992e-03 9.98735395e-01 9.59719319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.46, Y:16.11, Z:9.60 [[ 9.92583102e-01 -1.10592014e-01 -5.04796259e-02 2.06464838e+02] [ 1.10503898e-01 9.93865313e-01 -4.54172920e-03 1.61145348e+01] [ 5.06722282e-02 -1.07015177e-03 9.98714764e-01 9.59777124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.49, Y:16.12, Z:9.60 [[ 9.92611177e-01 -1.10250670e-01 -5.06738723e-02 2.06493566e+02] [ 1.10161056e-01 9.93903259e-01 -4.56656158e-03 1.61180023e+01] [ 5.08683933e-02 -1.04946721e-03 9.98704814e-01 9.59893931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.52, Y:16.12, Z:9.60 [[ 9.92658900e-01 -1.09899479e-01 -5.05016034e-02 2.06522137e+02] [ 1.09809370e-01 9.93942188e-01 -4.56381366e-03 1.61209242e+01] [ 5.06972350e-02 -1.01523901e-03 9.98713552e-01 9.60031480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.55, Y:16.12, Z:9.60 [[ 9.92554197e-01 -1.10735184e-01 -5.07334622e-02 2.06550508e+02] [ 1.10644668e-01 9.93849394e-01 -4.59786740e-03 1.61221806e+01] [ 5.09305663e-02 -1.04975448e-03 9.98701645e-01 9.60125776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.58, Y:16.12, Z:9.60 [[ 9.92258151e-01 -1.12890545e-01 -5.17637616e-02 2.06579829e+02] [ 1.12798537e-01 9.93606741e-01 -4.70480481e-03 1.61221878e+01] [ 5.19639505e-02 -1.17049566e-03 9.98648275e-01 9.60128429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.61, Y:16.12, Z:9.60 [[ 9.92054143e-01 -1.14552754e-01 -5.20215801e-02 2.06608915e+02] [ 1.14461408e-01 9.93416379e-01 -4.74164486e-03 1.61232409e+01] [ 5.22222583e-02 -1.25049489e-03 9.98634704e-01 9.60235176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.64, Y:16.12, Z:9.60 [[ 9.91324367e-01 -1.20348186e-01 -5.28423406e-02 2.06637347e+02] [ 1.20261478e-01 9.92730505e-01 -4.82913620e-03 1.61211873e+01] [ 5.30393812e-02 -1.56765756e-03 9.98591191e-01 9.60290032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.67, Y:16.12, Z:9.60 [[ 9.91129345e-01 -1.22028088e-01 -5.26475712e-02 2.06665552e+02] [ 1.21944177e-01 9.92525280e-01 -4.81522455e-03 1.61230500e+01] [ 5.28416380e-02 -1.64755440e-03 9.98601546e-01 9.60482403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.69, Y:16.13, Z:9.61 [[ 9.91112005e-01 -1.22183402e-01 -5.26137770e-02 2.06691951e+02] [ 1.22099557e-01 9.92506168e-01 -4.81705081e-03 1.61250689e+01] [ 5.28080619e-02 -1.64988196e-03 9.98603318e-01 9.60608574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.72, Y:16.13, Z:9.61 [[ 9.91077701e-01 -1.22461635e-01 -5.26131035e-02 2.06719233e+02] [ 1.22377792e-01 9.92471864e-01 -4.82439623e-03 1.61276469e+01] [ 5.28078283e-02 -1.65732388e-03 9.98603318e-01 9.60739085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.75, Y:16.13, Z:9.61 [[ 9.91043311e-01 -1.22740211e-01 -5.26117453e-02 2.06746515e+02] [ 1.22655976e-01 9.92437451e-01 -4.83916406e-03 1.61302362e+01] [ 5.28078265e-02 -1.65732382e-03 9.98603318e-01 9.60869762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.77, Y:16.14, Z:9.61 [[ 9.91017789e-01 -1.22765634e-01 -5.30315062e-02 2.06773636e+02] [ 1.22679278e-01 9.92434307e-01 -4.89293954e-03 1.61351957e+01] [ 5.32309709e-02 -1.65687676e-03 9.98580852e-01 9.61049983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.80, Y:16.14, Z:9.61 [[ 9.90982334e-01 -1.23052113e-01 -5.30300886e-02 2.06800915e+02] [ 1.22965348e-01 9.92398827e-01 -4.90825801e-03 1.61377891e+01] [ 5.32309693e-02 -1.65686632e-03 9.98580852e-01 9.61180659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.83, Y:16.14, Z:9.61 [[ 9.91044854e-01 -1.22513946e-01 -5.31077190e-02 2.06829831e+02] [ 1.22425345e-01 9.92465477e-01 -4.93062456e-03 1.61421486e+01] [ 5.33116480e-02 -1.61526072e-03 9.98576617e-01 9.61328106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.86, Y:16.15, Z:9.62 [[ 9.91354911e-01 -1.20595856e-01 -5.16921725e-02 2.06857861e+02] [ 1.20508680e-01 9.92700614e-01 -4.81133934e-03 1.61474031e+01] [ 5.18950790e-02 -1.45961059e-03 9.98651476e-01 9.61616560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.89, Y:16.15, Z:9.62 [[ 9.91593569e-01 -1.18974769e-01 -5.08645047e-02 2.06885179e+02] [ 1.18887603e-01 9.92896373e-01 -4.74659967e-03 1.61496586e+01] [ 5.10679078e-02 -1.34046135e-03 9.98694284e-01 9.61775708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.91, Y:16.16, Z:9.62 [[ 9.91966812e-01 -1.15532120e-01 -5.15186622e-02 2.06913501e+02] [ 1.15437817e-01 9.93303051e-01 -4.81231106e-03 1.61561893e+01] [ 5.17296208e-02 -1.17354904e-03 9.98660437e-01 9.61886918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.94, Y:16.16, Z:9.62 [[ 9.92126567e-01 -1.13904878e-01 -5.20629714e-02 2.06941562e+02] [ 1.13806088e-01 9.93491056e-01 -4.86785218e-03 1.61605576e+01] [ 5.22785685e-02 -1.09555762e-03 9.98631940e-01 9.62011582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.97, Y:16.16, Z:9.62 [[ 9.92305351e-01 -1.12160864e-01 -5.24407304e-02 2.06968657e+02] [ 1.12057518e-01 9.93689561e-01 -4.91610382e-03 1.61646701e+01] [ 5.26612009e-02 -9.98101986e-04 9.98611937e-01 9.62124477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.00, Y:16.17, Z:9.62 [[ 9.92554004e-01 -1.09560652e-01 -5.32260446e-02 2.06996713e+02] [ 1.09450015e-01 9.93979736e-01 -4.99788380e-03 1.61711349e+01] [ 5.34531812e-02 -8.64921773e-04 9.98569982e-01 9.62237961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.02, Y:16.17, Z:9.62 [[ 9.92644204e-01 -1.08437211e-01 -5.38410290e-02 2.07024868e+02] [ 1.08321589e-01 9.94102978e-01 -5.06969326e-03 1.61738861e+01] [ 5.40732707e-02 -7.99744163e-04 9.98536650e-01 9.62283423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.05, Y:16.18, Z:9.62 [[ 9.92814988e-01 -1.06341326e-01 -5.48627611e-02 2.07053830e+02] [ 1.06217332e-01 9.94329449e-01 -5.17932276e-03 1.61787199e+01] [ 5.51024351e-02 -6.85266877e-04 9.98480472e-01 9.62382621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.08, Y:16.18, Z:9.62 [[ 9.92860168e-01 -1.05871236e-01 -5.49542408e-02 2.07081565e+02] [ 1.05745621e-01 9.94379634e-01 -5.19679672e-03 1.61816771e+01] [ 5.51955692e-02 -6.51477857e-04 9.98475350e-01 9.62466772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.11, Y:16.18, Z:9.63 [[ 9.92928220e-01 -1.05269364e-01 -5.48808881e-02 2.07109190e+02] [ 1.05142284e-01 9.94443563e-01 -5.20582240e-03 1.61848236e+01] [ 5.51239595e-02 -6.01293965e-04 9.98479338e-01 9.62562108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.14, Y:16.19, Z:9.63 [[ 9.92945978e-01 -1.04957238e-01 -5.51567105e-02 2.07137050e+02] [ 1.04827506e-01 9.94476572e-01 -5.24802756e-03 1.61883671e+01] [ 5.54028748e-02 -5.70932533e-04 9.98463918e-01 9.62713113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.16, Y:16.19, Z:9.63 [[ 9.93015478e-01 -1.04591784e-01 -5.45968749e-02 2.07164561e+02] [ 1.04463257e-01 9.94515097e-01 -5.21049519e-03 1.61917842e+01] [ 5.48423914e-02 -5.29265001e-04 9.98494883e-01 9.62878533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.19, Y:16.20, Z:9.63 [[ 9.93041000e-01 -1.04584940e-01 -5.41438993e-02 2.07191888e+02] [ 1.04457680e-01 9.94515828e-01 -5.18284275e-03 1.61953756e+01] [ 5.43890121e-02 -5.08970755e-04 9.98519692e-01 9.63082527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.22, Y:16.20, Z:9.63 [[ 9.93062410e-01 -1.04487481e-01 -5.39390103e-02 2.07219814e+02] [ 1.04360185e-01 9.94526083e-01 -5.17896748e-03 1.61985751e+01] [ 5.41848899e-02 -4.86047149e-04 9.98530801e-01 9.63236868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.25, Y:16.20, Z:9.63 [[ 9.93016211e-01 -1.05139508e-01 -5.35209213e-02 2.07247208e+02] [ 1.05014287e-01 9.94457355e-01 -5.15439435e-03 1.62012140e+01] [ 5.37662043e-02 -5.02064236e-04 9.98553425e-01 9.63349979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.28, Y:16.20, Z:9.63 [[ 9.92940192e-01 -1.05959892e-01 -5.33130025e-02 2.07275045e+02] [ 1.05835992e-01 9.94370264e-01 -5.14987267e-03 1.62034250e+01] [ 5.35585443e-02 -5.28918961e-04 9.98564571e-01 9.63486479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.30, Y:16.20, Z:9.64 [[ 9.92809026e-01 -1.07689360e-01 -5.22803977e-02 2.07304066e+02] [ 1.07571827e-01 9.94184413e-01 -5.06504947e-03 1.62048386e+01] [ 5.25218085e-02 -5.95271079e-04 9.98619600e-01 9.63643831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.33, Y:16.21, Z:9.64 [[ 9.92701806e-01 -1.08878425e-01 -5.18518375e-02 2.07331291e+02] [ 1.08763773e-01 9.94054867e-01 -5.03616813e-03 1.62066708e+01] [ 5.20919015e-02 -6.40188298e-04 9.98642090e-01 9.63767072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.36, Y:16.21, Z:9.64 [[ 9.92428088e-01 -1.11932831e-01 -5.05720491e-02 2.07360260e+02] [ 1.11827431e-01 9.93715473e-01 -4.91777101e-03 1.62070487e+01] [ 5.08046878e-02 -7.74808285e-04 9.98708307e-01 9.63940109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.39, Y:16.21, Z:9.64 [[ 9.92191862e-01 -1.14219610e-01 -5.00918075e-02 2.07388858e+02] [ 1.14118478e-01 9.93455144e-01 -4.88370453e-03 1.62081092e+01] [ 5.03217787e-02 -8.70828954e-04 9.98732677e-01 9.64088292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.42, Y:16.21, Z:9.64 [[ 9.91666766e-01 -1.18834136e-01 -4.97541390e-02 2.07418222e+02] [ 1.18739560e-01 9.92913526e-01 -4.86282310e-03 1.62056831e+01] [ 4.99794269e-02 -1.08548451e-03 9.98749658e-01 9.64177765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.45, Y:16.21, Z:9.64 [[ 9.91345636e-01 -1.21389722e-01 -4.99836598e-02 2.07446608e+02] [ 1.21297368e-01 9.92604178e-01 -4.88818517e-03 1.62066755e+01] [ 5.02073650e-02 -1.21700532e-03 9.98738073e-01 9.64255643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.48, Y:16.21, Z:9.64 [[ 9.91004440e-01 -1.24200952e-01 -4.98429824e-02 2.07475171e+02] [ 1.24112307e-01 9.92256169e-01 -4.88160727e-03 1.62073483e+01] [ 5.00633070e-02 -1.34843306e-03 9.98745136e-01 9.64339685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.50, Y:16.21, Z:9.64 [[ 9.90703798e-01 -1.26619455e-01 -4.97342733e-02 2.07504126e+02] [ 1.26533607e-01 9.91950300e-01 -4.88358471e-03 1.62091525e+01] [ 4.99522841e-02 -1.45487107e-03 9.98750546e-01 9.64483970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.53, Y:16.21, Z:9.65 [[ 9.90699155e-01 -1.26656253e-01 -4.97330700e-02 2.07533118e+02] [ 1.26569838e-01 9.91945617e-01 -4.89580812e-03 1.62120403e+01] [ 4.99525855e-02 -1.44443367e-03 9.98750546e-01 9.64622865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.56, Y:16.21, Z:9.65 [[ 9.90164114e-01 -1.30967212e-01 -4.92200815e-02 2.07562745e+02] [ 1.30887796e-01 9.91385339e-01 -4.84710918e-03 1.62116139e+01] [ 4.94308796e-02 -1.64287443e-03 9.98776196e-01 9.64707742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.59, Y:16.21, Z:9.65 [[ 9.89864010e-01 -1.32944609e-01 -4.99496907e-02 2.07591426e+02] [ 1.32865238e-01 9.91121896e-01 -4.92087170e-03 1.62125568e+01] [ 5.01604355e-02 -1.76558374e-03 9.98739612e-01 9.64785486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.62, Y:16.21, Z:9.65 [[ 9.89640166e-01 -1.34791981e-01 -4.94313970e-02 2.07620183e+02] [ 1.34716393e-01 9.90872216e-01 -4.87292155e-03 1.62137348e+01] [ 4.96370287e-02 -1.83678064e-03 9.98765634e-01 9.64876950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.65, Y:16.22, Z:9.65 [[ 9.89386713e-01 -1.36720208e-01 -4.92089058e-02 2.07648720e+02] [ 1.36647062e-01 9.90607858e-01 -4.86344120e-03 1.62150247e+01] [ 4.94116594e-02 -1.91242829e-03 9.98776667e-01 9.64990651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.68, Y:16.21, Z:9.65 [[ 9.88870026e-01 -1.40531124e-01 -4.88576940e-02 2.07677342e+02] [ 1.40463068e-01 9.90074085e-01 -4.84071388e-03 1.62144933e+01] [ 4.90530077e-02 -2.07586473e-03 9.98794019e-01 9.65114050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.71, Y:16.22, Z:9.65 [[ 9.88586183e-01 -1.42359183e-01 -4.93074144e-02 2.07706296e+02] [ 1.42291942e-01 9.89812659e-01 -4.88918719e-03 1.62166457e+01] [ 4.95011237e-02 -2.18266486e-03 9.98771683e-01 9.65203637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.74, Y:16.22, Z:9.65 [[ 9.88261672e-01 -1.44524045e-01 -4.95143191e-02 2.07735552e+02] [ 1.44458359e-01 9.89498641e-01 -4.92154368e-03 1.62189101e+01] [ 4.97056328e-02 -2.28898429e-03 9.98761288e-01 9.65340144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:16.22, Z:9.65 [[ 9.87820557e-01 -1.47349273e-01 -4.99873802e-02 2.07765039e+02] [ 1.47285842e-01 9.89081481e-01 -4.97035273e-03 1.62207325e+01] [ 5.01739699e-02 -2.45261675e-03 9.98737482e-01 9.65432152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.79, Y:16.23, Z:9.66 [[ 9.87591884e-01 -1.48808376e-01 -5.01830363e-02 2.07793576e+02] [ 1.48746204e-01 9.88862804e-01 -4.99221195e-03 1.62254183e+01] [ 5.03670210e-02 -2.53426816e-03 9.98727561e-01 9.65537026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.82, Y:16.22, Z:9.66 [[ 9.87373627e-01 -1.50099589e-01 -5.06303668e-02 2.07821366e+02] [ 1.50037367e-01 9.88667434e-01 -5.04907915e-03 1.62238321e+01] [ 5.08144596e-02 -2.61111934e-03 9.98704697e-01 9.65600960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.85, Y:16.23, Z:9.66 [[ 9.87201965e-01 -1.51241066e-01 -5.05808385e-02 2.07850138e+02] [ 1.51180237e-01 9.88493323e-01 -5.04849635e-03 1.62321133e+01] [ 5.07623610e-02 -2.66293762e-03 9.98707210e-01 9.65788908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.88, Y:16.23, Z:9.66 [[ 9.87066666e-01 -1.52128543e-01 -5.05599049e-02 2.07879168e+02] [ 1.52068823e-01 9.88357014e-01 -5.04838857e-03 1.62347060e+01] [ 5.07392407e-02 -2.70548919e-03 9.98708271e-01 9.65920270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.91, Y:16.24, Z:9.66 [[ 9.86785768e-01 -1.53810503e-01 -5.09526969e-02 2.07909415e+02] [ 1.53751903e-01 9.88096368e-01 -5.09118834e-03 1.62399637e+01] [ 5.11292530e-02 -2.81016192e-03 9.98688091e-01 9.66037419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.94, Y:16.24, Z:9.66 [[ 9.86695767e-01 -1.54285668e-01 -5.12581267e-02 2.07938601e+02] [ 1.54226987e-01 9.88022167e-01 -5.12199907e-03 1.62403612e+01] [ 5.14344165e-02 -2.85153166e-03 9.98672303e-01 9.66134023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.97, Y:16.24, Z:9.66 [[ 9.86641864e-01 -1.54586616e-01 -5.13888201e-02 2.07966452e+02] [ 1.54527848e-01 9.87975069e-01 -5.13884069e-03 1.62442249e+01] [ 5.15652691e-02 -2.87080843e-03 9.98665500e-01 9.66270532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.00, Y:16.25, Z:9.66 [[ 9.86620365e-01 -1.54715251e-01 -5.14144611e-02 2.07995201e+02] [ 1.54656409e-01 9.87954920e-01 -5.14507685e-03 1.62490808e+01] [ 5.15911917e-02 -2.87533830e-03 9.98664148e-01 9.66464766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.02, Y:16.26, Z:9.67 [[ 9.86690297e-01 -1.54584231e-01 -5.04576294e-02 2.08024329e+02] [ 1.54527214e-01 9.87975612e-01 -5.05270829e-03 1.62551706e+01] [ 5.06319763e-02 -2.81161864e-03 9.98713421e-01 9.66651350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.05, Y:16.26, Z:9.67 [[ 9.86863228e-01 -1.53694024e-01 -4.97907344e-02 2.08053210e+02] [ 1.53637284e-01 9.88114724e-01 -4.98771138e-03 1.62584317e+01] [ 4.99655392e-02 -2.72752425e-03 9.98747218e-01 9.66839176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.08, Y:16.26, Z:9.67 [[ 9.86982492e-01 -1.52894157e-01 -4.98892436e-02 2.08082267e+02] [ 1.52836084e-01 9.88238907e-01 -4.99937830e-03 1.62632958e+01] [ 5.00668673e-02 -2.69057779e-03 9.98742244e-01 9.67015054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.11, Y:16.27, Z:9.67 [[ 9.87210385e-01 -1.51596915e-01 -4.93358934e-02 2.08112555e+02] [ 1.51538430e-01 9.88438995e-01 -4.94548923e-03 1.62737905e+01] [ 4.95152418e-02 -2.59404549e-03 9.98769999e-01 9.67220316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.14, Y:16.28, Z:9.67 [[ 9.87434752e-01 -1.50367421e-01 -4.86029767e-02 2.08143197e+02] [ 1.50309261e-01 9.88627031e-01 -4.87026209e-03 1.62800859e+01] [ 4.87825453e-02 -2.49641147e-03 9.98806303e-01 9.67410382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.17, Y:16.29, Z:9.68 [[ 9.87656421e-01 -1.48947868e-01 -4.84698571e-02 2.08174152e+02] [ 1.48888408e-01 9.88842085e-01 -4.85514240e-03 1.62858637e+01] [ 4.86521977e-02 -2.42138729e-03 9.98812846e-01 9.67613770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.20, Y:16.30, Z:9.68 [[ 9.88017392e-01 -1.46382935e-01 -4.89251467e-02 2.08204352e+02] [ 1.46319306e-01 9.89225283e-01 -4.89893313e-03 1.62952622e+01] [ 4.91151123e-02 -2.31846240e-03 9.98790434e-01 9.67799301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.23, Y:16.30, Z:9.68 [[ 9.88206429e-01 -1.45173540e-01 -4.87103338e-02 2.08234132e+02] [ 1.45109090e-01 9.89403649e-01 -4.87564801e-03 1.62982115e+01] [ 4.89019971e-02 -2.25016550e-03 9.98801047e-01 9.67929256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.26, Y:16.30, Z:9.68 [[ 9.88349636e-01 -1.44251936e-01 -4.85425279e-02 2.08264174e+02] [ 1.44186863e-01 9.89538553e-01 -4.85796740e-03 1.63034068e+01] [ 4.87354740e-02 -2.19782452e-03 9.98809303e-01 9.68074730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:16.31, Z:9.68 [[ 9.88500829e-01 -1.43237711e-01 -4.84672030e-02 2.08294655e+02] [ 1.43171667e-01 9.89685988e-01 -4.84955521e-03 1.63110901e+01] [ 4.86619509e-02 -2.14534091e-03 9.98813002e-01 9.68236550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.33, Y:16.32, Z:9.68 [[ 9.88618390e-01 -1.42098798e-01 -4.94126587e-02 2.08326470e+02] [ 1.42028830e-01 9.89850184e-01 -4.94222397e-03 1.63212842e+01] [ 4.96134134e-02 -2.13204859e-03 9.98766221e-01 9.68344653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:16.32, Z:9.68 [[ 9.88642593e-01 -1.41758907e-01 -4.99022572e-02 2.08357430e+02] [ 1.41687343e-01 9.89898899e-01 -4.98662454e-03 1.63211892e+01] [ 5.01050879e-02 -2.14052880e-03 9.98741657e-01 9.68413484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.39, Y:16.33, Z:9.69 [[ 9.88636514e-01 -1.41657040e-01 -5.03103007e-02 2.08387995e+02] [ 1.41584309e-01 9.89913449e-01 -5.02465709e-03 1.63279508e+01] [ 5.05146213e-02 -2.15558968e-03 9.98720995e-01 9.68526291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:16.34, Z:9.69 [[ 9.88622337e-01 -1.41663219e-01 -5.05708219e-02 2.08419276e+02] [ 1.41589838e-01 9.89912535e-01 -5.04875509e-03 1.63354309e+01] [ 5.07759134e-02 -2.16900242e-03 9.98707716e-01 9.68693030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:16.34, Z:9.69 [[ 9.88636931e-01 -1.41400421e-01 -5.10190047e-02 2.08451234e+02] [ 1.41325578e-01 9.89950087e-01 -5.08973925e-03 1.63417556e+01] [ 5.12259594e-02 -2.17838614e-03 9.98684713e-01 9.68778974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.48, Y:16.35, Z:9.69 [[ 9.88642331e-01 -1.41252503e-01 -5.13232030e-02 2.08482895e+02] [ 1.41176761e-01 9.89971184e-01 -5.11632122e-03 1.63477285e+01] [ 5.15311852e-02 -2.18743182e-03 9.98668990e-01 9.68883739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:16.35, Z:9.69 [[ 9.88686299e-01 -1.40889755e-01 -5.14730934e-02 2.08514202e+02] [ 1.40813276e-01 9.90022894e-01 -5.12744802e-03 1.63535768e+01] [ 5.16819458e-02 -2.17865732e-03 9.98661219e-01 9.69049733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.55, Y:16.36, Z:9.69 [[ 9.88878682e-01 -1.39734434e-01 -5.09238663e-02 2.08545629e+02] [ 1.39658243e-01 9.90186791e-01 -5.06897841e-03 1.63611556e+01] [ 5.11324506e-02 -2.09933300e-03 9.98689674e-01 9.69233204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:16.36, Z:9.69 [[ 9.88988198e-01 -1.38850102e-01 -5.12151688e-02 2.08576945e+02] [ 1.38772047e-01 9.90311248e-01 -5.09421614e-03 1.63642217e+01] [ 5.14262901e-02 -2.06911415e-03 9.98674649e-01 9.69345250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.61, Y:16.37, Z:9.69 [[ 9.89087672e-01 -1.38287617e-01 -5.08144928e-02 2.08609071e+02] [ 1.38210183e-01 9.90390038e-01 -5.05150740e-03 1.63690485e+01] [ 5.10247284e-02 -2.02669667e-03 9.98695334e-01 9.69493358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.64, Y:16.38, Z:9.70 [[ 9.89434610e-01 -1.35910296e-01 -5.04732037e-02 2.08638807e+02] [ 1.35830986e-01 9.90719336e-01 -5.01413808e-03 1.63754590e+01] [ 5.06862518e-02 -1.89466324e-03 9.98712829e-01 9.69679978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:16.38, Z:9.70 [[ 9.89653225e-01 -1.34325337e-01 -5.04301330e-02 2.08669436e+02] [ 1.34244156e-01 9.90935627e-01 -5.00890631e-03 1.63794627e+01] [ 5.06458385e-02 -1.81287038e-03 9.98715031e-01 9.69833251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.70, Y:16.39, Z:9.70 [[ 9.90230487e-01 -1.29915031e-01 -5.06524094e-02 2.08699978e+02] [ 1.29827465e-01 9.91523846e-01 -5.02912470e-03 1.63924280e+01] [ 5.08764307e-02 -1.59608131e-03 9.98703680e-01 9.70006181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:16.40, Z:9.70 [[ 9.90614589e-01 -1.27015143e-01 -5.04964223e-02 2.08731590e+02] [ 1.26924496e-01 9.91899725e-01 -5.01079417e-03 1.63999960e+01] [ 5.07238341e-02 -1.44546716e-03 9.98711672e-01 9.70210408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.76, Y:16.41, Z:9.70 [[ 9.91442716e-01 -1.20717540e-01 -4.96851801e-02 2.08761541e+02] [ 1.20622056e-01 9.92686278e-01 -4.92675305e-03 1.64089972e+01] [ 4.99165421e-02 -1.10853515e-03 9.98752777e-01 9.70385172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:16.41, Z:9.71 [[ 9.91828589e-01 -1.17532298e-01 -4.96206502e-02 2.08792932e+02] [ 1.17433174e-01 9.93068607e-01 -4.91842653e-03 1.64149516e+01] [ 4.98547840e-02 -9.48874430e-04 9.98756026e-01 9.70528512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.82, Y:16.42, Z:9.71 [[ 9.92233005e-01 -1.14209004e-01 -4.92946955e-02 2.08824771e+02] [ 1.14107258e-01 9.93456438e-01 -4.88252552e-03 1.64204810e+01] [ 4.95297610e-02 -7.80279561e-04 9.98772343e-01 9.70657077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:16.43, Z:9.71 [[ 9.92566847e-01 -1.11258052e-01 -4.93224161e-02 2.08856560e+02] [ 1.11152729e-01 9.93791346e-01 -4.88167351e-03 1.64261403e+01] [ 4.95593158e-02 -6.36933862e-04 9.98770979e-01 9.70801585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:16.43, Z:9.71 [[ 9.92827315e-01 -1.08883047e-01 -4.93801958e-02 2.08888032e+02] [ 1.08774719e-01 9.94054430e-01 -4.88379333e-03 1.64317807e+01] [ 4.96183647e-02 -5.22553509e-04 9.98768114e-01 9.70982580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:16.44, Z:9.71 [[ 9.93074509e-01 -1.06792269e-01 -4.89737771e-02 2.08919771e+02] [ 1.06683353e-01 9.94281266e-01 -4.84003499e-03 1.64368103e+01] [ 4.92105874e-02 -4.18171367e-04 9.98788338e-01 9.71148512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:16.44, Z:9.71 [[ 9.93213527e-01 -1.05314806e-01 -4.93526187e-02 2.08952063e+02] [ 1.05202555e-01 9.94438871e-01 -4.87381521e-03 1.64421417e+01] [ 4.95914473e-02 -3.51282407e-04 9.98769525e-01 9.71294009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:16.44, Z:9.71 [[ 9.93213472e-01 -1.05290719e-01 -4.94051033e-02 2.08982648e+02] [ 1.05178428e-01 9.94441420e-01 -4.87440257e-03 1.64449009e+01] [ 4.96437105e-02 -3.55028805e-04 9.98766928e-01 9.71399000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:16.45, Z:9.72 [[ 9.93114640e-01 -1.06250844e-01 -4.93363036e-02 2.09014343e+02] [ 1.06140343e-01 9.94339274e-01 -4.86170632e-03 1.64471964e+01] [ 4.95735847e-02 -4.08340457e-04 9.98770391e-01 9.71544062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:16.45, Z:9.72 [[ 9.92932172e-01 -1.07883251e-01 -4.94662148e-02 2.09046705e+02] [ 1.07774369e-01 9.94163447e-01 -4.87091675e-03 1.64485945e+01] [ 4.97029930e-02 -4.94700159e-04 9.98763920e-01 9.71666746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.08, Y:16.45, Z:9.72 [[ 9.92380239e-01 -1.12751486e-01 -4.96846511e-02 2.09079299e+02] [ 1.12647913e-01 9.93622940e-01 -4.88883338e-03 1.64478072e+01] [ 4.99190324e-02 -7.45290616e-04 9.98752990e-01 9.71803907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.11, Y:16.45, Z:9.72 [[ 9.92077247e-01 -1.15483415e-01 -4.94602467e-02 2.09110224e+02] [ 1.15384353e-01 9.93309016e-01 -4.86303068e-03 1.64474447e+01] [ 4.96909083e-02 -8.82436440e-04 9.98764254e-01 9.71940936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.14, Y:16.44, Z:9.72 [[ 9.91336264e-01 -1.21765990e-01 -4.92489092e-02 2.09141392e+02] [ 1.21675809e-01 9.92558113e-01 -4.83623353e-03 1.64448674e+01] [ 4.94712931e-02 -1.19806719e-03 9.98774827e-01 9.72089335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:16.44, Z:9.72 [[ 9.90925666e-01 -1.24971539e-01 -4.94817087e-02 2.09173693e+02] [ 1.24884542e-01 9.92159387e-01 -4.85810746e-03 1.64449075e+01] [ 4.97008670e-02 -1.36547716e-03 9.98763215e-01 9.72209219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:16.45, Z:9.72 [[ 9.90538789e-01 -1.27832662e-01 -4.99171108e-02 2.09205870e+02] [ 1.27747931e-01 9.91794577e-01 -4.89731814e-03 1.64470175e+01] [ 5.01335570e-02 -1.52582407e-03 9.98741357e-01 9.72314945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.24, Y:16.44, Z:9.72 [[ 9.89676713e-01 -1.34099315e-01 -5.05705192e-02 2.09236866e+02] [ 1.34020688e-01 9.90966132e-01 -4.95793357e-03 1.64408173e+01] [ 5.07785273e-02 -1.87074439e-03 9.98708186e-01 9.72342503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.27, Y:16.44, Z:9.72 [[ 9.89266389e-01 -1.37104414e-01 -5.05409951e-02 2.09266851e+02] [ 1.37029802e-01 9.90554533e-01 -4.95481316e-03 1.64395700e+01] [ 5.07429385e-02 -2.02399243e-03 9.98709696e-01 9.72450550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.30, Y:16.44, Z:9.73 [[ 9.88425579e-01 -1.43012321e-01 -5.06196743e-02 2.09296828e+02] [ 1.42945366e-01 9.89718156e-01 -4.95921611e-03 1.64432004e+01] [ 5.08084398e-02 -2.33403183e-03 9.98705690e-01 9.72615325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.33, Y:16.44, Z:9.73 [[ 9.88049563e-01 -1.45380065e-01 -5.12122841e-02 2.09329087e+02] [ 1.45314729e-01 9.89372762e-01 -5.01680223e-03 1.64443069e+01] [ 5.13973819e-02 -2.48504992e-03 9.98675189e-01 9.72739919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.36, Y:16.45, Z:9.73 [[ 9.87713686e-01 -1.47679836e-01 -5.11110574e-02 2.09361110e+02] [ 1.47618016e-01 9.89031794e-01 -5.00318652e-03 1.64464920e+01] [ 5.12893306e-02 -2.60319710e-03 9.98680443e-01 9.72883397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:16.45, Z:9.73 [[ 9.87397482e-01 -1.49733620e-01 -5.12450594e-02 2.09392244e+02] [ 1.49674431e-01 9.88722631e-01 -5.01244714e-03 1.64468806e+01] [ 5.14176818e-02 -2.72079741e-03 9.98673530e-01 9.73033413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:16.45, Z:9.73 [[ 9.86842903e-01 -1.53434473e-01 -5.09798733e-02 2.09422925e+02] [ 1.53381050e-01 9.88154560e-01 -4.98183111e-03 1.64456142e+01] [ 5.11403789e-02 -2.90306182e-03 9.98687255e-01 9.73169728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.45, Y:16.45, Z:9.73 [[ 9.86853806e-01 -1.53364269e-01 -5.09800691e-02 2.09454487e+02] [ 1.53310856e-01 9.88165463e-01 -4.97982648e-03 1.64486364e+01] [ 5.11404710e-02 -2.90143732e-03 9.98687255e-01 9.73320527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:16.45, Z:9.73 [[ 9.86864707e-01 -1.53293987e-01 -5.09804230e-02 2.09486048e+02] [ 1.53240668e-01 9.88176368e-01 -4.97620060e-03 1.64516555e+01] [ 5.11404709e-02 -2.90143731e-03 9.98687255e-01 9.73471280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.52, Y:16.46, Z:9.74 [[ 9.86497669e-01 -1.55757381e-01 -5.06160743e-02 2.09516385e+02] [ 1.55708223e-01 9.87790754e-01 -4.93720369e-03 1.64561358e+01] [ 5.07670961e-02 -3.01079906e-03 9.98705981e-01 9.73643272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.55, Y:16.46, Z:9.74 [[ 9.86378574e-01 -1.56598568e-01 -5.03408048e-02 2.09548080e+02] [ 1.56551088e-01 9.87657661e-01 -4.90925997e-03 1.64599019e+01] [ 5.04882646e-02 -3.03851893e-03 9.98720032e-01 9.73823080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.58, Y:16.46, Z:9.74 [[ 9.86317163e-01 -1.57176519e-01 -4.97392737e-02 2.09579333e+02] [ 1.57131079e-01 9.87565862e-01 -4.84697112e-03 1.64577870e+01] [ 4.98826388e-02 -3.03493493e-03 9.98750475e-01 9.73959696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.61, Y:16.46, Z:9.74 [[ 9.86272676e-01 -1.57286329e-01 -5.02714567e-02 2.09611079e+02] [ 1.57240199e-01 9.87548252e-01 -4.89594814e-03 1.64645231e+01] [ 5.04155549e-02 -3.07595401e-03 9.98723591e-01 9.74080933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.64, Y:16.46, Z:9.74 [[ 9.86256275e-01 -1.57418906e-01 -5.01781596e-02 2.09642705e+02] [ 1.57373303e-01 9.87527113e-01 -4.88320227e-03 1.64628099e+01] [ 5.03210014e-02 -3.08061381e-03 9.98728345e-01 9.74118954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.67, Y:16.47, Z:9.74 [[ 9.86219835e-01 -1.57435682e-01 -5.08374252e-02 2.09674456e+02] [ 1.57389045e-01 9.87524299e-01 -4.94446037e-03 1.64668072e+01] [ 5.09816271e-02 -3.12492893e-03 9.98694702e-01 9.74241062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.71, Y:16.47, Z:9.74 [[ 9.86186440e-01 -1.57533438e-01 -5.11812677e-02 2.09705714e+02] [ 1.57486487e-01 9.87508614e-01 -4.97426471e-03 1.64726229e+01] [ 5.13255557e-02 -3.15480563e-03 9.98676992e-01 9.74349856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:16.47, Z:9.74 [[ 9.86197638e-01 -1.57288742e-01 -5.17152803e-02 2.09737150e+02] [ 1.57240623e-01 9.87547545e-01 -5.02328374e-03 1.64732051e+01] [ 5.18614041e-02 -3.17779231e-03 9.98649236e-01 9.74420259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:16.48, Z:9.74 [[ 9.86179410e-01 -1.57003018e-01 -5.29171447e-02 2.09769098e+02] [ 1.56952392e-01 9.87592810e-01 -5.13696728e-03 1.64796892e+01] [ 5.30671110e-02 -3.23950109e-03 9.98585694e-01 9.74491635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.80, Y:16.48, Z:9.75 [[ 9.86249732e-01 -1.56546651e-01 -5.29585938e-02 2.09800209e+02] [ 1.56495491e-01 9.87665313e-01 -5.13724375e-03 1.64817179e+01] [ 5.31095844e-02 -3.22117584e-03 9.98583495e-01 9.74631581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:16.49, Z:9.75 [[ 9.86390847e-01 -1.55783403e-01 -5.25797312e-02 2.09832296e+02] [ 1.55732045e-01 9.87786184e-01 -5.09756949e-03 1.64866471e+01] [ 5.27316488e-02 -3.16015320e-03 9.98603719e-01 9.74810454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:16.49, Z:9.75 [[ 9.86767221e-01 -1.53384731e-01 -5.25697247e-02 2.09863163e+02] [ 1.53330197e-01 9.88161886e-01 -5.09290650e-03 1.64949609e+01] [ 5.27285724e-02 -3.03501305e-03 9.98604269e-01 9.75069584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.89, Y:16.50, Z:9.75 [[ 9.87069184e-01 -1.51525400e-01 -5.22922386e-02 2.09894100e+02] [ 1.51468986e-01 9.88449043e-01 -5.06325273e-03 1.64964194e+01] [ 5.24554246e-02 -2.92287160e-03 9.98618989e-01 9.75182855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.92, Y:16.50, Z:9.75 [[ 9.87446788e-01 -1.49013684e-01 -5.23809480e-02 2.09924606e+02] [ 1.48953656e-01 9.88831181e-01 -5.06993484e-03 1.64991102e+01] [ 5.25514044e-02 -2.79604284e-03 9.98614306e-01 9.75291862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.95, Y:16.51, Z:9.76 [[ 9.87878765e-01 -1.46362396e-01 -5.17068065e-02 2.09954839e+02] [ 1.46300375e-01 9.89227563e-01 -5.00287445e-03 1.65121091e+01] [ 5.18820309e-02 -2.62249171e-03 9.98649777e-01 9.75565793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:16.52, Z:9.76 [[ 9.88846330e-01 -1.39733132e-01 -5.15517900e-02 2.09985013e+02] [ 1.39662582e-01 9.90186600e-01 -4.98611649e-03 1.65213255e+01] [ 5.17426173e-02 -2.26935308e-03 9.98657875e-01 9.75752811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.02, Y:16.52, Z:9.76 [[ 9.89334390e-01 -1.36144994e-01 -5.17880835e-02 2.10015852e+02] [ 1.36068899e-01 9.90686715e-01 -5.00878421e-03 1.65232095e+01] [ 5.19876872e-02 -2.09138502e-03 9.98645536e-01 9.75829309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.05, Y:16.53, Z:9.76 [[ 9.89878602e-01 -1.32238965e-01 -5.15093060e-02 2.10047111e+02] [ 1.32158507e-01 9.91216086e-01 -4.97988612e-03 1.65298833e+01] [ 5.17153877e-02 -1.87791028e-03 9.98660098e-01 9.75975283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.08, Y:16.54, Z:9.76 [[ 9.90358791e-01 -1.28565127e-01 -5.15797766e-02 2.10078210e+02] [ 1.28479611e-01 9.91699626e-01 -4.98405384e-03 1.65367181e+01] [ 5.17924207e-02 -1.69094810e-03 9.98656440e-01 9.76135982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.11, Y:16.54, Z:9.76 [[ 9.91231021e-01 -1.21942959e-01 -5.09016484e-02 2.10107213e+02] [ 1.21851074e-01 9.92536220e-01 -4.91612677e-03 1.65449002e+01] [ 5.11212167e-02 -1.32940315e-03 9.98691571e-01 9.76289020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.14, Y:16.55, Z:9.76 [[ 9.91580265e-01 -1.19110811e-01 -5.08054365e-02 2.10138408e+02] [ 1.19015572e-01 9.92880264e-01 -4.90657512e-03 1.65548166e+01] [ 5.10281414e-02 -1.18137503e-03 9.98696517e-01 9.76488335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.17, Y:16.56, Z:9.77 [[ 9.92029711e-01 -1.14916534e-01 -5.16840707e-02 2.10169670e+02] [ 1.14812485e-01 9.93374661e-01 -4.98754782e-03 1.65605185e+01] [ 5.19147979e-02 -9.86180962e-04 9.98651031e-01 9.76536702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.20, Y:16.57, Z:9.77 [[ 9.92181429e-01 -1.13380645e-01 -5.21616863e-02 2.10201752e+02] [ 1.13272743e-01 9.93551200e-01 -5.02981853e-03 1.65654787e+01] [ 5.23955900e-02 -9.18004760e-04 9.98625986e-01 9.76651662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.23, Y:16.57, Z:9.77 [[ 9.92257008e-01 -1.12385849e-01 -5.28720313e-02 2.10233816e+02] [ 1.12273783e-01 9.93664251e-01 -5.09440747e-03 1.65693439e+01] [ 5.31095867e-02 -8.81181474e-04 9.98588301e-01 9.76737431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.27, Y:16.57, Z:9.77 [[ 9.92334326e-01 -1.11537427e-01 -5.32164229e-02 2.10265393e+02] [ 1.11422901e-01 9.93759874e-01 -5.12341972e-03 1.65717159e+01] [ 5.34557988e-02 -8.45382958e-04 9.98569859e-01 9.76745503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.30, Y:16.57, Z:9.77 [[ 9.92315348e-01 -1.11400146e-01 -5.38540308e-02 2.10297091e+02] [ 1.11282996e-01 9.93775265e-01 -5.17852267e-03 1.65747666e+01] [ 5.40956919e-02 -8.54310377e-04 9.98535391e-01 9.76789101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.33, Y:16.58, Z:9.77 [[ 9.92297175e-01 -1.11642189e-01 -5.36874154e-02 2.10327871e+02] [ 1.11526310e-01 9.93748091e-01 -5.15893975e-03 1.65773462e+01] [ 5.39277219e-02 -8.68357985e-04 9.98544464e-01 9.76923046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.36, Y:16.58, Z:9.77 [[ 9.92273222e-01 -1.11750773e-01 -5.39037745e-02 2.10359943e+02] [ 1.11634234e-01 9.93735876e-01 -5.17757439e-03 1.65806064e+01] [ 5.41447125e-02 -8.79938155e-04 9.98532711e-01 9.77088583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.39, Y:16.58, Z:9.77 [[ 9.92235768e-01 -1.12000311e-01 -5.40750469e-02 2.10391480e+02] [ 1.11883606e-01 9.93707764e-01 -5.19024653e-03 1.65829774e+01] [ 5.43161031e-02 -9.00162962e-04 9.98523385e-01 9.77226243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.42, Y:16.59, Z:9.78 [[ 9.92250523e-01 -1.12475563e-01 -5.28029128e-02 2.10423283e+02] [ 1.12365111e-01 9.93654077e-01 -5.06526782e-03 1.65869418e+01] [ 5.30375485e-02 -9.07190546e-04 9.98592107e-01 9.77535239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.46, Y:16.59, Z:9.78 [[ 9.92213123e-01 -1.13060814e-01 -5.22529496e-02 2.10455255e+02] [ 1.12953661e-01 9.93587632e-01 -5.00874950e-03 1.65900608e+01] [ 5.24841778e-02 -9.32414981e-04 9.98621320e-01 9.77774018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.49, Y:16.59, Z:9.78 [[ 9.92178687e-01 -1.13820690e-01 -5.12474685e-02 2.10486500e+02] [ 1.13718820e-01 9.93500847e-01 -4.90876850e-03 1.65921316e+01] [ 5.14731228e-02 -9.57426182e-04 9.98673921e-01 9.78007225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.52, Y:16.59, Z:9.78 [[ 9.92001957e-01 -1.15898487e-01 -4.99965808e-02 2.10518755e+02] [ 1.15804303e-01 9.93260517e-01 -4.78624852e-03 1.65931046e+01] [ 5.02143486e-02 -1.04185129e-03 9.98737920e-01 9.78280262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.55, Y:16.59, Z:9.78 [[ 9.91837751e-01 -1.17324243e-01 -4.99289321e-02 2.10550138e+02] [ 1.17232296e-01 9.93093035e-01 -4.77621392e-03 1.65935823e+01] [ 5.01444404e-02 -1.11605409e-03 9.98741353e-01 9.78429958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.58, Y:16.60, Z:9.79 [[ 9.91664808e-01 -1.18816414e-01 -4.98354205e-02 2.10582292e+02] [ 1.18726830e-01 9.92915525e-01 -4.76453950e-03 1.65966583e+01] [ 5.00484682e-02 -1.19197537e-03 9.98746079e-01 9.78625910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.61, Y:16.60, Z:9.79 [[ 9.91467655e-01 -1.20435088e-01 -4.98726252e-02 2.10613845e+02] [ 1.20347602e-01 9.92720381e-01 -4.76437312e-03 1.65975425e+01] [ 5.00833692e-02 -1.27832900e-03 9.98744223e-01 9.78797214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.65, Y:16.60, Z:9.79 [[ 9.91005991e-01 -1.23990074e-01 -5.03347526e-02 2.10646098e+02] [ 1.23905796e-01 9.92282360e-01 -4.80338648e-03 1.65979684e+01] [ 5.05418593e-02 -1.47658279e-03 9.98720852e-01 9.78917384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.68, Y:16.60, Z:9.79 [[ 9.90776148e-01 -1.25563012e-01 -5.09563917e-02 2.10677625e+02] [ 1.25478912e-01 9.92084388e-01 -4.85888952e-03 1.65968746e+01] [ 5.11631375e-02 -1.57988073e-03 9.98689059e-01 9.79022959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.71, Y:16.60, Z:9.79 [[ 9.90574313e-01 -1.26988310e-01 -5.13468468e-02 2.10709800e+02] [ 1.26905085e-01 9.91902806e-01 -4.89112580e-03 1.66011107e+01] [ 5.15521972e-02 -1.67115237e-03 9.98668903e-01 9.79184632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.74, Y:16.60, Z:9.79 [[ 9.90404044e-01 -1.28188438e-01 -5.16483680e-02 2.10740770e+02] [ 1.28106050e-01 9.91748290e-01 -4.91619976e-03 1.65996943e+01] [ 5.18523806e-02 -1.74744429e-03 9.98653232e-01 9.79253433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.77, Y:16.60, Z:9.79 [[ 9.90037350e-01 -1.30542163e-01 -5.27711109e-02 2.10772881e+02] [ 1.30459605e-01 9.91440912e-01 -5.02090693e-03 1.66020170e+01] [ 5.29748784e-02 -1.91361292e-03 9.98594012e-01 9.79422700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.81, Y:16.60, Z:9.80 [[ 9.89921864e-01 -1.31304436e-01 -5.30457263e-02 2.10805344e+02] [ 1.31222316e-01 9.91340139e-01 -5.04315610e-03 1.66047457e+01] [ 5.32485464e-02 -1.96845259e-03 9.98579350e-01 9.79612706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.84, Y:16.61, Z:9.80 [[ 9.89912781e-01 -1.31216070e-01 -5.34324712e-02 2.10836370e+02] [ 1.31132845e-01 9.91351811e-01 -5.07572929e-03 1.66061195e+01] [ 5.36363943e-02 -1.98222269e-03 9.98558565e-01 9.79768228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.87, Y:16.61, Z:9.80 [[ 9.89953934e-01 -1.30643279e-01 -5.40697990e-02 2.10868178e+02] [ 1.30557534e-01 9.91427461e-01 -5.13022127e-03 1.66089423e+01] [ 5.42765125e-02 -1.98053690e-03 9.98523980e-01 9.79949371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.90, Y:16.61, Z:9.80 [[ 9.90074245e-01 -1.29546076e-01 -5.45050790e-02 2.10899660e+02] [ 1.29457493e-01 9.91571506e-01 -5.16774067e-03 1.66101024e+01] [ 5.47151438e-02 -1.93964394e-03 9.98500121e-01 9.80084279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.93, Y:16.62, Z:9.80 [[ 9.90198250e-01 -1.28391428e-01 -5.49824315e-02 2.10931249e+02] [ 1.28299681e-01 9.91721760e-01 -5.20990192e-03 1.66171283e+01] [ 5.51961805e-02 -1.89539267e-03 9.98473730e-01 9.80304583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.96, Y:16.62, Z:9.80 [[ 9.90624886e-01 -1.24632773e-01 -5.59375221e-02 2.10962052e+02] [ 1.24532044e-01 9.92201450e-01 -5.29656275e-03 1.66193743e+01] [ 5.61614158e-02 -1.71910707e-03 9.98420222e-01 9.80430629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.99, Y:16.62, Z:9.81 [[ 9.90868542e-01 -1.22593108e-01 -5.61289870e-02 2.10992852e+02] [ 1.22488536e-01 9.92455709e-01 -5.31265180e-03 1.66248261e+01] [ 5.63568281e-02 -1.61101788e-03 9.98409391e-01 9.80636730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.02, Y:16.63, Z:9.81 [[ 9.91066702e-01 -1.20644767e-01 -5.68474536e-02 2.11024489e+02] [ 1.20534434e-01 9.92694578e-01 -5.37828654e-03 1.66315467e+01] [ 5.70810211e-02 -1.52183493e-03 9.98368389e-01 9.80917860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.06, Y:16.64, Z:9.81 [[ 9.91284295e-01 -1.18626639e-01 -5.72989238e-02 2.11055940e+02] [ 1.18511400e-01 9.92937915e-01 -5.41715624e-03 1.66356091e+01] [ 5.75368930e-02 -1.42063381e-03 9.98342370e-01 9.81103696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.09, Y:16.64, Z:9.81 [[ 9.91535524e-01 -1.15831241e-01 -5.86551649e-02 2.11085764e+02] [ 1.15705748e-01 9.93268069e-01 -5.54279229e-03 1.66395176e+01] [ 5.89023309e-02 -1.29086426e-03 9.98262916e-01 9.81212449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.12, Y:16.64, Z:9.81 [[ 9.91579142e-01 -1.15052840e-01 -5.94445079e-02 2.11116098e+02] [ 1.14922760e-01 9.93358568e-01 -5.61386619e-03 1.66429495e+01] [ 5.96956025e-02 -1.26493428e-03 9.98215826e-01 9.81376317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.15, Y:16.65, Z:9.81 [[ 9.91593679e-01 -1.14698108e-01 -5.98858968e-02 2.11145968e+02] [ 1.14565428e-01 9.93399605e-01 -5.65577580e-03 1.66451536e+01] [ 6.01393330e-02 -1.25262186e-03 9.98189206e-01 9.81482384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.18, Y:16.65, Z:9.82 [[ 9.91593357e-01 -1.14444757e-01 -6.03739266e-02 2.11176559e+02] [ 1.14309384e-01 9.93428832e-01 -5.70272132e-03 1.66475400e+01] [ 6.06298459e-02 -1.24652579e-03 9.98159540e-01 9.81732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.21, Y:16.65, Z:9.82 [[ 9.91546702e-01 -1.14799980e-01 -6.04657144e-02 2.11206871e+02] [ 1.14664854e-01 9.93387815e-01 -5.71139130e-03 1.66513854e+01] [ 6.07215716e-02 -1.27018112e-03 9.98153935e-01 9.82042438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.24, Y:16.65, Z:9.82 [[ 9.91597938e-01 -1.14816882e-01 -5.95870175e-02 2.11235990e+02] [ 1.14685673e-01 9.93385884e-01 -5.62861555e-03 1.66521034e+01] [ 5.98391621e-02 -1.25245363e-03 9.98207246e-01 9.82160447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.27, Y:16.66, Z:9.83 [[ 9.91503599e-01 -1.15879086e-01 -5.90986551e-02 2.11266584e+02] [ 1.15751880e-01 9.93262470e-01 -5.58290270e-03 1.66561705e+01] [ 5.93474177e-02 -1.30531229e-03 9.98236535e-01 9.82552196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.30, Y:16.66, Z:9.83 [[ 9.91460323e-01 -1.16415337e-01 -5.87698713e-02 2.11297068e+02] [ 1.16290624e-01 9.93199725e-01 -5.54946089e-03 1.66576780e+01] [ 5.90162624e-02 -1.33231474e-03 9.98256132e-01 9.82717509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.33, Y:16.66, Z:9.83 [[ 9.91392547e-01 -1.17076330e-01 -5.85999262e-02 2.11327852e+02] [ 1.16953672e-01 9.93121973e-01 -5.53033015e-03 1.66602314e+01] [ 5.88443451e-02 -1.37074844e-03 9.98266229e-01 9.82898956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.36, Y:16.66, Z:9.83 [[ 9.91144675e-01 -1.19349055e-01 -5.82068434e-02 2.11359341e+02] [ 1.19232074e-01 9.92851228e-01 -5.49112301e-03 1.66617828e+01] [ 5.84460963e-02 -1.49762530e-03 9.98289442e-01 9.83101108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.39, Y:16.66, Z:9.83 [[ 9.90941728e-01 -1.21024579e-01 -5.82025979e-02 2.11390683e+02] [ 1.20910623e-01 9.92648224e-01 -5.48860662e-03 1.66639343e+01] [ 5.84389617e-02 -1.59842305e-03 9.98289704e-01 9.83295126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.42, Y:16.67, Z:9.84 [[ 9.90473256e-01 -1.24923698e-01 -5.79378932e-02 2.11421868e+02] [ 1.24817555e-01 9.92164679e-01 -5.46155334e-03 1.66652720e+01] [ 5.81662087e-02 -1.82214365e-03 9.98305250e-01 9.83539319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.45, Y:16.67, Z:9.84 [[ 9.90482236e-01 -1.24852371e-01 -5.79381252e-02 2.11453408e+02] [ 1.24746250e-01 9.92173660e-01 -5.45909150e-03 1.66681858e+01] [ 5.81662623e-02 -1.82043069e-03 9.98305250e-01 9.83689964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.48, Y:16.67, Z:9.84 [[ 9.90148379e-01 -1.27669120e-01 -5.75046320e-02 2.11484531e+02] [ 1.27569539e-01 9.91814850e-01 -5.41446322e-03 1.66705794e+01] [ 5.77252077e-02 -1.97471742e-03 9.98330557e-01 9.83900088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.52, Y:16.67, Z:9.84 [[ 9.89834644e-01 -1.30147894e-01 -5.73489551e-02 2.11516398e+02] [ 1.30053160e-01 9.91492334e-01 -5.39705613e-03 1.66686799e+01] [ 5.75634648e-02 -2.11621969e-03 9.98339606e-01 9.83979985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.55, Y:16.67, Z:9.84 [[ 9.89307015e-01 -1.33888525e-01 -5.78402410e-02 2.11546877e+02] [ 1.33798829e-01 9.90993592e-01 -5.43825583e-03 1.66720645e+01] [ 5.80474283e-02 -2.35885191e-03 9.98311040e-01 9.84195210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.58, Y:16.67, Z:9.84 [[ 9.88845511e-01 -1.37161783e-01 -5.80620413e-02 2.11578264e+02] [ 1.37077097e-01 9.90545345e-01 -5.45785713e-03 1.66731951e+01] [ 5.82616942e-02 -2.56199853e-03 9.98298057e-01 9.84325879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.61, Y:16.67, Z:9.84 [[ 9.87855648e-01 -1.43977390e-01 -5.84100193e-02 2.11608698e+02] [ 1.43903656e-01 9.89576481e-01 -5.48877668e-03 1.66683035e+01] [ 5.85914410e-02 -2.98329629e-03 9.98277588e-01 9.84365314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.64, Y:16.67, Z:9.84 [[ 9.87338646e-01 -1.47225278e-01 -5.90517986e-02 2.11639721e+02] [ 1.47155730e-01 9.89097773e-01 -5.54860977e-03 1.66692169e+01] [ 5.92248981e-02 -3.21145367e-03 9.98239499e-01 9.84486113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.67, Y:16.68, Z:9.85 [[ 9.86825910e-01 -1.50470795e-01 -5.94404234e-02 2.11670341e+02] [ 1.50406253e-01 9.88608505e-01 -5.58407987e-03 1.66761034e+01] [ 5.96035491e-02 -3.42969668e-03 9.98216236e-01 9.84697292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.70, Y:16.67, Z:9.85 [[ 9.86474866e-01 -1.52633441e-01 -5.97525913e-02 2.11700462e+02] [ 1.52572222e-01 9.88276387e-01 -5.61254003e-03 1.66741712e+01] [ 5.99087363e-02 -3.57995594e-03 9.98197439e-01 9.84724139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.73, Y:16.68, Z:9.85 [[ 9.85943119e-01 -1.55715907e-01 -6.05699761e-02 2.11731840e+02] [ 1.55658820e-01 9.87794497e-01 -5.68884598e-03 1.66770757e+01] [ 6.07165329e-02 -3.81937247e-03 9.98147742e-01 9.84813651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.76, Y:16.68, Z:9.85 [[ 9.85809371e-01 -1.56523841e-01 -6.06644077e-02 2.11763237e+02] [ 1.56468261e-01 9.87666568e-01 -5.69505755e-03 1.66831083e+01] [ 6.08076197e-02 -3.87781327e-03 9.98141972e-01 9.84966951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.79, Y:16.69, Z:9.85 [[ 9.85790798e-01 -1.56723859e-01 -6.04494440e-02 2.11794828e+02] [ 1.56669312e-01 9.87634838e-01 -5.67047398e-03 1.66864801e+01] [ 6.05906753e-02 -3.88067175e-03 9.98155153e-01 9.85110572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.83, Y:16.69, Z:9.85 [[ 9.85938554e-01 -1.56152497e-01 -5.95110566e-02 2.11826992e+02] [ 1.56098846e-01 9.87725688e-01 -5.57815707e-03 1.66915010e+01] [ 5.96516425e-02 -3.78988713e-03 9.98212061e-01 9.85289980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.86, Y:16.69, Z:9.85 [[ 9.86041318e-01 -1.55672346e-01 -5.90647023e-02 2.11859091e+02] [ 1.55618891e-01 9.87801679e-01 -5.53204620e-03 1.66890846e+01] [ 5.92053987e-02 -3.73675732e-03 9.98238828e-01 9.85332986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.89, Y:16.70, Z:9.86 [[ 9.86182658e-01 -1.54865255e-01 -5.88261671e-02 2.11890573e+02] [ 1.54811050e-01 9.87928757e-01 -5.50547402e-03 1.66988171e+01] [ 5.89686687e-02 -3.67753769e-03 9.98253060e-01 9.85584051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.92, Y:16.71, Z:9.86 [[ 9.86445246e-01 -1.53211508e-01 -5.87538033e-02 2.11921814e+02] [ 1.53154753e-01 9.88186941e-01 -5.49468994e-03 1.67058807e+01] [ 5.89015909e-02 -3.57821343e-03 9.98257381e-01 9.85726928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.95, Y:16.71, Z:9.86 [[ 9.86572195e-01 -1.52434117e-01 -5.86442197e-02 2.11953383e+02] [ 1.52376404e-01 9.88307336e-01 -5.48106553e-03 1.67122923e+01] [ 5.87940139e-02 -3.52852843e-03 9.98263900e-01 9.85927613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.99, Y:16.71, Z:9.86 [[ 9.86698416e-01 -1.51693635e-01 -5.84403668e-02 2.11985613e+02] [ 1.51635277e-01 9.88421446e-01 -5.45776927e-03 1.67078501e+01] [ 5.85916207e-02 -3.47644893e-03 9.98275982e-01 9.85954194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.02, Y:16.72, Z:9.86 [[ 9.86857838e-01 -1.50721014e-01 -5.82647642e-02 2.12016716e+02] [ 1.50661565e-01 9.88570448e-01 -5.43715425e-03 1.67232824e+01] [ 5.84183175e-02 -3.41256225e-03 9.98286359e-01 9.86354255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.05, Y:16.73, Z:9.87 [[ 9.87159323e-01 -1.48717108e-01 -5.83068880e-02 2.12046713e+02] [ 1.48654305e-01 9.88874275e-01 -5.43743216e-03 1.67298318e+01] [ 5.84668208e-02 -3.29995806e-03 9.98283898e-01 9.86516598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.08, Y:16.74, Z:9.87 [[ 9.87367446e-01 -1.47293654e-01 -5.83961221e-02 2.12077955e+02] [ 1.47228277e-01 9.89087558e-01 -5.44405942e-03 1.67398021e+01] [ 5.85607532e-02 -3.22227342e-03 9.98278646e-01 9.86792714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.11, Y:16.74, Z:9.87 [[ 9.87626043e-01 -1.45549952e-01 -5.83952990e-02 2.12108151e+02] [ 1.45481819e-01 9.89345973e-01 -5.43924670e-03 1.67432910e+01] [ 5.85648360e-02 -3.12351261e-03 9.98278720e-01 9.86918860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.14, Y:16.75, Z:9.87 [[ 9.88249894e-01 -1.41208402e-01 -5.85007159e-02 2.12137495e+02] [ 1.41132739e-01 9.89975714e-01 -5.44392935e-03 1.67517450e+01] [ 5.86830165e-02 -2.87640367e-03 9.98272523e-01 9.87068288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.17, Y:16.76, Z:9.87 [[ 9.88659116e-01 -1.38409377e-01 -5.82751830e-02 2.12168762e+02] [ 1.38329482e-01 9.90371422e-01 -5.42234119e-03 1.67609161e+01] [ 5.84645787e-02 -2.70032882e-03 9.98285831e-01 9.87278558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.20, Y:16.77, Z:9.87 [[ 9.89092614e-01 -1.35222003e-01 -5.84021486e-02 2.12199103e+02] [ 1.35136393e-01 9.90812120e-01 -5.43115327e-03 1.67659252e+01] [ 5.85999681e-02 -2.52034212e-03 9.98278364e-01 9.87395103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.23, Y:16.77, Z:9.88 [[ 9.89588730e-01 -1.31728411e-01 -5.79807814e-02 2.12230189e+02] [ 1.31638180e-01 9.91283179e-01 -5.38969274e-03 1.67733128e+01] [ 5.81853490e-02 -2.29890537e-03 9.98303150e-01 9.87576301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.26, Y:16.79, Z:9.88 [[ 9.90562414e-01 -1.24418107e-01 -5.74998994e-02 2.12259386e+02] [ 1.24317212e-01 9.92228144e-01 -5.34245161e-03 1.67862057e+01] [ 5.77177162e-02 -1.85619540e-03 9.98331217e-01 9.87819031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.29, Y:16.79, Z:9.88 [[ 9.91049208e-01 -1.20608141e-01 -5.72288669e-02 2.12290619e+02] [ 1.20501891e-01 9.92698861e-01 -5.31654970e-03 1.67929047e+01] [ 5.74522501e-02 -1.62722432e-03 9.98346929e-01 9.87955100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.32, Y:16.80, Z:9.88 [[ 9.91492923e-01 -1.17021513e-01 -5.69890315e-02 2.12321550e+02] [ 1.16910401e-01 9.93128370e-01 -5.29136520e-03 1.67998600e+01] [ 5.72166275e-02 -1.41625937e-03 9.98360782e-01 9.88114609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.35, Y:16.81, Z:9.88 [[ 9.91922530e-01 -1.13378332e-01 -5.68774898e-02 2.12352065e+02] [ 1.13261788e-01 9.93551156e-01 -5.27894594e-03 1.68054071e+01] [ 5.71092138e-02 -1.20574080e-03 9.98367209e-01 9.88250604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.38, Y:16.82, Z:9.88 [[ 9.92523077e-01 -1.07853630e-01 -5.71448684e-02 2.12382413e+02] [ 1.07726955e-01 9.94166382e-01 -5.30169286e-03 1.68162359e+01] [ 5.73833139e-02 -8.93990156e-04 9.98351820e-01 9.88412819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.41, Y:16.82, Z:9.89 [[ 9.92712279e-01 -1.05938368e-01 -5.74403511e-02 2.12413954e+02] [ 1.05807316e-01 9.94372384e-01 -5.32666259e-03 1.68214613e+01] [ 5.76813968e-02 -7.89766043e-04 9.98334730e-01 9.88521628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.45, Y:16.83, Z:9.89 [[ 9.92838520e-01 -1.04596931e-01 -5.77161616e-02 2.12445721e+02] [ 1.04462593e-01 9.94514437e-01 -5.34809272e-03 1.68261530e+01] [ 5.79589500e-02 -7.19387437e-04 9.98318708e-01 9.88613043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.48, Y:16.83, Z:9.89 [[ 9.92954726e-01 -1.03849756e-01 -5.70626033e-02 2.12478065e+02] [ 1.03717444e-01 9.94592769e-01 -5.28350016e-03 1.68306001e+01] [ 5.73027428e-02 -6.72110903e-04 9.98356622e-01 9.88757716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.51, Y:16.83, Z:9.89 [[ 9.92892108e-01 -1.04337397e-01 -5.72622946e-02 2.12510194e+02] [ 1.04205202e-01 9.94541708e-01 -5.29789896e-03 1.68331633e+01] [ 5.75025093e-02 -7.06786936e-04 9.98345112e-01 9.88880492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.54, Y:16.84, Z:9.89 [[ 9.92810117e-01 -1.05412674e-01 -5.67119072e-02 2.12542120e+02] [ 1.05284993e-01 9.94428269e-01 -5.24293373e-03 1.68351564e+01] [ 5.69485953e-02 -7.65675118e-04 9.98376818e-01 9.89040122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.57, Y:16.83, Z:9.89 [[ 9.92496011e-01 -1.08573142e-01 -5.62453548e-02 2.12573322e+02] [ 1.08452843e-01 9.94088016e-01 -5.19591170e-03 1.68332126e+01] [ 5.64769697e-02 -9.43046989e-04 9.98403457e-01 9.89121793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.60, Y:16.83, Z:9.89 [[ 9.92300443e-01 -1.10518577e-01 -5.59059541e-02 2.12604970e+02] [ 1.10402978e-01 9.93873503e-01 -5.16154349e-03 1.68348658e+01] [ 5.61338929e-02 -1.05038194e-03 9.98422697e-01 9.89360324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.64, Y:16.84, Z:9.90 [[ 9.92130947e-01 -1.12503130e-01 -5.49475141e-02 2.12637346e+02] [ 1.12394673e-01 9.93650710e-01 -5.06995414e-03 1.68364737e+01] [ 5.51690221e-02 -1.14574946e-03 9.98476372e-01 9.89600157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.67, Y:16.84, Z:9.90 [[ 9.91941308e-01 -1.14419319e-01 -5.44119568e-02 2.12669198e+02] [ 1.14316062e-01 9.93431765e-01 -5.01657395e-03 1.68374241e+01] [ 5.46285592e-02 -1.24401371e-03 9.98505970e-01 9.89831025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.70, Y:16.83, Z:9.90 [[ 9.91728139e-01 -1.16325561e-01 -5.42555263e-02 2.12700534e+02] [ 1.16225954e-01 9.93210222e-01 -4.99831852e-03 1.68349100e+01] [ 5.44685755e-02 -1.34892720e-03 9.98514574e-01 9.89891259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.73, Y:16.84, Z:9.90 [[ 9.91435549e-01 -1.19371341e-01 -5.29720170e-02 2.12732610e+02] [ 1.19280888e-01 9.92848570e-01 -4.87715158e-03 1.68375100e+01] [ 5.31753835e-02 -1.48316777e-03 9.98584087e-01 9.90173405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.76, Y:16.84, Z:9.90 [[ 9.91330117e-01 -1.20501146e-01 -5.23839070e-02 2.12764385e+02] [ 1.20414460e-01 9.92712009e-01 -4.81930729e-03 1.68400977e+01] [ 5.25828656e-02 -1.53025539e-03 9.98615392e-01 9.90359953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.80, Y:16.84, Z:9.91 [[ 9.91245854e-01 -1.21799601e-01 -5.09560092e-02 2.12796465e+02] [ 1.21719474e-01 9.92553488e-01 -4.68432364e-03 1.68417292e+01] [ 5.11471134e-02 -1.55902227e-03 9.98689913e-01 9.90597015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.83, Y:16.84, Z:9.91 [[ 9.91079919e-01 -1.23804875e-01 -4.93249115e-02 2.12827671e+02] [ 1.23732447e-01 9.92305272e-01 -4.53090568e-03 1.68392784e+01] [ 4.95063180e-02 -1.61260236e-03 9.98772509e-01 9.90822100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.86, Y:16.84, Z:9.91 [[ 9.90957420e-01 -1.24642273e-01 -4.96759074e-02 2.12860204e+02] [ 1.24570000e-01 9.92200342e-01 -4.56036637e-03 1.68405882e+01] [ 4.98568667e-02 -1.66899888e-03 9.98754979e-01 9.90945370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.89, Y:16.84, Z:9.91 [[ 9.90872339e-01 -1.25253752e-01 -4.98347869e-02 2.12890972e+02] [ 1.25181964e-01 9.92123268e-01 -4.57143316e-03 1.68411129e+01] [ 5.00148407e-02 -1.70870982e-03 9.98747013e-01 9.91051758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.92, Y:16.84, Z:9.91 [[ 9.90867448e-01 -1.25545073e-01 -4.91948702e-02 2.12923237e+02] [ 1.25475565e-01 9.92086455e-01 -4.51091468e-03 1.68421689e+01] [ 4.93718875e-02 -1.70303562e-03 9.98779013e-01 9.91226998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.96, Y:16.84, Z:9.91 [[ 9.90849600e-01 -1.25781472e-01 -4.89498933e-02 2.12955573e+02] [ 1.25713115e-01 9.92056499e-01 -4.48493748e-03 1.68448566e+01] [ 4.91251818e-02 -1.70974507e-03 9.98791166e-01 9.91436574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.99, Y:16.85, Z:9.92 [[ 9.90850537e-01 -1.25782646e-01 -4.89278995e-02 2.12988878e+02] [ 1.25714530e-01 9.92056346e-01 -4.47929958e-03 1.68470331e+01] [ 4.91026513e-02 -1.71263147e-03 9.98792269e-01 9.91579467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.02, Y:16.85, Z:9.92 [[ 9.90826671e-01 -1.25861712e-01 -4.92070955e-02 2.13020951e+02] [ 1.25793178e-01 9.92046285e-01 -4.49951281e-03 1.68488238e+01] [ 4.93820326e-02 -1.73167961e-03 9.98778462e-01 9.91694999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.05, Y:16.85, Z:9.92 [[ 9.90759878e-01 -1.25604456e-01 -5.11701576e-02 2.13053240e+02] [ 1.25530204e-01 9.92078783e-01 -4.67511120e-03 1.68477550e+01] [ 5.13520424e-02 -1.79148769e-03 9.98679007e-01 9.91640259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.09, Y:16.85, Z:9.92 [[ 9.90765613e-01 -1.25216822e-01 -5.20023758e-02 2.13085648e+02] [ 1.25139846e-01 9.92127759e-01 -4.74648258e-03 1.68505923e+01] [ 5.21873400e-02 -1.80491760e-03 9.98635681e-01 9.91693814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.12, Y:16.85, Z:9.92 [[ 9.90810822e-01 -1.24666098e-01 -5.24621651e-02 2.13117009e+02] [ 1.24587178e-01 9.92197128e-01 -4.78478557e-03 1.68521504e+01] [ 5.26493101e-02 -1.79529576e-03 9.98611449e-01 9.91738791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.15, Y:16.85, Z:9.92 [[ 9.90926468e-01 -1.23663246e-01 -5.26510898e-02 2.13148753e+02] [ 1.23582496e-01 9.92322697e-01 -4.79913165e-03 1.68547328e+01] [ 5.28403477e-02 -1.75116651e-03 9.98601438e-01 9.91871876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.18, Y:16.86, Z:9.92 [[ 9.91221224e-01 -1.20774534e-01 -5.37958745e-02 2.13179922e+02] [ 1.20686181e-01 9.92678617e-01 -4.89987931e-03 1.68602455e+01] [ 5.39937950e-02 -1.63555429e-03 9.98539932e-01 9.92024418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.21, Y:16.86, Z:9.92 [[ 9.91412509e-01 -1.18732787e-01 -5.48065870e-02 2.13211836e+02] [ 1.18638092e-01 9.92925026e-01 -4.98967989e-03 1.68640856e+01] [ 5.50112704e-02 -1.55531783e-03 9.98484522e-01 9.92109743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.24, Y:16.87, Z:9.92 [[ 9.91687041e-01 -1.16232329e-01 -5.51983626e-02 2.13244274e+02] [ 1.16132634e-01 9.93221022e-01 -5.02125119e-03 1.68685818e+01] [ 5.54078058e-02 -1.43082148e-03 9.98462782e-01 9.92245284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.27, Y:16.87, Z:9.92 [[ 9.92349717e-01 -1.10493521e-01 -5.50746920e-02 2.13274300e+02] [ 1.10385682e-01 9.93876222e-01 -5.00562868e-03 1.68728069e+01] [ 5.52905164e-02 -1.11212323e-03 9.98469690e-01 9.92383022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.31, Y:16.88, Z:9.93 [[ 9.92721281e-01 -1.07439854e-01 -5.44163281e-02 2.13305494e+02] [ 1.07330053e-01 9.94211149e-01 -4.94470262e-03 1.68781518e+01] [ 5.46325783e-02 -9.31795873e-04 9.98506091e-01 9.92609338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.34, Y:16.88, Z:9.93 [[ 9.93360317e-01 -1.01972702e-01 -5.32620761e-02 2.13336645e+02] [ 1.01859760e-01 9.94787004e-01 -4.83788343e-03 1.68849516e+01] [ 5.34777532e-02 -6.19500863e-04 9.98568849e-01 9.92950520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.37, Y:16.89, Z:9.93 [[ 9.93631152e-01 -9.95063537e-02 -5.28736182e-02 2.13368869e+02] [ 9.93917189e-02 9.95036808e-01 -4.79967989e-03 1.68888952e+01] [ 5.30887949e-02 -4.86088338e-04 9.98589677e-01 9.93178071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.40, Y:16.89, Z:9.93 [[ 9.94058936e-01 -9.58768523e-02 -5.15214690e-02 2.13399500e+02] [ 9.57633183e-02 9.95393162e-01 -4.67340848e-03 1.68916322e+01] [ 5.17321896e-02 -2.88223369e-04 9.98660952e-01 9.93341083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.43, Y:16.89, Z:9.93 [[ 9.94065608e-01 -9.58075066e-02 -5.15217226e-02 2.13431037e+02] [ 9.56940246e-02 9.95399839e-01 -4.67061050e-03 1.68944308e+01] [ 5.17321939e-02 -2.87427720e-04 9.98660952e-01 9.93491625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.46, Y:16.90, Z:9.94 [[ 9.94217871e-01 -9.47713920e-02 -5.04896921e-02 2.13461788e+02] [ 9.46612625e-02 9.95499035e-01 -4.57341845e-03 1.68959080e+01] [ 5.06958690e-02 -2.32443646e-04 9.98714111e-01 9.93649695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.49, Y:16.90, Z:9.94 [[ 9.94185756e-01 -9.50847638e-02 -5.05328612e-02 2.13494418e+02] [ 9.49751476e-02 9.95469147e-01 -4.57147638e-03 1.68974410e+01] [ 5.07385820e-02 -2.54469257e-04 9.98711936e-01 9.93818290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.53, Y:16.90, Z:9.94 [[ 9.94107731e-01 -9.62594213e-02 -4.98391711e-02 2.13526329e+02] [ 9.61544414e-02 9.95356230e-01 -4.50531646e-03 1.68983024e+01] [ 5.00414086e-02 -3.13487730e-04 9.98747095e-01 9.93949171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:16.90, Z:9.94 [[ 9.93903611e-01 -9.80096974e-02 -5.04946563e-02 2.13558717e+02] [ 9.79043718e-02 9.95185375e-01 -4.56105114e-03 1.68988043e+01] [ 5.06985707e-02 -4.10402406e-04 9.98713916e-01 9.94065057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:16.90, Z:9.94 [[ 9.93640625e-01 -1.00583392e-01 -5.06091875e-02 2.13590888e+02] [ 1.00481099e-01 9.94928481e-01 -4.56792464e-03 1.68987432e+01] [ 5.08119795e-02 -5.46391299e-04 9.98708088e-01 9.94152829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.62, Y:16.90, Z:9.94 [[ 9.93312055e-01 -1.03580576e-01 -5.10120068e-02 2.13623355e+02] [ 1.03480776e-01 9.94620813e-01 -4.60078340e-03 1.68989484e+01] [ 5.12141555e-02 -7.08748412e-04 9.98687443e-01 9.94281658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.66, Y:16.90, Z:9.94 [[ 9.92980730e-01 -1.06844028e-01 -5.07308864e-02 2.13655443e+02] [ 1.06749757e-01 9.94275408e-01 -4.57193235e-03 1.68993187e+01] [ 5.09289564e-02 -8.75669059e-04 9.98701895e-01 9.94426413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.69, Y:16.90, Z:9.95 [[ 9.92586437e-01 -1.10238869e-01 -5.11816115e-02 2.13686241e+02] [ 1.10147602e-01 9.93904554e-01 -4.60903057e-03 1.68985885e+01] [ 5.13777311e-02 -1.06267055e-03 9.98678727e-01 9.94513852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.72, Y:16.90, Z:9.95 [[ 9.91855708e-01 -1.16672617e-01 -5.10857703e-02 2.13718106e+02] [ 1.16590301e-01 9.93169449e-01 -4.59859804e-03 1.68958496e+01] [ 5.12733568e-02 -1.39495965e-03 9.98683682e-01 9.94564397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.75, Y:16.90, Z:9.95 [[ 9.91486933e-01 -1.19691627e-01 -5.12598815e-02 2.13749203e+02] [ 1.19612873e-01 9.92809894e-01 -4.61239019e-03 1.68951714e+01] [ 5.14433820e-02 -1.55821710e-03 9.98674697e-01 9.94674387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:16.90, Z:9.95 [[ 9.90822073e-01 -1.25267468e-01 -5.07905571e-02 2.13780467e+02] [ 1.25197587e-01 9.92121314e-01 -4.56762387e-03 1.68953212e+01] [ 5.09625689e-02 -1.83315264e-03 9.98698882e-01 9.94860667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.81, Y:16.89, Z:9.95 [[ 9.90558533e-01 -1.27512073e-01 -5.03434539e-02 2.13811922e+02] [ 1.27446360e-01 9.91835136e-01 -4.52640945e-03 1.68922723e+01] [ 5.05095783e-02 -1.93241645e-03 9.98721707e-01 9.95006426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.84, Y:16.89, Z:9.95 [[ 9.90066833e-01 -1.31483683e-01 -4.97966539e-02 2.13842883e+02] [ 1.31424526e-01 9.91316080e-01 -4.47468187e-03 1.68944046e+01] [ 4.99525714e-02 -2.11426755e-03 9.98749353e-01 9.95161206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.87, Y:16.89, Z:9.95 [[ 9.89824018e-01 -1.33177848e-01 -5.01206062e-02 2.13874816e+02] [ 1.33120137e-01 9.91089680e-01 -4.50278385e-03 1.68898367e+01] [ 5.02736867e-02 -2.21509835e-03 9.98733022e-01 9.95273430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.91, Y:16.90, Z:9.95 [[ 9.89503401e-01 -1.35406008e-01 -5.04800215e-02 2.13906120e+02] [ 1.35350496e-01 9.90787415e-01 -4.53233334e-03 1.68954201e+01] [ 5.06286751e-02 -2.34773668e-03 9.98714787e-01 9.95406330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.94, Y:16.90, Z:9.96 [[ 9.89441284e-01 -1.35992451e-01 -5.01198434e-02 2.13937863e+02] [ 1.35938618e-01 9.90707054e-01 -4.49721175e-03 1.68980597e+01] [ 5.02656692e-02 -2.36349529e-03 9.98733086e-01 9.95557018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:16.90, Z:9.96 [[ 9.89369622e-01 -1.36571141e-01 -4.99607393e-02 2.13969512e+02] [ 1.36518567e-01 9.90627385e-01 -4.47930976e-03 1.68950978e+01] [ 5.01042210e-02 -2.38887551e-03 9.98741138e-01 9.95710379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.00, Y:16.90, Z:9.96 [[ 9.89352868e-01 -1.36786581e-01 -4.97024598e-02 2.14001724e+02] [ 1.36734957e-01 9.90597657e-01 -4.45338749e-03 1.69001076e+01] [ 4.98443039e-02 -2.39009203e-03 9.98754140e-01 9.95920682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.03, Y:16.90, Z:9.96 [[ 9.89399008e-01 -1.36648596e-01 -4.91605891e-02 2.14033860e+02] [ 1.36598094e-01 9.90616772e-01 -4.40133860e-03 1.69028678e+01] [ 4.93007408e-02 -2.36056272e-03 9.98781190e-01 9.96082086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.06, Y:16.90, Z:9.96 [[ 9.89438059e-01 -1.36317720e-01 -4.92930608e-02 2.14064788e+02] [ 1.36266711e-01 9.90662374e-01 -4.40965960e-03 1.69042695e+01] [ 4.94338954e-02 -2.35391824e-03 9.98774624e-01 9.96228944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.10, Y:16.91, Z:9.96 [[ 9.89545572e-01 -1.35394220e-01 -4.96786302e-02 2.14097170e+02] [ 1.35341389e-01 9.90789071e-01 -4.44137343e-03 1.69089132e+01] [ 4.98223801e-02 -2.32863337e-03 9.98755379e-01 9.96410577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.13, Y:16.91, Z:9.97 [[ 9.89841286e-01 -1.32980377e-01 -5.03035563e-02 2.14128388e+02] [ 1.32923325e-01 9.91116141e-01 -4.49278100e-03 1.69133395e+01] [ 5.04541183e-02 -2.23937584e-03 9.98723869e-01 9.96548044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.16, Y:16.91, Z:9.97 [[ 9.90067759e-01 -1.31012833e-01 -5.10046076e-02 2.14159112e+02] [ 1.30951669e-01 9.91378296e-01 -4.55358267e-03 1.69130872e+01] [ 5.11614387e-02 -2.17078308e-03 9.98688037e-01 9.96629586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.19, Y:16.92, Z:9.97 [[ 9.90543189e-01 -1.26948157e-01 -5.20418623e-02 2.14190184e+02] [ 1.26878944e-01 9.91907333e-01 -4.64498415e-03 1.69231768e+01] [ 5.22103770e-02 -2.00195914e-03 9.98634102e-01 9.96748141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.22, Y:16.93, Z:9.97 [[ 9.90793184e-01 -1.24720753e-01 -5.26649785e-02 2.14221808e+02] [ 1.24646935e-01 9.92190043e-01 -4.69677581e-03 1.69287010e+01] [ 5.28394527e-02 -1.91099471e-03 9.98601192e-01 9.96875401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.25, Y:16.93, Z:9.97 [[ 9.91045445e-01 -1.22340081e-01 -5.34960871e-02 2.14252746e+02] [ 1.22260658e-01 9.92486577e-01 -4.76707431e-03 1.69319904e+01] [ 5.36773526e-02 -1.81607954e-03 9.98556680e-01 9.96961357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.28, Y:16.94, Z:9.97 [[ 9.91565550e-01 -1.17784147e-01 -5.40800754e-02 2.14283367e+02] [ 1.17696367e-01 9.93037949e-01 -4.81628508e-03 1.69395838e+01] [ 5.42708492e-02 -1.58936603e-03 9.98524987e-01 9.97073771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.32, Y:16.95, Z:9.97 [[ 9.91824818e-01 -1.15451127e-01 -5.43559356e-02 2.14315115e+02] [ 1.15359071e-01 9.93312072e-01 -4.83863503e-03 1.69458534e+01] [ 5.45510329e-02 -1.47137194e-03 9.98509900e-01 9.97248914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.35, Y:16.95, Z:9.97 [[ 9.92076100e-01 -1.13193354e-01 -5.45185956e-02 2.14347167e+02] [ 1.13097560e-01 9.93572055e-01 -4.84911875e-03 1.69505113e+01] [ 5.47170410e-02 -1.35522529e-03 9.98500981e-01 9.97386155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.38, Y:16.95, Z:9.98 [[ 9.92349638e-01 -1.10842990e-01 -5.43693622e-02 2.14378275e+02] [ 1.10744434e-01 9.93837173e-01 -4.83148212e-03 1.69548568e+01] [ 5.45698291e-02 -1.22658472e-03 9.98509203e-01 9.97546484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.41, Y:16.96, Z:9.98 [[ 9.92849506e-01 -1.07022109e-01 -5.28784171e-02 2.14409470e+02] [ 1.06923812e-01 9.94256143e-01 -4.69256053e-03 1.69613904e+01] [ 5.30768988e-02 -9.94955520e-04 9.98589932e-01 9.97799679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.44, Y:16.97, Z:9.98 [[ 9.93038225e-01 -1.05331150e-01 -5.27298116e-02 2.14441056e+02] [ 1.05231178e-01 9.94436790e-01 -4.67644965e-03 1.69660068e+01] [ 5.29290404e-02 -9.04926940e-04 9.98597866e-01 9.98001992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.47, Y:16.97, Z:9.98 [[ 9.93223845e-01 -1.03723614e-01 -5.24195183e-02 2.14472918e+02] [ 1.03622778e-01 9.94605823e-01 -4.64515317e-03 1.69699864e+01] [ 5.26185702e-02 -8.18179221e-04 9.98614348e-01 9.98202330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.50, Y:16.97, Z:9.98 [[ 9.93383303e-01 -1.02276334e-01 -5.22414008e-02 2.14503862e+02] [ 1.02174375e-01 9.94755749e-01 -4.62568567e-03 1.69722738e+01] [ 5.24405320e-02 -7.42653594e-04 9.98623773e-01 9.98331022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.54, Y:16.98, Z:9.99 [[ 9.93496478e-01 -1.01141985e-01 -5.22976760e-02 2.14535670e+02] [ 1.01038391e-01 9.94871764e-01 -4.62774210e-03 1.69775842e+01] [ 5.24975403e-02 -6.86427546e-04 9.98620817e-01 9.98553728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.57, Y:16.98, Z:9.99 [[ 9.93636189e-01 -9.99270786e-02 -5.19779168e-02 2.14566419e+02] [ 9.98232815e-02 9.94994569e-01 -4.59571122e-03 1.69802614e+01] [ 5.21769809e-02 -6.22141237e-04 9.98637660e-01 9.98675528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.60, Y:16.98, Z:9.99 [[ 9.93697041e-01 -9.93893932e-02 -5.18453449e-02 2.14598917e+02] [ 9.92855509e-02 9.95048438e-01 -4.58097794e-03 1.69836638e+01] [ 5.20439301e-02 -5.95389408e-04 9.98644619e-01 9.98818903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.63, Y:16.99, Z:9.99 [[ 9.93618123e-01 -9.99265479e-02 -5.23231428e-02 2.14631307e+02] [ 9.98217717e-02 9.94994615e-01 -4.61852103e-03 1.69855371e+01] [ 5.25227581e-02 -6.33942623e-04 9.98619526e-01 9.98904213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.66, Y:16.99, Z:9.99 [[ 9.93527522e-01 -1.00689563e-01 -5.25801705e-02 2.14663017e+02] [ 1.00585023e-01 9.94917659e-01 -4.63740678e-03 1.69873051e+01] [ 5.27798786e-02 -6.81386401e-04 9.98605938e-01 9.99012038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.69, Y:16.99, Z:9.99 [[ 9.93416152e-01 -1.01776218e-01 -5.25922961e-02 2.14694999e+02] [ 1.01673351e-01 9.94807041e-01 -4.63469356e-03 1.69893472e+01] [ 5.27908880e-02 -7.43055531e-04 9.98605312e-01 9.99135091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.73, Y:16.99, Z:9.99 [[ 9.93146026e-01 -1.03902809e-01 -5.35273564e-02 2.14726117e+02] [ 1.03799541e-01 9.94587070e-01 -4.71325244e-03 1.69895173e+01] [ 5.37273367e-02 -8.75167115e-04 9.98555260e-01 9.99185067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.76, Y:16.99, Z:9.99 [[ 9.93038921e-01 -1.04934672e-01 -5.35015608e-02 2.14757084e+02] [ 1.04833176e-01 9.94478679e-01 -4.70770994e-03 1.69910251e+01] [ 5.37001635e-02 -9.33799358e-04 9.98556669e-01 9.99319381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.79, Y:16.99, Z:10.00 [[ 9.92993650e-01 -1.05407727e-01 -5.34118093e-02 2.14789549e+02] [ 1.05307569e-01 9.94428621e-01 -4.69397819e-03 1.69941487e+01] [ 5.36090135e-02 -9.63577236e-04 9.98561538e-01 9.99531327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.82, Y:17.00, Z:10.00 [[ 9.93032586e-01 -1.05233698e-01 -5.30297297e-02 2.14821156e+02] [ 1.05134920e-01 9.94447065e-01 -4.65663030e-03 1.69969559e+01] [ 5.32252935e-02 -9.51090780e-04 9.98582077e-01 9.99732447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.85, Y:17.00, Z:10.00 [[ 9.93146224e-01 -1.04580149e-01 -5.21878397e-02 2.14852558e+02] [ 1.04483789e-01 9.94516050e-01 -4.57876371e-03 1.69987126e+01] [ 5.23804920e-02 -9.05401341e-04 9.98626789e-01 9.99929373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.88, Y:17.00, Z:10.00 [[ 9.93246255e-01 -1.03967590e-01 -5.15035610e-02 2.14884251e+02] [ 1.03873231e-01 9.94580307e-01 -4.51269844e-03 1.70015044e+01] [ 5.16936019e-02 -8.67620482e-04 9.98662615e-01 1.00012286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.92, Y:17.00, Z:10.00 [[ 9.93309282e-01 -1.03582197e-01 -5.10627000e-02 2.14915082e+02] [ 1.03489120e-01 9.94620539e-01 -4.47053938e-03 1.70035546e+01] [ 5.12510785e-02 -8.43805605e-04 9.98685443e-01 1.00030980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.95, Y:17.01, Z:10.01 [[ 9.93389756e-01 -1.03073215e-01 -5.05242988e-02 2.14947273e+02] [ 1.02981571e-01 9.94673441e-01 -4.42068407e-03 1.70072976e+01] [ 5.07108322e-02 -8.11609364e-04 9.98713048e-01 1.00054234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.98, Y:17.01, Z:10.01 [[ 9.93400959e-01 -1.02784384e-01 -5.08911197e-02 2.14978652e+02] [ 1.02691227e-01 9.94703333e-01 -4.44882044e-03 1.70075645e+01] [ 5.10788356e-02 -8.06609052e-04 9.98694299e-01 1.00063745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.01, Y:17.01, Z:10.01 [[ 9.93398314e-01 -1.02683463e-01 -5.11458310e-02 2.15010432e+02] [ 1.02589553e-01 9.94713752e-01 -4.46495202e-03 1.70095913e+01] [ 5.13339382e-02 -8.11552133e-04 9.98681214e-01 1.00074624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.04, Y:17.01, Z:10.01 [[ 9.93264211e-01 -1.03769602e-01 -5.15565492e-02 2.15042554e+02] [ 1.03675829e-01 9.94600974e-01 -4.49713015e-03 1.70108609e+01] [ 5.17448595e-02 -8.78329543e-04 9.98659951e-01 1.00087174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.07, Y:17.01, Z:10.01 [[ 9.93152753e-01 -1.04379363e-01 -5.24648169e-02 2.15074209e+02] [ 1.04283320e-01 9.94537120e-01 -4.57228495e-03 1.70114239e+01] [ 5.26554601e-02 -9.30227926e-04 9.98612306e-01 1.00094602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.11, Y:17.01, Z:10.01 [[ 9.93040465e-01 -1.05256096e-01 -5.28373918e-02 2.15105903e+02] [ 1.05160228e-01 9.94444657e-01 -4.59902609e-03 1.70126462e+01] [ 5.30279374e-02 -9.89373152e-04 9.98592539e-01 1.00102971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.14, Y:17.01, Z:10.01 [[ 9.92848358e-01 -1.06671526e-01 -5.36033933e-02 2.15137376e+02] [ 1.06575028e-01 9.94293726e-01 -4.66364966e-03 1.70129073e+01] [ 5.37949963e-02 -1.08248624e-03 9.98551414e-01 1.00112062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.17, Y:17.01, Z:10.01 [[ 9.92516953e-01 -1.09209513e-01 -5.46203266e-02 2.15169106e+02] [ 1.09113312e-01 9.94017972e-01 -4.74928657e-03 1.70126683e+01] [ 5.48122536e-02 -1.24605728e-03 9.98495901e-01 1.00122924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.20, Y:17.01, Z:10.01 [[ 9.92356705e-01 -1.10567803e-01 -5.47990126e-02 2.15199943e+02] [ 1.10473139e-01 9.93867697e-01 -4.76299090e-03 1.70139725e+01] [ 5.49896019e-02 -1.32723298e-03 9.98486045e-01 1.00136991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.23, Y:17.01, Z:10.01 [[ 9.92175306e-01 -1.11858229e-01 -5.54607862e-02 2.15230133e+02] [ 1.11763334e-01 9.93723165e-01 -4.81950554e-03 1.70131154e+01] [ 5.56517693e-02 -1.41668800e-03 9.98449234e-01 1.00140590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.26, Y:17.02, Z:10.02 [[ 9.92057226e-01 -1.12559109e-01 -5.61507601e-02 2.15261347e+02] [ 1.12463024e-01 9.93643935e-01 -4.87829582e-03 1.70167969e+01] [ 5.63429589e-02 -1.47533567e-03 9.98410384e-01 1.00157629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.29, Y:17.02, Z:10.02 [[ 9.91940089e-01 -1.13474728e-01 -5.63768301e-02 2.15291579e+02] [ 1.13379440e-01 9.93539697e-01 -4.89624110e-03 1.70187025e+01] [ 5.65682183e-02 -1.53519561e-03 9.98397556e-01 1.00167591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.32, Y:17.02, Z:10.02 [[ 9.91899371e-01 -1.13584975e-01 -5.68690742e-02 2.15322596e+02] [ 1.13488217e-01 9.93527068e-01 -4.93864798e-03 1.70223048e+01] [ 5.70619207e-02 -1.55532801e-03 9.98369430e-01 1.00184313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.35, Y:17.02, Z:10.02 [[ 9.91935199e-01 -1.13523529e-01 -5.63646112e-02 2.15353075e+02] [ 1.13428486e-01 9.93534115e-01 -4.89298393e-03 1.70235753e+01] [ 5.65556329e-02 -1.53982952e-03 9.98398262e-01 1.00192716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.38, Y:17.03, Z:10.02 [[ 9.92049010e-01 -1.13060489e-01 -5.52818845e-02 2.15383753e+02] [ 1.12968406e-01 9.93586996e-01 -4.79787731e-03 1.70286417e+01] [ 5.54698120e-02 -1.48537696e-03 9.98459260e-01 1.00221145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.41, Y:17.03, Z:10.02 [[ 9.92115967e-01 -1.12749154e-01 -5.47132199e-02 2.15414387e+02] [ 1.12658589e-01 9.93622419e-01 -4.74659773e-03 1.70324903e+01] [ 5.48994568e-02 -1.45473877e-03 9.98490828e-01 1.00244690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.45, Y:17.04, Z:10.03 [[ 9.92123944e-01 -1.12678850e-01 -5.47134101e-02 2.15445943e+02] [ 1.12588300e-01 9.93630397e-01 -4.74440517e-03 1.70351673e+01] [ 5.48995015e-02 -1.45305186e-03 9.98490828e-01 1.00259752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.48, Y:17.04, Z:10.03 [[ 9.92189321e-01 -1.12262677e-01 -5.43823726e-02 2.15475820e+02] [ 1.12172803e-01 9.93677543e-01 -4.71188991e-03 1.70368924e+01] [ 5.45675118e-02 -1.42513633e-03 9.98509066e-01 1.00272357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.51, Y:17.04, Z:10.03 [[ 9.92260354e-01 -1.11658913e-01 -5.43293332e-02 2.15506594e+02] [ 1.11568489e-01 9.93745613e-01 -4.70402317e-03 1.70403649e+01] [ 5.45147827e-02 -1.39382595e-03 9.98511991e-01 1.00288347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.54, Y:17.05, Z:10.03 [[ 9.92429327e-01 -1.10397181e-01 -5.38190808e-02 2.15537616e+02] [ 1.10306693e-01 9.93886682e-01 -4.65801777e-03 1.70478687e+01] [ 5.40042997e-02 -1.31385140e-03 9.98539839e-01 1.00311374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.57, Y:17.05, Z:10.03 [[ 9.92516450e-01 -1.09617658e-01 -5.38058177e-02 2.15569493e+02] [ 1.09526187e-01 9.93973012e-01 -4.65471577e-03 1.70524179e+01] [ 5.39917697e-02 -1.27326410e-03 9.98540569e-01 1.00326321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.60, Y:17.06, Z:10.03 [[ 9.92615116e-01 -1.08847210e-01 -5.35492028e-02 2.15600835e+02] [ 1.08755685e-01 9.94057732e-01 -4.62889423e-03 1.70563347e+01] [ 5.37348413e-02 -1.22906986e-03 9.98554483e-01 1.00338717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.63, Y:17.06, Z:10.04 [[ 9.92629319e-01 -1.08651925e-01 -5.36823372e-02 2.15632479e+02] [ 1.08559776e-01 9.94079102e-01 -4.63824725e-03 1.70600088e+01] [ 5.38684441e-02 -1.22368229e-03 9.98547291e-01 1.00353487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.66, Y:17.06, Z:10.04 [[ 9.92613167e-01 -1.08775245e-01 -5.37312390e-02 2.15664549e+02] [ 1.08683318e-01 9.94065601e-01 -4.63859380e-03 1.70645527e+01] [ 5.39169406e-02 -1.23536004e-03 9.98544660e-01 1.00370209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.70, Y:17.07, Z:10.04 [[ 9.92579276e-01 -1.09012173e-01 -5.38769630e-02 2.15695767e+02] [ 1.08920303e-01 9.94039622e-01 -4.64733138e-03 1.70658503e+01] [ 5.40624516e-02 -1.25545031e-03 9.98536767e-01 1.00381087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.73, Y:17.07, Z:10.04 [[ 9.92502935e-01 -1.09804728e-01 -5.36735064e-02 2.15727726e+02] [ 1.09714871e-01 9.93952333e-01 -4.62674579e-03 1.70696858e+01] [ 5.38569455e-02 -1.29672304e-03 9.98547820e-01 1.00398858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.76, Y:17.07, Z:10.04 [[ 9.92349117e-01 -1.11010359e-01 -5.40363790e-02 2.15760041e+02] [ 1.10921282e-01 9.93818298e-01 -4.65409147e-03 1.70732692e+01] [ 5.42189946e-02 -1.37530087e-03 9.98528121e-01 1.00413728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.79, Y:17.08, Z:10.04 [[ 9.92249888e-01 -1.11742122e-01 -5.43493993e-02 2.15792118e+02] [ 1.11653322e-01 9.93736213e-01 -4.67707254e-03 1.70761734e+01] [ 5.45315922e-02 -1.42746630e-03 9.98511025e-01 1.00428081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.82, Y:17.08, Z:10.04 [[ 9.92224615e-01 -1.11943286e-01 -5.43968200e-02 2.15823143e+02] [ 1.11854843e-01 9.93713549e-01 -4.67732984e-03 1.70787722e+01] [ 5.45784527e-02 -1.44358595e-03 9.98508442e-01 1.00439269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.85, Y:17.08, Z:10.05 [[ 9.92168056e-01 -1.12303314e-01 -5.46855888e-02 2.15853784e+02] [ 1.12214638e-01 9.93672880e-01 -4.69919019e-03 1.70811817e+01] [ 5.48673212e-02 -1.47413716e-03 9.98492566e-01 1.00451322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.89, Y:17.08, Z:10.05 [[ 9.92180142e-01 -1.12355127e-01 -5.43589175e-02 2.15885737e+02] [ 1.12267750e-01 9.93667027e-01 -4.66809909e-03 1.70847432e+01] [ 5.45391488e-02 -1.47115816e-03 9.98510549e-01 1.00466041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.92, Y:17.09, Z:10.05 [[ 9.92259435e-01 -1.12014686e-01 -5.36089970e-02 2.15916333e+02] [ 1.11929423e-01 9.93705513e-01 -4.59968429e-03 1.70875068e+01] [ 5.37867881e-02 -1.43634399e-03 9.98551410e-01 1.00483079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.95, Y:17.09, Z:10.05 [[ 9.92359756e-01 -1.11449612e-01 -5.29254113e-02 2.15948071e+02] [ 1.11366017e-01 9.93769109e-01 -4.53521989e-03 1.70938383e+01] [ 5.31010873e-02 -1.39352254e-03 9.98588170e-01 1.00513512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.98, Y:17.10, Z:10.05 [[ 9.92565553e-01 -1.10508747e-01 -5.10043163e-02 2.15978980e+02] [ 1.10430050e-01 9.93874304e-01 -4.36710038e-03 1.70985657e+01] [ 5.11744821e-02 -1.29777579e-03 9.98688885e-01 1.00545178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.01, Y:17.10, Z:10.06 [[ 9.92666346e-01 -1.09638484e-01 -5.09207952e-02 2.16011061e+02] [ 1.09559044e-01 9.93970740e-01 -4.35714735e-03 1.71026565e+01] [ 5.10914915e-02 -1.25364010e-03 9.98693190e-01 1.00564128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.04, Y:17.11, Z:10.06 [[ 9.92780932e-01 -1.08515165e-01 -5.10928498e-02 2.16042454e+02] [ 1.08433887e-01 9.94094065e-01 -4.36824401e-03 1.71091374e+01] [ 5.12651194e-02 -1.20348693e-03 9.98684354e-01 1.00583603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.07, Y:17.11, Z:10.06 [[ 9.92841819e-01 -1.08067296e-01 -5.08584538e-02 2.16073683e+02] [ 1.07986359e-01 9.94142882e-01 -4.34461395e-03 1.71118165e+01] [ 5.10300806e-02 -1.17850481e-03 9.98696421e-01 1.00596273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.11, Y:17.12, Z:10.06 [[ 9.92885041e-01 -1.07786697e-01 -5.06095239e-02 2.16105299e+02] [ 1.07706326e-01 9.94173365e-01 -4.32058516e-03 1.71170442e+01] [ 5.07803423e-02 -1.16112152e-03 9.98709171e-01 1.00614623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.14, Y:17.12, Z:10.06 [[ 9.92922891e-01 -1.07624271e-01 -5.02110364e-02 2.16136809e+02] [ 1.07545133e-01 9.94190978e-01 -4.28301953e-03 1.71213756e+01] [ 5.03803162e-02 -1.14724443e-03 9.98729447e-01 1.00634114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.17, Y:17.12, Z:10.06 [[ 9.92934627e-01 -1.07629069e-01 -4.99680794e-02 2.16170129e+02] [ 1.07550888e-01 9.94190460e-01 -4.25858691e-03 1.71249473e+01] [ 5.01361356e-02 -1.14561289e-03 9.98741736e-01 1.00648870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.20, Y:17.13, Z:10.07 [[ 9.92874599e-01 -1.07963859e-01 -5.04364466e-02 2.16201318e+02] [ 1.07884910e-01 9.94154121e-01 -4.29309192e-03 1.71271097e+01] [ 5.06051000e-02 -1.17882959e-03 9.98718045e-01 1.00659553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.23, Y:17.13, Z:10.07 [[ 9.92671400e-01 -1.09589114e-01 -5.09285455e-02 2.16232958e+02] [ 1.09510907e-01 9.93976154e-01 -4.33198122e-03 1.71293156e+01] [ 5.10964978e-02 -1.27699732e-03 9.98692904e-01 1.00658322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.26, Y:17.13, Z:10.07 [[ 9.92495079e-01 -1.10991913e-01 -5.13255634e-02 2.16264216e+02] [ 1.10914637e-01 9.93820372e-01 -4.36026218e-03 1.71288504e+01] [ 5.14923443e-02 -1.36521748e-03 9.98672456e-01 1.00663312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.30, Y:17.13, Z:10.07 [[ 9.92300532e-01 -1.12722836e-01 -5.13148717e-02 2.16296593e+02] [ 1.12648050e-01 9.93625401e-01 -4.35650489e-03 1.71308875e+01] [ 5.14788376e-02 -1.45755813e-03 9.98673022e-01 1.00672940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.33, Y:17.13, Z:10.07 [[ 9.92150139e-01 -1.14086569e-01 -5.12089580e-02 2.16329177e+02] [ 1.14014093e-01 9.93469636e-01 -4.34384558e-03 1.71318143e+01] [ 5.13701193e-02 -1.52879590e-03 9.98678514e-01 1.00684373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.36, Y:17.13, Z:10.07 [[ 9.91823619e-01 -1.16906333e-01 -5.11743992e-02 2.16361558e+02] [ 1.16837889e-01 9.93141529e-01 -4.33725013e-03 1.71326892e+01] [ 5.13304731e-02 -1.67732166e-03 9.98680314e-01 1.00695394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.39, Y:17.13, Z:10.07 [[ 9.91723418e-01 -1.17575890e-01 -5.15807352e-02 2.16393154e+02] [ 1.17507450e-01 9.93062395e-01 -4.36800035e-03 1.71333184e+01] [ 5.17364599e-02 -1.72927242e-03 9.98659275e-01 1.00708323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.43, Y:17.14, Z:10.07 [[ 9.91676616e-01 -1.17885232e-01 -5.17741343e-02 2.16425153e+02] [ 1.17816848e-01 9.93025676e-01 -4.38149569e-03 1.71356259e+01] [ 5.19295583e-02 -1.75483852e-03 9.98649208e-01 1.00722101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.46, Y:17.14, Z:10.07 [[ 9.91718150e-01 -1.17747492e-01 -5.12897631e-02 2.16456840e+02] [ 1.17680383e-01 9.93042053e-01 -4.33691547e-03 1.71409108e+01] [ 5.14435526e-02 -1.73480119e-03 9.98674397e-01 1.00737967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.49, Y:17.14, Z:10.08 [[ 9.91754585e-01 -1.17490015e-01 -5.11755688e-02 2.16488430e+02] [ 1.17423051e-01 9.93072572e-01 -4.32358645e-03 1.71408037e+01] [ 5.13290320e-02 -1.72125475e-03 9.98680313e-01 1.00750107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.52, Y:17.14, Z:10.08 [[ 9.91821433e-01 -1.17011701e-01 -5.09755469e-02 2.16520904e+02] [ 1.16944777e-01 9.93129094e-01 -4.30379356e-03 1.71444029e+01] [ 5.11288929e-02 -1.69272927e-03 9.98690628e-01 1.00767343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.55, Y:17.15, Z:10.08 [[ 9.91955583e-01 -1.16187115e-01 -5.02461458e-02 2.16552573e+02] [ 1.16121253e-01 9.93226004e-01 -4.23790835e-03 1.71482456e+01] [ 5.03981690e-02 -1.63082856e-03 9.98727873e-01 1.00781007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.59, Y:17.15, Z:10.08 [[ 9.92064527e-01 -1.15609893e-01 -4.94198979e-02 2.16585009e+02] [ 1.15545639e-01 9.93293441e-01 -4.16470413e-03 1.71519277e+01] [ 4.95699415e-02 -1.57859844e-03 9.98769407e-01 1.00797539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.62, Y:17.15, Z:10.08 [[ 9.92131432e-01 -1.15146037e-01 -4.91590416e-02 2.16616700e+02] [ 1.15082108e-01 9.93347363e-01 -4.13832182e-03 1.71544069e+01] [ 4.93085157e-02 -1.55156696e-03 9.98782390e-01 1.00815290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.65, Y:17.16, Z:10.08 [[ 9.92368277e-01 -1.13147130e-01 -4.90196855e-02 2.16647374e+02] [ 1.13081299e-01 9.93577184e-01 -4.12309999e-03 1.71578613e+01] [ 4.91713580e-02 -1.45157608e-03 9.98789302e-01 1.00828094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.68, Y:17.16, Z:10.08 [[ 9.92475865e-01 -1.12181833e-01 -4.90600985e-02 2.16679664e+02] [ 1.12114847e-01 9.93686699e-01 -4.12382866e-03 1.71625361e+01] [ 4.92129860e-02 -1.40756504e-03 9.98787315e-01 1.00842195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.71, Y:17.16, Z:10.09 [[ 9.92601380e-01 -1.10981407e-01 -4.92506645e-02 2.16711171e+02] [ 1.10912601e-01 9.93821557e-01 -4.13627602e-03 1.71642610e+01] [ 4.94054218e-02 -1.35684600e-03 9.98777885e-01 1.00856036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.74, Y:17.17, Z:10.09 [[ 9.92771212e-01 -1.09612655e-01 -4.88915763e-02 2.16742941e+02] [ 1.09543321e-01 9.93973552e-01 -4.10345354e-03 1.71689937e+01] [ 4.90467242e-02 -1.28195508e-03 9.98795663e-01 1.00872403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.77, Y:17.17, Z:10.09 [[ 9.93038002e-01 -1.07319680e-01 -4.85593744e-02 2.16774030e+02] [ 1.07248714e-01 9.94223884e-01 -4.07213252e-03 1.71724292e+01] [ 4.87159098e-02 -1.16414812e-03 9.98811997e-01 1.00885837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.81, Y:17.18, Z:10.09 [[ 9.93122338e-01 -1.06452310e-01 -4.87434921e-02 2.16805612e+02] [ 1.06379891e-01 9.94317169e-01 -4.08493119e-03 1.71759533e+01] [ 4.89013414e-02 -1.12849097e-03 9.98802976e-01 1.00896381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.84, Y:17.18, Z:10.09 [[ 9.93198756e-01 -1.05642808e-01 -4.89472057e-02 2.16837885e+02] [ 1.05568974e-01 9.94403537e-01 -4.09845912e-03 1.71785452e+01] [ 4.91062473e-02 -1.09672178e-03 9.98792958e-01 1.00904582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.87, Y:17.18, Z:10.09 [[ 9.93286648e-01 -1.04755617e-01 -4.90703120e-02 2.16869727e+02] [ 1.04680505e-01 9.94497430e-01 -4.10521095e-03 1.71786860e+01] [ 4.92303431e-02 -1.05905382e-03 9.98786890e-01 1.00903166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.90, Y:17.18, Z:10.09 [[ 9.93285798e-01 -1.04682671e-01 -4.92428920e-02 2.16901793e+02] [ 1.04607115e-01 9.94505108e-01 -4.11610825e-03 1.71809891e+01] [ 4.94031928e-02 -1.06268500e-03 9.98778351e-01 1.00914290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.93, Y:17.18, Z:10.09 [[ 9.93296030e-01 -1.04466997e-01 -4.94938635e-02 2.16933829e+02] [ 1.04390575e-01 9.94527788e-01 -4.13358739e-03 1.71847609e+01] [ 4.96548460e-02 -1.06081694e-03 9.98765874e-01 1.00930648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.96, Y:17.19, Z:10.09 [[ 9.93351753e-01 -1.04109579e-01 -4.91272865e-02 2.16964859e+02] [ 1.04034023e-01 9.94565290e-01 -4.09943582e-03 1.71861789e+01] [ 4.92870845e-02 -1.03872749e-03 9.98784113e-01 1.00943696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.00, Y:17.19, Z:10.10 [[ 9.93390714e-01 -1.03602093e-01 -4.94114928e-02 2.16996772e+02] [ 1.03525170e-01 9.94618299e-01 -4.12041335e-03 1.71887337e+01] [ 4.95724584e-02 -1.02215281e-03 9.98770007e-01 1.00960056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.03, Y:17.19, Z:10.10 [[ 9.93594360e-01 -1.01657071e-01 -4.93567490e-02 2.17027884e+02] [ 1.01578092e-01 9.94819069e-01 -4.11236791e-03 1.71904928e+01] [ 4.95190864e-02 -9.27538849e-04 9.98772747e-01 1.00971777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.06, Y:17.19, Z:10.10 [[ 9.93698772e-01 -1.00656879e-01 -4.93045879e-02 2.17059571e+02] [ 1.00576969e-01 9.94920811e-01 -4.10536938e-03 1.71939679e+01] [ 4.94673942e-02 -8.79405471e-04 9.98775352e-01 1.00988308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.09, Y:17.20, Z:10.10 [[ 9.93851817e-01 -9.91671493e-02 -4.92386230e-02 2.17091258e+02] [ 9.90857984e-02 9.95070462e-01 -4.09638265e-03 1.71969381e+01] [ 4.94021259e-02 -8.07650924e-04 9.98778643e-01 1.01004685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.12, Y:17.20, Z:10.10 [[ 9.93995963e-01 -9.78440191e-02 -4.89752337e-02 2.17123246e+02] [ 9.77621010e-02 9.95201486e-01 -4.07102896e-03 1.72007360e+01] [ 4.91385512e-02 -7.41335395e-04 9.98791697e-01 1.01021774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.15, Y:17.20, Z:10.10 [[ 9.94145140e-01 -9.64704032e-02 -4.86713769e-02 2.17154287e+02] [ 9.63880236e-02 9.95335626e-01 -4.04229386e-03 1.72026094e+01] [ 4.88343171e-02 -6.72711028e-04 9.98806666e-01 1.01035365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.19, Y:17.21, Z:10.11 [[ 9.94412797e-01 -9.41357032e-02 -4.77667153e-02 2.17186252e+02] [ 9.40537881e-02 9.95559223e-01 -3.96462320e-03 1.72066179e+01] [ 4.79278065e-02 -5.50168474e-04 9.98850651e-01 1.01055884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.22, Y:17.21, Z:10.11 [[ 9.94563412e-01 -9.27654699e-02 -4.73094819e-02 2.17218104e+02] [ 9.26837267e-02 9.95687870e-01 -3.92330835e-03 1.72095644e+01] [ 4.74694248e-02 -4.82840146e-04 9.98872575e-01 1.01070876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.25, Y:17.21, Z:10.11 [[ 9.94664630e-01 -9.13510584e-02 -4.79297198e-02 2.17249143e+02] [ 9.12656823e-02 9.95818660e-01 -3.97128212e-03 1.72121569e+01] [ 4.80920902e-02 -4.24244725e-04 9.98842816e-01 1.01082210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.28, Y:17.22, Z:10.11 [[ 9.95004435e-01 -8.75635031e-02 -4.79458707e-02 2.17281262e+02] [ 8.74737972e-02 9.96158910e-01 -3.97005332e-03 1.72169138e+01] [ 4.81093381e-02 -2.43786704e-04 9.98842046e-01 1.01093597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.31, Y:17.22, Z:10.11 [[ 9.95198050e-01 -8.55358244e-02 -4.75863922e-02 2.17312097e+02] [ 8.54453070e-02 9.96335085e-01 -3.93683798e-03 1.72203553e+01] [ 4.77487328e-02 -1.48100411e-04 9.98859368e-01 1.01109816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.34, Y:17.22, Z:10.11 [[ 9.95364248e-01 -8.35090944e-02 -4.77100078e-02 2.17344242e+02] [ 8.34160598e-02 9.96507013e-01 -3.94119713e-03 1.72240910e+01] [ 4.78724832e-02 -5.68541453e-05 9.98853454e-01 1.01126222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.38, Y:17.23, Z:10.11 [[ 9.95532053e-01 -8.16980742e-02 -4.73429564e-02 2.17375780e+02] [ 8.16045798e-02 9.96657125e-01 -3.90750636e-03 1.72274164e+01] [ 4.75039305e-02 2.66457732e-05 9.98871051e-01 1.01141779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.41, Y:17.23, Z:10.12 [[ 9.95766040e-01 -7.86750755e-02 -4.75418388e-02 2.17407202e+02] [ 7.85774325e-02 9.96900298e-01 -3.92217440e-03 1.72303485e+01] [ 4.77030506e-02 1.69852442e-04 9.98861547e-01 1.01155505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.44, Y:17.23, Z:10.12 [[ 9.95768813e-01 -7.86398385e-02 -4.75420511e-02 2.17437913e+02] [ 7.85422783e-02 9.96903078e-01 -3.91959935e-03 1.72328506e+01] [ 4.77030537e-02 1.68953790e-04 9.98861547e-01 1.01170156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.47, Y:17.24, Z:10.12 [[ 9.95852432e-01 -7.75793954e-02 -4.75328468e-02 2.17467953e+02] [ 7.74807461e-02 9.96986153e-01 -3.91715440e-03 1.72350752e+01] [ 4.76934806e-02 2.18027292e-04 9.98861995e-01 1.01184120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.50, Y:17.24, Z:10.12 [[ 9.95903964e-01 -7.69051347e-02 -4.75488682e-02 2.17498064e+02] [ 7.68056908e-02 9.97038383e-01 -3.91763889e-03 1.72371808e+01] [ 4.77093332e-02 2.49568434e-04 9.98861230e-01 1.01197174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.53, Y:17.24, Z:10.12 [[ 9.95930769e-01 -7.64771957e-02 -4.76774746e-02 2.17528824e+02] [ 7.63767227e-02 9.97071294e-01 -3.92823502e-03 1.72389220e+01] [ 4.78382617e-02 2.70800860e-04 9.98855058e-01 1.01209731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.56, Y:17.24, Z:10.12 [[ 9.95921307e-01 -7.66442981e-02 -4.76067465e-02 2.17557944e+02] [ 7.65443137e-02 9.97058465e-01 -3.92241185e-03 1.72405948e+01] [ 4.77673401e-02 2.62387791e-04 9.98858455e-01 1.01222113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.59, Y:17.24, Z:10.12 [[ 9.95786314e-01 -7.82763088e-02 -4.77748513e-02 2.17587508e+02] [ 7.81774530e-02 9.96931685e-01 -3.93710505e-03 1.72393525e+01] [ 4.79364451e-02 1.85599133e-04 9.98850371e-01 1.01230239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.62, Y:17.24, Z:10.12 [[ 9.95719520e-01 -7.91856178e-02 -4.76683957e-02 2.17617986e+02] [ 7.90881646e-02 9.96859879e-01 -3.92998412e-03 1.72397697e+01] [ 4.78299094e-02 1.43155976e-04 9.98855485e-01 1.01244618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.65, Y:17.24, Z:10.13 [[ 9.95584218e-01 -8.07786198e-02 -4.78213370e-02 2.17647472e+02] [ 8.06823764e-02 9.96732065e-01 -3.94259116e-03 1.72403812e+01] [ 4.79835371e-02 6.68424250e-05 9.98848124e-01 1.01258961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.68, Y:17.24, Z:10.13 [[ 9.95422583e-01 -8.24545442e-02 -4.83231704e-02 2.17678481e+02] [ 8.23582530e-02 9.96594826e-01 -3.98374632e-03 1.72406362e+01] [ 4.84870996e-02 -1.43008346e-05 9.98823809e-01 1.01270091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.71, Y:17.24, Z:10.13 [[ 9.95054451e-01 -8.65144382e-02 -4.88046165e-02 2.17708693e+02] [ 8.64210949e-02 9.96250574e-01 -4.02346247e-03 1.72377119e+01] [ 4.89697148e-02 -2.14184155e-04 9.98800241e-01 1.01277576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.74, Y:17.24, Z:10.13 [[ 9.94823819e-01 -8.89909001e-02 -4.90529176e-02 2.17739837e+02] [ 8.88995728e-02 9.96032382e-01 -4.04472659e-03 1.72376491e+01] [ 4.92182383e-02 -3.36993072e-04 9.98787991e-01 1.01292492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.77, Y:17.23, Z:10.13 [[ 9.94288583e-01 -9.47391809e-02 -4.91396099e-02 2.17771115e+02] [ 9.46546268e-02 9.95501933e-01 -4.05015281e-03 1.72346589e+01] [ 4.93022848e-02 -6.24270739e-04 9.98783708e-01 1.01307250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.80, Y:17.23, Z:10.13 [[ 9.94002215e-01 -9.77775473e-02 -4.89811058e-02 2.17802687e+02] [ 9.76972673e-02 9.95207995e-01 -4.03618418e-03 1.72345342e+01] [ 4.91410363e-02 -7.73344175e-04 9.98791550e-01 1.01321268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.83, Y:17.23, Z:10.13 [[ 9.93709785e-01 -1.00514313e-01 -4.93734446e-02 2.17833846e+02] [ 1.00436211e-01 9.94935189e-01 -4.06656909e-03 1.72327289e+01] [ 4.95321259e-02 -9.17892231e-04 9.98772109e-01 1.01331872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:17.23, Z:10.13 [[ 9.93444155e-01 -1.03214502e-01 -4.91474985e-02 2.17865403e+02] [ 1.03140673e-01 9.94658563e-01 -4.04271700e-03 1.72329508e+01] [ 4.93022473e-02 -1.05289251e-03 9.98783350e-01 1.01343548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.90, Y:17.23, Z:10.14 [[ 9.93172339e-01 -1.05819697e-01 -4.91008893e-02 2.17896740e+02] [ 1.05749274e-01 9.94384630e-01 -4.03713394e-03 1.72334556e+01] [ 4.92523779e-02 -1.18281361e-03 9.98785665e-01 1.01358693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:17.23, Z:10.14 [[ 9.92607934e-01 -1.11133991e-01 -4.87721735e-02 2.17927426e+02] [ 1.11070996e-01 9.93804391e-01 -4.00834310e-03 1.72301637e+01] [ 4.89154633e-02 -1.43846074e-03 9.98801886e-01 1.01376587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.96, Y:17.23, Z:10.14 [[ 9.92315766e-01 -1.13834584e-01 -4.84882255e-02 2.17958814e+02] [ 1.13775637e-01 9.93498485e-01 -3.98298961e-03 1.72299508e+01] [ 4.86263805e-02 -1.56439536e-03 9.98815813e-01 1.01396806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.99, Y:17.23, Z:10.14 [[ 9.92027726e-01 -1.16438207e-01 -4.81989150e-02 2.17990850e+02] [ 1.16383112e-01 9.93196511e-01 -3.95749958e-03 1.72302098e+01] [ 4.83317984e-02 -1.68359042e-03 9.98829917e-01 1.01416070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.02, Y:17.23, Z:10.14 [[ 9.91716535e-01 -1.18872069e-01 -4.86594905e-02 2.18022423e+02] [ 1.18819009e-01 9.92907905e-01 -3.99185062e-03 1.72310013e+01] [ 4.87889124e-02 -1.82288819e-03 9.98807448e-01 1.01430237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.05, Y:17.23, Z:10.14 [[ 9.91159190e-01 -1.23105114e-01 -4.94832313e-02 2.18053286e+02] [ 1.23055634e-01 9.92391482e-01 -4.05680002e-03 1.72305069e+01] [ 4.96061501e-02 -2.06825580e-03 9.98766716e-01 1.01438244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.09, Y:17.23, Z:10.15 [[ 9.90943748e-01 -1.24759958e-01 -4.96532068e-02 2.18085588e+02] [ 1.24712261e-01 9.92184605e-01 -4.06971434e-03 1.72311331e+01] [ 4.97728847e-02 -2.15950568e-03 9.98758227e-01 1.01451088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:17.23, Z:10.15 [[ 9.90717610e-01 -1.26429858e-01 -4.99410545e-02 2.18117360e+02] [ 1.26383906e-01 9.91972975e-01 -4.08963634e-03 1.72331188e+01] [ 5.00572286e-02 -2.26007082e-03 9.98743794e-01 1.01466051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.15, Y:17.23, Z:10.15 [[ 9.90335815e-01 -1.29050284e-01 -5.08035144e-02 2.18147883e+02] [ 1.29006408e-01 9.91635053e-01 -4.15560946e-03 1.72325455e+01] [ 5.09148282e-02 -2.43853000e-03 9.98700022e-01 1.01474543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.18, Y:17.23, Z:10.15 [[ 9.90164364e-01 -1.30172773e-01 -5.12794487e-02 2.18178981e+02] [ 1.30129627e-01 9.91488121e-01 -4.19347480e-03 1.72332004e+01] [ 5.13888405e-02 -2.52074624e-03 9.98675539e-01 1.01485710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:17.24, Z:10.15 [[ 9.89992182e-01 -1.31138113e-01 -5.21370816e-02 2.18211151e+02] [ 1.31095001e-01 9.91360655e-01 -4.26069098e-03 1.72388151e+01] [ 5.22453903e-02 -2.61685999e-03 9.98630848e-01 1.01500748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.24, Y:17.24, Z:10.15 [[ 9.89814827e-01 -1.32130465e-01 -5.29919759e-02 2.18242692e+02] [ 1.32087551e-01 9.91228611e-01 -4.32670794e-03 1.72364752e+01] [ 5.30988525e-02 -2.71694065e-03 9.98585565e-01 1.01501836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.27, Y:17.24, Z:10.15 [[ 9.89651971e-01 -1.33059280e-01 -5.37047955e-02 2.18274817e+02] [ 1.33016734e-01 9.91104106e-01 -4.38183029e-03 1.72402598e+01] [ 5.38100865e-02 -2.80714952e-03 9.98547242e-01 1.01514461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.31, Y:17.24, Z:10.15 [[ 9.89423579e-01 -1.34401248e-01 -5.45645197e-02 2.18306361e+02] [ 1.34359567e-01 9.90922661e-01 -4.44828271e-03 1.72431992e+01] [ 5.46670738e-02 -2.93002943e-03 9.98500338e-01 1.01521926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:17.25, Z:10.15 [[ 9.89302107e-01 -1.34958841e-01 -5.53845794e-02 2.18338375e+02] [ 1.34916899e-01 9.90846640e-01 -4.51284620e-03 1.72461671e+01] [ 5.54866729e-02 -3.00774743e-03 9.98454898e-01 1.01535015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:17.25, Z:10.15 [[ 9.89194581e-01 -1.35495998e-01 -5.59903118e-02 2.18368653e+02] [ 1.35454194e-01 9.90773123e-01 -4.55861620e-03 1.72470103e+01] [ 5.60913703e-02 -3.07476412e-03 9.98420905e-01 1.01545971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.40, Y:17.25, Z:10.16 [[ 9.89155105e-01 -1.35698980e-01 -5.61957801e-02 2.18400581e+02] [ 1.35657279e-01 9.90745266e-01 -4.57386484e-03 1.72523594e+01] [ 5.62963719e-02 -3.09910485e-03 9.98409292e-01 1.01563287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:17.25, Z:10.16 [[ 9.89148809e-01 -1.35721264e-01 -5.62527498e-02 2.18431024e+02] [ 1.35679738e-01 9.90742188e-01 -4.57456032e-03 1.72533624e+01] [ 5.63528375e-02 -3.10743744e-03 9.98406080e-01 1.01575379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.46, Y:17.26, Z:10.16 [[ 9.89278084e-01 -1.34955005e-01 -5.58213139e-02 2.18461209e+02] [ 1.34913060e-01 9.90847055e-01 -4.53655285e-03 1.72558595e+01] [ 5.59226150e-02 -3.04311195e-03 9.98430469e-01 1.01595219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.49, Y:17.26, Z:10.16 [[ 9.89429861e-01 -1.34193885e-01 -5.49595419e-02 2.18492530e+02] [ 1.34152118e-01 9.90950690e-01 -4.46530422e-03 1.72617783e+01] [ 5.50614124e-02 -2.95483364e-03 9.98478598e-01 1.01619339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.52, Y:17.27, Z:10.16 [[ 9.89559372e-01 -1.33261608e-01 -5.48962075e-02 2.18523904e+02] [ 1.33218675e-01 9.91076646e-01 -4.45711327e-03 1.72673968e+01] [ 5.50003113e-02 -2.90262184e-03 9.98482118e-01 1.01638999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.56, Y:17.27, Z:10.17 [[ 9.89708533e-01 -1.32314192e-01 -5.44974732e-02 2.18555477e+02] [ 1.32270661e-01 9.91203777e-01 -4.42084090e-03 1.72712075e+01] [ 5.46030413e-02 -2.83307285e-03 9.98504122e-01 1.01657192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.59, Y:17.27, Z:10.17 [[ 9.89863196e-01 -1.31080965e-01 -5.46684029e-02 2.18586088e+02] [ 1.31035481e-01 9.91367776e-01 -4.43115617e-03 1.72689804e+01] [ 5.47773332e-02 -2.77726206e-03 9.98494732e-01 1.01660689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.62, Y:17.28, Z:10.17 [[ 9.89901910e-01 -1.30714098e-01 -5.48455440e-02 2.18616743e+02] [ 1.30667819e-01 9.91416244e-01 -4.44440851e-03 1.72763089e+01] [ 5.49557100e-02 -2.76701916e-03 9.98484959e-01 1.01679441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.65, Y:17.28, Z:10.17 [[ 9.89797704e-01 -1.31010721e-01 -5.60062148e-02 2.18648618e+02] [ 1.30963070e-01 9.91376870e-01 -4.53615801e-03 1.72839021e+01] [ 5.61175512e-02 -2.84486702e-03 9.98420116e-01 1.01697701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.385099893 meters Centerline goodness [0,1] 0.9999787991858887 Centerline is valid? [True, True] Translation: X:218.68, Y:17.29, Z:10.17 [[ 9.89742242e-01 -1.31489703e-01 -5.58636935e-02 2.18679382e+02] [ 1.31443271e-01 9.91313386e-01 -4.52073797e-03 1.72858703e+01] [ 5.59728577e-02 -2.86854127e-03 9.98428170e-01 1.01710995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.415099893 meters Centerline goodness [0,1] 0.9999574196295508 Centerline is valid? [True, True] Translation: X:218.71, Y:17.29, Z:10.17 [[ 9.89574298e-01 -1.32554637e-01 -5.63203021e-02 2.18711423e+02] [ 1.32509345e-01 9.91171292e-01 -4.55447120e-03 1.72878409e+01] [ 5.64267829e-02 -2.95597869e-03 9.98402364e-01 1.01726268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.74, Y:17.29, Z:10.17 [[ 9.89444801e-01 -1.33450459e-01 -5.64797422e-02 2.18742463e+02] [ 1.33406584e-01 9.91050886e-01 -4.56347370e-03 1.72874989e+01] [ 5.65832962e-02 -3.01946417e-03 9.98393316e-01 1.01736237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.77, Y:17.29, Z:10.18 [[ 9.89104492e-01 -1.35899369e-01 -5.66009242e-02 2.18773151e+02] [ 1.35859464e-01 9.90717577e-01 -4.57038530e-03 1.72948314e+01] [ 5.66966430e-02 -3.16918257e-03 9.98386422e-01 1.01761291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.80, Y:17.30, Z:10.18 [[ 9.88982766e-01 -1.36879814e-01 -5.63649262e-02 2.18803898e+02] [ 1.36841989e-01 9.90582446e-01 -4.54842855e-03 1.72951662e+01] [ 5.64566945e-02 -3.21477118e-03 9.98399873e-01 1.01770502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.84, Y:17.30, Z:10.18 [[ 9.88879728e-01 -1.37621602e-01 -5.63664586e-02 2.18835027e+02] [ 1.37585374e-01 9.90479500e-01 -4.54150491e-03 1.72952573e+01] [ 5.64548309e-02 -3.26419813e-03 9.98399818e-01 1.01781563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.87, Y:17.30, Z:10.18 [[ 9.88804012e-01 -1.38169340e-01 -5.63547696e-02 2.18866634e+02] [ 1.38134333e-01 9.90403120e-01 -4.53487887e-03 1.72998773e+01] [ 5.64405209e-02 -3.30042211e-03 9.98400508e-01 1.01798025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.90, Y:17.30, Z:10.18 [[ 9.88734333e-01 -1.38478644e-01 -5.68162211e-02 2.18898924e+02] [ 1.38443811e-01 9.90359756e-01 -4.56783094e-03 1.73042476e+01] [ 5.69010459e-02 -3.34948290e-03 9.98374204e-01 1.01811295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.93, Y:17.31, Z:10.18 [[ 9.88769902e-01 -1.38180646e-01 -5.69226664e-02 2.18930298e+02] [ 1.38145420e-01 9.90401402e-01 -4.57238662e-03 1.73053402e+01] [ 5.70081039e-02 -3.34256738e-03 9.98368120e-01 1.01821349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.96, Y:17.31, Z:10.18 [[ 9.88828908e-01 -1.37724957e-01 -5.70019816e-02 2.18961928e+02] [ 1.37689068e-01 9.90464934e-01 -4.57545933e-03 1.73106019e+01] [ 5.70886189e-02 -3.32420325e-03 9.98363581e-01 1.01838223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:17.31, Z:10.19 [[ 9.88902484e-01 -1.37294489e-01 -5.67635523e-02 2.18993648e+02] [ 1.37258429e-01 9.90524811e-01 -4.55215549e-03 1.73134863e+01] [ 5.68506928e-02 -3.28963812e-03 9.98377272e-01 1.01850699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.02, Y:17.32, Z:10.19 [[ 9.89153628e-01 -1.35588984e-01 -5.64865290e-02 2.19024640e+02] [ 1.35550720e-01 9.90760070e-01 -4.52612702e-03 1.73170355e+01] [ 5.65782904e-02 -3.17975470e-03 9.98393102e-01 1.01862246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.06, Y:17.32, Z:10.19 [[ 9.89313640e-01 -1.34362533e-01 -5.66147690e-02 2.19056946e+02] [ 1.34322252e-01 9.90927333e-01 -4.53363194e-03 1.73229334e+01] [ 5.67102723e-02 -3.11943933e-03 9.98385804e-01 1.01884799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.09, Y:17.33, Z:10.19 [[ 9.89478202e-01 -1.33109031e-01 -5.66998542e-02 2.19087855e+02] [ 1.33066906e-01 9.91096683e-01 -4.53468188e-03 1.73261130e+01] [ 5.67986446e-02 -3.05790532e-03 9.98380971e-01 1.01900218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.12, Y:17.33, Z:10.19 [[ 9.89730526e-01 -1.31368654e-01 -5.63539111e-02 2.19119084e+02] [ 1.31324396e-01 9.91329217e-01 -4.50406931e-03 1.73311401e+01] [ 5.64569720e-02 -2.94282844e-03 9.98400696e-01 1.01917922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.15, Y:17.34, Z:10.19 [[ 9.90330687e-01 -1.26790791e-01 -5.62958714e-02 2.19148492e+02] [ 1.26739346e-01 9.91925859e-01 -4.49767383e-03 1.73361610e+01] [ 5.64115942e-02 -2.68071753e-03 9.98403999e-01 1.01927419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.18, Y:17.34, Z:10.19 [[ 9.90715652e-01 -1.23832028e-01 -5.61081679e-02 2.19179060e+02] [ 1.23776210e-01 9.92300034e-01 -4.48236749e-03 1.73404154e+01] [ 5.62311976e-02 -2.50410474e-03 9.98414634e-01 1.01939277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.21, Y:17.35, Z:10.20 [[ 9.91120654e-01 -1.20543992e-01 -5.61159088e-02 2.19209744e+02] [ 1.20483013e-01 9.92705276e-01 -4.48098811e-03 1.73481898e+01] [ 5.62467150e-02 -2.31981389e-03 9.98414205e-01 1.01960842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.24, Y:17.35, Z:10.20 [[ 9.91580065e-01 -1.16920919e-01 -5.56639317e-02 2.19240557e+02] [ 1.16855331e-01 9.93139010e-01 -4.44289725e-03 1.73535890e+01] [ 5.58014896e-02 -2.09913881e-03 9.98439676e-01 1.01975937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.27, Y:17.36, Z:10.20 [[ 9.92494600e-01 -1.09183047e-01 -5.50774965e-02 2.19269289e+02] [ 1.09107018e-01 9.94020295e-01 -4.39451654e-03 1.73630582e+01] [ 5.52279561e-02 -1.64780745e-03 9.98472412e-01 1.01993623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.30, Y:17.37, Z:10.20 [[ 9.92948747e-01 -1.05173423e-01 -5.46931188e-02 2.19299992e+02] [ 1.05092351e-01 9.94452890e-01 -4.36426815e-03 1.73698497e+01] [ 5.48487351e-02 -1.41433388e-03 9.98493673e-01 1.02014938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.33, Y:17.38, Z:10.20 [[ 9.93774921e-01 -9.71635232e-02 -5.45037217e-02 2.19328736e+02] [ 9.70710566e-02 9.95267958e-01 -4.34758788e-03 1.73789502e+01] [ 5.46682348e-02 -9.70210052e-04 9.98504103e-01 1.02027746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.36, Y:17.39, Z:10.20 [[ 9.94127541e-01 -9.33750750e-02 -5.46948541e-02 2.19359266e+02] [ 9.32761971e-02 9.95630711e-01 -4.36340442e-03 1.73865874e+01] [ 5.48633096e-02 -7.63947483e-04 9.98493582e-01 1.02047662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.39, Y:17.39, Z:10.21 [[ 9.94433656e-01 -8.98624629e-02 -5.50131099e-02 2.19389481e+02] [ 8.97571621e-02 9.95954018e-01 -4.38692036e-03 1.73915573e+01] [ 5.51847474e-02 -5.75319377e-04 9.98475995e-01 1.02053574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.42, Y:17.39, Z:10.21 [[ 9.94433656e-01 -8.98624225e-02 -5.50131777e-02 2.19419354e+02] [ 8.97571687e-02 9.95954022e-01 -4.38607028e-03 1.73939386e+01] [ 5.51847385e-02 -5.76171168e-04 9.98475995e-01 1.02067830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.45, Y:17.40, Z:10.21 [[ 9.94658815e-01 -8.67826406e-02 -5.58803552e-02 2.19449089e+02] [ 8.66691833e-02 9.96227185e-01 -4.45520829e-03 1.73992802e+01] [ 5.60561637e-02 -4.11692548e-04 9.98427532e-01 1.02076688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.48, Y:17.40, Z:10.21 [[ 9.94791855e-01 -8.45585224e-02 -5.69124057e-02 2.19478747e+02] [ 8.44371856e-02 9.96418472e-01 -4.53766240e-03 1.74038252e+01] [ 5.70922704e-02 -2.91493766e-04 9.98368864e-01 1.02084674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.51, Y:17.41, Z:10.21 [[ 9.94942621e-01 -8.25861472e-02 -5.71726245e-02 2.19507009e+02] [ 8.24602539e-02 9.96583914e-01 -4.56170397e-03 1.74080853e+01] [ 5.73540514e-02 -1.75835433e-04 9.98353886e-01 1.02093347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.54, Y:17.41, Z:10.21 [[ 9.95177287e-01 -7.90877945e-02 -5.80283386e-02 2.19535284e+02] [ 7.89513038e-02 9.96867654e-01 -4.64462488e-03 1.74131185e+01] [ 5.82139069e-02 4.08122002e-05 9.98304132e-01 1.02091613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.56, Y:17.42, Z:10.21 [[ 9.95200909e-01 -7.82173444e-02 -5.87979347e-02 2.19564084e+02] [ 7.80748048e-02 9.96936325e-01 -4.72117128e-03 1.74162616e+01] [ 5.89870743e-02 1.07876682e-04 9.98258741e-01 1.02100807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.59, Y:17.42, Z:10.21 [[ 9.95212417e-01 -7.75342787e-02 -5.95036133e-02 2.19591960e+02] [ 7.73862800e-02 9.96989673e-01 -4.79111073e-03 1.74193748e+01] [ 5.96959633e-02 1.63409612e-04 9.98216592e-01 1.02100323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.62, Y:17.42, Z:10.21 [[ 9.95183214e-01 -7.79605852e-02 -5.94349802e-02 2.19619412e+02] [ 7.78132283e-02 9.96956431e-01 -4.79327311e-03 1.74210791e+01] [ 5.96277721e-02 1.45357256e-04 9.98220671e-01 1.02116503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.65, Y:17.42, Z:10.21 [[ 9.95123030e-01 -7.87476860e-02 -5.94050237e-02 2.19647112e+02] [ 7.86008716e-02 9.96894573e-01 -4.80772822e-03 1.74225165e+01] [ 5.95991432e-02 1.14994438e-04 9.98222384e-01 1.02134573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.68, Y:17.42, Z:10.22 [[ 9.95086967e-01 -7.97810446e-02 -5.86251832e-02 2.19675203e+02] [ 7.96388726e-02 9.96812410e-01 -4.76128387e-03 1.74240096e+01] [ 5.88181703e-02 6.90480333e-05 9.98268710e-01 1.02152362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.70, Y:17.43, Z:10.22 [[ 9.95009556e-01 -8.09698344e-02 -5.83083941e-02 2.19703440e+02] [ 8.08302486e-02 9.96716552e-01 -4.75239272e-03 1.74255151e+01] [ 5.85017420e-02 1.55941872e-05 9.98287306e-01 1.02172351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.73, Y:17.42, Z:10.22 [[ 9.94813220e-01 -8.39179235e-02 -5.74842607e-02 2.19730213e+02] [ 8.37862795e-02 9.96472660e-01 -4.70072891e-03 1.74247188e+01] [ 5.76759695e-02 -1.40045073e-04 9.98335346e-01 1.02188590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.76, Y:17.43, Z:10.22 [[ 9.94647550e-01 -8.60615821e-02 -5.71809089e-02 2.19759233e+02] [ 8.59341854e-02 9.96289788e-01 -4.68772573e-03 1.74250916e+01] [ 5.73721887e-02 -2.51159921e-04 9.98352828e-01 1.02206377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.79, Y:17.42, Z:10.22 [[ 9.94205732e-01 -9.12165736e-02 -5.68726520e-02 2.19788966e+02] [ 9.10982787e-02 9.95830935e-01 -4.67456588e-03 1.74230842e+01] [ 5.70619441e-02 -5.33520502e-04 9.98370497e-01 1.02225121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.82, Y:17.42, Z:10.22 [[ 9.93920985e-01 -9.42008522e-02 -5.69848604e-02 2.19818870e+02] [ 9.40868803e-02 9.95552964e-01 -4.68568003e-03 1.74225664e+01] [ 5.71728417e-02 -7.04332025e-04 9.98364047e-01 1.02241846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.85, Y:17.42, Z:10.23 [[ 9.93623029e-01 -9.74405508e-02 -5.67328433e-02 2.19848470e+02] [ 9.73328012e-02 9.95240953e-01 -4.66597336e-03 1.74215438e+01] [ 5.69175040e-02 -8.85747973e-04 9.98378492e-01 1.02254816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.88, Y:17.42, Z:10.23 [[ 9.93297952e-01 -1.00816366e-01 -5.65264416e-02 2.19878903e+02] [ 1.00714810e-01 9.94904471e-01 -4.64983838e-03 1.74209218e+01] [ 5.67071892e-02 -1.07437485e-03 9.98390275e-01 1.02273153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.91, Y:17.42, Z:10.23 [[ 9.92626868e-01 -1.07302256e-01 -5.63748802e-02 2.19909578e+02] [ 1.07211685e-01 9.94225402e-01 -4.63733332e-03 1.74160788e+01] [ 5.65469342e-02 -1.44090425e-03 9.98398902e-01 1.02291669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.94, Y:17.42, Z:10.23 [[ 9.92300976e-01 -1.10242371e-01 -5.64392915e-02 2.19941124e+02] [ 1.10156370e-01 9.93903428e-01 -4.64210322e-03 1.74171431e+01] [ 5.66069618e-02 -1.61078390e-03 9.98395241e-01 1.02314285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.97, Y:17.42, Z:10.23 [[ 9.91995175e-01 -1.12839749e-01 -5.66812537e-02 2.19972182e+02] [ 1.12757349e-01 9.93611626e-01 -4.66010492e-03 1.74171294e+01] [ 5.68449978e-02 -1.76842633e-03 9.98381450e-01 1.02330246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.00, Y:17.41, Z:10.23 [[ 9.91548751e-01 -1.16552668e-01 -5.69785029e-02 2.20003168e+02] [ 1.16475577e-01 9.93182513e-01 -4.68350487e-03 1.74126028e+01] [ 5.71359277e-02 -1.99268057e-03 9.98364420e-01 1.02335502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.03, Y:17.42, Z:10.24 [[ 9.91450804e-01 -1.17325828e-01 -5.70959973e-02 2.20033867e+02] [ 1.17249767e-01 9.93091374e-01 -4.69195789e-03 1.74159078e+01] [ 5.72520303e-02 -2.04264696e-03 9.98357668e-01 1.02355311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.07, Y:17.42, Z:10.24 [[ 9.91443848e-01 -1.17542494e-01 -5.67702240e-02 2.20065753e+02] [ 1.17467788e-01 9.93065747e-01 -4.66281817e-03 1.74176585e+01] [ 5.69246442e-02 -2.04575023e-03 9.98376382e-01 1.02373820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.10, Y:17.42, Z:10.24 [[ 9.91476132e-01 -1.17274723e-01 -5.67601852e-02 2.20097266e+02] [ 1.17199829e-01 9.93097428e-01 -4.65806981e-03 1.74168748e+01] [ 5.69146678e-02 -2.03391895e-03 9.98376975e-01 1.02381717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.13, Y:17.42, Z:10.24 [[ 9.91600014e-01 -1.16282872e-01 -5.66366118e-02 2.20128078e+02] [ 1.16206852e-01 9.93214172e-01 -4.64505775e-03 1.74212458e+01] [ 5.67924261e-02 -1.97552307e-03 9.98384053e-01 1.02405194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.16, Y:17.42, Z:10.24 [[ 9.91977686e-01 -1.13198992e-01 -5.62695139e-02 2.20158331e+02] [ 1.13119105e-01 9.93570726e-01 -4.61310800e-03 1.74233386e+01] [ 5.64299410e-02 -1.78905683e-03 9.98404958e-01 1.02417040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.19, Y:17.43, Z:10.24 [[ 9.92241863e-01 -1.10952727e-01 -5.60854522e-02 2.20189705e+02] [ 1.10869843e-01 9.93824304e-01 -4.59686741e-03 1.74273622e+01] [ 5.62491205e-02 -1.65698099e-03 9.98415390e-01 1.02435500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.22, Y:17.44, Z:10.25 [[ 9.92744718e-01 -1.06264651e-01 -5.62649807e-02 2.20220088e+02] [ 1.06173825e-01 9.94336900e-01 -4.60960166e-03 1.74358937e+01] [ 5.64361842e-02 -1.39771054e-03 9.98405230e-01 1.02461451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.25, Y:17.44, Z:10.25 [[ 9.92935404e-01 -1.04095356e-01 -5.69512027e-02 2.20250569e+02] [ 1.03998849e-01 9.94566482e-01 -4.66386042e-03 1.74378313e+01] [ 5.71272436e-02 -1.29194740e-03 9.98366070e-01 1.02465056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.28, Y:17.44, Z:10.25 [[ 9.93104435e-01 -1.02197852e-01 -5.74384898e-02 2.20281339e+02] [ 1.02096578e-01 9.94763376e-01 -4.70270657e-03 1.74418321e+01] [ 5.76183125e-02 -1.19399449e-03 9.98337971e-01 1.02474349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.31, Y:17.44, Z:10.25 [[ 9.93231504e-01 -1.00095723e-01 -5.89239040e-02 2.20310559e+02] [ 9.99854859e-02 9.94977203e-01 -4.82365027e-03 1.74433526e+01] [ 5.91107680e-02 -1.10053376e-03 9.98250823e-01 1.02463180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.34, Y:17.45, Z:10.25 [[ 9.93244262e-01 -9.94691822e-02 -5.97638432e-02 2.20340031e+02] [ 9.93545669e-02 9.95040060e-01 -4.89372037e-03 1.74465101e+01] [ 5.99541925e-02 -1.07715108e-03 9.98200548e-01 1.02475190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.37, Y:17.45, Z:10.25 [[ 9.93213376e-01 -9.90166961e-02 -6.10154404e-02 2.20367382e+02] [ 9.88961942e-02 9.95085198e-01 -4.99915733e-03 1.74476577e+01] [ 6.12105616e-02 -1.06896491e-03 9.98124303e-01 1.02475274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.40, Y:17.45, Z:10.25 [[ 9.93350295e-01 -9.73754027e-02 -6.14265647e-02 2.20395878e+02] [ 9.72496593e-02 9.95247254e-01 -5.04056146e-03 1.74520015e+01] [ 6.16254466e-02 -9.66669283e-04 9.98098878e-01 1.02492295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.42, Y:17.45, Z:10.25 [[ 9.93322994e-01 -9.76543068e-02 -6.14252839e-02 2.20423145e+02] [ 9.75281337e-02 9.95219925e-01 -5.05612696e-03 1.74543197e+01] [ 6.16254190e-02 -9.68326136e-04 9.98098878e-01 1.02505354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.45, Y:17.46, Z:10.25 [[ 9.93672504e-01 -9.41916602e-02 -6.11791288e-02 2.20451405e+02] [ 9.40589037e-02 9.95553812e-01 -5.05270310e-03 1.74603754e+01] [ 6.13830374e-02 -7.33709640e-04 9.98114014e-01 1.02542985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.48, Y:17.46, Z:10.26 [[ 9.93928286e-01 -9.23640328e-02 -5.97950411e-02 2.20478507e+02] [ 9.22331039e-02 9.95725129e-01 -4.95187486e-03 1.74638353e+01] [ 5.99968002e-02 -5.93273741e-04 9.98198393e-01 1.02564740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.51, Y:17.47, Z:10.26 [[ 9.94357994e-01 -8.90157468e-02 -5.76920838e-02 2.20506275e+02] [ 8.88878287e-02 9.96030150e-01 -4.78479203e-03 1.74683688e+01] [ 5.78889768e-02 -3.70327862e-04 9.98322958e-01 1.02596119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.53, Y:17.47, Z:10.26 [[ 9.94507366e-01 -8.79529987e-02 -5.67394907e-02 2.20534855e+02] [ 8.78271716e-02 9.96124582e-01 -4.71232584e-03 1.74718181e+01] [ 5.69340646e-02 -2.96826232e-04 9.98377896e-01 1.02626644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.56, Y:17.47, Z:10.26 [[ 9.94647322e-01 -8.68034585e-02 -5.60523285e-02 2.20562082e+02] [ 8.66781264e-02 9.96225433e-01 -4.66790104e-03 1.74745289e+01] [ 5.62459452e-02 -2.15595541e-04 9.98416921e-01 1.02646375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.59, Y:17.48, Z:10.27 [[ 9.94775938e-01 -8.61388966e-02 -5.47806814e-02 2.20590663e+02] [ 8.60178521e-02 9.96283124e-01 -4.56802263e-03 1.74776167e+01] [ 5.49705528e-02 -1.67957550e-04 9.98487962e-01 1.02668219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.62, Y:17.48, Z:10.27 [[ 9.94884241e-01 -8.51593090e-02 -5.43437147e-02 2.20619868e+02] [ 8.50380697e-02 9.96367343e-01 -4.54365411e-03 1.74806648e+01] [ 5.45332371e-02 -1.00874731e-04 9.98511951e-01 1.02690212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.65, Y:17.48, Z:10.27 [[ 9.95006142e-01 -8.41958224e-02 -5.36082228e-02 2.20649738e+02] [ 8.40763445e-02 9.96449227e-01 -4.48406787e-03 1.74833536e+01] [ 5.37954119e-02 -4.55083335e-05 9.98551977e-01 1.02712111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.68, Y:17.49, Z:10.27 [[ 9.95170166e-01 -8.30259958e-02 -5.23738982e-02 2.20678027e+02] [ 8.29102378e-02 9.96547382e-01 -4.38278617e-03 1.74854142e+01] [ 5.25569563e-02 1.92856860e-05 9.98617928e-01 1.02731566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.71, Y:17.49, Z:10.27 [[ 9.95249357e-01 -8.24468686e-02 -5.17806004e-02 2.20707326e+02] [ 8.23327960e-02 9.96595460e-01 -4.33584380e-03 1.74873887e+01] [ 5.19617880e-02 5.20041491e-05 9.98649072e-01 1.02748266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.74, Y:17.49, Z:10.28 [[ 9.95288482e-01 -8.21624178e-02 -5.14798528e-02 2.20737202e+02] [ 8.20491910e-02 9.96618950e-01 -4.31252122e-03 1.74889321e+01] [ 5.16601241e-02 6.83224195e-05 9.98664722e-01 1.02764764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.77, Y:17.49, Z:10.28 [[ 9.95322769e-01 -8.17565085e-02 -5.14631864e-02 2.20765428e+02] [ 8.16427121e-02 9.96652329e-01 -4.31307076e-03 1.74902768e+01] [ 5.16435262e-02 9.13034173e-05 9.98665579e-01 1.02773106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.79, Y:17.49, Z:10.28 [[ 9.95362489e-01 -8.13130330e-02 -5.13975278e-02 2.20793987e+02] [ 8.11987532e-02 9.96688606e-01 -4.31110919e-03 1.74895864e+01] [ 5.15778797e-02 1.17701201e-04 9.98668968e-01 1.02782560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.82, Y:17.49, Z:10.28 [[ 9.95405383e-01 -8.10541280e-02 -5.09740296e-02 2.20823887e+02] [ 8.09407970e-02 9.96709691e-01 -4.28708172e-03 1.74905008e+01] [ 5.11537950e-02 1.41505634e-04 9.98690778e-01 1.02797870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.85, Y:17.49, Z:10.28 [[ 9.95427226e-01 -8.05771941e-02 -5.13025623e-02 2.20852937e+02] [ 8.04616639e-02 9.96748357e-01 -4.31664311e-03 1.74915512e+01] [ 5.14835676e-02 1.69014554e-04 9.98673827e-01 1.02809644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.88, Y:17.49, Z:10.28 [[ 9.95504308e-01 -7.98706636e-02 -5.09102082e-02 2.20882628e+02] [ 7.97558361e-02 9.96805214e-01 -4.28628192e-03 1.74899981e+01] [ 5.10899091e-02 2.06625903e-04 9.98694036e-01 1.02816705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.91, Y:17.49, Z:10.28 [[ 9.95552918e-01 -7.95719019e-02 -5.04252003e-02 2.20911570e+02] [ 7.94587743e-02 9.96829104e-01 -4.24734364e-03 1.74903450e+01] [ 5.06032765e-02 2.21730743e-04 9.98718809e-01 1.02823523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.94, Y:17.49, Z:10.28 [[ 9.95577652e-01 -7.94736928e-02 -5.00906319e-02 2.20940828e+02] [ 7.93618036e-02 9.96836938e-01 -4.22183839e-03 1.74904320e+01] [ 5.02677172e-02 2.27885062e-04 9.98735753e-01 1.02832438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.97, Y:17.49, Z:10.28 [[ 9.95583232e-01 -7.95053480e-02 -4.99292231e-02 2.20969588e+02] [ 7.93941256e-02 9.96834413e-01 -4.21009625e-03 1.74904562e+01] [ 5.01058930e-02 2.27414228e-04 9.98743885e-01 1.02842629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.00, Y:17.49, Z:10.29 [[ 9.95550337e-01 -8.05974575e-02 -4.88218923e-02 2.20998216e+02] [ 8.04922877e-02 9.96746718e-01 -4.11961049e-03 1.74900843e+01] [ 4.89950911e-02 1.71493809e-04 9.98799005e-01 1.02853314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.03, Y:17.49, Z:10.29 [[ 9.95244752e-01 -8.48572791e-02 -4.78239048e-02 2.21027762e+02] [ 8.47607115e-02 9.96393116e-01 -4.04725297e-03 1.74859956e+01] [ 4.79948484e-02 -2.55809166e-05 9.98847583e-01 1.02865966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.06, Y:17.48, Z:10.29 [[ 9.94993573e-01 -8.77977796e-02 -4.77424279e-02 2.21056581e+02] [ 8.77043504e-02 9.96138307e-01 -4.05229715e-03 1.74842484e+01] [ 4.79138440e-02 -1.55209007e-04 9.98851460e-01 1.02875068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.09, Y:17.48, Z:10.29 [[ 9.94646335e-01 -9.14944664e-02 -4.80357231e-02 2.21086278e+02] [ 9.14040677e-02 9.95805529e-01 -4.07976836e-03 1.74822830e+01] [ 4.82075149e-02 -3.32733839e-04 9.98837286e-01 1.02882977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.12, Y:17.48, Z:10.29 [[ 9.94245915e-01 -9.57815550e-02 -4.79682685e-02 2.21115904e+02] [ 9.56963124e-02 9.95402232e-01 -4.07573515e-03 1.74802070e+01] [ 4.81381018e-02 -5.38103394e-04 9.98840545e-01 1.02891957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.15, Y:17.47, Z:10.29 [[ 9.93296258e-01 -1.04997621e-01 -4.83533257e-02 2.21147301e+02] [ 1.04921821e-01 9.94471980e-01 -4.11016866e-03 1.74721499e+01] [ 4.85175854e-02 -9.90703807e-04 9.98821837e-01 1.02894661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.18, Y:17.47, Z:10.29 [[ 9.92781367e-01 -1.09785159e-01 -4.82946812e-02 2.21178191e+02] [ 1.09715198e-01 9.93954588e-01 -4.10518372e-03 1.74692565e+01] [ 4.84534082e-02 -1.22311062e-03 9.98824695e-01 1.02904676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.21, Y:17.46, Z:10.29 [[ 9.92269777e-01 -1.14285128e-01 -4.83693977e-02 2.21208566e+02] [ 1.14220287e-01 9.93446939e-01 -4.11153483e-03 1.74649170e+01] [ 4.85223174e-02 -1.44501473e-03 9.98821053e-01 1.02911874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.24, Y:17.46, Z:10.29 [[ 9.91753646e-01 -1.18580450e-01 -4.86146394e-02 2.21239746e+02] [ 1.18520100e-01 9.92943055e-01 -4.13235862e-03 1.74629494e+01] [ 4.87615854e-02 -1.66353018e-03 9.98809061e-01 1.02922961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.27, Y:17.47, Z:10.29 [[ 9.91753647e-01 -1.18580410e-01 -4.86147104e-02 2.21269622e+02] [ 1.18520101e-01 9.92943058e-01 -4.13152297e-03 1.74654880e+01] [ 4.87615569e-02 -1.66436741e-03 9.98809061e-01 1.02937224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.30, Y:17.46, Z:10.29 [[ 9.90904422e-01 -1.25320802e-01 -4.90216565e-02 2.21299703e+02] [ 1.25267702e-01 9.92114230e-01 -4.16614041e-03 1.74593284e+01] [ 4.91571871e-02 -2.01258330e-03 9.98789027e-01 1.02944320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.33, Y:17.46, Z:10.30 [[ 9.90516478e-01 -1.28321414e-01 -4.90990896e-02 2.21330235e+02] [ 1.28271776e-01 9.91730272e-01 -4.17366179e-03 1.74605269e+01] [ 4.92286237e-02 -2.16394666e-03 9.98785192e-01 1.02956678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.36, Y:17.46, Z:10.30 [[ 9.90234053e-01 -1.30541782e-01 -4.89424463e-02 2.21361411e+02] [ 1.30495167e-01 9.91440217e-01 -4.16028826e-03 1.74619372e+01] [ 4.90666010e-02 -2.26709357e-03 9.98792936e-01 1.02971971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.39, Y:17.46, Z:10.30 [[ 9.89994039e-01 -1.32334032e-01 -4.89847698e-02 2.21392996e+02] [ 1.32289611e-01 9.91202369e-01 -4.16209537e-03 1.74622102e+01] [ 4.91046067e-02 -2.35972656e-03 9.98790854e-01 1.02988689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.42, Y:17.46, Z:10.30 [[ 9.89776819e-01 -1.34153881e-01 -4.84209141e-02 2.21423620e+02] [ 1.34112731e-01 9.90957549e-01 -4.11246440e-03 1.74569673e+01] [ 4.85347734e-02 -2.42343909e-03 9.98818553e-01 1.03015521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.45, Y:17.47, Z:10.30 [[ 9.89768319e-01 -1.34500770e-01 -4.76258133e-02 2.21454044e+02] [ 1.34461399e-01 9.90910580e-01 -4.04408514e-03 1.74660483e+01] [ 4.77368548e-02 -2.40112615e-03 9.98857060e-01 1.03041670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.49, Y:17.47, Z:10.31 [[ 9.89838259e-01 -1.34252556e-01 -4.68665390e-02 2.21485984e+02] [ 1.34214232e-01 9.90944356e-01 -3.97791855e-03 1.74682234e+01] [ 4.69761781e-02 -2.35266055e-03 9.98893239e-01 1.03069350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.52, Y:17.47, Z:10.31 [[ 9.90047437e-01 -1.32875530e-01 -4.63698776e-02 2.21516778e+02] [ 1.32836667e-01 9.91130141e-01 -3.93232029e-03 1.74683448e+01] [ 4.64810925e-02 -2.26643636e-03 9.98916599e-01 1.03096256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.55, Y:17.47, Z:10.31 [[ 9.90185589e-01 -1.31663315e-01 -4.68750610e-02 2.21547601e+02] [ 1.31622328e-01 9.91291972e-01 -3.97342313e-03 1.74724720e+01] [ 4.69900257e-02 -2.23537834e-03 9.98892857e-01 1.03110313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.58, Y:17.47, Z:10.31 [[ 9.90389931e-01 -1.29749711e-01 -4.78831575e-02 2.21577795e+02] [ 1.29704800e-01 9.91544354e-01 -4.05707460e-03 1.74739161e+01] [ 4.80046787e-02 -2.19258953e-03 9.98844704e-01 1.03117754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.61, Y:17.48, Z:10.31 [[ 9.90792145e-01 -1.25354589e-01 -5.11581069e-02 2.21608006e+02] [ 1.25297699e-01 9.92109739e-01 -4.33033985e-03 1.74826710e+01] [ 5.12972841e-02 -2.11952639e-03 9.98681178e-01 1.03120650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.64, Y:17.49, Z:10.31 [[ 9.91086043e-01 -1.22554749e-01 -5.22378194e-02 2.21638699e+02] [ 1.22491604e-01 9.92459704e-01 -4.42075889e-03 1.74876335e+01] [ 5.23857158e-02 -2.01734187e-03 9.98624888e-01 1.03126692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.67, Y:17.49, Z:10.31 [[ 9.91357181e-01 -1.19730502e-01 -5.36241224e-02 2.21668522e+02] [ 1.19659880e-01 9.92804576e-01 -4.53730149e-03 1.74922782e+01] [ 5.37815275e-02 -1.91856965e-03 9.98550883e-01 1.03135393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.70, Y:17.50, Z:10.31 [[ 9.91949493e-01 -1.13339142e-01 -5.64839946e-02 2.21697597e+02] [ 1.13250368e-01 9.93554981e-01 -4.78053055e-03 1.75008098e+01] [ 5.66617754e-02 -1.65478833e-03 9.98392060e-01 1.03138479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.73, Y:17.51, Z:10.31 [[ 9.92256680e-01 -1.10024342e-01 -5.76309411e-02 2.21725081e+02] [ 1.09926160e-01 9.93927773e-01 -4.88075347e-03 1.75050734e+01] [ 5.78179946e-02 -1.49218782e-03 9.98326025e-01 1.03142997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.75, Y:17.51, Z:10.32 [[ 9.92528912e-01 -1.06987083e-01 -5.86525663e-02 2.21753536e+02] [ 1.06879542e-01 9.94259522e-01 -4.97660174e-03 1.75108788e+01] [ 5.88483046e-02 -1.32933831e-03 9.98266052e-01 1.03155623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.78, Y:17.52, Z:10.32 [[ 9.92846862e-01 -1.03604161e-01 -5.93404276e-02 2.21780690e+02] [ 1.03487254e-01 9.94617969e-01 -5.04823513e-03 1.75158870e+01] [ 5.95440737e-02 -1.12885351e-03 9.98225039e-01 1.03167226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.81, Y:17.52, Z:10.32 [[ 9.93481109e-01 -9.73738180e-02 -5.92758500e-02 2.21809318e+02] [ 9.72456627e-02 9.95247598e-01 -5.04977394e-03 1.75246954e+01] [ 5.94858631e-02 -7.47464303e-04 9.98228868e-01 1.03189141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.84, Y:17.53, Z:10.32 [[ 9.93754757e-01 -9.47559871e-02 -5.89303554e-02 2.21838119e+02] [ 9.46239116e-02 9.95500364e-01 -5.03403228e-03 1.75299770e+01] [ 5.91421950e-02 -5.73627219e-04 9.98249404e-01 1.03209314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.87, Y:17.53, Z:10.32 [[ 9.93981581e-01 -9.24422430e-02 -5.87796642e-02 2.21866626e+02] [ 9.23059781e-02 9.95717959e-01 -5.03506739e-03 1.75347678e+01] [ 5.89934202e-02 -4.20950150e-04 9.98258283e-01 1.03233354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.89, Y:17.54, Z:10.33 [[ 9.94192215e-01 -9.07293839e-02 -5.78793466e-02 2.21894780e+02] [ 9.05935257e-02 9.95875539e-01 -4.97234439e-03 1.75391134e+01] [ 5.80917633e-02 -3.00027991e-04 9.98311202e-01 1.03254227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.92, Y:17.54, Z:10.33 [[ 9.94446820e-01 -8.83120510e-02 -5.72407514e-02 2.21922559e+02] [ 8.81744487e-02 9.96092847e-01 -4.93009352e-03 1.75441038e+01] [ 5.74524898e-02 -1.44455881e-04 9.98348231e-01 1.03276118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.95, Y:17.55, Z:10.33 [[ 9.94428938e-01 -8.85965257e-02 -5.71116746e-02 2.21950602e+02] [ 8.84596149e-02 9.96067584e-01 -4.92590105e-03 1.75473313e+01] [ 5.73235054e-02 -1.53618191e-04 9.98355644e-01 1.03303104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.98, Y:17.55, Z:10.33 [[ 9.94347111e-01 -8.95717492e-02 -5.70151310e-02 2.21977968e+02] [ 8.94359884e-02 9.95980353e-01 -4.93352792e-03 1.75498147e+01] [ 5.72278551e-02 -1.93565360e-04 9.98361125e-01 1.03324717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.01, Y:17.55, Z:10.34 [[ 9.94183383e-01 -9.15681048e-02 -5.66981749e-02 2.22005925e+02] [ 9.14361895e-02 9.95798774e-01 -4.92196175e-03 1.75519534e+01] [ 5.69106677e-02 -2.90932476e-04 9.98379232e-01 1.03350742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.03, Y:17.55, Z:10.34 [[ 9.93956619e-01 -9.41259828e-02 -5.64848499e-02 2.22034727e+02] [ 9.39982822e-02 9.95560206e-01 -4.91933601e-03 1.75533285e+01] [ 5.66971061e-02 -4.19872278e-04 9.98391337e-01 1.03370280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.06, Y:17.55, Z:10.34 [[ 9.93143286e-01 -1.01749633e-01 -5.75623698e-02 2.22064436e+02] [ 1.01629070e-01 9.94809668e-01 -5.02567938e-03 1.75512320e+01] [ 5.77749630e-02 -8.58790389e-04 9.98329262e-01 1.03387739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.09, Y:17.55, Z:10.34 [[ 9.92594179e-01 -1.06735164e-01 -5.80034616e-02 2.22093538e+02] [ 1.06621097e-01 9.94286815e-01 -5.06669627e-03 1.75511547e+01] [ 5.82128717e-02 -1.15521950e-03 9.98303525e-01 1.03405043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.12, Y:17.55, Z:10.34 [[ 9.91319338e-01 -1.17560974e-01 -5.88675374e-02 2.22123341e+02] [ 1.17462292e-01 9.93064011e-01 -5.14597205e-03 1.75451921e+01] [ 5.90641983e-02 -1.81341426e-03 9.98252539e-01 1.03411864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.15, Y:17.54, Z:10.34 [[ 9.90660419e-01 -1.22929464e-01 -5.89939027e-02 2.22152646e+02] [ 1.22839784e-01 9.92413110e-01 -5.15816075e-03 1.75429969e+01] [ 5.91804123e-02 -2.13681255e-03 9.98245016e-01 1.03422433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.18, Y:17.54, Z:10.34 [[ 9.89932219e-01 -1.28256984e-01 -5.98694193e-02 2.22182747e+02] [ 1.28174283e-01 9.91737839e-01 -5.23558989e-03 1.75435551e+01] [ 6.00462695e-02 -2.49084079e-03 9.98192487e-01 1.03437353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.21, Y:17.54, Z:10.34 [[ 9.89320757e-01 -1.32781150e-01 -6.01132784e-02 2.22212125e+02] [ 1.32705994e-01 9.91141497e-01 -5.25861893e-03 1.75397499e+01] [ 6.02790102e-02 -2.77493151e-03 9.98177710e-01 1.03439528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.24, Y:17.54, Z:10.35 [[ 9.88760297e-01 -1.36930031e-01 -6.00270018e-02 2.22241716e+02] [ 1.36862590e-01 9.90576114e-01 -5.25300731e-03 1.75420437e+01] [ 6.01806087e-02 -3.02148588e-03 9.98182932e-01 1.03456381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.27, Y:17.54, Z:10.35 [[ 9.88293765e-01 -1.40247454e-01 -6.00506927e-02 2.22272364e+02] [ 1.40186008e-01 9.90111235e-01 -5.25593242e-03 1.75419903e+01] [ 6.01939967e-02 -3.22386164e-03 9.98181491e-01 1.03467911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.30, Y:17.55, Z:10.35 [[ 9.87579385e-01 -1.44886498e-01 -6.07853757e-02 2.22302143e+02] [ 1.44832284e-01 9.89441915e-01 -5.32029690e-03 1.75453860e+01] [ 6.09144378e-02 -3.54946925e-03 9.98136680e-01 1.03483814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.33, Y:17.54, Z:10.35 [[ 9.87428950e-01 -1.45999291e-01 -6.05662937e-02 2.22330401e+02] [ 1.45947485e-01 9.89278130e-01 -5.30219780e-03 1.75445812e+01] [ 6.06910269e-02 -3.60395462e-03 9.98150094e-01 1.03490660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.36, Y:17.55, Z:10.35 [[ 9.87387256e-01 -1.46587976e-01 -5.98194918e-02 2.22359389e+02] [ 1.46538301e-01 9.89191117e-01 -5.24031567e-03 1.75496787e+01] [ 5.99410771e-02 -3.59162578e-03 9.98195456e-01 1.03512658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.39, Y:17.55, Z:10.35 [[ 9.87368414e-01 -1.46760609e-01 -5.97071044e-02 2.22389562e+02] [ 1.46711331e-01 9.89165512e-01 -5.23218556e-03 1.75547286e+01] [ 5.98280872e-02 -3.59361397e-03 9.98202227e-01 1.03533119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.42, Y:17.56, Z:10.35 [[ 9.87466800e-01 -1.46471301e-01 -5.87833065e-02 2.22418803e+02] [ 1.46423009e-01 9.89208656e-01 -5.15144182e-03 1.75566906e+01] [ 5.89034940e-02 -3.52035085e-03 9.98257475e-01 1.03540221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.45, Y:17.56, Z:10.36 [[ 9.87506191e-01 -1.46248852e-01 -5.86753496e-02 2.22449418e+02] [ 1.46200294e-01 9.89241641e-01 -5.14284598e-03 1.75598514e+01] [ 5.87962345e-02 -3.49976115e-03 9.98263870e-01 1.03554455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.48, Y:17.56, Z:10.36 [[ 9.87551448e-01 -1.46075043e-01 -5.83456930e-02 2.22479301e+02] [ 1.46026704e-01 9.89267429e-01 -5.11434462e-03 1.75631693e+01] [ 5.84665718e-02 -3.46935080e-03 9.98283338e-01 1.03565976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.51, Y:17.57, Z:10.36 [[ 9.87707390e-01 -1.45359669e-01 -5.74863375e-02 2.22509735e+02] [ 1.45311458e-01 9.89373123e-01 -5.04031345e-03 1.75702107e+01] [ 5.76080955e-02 -3.37506866e-03 9.98333570e-01 1.03585253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.54, Y:17.57, Z:10.36 [[ 9.87729058e-01 -1.44999436e-01 -5.80212958e-02 2.22540114e+02] [ 1.44949819e-01 9.89425940e-01 -5.08529330e-03 1.75715991e+01] [ 5.81451398e-02 -3.38728436e-03 9.98302394e-01 1.03595443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.57, Y:17.58, Z:10.36 [[ 9.87821471e-01 -1.44370709e-01 -5.80158626e-02 2.22570638e+02] [ 1.44320071e-01 9.89517999e-01 -5.08396618e-03 1.75764990e+01] [ 5.81417161e-02 -3.35080244e-03 9.98302716e-01 1.03607474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.60, Y:17.58, Z:10.36 [[ 9.87856136e-01 -1.43853332e-01 -5.87066670e-02 2.22599790e+02] [ 1.43800562e-01 9.89593316e-01 -5.14470273e-03 1.75786010e+01] [ 5.88358079e-02 -3.35982554e-03 9.98262019e-01 1.03611914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.63, Y:17.58, Z:10.36 [[ 9.87885218e-01 -1.43517678e-01 -5.90378889e-02 2.22629376e+02] [ 1.43463654e-01 9.89642057e-01 -5.17477407e-03 1.75813880e+01] [ 5.91690494e-02 -3.35770844e-03 9.98242330e-01 1.03621485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.66, Y:17.59, Z:10.36 [[ 9.88045487e-01 -1.41945879e-01 -6.01455113e-02 2.22659475e+02] [ 1.41886890e-01 9.89868837e-01 -5.27222777e-03 1.75929084e+01] [ 6.02845383e-02 -3.32465869e-03 9.98175697e-01 1.03640779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.69, Y:17.59, Z:10.36 [[ 9.88141845e-01 -1.40928542e-01 -6.09494829e-02 2.22688707e+02] [ 1.40866133e-01 9.90014244e-01 -5.34118743e-03 1.75928569e+01] [ 6.10935820e-02 -3.30786719e-03 9.98126561e-01 1.03639635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.72, Y:17.60, Z:10.37 [[ 9.88288075e-01 -1.39757248e-01 -6.12747302e-02 2.22717626e+02] [ 1.39691847e-01 9.90180458e-01 -5.37104831e-03 1.75980164e+01] [ 6.14236834e-02 -3.25143726e-03 9.98106487e-01 1.03650434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.75, Y:17.61, Z:10.37 [[ 9.88743677e-01 -1.35807141e-01 -6.27882252e-02 2.22747578e+02] [ 1.35730446e-01 9.90730508e-01 -5.50514309e-03 1.76093627e+01] [ 6.29538480e-02 -3.07909836e-03 9.98011689e-01 1.03672134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.78, Y:17.61, Z:10.37 [[ 9.89070009e-01 -1.33386466e-01 -6.28376312e-02 2.22776226e+02] [ 1.33304798e-01 9.91059776e-01 -5.50917232e-03 1.76141452e+01] [ 6.30106977e-02 -2.92760064e-03 9.98008558e-01 1.03684232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.81, Y:17.62, Z:10.37 [[ 9.89530108e-01 -1.30164487e-01 -6.23487849e-02 2.22805474e+02] [ 1.30077564e-01 9.91488740e-01 -5.46854271e-03 1.76196917e+01] [ 6.25299283e-02 -2.69889040e-03 9.98039440e-01 1.03698325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.84, Y:17.63, Z:10.37 [[ 9.90058958e-01 -1.26427779e-01 -6.16382716e-02 2.22835107e+02] [ 1.26335479e-01 9.91972832e-01 -5.40814875e-03 1.76262349e+01] [ 6.18272311e-02 -2.43271449e-03 9.98083902e-01 1.03715517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.86, Y:17.63, Z:10.37 [[ 9.90600249e-01 -1.22481439e-01 -6.09052078e-02 2.22864630e+02] [ 1.22383809e-01 9.92468456e-01 -5.34490798e-03 1.76343330e+01] [ 6.11011495e-02 -2.15914416e-03 9.98129244e-01 1.03740153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.89, Y:17.65, Z:10.38 [[ 9.91829704e-01 -1.12884891e-01 -5.94208761e-02 2.22893319e+02] [ 1.12774687e-01 9.93606897e-01 -5.21570151e-03 1.76459546e+01] [ 5.96297663e-02 -1.52808306e-03 9.98219393e-01 1.03759148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.92, Y:17.65, Z:10.38 [[ 9.92400537e-01 -1.08037113e-01 -5.88995491e-02 2.22922727e+02] [ 1.07920242e-01 9.94146107e-01 -5.17099853e-03 1.76534022e+01] [ 5.91134172e-02 -1.22475185e-03 9.98250522e-01 1.03776704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.95, Y:17.66, Z:10.38 [[ 9.92971114e-01 -1.03035646e-01 -5.82410749e-02 2.22951919e+02] [ 1.02912706e-01 9.94677243e-01 -5.11440405e-03 1.76609034e+01] [ 5.84580378e-02 -9.15291142e-04 9.98289447e-01 1.03793317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.98, Y:17.67, Z:10.38 [[ 9.93913367e-01 -9.41688816e-02 -5.71702757e-02 2.22981113e+02] [ 9.40356506e-02 9.95556163e-01 -5.02219573e-03 1.76728020e+01] [ 5.73891549e-02 -3.84416600e-04 9.98351810e-01 1.03814214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.01, Y:17.68, Z:10.38 [[ 9.94242952e-01 -9.05644195e-02 -5.72628884e-02 2.23009621e+02] [ 9.04247000e-02 9.95890584e-01 -5.03173936e-03 1.76783444e+01] [ 5.74832679e-02 -1.75208104e-04 9.98346455e-01 1.03822052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.04, Y:17.68, Z:10.38 [[ 9.94537882e-01 -8.74118678e-02 -5.70400425e-02 2.23038262e+02] [ 8.72677672e-02 9.96172257e-01 -5.01712940e-03 1.76836470e+01] [ 5.72602645e-02 1.19681029e-05 9.98359285e-01 1.03831185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.07, Y:17.69, Z:10.38 [[ 9.95021493e-01 -8.21439547e-02 -5.64322444e-02 2.23066744e+02] [ 8.19936558e-02 9.96620422e-01 -4.97752403e-03 1.76909073e+01] [ 5.66504007e-02 3.25657371e-04 9.98394023e-01 1.03846391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.09, Y:17.70, Z:10.39 [[ 9.95226112e-01 -7.99949865e-02 -5.59087475e-02 2.23094840e+02] [ 7.98433075e-02 9.96795161e-01 -4.94503823e-03 1.76955179e+01] [ 5.61251472e-02 4.57491856e-04 9.98423637e-01 1.03857097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.12, Y:17.70, Z:10.39 [[ 9.95391140e-01 -7.80386906e-02 -5.57354560e-02 2.23122173e+02] [ 7.78841973e-02 9.96950163e-01 -4.94201439e-03 1.77000983e+01] [ 5.59511403e-02 5.78326084e-04 9.98433341e-01 1.03869792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.15, Y:17.70, Z:10.39 [[ 9.95369609e-01 -7.83132458e-02 -5.57348880e-02 2.23149420e+02] [ 7.81588243e-02 9.96928639e-01 -4.94841198e-03 1.77025889e+01] [ 5.59512322e-02 5.69325574e-04 9.98433341e-01 1.03882823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.18, Y:17.71, Z:10.39 [[ 9.95483850e-01 -7.67533089e-02 -5.58644209e-02 2.23177567e+02] [ 7.65948522e-02 9.97049886e-01 -4.97525046e-03 1.77061061e+01] [ 5.60814814e-02 6.73854423e-04 9.98425968e-01 1.03904040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.20, Y:17.71, Z:10.39 [[ 9.95632262e-01 -7.47119548e-02 -5.59868161e-02 2.23204477e+02] [ 7.45488297e-02 9.97204832e-01 -4.99943484e-03 1.77115719e+01] [ 5.62038411e-02 8.03846993e-04 9.98418991e-01 1.03913834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.23, Y:17.71, Z:10.39 [[ 9.95611936e-01 -7.47606421e-02 -5.62824935e-02 2.23232129e+02] [ 7.45953052e-02 9.97201174e-01 -5.03573839e-03 1.77147534e+01] [ 5.65014436e-02 8.15231467e-04 9.98402185e-01 1.03928478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.26, Y:17.72, Z:10.39 [[ 9.95577051e-01 -7.51811836e-02 -5.63393704e-02 2.23258434e+02] [ 7.50153614e-02 9.97169564e-01 -5.05536074e-03 1.77179820e+01] [ 5.65599734e-02 8.06682903e-04 9.98398878e-01 1.03933443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.29, Y:17.72, Z:10.39 [[ 9.95393201e-01 -7.76555339e-02 -5.62316077e-02 2.23287618e+02] [ 7.74938372e-02 9.96980023e-01 -5.05369337e-03 1.77183691e+01] [ 5.64542368e-02 6.72808966e-04 9.98404961e-01 1.03948594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.32, Y:17.72, Z:10.40 [[ 9.95301069e-01 -7.94930067e-02 -5.52869299e-02 2.23316082e+02] [ 7.93387816e-02 9.96835259e-01 -4.98233097e-03 1.77190554e+01] [ 5.55080216e-02 5.72521684e-04 9.98458077e-01 1.03972072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.34, Y:17.72, Z:10.40 [[ 9.95140241e-01 -8.16723573e-02 -5.50047879e-02 2.23343474e+02] [ 8.15223273e-02 9.96659126e-01 -4.96960093e-03 1.77205982e+01] [ 5.52269029e-02 4.61331546e-04 9.98473723e-01 1.03988668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.37, Y:17.72, Z:10.40 [[ 9.94975450e-01 -8.40077576e-02 -5.44660588e-02 2.23372352e+02] [ 8.38638976e-02 9.96465045e-01 -4.92553939e-03 1.77223382e+01] [ 5.46873073e-02 3.33054788e-04 9.98503474e-01 1.04001817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.40, Y:17.72, Z:10.40 [[ 9.94804149e-01 -8.62988505e-02 -5.40112322e-02 2.23402033e+02] [ 8.61606092e-02 9.96269273e-01 -4.88716090e-03 1.77234850e+01] [ 5.42314874e-02 2.08127277e-04 9.98528368e-01 1.04025094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.43, Y:17.72, Z:10.41 [[ 9.94490531e-01 -9.10030618e-02 -5.20290839e-02 2.23432131e+02] [ 9.08811260e-02 9.95850612e-01 -4.70958577e-03 1.77227610e+01] [ 5.22417817e-02 -4.48232732e-05 9.98634465e-01 1.04051647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.46, Y:17.72, Z:10.41 [[ 9.94318959e-01 -9.33416590e-02 -5.11580210e-02 2.23463655e+02] [ 9.32267884e-02 9.95634124e-01 -4.63226830e-03 1.77236353e+01] [ 5.13670550e-02 -1.63345810e-04 9.98679828e-01 1.04066232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.50, Y:17.72, Z:10.41 [[ 9.94119700e-01 -9.58237118e-02 -5.04364877e-02 2.23495534e+02] [ 9.57153419e-02 9.95398278e-01 -4.56516421e-03 1.77240989e+01] [ 5.06418440e-02 -2.89225986e-04 9.98716837e-01 1.04076300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.53, Y:17.72, Z:10.41 [[ 9.93644715e-01 -1.00681046e-01 -5.03339522e-02 2.23527416e+02] [ 1.00579431e-01 9.94918609e-01 -4.55410499e-03 1.77221404e+01] [ 5.05366978e-02 -5.37397902e-04 9.98722060e-01 1.04084143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.56, Y:17.72, Z:10.41 [[ 9.93394439e-01 -1.02930683e-01 -5.07224076e-02 2.23559274e+02] [ 1.02830522e-01 9.94688313e-01 -4.58728017e-03 1.77229094e+01] [ 5.09251580e-02 -6.58833069e-04 9.98702255e-01 1.04093868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.59, Y:17.72, Z:10.41 [[ 9.93180165e-01 -1.04978924e-01 -5.07206503e-02 2.23590880e+02] [ 1.04881636e-01 9.94474151e-01 -4.58325727e-03 1.77231334e+01] [ 5.09215210e-02 -7.67664580e-04 9.98702363e-01 1.04104357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.62, Y:17.72, Z:10.41 [[ 9.93037422e-01 -1.06433217e-01 -5.04841417e-02 2.23623103e+02] [ 1.06338999e-01 9.94319495e-01 -4.55623701e-03 1.77244122e+01] [ 5.06823012e-02 -8.43919221e-04 9.98714470e-01 1.04114697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.65, Y:17.72, Z:10.41 [[ 9.92773069e-01 -1.08745641e-01 -5.07544999e-02 2.23653987e+02] [ 1.08653612e-01 9.94069134e-01 -4.57703073e-03 1.77237604e+01] [ 5.09512139e-02 -9.70706906e-04 9.98700672e-01 1.04119533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.69, Y:17.73, Z:10.41 [[ 9.92716654e-01 -1.09345047e-01 -5.05698138e-02 2.23685899e+02] [ 1.09254602e-01 9.94003350e-01 -4.55766024e-03 1.77258370e+01] [ 5.07649219e-02 -1.00051968e-03 9.98710129e-01 1.04130358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.72, Y:17.73, Z:10.41 [[ 9.92624713e-01 -1.10118817e-01 -5.06954186e-02 2.23717346e+02] [ 1.10029114e-01 9.93917880e-01 -4.56537525e-03 1.77271527e+01] [ 5.08898167e-02 -1.04626769e-03 9.98703726e-01 1.04138374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.75, Y:17.73, Z:10.41 [[ 9.92556526e-01 -1.10624421e-01 -5.09291705e-02 2.23749588e+02] [ 1.10534698e-01 9.93861696e-01 -4.58360555e-03 1.77298451e+01] [ 5.11236105e-02 -1.07995288e-03 9.98691749e-01 1.04149611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.78, Y:17.73, Z:10.42 [[ 9.92430894e-01 -1.11733238e-01 -5.09568781e-02 2.23781268e+02] [ 1.11645063e-01 9.93737582e-01 -4.58245748e-03 1.77307875e+01] [ 5.11497777e-02 -1.14131149e-03 9.98690341e-01 1.04153188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.81, Y:17.73, Z:10.42 [[ 9.92374803e-01 -1.12108017e-01 -5.12254049e-02 2.23812927e+02] [ 1.12019556e-01 9.93695338e-01 -4.60375036e-03 1.77328897e+01] [ 5.14185634e-02 -1.16960125e-03 9.98676506e-01 1.04163456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.84, Y:17.74, Z:10.42 [[ 9.92314032e-01 -1.12461473e-01 -5.16263300e-02 2.23844599e+02] [ 1.12372293e-01 9.93655360e-01 -4.63606290e-03 1.77354769e+01] [ 5.18201580e-02 -1.20093880e-03 9.98655711e-01 1.04173406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.88, Y:17.74, Z:10.42 [[ 9.92261928e-01 -1.12586022e-01 -5.23512631e-02 2.23876137e+02] [ 1.12494686e-01 9.93641223e-01 -4.69748597e-03 1.77379271e+01] [ 5.25472444e-02 -1.22810240e-03 9.98617684e-01 1.04182148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.91, Y:17.74, Z:10.42 [[ 9.92205931e-01 -1.13094790e-01 -5.23159465e-02 2.23907826e+02] [ 1.13004433e-01 9.93583408e-01 -4.69146104e-03 1.77409965e+01] [ 5.25108362e-02 -1.25703841e-03 9.98619563e-01 1.04195585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.94, Y:17.74, Z:10.42 [[ 9.92128109e-01 -1.14251355e-01 -5.12683524e-02 2.23939895e+02] [ 1.14166307e-01 9.93451030e-01 -4.59395055e-03 1.77441638e+01] [ 5.14574626e-02 -1.29533101e-03 9.98674347e-01 1.04213164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.97, Y:17.75, Z:10.42 [[ 9.92037228e-01 -1.15216423e-01 -5.08656412e-02 2.23971555e+02] [ 1.15134159e-01 9.93339511e-01 -4.55423626e-03 1.77473467e+01] [ 5.10515740e-02 -1.33840089e-03 9.98695121e-01 1.04231637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.00, Y:17.75, Z:10.42 [[ 9.91937483e-01 -1.16067021e-01 -5.08770735e-02 2.24002460e+02] [ 1.15986022e-01 9.93240417e-01 -4.55161495e-03 1.77483430e+01] [ 5.10614581e-02 -1.38611191e-03 9.98694551e-01 1.04244945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.03, Y:17.75, Z:10.43 [[ 9.91831905e-01 -1.17232932e-01 -5.02584431e-02 2.24034670e+02] [ 1.17155525e-01 9.93103414e-01 -4.49351895e-03 1.77509644e+01] [ 5.04386198e-02 -1.43123883e-03 9.98726137e-01 1.04263872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.07, Y:17.75, Z:10.43 [[ 9.91507309e-01 -1.20023644e-01 -5.00757446e-02 2.24066982e+02] [ 1.19950532e-01 9.92769790e-01 -4.47360717e-03 1.77543926e+01] [ 5.02506252e-02 -1.57099798e-03 9.98735404e-01 1.04284383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.10, Y:17.76, Z:10.43 [[ 9.91317641e-01 -1.21433075e-01 -5.04315664e-02 2.24098195e+02] [ 1.21360927e-01 9.92598237e-01 -4.50171388e-03 1.77558154e+01] [ 5.06049408e-02 -1.65779325e-03 9.98717373e-01 1.04297311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.13, Y:17.76, Z:10.43 [[ 9.91123801e-01 -1.22970497e-01 -5.05160131e-02 2.24129856e+02] [ 1.22900241e-01 9.92408798e-01 -4.50647732e-03 1.77554870e+01] [ 5.06866996e-02 -1.74195325e-03 9.98713084e-01 1.04308292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.16, Y:17.76, Z:10.43 [[ 9.90904149e-01 -1.24544980e-01 -5.09658201e-02 2.24161953e+02] [ 1.24475692e-01 9.92212254e-01 -4.54374695e-03 1.77571215e+01] [ 5.11348121e-02 -1.84158801e-03 9.98690062e-01 1.04321058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.19, Y:17.76, Z:10.43 [[ 9.90368244e-01 -1.28448463e-01 -5.16888118e-02 2.24193437e+02] [ 1.28382682e-01 9.91714013e-01 -4.60465975e-03 1.77592984e+01] [ 5.18519805e-02 -2.07563948e-03 9.98652624e-01 1.04333551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.22, Y:17.76, Z:10.43 [[ 9.90138461e-01 -1.30078128e-01 -5.20145117e-02 2.24224433e+02] [ 1.30013857e-01 9.91501358e-01 -4.63178499e-03 1.77586638e+01] [ 5.21749529e-02 -2.17649882e-03 9.98635588e-01 1.04342990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.26, Y:17.76, Z:10.44 [[ 9.89932422e-01 -1.31677797e-01 -5.19110591e-02 2.24256110e+02] [ 1.31616081e-01 9.91289997e-01 -4.62054086e-03 1.77615190e+01] [ 5.20673362e-02 -2.25830695e-03 9.98641023e-01 1.04361679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.29, Y:17.76, Z:10.44 [[ 9.89588972e-01 -1.34388306e-01 -5.15116381e-02 2.24287033e+02] [ 1.34331377e-01 9.90925876e-01 -4.58149776e-03 1.77642109e+01] [ 5.16599148e-02 -2.38582963e-03 9.98661885e-01 1.04387951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.32, Y:17.77, Z:10.44 [[ 9.89507436e-01 -1.35183021e-01 -5.09959282e-02 2.24319133e+02] [ 1.35128376e-01 9.90817727e-01 -4.53368955e-03 1.77675079e+01] [ 5.11405475e-02 -2.40487746e-03 9.98688571e-01 1.04408666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.35, Y:17.77, Z:10.44 [[ 9.89428516e-01 -1.35909589e-01 -5.05944233e-02 2.24350598e+02] [ 1.35856929e-01 9.90718272e-01 -4.49443283e-03 1.77689817e+01] [ 5.07356562e-02 -2.42668297e-03 9.98709169e-01 1.04425561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.38, Y:17.77, Z:10.44 [[ 9.89391062e-01 -1.36209632e-01 -5.05199274e-02 2.24382889e+02] [ 1.36157657e-01 9.90677030e-01 -4.48504853e-03 1.77727660e+01] [ 5.06598384e-02 -2.44120803e-03 9.98712982e-01 1.04442674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.41, Y:17.78, Z:10.45 [[ 9.89485061e-01 -1.35740855e-01 -4.99373056e-02 2.24414401e+02] [ 1.35689653e-01 9.90741488e-01 -4.42979139e-03 1.77798287e+01] [ 5.00762641e-02 -2.39276326e-03 9.98742531e-01 1.04461500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.45, Y:17.78, Z:10.45 [[ 9.89564933e-01 -1.35138351e-01 -4.99887035e-02 2.24445271e+02] [ 1.35086459e-01 9.90823908e-01 -4.43072484e-03 1.77805338e+01] [ 5.01287634e-02 -2.36830701e-03 9.98739955e-01 1.04478530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.48, Y:17.79, Z:10.45 [[ 9.89739114e-01 -1.33874391e-01 -4.99412986e-02 2.24477139e+02] [ 1.33821132e-01 9.90995628e-01 -4.42374319e-03 1.77882252e+01] [ 5.00838345e-02 -2.30484942e-03 9.98742358e-01 1.04494784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.51, Y:17.79, Z:10.45 [[ 9.89863131e-01 -1.32748670e-01 -5.04853752e-02 2.24508170e+02] [ 1.32692970e-01 9.91147118e-01 -4.46829063e-03 1.77903142e+01] [ 5.06315938e-02 -2.27605821e-03 9.98714805e-01 1.04509107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.54, Y:17.80, Z:10.45 [[ 9.89946790e-01 -1.32000316e-01 -5.08061887e-02 2.24539837e+02] [ 1.31943068e-01 9.91247110e-01 -4.49385608e-03 1.77956920e+01] [ 5.09546781e-02 -2.25484599e-03 9.98698421e-01 1.04522410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.57, Y:17.80, Z:10.45 [[ 9.90023950e-01 -1.31207555e-01 -5.13532435e-02 2.24571978e+02] [ 1.31148196e-01 9.91352386e-01 -4.53850554e-03 1.77998235e+01] [ 5.15046466e-02 -2.24165607e-03 9.98670239e-01 1.04539659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.60, Y:17.81, Z:10.46 [[ 9.90247490e-01 -1.29270189e-01 -5.19531300e-02 2.24604260e+02] [ 1.29206978e-01 9.91607034e-01 -4.58764349e-03 1.78069197e+01] [ 5.21101347e-02 -2.16980451e-03 9.98638987e-01 1.04554240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.64, Y:17.81, Z:10.46 [[ 9.90371224e-01 -1.28005768e-01 -5.27196544e-02 2.24635802e+02] [ 1.27939146e-01 9.91771116e-01 -4.65052658e-03 1.78090199e+01] [ 5.28811247e-02 -2.13915987e-03 9.98598523e-01 1.04565986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.67, Y:17.81, Z:10.46 [[ 9.90529360e-01 -1.26665602e-01 -5.29850136e-02 2.24668057e+02] [ 1.26596607e-01 9.91943290e-01 -4.66995782e-03 1.78148372e+01] [ 5.31496518e-02 -2.08199263e-03 9.98584388e-01 1.04582945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.70, Y:17.82, Z:10.46 [[ 9.90681164e-01 -1.25206842e-01 -5.36104271e-02 2.24698752e+02] [ 1.25134329e-01 9.92128579e-01 -4.72041737e-03 1.78187476e+01] [ 5.37794654e-02 -2.03207626e-03 9.98550770e-01 1.04596136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.73, Y:17.83, Z:10.46 [[ 9.91091355e-01 -1.21585197e-01 -5.43596013e-02 2.24729315e+02] [ 1.21505360e-01 9.92579249e-01 -4.78353443e-03 1.78278346e+01] [ 5.45378192e-02 -1.86406332e-03 9.98509966e-01 1.04616222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.76, Y:17.83, Z:10.46 [[ 9.91367500e-01 -1.19431530e-01 -5.40979581e-02 2.24760189e+02] [ 1.19349374e-01 9.92840916e-01 -4.75839266e-03 1.78318078e+01] [ 5.42789684e-02 -1.73924159e-03 9.98524295e-01 1.04629342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.79, Y:17.84, Z:10.46 [[ 9.91667362e-01 -1.16917090e-01 -5.40946996e-02 2.24791948e+02] [ 1.16831376e-01 9.93140383e-01 -4.75501966e-03 1.78369403e+01] [ 5.42795737e-02 -1.60456036e-03 9.98524488e-01 1.04647838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.82, Y:17.84, Z:10.47 [[ 9.91929952e-01 -1.14680790e-01 -5.40674241e-02 2.24824326e+02] [ 1.14592061e-01 9.93401284e-01 -4.74863242e-03 1.78420997e+01] [ 5.42552254e-02 -1.48538682e-03 9.98525996e-01 1.04668579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.86, Y:17.85, Z:10.47 [[ 9.92505980e-01 -1.09826553e-01 -5.35724468e-02 2.24855465e+02] [ 1.09732619e-01 9.93950027e-01 -4.70063154e-03 1.78496344e+01] [ 5.37645891e-02 -1.21323999e-03 9.98552901e-01 1.04682115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.89, Y:17.85, Z:10.47 [[ 9.92711667e-01 -1.07736840e-01 -5.40029603e-02 2.24886491e+02] [ 1.07638460e-01 9.94178826e-01 -4.73547057e-03 1.78533311e+01] [ 5.41987843e-02 -1.11183862e-03 9.98529547e-01 1.04692735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.92, Y:17.86, Z:10.47 [[ 9.92951500e-01 -1.05729934e-01 -5.35583859e-02 2.24918876e+02] [ 1.05630416e-01 9.94394382e-01 -4.69342210e-03 1.78579868e+01] [ 5.37543933e-02 -9.97054076e-04 9.98553690e-01 1.04707681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.95, Y:17.86, Z:10.47 [[ 9.93133579e-01 -1.04081201e-01 -5.34115887e-02 2.24950330e+02] [ 1.03980093e-01 9.94568387e-01 -4.67596070e-03 1.78630258e+01] [ 5.36081572e-02 -9.09888389e-04 9.98561634e-01 1.04725982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.98, Y:17.87, Z:10.47 [[ 9.93326085e-01 -1.02349661e-01 -5.31773994e-02 2.24981907e+02] [ 1.02247162e-01 9.94748149e-01 -4.65165115e-03 1.78680885e+01] [ 5.33742145e-02 -8.16631752e-04 9.98574247e-01 1.04743823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.01, Y:17.87, Z:10.48 [[ 9.93632325e-01 -9.90733634e-02 -5.36588353e-02 2.25013025e+02] [ 9.89644321e-02 9.95079919e-01 -4.68992016e-03 1.78733817e+01] [ 5.38594756e-02 -6.50259888e-04 9.98548313e-01 1.04754109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.04, Y:17.88, Z:10.48 [[ 9.93830660e-01 -9.69942263e-02 -5.37841887e-02 2.25044582e+02] [ 9.68819077e-02 9.95284797e-01 -4.69782147e-03 1.78776630e+01] [ 5.39862468e-02 -5.41875789e-04 9.98541532e-01 1.04767181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.08, Y:17.88, Z:10.48 [[ 9.94050101e-01 -9.46040751e-02 -5.39857876e-02 2.25075552e+02] [ 9.44875954e-02 9.95514889e-01 -4.71163884e-03 1.78818380e+01] [ 5.41893956e-02 -4.17382189e-04 9.98530588e-01 1.04781496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.11, Y:17.88, Z:10.48 [[ 9.94053441e-01 -9.45688415e-02 -5.39860287e-02 2.25106253e+02] [ 9.44524600e-02 9.95518237e-01 -4.70887475e-03 1.78844858e+01] [ 5.41893889e-02 -4.18240074e-04 9.98530588e-01 1.04796147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.14, Y:17.89, Z:10.48 [[ 9.94246760e-01 -9.20190136e-02 -5.48259185e-02 2.25137652e+02] [ 9.18952152e-02 9.95757209e-01 -4.78015192e-03 1.78894620e+01] [ 5.50331684e-02 -2.85589018e-04 9.98484486e-01 1.04814613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.17, Y:17.90, Z:10.48 [[ 9.94663822e-01 -8.70000098e-02 -5.54516006e-02 2.25167240e+02] [ 8.68656748e-02 9.96208311e-01 -4.83283995e-03 1.78956808e+01] [ 5.56618024e-02 -9.78965131e-06 9.98449680e-01 1.04826706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.20, Y:17.90, Z:10.48 [[ 9.94883687e-01 -8.43959961e-02 -5.55316539e-02 2.25196990e+02] [ 8.42572656e-02 9.96432284e-01 -4.83897312e-03 1.78997865e+01] [ 5.57419227e-02 1.35270106e-04 9.98445201e-01 1.04844324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.23, Y:17.90, Z:10.49 [[ 9.95079773e-01 -8.19932550e-02 -5.56178991e-02 2.25225682e+02] [ 8.18503260e-02 9.96632848e-01 -4.84677310e-03 1.79038305e+01] [ 5.58280279e-02 2.70582702e-04 9.98440363e-01 1.04861404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.25, Y:17.91, Z:10.49 [[ 9.95269535e-01 -7.97282840e-02 -5.55153436e-02 2.25254321e+02] [ 7.95821599e-02 9.96816553e-01 -4.84143498e-03 1.79075937e+01] [ 5.57246128e-02 4.00501782e-04 9.98446096e-01 1.04880903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.28, Y:17.91, Z:10.49 [[ 9.95469270e-01 -7.70542507e-02 -5.57097368e-02 2.25282547e+02] [ 7.69021610e-02 9.97026741e-01 -4.87186622e-03 1.79116281e+01] [ 5.59194954e-02 5.65593962e-04 9.98435121e-01 1.04899894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.31, Y:17.91, Z:10.49 [[ 9.95462304e-01 -7.69384012e-02 -5.59936045e-02 2.25311211e+02] [ 7.67838147e-02 9.97035674e-01 -4.91016093e-03 1.79140468e+01] [ 5.62054012e-02 5.88477563e-04 9.98419054e-01 1.04915140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.34, Y:17.92, Z:10.49 [[ 9.95404000e-01 -7.75237937e-02 -5.62222150e-02 2.25338693e+02] [ 7.73680980e-02 9.96990338e-01 -4.94393753e-03 1.79158111e+01] [ 5.64362779e-02 5.71409364e-04 9.98406040e-01 1.04934673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.37, Y:17.92, Z:10.50 [[ 9.95303771e-01 -7.87144617e-02 -5.63421375e-02 2.25366225e+02] [ 7.85591376e-02 9.96897067e-01 -4.96981673e-03 1.79170469e+01] [ 5.65585080e-02 5.20287603e-04 9.98399151e-01 1.04950296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.39, Y:17.92, Z:10.50 [[ 9.95167521e-01 -8.02655726e-02 -5.65600881e-02 2.25394439e+02] [ 8.01107720e-02 9.96773413e-01 -5.00265169e-03 1.79179114e+01] [ 5.67791328e-02 4.47404157e-04 9.98386664e-01 1.04960825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.42, Y:17.91, Z:10.50 [[ 9.94655529e-01 -8.57627769e-02 -5.74902155e-02 2.25422569e+02] [ 8.56117271e-02 9.96315576e-01 -5.08978175e-03 1.79143048e+01] [ 5.77149109e-02 1.40742924e-04 9.98333095e-01 1.04965039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.45, Y:17.91, Z:10.50 [[ 9.94323196e-01 -8.91875691e-02 -5.80255017e-02 2.25452143e+02] [ 8.90392640e-02 9.96014847e-01 -5.14148730e-03 1.79129937e+01] [ 5.82528180e-02 -5.42478867e-05 9.98301861e-01 1.04998522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.48, Y:17.91, Z:10.50 [[ 9.93926028e-01 -9.32899823e-02 -5.83783411e-02 2.25481163e+02] [ 9.31467980e-02 9.95638937e-01 -5.17506809e-03 1.79117512e+01] [ 5.86065314e-02 -2.94120669e-04 9.98281117e-01 1.05006752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.51, Y:17.91, Z:10.50 [[ 9.93522611e-01 -9.73573047e-02 -5.86035499e-02 2.25510959e+02] [ 9.72199042e-02 9.95249351e-01 -5.19799917e-03 1.79102833e+01] [ 5.88312082e-02 -5.33101798e-04 9.98267802e-01 1.05019104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.54, Y:17.90, Z:10.50 [[ 9.92666158e-01 -1.05773278e-01 -5.85312969e-02 2.25540612e+02] [ 1.05650693e-01 9.94389741e-01 -5.19371199e-03 1.79031363e+01] [ 5.87522771e-02 -1.02824995e-03 9.98272063e-01 1.05016736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.57, Y:17.90, Z:10.50 [[ 9.92247590e-01 -1.09629824e-01 -5.85322212e-02 2.25571005e+02] [ 1.09513834e-01 9.93971693e-01 -5.19550274e-03 1.79019910e+01] [ 5.87489531e-02 -1.25486287e-03 9.98272000e-01 1.05032072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.60, Y:17.90, Z:10.50 [[ 9.91893206e-01 -1.13120948e-01 -5.78923130e-02 2.25601777e+02] [ 1.13013416e-01 9.93580174e-01 -5.13870249e-03 1.79011296e+01] [ 5.81019493e-02 -1.44556396e-03 9.98309608e-01 1.05046117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.63, Y:17.90, Z:10.51 [[ 9.91541051e-01 -1.16081045e-01 -5.80649247e-02 2.25632904e+02] [ 1.15977959e-01 9.93238417e-01 -5.15364223e-03 1.79010873e+01] [ 5.82705540e-02 -1.62420363e-03 9.98299506e-01 1.05061311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.66, Y:17.90, Z:10.51 [[ 9.91053593e-01 -1.20377249e-01 -5.76376116e-02 2.25664657e+02] [ 1.20283042e-01 9.92726468e-01 -5.11367793e-03 1.78987912e+01] [ 5.78339530e-02 -1.86489839e-03 9.98324474e-01 1.05071454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.70, Y:17.89, Z:10.51 [[ 9.90835748e-01 -1.22289038e-01 -5.73577526e-02 2.25695452e+02] [ 1.22199037e-01 9.92492577e-01 -5.08717695e-03 1.78907050e+01] [ 5.75492497e-02 -1.96850534e-03 9.98340728e-01 1.05060270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.73, Y:17.90, Z:10.51 [[ 9.90667606e-01 -1.23979006e-01 -5.66295003e-02 2.25726093e+02] [ 1.23894048e-01 9.92282743e-01 -5.02225308e-03 1.79013125e+01] [ 5.68151299e-02 -2.04067460e-03 9.98382630e-01 1.05106137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.76, Y:17.90, Z:10.51 [[ 9.90381898e-01 -1.27032248e-01 -5.48315915e-02 2.25758460e+02] [ 1.26957385e-01 9.91896263e-01 -4.86063040e-03 1.79017756e+01] [ 5.50047075e-02 -2.14739510e-03 9.98483786e-01 1.05137011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.79, Y:17.90, Z:10.52 [[ 9.90274589e-01 -1.28350847e-01 -5.36870452e-02 2.25790424e+02] [ 1.28281209e-01 9.91726433e-01 -4.75544242e-03 1.79040299e+01] [ 5.38532269e-02 -2.17784530e-03 9.98546487e-01 1.05160140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.82, Y:17.91, Z:10.52 [[ 9.90168680e-01 -1.29651412e-01 -5.25023425e-02 2.25822441e+02] [ 1.29586834e-01 9.91557190e-01 -4.64673463e-03 1.79053015e+01] [ 5.26615308e-02 -2.20256126e-03 9.98609990e-01 1.05186359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.85, Y:17.90, Z:10.52 [[ 9.89988814e-01 -1.31934912e-01 -5.01530287e-02 2.25854170e+02] [ 1.31879078e-01 9.91255888e-01 -4.43535810e-03 1.79020806e+01] [ 5.02996636e-02 -2.22318026e-03 9.98731696e-01 1.05216637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.89, Y:17.91, Z:10.52 [[ 9.89882589e-01 -1.32746839e-01 -5.01072450e-02 2.25886235e+02] [ 1.32692283e-01 9.91147389e-01 -4.42853893e-03 1.79070175e+01] [ 5.02515395e-02 -2.26511117e-03 9.98734025e-01 1.05235901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.92, Y:17.91, Z:10.53 [[ 9.89804064e-01 -1.33399999e-01 -4.99234931e-02 2.25918322e+02] [ 1.33346848e-01 9.91059625e-01 -4.40874984e-03 1.79122633e+01] [ 5.00652856e-02 -2.29334196e-03 9.98743314e-01 1.05252732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.95, Y:17.91, Z:10.53 [[ 9.89705153e-01 -1.34004559e-01 -5.02641765e-02 2.25949677e+02] [ 1.33951655e-01 9.90977944e-01 -4.43495009e-03 1.79117133e+01] [ 5.04049938e-02 -2.34367665e-03 9.98726110e-01 1.05266172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.98, Y:17.92, Z:10.53 [[ 9.89633061e-01 -1.34420077e-01 -5.05731831e-02 2.25981257e+02] [ 1.34367381e-01 9.90921567e-01 -4.45594109e-03 1.79166840e+01] [ 5.07130258e-02 -2.38563952e-03 9.98710417e-01 1.05279700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.01, Y:17.92, Z:10.53 [[ 9.89411345e-01 -1.35372702e-01 -5.23394801e-02 2.26012838e+02] [ 1.35317798e-01 9.90791534e-01 -4.60766543e-03 1.79160398e+01] [ 5.24812658e-02 -2.52358673e-03 9.98618720e-01 1.05272313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.04, Y:17.92, Z:10.53 [[ 9.89318343e-01 -1.35544834e-01 -5.36359323e-02 2.26044870e+02] [ 1.35487600e-01 9.90767806e-01 -4.71866715e-03 1.79192516e+01] [ 5.37803459e-02 -2.59873976e-03 9.98549408e-01 1.05281006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.08, Y:17.92, Z:10.53 [[ 9.89246736e-01 -1.35852781e-01 -5.41748753e-02 2.26075856e+02] [ 1.35795062e-01 9.90725503e-01 -4.76222062e-03 1.79202555e+01] [ 5.43193915e-02 -2.64566934e-03 9.98520107e-01 1.05286320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.11, Y:17.92, Z:10.53 [[ 9.89249864e-01 -1.35654203e-01 -5.46135878e-02 2.26107569e+02] [ 1.35595416e-01 9.90752676e-01 -4.79766376e-03 1.79238375e+01] [ 5.47593816e-02 -2.65926394e-03 9.98496038e-01 1.05301426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.14, Y:17.92, Z:10.53 [[ 9.89366050e-01 -1.34343481e-01 -5.57373179e-02 2.26139113e+02] [ 1.34280400e-01 9.90931298e-01 -4.89242047e-03 1.79248593e+01] [ 5.58891176e-02 -2.64403464e-03 9.98433481e-01 1.05306071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.17, Y:17.93, Z:10.53 [[ 9.89531404e-01 -1.32834168e-01 -5.64152880e-02 2.26170703e+02] [ 1.32767273e-01 9.91134885e-01 -4.94886132e-03 1.79286322e+01] [ 5.65725378e-02 -2.59305026e-03 9.98395124e-01 1.05317487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.20, Y:17.94, Z:10.53 [[ 9.90169297e-01 -1.27771890e-01 -5.69131570e-02 2.26200302e+02] [ 1.27695608e-01 9.91800853e-01 -4.99003453e-03 1.79382744e+01] [ 5.70841038e-02 -2.32658122e-03 9.98366662e-01 1.05337035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.23, Y:17.94, Z:10.54 [[ 9.90657206e-01 -1.24070505e-01 -5.66110334e-02 2.26230944e+02] [ 1.23989017e-01 9.92271178e-01 -4.96321160e-03 1.79442822e+01] [ 5.67892850e-02 -2.10230508e-03 9.98383973e-01 1.05356469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.26, Y:17.95, Z:10.54 [[ 9.91222490e-01 -1.19747865e-01 -5.60216436e-02 2.26262496e+02] [ 1.19661291e-01 9.92802636e-01 -4.90939598e-03 1.79507941e+01] [ 5.62063251e-02 -1.83731851e-03 9.98417484e-01 1.05377097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.29, Y:17.96, Z:10.54 [[ 9.91833163e-01 -1.15044624e-01 -5.50609872e-02 2.26293685e+02] [ 1.14953914e-01 9.93359121e-01 -4.82232724e-03 1.79587716e+01] [ 5.52501167e-02 -1.54653191e-03 9.98471348e-01 1.05403993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.32, Y:17.97, Z:10.54 [[ 9.93024472e-01 -1.05329054e-01 -5.29923496e-02 2.26322928e+02] [ 1.05231335e-01 9.94436951e-01 -4.63863914e-03 1.79692960e+01] [ 5.31861340e-02 -9.70173515e-04 9.98584145e-01 1.05442378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.35, Y:17.98, Z:10.55 [[ 9.93628674e-01 -1.00085372e-01 -5.18167501e-02 2.26352406e+02] [ 9.99848177e-02 9.94978625e-01 -4.53567194e-03 1.79755565e+01] [ 5.20105131e-02 -6.74114608e-04 9.98646310e-01 1.05465572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.38, Y:17.98, Z:10.55 [[ 9.94175496e-01 -9.49466804e-02 -5.09922648e-02 2.26384187e+02] [ 9.48426008e-02 9.95482279e-01 -4.46240321e-03 1.79819972e+01] [ 5.11855863e-02 -3.99827084e-04 9.98689079e-01 1.05487222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.41, Y:17.99, Z:10.55 [[ 9.94957075e-01 -8.67000523e-02 -5.04333213e-02 2.26414780e+02] [ 8.65878251e-02 9.96234461e-01 -4.40999376e-03 1.79900567e+01] [ 5.06257594e-02 2.08428846e-05 9.98717694e-01 1.05504217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.44, Y:17.99, Z:10.55 [[ 9.95243731e-01 -8.36181905e-02 -4.99791313e-02 2.26444959e+02] [ 8.35041789e-02 9.96497851e-01 -4.36855392e-03 1.79945588e+01] [ 5.01693875e-02 1.74309584e-04 9.98740708e-01 1.05522038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.48, Y:18.00, Z:10.55 [[ 9.95449006e-01 -8.12623376e-02 -4.97765894e-02 2.26476312e+02] [ 8.11463510e-02 9.96692705e-01 -4.34992946e-03 1.79983776e+01] [ 4.99654490e-02 2.90944366e-04 9.98750905e-01 1.05539402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.51, Y:18.00, Z:10.56 [[ 9.95574285e-01 -7.96914254e-02 -4.98108322e-02 2.26506941e+02] [ 7.95733977e-02 9.96819513e-01 -4.35124720e-03 1.80014995e+01] [ 4.99991666e-02 3.68372661e-04 9.98749192e-01 1.05552389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.54, Y:18.00, Z:10.56 [[ 9.95582013e-01 -7.87228385e-02 -5.11778297e-02 2.26537278e+02] [ 7.85969598e-02 9.96896450e-01 -4.47066187e-03 1.80022000e+01] [ 5.13709399e-02 4.28488720e-04 9.98679550e-01 1.05550794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.57, Y:18.00, Z:10.56 [[ 9.95478684e-01 -7.89929688e-02 -5.27475118e-02 2.26565638e+02] [ 7.88596072e-02 9.96875081e-01 -4.60806989e-03 1.80034714e+01] [ 5.29466852e-02 4.27587292e-04 9.98597249e-01 1.05551490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.59, Y:18.00, Z:10.56 [[ 9.95421569e-01 -7.93582209e-02 -5.32744967e-02 2.26594031e+02] [ 7.92224877e-02 9.96846076e-01 -4.65810284e-03 1.80039535e+01] [ 5.34761318e-02 4.16237873e-04 9.98569041e-01 1.05557278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.62, Y:18.00, Z:10.56 [[ 9.95368095e-01 -7.98093265e-02 -5.35987527e-02 2.26622592e+02] [ 7.96718765e-02 9.96810065e-01 -4.69966103e-03 1.80045447e+01] [ 5.38028530e-02 4.07579438e-04 9.98551494e-01 1.05569378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.65, Y:18.01, Z:10.56 [[ 9.95384051e-01 -7.94983705e-02 -5.37642955e-02 2.26650489e+02] [ 7.93589422e-02 9.96834900e-01 -4.72664595e-03 1.80053577e+01] [ 5.39698867e-02 4.38150379e-04 9.98542467e-01 1.05577214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.68, Y:18.01, Z:10.56 [[ 9.95440365e-01 -7.91191323e-02 -5.32789139e-02 2.26678098e+02] [ 7.89813606e-02 9.96865062e-01 -4.68973922e-03 1.80067746e+01] [ 5.34829359e-02 4.60314609e-04 9.98568657e-01 1.05589256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.71, Y:18.01, Z:10.56 [[ 9.95491423e-01 -7.85056473e-02 -5.32324129e-02 2.26707272e+02] [ 7.83664774e-02 9.96913540e-01 -4.69989340e-03 1.80071763e+01] [ 5.34370814e-02 5.07066882e-04 9.98571090e-01 1.05608434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.74, Y:18.01, Z:10.56 [[ 9.95570091e-01 -7.79211831e-02 -5.26163819e-02 2.26736224e+02] [ 7.77837192e-02 9.96959373e-01 -4.65842556e-03 1.80078784e+01] [ 5.28193852e-02 5.45091278e-04 9.98603933e-01 1.05626964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.76, Y:18.01, Z:10.56 [[ 9.95630888e-01 -7.73188991e-02 -5.23538214e-02 2.26763729e+02] [ 7.71813218e-02 9.97006241e-01 -4.64754954e-03 1.80101796e+01] [ 5.25564300e-02 5.86506739e-04 9.98617784e-01 1.05636559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.79, Y:18.01, Z:10.57 [[ 9.95753960e-01 -7.73418851e-02 -4.99227790e-02 2.26792249e+02] [ 7.72165868e-02 9.97004471e-01 -4.43651562e-03 1.80071940e+01] [ 5.01163624e-02 5.62811398e-04 9.98743227e-01 1.05666538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.82, Y:18.01, Z:10.57 [[ 9.95685976e-01 -7.79383311e-02 -5.03493082e-02 2.26821296e+02] [ 7.78109177e-02 9.96958029e-01 -4.48874828e-03 1.80072388e+01] [ 5.05459927e-02 5.51657833e-04 9.98721582e-01 1.05678723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.85, Y:18.01, Z:10.57 [[ 9.95576525e-01 -7.90876565e-02 -5.07200672e-02 2.26850646e+02] [ 7.89592049e-02 9.96867535e-01 -4.53442623e-03 1.80069590e+01] [ 5.09198055e-02 5.09552129e-04 9.98702615e-01 1.05682300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.88, Y:18.01, Z:10.57 [[ 9.95445763e-01 -8.02336845e-02 -5.14809619e-02 2.26879866e+02] [ 8.01022132e-02 9.96775970e-01 -4.61529971e-03 1.80068061e+01] [ 5.16852883e-02 4.70541554e-04 9.98663311e-01 1.05687756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.91, Y:18.00, Z:10.57 [[ 9.95429475e-01 -8.15860269e-02 -4.96374844e-02 2.26908811e+02] [ 8.14649021e-02 9.96666224e-01 -4.46180165e-03 1.80027548e+01] [ 4.98360249e-02 3.97696062e-04 9.98757334e-01 1.05709584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.94, Y:18.00, Z:10.57 [[ 9.95426993e-01 -8.19930432e-02 -4.90126833e-02 2.26937973e+02] [ 8.18748520e-02 9.96632828e-01 -4.41764660e-03 1.80023990e+01] [ 4.92098655e-02 3.84538474e-04 9.98788387e-01 1.05728539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.97, Y:18.00, Z:10.57 [[ 9.95424932e-01 -8.21653846e-02 -4.87652946e-02 2.26967664e+02] [ 8.20484635e-02 9.96618637e-01 -4.39795129e-03 1.80018656e+01] [ 4.89617608e-02 3.76712872e-04 9.98800583e-01 1.05744328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.00, Y:18.00, Z:10.58 [[ 9.95414497e-01 -8.19979925e-02 -4.92575700e-02 2.26997113e+02] [ 8.18783826e-02 9.96632418e-01 -4.44456590e-03 1.79988043e+01] [ 4.94561366e-02 3.91055170e-04 9.98776220e-01 1.05756017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.03, Y:18.00, Z:10.58 [[ 9.95393876e-01 -8.22486083e-02 -4.92564498e-02 2.27025208e+02] [ 8.21286924e-02 9.96611767e-01 -4.45694680e-03 1.80013796e+01] [ 4.94561351e-02 3.91049740e-04 9.98776220e-01 1.05769475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.05, Y:18.00, Z:10.58 [[ 9.95381085e-01 -8.21644867e-02 -4.96537215e-02 2.27053638e+02] [ 8.20418890e-02 9.96618697e-01 -4.50558814e-03 1.80013775e+01] [ 4.98560265e-02 4.11092108e-04 9.98756330e-01 1.05779221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.08, Y:18.00, Z:10.58 [[ 9.95375190e-01 -8.20642233e-02 -4.99369054e-02 2.27082529e+02] [ 8.19394479e-02 9.96626950e-01 -4.54419467e-03 1.80018679e+01] [ 5.01413816e-02 4.31376173e-04 9.98742037e-01 1.05787361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.11, Y:18.00, Z:10.58 [[ 9.95341359e-01 -8.21422160e-02 -5.04800546e-02 2.27110167e+02] [ 8.20141436e-02 9.96620519e-01 -4.60674539e-03 1.80020509e+01] [ 5.06878664e-02 4.45205766e-04 9.98714445e-01 1.05799130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.14, Y:18.00, Z:10.58 [[ 9.95312195e-01 -8.23284224e-02 -5.07510096e-02 2.27137491e+02] [ 8.21984850e-02 9.96605151e-01 -4.64572595e-03 1.80022567e+01] [ 5.09611928e-02 4.52291600e-04 9.98700532e-01 1.05805783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.17, Y:18.00, Z:10.58 [[ 9.95227609e-01 -8.28810269e-02 -5.15047759e-02 2.27165999e+02] [ 8.27475606e-02 9.96559353e-01 -4.72200221e-03 1.80014972e+01] [ 5.17189306e-02 4.37572406e-04 9.98661585e-01 1.05815272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.19, Y:18.00, Z:10.58 [[ 9.95065788e-01 -8.40357157e-02 -5.27453822e-02 2.27194648e+02] [ 8.38965191e-02 9.96462662e-01 -4.85155376e-03 1.79984211e+01] [ 5.29665078e-02 4.02461202e-04 9.98596208e-01 1.05816900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.22, Y:18.00, Z:10.58 [[ 9.94905511e-01 -8.52891581e-02 -5.37474042e-02 2.27222787e+02] [ 8.51455831e-02 9.96356177e-01 -4.95967380e-03 1.79979594e+01] [ 5.39745645e-02 3.58052724e-04 9.98542247e-01 1.05825329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.25, Y:18.00, Z:10.58 [[ 9.94812052e-01 -8.65517514e-02 -5.34581588e-02 2.27250547e+02] [ 8.64107701e-02 9.96247310e-01 -4.94730849e-03 1.79973285e+01] [ 5.36857451e-02 3.02281446e-04 9.98557835e-01 1.05834330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.28, Y:18.00, Z:10.59 [[ 9.94681070e-01 -8.83179709e-02 -5.30047610e-02 2.27278758e+02] [ 8.81815628e-02 9.96092311e-01 -4.91126432e-03 1.79965224e+01] [ 5.32313877e-02 2.11098991e-04 9.98582182e-01 1.05850720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.31, Y:17.99, Z:10.59 [[ 9.94317018e-01 -9.25012022e-02 -5.26991086e-02 2.27307227e+02] [ 9.23714753e-02 9.95712573e-01 -4.89724027e-03 1.79929430e+01] [ 5.29261656e-02 1.51493449e-06 9.98598428e-01 1.05875849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.34, Y:17.99, Z:10.59 [[ 9.94086913e-01 -9.51694637e-02 -5.22874979e-02 2.27335319e+02] [ 9.50451444e-02 9.95461077e-01 -4.86469347e-03 1.79920333e+01] [ 5.25131393e-02 -1.33744677e-04 9.98620224e-01 1.05890353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.36, Y:17.99, Z:10.59 [[ 9.93581892e-01 -1.00497734e-01 -5.19155974e-02 2.27364323e+02] [ 1.00381670e-01 9.94937208e-01 -4.84489416e-03 1.79865649e+01] [ 5.21396604e-02 -3.97575265e-04 9.98639724e-01 1.05903217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.39, Y:17.98, Z:10.59 [[ 9.93326128e-01 -1.02965833e-01 -5.19734560e-02 2.27392673e+02] [ 1.02852234e-01 9.94684760e-01 -4.86273914e-03 1.79849679e+01] [ 5.21979006e-02 -5.15300222e-04 9.98636627e-01 1.05914346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.42, Y:17.98, Z:10.59 [[ 9.92836141e-01 -1.07638575e-01 -5.18684377e-02 2.27422171e+02] [ 1.07531521e-01 9.94189805e-01 -4.85831157e-03 1.79802755e+01] [ 5.20900137e-02 -7.53984705e-04 9.98642109e-01 1.05924867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.45, Y:17.98, Z:10.59 [[ 9.92641807e-01 -1.09582759e-01 -5.15156436e-02 2.27451179e+02] [ 1.09479099e-01 9.93977323e-01 -4.83826824e-03 1.79801338e+01] [ 5.17355723e-02 -8.37218930e-04 9.98660468e-01 1.05939431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.48, Y:17.98, Z:10.60 [[ 9.92548732e-01 -1.10568050e-01 -5.12027398e-02 2.27478939e+02] [ 1.10466310e-01 9.93868175e-01 -4.82142086e-03 1.79797161e+01] [ 5.14218686e-02 -8.70682547e-04 9.98676641e-01 1.05957252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.51, Y:17.98, Z:10.60 [[ 9.92482635e-01 -1.11058884e-01 -5.14212344e-02 2.27506420e+02] [ 1.10956688e-01 9.93813425e-01 -4.84672243e-03 1.79794269e+01] [ 5.16413846e-02 -8.95241997e-04 9.98665292e-01 1.05968304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.53, Y:17.98, Z:10.60 [[ 9.92509376e-01 -1.10834826e-01 -5.13885294e-02 2.27533837e+02] [ 1.10732176e-01 9.93838453e-01 -4.84910404e-03 1.79818412e+01] [ 5.16093461e-02 -8.77582480e-04 9.98666964e-01 1.05981648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.56, Y:17.98, Z:10.60 [[ 9.92842499e-01 -1.07781058e-01 -5.14491551e-02 2.27561859e+02] [ 1.07673336e-01 9.94174404e-01 -4.86898980e-03 1.79825936e+01] [ 5.16742180e-02 -7.05562156e-04 9.98663746e-01 1.05993385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.59, Y:17.99, Z:10.60 [[ 9.93076864e-01 -1.05474100e-01 -5.17064396e-02 2.27590335e+02] [ 1.05361891e-01 9.94421879e-01 -4.89873756e-03 1.79863038e+01] [ 5.19347048e-02 -5.83065318e-04 9.98650312e-01 1.06008431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.62, Y:17.99, Z:10.60 [[ 9.93337417e-01 -1.02797778e-01 -5.20902299e-02 2.27618538e+02] [ 1.02679521e-01 9.94702181e-01 -4.94841619e-03 1.79893774e+01] [ 5.23229515e-02 -4.33152881e-04 9.98630122e-01 1.06020273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.65, Y:17.99, Z:10.60 [[ 9.94003658e-01 -9.63860609e-02 -5.16377389e-02 2.27645680e+02] [ 9.62605540e-02 9.95344021e-01 -4.91784934e-03 1.79933326e+01] [ 5.18713269e-02 -8.23171253e-05 9.98653773e-01 1.06026947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.67, Y:18.00, Z:10.60 [[ 9.94295946e-01 -9.32985374e-02 -5.16812877e-02 2.27673177e+02] [ 9.31682622e-02 9.95638175e-01 -4.92944487e-03 1.79969737e+01] [ 5.19157729e-02 8.62712871e-05 9.98651463e-01 1.06039831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.70, Y:18.00, Z:10.61 [[ 9.94853150e-01 -8.75282508e-02 -5.10491434e-02 2.27701128e+02] [ 8.73928494e-02 9.96161959e-01 -4.88278943e-03 1.80013402e+01] [ 5.12805967e-02 3.96328353e-04 9.98684206e-01 1.06054777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.73, Y:18.00, Z:10.61 [[ 9.95147341e-01 -8.40885162e-02 -5.10968805e-02 2.27728285e+02] [ 8.39480835e-02 9.96458121e-01 -4.89213436e-03 1.80043149e+01] [ 5.13272738e-02 5.78909313e-04 9.98681719e-01 1.06060888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.76, Y:18.00, Z:10.61 [[ 9.95013968e-01 -8.47271773e-02 -5.26166138e-02 2.27755741e+02] [ 8.45787021e-02 9.96404024e-01 -5.04613230e-03 1.80047802e+01] [ 5.28549502e-02 5.70727229e-04 9.98602037e-01 1.06054865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.78, Y:18.00, Z:10.61 [[ 9.94540475e-01 -8.96522101e-02 -5.34015476e-02 2.27784896e+02] [ 8.95057661e-02 9.95973080e-01 -5.13244860e-03 1.80019678e+01] [ 5.36466392e-02 3.24681437e-04 9.98559929e-01 1.06057171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.81, Y:18.00, Z:10.61 [[ 9.94191770e-01 -9.34147225e-02 -5.34454337e-02 2.27813815e+02] [ 9.32727736e-02 9.95627275e-01 -5.14958421e-03 1.80010922e+01] [ 5.36927785e-02 1.34670403e-04 9.98557493e-01 1.06071283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.84, Y:18.00, Z:10.61 [[ 9.94165751e-01 -9.36919474e-02 -5.34441559e-02 2.27841072e+02] [ 9.35496876e-02 9.95601226e-01 -5.16281348e-03 1.80037985e+01] [ 5.36927812e-02 1.33008255e-04 9.98557493e-01 1.06084340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.87, Y:18.00, Z:10.61 [[ 9.93699635e-01 -9.84141588e-02 -5.36254527e-02 2.27867868e+02] [ 9.82770136e-02 9.95145538e-01 -5.19489243e-03 1.80023772e+01] [ 5.38763809e-02 -1.07986629e-04 9.98547607e-01 1.06094866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.90, Y:18.00, Z:10.61 [[ 9.93169208e-01 -1.03556506e-01 -5.37677843e-02 2.27896695e+02] [ 1.03425577e-01 9.94623500e-01 -5.21942381e-03 1.80009740e+01] [ 5.40192071e-02 -3.77193085e-04 9.98539825e-01 1.06111164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.93, Y:18.00, Z:10.61 [[ 9.92645216e-01 -1.08885026e-01 -5.29105519e-02 2.27925888e+02] [ 1.08765122e-01 9.94054142e-01 -5.14895155e-03 1.79995145e+01] [ 5.31565970e-02 -6.43740487e-04 9.98585981e-01 1.06129446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.95, Y:18.00, Z:10.61 [[ 9.92059177e-01 -1.14264923e-01 -5.25558380e-02 2.27954180e+02] [ 1.14153510e-01 9.93449895e-01 -5.12671514e-03 1.79973456e+01] [ 5.27973955e-02 -9.13428579e-04 9.98604827e-01 1.06146385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.98, Y:18.00, Z:10.62 [[ 9.91483966e-01 -1.19355968e-01 -5.20931679e-02 2.27983937e+02] [ 1.19253179e-01 9.92850840e-01 -5.08814987e-03 1.79952912e+01] [ 5.23280466e-02 -1.16745688e-03 9.98629267e-01 1.06159191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.01, Y:17.99, Z:10.62 [[ 9.90925943e-01 -1.24228927e-01 -5.13122682e-02 2.28012662e+02] [ 1.24135621e-01 9.92252594e-01 -5.01377231e-03 1.79928674e+01] [ 5.15375868e-02 -1.40140320e-03 9.98670072e-01 1.06174862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.04, Y:17.99, Z:10.62 [[ 9.90372613e-01 -1.28803558e-01 -5.07122395e-02 2.28041378e+02] [ 1.28718229e-01 9.91668810e-01 -4.95860585e-03 1.79907568e+01] [ 5.09284323e-02 -1.61672224e-03 9.98700997e-01 1.06187775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.07, Y:17.99, Z:10.62 [[ 9.89387793e-01 -1.36595825e-01 -4.95315688e-02 2.28072529e+02] [ 1.36524001e-01 9.90624909e-01 -4.84632986e-03 1.79865631e+01] [ 4.97291943e-02 -1.96734835e-03 9.98760801e-01 1.06210275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.10, Y:17.99, Z:10.62 [[ 9.88947707e-01 -1.39890821e-01 -4.91222115e-02 2.28101589e+02] [ 1.39824225e-01 9.90164675e-01 -4.80643560e-03 1.79905296e+01] [ 4.93114548e-02 -2.11516170e-03 9.98781211e-01 1.06227802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.13, Y:17.99, Z:10.62 [[ 9.88575385e-01 -1.42505210e-01 -4.91016671e-02 2.28130606e+02] [ 1.42441755e-01 9.89791513e-01 -4.80706283e-03 1.79949164e+01] [ 4.92854449e-02 -2.24198364e-03 9.98782218e-01 1.06243070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.16, Y:18.00, Z:10.63 [[ 9.88230997e-01 -1.44781518e-01 -4.93741749e-02 2.28160512e+02] [ 1.44720054e-01 9.89460820e-01 -4.83647518e-03 1.79960389e+01] [ 4.95540438e-02 -2.36587857e-03 9.98768642e-01 1.06254962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.19, Y:17.99, Z:10.63 [[ 9.88010758e-01 -1.46380301e-01 -4.90667790e-02 2.28188788e+02] [ 1.46321470e-01 9.89225408e-01 -4.80826301e-03 1.79918903e+01] [ 4.92419394e-02 -2.42890766e-03 9.98783926e-01 1.06264940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.22, Y:18.00, Z:10.63 [[ 9.87747248e-01 -1.48336742e-01 -4.84931496e-02 2.28217383e+02] [ 1.48281415e-01 9.88933769e-01 -4.75640081e-03 1.79986145e+01] [ 4.86620622e-02 -2.49251106e-03 9.98812190e-01 1.06279683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.25, Y:18.00, Z:10.63 [[ 9.87704134e-01 -1.48803918e-01 -4.79368198e-02 2.28246474e+02] [ 1.48750270e-01 9.88863602e-01 -4.70456477e-03 1.80009626e+01] [ 4.81030340e-02 -2.48389680e-03 9.98839291e-01 1.06293580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.27, Y:18.00, Z:10.63 [[ 9.87711968e-01 -1.48932565e-01 -4.73725685e-02 2.28274219e+02] [ 1.48879751e-01 9.88844322e-01 -4.66112693e-03 1.80042319e+01] [ 4.75382889e-02 -2.44896536e-03 9.98866414e-01 1.06309555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.30, Y:18.01, Z:10.63 [[ 9.87915229e-01 -1.47682394e-01 -4.70468915e-02 2.28301424e+02] [ 1.47628249e-01 9.89032025e-01 -4.64264421e-03 1.80088200e+01] [ 4.72165192e-02 -2.35891129e-03 9.98881893e-01 1.06322415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.33, Y:18.02, Z:10.63 [[ 9.88028564e-01 -1.46878198e-01 -4.71842272e-02 2.28329371e+02] [ 1.46822535e-01 9.89151862e-01 -4.66226051e-03 1.80160759e+01] [ 4.73571506e-02 -2.32126127e-03 9.98875324e-01 1.06334591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.36, Y:18.02, Z:10.63 [[ 9.88215068e-01 -1.45444352e-01 -4.77170894e-02 2.28357020e+02] [ 1.45385173e-01 9.89363839e-01 -4.72710920e-03 1.80205286e+01] [ 4.78970941e-02 -2.26595676e-03 9.98849705e-01 1.06340999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.39, Y:18.03, Z:10.63 [[ 9.88659686e-01 -1.41921856e-01 -4.90939099e-02 2.28386237e+02] [ 1.41854664e-01 9.89875526e-01 -4.86791514e-03 1.80316421e+01] [ 4.92877235e-02 -2.15148863e-03 9.98782304e-01 1.06341251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.41, Y:18.04, Z:10.63 [[ 9.88934803e-01 -1.39962364e-01 -4.91781732e-02 2.28414575e+02] [ 1.39892473e-01 9.90154689e-01 -4.87727891e-03 1.80370675e+01] [ 4.93766342e-02 -2.05634540e-03 9.98778113e-01 1.06348642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.44, Y:18.04, Z:10.64 [[ 9.89250258e-01 -1.37617494e-01 -4.94505109e-02 2.28443250e+02] [ 1.37543716e-01 9.90483537e-01 -4.90804259e-03 1.80433006e+01] [ 4.96553494e-02 -1.94632463e-03 9.98764516e-01 1.06358178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.47, Y:18.05, Z:10.64 [[ 9.89471212e-01 -1.35835148e-01 -4.99553184e-02 2.28472008e+02] [ 1.35757249e-01 9.90729690e-01 -4.96493209e-03 1.80506114e+01] [ 5.01666294e-02 -1.86913922e-03 9.98739113e-01 1.06370041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.50, Y:18.06, Z:10.64 [[ 9.90119764e-01 -1.30648830e-01 -5.09287288e-02 2.28500730e+02] [ 1.30560415e-01 9.91427375e-01 -5.07335113e-03 1.80625492e+01] [ 5.11549633e-02 -1.62605076e-03 9.98689404e-01 1.06381597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.53, Y:18.07, Z:10.64 [[ 9.90432956e-01 -1.28123704e-01 -5.12530642e-02 2.28527737e+02] [ 1.28030642e-01 9.91757056e-01 -5.10838605e-03 1.80686580e+01] [ 5.14850935e-02 -1.50244883e-03 9.98672633e-01 1.06393454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.56, Y:18.07, Z:10.64 [[ 9.90799613e-01 -1.25204305e-01 -5.13810208e-02 2.28555122e+02] [ 1.25106614e-01 9.92130063e-01 -5.12582895e-03 1.80748877e+01] [ 5.16184312e-02 -1.34943618e-03 9.98665968e-01 1.06400721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.58, Y:18.08, Z:10.64 [[ 9.91109335e-01 -1.22662494e-01 -5.15383318e-02 2.28583888e+02] [ 1.22560497e-01 9.92447699e-01 -5.14679404e-03 1.80819468e+01] [ 5.17804174e-02 -1.21552793e-03 9.98657755e-01 1.06414619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.61, Y:18.09, Z:10.64 [[ 9.91419205e-01 -1.20103053e-01 -5.16063634e-02 2.28612231e+02] [ 1.19996686e-01 9.92760852e-01 -5.16582335e-03 1.80889812e+01] [ 5.18532084e-02 -1.07109612e-03 9.98654143e-01 1.06427112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.64, Y:18.10, Z:10.64 [[ 9.92016529e-01 -1.15324918e-01 -5.10232173e-02 2.28639145e+02] [ 1.15213996e-01 9.93327501e-01 -5.11972493e-03 1.80988700e+01] [ 5.12731967e-02 -7.99736974e-04 9.98684344e-01 1.06438042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.67, Y:18.11, Z:10.65 [[ 9.92216132e-01 -1.13556988e-01 -5.11073109e-02 2.28667319e+02] [ 1.13443085e-01 9.93531235e-01 -5.13340882e-03 1.81055438e+01] [ 5.13596442e-02 -7.04319998e-04 9.98679974e-01 1.06455687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.70, Y:18.11, Z:10.65 [[ 9.92386321e-01 -1.12089900e-01 -5.10415859e-02 2.28695990e+02] [ 1.11973687e-01 9.93697880e-01 -5.13974301e-03 1.81119570e+01] [ 5.12960290e-02 -6.14703926e-04 9.98683303e-01 1.06470530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.72, Y:18.12, Z:10.65 [[ 9.92498647e-01 -1.11053962e-01 -5.11219509e-02 2.28724552e+02] [ 1.10935338e-01 9.93814226e-01 -5.16088771e-03 1.81177642e+01] [ 5.13788591e-02 -5.49056834e-04 9.98679083e-01 1.06482107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.75, Y:18.12, Z:10.65 [[ 9.92569450e-01 -1.10481385e-01 -5.09877577e-02 2.28752450e+02] [ 1.10361985e-01 9.93878065e-01 -5.15986256e-03 1.81217291e+01] [ 5.12456827e-02 -5.05588225e-04 9.98685949e-01 1.06490560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.78, Y:18.13, Z:10.65 [[ 9.92642796e-01 -1.10119441e-01 -5.03387282e-02 2.28780152e+02] [ 1.10002339e-01 9.93918247e-01 -5.09930468e-03 1.81280974e+01] [ 5.05941131e-02 -4.75589791e-04 9.98719185e-01 1.06512219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.81, Y:18.13, Z:10.65 [[ 9.92616233e-01 -1.10359265e-01 -5.03373270e-02 2.28808229e+02] [ 1.10241772e-01 9.93891648e-01 -5.11310037e-03 1.81310000e+01] [ 5.05941269e-02 -4.73929674e-04 9.98719185e-01 1.06525681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.84, Y:18.14, Z:10.65 [[ 9.92589922e-01 -1.10740607e-01 -5.00176423e-02 2.28836971e+02] [ 1.10624475e-01 9.93849229e-01 -5.09275426e-03 1.81354392e+01] [ 5.02739699e-02 -4.78158891e-04 9.98735350e-01 1.06546202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.87, Y:18.14, Z:10.66 [[ 9.92560825e-01 -1.11182215e-01 -4.96137416e-02 2.28866636e+02] [ 1.11067921e-01 9.93799919e-01 -5.06330531e-03 1.81399559e+01] [ 4.98690819e-02 -4.84856621e-04 9.98755646e-01 1.06565374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.90, Y:18.15, Z:10.66 [[ 9.92424734e-01 -1.12706876e-01 -4.88907689e-02 2.28896116e+02] [ 1.12597653e-01 9.93628128e-01 -4.99124699e-03 1.81455777e+01] [ 4.91417911e-02 -5.51548873e-04 9.98791660e-01 1.06589636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.93, Y:18.15, Z:10.66 [[ 9.92288102e-01 -1.14056514e-01 -4.85328098e-02 2.28925788e+02] [ 1.13950414e-01 9.93474075e-01 -4.95641606e-03 1.81488397e+01] [ 4.87813999e-02 -6.12141111e-04 9.98809291e-01 1.06608839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.96, Y:18.15, Z:10.66 [[ 9.92081963e-01 -1.15879956e-01 -4.84274113e-02 2.28956478e+02] [ 1.15776486e-01 9.93262979e-01 -4.94567812e-03 1.81519454e+01] [ 4.86742598e-02 -7.00237468e-04 9.98814460e-01 1.06622518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.99, Y:18.15, Z:10.66 [[ 9.91627731e-01 -1.19997090e-01 -4.76984346e-02 2.28986710e+02] [ 1.19901470e-01 9.92773846e-01 -4.87123095e-03 1.81543845e+01] [ 4.79382919e-02 -8.88664730e-04 9.98849904e-01 1.06634600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.02, Y:18.16, Z:10.66 [[ 9.91337858e-01 -1.22426683e-01 -4.75495422e-02 2.29018028e+02] [ 1.22334451e-01 9.92477053e-01 -4.85601514e-03 1.81570297e+01] [ 4.77863354e-02 -1.00299548e-03 9.98857077e-01 1.06649477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.05, Y:18.16, Z:10.67 [[ 9.91051120e-01 -1.24837192e-01 -4.72583757e-02 2.29048790e+02] [ 1.24748905e-01 9.92176615e-01 -4.82454042e-03 1.81558886e+01] [ 4.74909373e-02 -1.11406445e-03 9.98871048e-01 1.06662899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.08, Y:18.16, Z:10.67 [[ 9.90729746e-01 -1.27337662e-01 -4.73253601e-02 2.29079239e+02] [ 1.27252084e-01 9.91858653e-01 -4.82906699e-03 1.81591969e+01] [ 4.75549901e-02 -1.23795037e-03 9.98867854e-01 1.06675410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.11, Y:18.16, Z:10.67 [[ 9.90051217e-01 -1.32136292e-01 -4.83589599e-02 2.29110615e+02] [ 1.32052649e-01 9.91230422e-01 -4.93449625e-03 1.81615005e+01] [ 4.85868983e-02 -1.50052471e-03 9.98817832e-01 1.06679625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.14, Y:18.16, Z:10.67 [[ 9.89718141e-01 -1.34372419e-01 -4.90107586e-02 2.29141531e+02] [ 1.34289328e-01 9.90929555e-01 -4.99924677e-03 1.81636024e+01] [ 4.92379701e-02 -1.63377662e-03 9.98785739e-01 1.06687640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.17, Y:18.16, Z:10.67 [[ 9.89381654e-01 -1.36724694e-01 -4.92980884e-02 2.29172075e+02] [ 1.36643585e-01 9.90607517e-01 -5.02766161e-03 1.81645175e+01] [ 4.95224625e-02 -1.76199137e-03 9.98771456e-01 1.06696919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.20, Y:18.17, Z:10.67 [[ 9.89084575e-01 -1.38802014e-01 -4.94540553e-02 2.29203613e+02] [ 1.38723027e-01 9.90318380e-01 -5.04264190e-03 1.81671638e+01] [ 4.96751887e-02 -1.87281691e-03 9.98763670e-01 1.06708022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.23, Y:18.17, Z:10.67 [[ 9.88804290e-01 -1.40630765e-01 -4.98905127e-02 2.29234178e+02] [ 1.40552792e-01 9.90060126e-01 -5.08531376e-03 1.81671237e+01] [ 5.01097588e-02 -1.98387078e-03 9.98741747e-01 1.06716731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.27, Y:18.17, Z:10.67 [[ 9.88238173e-01 -1.44538516e-01 -4.99392798e-02 2.29265269e+02] [ 1.44465482e-01 9.89496760e-01 -5.08797196e-03 1.81730034e+01] [ 5.01501635e-02 -2.18637402e-03 9.98739296e-01 1.06727022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.30, Y:18.17, Z:10.67 [[ 9.87976584e-01 -1.46183812e-01 -5.03245635e-02 2.29295848e+02] [ 1.46111868e-01 9.89254796e-01 -5.12540207e-03 1.81710192e+01] [ 5.05330666e-02 -2.28923873e-03 9.98719765e-01 1.06735877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.33, Y:18.17, Z:10.67 [[ 9.87738713e-01 -1.47647830e-01 -5.07183723e-02 2.29325418e+02] [ 1.47576721e-01 9.89037126e-01 -5.16469049e-03 1.81730224e+01] [ 5.09249086e-02 -2.38348638e-03 9.98699641e-01 1.06744691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.36, Y:18.18, Z:10.68 [[ 9.87517448e-01 -1.48858390e-01 -5.14827192e-02 2.29355768e+02] [ 1.48786723e-01 9.88855409e-01 -5.24328303e-03 1.81788100e+01] [ 5.16894719e-02 -2.48211161e-03 9.98660121e-01 1.06757099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.39, Y:18.18, Z:10.68 [[ 9.87324835e-01 -1.50013470e-01 -5.18230632e-02 2.29386225e+02] [ 1.49942488e-01 9.88680638e-01 -5.27701154e-03 1.81837735e+01] [ 5.20280820e-02 -2.56035449e-03 9.98642340e-01 1.06769629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.42, Y:18.18, Z:10.68 [[ 9.86998683e-01 -1.51942852e-01 -5.24115384e-02 2.29416527e+02] [ 1.51873012e-01 9.88385611e-01 -5.33597082e-03 1.81842900e+01] [ 5.26135731e-02 -2.69330201e-03 9.98611315e-01 1.06775836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.45, Y:18.19, Z:10.68 [[ 9.86856276e-01 -1.52687464e-01 -5.29266428e-02 2.29447235e+02] [ 1.52617369e-01 9.88270669e-01 -5.38734896e-03 1.81904234e+01] [ 5.31284294e-02 -2.76098584e-03 9.98583871e-01 1.06793400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.48, Y:18.19, Z:10.68 [[ 9.86760393e-01 -1.53291860e-01 -5.29672680e-02 2.29477885e+02] [ 1.53222620e-01 9.88176998e-01 -5.38969105e-03 1.81922264e+01] [ 5.31672316e-02 -2.79744993e-03 9.98581704e-01 1.06801881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.51, Y:18.20, Z:10.68 [[ 9.86471212e-01 -1.54812486e-01 -5.39225565e-02 2.29508500e+02] [ 1.54743050e-01 9.87939520e-01 -5.48580226e-03 1.82001216e+01] [ 5.41214952e-02 -2.93255486e-03 9.98530052e-01 1.06820232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.54, Y:18.21, Z:10.68 [[ 9.86356401e-01 -1.55627141e-01 -5.36772072e-02 2.29539168e+02] [ 1.55559642e-01 9.87811418e-01 -5.45890838e-03 1.82068140e+01] [ 5.38725125e-02 -2.96557789e-03 9.98543418e-01 1.06844872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.57, Y:18.21, Z:10.69 [[ 9.86278709e-01 -1.56314657e-01 -5.31040097e-02 2.29569889e+02] [ 1.56249686e-01 9.87702835e-01 -5.39867223e-03 1.82104183e+01] [ 5.32948726e-02 -2.97288939e-03 9.98574393e-01 1.06863658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.60, Y:18.21, Z:10.69 [[ 9.86156309e-01 -1.57124115e-01 -5.29881778e-02 2.29600740e+02] [ 1.57060699e-01 9.87574271e-01 -5.38485011e-03 1.82139379e+01] [ 5.31758509e-02 -3.01205635e-03 9.98580621e-01 1.06885753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.63, Y:18.22, Z:10.69 [[ 9.85940700e-01 -1.58633697e-01 -5.25003498e-02 2.29630592e+02] [ 1.58573722e-01 9.87332740e-01 -5.33246119e-03 1.82168576e+01] [ 5.26812223e-02 -3.06768536e-03 9.98606668e-01 1.06904778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.66, Y:18.22, Z:10.69 [[ 9.85842283e-01 -1.59246748e-01 -5.24925369e-02 2.29662328e+02] [ 1.59187790e-01 9.87233938e-01 -5.32913574e-03 1.82223685e+01] [ 5.26710615e-02 -3.10248360e-03 9.98607097e-01 1.06923291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.69, Y:18.23, Z:10.69 [[ 9.85762685e-01 -1.59697134e-01 -5.26189560e-02 2.29693396e+02] [ 1.59638728e-01 9.87161071e-01 -5.33824458e-03 1.82299855e+01] [ 5.27958873e-02 -3.13778090e-03 9.98600395e-01 1.06942347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.72, Y:18.24, Z:10.70 [[ 9.85647874e-01 -1.60118216e-01 -5.34829359e-02 2.29724912e+02] [ 1.60058665e-01 9.87092608e-01 -5.42275063e-03 1.82364689e+01] [ 5.36608919e-02 -3.21548471e-03 9.98554039e-01 1.06955325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.76, Y:18.24, Z:10.70 [[ 9.85628621e-01 -1.60097987e-01 -5.38967234e-02 2.29756080e+02] [ 1.60037695e-01 9.87095799e-01 -5.46078964e-03 1.82399267e+01] [ 5.40754907e-02 -3.24319680e-03 9.98531583e-01 1.06967171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.79, Y:18.24, Z:10.70 [[ 9.85560950e-01 -1.60212049e-01 -5.47878839e-02 2.29786878e+02] [ 1.60150094e-01 9.87077083e-01 -5.54800355e-03 1.82425831e+01] [ 5.49687216e-02 -3.30638911e-03 9.98482602e-01 1.06967566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.82, Y:18.25, Z:10.70 [[ 9.85505511e-01 -1.60410376e-01 -5.52032425e-02 2.29818782e+02] [ 1.60347966e-01 9.87044739e-01 -5.58687258e-03 1.82507885e+01] [ 5.53842624e-02 -3.34583396e-03 9.98459508e-01 1.06982511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.85, Y:18.26, Z:10.70 [[ 9.85501120e-01 -1.60471329e-01 -5.51044062e-02 2.29850125e+02] [ 1.60409461e-01 9.87034826e-01 -5.57282975e-03 1.82574898e+01] [ 5.52842474e-02 -3.34723811e-03 9.98465046e-01 1.06997843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.88, Y:18.26, Z:10.70 [[ 9.85499005e-01 -1.60450224e-01 -5.52035880e-02 2.29881364e+02] [ 1.60388320e-01 9.87038228e-01 -5.57888801e-03 1.82562650e+01] [ 5.53831855e-02 -3.35602217e-03 9.98459533e-01 1.07007084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.91, Y:18.27, Z:10.70 [[ 9.85513875e-01 -1.60451509e-01 -5.49337344e-02 2.29912356e+02] [ 1.60390386e-01 9.87038064e-01 -5.54842939e-03 1.82675998e+01] [ 5.51119407e-02 -3.34278871e-03 9.98474586e-01 1.07030361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.94, Y:18.27, Z:10.70 [[ 9.85608190e-01 -1.59931305e-01 -5.47583135e-02 2.29943118e+02] [ 1.59869988e-01 9.87122607e-01 -5.52678706e-03 1.82738233e+01] [ 5.49370755e-02 -3.30696433e-03 9.98484342e-01 1.07046821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.97, Y:18.28, Z:10.71 [[ 9.85667627e-01 -1.59751935e-01 -5.42093007e-02 2.29974108e+02] [ 1.59691731e-01 9.87151785e-01 -5.46840118e-03 1.82769517e+01] [ 5.43863956e-02 -3.26675107e-03 9.98514621e-01 1.07062792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.01, Y:18.28, Z:10.71 [[ 9.85799579e-01 -1.59122417e-01 -5.36586091e-02 2.30005852e+02] [ 1.59062663e-01 9.87253667e-01 -5.40982943e-03 1.82820058e+01] [ 5.38354837e-02 -3.20207366e-03 9.98544685e-01 1.07080859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.04, Y:18.29, Z:10.71 [[ 9.85885662e-01 -1.58661894e-01 -5.34402959e-02 2.30036664e+02] [ 1.58602149e-01 9.87327894e-01 -5.38412148e-03 1.82857848e+01] [ 5.36173497e-02 -3.16761761e-03 9.98556531e-01 1.07098222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.07, Y:18.29, Z:10.71 [[ 9.86036438e-01 -1.58004152e-01 -5.26006670e-02 2.30068613e+02] [ 1.57945491e-01 9.87433627e-01 -5.29657213e-03 1.82938436e+01] [ 5.27765478e-02 -3.08542507e-03 9.98601580e-01 1.07120680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.10, Y:18.30, Z:10.71 [[ 9.86121656e-01 -1.57688261e-01 -5.19470153e-02 2.30100576e+02] [ 1.57630846e-01 9.87484280e-01 -5.22624373e-03 1.82986353e+01] [ 5.21209782e-02 -3.03473984e-03 9.98636167e-01 1.07139767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.13, Y:18.30, Z:10.72 [[ 9.86135607e-01 -1.57668740e-01 -5.17410114e-02 2.30131630e+02] [ 1.57611939e-01 9.87487426e-01 -5.20191607e-03 1.83014787e+01] [ 5.19137777e-02 -3.02520649e-03 9.98646989e-01 1.07159289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.16, Y:18.31, Z:10.72 [[ 9.86146671e-01 -1.57959046e-01 -5.06328248e-02 2.30163540e+02] [ 1.57905168e-01 9.87441174e-01 -5.08780577e-03 1.83065918e+01] [ 5.08006009e-02 -2.97786197e-03 9.98704376e-01 1.07184040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.20, Y:18.31, Z:10.72 [[ 9.86169477e-01 -1.57808287e-01 -5.06587424e-02 2.30195593e+02] [ 1.57754344e-01 9.87465287e-01 -5.08671065e-03 1.83127946e+01] [ 5.08264747e-02 -2.97527789e-03 9.98703068e-01 1.07199950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.23, Y:18.31, Z:10.72 [[ 9.86189412e-01 -1.57550554e-01 -5.10711881e-02 2.30226437e+02] [ 1.57495661e-01 9.87506392e-01 -5.12275858e-03 1.83144797e+01] [ 5.12402182e-02 -2.99148029e-03 9.98681877e-01 1.07210703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.26, Y:18.32, Z:10.72 [[ 9.86207726e-01 -1.57303386e-01 -5.14778242e-02 2.30258146e+02] [ 1.57247428e-01 9.87545753e-01 -5.16070278e-03 1.83185160e+01] [ 5.16485026e-02 -3.00523051e-03 9.98660804e-01 1.07218628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.29, Y:18.32, Z:10.72 [[ 9.86285697e-01 -1.56574862e-01 -5.21999626e-02 2.30289146e+02] [ 1.56516518e-01 9.87661499e-01 -5.22912612e-03 1.83219460e+01] [ 5.23746430e-02 -3.01274407e-03 9.98622962e-01 1.07226479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.32, Y:18.33, Z:10.72 [[ 9.86454795e-01 -1.55027180e-01 -5.36051450e-02 2.30321102e+02] [ 1.54963734e-01 9.87905601e-01 -5.36330346e-03 1.83270304e+01] [ 5.37882808e-02 -3.01619703e-03 9.98547807e-01 1.07221416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.35, Y:18.33, Z:10.72 [[ 9.86502392e-01 -1.54476615e-01 -5.43139575e-02 2.30352669e+02] [ 1.54410858e-01 9.87991800e-01 -5.43043381e-03 1.83342740e+01] [ 5.45006197e-02 -3.02952885e-03 9.98509141e-01 1.07235295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.38, Y:18.34, Z:10.73 [[ 9.86573253e-01 -1.53718299e-01 -5.51715549e-02 2.30384581e+02] [ 1.53649499e-01 9.88110039e-01 -5.51205058e-03 1.83437421e+01] [ 5.53628703e-02 -3.03904011e-03 9.98461675e-01 1.07250631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.42, Y:18.35, Z:10.73 [[ 9.86800765e-01 -1.52291528e-01 -5.50594375e-02 2.30415530e+02] [ 1.52221059e-01 9.88331191e-01 -5.49606326e-03 1.83456653e+01] [ 5.52539633e-02 -2.95768644e-03 9.98467952e-01 1.07268183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.45, Y:18.35, Z:10.73 [[ 9.86978793e-01 -1.51395391e-01 -5.43350608e-02 2.30446349e+02] [ 1.51325569e-01 9.88469113e-01 -5.42081407e-03 1.83492774e+01] [ 5.45292156e-02 -2.87205546e-03 9.98508045e-01 1.07289330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.48, Y:18.36, Z:10.73 [[ 9.87183657e-01 -1.50306852e-01 -5.36309318e-02 2.30477965e+02] [ 1.50237382e-01 9.88635490e-01 -5.34766704e-03 1.83554089e+01] [ 5.38252335e-02 -2.77824125e-03 9.98546506e-01 1.07312098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.51, Y:18.36, Z:10.73 [[ 9.87420814e-01 -1.49018273e-01 -5.28553680e-02 2.30509660e+02] [ 1.48949152e-01 9.88830831e-01 -5.26664116e-03 1.83639594e+01] [ 5.30498433e-02 -2.67237113e-03 9.98588290e-01 1.07338341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.54, Y:18.37, Z:10.74 [[ 9.87654628e-01 -1.47673757e-01 -5.22570254e-02 2.30541104e+02] [ 1.47604513e-01 9.89032777e-01 -5.20323923e-03 1.83677156e+01] [ 5.24522929e-02 -2.57436945e-03 9.98620113e-01 1.07355882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.57, Y:18.38, Z:10.74 [[ 9.87933456e-01 -1.45822352e-01 -5.21855125e-02 2.30572296e+02] [ 1.45750920e-01 9.89307692e-01 -5.19232709e-03 1.83753937e+01] [ 5.23846862e-02 -2.47641281e-03 9.98623909e-01 1.07380602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.60, Y:18.38, Z:10.74 [[ 9.88038587e-01 -1.45169038e-01 -5.20163549e-02 2.30604577e+02] [ 1.45097385e-01 9.89403864e-01 -5.17130064e-03 1.83804092e+01] [ 5.22158953e-02 -2.43799249e-03 9.98632844e-01 1.07398628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.64, Y:18.38, Z:10.74 [[ 9.88036911e-01 -1.45121027e-01 -5.21818936e-02 2.30636598e+02] [ 1.45049198e-01 9.89410878e-01 -5.18111731e-03 1.83822457e+01] [ 5.23812222e-02 -2.44980668e-03 9.98624157e-01 1.07412451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.67, Y:18.38, Z:10.74 [[ 9.87981421e-01 -1.45407059e-01 -5.24356643e-02 2.30668434e+02] [ 1.45335181e-01 9.89368803e-01 -5.20158597e-03 1.83847985e+01] [ 5.26345577e-02 -2.48167647e-03 9.98610757e-01 1.07430520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.445099893 meters Centerline goodness [0,1] 0.9998708649893464 Centerline is valid? [True, True] Translation: X:230.70, Y:18.39, Z:10.74 [[ 9.87853558e-01 -1.46053052e-01 -5.30457655e-02 2.30700870e+02] [ 1.45980627e-01 9.89273474e-01 -5.25826890e-03 1.83865154e+01] [ 5.32447550e-02 -2.54925444e-03 9.98578238e-01 1.07447791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.73, Y:18.39, Z:10.75 [[ 9.87741768e-01 -1.46772669e-01 -5.31411727e-02 2.30732488e+02] [ 1.46701225e-01 9.89166842e-01 -5.26391938e-03 1.83913117e+01] [ 5.33380855e-02 -2.59648209e-03 9.98573135e-01 1.07471318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.505099893 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:230.76, Y:18.39, Z:10.75 [[ 9.87643970e-01 -1.47342188e-01 -5.33822916e-02 2.30764267e+02] [ 1.47271135e-01 9.89082046e-01 -5.28386576e-03 1.83929953e+01] [ 5.35780025e-02 -2.64309251e-03 9.98560169e-01 1.07491834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.535099893 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:230.80, Y:18.40, Z:10.75 [[ 9.87659995e-01 -1.47234584e-01 -5.33826958e-02 2.30796663e+02] [ 1.47163594e-01 9.89098074e-01 -5.27977868e-03 1.83961106e+01] [ 5.35780876e-02 -2.64136320e-03 9.98560169e-01 1.07507307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.83, Y:18.40, Z:10.75 [[ 9.87458126e-01 -1.48087583e-01 -5.47404526e-02 2.30827711e+02] [ 1.48014561e-01 9.88970394e-01 -5.40832983e-03 1.83966395e+01] [ 5.49375935e-02 -2.76188482e-03 9.98485970e-01 1.07525466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.86, Y:18.40, Z:10.75 [[ 9.87330953e-01 -1.48671936e-01 -5.54458665e-02 2.30860037e+02] [ 1.48598118e-01 9.88882514e-01 -5.47483853e-03 1.83989376e+01] [ 5.56434027e-02 -2.83367385e-03 9.98446685e-01 1.07542679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.89, Y:18.40, Z:10.76 [[ 9.87274769e-01 -1.48926301e-01 -5.57627779e-02 2.30892319e+02] [ 1.48852263e-01 9.88844138e-01 -5.50215653e-03 1.84020392e+01] [ 5.59601119e-02 -2.86827538e-03 9.98428885e-01 1.07562643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.92, Y:18.41, Z:10.76 [[ 9.87244022e-01 -1.48987771e-01 -5.61416440e-02 2.30923819e+02] [ 1.48913051e-01 9.88834800e-01 -5.53552179e-03 1.84071255e+01] [ 5.63395364e-02 -2.89531270e-03 9.98407469e-01 1.07583649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.96, Y:18.41, Z:10.76 [[ 9.87226971e-01 -1.48933294e-01 -5.65842926e-02 2.30955797e+02] [ 1.48857538e-01 9.88842936e-01 -5.57504011e-03 1.84120972e+01] [ 5.67832871e-02 -2.91916853e-03 9.98382260e-01 1.07609145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.99, Y:18.42, Z:10.76 [[ 9.87381103e-01 -1.48019548e-01 -5.62918355e-02 2.30988171e+02] [ 1.47943334e-01 9.88980312e-01 -5.54195190e-03 1.84158518e+01] [ 5.64918343e-02 -2.85598323e-03 9.98398976e-01 1.07626206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.02, Y:18.42, Z:10.76 [[ 9.87589342e-01 -1.46662858e-01 -5.61898365e-02 2.31019808e+02] [ 1.46585012e-01 9.89182636e-01 -5.52692918e-03 1.84196925e+01] [ 5.63926058e-02 -2.77825149e-03 9.98404805e-01 1.07645820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.05, Y:18.42, Z:10.77 [[ 9.87831311e-01 -1.45014189e-01 -5.62155339e-02 2.31051295e+02] [ 1.44933843e-01 9.89425920e-01 -5.52532141e-03 1.84223315e+01] [ 5.64223564e-02 -2.68944790e-03 9.98403368e-01 1.07664433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.08, Y:18.43, Z:10.77 [[ 9.88136343e-01 -1.43070846e-01 -5.58327829e-02 2.31082756e+02] [ 1.42988723e-01 9.89709126e-01 -5.48366582e-03 1.84266405e+01] [ 5.60427674e-02 -2.56484884e-03 9.98425075e-01 1.07684763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.11, Y:18.43, Z:10.77 [[ 9.88691835e-01 -1.39466346e-01 -5.51143735e-02 2.31113914e+02] [ 1.39380950e-01 9.90224061e-01 -5.40919739e-03 1.84347360e+01] [ 5.53299797e-02 -2.33386444e-03 9.98465396e-01 1.07714335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.15, Y:18.44, Z:10.77 [[ 9.88920895e-01 -1.37804004e-01 -5.51862269e-02 2.31145448e+02] [ 1.37716043e-01 9.90456967e-01 -5.41192286e-03 1.84379180e+01] [ 5.54053675e-02 -2.24806517e-03 9.98461412e-01 1.07731583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.18, Y:18.44, Z:10.77 [[ 9.89088053e-01 -1.36574095e-01 -5.52479812e-02 2.31177000e+02] [ 1.36484247e-01 9.90627447e-01 -5.41394672e-03 1.84414577e+01] [ 5.54695715e-02 -2.18560906e-03 9.98457986e-01 1.07745745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.21, Y:18.45, Z:10.78 [[ 9.89179839e-01 -1.35803734e-01 -5.55030888e-02 2.31208753e+02] [ 1.35712069e-01 9.90733413e-01 -5.43491832e-03 1.84454381e+01] [ 5.57268469e-02 -2.15632737e-03 9.98443723e-01 1.07759888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.24, Y:18.45, Z:10.78 [[ 9.89218702e-01 -1.35328362e-01 -5.59695840e-02 2.31240418e+02] [ 1.35234621e-01 9.90798468e-01 -5.47650408e-03 1.84471478e+01] [ 5.61957045e-02 -2.15156525e-03 9.98417455e-01 1.07767165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.27, Y:18.45, Z:10.78 [[ 9.89248418e-01 -1.34489641e-01 -5.74465352e-02 2.31272544e+02] [ 1.34389723e-01 9.90912637e-01 -5.61677492e-03 1.84518945e+01] [ 5.76798957e-02 -2.16383826e-03 9.98332784e-01 1.07776644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.30, Y:18.45, Z:10.78 [[ 9.89264286e-01 -1.34249949e-01 -5.77332142e-02 2.31303481e+02] [ 1.34148860e-01 9.90945137e-01 -5.64073524e-03 1.84537300e+01] [ 5.79677163e-02 -2.16466694e-03 9.98316111e-01 1.07788536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.34, Y:18.46, Z:10.78 [[ 9.89188371e-01 -1.34443741e-01 -5.85768550e-02 2.31335585e+02] [ 1.34340219e-01 9.90918761e-01 -5.71971258e-03 1.84553598e+01] [ 5.88138841e-02 -2.21135435e-03 9.98266516e-01 1.07809125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.37, Y:18.46, Z:10.78 [[ 9.89128475e-01 -1.34544997e-01 -5.93506817e-02 2.31367249e+02] [ 1.34439151e-01 9.90904929e-01 -5.79114273e-03 1.84572990e+01] [ 5.95900523e-02 -2.25087107e-03 9.98220396e-01 1.07816284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.40, Y:18.46, Z:10.78 [[ 9.88992888e-01 -1.35072344e-01 -6.04030546e-02 2.31399647e+02] [ 1.34963909e-01 9.90833007e-01 -5.89028433e-03 1.84589509e+01] [ 6.06449547e-02 -2.32678303e-03 9.98156689e-01 1.07824860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.43, Y:18.46, Z:10.78 [[ 9.88940719e-01 -1.34999677e-01 -6.14112419e-02 2.31431988e+02] [ 1.34887727e-01 9.90842818e-01 -5.98415676e-03 1.84607162e+01] [ 6.16567472e-02 -2.36564655e-03 9.98094609e-01 1.07829383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.46, Y:18.46, Z:10.78 [[ 9.89106093e-01 -1.34014598e-01 -6.09034064e-02 2.31464101e+02] [ 1.33902892e-01 9.90976713e-01 -5.93037037e-03 1.84639441e+01] [ 6.11486137e-02 -2.28937678e-03 9.98126047e-01 1.07846441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.49, Y:18.47, Z:10.79 [[ 9.89532592e-01 -1.31732803e-01 -5.89212889e-02 2.31494199e+02] [ 1.31624415e-01 9.91283075e-01 -5.73392485e-03 1.84676792e+01] [ 5.91630224e-02 -2.08157463e-03 9.98246164e-01 1.07874196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.53, Y:18.47, Z:10.79 [[ 9.89641351e-01 -1.30936886e-01 -5.88687343e-02 2.31526453e+02] [ 1.30827383e-01 9.91388620e-01 -5.72716497e-03 1.84715549e+01] [ 5.91116904e-02 -2.03380314e-03 9.98249303e-01 1.07896339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.56, Y:18.48, Z:10.79 [[ 9.89756962e-01 -1.30183754e-01 -5.85947701e-02 2.31558046e+02] [ 1.30074192e-01 9.91487900e-01 -5.69641505e-03 1.84763645e+01] [ 5.88375863e-02 -1.98360092e-03 9.98265598e-01 1.07917113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.59, Y:18.48, Z:10.79 [[ 9.89644461e-01 -1.30891398e-01 -5.89175985e-02 2.31590001e+02] [ 1.30782128e-01 9.91394612e-01 -5.72355591e-03 1.84798513e+01] [ 5.91597539e-02 -2.04108350e-03 9.98246441e-01 1.07926966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.62, Y:18.48, Z:10.79 [[ 9.89454365e-01 -1.32099741e-01 -5.94114328e-02 2.31622510e+02] [ 1.31991065e-01 9.91234129e-01 -5.76717417e-03 1.84820322e+01] [ 5.96524820e-02 -2.13542265e-03 9.98216921e-01 1.07937570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.65, Y:18.48, Z:10.80 [[ 9.89247417e-01 -1.33589332e-01 -5.95267924e-02 2.31654445e+02] [ 1.33483185e-01 9.91034258e-01 -5.77401060e-03 1.84843140e+01] [ 5.97644367e-02 -2.23390080e-03 9.98210009e-01 1.07950642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.69, Y:18.48, Z:10.80 [[ 9.88945396e-01 -1.35757919e-01 -5.96388347e-02 2.31685959e+02] [ 1.35655556e-01 9.90739196e-01 -5.78069148e-03 1.84847230e+01] [ 5.98713058e-02 -2.37355104e-03 9.98203282e-01 1.07961878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.72, Y:18.48, Z:10.80 [[ 9.88649367e-01 -1.38049750e-01 -5.92848713e-02 2.31717367e+02] [ 1.37952935e-01 9.90422138e-01 -5.74256937e-03 1.84845521e+01] [ 5.95098093e-02 -2.50113440e-03 9.98224587e-01 1.07974317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.75, Y:18.49, Z:10.80 [[ 9.88124691e-01 -1.41950132e-01 -5.88196790e-02 2.31748616e+02] [ 1.41862022e-01 9.89870074e-01 -5.69232057e-03 1.84855515e+01] [ 5.90318657e-02 -2.71955610e-03 9.98252394e-01 1.07991216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.78, Y:18.49, Z:10.80 [[ 9.87880852e-01 -1.43523557e-01 -5.90966320e-02 2.31779664e+02] [ 1.43437565e-01 9.89642857e-01 -5.71671293e-03 1.84860739e+01] [ 5.93050427e-02 -2.82924577e-03 9.98235898e-01 1.08005364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.81, Y:18.49, Z:10.80 [[ 9.87730552e-01 -1.44637709e-01 -5.88921947e-02 2.31810621e+02] [ 1.44554478e-01 9.89480462e-01 -5.69368818e-03 1.84860598e+01] [ 5.90961981e-02 -2.88930067e-03 9.98248111e-01 1.08019624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.84, Y:18.49, Z:10.81 [[ 9.87616186e-01 -1.46103339e-01 -5.71671589e-02 2.31842457e+02] [ 1.46027541e-01 9.89265104e-01 -5.52366870e-03 1.84883735e+01] [ 5.73605019e-02 -2.89271500e-03 9.98349340e-01 1.08051836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.87, Y:18.49, Z:10.81 [[ 9.87618874e-01 -1.46359373e-01 -5.64614326e-02 2.31873808e+02] [ 1.46286082e-01 9.89227307e-01 -5.45139021e-03 1.84927276e+01] [ 5.66510530e-02 -2.87562588e-03 9.98389898e-01 1.08082528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.91, Y:18.49, Z:10.81 [[ 9.87689174e-01 -1.46266147e-01 -5.54644898e-02 2.31905425e+02] [ 1.46195490e-01 9.89241246e-01 -5.35122643e-03 1.84931520e+01] [ 5.56504643e-02 -2.82330983e-03 9.98446320e-01 1.08104854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.94, Y:18.49, Z:10.81 [[ 9.87868930e-01 -1.45547075e-01 -5.41389495e-02 2.31936738e+02] [ 1.45478835e-01 9.89347591e-01 -5.22040875e-03 1.84944921e+01] [ 5.43220545e-02 -2.71899168e-03 9.98519765e-01 1.08131484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.97, Y:18.50, Z:10.82 [[ 9.87932634e-01 -1.45108389e-01 -5.41540884e-02 2.31968417e+02] [ 1.45039621e-01 9.89412084e-01 -5.21879490e-03 1.84990941e+01] [ 5.43380004e-02 -2.69867065e-03 9.98518953e-01 1.08150779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.00, Y:18.50, Z:10.82 [[ 9.87972269e-01 -1.44883198e-01 -5.40338206e-02 2.31999856e+02] [ 1.44814607e-01 9.89445125e-01 -5.20337320e-03 1.84986113e+01] [ 5.42173817e-02 -2.68409807e-03 9.98525549e-01 1.08159647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.03, Y:18.50, Z:10.82 [[ 9.87992321e-01 -1.44582585e-01 -5.44706300e-02 2.32031877e+02] [ 1.44512596e-01 9.89489074e-01 -5.24231908e-03 1.85012024e+01] [ 5.46560413e-02 -2.69232117e-03 9.98501612e-01 1.08172433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.06, Y:18.50, Z:10.82 [[ 9.87967699e-01 -1.44665598e-01 -5.46963448e-02 2.32063937e+02] [ 1.44595370e-01 9.89476887e-01 -5.26014827e-03 1.85040177e+01] [ 5.48817315e-02 -2.71198164e-03 9.98489179e-01 1.08185739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.10, Y:18.51, Z:10.82 [[ 9.87823582e-01 -1.45119339e-01 -5.60798323e-02 2.32095476e+02] [ 1.45046475e-01 9.89410166e-01 -5.38910948e-03 1.85081576e+01] [ 5.62680202e-02 -2.81069259e-03 9.98411744e-01 1.08196705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.13, Y:18.51, Z:10.82 [[ 9.87725996e-01 -1.45450521e-01 -5.69342044e-02 2.32128069e+02] [ 1.45376212e-01 9.89361344e-01 -5.46700201e-03 1.85093988e+01] [ 5.71236793e-02 -2.87697897e-03 9.98362964e-01 1.08203002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.16, Y:18.51, Z:10.82 [[ 9.87530714e-01 -1.46119973e-01 -5.85836403e-02 2.32160503e+02] [ 1.46042732e-01 9.89262313e-01 -5.62101857e-03 1.85120110e+01] [ 5.87759307e-02 -3.00478639e-03 9.98266678e-01 1.08211574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.19, Y:18.51, Z:10.82 [[ 9.87396634e-01 -1.46591642e-01 -5.96554932e-02 2.32191595e+02] [ 1.46512663e-01 9.89192259e-01 -5.71962142e-03 1.85111194e+01] [ 5.98492008e-02 -3.09275025e-03 9.98202639e-01 1.08219367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.22, Y:18.51, Z:10.82 [[ 9.87859131e-01 -1.43282200e-01 -6.00378873e-02 2.32222461e+02] [ 1.43196298e-01 9.89677584e-01 -5.75321301e-03 1.85129433e+01] [ 6.02424843e-02 -2.91383922e-03 9.98179519e-01 1.08240396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.25, Y:18.53, Z:10.83 [[ 9.89410910e-01 -1.32308782e-01 -5.96694085e-02 2.32251810e+02] [ 1.32204111e-01 9.91206033e-01 -5.71604667e-03 1.85266064e+01] [ 5.99009609e-02 -2.23302217e-03 9.98201828e-01 1.08295738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.28, Y:18.53, Z:10.83 [[ 9.89554425e-01 -1.31065240e-01 -6.00328461e-02 2.32283520e+02] [ 1.30957110e-01 9.91371365e-01 -5.74915488e-03 1.85273093e+01] [ 6.02683590e-02 -2.17262637e-03 9.98179846e-01 1.08303934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.31, Y:18.53, Z:10.83 [[ 9.89558993e-01 -1.31030576e-01 -6.00332155e-02 2.32314217e+02] [ 1.30922616e-01 9.91375943e-01 -5.74529554e-03 1.85302153e+01] [ 6.02682950e-02 -2.17439675e-03 9.98179846e-01 1.08318594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.35, Y:18.54, Z:10.83 [[ 9.89647020e-01 -1.30364109e-01 -6.00331197e-02 2.32345747e+02] [ 1.30255083e-01 9.91463885e-01 -5.74269545e-03 1.85353600e+01] [ 6.02693115e-02 -2.13637755e-03 9.98179867e-01 1.08342549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.38, Y:18.54, Z:10.84 [[ 9.89656396e-01 -1.30292721e-01 -6.00335333e-02 2.32377289e+02] [ 1.30183826e-01 9.91473269e-01 -5.73836965e-03 1.85383160e+01] [ 6.02693113e-02 -2.13638080e-03 9.98179867e-01 1.08357611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.41, Y:18.54, Z:10.84 [[ 9.89681421e-01 -1.29950881e-01 -6.03610346e-02 2.32408934e+02] [ 1.29840427e-01 9.91518142e-01 -5.76526916e-03 1.85413443e+01] [ 6.05982626e-02 -2.13152271e-03 9.98159961e-01 1.08371961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.44, Y:18.54, Z:10.84 [[ 9.89690768e-01 -1.29879481e-01 -6.03614496e-02 2.32440476e+02] [ 1.29769159e-01 9.91527497e-01 -5.76092110e-03 1.85442959e+01] [ 6.05982625e-02 -2.13152415e-03 9.98159961e-01 1.08387023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.47, Y:18.55, Z:10.84 [[ 9.89639895e-01 -1.29871129e-01 -6.12075829e-02 2.32471666e+02] [ 1.29757939e-01 9.91528518e-01 -5.83743790e-03 1.85459848e+01] [ 6.14471786e-02 -2.16520835e-03 9.98107988e-01 1.08399391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.50, Y:18.55, Z:10.84 [[ 9.89644512e-01 -1.29835802e-01 -6.12078720e-02 2.32502364e+02] [ 1.29722731e-01 9.91533143e-01 -5.83440450e-03 1.85488803e+01] [ 6.14471483e-02 -2.16606595e-03 9.98107988e-01 1.08414053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.53, Y:18.55, Z:10.84 [[ 9.89649128e-01 -1.29800515e-01 -6.12080796e-02 2.32533061e+02] [ 1.29687512e-01 9.91537762e-01 -5.83222623e-03 1.85517752e+01] [ 6.14471483e-02 -2.16606595e-03 9.98107988e-01 1.08428717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.56, Y:18.55, Z:10.84 [[ 9.89595112e-01 -1.30215795e-01 -6.11993553e-02 2.32564303e+02] [ 1.30103751e-01 9.91483250e-01 -5.82919902e-03 1.85539865e+01] [ 6.14371895e-02 -2.19371886e-03 9.98108541e-01 1.08443112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.60, Y:18.56, Z:10.85 [[ 9.89482955e-01 -1.30844018e-01 -6.16711091e-02 2.32595496e+02] [ 1.30731596e-01 9.91400409e-01 -5.87191060e-03 1.85561717e+01] [ 6.19090672e-02 -2.25220706e-03 9.98079253e-01 1.08452936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.63, Y:18.55, Z:10.85 [[ 9.89210220e-01 -1.32671433e-01 -6.21404246e-02 2.32626140e+02] [ 1.32561013e-01 9.91157200e-01 -5.91461835e-03 1.85545865e+01] [ 6.23756302e-02 -2.38659671e-03 9.98049891e-01 1.08455821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.66, Y:18.56, Z:10.85 [[ 9.89037657e-01 -1.34055903e-01 -6.19154831e-02 2.32657677e+02] [ 1.33949071e-01 9.90970702e-01 -5.89185074e-03 1.85560930e+01] [ 6.21462671e-02 -2.46625918e-03 9.98064005e-01 1.08470521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.69, Y:18.56, Z:10.85 [[ 9.88837364e-01 -1.35578436e-01 -6.17993086e-02 2.32688993e+02] [ 1.35475104e-01 9.90763311e-01 -5.87862035e-03 1.85569116e+01] [ 6.20255017e-02 -2.55926832e-03 9.98071284e-01 1.08487839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.72, Y:18.56, Z:10.85 [[ 9.88646888e-01 -1.36926389e-01 -6.18748358e-02 2.32720423e+02] [ 1.36825573e-01 9.90577683e-01 -5.88362482e-03 1.85602360e+01] [ 6.20974550e-02 -2.64923251e-03 9.98066575e-01 1.08512593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.75, Y:18.56, Z:10.85 [[ 9.88467385e-01 -1.38533861e-01 -6.11604264e-02 2.32751463e+02] [ 1.38438559e-01 9.90353961e-01 -5.81351108e-03 1.85631833e+01] [ 6.13758386e-02 -2.72049522e-03 9.98111019e-01 1.08531075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.78, Y:18.57, Z:10.85 [[ 9.88477447e-01 -1.38461934e-01 -6.11606849e-02 2.32783018e+02] [ 1.38366664e-01 9.90364025e-01 -5.81078992e-03 1.85661236e+01] [ 6.13759152e-02 -2.71876514e-03 9.98111019e-01 1.08546148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.81, Y:18.56, Z:10.86 [[ 9.88075899e-01 -1.41753941e-01 -6.00985666e-02 2.32813843e+02] [ 1.41668236e-01 9.89897747e-01 -5.70623720e-03 1.85639865e+01] [ 6.03003173e-02 -2.87586249e-03 9.98176137e-01 1.08564479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.85, Y:18.57, Z:10.86 [[ 9.87898528e-01 -1.43145119e-01 -5.97157681e-02 2.32845051e+02] [ 1.43063127e-01 9.89697333e-01 -5.66834315e-03 1.85694486e+01] [ 5.99119321e-02 -2.94337667e-03 9.98199327e-01 1.08593163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.88, Y:18.57, Z:10.86 [[ 9.87722231e-01 -1.44545496e-01 -5.92570077e-02 2.32875971e+02] [ 1.44467466e-01 9.89493583e-01 -5.62150215e-03 1.85699576e+01] [ 5.94469917e-02 -3.00822709e-03 9.98226931e-01 1.08608987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.91, Y:18.57, Z:10.86 [[ 9.87418589e-01 -1.46857721e-01 -5.86288324e-02 2.32906702e+02] [ 1.46785559e-01 9.89152716e-01 -5.55910256e-03 1.85658838e+01] [ 5.88092659e-02 -3.11670472e-03 9.98264372e-01 1.08614355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.94, Y:18.57, Z:10.86 [[ 9.87278035e-01 -1.47779448e-01 -5.86797784e-02 2.32938991e+02] [ 1.47708882e-01 9.89015241e-01 -5.56225867e-03 1.85686312e+01] [ 5.88571827e-02 -3.17602864e-03 9.98261361e-01 1.08630507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.97, Y:18.57, Z:10.86 [[ 9.87040685e-01 -1.49491364e-01 -5.83354019e-02 2.32970426e+02] [ 1.49424819e-01 9.88757649e-01 -5.52586230e-03 1.85701445e+01] [ 5.85056435e-02 -3.26250598e-03 9.98281747e-01 1.08646361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.00, Y:18.57, Z:10.87 [[ 9.86957181e-01 -1.50133341e-01 -5.80990700e-02 2.33002402e+02] [ 1.50068586e-01 9.88660285e-01 -5.50099391e-03 1.85734792e+01] [ 5.82661257e-02 -3.28959986e-03 9.98295666e-01 1.08659052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.03, Y:18.57, Z:10.87 [[ 9.86898842e-01 -1.50425815e-01 -5.83330954e-02 2.33033906e+02] [ 1.50361286e-01 9.88615711e-01 -5.51907860e-03 1.85738385e+01] [ 5.84992265e-02 -3.32426694e-03 9.98281919e-01 1.08665040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.07, Y:18.57, Z:10.87 [[ 9.86905750e-01 -1.50280905e-01 -5.85891651e-02 2.33065152e+02] [ 1.50215742e-01 9.88637718e-01 -5.54011535e-03 1.85737548e+01] [ 5.87560321e-02 -3.33344324e-03 9.98266806e-01 1.08668181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.10, Y:18.58, Z:10.87 [[ 9.86974271e-01 -1.49972361e-01 -5.82243895e-02 2.33096306e+02] [ 1.49907641e-01 9.88684691e-01 -5.50272733e-03 1.85768224e+01] [ 5.83908196e-02 -3.29723059e-03 9.98288355e-01 1.08683046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.13, Y:18.58, Z:10.87 [[ 9.87059150e-01 -1.49464383e-01 -5.80915871e-02 2.33128060e+02] [ 1.49399222e-01 9.88761729e-01 -5.48775796e-03 1.85804932e+01] [ 5.82589625e-02 -3.26209619e-03 9.98296174e-01 1.08699325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.16, Y:18.58, Z:10.87 [[ 9.87140846e-01 -1.49150709e-01 -5.75066660e-02 2.33159108e+02] [ 1.49086533e-01 9.88809250e-01 -5.42883500e-03 1.85799360e+01] [ 5.76728378e-02 -3.21444469e-03 9.98330362e-01 1.08706485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.19, Y:18.59, Z:10.87 [[ 9.87162628e-01 -1.48989659e-01 -5.75502089e-02 2.33190560e+02] [ 1.48925253e-01 9.88833544e-01 -5.43053673e-03 1.85912027e+01] [ 5.77166709e-02 -3.20985653e-03 9.98327843e-01 1.08733702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.22, Y:18.59, Z:10.87 [[ 9.87209946e-01 -1.48437175e-01 -5.81629410e-02 2.33221877e+02] [ 1.48370678e-01 9.88916612e-01 -5.48422458e-03 1.85925139e+01] [ 5.83323613e-02 -3.21559394e-03 9.98292039e-01 1.08743368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.25, Y:18.59, Z:10.87 [[ 9.87249360e-01 -1.48056360e-01 -5.84637909e-02 2.33252778e+02] [ 1.47988699e-01 9.88973706e-01 -5.50937263e-03 1.85937888e+01] [ 5.86348497e-02 -3.21285576e-03 9.98274327e-01 1.08745649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.29, Y:18.60, Z:10.88 [[ 9.87274150e-01 -1.47870371e-01 -5.85158627e-02 2.33285075e+02] [ 1.47802462e-01 9.89001548e-01 -5.51091417e-03 1.85977553e+01] [ 5.86871797e-02 -3.20800545e-03 9.98271268e-01 1.08758620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.32, Y:18.60, Z:10.88 [[ 9.87221162e-01 -1.48189447e-01 -5.86026121e-02 2.33317438e+02] [ 1.48122145e-01 9.88953698e-01 -5.51486042e-03 1.86012005e+01] [ 5.87725141e-02 -3.23595769e-03 9.98266157e-01 1.08772713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.35, Y:18.61, Z:10.88 [[ 9.87215309e-01 -1.48239777e-01 -5.85738977e-02 2.33349569e+02] [ 1.48172880e-01 9.88946136e-01 -5.50791281e-03 1.86071595e+01] [ 5.87429216e-02 -3.24156725e-03 9.98267881e-01 1.08791305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.38, Y:18.61, Z:10.88 [[ 9.87107630e-01 -1.48966991e-01 -5.85436733e-02 2.33380462e+02] [ 1.48901678e-01 9.88836705e-01 -5.50094278e-03 1.86077387e+01] [ 5.87095919e-02 -3.28722862e-03 9.98269692e-01 1.08798484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.41, Y:18.61, Z:10.88 [[ 9.87099752e-01 -1.49027246e-01 -5.85231589e-02 2.33412617e+02] [ 1.48962286e-01 9.88827607e-01 -5.49559260e-03 1.86106780e+01] [ 5.86883082e-02 -3.29304545e-03 9.98270924e-01 1.08810644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.44, Y:18.61, Z:10.88 [[ 9.87007581e-01 -1.49560392e-01 -5.87173222e-02 2.33444791e+02] [ 1.49496192e-01 9.88746951e-01 -5.50957690e-03 1.86139378e+01] [ 5.88805878e-02 -3.34002188e-03 9.98259446e-01 1.08824118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.48, Y:18.61, Z:10.88 [[ 9.86879800e-01 -1.50234361e-01 -5.91430196e-02 2.33476044e+02] [ 1.50170675e-01 9.88644535e-01 -5.54543552e-03 1.86145288e+01] [ 5.93045381e-02 -3.40886889e-03 9.98234117e-01 1.08831409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.51, Y:18.62, Z:10.88 [[ 9.86697990e-01 -1.51365469e-01 -5.92922597e-02 2.33507167e+02] [ 1.51303673e-01 9.88471712e-01 -5.55643912e-03 1.86199020e+01] [ 5.94497745e-02 -3.48860939e-03 9.98225202e-01 1.08848020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.54, Y:18.62, Z:10.89 [[ 9.86546655e-01 -1.52430981e-01 -5.90804039e-02 2.33538772e+02] [ 1.52371666e-01 9.88307770e-01 -5.53424904e-03 1.86198318e+01] [ 5.92332132e-02 -3.54238468e-03 9.98237886e-01 1.08863893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.57, Y:18.62, Z:10.89 [[ 9.86410785e-01 -1.53503867e-01 -5.85689805e-02 2.33570447e+02] [ 1.53447651e-01 9.88141566e-01 -5.48299698e-03 1.86241774e+01] [ 5.87161054e-02 -3.57878512e-03 9.98268306e-01 1.08889039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.60, Y:18.63, Z:10.89 [[ 9.86218013e-01 -1.55082310e-01 -5.76498664e-02 2.33602024e+02] [ 1.55030778e-01 9.87894923e-01 -5.39256884e-03 1.86269238e+01] [ 5.77883024e-02 -3.61925512e-03 9.98322299e-01 1.08915638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.63, Y:18.63, Z:10.89 [[ 9.86157506e-01 -1.55734434e-01 -5.69224017e-02 2.33633476e+02] [ 1.55685565e-01 9.87792341e-01 -5.31938971e-03 1.86258455e+01] [ 5.70559246e-02 -3.61624016e-03 9.98364435e-01 1.08929465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.67, Y:18.63, Z:10.90 [[ 9.86090055e-01 -1.56192827e-01 -5.68348779e-02 2.33665682e+02] [ 1.56145051e-01 9.87719874e-01 -5.30797014e-03 1.86281317e+01] [ 5.69660053e-02 -3.64034831e-03 9.98369482e-01 1.08951442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.70, Y:18.63, Z:10.90 [[ 9.86020503e-01 -1.57101410e-01 -5.55222002e-02 2.33697915e+02] [ 1.57057456e-01 9.87575874e-01 -5.18154014e-03 1.86291310e+01] [ 5.56464126e-02 -3.61107067e-03 9.98444008e-01 1.08974999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.73, Y:18.63, Z:10.90 [[ 9.85986409e-01 -1.57476286e-01 -5.50637807e-02 2.33729854e+02] [ 1.57433846e-01 9.87516186e-01 -5.13493081e-03 1.86311358e+01] [ 5.51850045e-02 -3.60593075e-03 9.98469635e-01 1.08996839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.76, Y:18.64, Z:10.90 [[ 9.85927162e-01 -1.57922646e-01 -5.48458760e-02 2.33761508e+02] [ 1.57881439e-01 9.87444850e-01 -5.11076791e-03 1.86412270e+01] [ 5.49643838e-02 -3.62030092e-03 9.98481752e-01 1.09025475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.79, Y:18.64, Z:10.90 [[ 9.85774516e-01 -1.58938120e-01 -5.46559886e-02 2.33793258e+02] [ 1.58898979e-01 9.87281732e-01 -5.08887130e-03 1.86383526e+01] [ 5.47696747e-02 -3.66830117e-03 9.98492277e-01 1.09034171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.82, Y:18.64, Z:10.90 [[ 9.85650442e-01 -1.59699292e-01 -5.46748787e-02 2.33824965e+02] [ 1.59661570e-01 9.87158711e-01 -5.08550832e-03 1.86441281e+01] [ 5.47849349e-02 -3.71694348e-03 9.98491259e-01 1.09049400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.86, Y:18.65, Z:10.91 [[ 9.85504880e-01 -1.60356838e-01 -5.53698052e-02 2.33856252e+02] [ 1.60319430e-01 9.87051772e-01 -5.14576971e-03 1.86452040e+01] [ 5.54780238e-02 -3.80567445e-03 9.98452656e-01 1.09058947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.89, Y:18.65, Z:10.91 [[ 9.85318334e-01 -1.61327869e-01 -5.58667962e-02 2.33888368e+02] [ 1.61291656e-01 9.86893157e-01 -5.18633170e-03 1.86480846e+01] [ 5.59712588e-02 -3.90066037e-03 9.98424761e-01 1.09070372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.92, Y:18.65, Z:10.91 [[ 9.84901607e-01 -1.63654249e-01 -5.64456525e-02 2.33919940e+02] [ 1.63621300e-01 9.86509327e-01 -5.23621697e-03 1.86483801e+01] [ 5.65410918e-02 -4.07855254e-03 9.98391942e-01 1.09071896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.535099893 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:233.95, Y:18.65, Z:10.91 [[ 9.84674223e-01 -1.64893697e-01 -5.68044279e-02 2.33951739e+02] [ 1.64862509e-01 9.86302494e-01 -5.26723145e-03 1.86467285e+01] [ 5.68948822e-02 -4.17841346e-03 9.98371431e-01 1.09077370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.98, Y:18.65, Z:10.91 [[ 9.84387788e-01 -1.66429170e-01 -5.72888709e-02 2.33982577e+02] [ 1.66400195e-01 9.86044008e-01 -5.30935333e-03 1.86492682e+01] [ 5.73729792e-02 -4.30641669e-03 9.98343526e-01 1.09084479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.01, Y:18.65, Z:10.91 [[ 9.84362898e-01 -1.66569232e-01 -5.73094679e-02 2.34014648e+02] [ 1.66540563e-01 9.86020308e-01 -5.30967926e-03 1.86509646e+01] [ 5.73927284e-02 -4.31769976e-03 9.98342342e-01 1.09098046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.05, Y:18.65, Z:10.91 [[ 9.84381100e-01 -1.66442683e-01 -5.73644761e-02 2.34047157e+02] [ 1.66413984e-01 9.86041674e-01 -5.31061727e-03 1.86529039e+01] [ 5.74476775e-02 -4.31857974e-03 9.98339178e-01 1.09112167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.08, Y:18.65, Z:10.91 [[ 9.84510809e-01 -1.66037628e-01 -5.63025069e-02 2.34078422e+02] [ 1.66009571e-01 9.86110390e-01 -5.20781052e-03 1.86510409e+01] [ 5.63851795e-02 -4.21960925e-03 9.98400173e-01 1.09122824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.11, Y:18.66, Z:10.92 [[ 9.84756219e-01 -1.65010067e-01 -5.50169722e-02 2.34109817e+02] [ 1.64982022e-01 9.86283478e-01 -5.08262472e-03 1.86560659e+01] [ 5.51010149e-02 -4.07166501e-03 9.98472483e-01 1.09156871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.14, Y:18.66, Z:10.92 [[ 9.85001168e-01 -1.63748920e-01 -5.43966067e-02 2.34140655e+02] [ 1.63719726e-01 9.86494107e-01 -5.02280049e-03 1.86642497e+01] [ 5.44844101e-02 -3.95833319e-03 9.98506775e-01 1.09182048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.17, Y:18.67, Z:10.92 [[ 9.85245305e-01 -1.62397737e-01 -5.40246549e-02 2.34171732e+02] [ 1.62367027e-01 9.86717834e-01 -4.98647655e-03 1.86669163e+01] [ 5.41168829e-02 -3.85891997e-03 9.98527151e-01 1.09199276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.20, Y:18.67, Z:10.92 [[ 9.85453745e-01 -1.61135152e-01 -5.40035159e-02 2.34202603e+02] [ 1.61102687e-01 9.86925072e-01 -4.98254546e-03 1.86712939e+01] [ 5.41002871e-02 -3.79004344e-03 9.98528314e-01 1.09217046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.23, Y:18.67, Z:10.92 [[ 9.85721266e-01 -1.59649310e-01 -5.35320729e-02 2.34232961e+02] [ 1.59615327e-01 9.87166942e-01 -4.93720316e-03 1.86723777e+01] [ 5.36333138e-02 -3.67783319e-03 9.98553925e-01 1.09230696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.26, Y:18.68, Z:10.92 [[ 9.85974352e-01 -1.58166132e-01 -5.32733707e-02 2.34264521e+02] [ 1.58130387e-01 9.87406022e-01 -4.91212701e-03 1.86756568e+01] [ 5.33793792e-02 -3.58090746e-03 9.98567884e-01 1.09246501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.29, Y:18.68, Z:10.93 [[ 9.86280110e-01 -1.56584255e-01 -5.22772981e-02 2.34294851e+02] [ 1.56547766e-01 9.87658640e-01 -4.81747609e-03 1.86767154e+01] [ 5.23864661e-02 -3.43251339e-03 9.98620987e-01 1.09263023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.33, Y:18.68, Z:10.93 [[ 9.86370228e-01 -1.56020765e-01 -5.22617894e-02 2.34325740e+02] [ 1.55983569e-01 9.87747915e-01 -4.81493599e-03 1.86779461e+01] [ 5.23727035e-02 -3.40267091e-03 9.98621811e-01 1.09274580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.36, Y:18.69, Z:10.93 [[ 9.86419678e-01 -1.55738621e-01 -5.21699222e-02 2.34357416e+02] [ 1.55701311e-01 9.87792502e-01 -4.80363181e-03 1.86870664e+01] [ 5.22811689e-02 -3.38452833e-03 9.98626669e-01 1.09294839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.39, Y:18.68, Z:10.93 [[ 9.86426671e-01 -1.55543910e-01 -5.26166701e-02 2.34388999e+02] [ 1.55505886e-01 9.87823104e-01 -4.84094784e-03 1.86841905e+01] [ 5.27289424e-02 -3.40696185e-03 9.98603050e-01 1.09300729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.42, Y:18.69, Z:10.93 [[ 9.86428704e-01 -1.55489352e-01 -5.27396765e-02 2.34420518e+02] [ 1.55451232e-01 9.87831665e-01 -4.84925259e-03 1.86917345e+01] [ 5.28519296e-02 -3.41500574e-03 9.98596521e-01 1.09315994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.45, Y:18.69, Z:10.93 [[ 9.86375887e-01 -1.55584499e-01 -5.34422435e-02 2.34452178e+02] [ 1.55545713e-01 9.87816493e-01 -4.90985577e-03 1.86940859e+01] [ 5.35550271e-02 -3.46974851e-03 9.98558872e-01 1.09326732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.48, Y:18.69, Z:10.93 [[ 9.86138673e-01 -1.56910490e-01 -5.39408553e-02 2.34483663e+02] [ 1.56873163e-01 9.87606344e-01 -4.95177154e-03 1.86922763e+01] [ 5.40493158e-02 -3.57873917e-03 9.98531854e-01 1.09331842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.52, Y:18.70, Z:10.93 [[ 9.86042527e-01 -1.57453823e-01 -5.41149486e-02 2.34515964e+02] [ 1.57417238e-01 9.87519704e-01 -4.96464038e-03 1.86960299e+01] [ 5.42212796e-02 -3.62327921e-03 9.98522371e-01 1.09349937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.55, Y:18.70, Z:10.94 [[ 9.86042242e-01 -1.57434882e-01 -5.41752171e-02 2.34548221e+02] [ 1.57398404e-01 9.87522698e-01 -4.96620384e-03 1.86973877e+01] [ 5.42811103e-02 -3.63020591e-03 9.98519095e-01 1.09362933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.58, Y:18.70, Z:10.94 [[ 9.86075780e-01 -1.56975861e-01 -5.48920232e-02 2.34579820e+02] [ 1.56937920e-01 9.87595670e-01 -5.02802376e-03 1.86978830e+01] [ 5.50004028e-02 -3.65662752e-03 9.98479637e-01 1.09377430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.61, Y:18.70, Z:10.94 [[ 9.86205814e-01 -1.56239335e-01 -5.46567704e-02 2.34611348e+02] [ 1.56200762e-01 9.87712655e-01 -5.00339427e-03 1.87030981e+01] [ 5.47669108e-02 -3.60305264e-03 9.98492666e-01 1.09399865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.64, Y:18.70, Z:10.94 [[ 9.86331534e-01 -1.55380044e-01 -5.48374627e-02 2.34643002e+02] [ 1.55340114e-01 9.87848313e-01 -5.01594206e-03 1.87046721e+01] [ 5.49504723e-02 -3.57107586e-03 9.98482695e-01 1.09414203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.67, Y:18.71, Z:10.94 [[ 9.86445251e-01 -1.54600363e-01 -5.49953964e-02 2.34673627e+02] [ 1.54559201e-01 9.87970741e-01 -5.02669813e-03 1.87068976e+01] [ 5.51109719e-02 -3.54148204e-03 9.98473955e-01 1.09431279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.70, Y:18.71, Z:10.95 [[ 9.86821808e-01 -1.52285442e-01 -5.46979262e-02 2.34704628e+02] [ 1.52241296e-01 9.88330721e-01 -4.99743846e-03 1.87135427e+01] [ 5.48206779e-02 -3.39570192e-03 9.98490442e-01 1.09454583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.74, Y:18.72, Z:10.95 [[ 9.86923941e-01 -1.51500383e-01 -5.50342480e-02 2.34736452e+02] [ 1.51454654e-01 9.88451434e-01 -5.02500973e-03 1.87175174e+01] [ 5.51599723e-02 -3.37589055e-03 9.98471823e-01 1.09473803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.77, Y:18.72, Z:10.95 [[ 9.87203962e-01 -1.49599468e-01 -5.52117364e-02 2.34767858e+02] [ 1.49550691e-01 9.88741227e-01 -5.03745324e-03 1.87194777e+01] [ 5.53437204e-02 -3.28395956e-03 9.98461961e-01 1.09485960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.80, Y:18.72, Z:10.95 [[ 9.87214735e-01 -1.49528289e-01 -5.52119445e-02 2.34799444e+02] [ 1.49479529e-01 9.88752000e-01 -5.03517146e-03 1.87222987e+01] [ 5.53438211e-02 -3.28225998e-03 9.98461961e-01 1.09501042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.83, Y:18.72, Z:10.95 [[ 9.87377475e-01 -1.48561185e-01 -5.49117057e-02 2.34829672e+02] [ 1.48511659e-01 9.88897995e-01 -5.00423379e-03 1.87213319e+01] [ 5.50455105e-02 -3.21396077e-03 9.98478674e-01 1.09511436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.86, Y:18.73, Z:10.95 [[ 9.87455350e-01 -1.47814437e-01 -5.55231840e-02 2.34861839e+02] [ 1.47762709e-01 9.89009906e-01 -5.05850951e-03 1.87265131e+01] [ 5.56606997e-02 -3.20920383e-03 9.98444584e-01 1.09530124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.89, Y:18.73, Z:10.95 [[ 9.87590766e-01 -1.46910342e-01 -5.55142298e-02 2.34892558e+02] [ 1.46857406e-01 9.89144761e-01 -5.05414370e-03 1.87275220e+01] [ 5.56541156e-02 -3.16125016e-03 9.98445104e-01 1.09541562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.92, Y:18.73, Z:10.96 [[ 9.87808083e-01 -1.45270722e-01 -5.59607671e-02 2.34923438e+02] [ 1.45214377e-01 9.89387103e-01 -5.09363089e-03 1.87341435e+01] [ 5.61068166e-02 -3.09477817e-03 9.98419976e-01 1.09563728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.95, Y:18.73, Z:10.96 [[ 9.87987119e-01 -1.44028170e-01 -5.60119548e-02 2.34953664e+02] [ 1.43969840e-01 9.89568953e-01 -5.09638952e-03 1.87343935e+01] [ 5.61617151e-02 -3.02886495e-03 9.98417091e-01 1.09575407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.98, Y:18.74, Z:10.96 [[ 9.88179271e-01 -1.42651428e-01 -5.61453379e-02 2.34984649e+02] [ 1.42590672e-01 9.89768567e-01 -5.10734420e-03 1.87400751e+01] [ 5.62994605e-02 -2.95882977e-03 9.98409543e-01 1.09590395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.02, Y:18.74, Z:10.96 [[ 9.88298234e-01 -1.41800318e-01 -5.62073940e-02 2.35015589e+02] [ 1.41738171e-01 9.89890988e-01 -5.11094861e-03 1.87405159e+01] [ 5.63639270e-02 -2.91559175e-03 9.98406033e-01 1.09598857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.05, Y:18.75, Z:10.96 [[ 9.88491338e-01 -1.40072066e-01 -5.71374733e-02 2.35046994e+02] [ 1.40005098e-01 9.90137163e-01 -5.19328947e-03 1.87473880e+01] [ 5.73013705e-02 -2.86601590e-03 9.98352813e-01 1.09612201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.08, Y:18.75, Z:10.96 [[ 9.88588591e-01 -1.39353235e-01 -5.72125242e-02 2.35077820e+02] [ 1.39285069e-01 9.90238689e-01 -5.19701657e-03 1.87481071e+01] [ 5.73782760e-02 -2.83113911e-03 9.98348495e-01 1.09617024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.11, Y:18.75, Z:10.96 [[ 9.88689452e-01 -1.38618584e-01 -5.72543083e-02 2.35109319e+02] [ 1.38549303e-01 9.90341901e-01 -5.19712536e-03 1.87528432e+01] [ 5.74217587e-02 -2.79420147e-03 9.98346099e-01 1.09631897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.14, Y:18.76, Z:10.96 [[ 9.88818687e-01 -1.37886212e-01 -5.67890580e-02 2.35140126e+02] [ 1.37816986e-01 9.90444310e-01 -5.15245723e-03 1.87553118e+01] [ 5.69568522e-02 -2.73165080e-03 9.98372904e-01 1.09648435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.17, Y:18.76, Z:10.97 [[ 9.88909755e-01 -1.37318324e-01 -5.65789188e-02 2.35171075e+02] [ 1.37248798e-01 9.90523315e-01 -5.13134017e-03 1.87575203e+01] [ 5.67473652e-02 -2.69095627e-03 9.98384943e-01 1.09660830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.20, Y:18.76, Z:10.97 [[ 9.89022978e-01 -1.36595650e-01 -5.63487191e-02 2.35202282e+02] [ 1.36525634e-01 9.90623367e-01 -5.10842652e-03 1.87608473e+01] [ 5.65181467e-02 -2.64069341e-03 9.98398080e-01 1.09676406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.23, Y:18.76, Z:10.97 [[ 9.89201402e-01 -1.35557175e-01 -5.57210775e-02 2.35232484e+02] [ 1.35487170e-01 9.90766233e-01 -5.04967008e-03 1.87633573e+01] [ 5.58910810e-02 -2.55435040e-03 9.98433604e-01 1.09694088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.26, Y:18.77, Z:10.97 [[ 9.89286193e-01 -1.34995741e-01 -5.55785804e-02 2.35263827e+02] [ 1.34925273e-01 9.90842981e-01 -5.03560941e-03 1.87662187e+01] [ 5.57494322e-02 -2.51729631e-03 9.98441618e-01 1.09711091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.29, Y:18.77, Z:10.97 [[ 9.89390151e-01 -1.34531589e-01 -5.48487134e-02 2.35294743e+02] [ 1.34462355e-01 9.90906251e-01 -4.96753683e-03 1.87703248e+01] [ 5.50182236e-02 -2.46025518e-03 9.98482319e-01 1.09730219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.33, Y:18.77, Z:10.97 [[ 9.89465285e-01 -1.34010273e-01 -5.47694932e-02 2.35325482e+02] [ 1.33940552e-01 9.90976964e-01 -4.95837565e-03 1.87742319e+01] [ 5.49397794e-02 -2.42971557e-03 9.98486714e-01 1.09747474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.36, Y:18.78, Z:10.98 [[ 9.89500191e-01 -1.33912424e-01 -5.43767863e-02 2.35356649e+02] [ 1.33843690e-01 9.90990241e-01 -4.92027896e-03 1.87760042e+01] [ 5.45457511e-02 -2.40937273e-03 9.98508365e-01 1.09763513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.39, Y:18.78, Z:10.98 [[ 9.89472162e-01 -1.34157750e-01 -5.42820200e-02 2.35387467e+02] [ 1.34089937e-01 9.90957023e-01 -4.90594677e-03 1.87784210e+01] [ 5.44493197e-02 -2.42437490e-03 9.98513592e-01 1.09778966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.42, Y:18.78, Z:10.98 [[ 9.89449983e-01 -1.34430403e-01 -5.40110842e-02 2.35417507e+02] [ 1.34363768e-01 9.90920061e-01 -4.87964866e-03 1.87788868e+01] [ 5.41766400e-02 -2.42896447e-03 9.98528413e-01 1.09789162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.45, Y:18.78, Z:10.98 [[ 9.89422486e-01 -1.34808263e-01 -5.35712184e-02 2.35448165e+02] [ 1.34743312e-01 9.90868722e-01 -4.83896289e-03 1.87802482e+01] [ 5.37343769e-02 -2.43058469e-03 9.98552307e-01 1.09803014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.48, Y:18.78, Z:10.98 [[ 9.89294386e-01 -1.36044564e-01 -5.28061914e-02 2.35478121e+02] [ 1.35983257e-01 9.90699657e-01 -4.76895193e-03 1.87818305e+01] [ 5.29638657e-02 -2.46286053e-03 9.98593392e-01 1.09826525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.51, Y:18.79, Z:10.99 [[ 9.89250565e-01 -1.36616714e-01 -5.21458775e-02 2.35510182e+02] [ 1.36557782e-01 9.90620919e-01 -4.70816844e-03 1.87884120e+01] [ 5.23000115e-02 -2.46336710e-03 9.98628380e-01 1.09850433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.54, Y:18.79, Z:10.99 [[ 9.89224135e-01 -1.37010998e-01 -5.16100388e-02 2.35541568e+02] [ 1.36953996e-01 9.90566466e-01 -4.65610960e-03 1.87935427e+01] [ 5.17611119e-02 -2.46226506e-03 9.98656460e-01 1.09868734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.57, Y:18.79, Z:10.99 [[ 9.89101535e-01 -1.37676976e-01 -5.21843287e-02 2.35572557e+02] [ 1.37619822e-01 9.90473955e-01 -4.70412615e-03 1.87939982e+01] [ 5.23348683e-02 -2.52873965e-03 9.98626390e-01 1.09881212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.60, Y:18.80, Z:10.99 [[ 9.89014632e-01 -1.38274010e-01 -5.22528106e-02 2.35604359e+02] [ 1.38217692e-01 9.90390686e-01 -4.70733242e-03 1.87992082e+01] [ 5.24015987e-02 -2.56664225e-03 9.98622794e-01 1.09890066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.64, Y:18.80, Z:10.99 [[ 9.88968071e-01 -1.38473379e-01 -5.26049234e-02 2.35635568e+02] [ 1.38416783e-01 9.90362748e-01 -4.73525188e-03 1.88005672e+01] [ 5.27536628e-02 -2.59839133e-03 9.98604176e-01 1.09900618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.67, Y:18.81, Z:10.99 [[ 9.88950701e-01 -1.38566876e-01 -5.26852066e-02 2.35667274e+02] [ 1.38510398e-01 9.90349639e-01 -4.73948196e-03 1.88052662e+01] [ 5.28335105e-02 -2.61033491e-03 9.98599923e-01 1.09908599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.70, Y:18.81, Z:10.99 [[ 9.89012217e-01 -1.37975348e-01 -5.30814306e-02 2.35697995e+02] [ 1.37917373e-01 9.90432246e-01 -4.77128636e-03 1.88080180e+01] [ 5.32318804e-02 -2.60199098e-03 9.98578788e-01 1.09917222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.73, Y:18.81, Z:10.99 [[ 9.89128324e-01 -1.37089493e-01 -5.32130620e-02 2.35729634e+02] [ 1.37030115e-01 9.90555349e-01 -4.78008024e-03 1.88102318e+01] [ 5.33657819e-02 -2.56367923e-03 9.98571740e-01 1.09927679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.76, Y:18.82, Z:10.99 [[ 9.89287459e-01 -1.35822174e-01 -5.35038288e-02 2.35761043e+02] [ 1.35760507e-01 9.90730045e-01 -4.80229111e-03 1.88184430e+01] [ 5.36601084e-02 -2.51286058e-03 9.98556097e-01 1.09945734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.79, Y:18.82, Z:10.99 [[ 9.89711262e-01 -1.32778976e-01 -5.33044298e-02 2.35791250e+02] [ 1.32713561e-01 9.91142904e-01 -4.78074185e-03 1.88200156e+01] [ 5.34670893e-02 -2.34266663e-03 9.98566864e-01 1.09948651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.82, Y:18.83, Z:11.00 [[ 9.89959475e-01 -1.31149452e-01 -5.27262604e-02 2.35821799e+02] [ 1.31083198e-01 9.91360098e-01 -4.72781258e-03 1.88260859e+01] [ 5.28907607e-02 -2.23118398e-03 9.98597812e-01 1.09970876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.85, Y:18.83, Z:11.00 [[ 9.90230238e-01 -1.29603535e-01 -5.14489961e-02 2.35852446e+02] [ 1.29538462e-01 9.91563675e-01 -4.61146859e-03 1.88310383e+01] [ 5.16126183e-02 -2.09820819e-03 9.98664976e-01 1.09993001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.88, Y:18.83, Z:11.00 [[ 9.90436591e-01 -1.28380302e-01 -5.05357096e-02 2.35883784e+02] [ 1.28316024e-01 9.91722994e-01 -4.52774062e-03 1.88323802e+01] [ 5.06986980e-02 -2.00010133e-03 9.98711991e-01 1.10012681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.91, Y:18.84, Z:11.00 [[ 9.90814383e-01 -1.26244358e-01 -4.84687667e-02 2.35914515e+02] [ 1.26182799e-01 9.91997513e-01 -4.34004075e-03 1.88378736e+01] [ 4.86288017e-02 -1.81574986e-03 9.98815270e-01 1.10046629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.95, Y:18.84, Z:11.01 [[ 9.90923139e-01 -1.25685023e-01 -4.76928413e-02 2.35946559e+02] [ 1.25624854e-01 9.92068633e-01 -4.26886517e-03 1.88414840e+01] [ 4.78511043e-02 -1.76128896e-03 9.98852927e-01 1.10069740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.98, Y:18.84, Z:11.01 [[ 9.90967458e-01 -1.25370419e-01 -4.75999533e-02 2.35977565e+02] [ 1.25310285e-01 9.92108467e-01 -4.25713876e-03 1.88439469e+01] [ 4.77580360e-02 -1.74607772e-03 9.98857408e-01 1.10088746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.01, Y:18.85, Z:11.01 [[ 9.90953700e-01 -1.25524683e-01 -4.74796596e-02 2.36009390e+02] [ 1.25465296e-01 9.92088945e-01 -4.24079558e-03 1.88471965e+01] [ 4.76363699e-02 -1.75461746e-03 9.98863203e-01 1.10105979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.04, Y:18.85, Z:11.01 [[ 9.90930218e-01 -1.25765192e-01 -4.73330742e-02 2.36041045e+02] [ 1.25706604e-01 9.92058468e-01 -4.22434874e-03 1.88510181e+01] [ 4.74884531e-02 -1.76404521e-03 9.98870229e-01 1.10118010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.07, Y:18.85, Z:11.01 [[ 9.90791591e-01 -1.26654039e-01 -4.78620667e-02 2.36073463e+02] [ 1.26595339e-01 9.91945263e-01 -4.26803498e-03 1.88529955e+01] [ 4.80171142e-02 -1.83038139e-03 9.98844836e-01 1.10129200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.11, Y:18.86, Z:11.01 [[ 9.90651344e-01 -1.27521651e-01 -4.84576459e-02 2.36105921e+02] [ 1.27462690e-01 9.91833969e-01 -4.31758160e-03 1.88552303e+01] [ 4.86125244e-02 -1.89932390e-03 9.98815906e-01 1.10142819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.14, Y:18.85, Z:11.01 [[ 9.90263304e-01 -1.29862899e-01 -5.01419633e-02 2.36137417e+02] [ 1.29802957e-01 9.91529761e-01 -4.46382019e-03 1.88544858e+01] [ 5.02969335e-02 -2.08821776e-03 9.98732125e-01 1.10147201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.17, Y:18.86, Z:11.02 [[ 9.90069138e-01 -1.31014595e-01 -5.09733022e-02 2.36168917e+02] [ 1.30954407e-01 9.91378027e-01 -4.53323176e-03 1.88579822e+01] [ 5.11277313e-02 -2.18696571e-03 9.98689728e-01 1.10156703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.20, Y:18.86, Z:11.02 [[ 9.89813190e-01 -1.32496665e-01 -5.21006988e-02 2.36199568e+02] [ 1.32435981e-01 9.91180744e-01 -4.63067496e-03 1.88591833e+01] [ 5.22547584e-02 -2.31650402e-03 9.98631100e-01 1.10168030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.23, Y:18.86, Z:11.02 [[ 9.89502267e-01 -1.34475102e-01 -5.29311850e-02 2.36231155e+02] [ 1.34415401e-01 9.90913915e-01 -4.70242933e-03 1.88623843e+01] [ 5.30826074e-02 -2.46170200e-03 9.98587090e-01 1.10183465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.26, Y:18.86, Z:11.02 [[ 9.89374446e-01 -1.35622346e-01 -5.23906977e-02 2.36262000e+02] [ 1.35565609e-01 9.90757452e-01 -4.65161151e-03 1.88607381e+01] [ 5.25373366e-02 -2.50019125e-03 9.98615831e-01 1.10198871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.29, Y:18.86, Z:11.02 [[ 9.89257442e-01 -1.36482225e-01 -5.23671319e-02 2.36294155e+02] [ 1.36426851e-01 9.90639246e-01 -4.64740445e-03 1.88642276e+01] [ 5.25112242e-02 -2.54680345e-03 9.98617086e-01 1.10218269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.33, Y:18.87, Z:11.02 [[ 9.89089367e-01 -1.37828440e-01 -5.20148582e-02 2.36326284e+02] [ 1.37775859e-01 9.90452694e-01 -4.61238942e-03 1.88654835e+01] [ 5.21539748e-02 -2.60432641e-03 9.98635659e-01 1.10231384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.36, Y:18.87, Z:11.02 [[ 9.89013813e-01 -1.38544508e-01 -5.15470396e-02 2.36358063e+02] [ 1.38494029e-01 9.90352738e-01 -4.56718681e-03 1.88701759e+01] [ 5.16825104e-02 -2.62194635e-03 9.98660124e-01 1.10249057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.39, Y:18.87, Z:11.03 [[ 9.88982921e-01 -1.38877965e-01 -5.12415093e-02 2.36389141e+02] [ 1.38828720e-01 9.90306017e-01 -4.53638447e-03 1.88707923e+01] [ 5.13747788e-02 -2.62738640e-03 9.98675988e-01 1.10261807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.42, Y:18.87, Z:11.03 [[ 9.88913758e-01 -1.39400413e-01 -5.11576492e-02 2.36420831e+02] [ 1.39352175e-01 9.90232541e-01 -4.52605429e-03 1.88733011e+01] [ 5.12889028e-02 -2.65305232e-03 9.98680334e-01 1.10276599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.45, Y:18.87, Z:11.03 [[ 9.88681788e-01 -1.40745620e-01 -5.19518376e-02 2.36452422e+02] [ 1.40697921e-01 9.90041920e-01 -4.59255089e-03 1.88740990e+01] [ 5.20808785e-02 -2.76894413e-03 9.98639031e-01 1.10289169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.48, Y:18.88, Z:11.03 [[ 9.88588860e-01 -1.41496420e-01 -5.16800592e-02 2.36484944e+02] [ 1.41450390e-01 9.89934817e-01 -4.56564702e-03 1.88759058e+01] [ 5.18059127e-02 -2.79661677e-03 9.98653256e-01 1.10302689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.52, Y:18.88, Z:11.03 [[ 9.88141687e-01 -1.44610999e-01 -5.16107025e-02 2.36515874e+02] [ 1.44569507e-01 9.89484159e-01 -4.55595821e-03 1.88762327e+01] [ 5.17268142e-02 -2.95940161e-03 9.98656887e-01 1.10319436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.55, Y:18.88, Z:11.03 [[ 9.87901053e-01 -1.46310569e-01 -5.14269003e-02 2.36547357e+02] [ 1.46271769e-01 9.89234036e-01 -4.53770533e-03 1.88797735e+01] [ 5.15371544e-02 -3.03949982e-03 9.98666452e-01 1.10337542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.58, Y:18.88, Z:11.04 [[ 9.87654686e-01 -1.48019068e-01 -5.12696523e-02 2.36578874e+02] [ 1.47982940e-01 9.88979580e-01 -4.52103756e-03 1.88800477e+01] [ 5.13738390e-02 -3.12180995e-03 9.98674613e-01 1.10351046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.61, Y:18.88, Z:11.04 [[ 9.87132541e-01 -1.51140683e-01 -5.22095781e-02 2.36609612e+02] [ 1.51107707e-01 9.88506596e-01 -4.60121829e-03 1.88809757e+01] [ 5.23049436e-02 -3.34725732e-03 9.98625550e-01 1.10358370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.64, Y:18.88, Z:11.04 [[ 9.87010200e-01 -1.51838285e-01 -5.24976308e-02 2.36641820e+02] [ 1.51805991e-01 9.88399488e-01 -4.62538874e-03 1.88826720e+01] [ 5.25909425e-02 -3.40414899e-03 9.98610337e-01 1.10367962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.67, Y:18.88, Z:11.04 [[ 9.86888720e-01 -1.52382006e-01 -5.32012955e-02 2.36672933e+02] [ 1.52349827e-01 9.88315533e-01 -4.68366909e-03 1.88846994e+01] [ 5.32933737e-02 -3.48294798e-03 9.98572824e-01 1.10376206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.70, Y:18.89, Z:11.04 [[ 9.86828797e-01 -1.52632107e-01 -5.35944613e-02 2.36704908e+02] [ 1.52599980e-01 9.88276789e-01 -4.71530278e-03 1.88905884e+01] [ 5.36858687e-02 -3.52531715e-03 9.98551651e-01 1.10389653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.74, Y:18.90, Z:11.04 [[ 9.86802443e-01 -1.52499651e-01 -5.44499260e-02 2.36737055e+02] [ 1.52466511e-01 9.88297046e-01 -4.78656920e-03 1.88973978e+01] [ 5.45426512e-02 -3.57839209e-03 9.98505030e-01 1.10407120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.77, Y:18.90, Z:11.04 [[ 9.86813553e-01 -1.52427623e-01 -5.44502750e-02 2.36768663e+02] [ 1.52394592e-01 9.88308158e-01 -4.78259604e-03 1.89001143e+01] [ 5.45426507e-02 -3.57839688e-03 9.98505030e-01 1.10422204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.80, Y:18.90, Z:11.04 [[ 9.86869724e-01 -1.52054460e-01 -5.44755840e-02 2.36800336e+02] [ 1.52021053e-01 9.88365693e-01 -4.78081713e-03 1.89038135e+01] [ 5.45687429e-02 -3.56339195e-03 9.98503658e-01 1.10437940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.83, Y:18.91, Z:11.05 [[ 9.86926356e-01 -1.51599834e-01 -5.47161524e-02 2.36831264e+02] [ 1.51565650e-01 9.88435548e-01 -4.79803761e-03 1.89063799e+01] [ 5.48107718e-02 -3.55777943e-03 9.98490421e-01 1.10452354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.86, Y:18.91, Z:11.05 [[ 9.86999918e-01 -1.51050186e-01 -5.49090382e-02 2.36863191e+02] [ 1.51015089e-01 9.88519747e-01 -4.81179426e-03 1.89126676e+01] [ 5.50054909e-02 -3.54285276e-03 9.98479767e-01 1.10471232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.89, Y:18.91, Z:11.05 [[ 9.87154182e-01 -1.49691933e-01 -5.58475185e-02 2.36894231e+02] [ 1.49653693e-01 9.88726383e-01 -4.89000323e-03 1.89142361e+01] [ 5.59499090e-02 -3.53060028e-03 9.98427335e-01 1.10471075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.93, Y:18.92, Z:11.05 [[ 9.87117645e-01 -1.49663387e-01 -5.65652269e-02 2.36925821e+02] [ 1.49624302e-01 9.88730535e-01 -4.94954034e-03 1.89174069e+01] [ 5.66685320e-02 -3.57775399e-03 9.98386637e-01 1.10482105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.96, Y:18.92, Z:11.05 [[ 9.87044257e-01 -1.49986140e-01 -5.69894061e-02 2.36957188e+02] [ 1.49947229e-01 9.88681446e-01 -4.98272828e-03 1.89221441e+01] [ 5.70917086e-02 -3.62723019e-03 9.98362349e-01 1.10495969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.99, Y:18.92, Z:11.05 [[ 9.87022249e-01 -1.50221670e-01 -5.67497179e-02 2.36989361e+02] [ 1.50183657e-01 9.88645681e-01 -4.95852684e-03 1.89246524e+01] [ 5.68502417e-02 -3.62870385e-03 9.98376123e-01 1.10507357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.02, Y:18.92, Z:11.05 [[ 9.86932201e-01 -1.51022705e-01 -5.61869448e-02 2.37020570e+02] [ 1.50986948e-01 9.88523585e-01 -4.90549301e-03 1.89230682e+01] [ 5.62829609e-02 -3.64210629e-03 9.98408215e-01 1.10514222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.05, Y:18.93, Z:11.05 [[ 9.86851623e-01 -1.51565901e-01 -5.61395732e-02 2.37052614e+02] [ 1.51531257e-01 9.88440330e-01 -4.89818539e-03 1.89282292e+01] [ 5.62330161e-02 -3.67311790e-03 9.98410915e-01 1.10534466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.08, Y:18.93, Z:11.06 [[ 9.86810707e-01 -1.51927458e-01 -5.58809074e-02 2.37084732e+02] [ 1.51893931e-01 9.88384794e-01 -4.87164259e-03 1.89340829e+01] [ 5.59719754e-02 -3.68058163e-03 9.98425556e-01 1.10555127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.12, Y:18.93, Z:11.06 [[ 9.86755020e-01 -1.52354082e-01 -5.57024695e-02 2.37115712e+02] [ 1.52321661e-01 9.88319062e-01 -4.85219071e-03 1.89348409e+01] [ 5.57910634e-02 -3.69676915e-03 9.98435622e-01 1.10569987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.15, Y:18.94, Z:11.06 [[ 9.86574760e-01 -1.53717033e-01 -5.51481267e-02 2.37147473e+02] [ 1.53687542e-01 9.88107834e-01 -4.80077718e-03 1.89408498e+01] [ 5.52302572e-02 -3.73925446e-03 9.98466643e-01 1.10595352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.18, Y:18.94, Z:11.06 [[ 9.86493454e-01 -1.54352618e-01 -5.48264106e-02 2.37179410e+02] [ 1.54324666e-01 9.88008682e-01 -4.76874424e-03 1.89437599e+01] [ 5.49050379e-02 -3.75673256e-03 9.98484514e-01 1.10608434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.21, Y:18.94, Z:11.06 [[ 9.86378053e-01 -1.55066700e-01 -5.48876499e-02 2.37210899e+02] [ 1.55040024e-01 9.87896675e-01 -4.76975591e-03 1.89399266e+01] [ 5.49629571e-02 -3.80499999e-03 9.98481144e-01 1.10613388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.24, Y:18.94, Z:11.06 [[ 9.86181503e-01 -1.56067157e-01 -5.55795364e-02 2.37242927e+02] [ 1.56041704e-01 9.87738687e-01 -4.82419367e-03 1.89434073e+01] [ 5.56509565e-02 -3.91519497e-03 9.98442608e-01 1.10628930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71509989299997 meters Centerline goodness [0,1] 0.9999787658725103 Centerline is valid? [True, True] Translation: X:237.27, Y:18.94, Z:11.06 [[ 9.85853038e-01 -1.57797705e-01 -5.65125812e-02 2.37273099e+02] [ 1.57774426e-01 9.87463014e-01 -4.90156930e-03 1.89449399e+01] [ 5.65775402e-02 -4.08401311e-03 9.98389855e-01 1.10637655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.31, Y:18.95, Z:11.07 [[ 9.85720102e-01 -1.58388286e-01 -5.71754393e-02 2.37305529e+02] [ 1.58365538e-01 9.87368107e-01 -4.95751636e-03 1.89470078e+01] [ 5.72384178e-02 -4.16789568e-03 9.98351838e-01 1.10650526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.34, Y:18.95, Z:11.07 [[ 9.85428617e-01 -1.59817248e-01 -5.82141652e-02 2.37336125e+02] [ 1.59796381e-01 9.87137112e-01 -5.04360404e-03 1.89516637e+01] [ 5.82714178e-02 -4.33230119e-03 9.98291377e-01 1.10671299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.37, Y:18.95, Z:11.07 [[ 9.85420031e-01 -1.59997143e-01 -5.78642915e-02 2.37367150e+02] [ 1.59977008e-01 9.87108026e-01 -5.01026549e-03 1.89519167e+01] [ 5.79199347e-02 -4.31974026e-03 9.98311886e-01 1.10685062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.40, Y:18.96, Z:11.07 [[ 9.85371786e-01 -1.60275895e-01 -5.79144313e-02 2.37398681e+02] [ 1.60256396e-01 9.87062700e-01 -5.01129399e-03 1.89597958e+01] [ 5.79683646e-02 -4.34317036e-03 9.98308973e-01 1.10714846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.43, Y:18.96, Z:11.07 [[ 9.85491263e-01 -1.59759140e-01 -5.73060846e-02 2.37430362e+02] [ 1.59739417e-01 9.87146783e-01 -4.95448079e-03 1.89610837e+01] [ 5.73610407e-02 -4.27144301e-03 9.98344362e-01 1.10731495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.46, Y:18.97, Z:11.08 [[ 9.85572075e-01 -1.59314054e-01 -5.71552025e-02 2.37462498e+02] [ 1.59293929e-01 9.87218855e-01 -4.93726719e-03 1.89655254e+01] [ 5.72112696e-02 -4.23844407e-03 9.98353097e-01 1.10750718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.50, Y:18.97, Z:11.08 [[ 9.85751427e-01 -1.58473571e-01 -5.63937179e-02 2.37495110e+02] [ 1.58452847e-01 9.87354549e-01 -4.86722623e-03 1.89685767e+01] [ 5.64519206e-02 -4.13786996e-03 9.98396744e-01 1.10766909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.53, Y:18.97, Z:11.08 [[ 9.85936670e-01 -1.57420450e-01 -5.61042278e-02 2.37527570e+02] [ 1.57398530e-01 9.87523319e-01 -4.83712906e-03 1.89718458e+01] [ 5.61656962e-02 -4.06162004e-03 9.98413200e-01 1.10785703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.56, Y:18.97, Z:11.08 [[ 9.86344166e-01 -1.55203436e-01 -5.51097112e-02 2.37557610e+02] [ 1.55179073e-01 9.87874952e-01 -4.74713915e-03 1.89741495e+01] [ 5.51782756e-02 -3.86956090e-03 9.98469020e-01 1.10798072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.59, Y:18.98, Z:11.08 [[ 9.86515511e-01 -1.54306279e-01 -5.45593214e-02 2.37589141e+02] [ 1.54281062e-01 9.88015826e-01 -4.69919643e-03 1.89796590e+01] [ 5.46305884e-02 -3.78163988e-03 9.98499473e-01 1.10817990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.62, Y:18.98, Z:11.08 [[ 9.86558389e-01 -1.54152161e-01 -5.42185943e-02 2.37620171e+02] [ 1.54127234e-01 9.88039991e-01 -4.66599890e-03 1.89801899e+01] [ 5.42894132e-02 -3.75328161e-03 9.98518188e-01 1.10830044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.65, Y:18.98, Z:11.08 [[ 9.86527500e-01 -1.54374648e-01 -5.41475648e-02 2.37650904e+02] [ 1.54350274e-01 9.88005215e-01 -4.65703441e-03 1.89805106e+01] [ 5.42170044e-02 -3.76339897e-03 9.98522085e-01 1.10841586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.68, Y:18.98, Z:11.09 [[ 9.86351887e-01 -1.55406624e-01 -5.43942657e-02 2.37682781e+02] [ 1.55383711e-01 9.87843124e-01 -4.67601619e-03 1.89836989e+01] [ 5.44596852e-02 -3.83978547e-03 9.98508587e-01 1.10853383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.71, Y:18.98, Z:11.09 [[ 9.86065060e-01 -1.57086540e-01 -5.47678396e-02 2.37713716e+02] [ 1.57066088e-01 9.87576889e-01 -4.70448953e-03 1.89802979e+01] [ 5.48264647e-02 -3.96323756e-03 9.98488033e-01 1.10861475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.74, Y:18.98, Z:11.09 [[ 9.85743123e-01 -1.58856268e-01 -5.54543212e-02 2.37744546e+02] [ 1.58838143e-01 9.87293150e-01 -4.76244236e-03 1.89785874e+01] [ 5.55062152e-02 -4.11371657e-03 9.98449867e-01 1.10866220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.78, Y:18.98, Z:11.09 [[ 9.85455954e-01 -1.60227150e-01 -5.66023173e-02 2.37775561e+02] [ 1.60210578e-01 9.87070895e-01 -4.86001896e-03 1.89801939e+01] [ 5.66492070e-02 -4.27895535e-03 9.98384975e-01 1.10870938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.81, Y:18.98, Z:11.09 [[ 9.84938651e-01 -1.62809737e-01 -5.82137820e-02 2.37806075e+02] [ 1.62796758e-01 9.86646969e-01 -4.99733560e-03 1.89826368e+01] [ 5.82500665e-02 -4.55494603e-03 9.98291632e-01 1.10877895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.255099893 meters Centerline goodness [0,1] 0.9999787152526499 Centerline is valid? [True, True] Translation: X:237.84, Y:18.98, Z:11.09 [[ 9.84772840e-01 -1.63738497e-01 -5.84136859e-02 2.37836313e+02] [ 1.63727114e-01 9.86492928e-01 -5.01345237e-03 1.89817014e+01] [ 5.84455832e-02 -4.62679252e-03 9.98279874e-01 1.10887916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.87, Y:18.98, Z:11.09 [[ 9.84708012e-01 -1.64145296e-01 -5.83648336e-02 2.37867128e+02] [ 1.64134702e-01 9.86425221e-01 -5.00822189e-03 1.89826890e+01] [ 5.83946200e-02 -4.64805835e-03 9.98282757e-01 1.10902216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.90, Y:18.99, Z:11.09 [[ 9.84770294e-01 -1.64075832e-01 -5.75029492e-02 2.37899258e+02] [ 1.64065525e-01 9.86437111e-01 -4.93251570e-03 1.89895328e+01] [ 5.75323497e-02 -4.57685661e-03 9.98333151e-01 1.10929275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.93, Y:18.99, Z:11.09 [[ 9.84933406e-01 -1.63554732e-01 -5.61785992e-02 2.37929635e+02] [ 1.63544316e-01 9.86524243e-01 -4.81407544e-03 1.89856801e+01] [ 5.62089149e-02 -4.44614688e-03 9.98409129e-01 1.10947993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.375099893 meters Centerline goodness [0,1] 0.9999363854195381 Centerline is valid? [True, True] Translation: X:237.96, Y:18.98, Z:11.10 [[ 9.85169084e-01 -1.62353707e-01 -5.55261148e-02 2.37960401e+02] [ 1.62341853e-01 9.86723122e-01 -4.75420904e-03 1.89824263e+01] [ 5.55607648e-02 -4.33051258e-03 9.98445916e-01 1.10962158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.99, Y:18.99, Z:11.10 [[ 9.85413945e-01 -1.61067941e-01 -5.49224520e-02 2.37990867e+02] [ 1.61054576e-01 9.86934318e-01 -4.69851152e-03 1.89916374e+01] [ 5.49616322e-02 -4.21553342e-03 9.98479568e-01 1.10990084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.02, Y:19.00, Z:11.10 [[ 9.85991934e-01 -1.57575316e-01 -5.46802233e-02 2.38020638e+02] [ 1.57556820e-01 9.87498852e-01 -4.67609514e-03 1.90023587e+01] [ 5.47334949e-02 -4.00464999e-03 9.98492968e-01 1.11014312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.05, Y:19.01, Z:11.10 [[ 9.86204775e-01 -1.56232572e-01 -5.46948348e-02 2.38051894e+02] [ 1.56212053e-01 9.87712470e-01 -4.67660660e-03 1.90092629e+01] [ 5.47534086e-02 -3.93190069e-03 9.98492165e-01 1.11034363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.08, Y:19.01, Z:11.11 [[ 9.86300205e-01 -1.55715893e-01 -5.44469110e-02 2.38083513e+02] [ 1.55694987e-01 9.87794227e-01 -4.65155190e-03 1.90116094e+01] [ 5.45066649e-02 -3.88928452e-03 9.98505832e-01 1.11053914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.12, Y:19.01, Z:11.11 [[ 9.86345802e-01 -1.55365889e-01 -5.46204996e-02 2.38116150e+02] [ 1.55344547e-01 9.87849349e-01 -4.66217811e-03 1.90134195e+01] [ 5.46811684e-02 -3.88647698e-03 9.98496302e-01 1.11067273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.15, Y:19.02, Z:11.11 [[ 9.86431679e-01 -1.54748504e-01 -5.48219219e-02 2.38148802e+02] [ 1.54726336e-01 9.87946310e-01 -4.67429297e-03 1.90150747e+01] [ 5.48844553e-02 -3.87152446e-03 9.98485207e-01 1.11073553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.18, Y:19.01, Z:11.11 [[ 9.86431687e-01 -1.54674515e-01 -5.50301884e-02 2.38180636e+02] [ 1.54652331e-01 9.87957836e-01 -4.68723120e-03 1.90121741e+01] [ 5.50925010e-02 -3.88691352e-03 9.98473689e-01 1.11081656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.21, Y:19.02, Z:11.11 [[ 9.86471749e-01 -1.54521144e-01 -5.47421651e-02 2.38211911e+02] [ 1.54499128e-01 9.87981937e-01 -4.65955407e-03 1.90181761e+01] [ 5.48042699e-02 -3.86109832e-03 9.98489651e-01 1.11103755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.24, Y:19.02, Z:11.11 [[ 9.86503596e-01 -1.54224911e-01 -5.50030110e-02 2.38243889e+02] [ 1.54202476e-01 9.88028198e-01 -4.67726367e-03 1.90152459e+01] [ 5.50658764e-02 -3.86746305e-03 9.98475234e-01 1.11113166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.28, Y:19.02, Z:11.11 [[ 9.86696984e-01 -1.52576190e-01 -5.61210160e-02 2.38275067e+02] [ 1.52550551e-01 9.88284178e-01 -4.76587162e-03 1.90185995e+01] [ 5.61906707e-02 -3.85882077e-03 9.98412599e-01 1.11120276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.31, Y:19.02, Z:11.11 [[ 9.86871383e-01 -1.51522348e-01 -5.59093167e-02 2.38306033e+02] [ 1.51495329e-01 9.88446580e-01 -4.74592304e-03 1.90243118e+01] [ 5.59824863e-02 -3.78638471e-03 9.98424571e-01 1.11136091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.34, Y:19.03, Z:11.12 [[ 9.87042159e-01 -1.50469436e-01 -5.57380089e-02 2.38337006e+02] [ 1.50441022e-01 9.88607673e-01 -4.72939465e-03 1.90273146e+01] [ 5.58146527e-02 -3.71717115e-03 9.98434228e-01 1.11153198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.37, Y:19.03, Z:11.12 [[ 9.87422393e-01 -1.48152354e-01 -5.52077620e-02 2.38367331e+02] [ 1.48120965e-01 9.88958165e-01 -4.68272640e-03 1.90299943e+01] [ 5.52919239e-02 -3.55359806e-03 9.98463908e-01 1.11172696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.40, Y:19.03, Z:11.12 [[ 9.87676154e-01 -1.46814079e-01 -5.42350487e-02 2.38398813e+02] [ 1.46781786e-01 9.89158201e-01 -4.59997609e-03 1.90325589e+01] [ 5.43223844e-02 -3.41743063e-03 9.98517601e-01 1.11191189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.43, Y:19.04, Z:11.12 [[ 9.87880575e-01 -1.45586861e-01 -5.38185441e-02 2.38430352e+02] [ 1.45553363e-01 9.89339882e-01 -4.56250620e-03 1.90394554e+01] [ 5.39090730e-02 -3.32625885e-03 9.98540309e-01 1.11217664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.46, Y:19.04, Z:11.12 [[ 9.88314994e-01 -1.42743645e-01 -5.34576881e-02 2.38461077e+02] [ 1.42706642e-01 9.89754671e-01 -4.52836091e-03 1.90428039e+01] [ 5.35563912e-02 -3.15332017e-03 9.98559848e-01 1.11235737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.49, Y:19.04, Z:11.12 [[ 9.88464063e-01 -1.41559031e-01 -5.38501431e-02 2.38491496e+02] [ 1.41519786e-01 9.89924922e-01 -4.56062555e-03 1.90434202e+01] [ 5.39531964e-02 -3.11284624e-03 9.98538614e-01 1.11245331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.52, Y:19.05, Z:11.13 [[ 9.88729870e-01 -1.39370105e-01 -5.46737378e-02 2.38523021e+02] [ 1.39326388e-01 9.90235694e-01 -4.62911010e-03 1.90494699e+01] [ 5.47850463e-02 -3.04055498e-03 9.98493542e-01 1.11255207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.56, Y:19.05, Z:11.13 [[ 9.88851127e-01 -1.38428845e-01 -5.48717060e-02 2.38555061e+02] [ 1.38383543e-01 9.90367831e-01 -4.64269253e-03 1.90516780e+01] [ 5.49858550e-02 -3.00240937e-03 9.98482619e-01 1.11270117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.59, Y:19.05, Z:11.13 [[ 9.88953007e-01 -1.37586159e-01 -5.51543094e-02 2.38586829e+02] [ 1.37539310e-01 9.90485335e-01 -4.66253341e-03 1.90540812e+01] [ 5.52710347e-02 -2.97485923e-03 9.98466956e-01 1.11284992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.62, Y:19.06, Z:11.13 [[ 9.89035954e-01 -1.36990013e-01 -5.51508673e-02 2.38618857e+02] [ 1.36942470e-01 9.90568050e-01 -4.65820199e-03 1.90562638e+01] [ 5.52688143e-02 -2.94536675e-03 9.98467167e-01 1.11303649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.65, Y:19.06, Z:11.13 [[ 9.89061228e-01 -1.36732841e-01 -5.53355049e-02 2.38650201e+02] [ 1.36684787e-01 9.90603584e-01 -4.67004249e-03 1.90585573e+01] [ 5.54540977e-02 -2.94456374e-03 9.98456896e-01 1.11324170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.68, Y:19.06, Z:11.13 [[ 9.89055392e-01 -1.36898646e-01 -5.50290067e-02 2.38680991e+02] [ 1.36851488e-01 9.90580699e-01 -4.64218567e-03 1.90611808e+01] [ 5.51461809e-02 -2.93942268e-03 9.98473965e-01 1.11343822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.71, Y:19.06, Z:11.14 [[ 9.89142995e-01 -1.36133093e-01 -5.53526481e-02 2.38712650e+02] [ 1.36084305e-01 9.90686266e-01 -4.66731130e-03 1.90607973e+01] [ 5.54724838e-02 -2.91598839e-03 9.98455958e-01 1.11358767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.74, Y:19.07, Z:11.14 [[ 9.89176224e-01 -1.35831811e-01 -5.54987943e-02 2.38743513e+02] [ 1.35782455e-01 9.90727638e-01 -4.67674242e-03 1.90665376e+01] [ 5.56194397e-02 -2.90964013e-03 9.98447801e-01 1.11377553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.77, Y:19.07, Z:11.14 [[ 9.89181166e-01 -1.35795751e-01 -5.54989646e-02 2.38774260e+02] [ 1.35746451e-01 9.90732581e-01 -4.67472073e-03 1.90690981e+01] [ 5.56194396e-02 -2.90964179e-03 9.98447801e-01 1.11392228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.80, Y:19.07, Z:11.14 [[ 9.89229631e-01 -1.35416005e-01 -5.55629560e-02 2.38804213e+02] [ 1.35366100e-01 9.90784605e-01 -4.67822368e-03 1.90707361e+01] [ 5.56844278e-02 -2.89350318e-03 9.98444226e-01 1.11405878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.84, Y:19.07, Z:11.14 [[ 9.89276428e-01 -1.35117968e-01 -5.54552422e-02 2.38835629e+02] [ 1.35067853e-01 9.90825355e-01 -4.66800263e-03 1.90735334e+01] [ 5.55771911e-02 -2.87227556e-03 9.98450262e-01 1.11424254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.87, Y:19.08, Z:11.14 [[ 9.89303837e-01 -1.34676635e-01 -5.60367912e-02 2.38867255e+02] [ 1.34624875e-01 9.90885419e-01 -4.71491652e-03 1.90762830e+01] [ 5.61610284e-02 -2.87946099e-03 9.98417572e-01 1.11438197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.90, Y:19.08, Z:11.14 [[ 9.89355782e-01 -1.34337265e-01 -5.59342053e-02 2.38898154e+02] [ 1.34285257e-01 9.90931551e-01 -4.70443083e-03 1.90760207e+01] [ 5.60589491e-02 -2.85678329e-03 9.98423374e-01 1.11444818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.93, Y:19.08, Z:11.15 [[ 9.89385406e-01 -1.33914180e-01 -5.64226168e-02 2.38929418e+02] [ 1.33860642e-01 9.90988809e-01 -4.74433368e-03 1.90815327e+01] [ 5.65495153e-02 -2.85879322e-03 9.98395703e-01 1.11459454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.96, Y:19.09, Z:11.15 [[ 9.89439633e-01 -1.33606734e-01 -5.62001263e-02 2.38960258e+02] [ 1.33553236e-01 9.91030383e-01 -4.72362728e-03 1.90858209e+01] [ 5.63271411e-02 -2.83196466e-03 9.98408350e-01 1.11474646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.99, Y:19.09, Z:11.15 [[ 9.89469559e-01 -1.33427502e-01 -5.60989646e-02 2.38990352e+02] [ 1.33374035e-01 9.91054567e-01 -4.71288229e-03 1.90879892e+01] [ 5.62259632e-02 -2.81889170e-03 9.98414090e-01 1.11489038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.02, Y:19.09, Z:11.15 [[ 9.89533231e-01 -1.33550158e-01 -5.46657165e-02 2.39021517e+02] [ 1.33499742e-01 9.91038222e-01 -4.58935047e-03 1.90930738e+01] [ 5.47887230e-02 -2.75654425e-03 9.98494165e-01 1.11513965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.05, Y:19.09, Z:11.15 [[ 9.89491595e-01 -1.34046149e-01 -5.42034495e-02 2.39052180e+02] [ 1.33997462e-01 9.90971239e-01 -4.54797549e-03 1.90938859e+01] [ 5.43236981e-02 -2.76294114e-03 9.98519555e-01 1.11532053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.08, Y:19.10, Z:11.16 [[ 9.89461913e-01 -1.34526807e-01 -5.35505519e-02 2.39084348e+02] [ 1.34480327e-01 9.90906105e-01 -4.48683848e-03 1.90986230e+01] [ 5.36671689e-02 -2.76193997e-03 9.98555059e-01 1.11552619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.12, Y:19.10, Z:11.16 [[ 9.89158294e-01 -1.37239508e-01 -5.22607490e-02 2.39115044e+02] [ 1.37199198e-01 9.90533815e-01 -4.37516094e-03 1.91014624e+01] [ 5.23664840e-02 -2.84240609e-03 9.98623889e-01 1.11577705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.14, Y:19.10, Z:11.16 [[ 9.88836141e-01 -1.39497385e-01 -5.23790577e-02 2.39144944e+02] [ 1.39460168e-01 9.90217983e-01 -4.38275225e-03 1.91005254e+01] [ 5.24780674e-02 -2.97096837e-03 9.98617657e-01 1.11594318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.18, Y:19.10, Z:11.16 [[ 9.88171136e-01 -1.43618934e-01 -5.37718071e-02 2.39175464e+02] [ 1.43585791e-01 9.89627646e-01 -4.49926061e-03 1.91003113e+01] [ 5.38602459e-02 -3.27482797e-03 9.98543113e-01 1.11597815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.21, Y:19.10, Z:11.16 [[ 9.87876767e-01 -1.44989577e-01 -5.54753553e-02 2.39206631e+02] [ 1.44956487e-01 9.89427145e-01 -4.64128936e-03 1.90987209e+01] [ 5.55617610e-02 -3.45649071e-03 9.98449269e-01 1.11597852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.24, Y:19.10, Z:11.16 [[ 9.87621737e-01 -1.46468062e-01 -5.61285247e-02 2.39237563e+02] [ 1.46436684e-01 9.89208909e-01 -4.69385819e-03 1.91019774e+01] [ 5.62103369e-02 -3.58351868e-03 9.98412518e-01 1.11607304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.27, Y:19.10, Z:11.16 [[ 9.87401359e-01 -1.47834840e-01 -5.64217619e-02 2.39269265e+02] [ 1.47805472e-01 9.89005207e-01 -4.71631414e-03 1.91030321e+01] [ 5.64986519e-02 -3.68255018e-03 9.98395884e-01 1.11618435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.30, Y:19.10, Z:11.16 [[ 9.87239971e-01 -1.48885598e-01 -5.64829011e-02 2.39300301e+02] [ 1.48857993e-01 9.88847322e-01 -4.71936898e-03 1.91037400e+01] [ 5.65556115e-02 -3.74878162e-03 9.98392413e-01 1.11631433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.33, Y:19.11, Z:11.16 [[ 9.86968383e-01 -1.50404830e-01 -5.71996309e-02 2.39331570e+02] [ 1.50379181e-01 9.88616852e-01 -4.77716286e-03 1.91052716e+01] [ 5.72670274e-02 -3.88672497e-03 9.98351331e-01 1.11647213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.36, Y:19.10, Z:11.17 [[ 9.86693881e-01 -1.51881368e-01 -5.80278837e-02 2.39362179e+02] [ 1.51857627e-01 9.88390506e-01 -4.84440385e-03 1.91043369e+01] [ 5.80899841e-02 -4.03203311e-03 9.98303209e-01 1.11659857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.39, Y:19.11, Z:11.17 [[ 9.86215100e-01 -1.54620203e-01 -5.89268109e-02 2.39393210e+02] [ 1.54600651e-01 9.87964801e-01 -4.91832312e-03 1.91060037e+01] [ 5.89780872e-02 -4.25959882e-03 9.98250190e-01 1.11677840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.42, Y:19.11, Z:11.17 [[ 9.85982786e-01 -1.55935730e-01 -5.93463908e-02 2.39423749e+02] [ 1.55918347e-01 9.87757534e-01 -4.95204426e-03 1.91091383e+01] [ 5.93920452e-02 -4.37056075e-03 9.98225167e-01 1.11696953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.45, Y:19.11, Z:11.17 [[ 9.85792275e-01 -1.57030256e-01 -5.96245745e-02 2.39453676e+02] [ 1.57014816e-01 9.87583725e-01 -4.97333214e-03 1.91082824e+01] [ 5.96652230e-02 -4.45926919e-03 9.98208483e-01 1.11708888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.48, Y:19.11, Z:11.17 [[ 9.85657968e-01 -1.57890364e-01 -5.95735175e-02 2.39483240e+02] [ 1.57876739e-01 9.87446344e-01 -4.96523874e-03 1.91086441e+01] [ 5.96096153e-02 -4.51124555e-03 9.98211572e-01 1.11725735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.51, Y:19.11, Z:11.18 [[ 9.85359525e-01 -1.60019902e-01 -5.88237856e-02 2.39514429e+02] [ 1.60010355e-01 9.87103158e-01 -4.90317012e-03 1.91121873e+01] [ 5.88497494e-02 -4.58102947e-03 9.98256340e-01 1.11756626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.54, Y:19.11, Z:11.18 [[ 9.85415332e-01 -1.59958233e-01 -5.80515863e-02 2.39544840e+02] [ 1.59948934e-01 9.87113440e-01 -4.83689641e-03 1.91107909e+01] [ 5.80772024e-02 -4.51893745e-03 9.98301867e-01 1.11770604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.58, Y:19.12, Z:11.18 [[ 9.85633220e-01 -1.58796383e-01 -5.75401194e-02 2.39575558e+02] [ 1.58785348e-01 9.87301494e-01 -4.79304745e-03 1.91168061e+01] [ 5.75705644e-02 -4.41234107e-03 9.98331689e-01 1.11795085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.61, Y:19.12, Z:11.18 [[ 9.85765175e-01 -1.57934124e-01 -5.76526858e-02 2.39606438e+02] [ 1.57921705e-01 9.87439969e-01 -4.80028125e-03 1.91167548e+01] [ 5.76866945e-02 -4.37266037e-03 9.98325160e-01 1.11810341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.64, Y:19.12, Z:11.18 [[ 9.85951777e-01 -1.56782648e-01 -5.76046510e-02 2.39636752e+02] [ 1.56768396e-01 9.87623755e-01 -4.79455150e-03 1.91152815e+01] [ 5.76434243e-02 -4.30339219e-03 9.98327960e-01 1.11820536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.67, Y:19.12, Z:11.18 [[ 9.86160427e-01 -1.55534331e-01 -5.74167663e-02 2.39666921e+02] [ 1.55518068e-01 9.87821488e-01 -4.77891347e-03 1.91213802e+01] [ 5.74608006e-02 -4.21656924e-03 9.98338859e-01 1.11840953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.70, Y:19.12, Z:11.19 [[ 9.86329542e-01 -1.54213778e-01 -5.80701823e-02 2.39696817e+02] [ 1.54194873e-01 9.88028633e-01 -4.83329861e-03 1.91220772e+01] [ 5.81203641e-02 -4.18689916e-03 9.98300803e-01 1.11860741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.73, Y:19.13, Z:11.19 [[ 9.86370019e-01 -1.53757592e-01 -5.85900037e-02 2.39727701e+02] [ 1.53737574e-01 9.88099682e-01 -4.87615905e-03 1.91286863e+01] [ 5.86425105e-02 -4.19778792e-03 9.98270221e-01 1.11884257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.76, Y:19.13, Z:11.19 [[ 9.86435314e-01 -1.53157125e-01 -5.90615509e-02 2.39758835e+02] [ 1.53135844e-01 9.88192933e-01 -4.91326008e-03 1.91301473e+01] [ 5.91167081e-02 -4.19782720e-03 9.98242252e-01 1.11900308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.79, Y:19.13, Z:11.19 [[ 9.86524490e-01 -1.52428980e-01 -5.94544995e-02 2.39788294e+02] [ 1.52406192e-01 9.88305573e-01 -4.94445058e-03 1.91291450e+01] [ 5.95128907e-02 -4.18341227e-03 9.98218771e-01 1.11907520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.82, Y:19.13, Z:11.19 [[ 9.86693878e-01 -1.51270275e-01 -5.96028085e-02 2.39818168e+02] [ 1.51245208e-01 9.88483842e-01 -4.95784834e-03 1.91320319e+01] [ 5.96663883e-02 -4.12276057e-03 9.98209860e-01 1.11921020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.85, Y:19.14, Z:11.19 [[ 9.86888769e-01 -1.49930056e-01 -5.97623266e-02 2.39847959e+02] [ 1.49902362e-01 9.88688304e-01 -4.97195155e-03 1.91383479e+01] [ 5.98317583e-02 -4.05175075e-03 9.98200252e-01 1.11939663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.88, Y:19.14, Z:11.19 [[ 9.87398207e-01 -1.46177869e-01 -6.06367231e-02 2.39877862e+02] [ 1.46142319e-01 9.89250713e-01 -5.04476310e-03 1.91422875e+01] [ 6.07223542e-02 -3.88040126e-03 9.98147153e-01 1.11949835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.91, Y:19.15, Z:11.20 [[ 9.87745510e-01 -1.43624918e-01 -6.10793780e-02 2.39907787e+02] [ 1.43583976e-01 9.89625089e-01 -5.08182668e-03 1.91500281e+01] [ 6.11755618e-02 -3.75046844e-03 9.98119975e-01 1.11969904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.94, Y:19.15, Z:11.20 [[ 9.88118043e-01 -1.40778526e-01 -6.16777060e-02 2.39937300e+02] [ 1.40731296e-01 9.90034532e-01 -5.13101763e-03 1.91521300e+01] [ 6.17853959e-02 -3.60993242e-03 9.98082929e-01 1.11976684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.97, Y:19.16, Z:11.20 [[ 9.88822826e-01 -1.35319411e-01 -6.25945410e-02 2.39967705e+02] [ 1.35260009e-01 9.90796466e-01 -5.20508321e-03 1.91594089e+01] [ 6.27227988e-02 -3.31963307e-03 9.98025466e-01 1.11993189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.00, Y:19.16, Z:11.20 [[ 9.89196039e-01 -1.32598904e-01 -6.25198167e-02 2.39996801e+02] [ 1.32534238e-01 9.91164794e-01 -5.19871254e-03 1.91637006e+01] [ 6.26567849e-02 -3.14347040e-03 9.98030183e-01 1.12010022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.03, Y:19.17, Z:11.20 [[ 9.89460591e-01 -1.30709686e-01 -6.23114564e-02 2.40025023e+02] [ 1.30641558e-01 9.91416114e-01 -5.18388715e-03 1.91665047e+01] [ 6.24541662e-02 -3.01121369e-03 9.98043291e-01 1.12026370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.05, Y:19.17, Z:11.21 [[ 9.89814533e-01 -1.28236845e-01 -6.18263851e-02 2.40053976e+02] [ 1.28164773e-01 9.91739534e-01 -5.14657169e-03 1.91717748e+01] [ 6.19756504e-02 -2.82981315e-03 9.98073650e-01 1.12057689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.08, Y:19.18, Z:11.21 [[ 9.90193261e-01 -1.25751292e-01 -6.08598210e-02 2.40083895e+02] [ 1.25676623e-01 9.92058313e-01 -5.06853024e-03 1.91756673e+01] [ 6.10138656e-02 -2.62983229e-03 9.98133454e-01 1.12078198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.11, Y:19.18, Z:11.21 [[ 9.90626624e-01 -1.22828138e-01 -5.97673857e-02 2.40113818e+02] [ 1.22750622e-01 9.92425049e-01 -4.98074487e-03 1.91787430e+01] [ 5.99264263e-02 -2.40242530e-03 9.98199906e-01 1.12098248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.14, Y:19.18, Z:11.21 [[ 9.90773224e-01 -1.21699716e-01 -5.96455999e-02 2.40142963e+02] [ 1.21620287e-01 9.92564239e-01 -4.97374693e-03 1.91783076e+01] [ 5.98073931e-02 -2.32625968e-03 9.98207225e-01 1.12105032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.17, Y:19.18, Z:11.21 [[ 9.90738950e-01 -1.21660645e-01 -6.02911358e-02 2.40171699e+02] [ 1.21579071e-01 9.92568988e-01 -5.03327489e-03 1.91804273e+01] [ 6.04554631e-02 -2.34347881e-03 9.98168145e-01 1.12115258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.20, Y:19.18, Z:11.21 [[ 9.90705669e-01 -1.21931971e-01 -6.02898915e-02 2.40198996e+02] [ 1.21849995e-01 9.92535690e-01 -5.04814035e-03 1.91828006e+01] [ 6.04553987e-02 -2.34510172e-03 9.98168145e-01 1.12128326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.23, Y:19.19, Z:11.22 [[ 9.90663433e-01 -1.22052564e-01 -6.07382479e-02 2.40227961e+02] [ 1.21968760e-01 9.92520840e-01 -5.09929880e-03 1.91878031e+01] [ 6.09063593e-02 -2.35647993e-03 9.98140703e-01 1.12150485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.26, Y:19.19, Z:11.22 [[ 9.90632898e-01 -1.22300357e-01 -6.07378244e-02 2.40256100e+02] [ 1.22216710e-01 9.92490313e-01 -5.10433623e-03 1.91902052e+01] [ 6.09059645e-02 -2.36665365e-03 9.98140703e-01 1.12163926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.28, Y:19.19, Z:11.22 [[ 9.90505923e-01 -1.23244387e-01 -6.09002229e-02 2.40284553e+02] [ 1.23161226e-01 9.92373406e-01 -5.13181587e-03 1.91884437e+01] [ 6.10682291e-02 -2.41745208e-03 9.98130666e-01 1.12165985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.31, Y:19.19, Z:11.22 [[ 9.90368480e-01 -1.24447065e-01 -6.06893855e-02 2.40312245e+02] [ 1.24366263e-01 9.92223161e-01 -5.12170846e-03 1.91879157e+01] [ 6.08547955e-02 -2.47533348e-03 9.98143560e-01 1.12177172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.34, Y:19.19, Z:11.22 [[ 9.90114528e-01 -1.26144964e-01 -6.13243018e-02 2.40341033e+02] [ 1.26065427e-01 9.92008406e-01 -5.17989986e-03 1.91947454e+01] [ 6.14876411e-02 -2.60218021e-03 9.98104453e-01 1.12211696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.37, Y:19.19, Z:11.22 [[ 9.89471756e-01 -1.30513501e-01 -6.25449400e-02 2.40371223e+02] [ 1.30439338e-01 9.91442206e-01 -5.28504001e-03 1.91857802e+01] [ 6.26994624e-02 -2.92892276e-03 9.98028155e-01 1.12192688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.40, Y:19.19, Z:11.22 [[ 9.89198647e-01 -1.32404150e-01 -6.28902021e-02 2.40400071e+02] [ 1.32332885e-01 9.91191077e-01 -5.31562840e-03 1.91923295e+01] [ 6.30400184e-02 -3.06422945e-03 9.98006296e-01 1.12221157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.43, Y:19.20, Z:11.22 [[ 9.88947465e-01 -1.33946758e-01 -6.35702580e-02 2.40429113e+02] [ 1.33876957e-01 9.90983381e-01 -5.37569780e-03 1.91959691e+01] [ 6.37171265e-02 -3.19430997e-03 9.97962887e-01 1.12240170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.46, Y:19.19, Z:11.22 [[ 9.88583738e-01 -1.36589873e-01 -6.36034484e-02 2.40457988e+02] [ 1.36525196e-01 9.90621977e-01 -5.38243346e-03 1.91945317e+01] [ 6.37421596e-02 -3.36248705e-03 9.97960736e-01 1.12247560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.49, Y:19.20, Z:11.23 [[ 9.88496319e-01 -1.37636638e-01 -6.26991439e-02 2.40486948e+02] [ 1.37575397e-01 9.90477045e-01 -5.31357180e-03 1.91965067e+01] [ 6.28334049e-02 -3.37341348e-03 9.98018328e-01 1.12268168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.51, Y:19.20, Z:11.23 [[ 9.88434472e-01 -1.38322714e-01 -6.21620536e-02 2.40514988e+02] [ 1.38263052e-01 9.90381461e-01 -5.28111417e-03 1.91997255e+01] [ 6.22946435e-02 -3.37467995e-03 9.98052097e-01 1.12293962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.54, Y:19.20, Z:11.23 [[ 9.88447751e-01 -1.38663495e-01 -6.11839786e-02 2.40544388e+02] [ 1.38606054e-01 9.90333930e-01 -5.20270724e-03 1.92033685e+01] [ 6.13139956e-02 -3.33786556e-03 9.98112946e-01 1.12322628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.57, Y:19.21, Z:11.24 [[ 9.88525345e-01 -1.38771489e-01 -5.96667148e-02 2.40574898e+02] [ 1.38716950e-01 9.90319064e-01 -5.07536238e-03 1.92072106e+01] [ 5.97934007e-02 -3.25966037e-03 9.98205452e-01 1.12352829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.61, Y:19.21, Z:11.24 [[ 9.88501707e-01 -1.39174813e-01 -5.91163844e-02 2.40605516e+02] [ 1.39121992e-01 9.90262483e-01 -5.02855024e-03 1.92106247e+01] [ 5.92405851e-02 -3.25365866e-03 9.98238432e-01 1.12378436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.64, Y:19.21, Z:11.24 [[ 9.88417410e-01 -1.40103574e-01 -5.83267639e-02 2.40635616e+02] [ 1.40053750e-01 9.90131471e-01 -4.96158375e-03 1.92074837e+01] [ 5.84463002e-02 -3.26476624e-03 9.98285215e-01 1.12388824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.66, Y:19.21, Z:11.24 [[ 9.88412544e-01 -1.40137944e-01 -5.83266585e-02 2.40664678e+02] [ 1.40088107e-01 9.90126604e-01 -4.96282210e-03 1.92099879e+01] [ 5.84462561e-02 -3.26555557e-03 9.98285215e-01 1.12402705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.69, Y:19.21, Z:11.24 [[ 9.88279248e-01 -1.41154301e-01 -5.81342589e-02 2.40694530e+02] [ 1.41106424e-01 9.89982065e-01 -4.94848288e-03 1.92127388e+01] [ 5.82503733e-02 -3.31263443e-03 9.98296509e-01 1.12424108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.72, Y:19.21, Z:11.24 [[ 9.87931405e-01 -1.43549669e-01 -5.81810164e-02 2.40723513e+02] [ 1.43505730e-01 9.89637084e-01 -4.95450851e-03 1.92120617e+01] [ 5.82893094e-02 -3.45459468e-03 9.98293755e-01 1.12438092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.75, Y:19.22, Z:11.25 [[ 9.87743025e-01 -1.44873727e-01 -5.80975084e-02 2.40754320e+02] [ 1.44832121e-01 9.89443868e-01 -4.94864588e-03 1.92221231e+01] [ 5.82011522e-02 -3.52639491e-03 9.98298648e-01 1.12469493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.78, Y:19.22, Z:11.25 [[ 9.87363922e-01 -1.47125411e-01 -5.88778403e-02 2.40784642e+02] [ 1.47086772e-01 9.89110888e-01 -5.01332420e-03 1.92171993e+01] [ 5.89743003e-02 -3.71017602e-03 9.98252607e-01 1.12468567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.81, Y:19.22, Z:11.25 [[ 9.87142829e-01 -1.48227351e-01 -5.98137727e-02 2.40814908e+02] [ 1.48189506e-01 9.88945870e-01 -5.09278767e-03 1.92241179e+01] [ 5.99074739e-02 -3.83646458e-03 9.98196562e-01 1.12489090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.84, Y:19.22, Z:11.25 [[ 9.86950136e-01 -1.49257197e-01 -6.04294478e-02 2.40844911e+02] [ 1.49220545e-01 9.88790557e-01 -5.14432920e-03 1.92238533e+01] [ 6.05198954e-02 -3.94011874e-03 9.98159215e-01 1.12495274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.87, Y:19.23, Z:11.25 [[ 9.86630374e-01 -1.50869465e-01 -6.16352948e-02 2.40874804e+02] [ 1.50834457e-01 9.88545109e-01 -5.24724035e-03 1.92261278e+01] [ 6.17209175e-02 -4.11963949e-03 9.98084945e-01 1.12500521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.90, Y:19.23, Z:11.25 [[ 9.86488517e-01 -1.51536237e-01 -6.22669617e-02 2.40904436e+02] [ 1.51501745e-01 9.88442768e-01 -5.30241908e-03 1.92287951e+01] [ 6.23508366e-02 -4.20277779e-03 9.98045445e-01 1.12513773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.93, Y:19.23, Z:11.25 [[ 9.86444878e-01 -1.51651361e-01 -6.26766874e-02 2.40934257e+02] [ 1.51616505e-01 9.88424972e-01 -5.33958163e-03 1.92310242e+01] [ 6.27609577e-02 -4.23561731e-03 9.98019600e-01 1.12524905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.96, Y:19.23, Z:11.25 [[ 9.86372562e-01 -1.51953452e-01 -6.30818310e-02 2.40963882e+02] [ 1.51918618e-01 9.88378383e-01 -5.37637218e-03 1.92346226e+01] [ 6.31656765e-02 -4.28019858e-03 9.97993876e-01 1.12542318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.99, Y:19.24, Z:11.26 [[ 9.86473213e-01 -1.51579041e-01 -6.24050778e-02 2.40994204e+02] [ 1.51544095e-01 9.88436180e-01 -5.32037462e-03 1.92405717e+01] [ 6.24898939e-02 -4.20871398e-03 9.98036723e-01 1.12567997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.02, Y:19.24, Z:11.26 [[ 9.86607121e-01 -1.51132506e-01 -6.13624864e-02 2.41023932e+02] [ 1.51097862e-01 9.88504967e-01 -5.23131272e-03 1.92396453e+01] [ 6.14477440e-02 -4.11049011e-03 9.98101838e-01 1.12581555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.05, Y:19.25, Z:11.26 [[ 9.86831481e-01 -1.50484198e-01 -5.93138610e-02 2.41054208e+02] [ 1.50450698e-01 9.88604585e-01 -5.05587476e-03 1.92465403e+01] [ 5.93987842e-02 -3.93451541e-03 9.98226580e-01 1.12624990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.09, Y:19.25, Z:11.26 [[ 9.86817706e-01 -1.50677812e-01 -5.90509338e-02 2.41085468e+02] [ 1.50645027e-01 9.88575112e-01 -5.03218875e-03 1.92512964e+01] [ 5.91345227e-02 -3.92987656e-03 9.98242287e-01 1.12648155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.12, Y:19.25, Z:11.27 [[ 9.86779267e-01 -1.50923683e-01 -5.90653924e-02 2.41115460e+02] [ 1.50891435e-01 9.88537536e-01 -5.03147818e-03 1.92534452e+01] [ 5.91477267e-02 -3.94750346e-03 9.98241436e-01 1.12659562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.15, Y:19.26, Z:11.27 [[ 9.86784654e-01 -1.50888414e-01 -5.90655008e-02 2.41146232e+02] [ 1.50856179e-01 9.88542923e-01 -5.03020569e-03 1.92560357e+01] [ 5.91477826e-02 -3.94666595e-03 9.98241436e-01 1.12674252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.18, Y:19.26, Z:11.27 [[ 9.86731571e-01 -1.51107910e-01 -5.93902887e-02 2.41176059e+02] [ 1.51075883e-01 9.88509243e-01 -5.05507810e-03 1.92579462e+01] [ 5.94717116e-02 -3.98443515e-03 9.98222039e-01 1.12686583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.21, Y:19.26, Z:11.27 [[ 9.86539940e-01 -1.51903739e-01 -6.05326488e-02 2.41205991e+02] [ 1.51872227e-01 9.88386728e-01 -5.14800450e-03 1.92589178e+01] [ 6.06116678e-02 -4.11451612e-03 9.98152942e-01 1.12691058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.24, Y:19.26, Z:11.27 [[ 9.86459882e-01 -1.52459403e-01 -6.04403174e-02 2.41236858e+02] [ 1.52429051e-01 9.88301051e-01 -5.13968744e-03 1.92635540e+01] [ 6.05168229e-02 -4.14276477e-03 9.98158580e-01 1.12706351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.27, Y:19.27, Z:11.27 [[ 9.86388290e-01 -1.52713780e-01 -6.09642799e-02 2.41268091e+02] [ 1.52683519e-01 9.88261549e-01 -5.18206224e-03 1.92669703e+01] [ 6.10400260e-02 -4.19671531e-03 9.98126496e-01 1.12720484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.30, Y:19.26, Z:11.27 [[ 9.86291728e-01 -1.53581513e-01 -6.03435663e-02 2.41297757e+02] [ 1.53553563e-01 9.88127020e-01 -5.12785745e-03 1.92649749e+01] [ 6.04146525e-02 -4.20840624e-03 9.98164495e-01 1.12730927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.33, Y:19.27, Z:11.28 [[ 9.86281345e-01 -1.53817579e-01 -5.99104429e-02 2.41327872e+02] [ 1.53790409e-01 9.88090372e-01 -5.09188656e-03 1.92697773e+01] [ 5.99801535e-02 -4.19161880e-03 9.98190769e-01 1.12751751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.36, Y:19.27, Z:11.28 [[ 9.86312877e-01 -1.53990520e-01 -5.89391964e-02 2.41358032e+02] [ 1.53964525e-01 9.88063678e-01 -5.00933873e-03 1.92725083e+01] [ 5.90070699e-02 -4.13377009e-03 9.98249006e-01 1.12773076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.39, Y:19.28, Z:11.28 [[ 9.86339956e-01 -1.53988360e-01 -5.84899609e-02 2.41389303e+02] [ 1.53962776e-01 9.88064145e-01 -4.97076062e-03 1.92793882e+01] [ 5.85572725e-02 -4.10241695e-03 9.98275621e-01 1.12798160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.42, Y:19.29, Z:11.28 [[ 9.86311033e-01 -1.54313205e-01 -5.81203963e-02 2.41420678e+02] [ 1.54288646e-01 9.88013482e-01 -4.93688226e-03 1.92864377e+01] [ 5.81855613e-02 -4.09801581e-03 9.98297374e-01 1.12824860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.45, Y:19.29, Z:11.28 [[ 9.86264911e-01 -1.54598775e-01 -5.81441687e-02 2.41451502e+02] [ 1.54574961e-01 9.87968742e-01 -4.93422732e-03 1.92874366e+01] [ 5.82074467e-02 -4.12117738e-03 9.98296003e-01 1.12839215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.48, Y:19.29, Z:11.29 [[ 9.86279519e-01 -1.54639553e-01 -5.77868328e-02 2.41483761e+02] [ 1.54616441e-01 9.87962431e-01 -4.89800602e-03 1.92893276e+01] [ 5.78486453e-02 -4.10399139e-03 9.98316929e-01 1.12850858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.52, Y:19.29, Z:11.29 [[ 9.86014331e-01 -1.55885467e-01 -5.89530416e-02 2.41515020e+02] [ 1.55863880e-01 9.87765926e-01 -4.99267577e-03 1.92947744e+01] [ 5.90100913e-02 -4.26579993e-03 9.98248272e-01 1.12859654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.55, Y:19.29, Z:11.29 [[ 9.85897308e-01 -1.56296275e-01 -5.98161611e-02 2.41546200e+02] [ 1.56275013e-01 9.87700609e-01 -5.06237177e-03 1.92936913e+01] [ 5.98716886e-02 -4.35679263e-03 9.98196573e-01 1.12864193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.58, Y:19.30, Z:11.29 [[ 9.85726928e-01 -1.57145860e-01 -6.03953882e-02 2.41577289e+02] [ 1.57125963e-01 9.87565359e-01 -5.10825267e-03 1.92966272e+01] [ 6.04471339e-02 -4.45434131e-03 9.98161461e-01 1.12874305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.61, Y:19.30, Z:11.29 [[ 9.85299607e-01 -1.59315552e-01 -6.16704122e-02 2.41608092e+02] [ 1.59299163e-01 9.87216587e-01 -5.21406406e-03 1.92954008e+01] [ 6.17127354e-02 -4.68662975e-03 9.98082949e-01 1.12875196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.64, Y:19.30, Z:11.29 [[ 9.85148617e-01 -1.60008710e-01 -6.22849520e-02 2.41639161e+02] [ 1.59993462e-01 9.87104035e-01 -5.26461034e-03 1.92994182e+01] [ 6.23241109e-02 -4.77876149e-03 9.98044522e-01 1.12891480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.67, Y:19.30, Z:11.29 [[ 9.85133166e-01 -1.59998236e-01 -6.25556543e-02 2.41670368e+02] [ 1.59982980e-01 9.87105624e-01 -5.28519635e-03 1.93040502e+01] [ 6.25946603e-02 -4.80121779e-03 9.98027483e-01 1.12910744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.70, Y:19.31, Z:11.29 [[ 9.85144089e-01 -1.59900600e-01 -6.26332309e-02 2.41701224e+02] [ 1.59885257e-01 9.87121435e-01 -5.28943266e-03 1.93067765e+01] [ 6.26723882e-02 -4.80327688e-03 9.98022595e-01 1.12929222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.73, Y:19.31, Z:11.30 [[ 9.85319427e-01 -1.59181147e-01 -6.17008061e-02 2.41731893e+02] [ 1.59164971e-01 9.87238260e-01 -5.20869860e-03 1.93068712e+01] [ 6.17425230e-02 -4.68837509e-03 9.98081099e-01 1.12952522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.76, Y:19.31, Z:11.30 [[ 9.85470764e-01 -1.58359626e-01 -6.13970895e-02 2.41762693e+02] [ 1.58342107e-01 9.87370714e-01 -5.18167544e-03 1.93134886e+01] [ 6.14422563e-02 -4.61535488e-03 9.98099969e-01 1.12978302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.79, Y:19.32, Z:11.30 [[ 9.85663659e-01 -1.57264908e-01 -6.11138225e-02 2.41792834e+02] [ 1.57245579e-01 9.87546073e-01 -5.15578346e-03 1.93153443e+01] [ 6.11635392e-02 -4.52800999e-03 9.98117487e-01 1.12994120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.82, Y:19.32, Z:11.30 [[ 9.86058521e-01 -1.55163666e-01 -6.01068264e-02 2.41824151e+02] [ 1.55141173e-01 9.87879304e-01 -5.06927691e-03 1.93215599e+01] [ 6.01648574e-02 -4.32643989e-03 9.98179078e-01 1.13019459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.85, Y:19.32, Z:11.30 [[ 9.86249160e-01 -1.54131919e-01 -5.96317573e-02 2.41854876e+02] [ 1.54108071e-01 9.88041213e-01 -5.02639782e-03 1.93209511e+01] [ 5.96933621e-02 -4.23245446e-03 9.98207788e-01 1.13028539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.89, Y:19.32, Z:11.30 [[ 9.86424096e-01 -1.53144190e-01 -5.92820371e-02 2.41886677e+02] [ 1.53118934e-01 9.88195142e-01 -4.99542011e-03 1.93234861e+01] [ 5.93472406e-02 -4.14959954e-03 9.98228774e-01 1.13043087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.92, Y:19.33, Z:11.31 [[ 9.86528510e-01 -1.52491948e-01 -5.92258730e-02 2.41917431e+02] [ 1.52465746e-01 9.88296170e-01 -4.98772635e-03 1.93278115e+01] [ 5.92932915e-02 -4.10938267e-03 9.98232147e-01 1.13058667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.95, Y:19.33, Z:11.31 [[ 9.86710179e-01 -1.51478480e-01 -5.87987560e-02 2.41948673e+02] [ 1.51450986e-01 9.88452376e-01 -4.94966153e-03 1.93316254e+01] [ 5.88695373e-02 -4.02124816e-03 9.98257586e-01 1.13078188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.98, Y:19.34, Z:11.31 [[ 9.86681782e-01 -1.51852998e-01 -5.83071911e-02 2.41980715e+02] [ 1.51826754e-01 9.88394946e-01 -4.90580762e-03 1.93367732e+01] [ 5.83754946e-02 -4.01212056e-03 9.98286634e-01 1.13099441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.01, Y:19.34, Z:11.31 [[ 9.86628600e-01 -1.52347185e-01 -5.79166689e-02 2.42012289e+02] [ 1.52322380e-01 9.88318870e-01 -4.86874911e-03 1.93402440e+01] [ 5.79818770e-02 -4.01835772e-03 9.98309549e-01 1.13112173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.04, Y:19.34, Z:11.31 [[ 9.86545157e-01 -1.52884190e-01 -5.79230363e-02 2.42043803e+02] [ 1.52860534e-01 9.88235795e-01 -4.86523470e-03 1.93388964e+01] [ 5.79854353e-02 -4.05437253e-03 9.98309196e-01 1.13118706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.08, Y:19.35, Z:11.31 [[ 9.86466054e-01 -1.53432147e-01 -5.78212837e-02 2.42075646e+02] [ 1.53409704e-01 9.88150752e-01 -4.85332899e-03 1.93461655e+01] [ 5.78808016e-02 -4.08270173e-03 9.98315153e-01 1.13140635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.11, Y:19.34, Z:11.31 [[ 9.86381324e-01 -1.53937448e-01 -5.79236119e-02 2.42107684e+02] [ 1.53916063e-01 9.88071988e-01 -4.85727111e-03 1.93425850e+01] [ 5.79804142e-02 -4.12425276e-03 9.98309202e-01 1.13143851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299998 meters Centerline goodness [0,1] 0.999978820290162 Centerline is valid? [True, True] Translation: X:242.14, Y:19.34, Z:11.32 [[ 9.86355821e-01 -1.54371674e-01 -5.71977405e-02 2.42138608e+02] [ 1.54351858e-01 9.88004328e-01 -4.79088444e-03 1.93435323e+01] [ 5.72511920e-02 -4.10306080e-03 9.98351374e-01 1.13155788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.17, Y:19.35, Z:11.32 [[ 9.86290447e-01 -1.54887070e-01 -5.69310961e-02 2.42169992e+02] [ 1.54868473e-01 9.87923604e-01 -4.76535480e-03 1.93528446e+01] [ 5.69816655e-02 -4.11680803e-03 9.98366737e-01 1.13178711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.20, Y:19.35, Z:11.32 [[ 9.86273210e-01 -1.55039170e-01 -5.68155807e-02 2.42201098e+02] [ 1.55021116e-01 9.87899728e-01 -4.75185908e-03 1.93490622e+01] [ 5.68648210e-02 -4.12098343e-03 9.98373382e-01 1.13184523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.23, Y:19.36, Z:11.32 [[ 9.86275632e-01 -1.55129049e-01 -5.65274694e-02 2.42232355e+02] [ 1.55111460e-01 9.87885675e-01 -4.72534903e-03 1.93600496e+01] [ 5.65757162e-02 -4.10756173e-03 9.98389862e-01 1.13212350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.26, Y:19.36, Z:11.32 [[ 9.86304619e-01 -1.55042850e-01 -5.62575640e-02 2.42264066e+02] [ 1.55025523e-01 9.87899292e-01 -4.69860695e-03 1.93620922e+01] [ 5.63052931e-02 -4.08710056e-03 9.98405233e-01 1.13225821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.30, Y:19.36, Z:11.32 [[ 9.86316190e-01 -1.54905622e-01 -5.64324515e-02 2.42295830e+02] [ 1.54888193e-01 9.87920782e-01 -4.70918615e-03 1.93608813e+01] [ 5.64802710e-02 -4.09597390e-03 9.98395313e-01 1.13233941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.33, Y:19.37, Z:11.33 [[ 9.86341577e-01 -1.54908298e-01 -5.59795764e-02 2.42328123e+02] [ 1.54891330e-01 9.87920485e-01 -4.66816757e-03 1.93656054e+01] [ 5.60265082e-02 -4.06634329e-03 9.98421001e-01 1.13253036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.36, Y:19.36, Z:11.33 [[ 9.86473553e-01 -1.54359512e-01 -5.51640335e-02 2.42359843e+02] [ 1.54342422e-01 9.88006729e-01 -4.59572087e-03 1.93639103e+01] [ 5.52118295e-02 -3.98059346e-03 9.98466729e-01 1.13266088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.39, Y:19.37, Z:11.33 [[ 9.86475990e-01 -1.54255690e-01 -5.54103229e-02 2.42391140e+02] [ 1.54238669e-01 9.88022868e-01 -4.60934997e-03 1.93732171e+01] [ 5.54576846e-02 -3.99940138e-03 9.98453028e-01 1.13285170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.42, Y:19.37, Z:11.33 [[ 9.86558947e-01 -1.53712041e-01 -5.54441423e-02 2.42422754e+02] [ 1.53694365e-01 9.88107690e-01 -4.60820558e-03 1.93729136e+01] [ 5.54931200e-02 -3.97518583e-03 9.98451156e-01 1.13291960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.45, Y:19.38, Z:11.33 [[ 9.86835297e-01 -1.51912904e-01 -5.54848290e-02 2.42453367e+02] [ 1.51892538e-01 9.88386269e-01 -4.60867056e-03 1.93794578e+01] [ 5.55405597e-02 -3.87973269e-03 9.98448894e-01 1.13304190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.48, Y:19.38, Z:11.33 [[ 9.86988522e-01 -1.50906890e-01 -5.55046728e-02 2.42484223e+02] [ 1.50885049e-01 9.88540574e-01 -4.60812341e-03 1.93812401e+01] [ 5.55640187e-02 -3.82666034e-03 9.98447794e-01 1.13315337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.52, Y:19.38, Z:11.33 [[ 9.87135166e-01 -1.50039595e-01 -5.52474720e-02 2.42515514e+02] [ 1.50016770e-01 9.88672827e-01 -4.58375857e-03 1.93826899e+01] [ 5.53094196e-02 -3.76325803e-03 9.98462171e-01 1.13325091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.55, Y:19.39, Z:11.33 [[ 9.87358610e-01 -1.48721667e-01 -5.48164321e-02 2.42546160e+02] [ 1.48697329e-01 9.88872310e-01 -4.54517736e-03 1.93903720e+01] [ 5.48824182e-02 -3.66333702e-03 9.98486104e-01 1.13342083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.58, Y:19.39, Z:11.34 [[ 9.87424053e-01 -1.48224165e-01 -5.49848702e-02 2.42578723e+02] [ 1.48199050e-01 9.88947056e-01 -4.55660288e-03 1.93929671e+01] [ 5.50525241e-02 -3.64940627e-03 9.98476791e-01 1.13357017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.61, Y:19.39, Z:11.34 [[ 9.87539021e-01 -1.47686905e-01 -5.43623066e-02 2.42609868e+02] [ 1.47661825e-01 9.89027672e-01 -4.49983434e-03 1.93921883e+01] [ 5.44303921e-02 -3.58347542e-03 9.98511137e-01 1.13367892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.64, Y:19.39, Z:11.34 [[ 9.87549417e-01 -1.47617282e-01 -5.43625597e-02 2.42641490e+02] [ 1.47592265e-01 9.89038069e-01 -4.49677393e-03 1.93947415e+01] [ 5.44304427e-02 -3.58270684e-03 9.98511137e-01 1.13382978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.67, Y:19.40, Z:11.34 [[ 9.87630237e-01 -1.47174824e-01 -5.40933134e-02 2.42673510e+02] [ 1.47149600e-01 9.89104144e-01 -4.47067722e-03 1.93994755e+01] [ 5.41618916e-02 -3.54443345e-03 9.98525877e-01 1.13401674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.71, Y:19.41, Z:11.34 [[ 9.87710403e-01 -1.46833409e-01 -5.35547406e-02 2.42705210e+02] [ 1.46808389e-01 9.89155064e-01 -4.42234255e-03 1.94058513e+01] [ 5.36232904e-02 -3.49429144e-03 9.98555122e-01 1.13415679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.74, Y:19.40, Z:11.34 [[ 9.87744154e-01 -1.46409452e-01 -5.40902914e-02 2.42736825e+02] [ 1.46383510e-01 9.89217849e-01 -4.46266469e-03 1.94023955e+01] [ 5.41604580e-02 -3.50995575e-03 9.98526076e-01 1.13421537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.77, Y:19.40, Z:11.34 [[ 9.87818410e-01 -1.46041595e-01 -5.37274829e-02 2.42768776e+02] [ 1.46015620e-01 9.89272367e-01 -4.42969958e-03 1.94043638e+01] [ 5.37980346e-02 -3.46931294e-03 9.98545810e-01 1.13431329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.80, Y:19.41, Z:11.35 [[ 9.87854082e-01 -1.45957006e-01 -5.32997669e-02 2.42800500e+02] [ 1.45931516e-01 9.89284951e-01 -4.39073167e-03 1.94147190e+01] [ 5.33695153e-02 -3.44071360e-03 9.98568904e-01 1.13455014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.83, Y:19.41, Z:11.35 [[ 9.87752935e-01 -1.46671501e-01 -5.32128804e-02 2.42832353e+02] [ 1.46647331e-01 9.89179144e-01 -4.37973674e-03 1.94126785e+01] [ 5.32794540e-02 -3.47742905e-03 9.98573586e-01 1.13464241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.86, Y:19.41, Z:11.35 [[ 9.87711604e-01 -1.46899132e-01 -5.33519743e-02 2.42864066e+02] [ 1.46875324e-01 9.89145279e-01 -4.38823389e-03 1.94136308e+01] [ 5.34174812e-02 -3.50177898e-03 9.98566127e-01 1.13473950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.90, Y:19.42, Z:11.35 [[ 9.87682569e-01 -1.47102154e-01 -5.33300950e-02 2.42896015e+02] [ 1.47078820e-01 9.89115062e-01 -4.38345081e-03 1.94189498e+01] [ 5.33944153e-02 -3.51426947e-03 9.98567317e-01 1.13487131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.93, Y:19.42, Z:11.35 [[ 9.87642693e-01 -1.47140270e-01 -5.39597239e-02 2.42927808e+02] [ 1.47116651e-01 9.89109223e-01 -4.43132043e-03 1.94178034e+01] [ 5.40240862e-02 -3.56181262e-03 9.98533280e-01 1.13497105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.96, Y:19.42, Z:11.35 [[ 9.87678384e-01 -1.46916395e-01 -5.39164355e-02 2.42959440e+02] [ 1.46892647e-01 9.89142544e-01 -4.42469817e-03 1.94221164e+01] [ 5.39811009e-02 -3.54974920e-03 9.98535648e-01 1.13507849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.99, Y:19.42, Z:11.35 [[ 9.87703142e-01 -1.46642952e-01 -5.42065287e-02 2.42990694e+02] [ 1.46618748e-01 9.89183091e-01 -4.44469217e-03 1.94200150e+01] [ 5.42719644e-02 -3.55765692e-03 9.98519853e-01 1.13516014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.02, Y:19.43, Z:11.35 [[ 9.87732447e-01 -1.46443195e-01 -5.42125764e-02 2.43022191e+02] [ 1.46418852e-01 9.89212711e-01 -4.44212772e-03 1.94302225e+01] [ 5.42782890e-02 -3.55010950e-03 9.98519536e-01 1.13538046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.05, Y:19.43, Z:11.36 [[ 9.87854083e-01 -1.45631528e-01 -5.41827298e-02 2.43053456e+02] [ 1.45606208e-01 9.89332682e-01 -4.43579262e-03 1.94304153e+01] [ 5.42507366e-02 -3.50742597e-03 9.98521184e-01 1.13552137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.09, Y:19.43, Z:11.36 [[ 9.87915791e-01 -1.45382637e-01 -5.37241042e-02 2.43085157e+02] [ 1.45357540e-01 9.89369429e-01 -4.39518576e-03 1.94331935e+01] [ 5.37919700e-02 -3.46713024e-03 9.98546145e-01 1.13564793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.12, Y:19.43, Z:11.36 [[ 9.87983576e-01 -1.44874691e-01 -5.38495734e-02 2.43116493e+02] [ 1.44848955e-01 9.89443990e-01 -4.40122795e-03 1.94341175e+01] [ 5.39187633e-02 -3.45171350e-03 9.98539360e-01 1.13578119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.15, Y:19.43, Z:11.36 [[ 9.87950401e-01 -1.45363356e-01 -5.31366213e-02 2.43147697e+02] [ 1.45339311e-01 9.89372364e-01 -4.33706611e-03 1.94337943e+01] [ 5.32023551e-02 -3.43803370e-03 9.98577833e-01 1.13598974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.18, Y:19.44, Z:11.36 [[ 9.87996566e-01 -1.45004723e-01 -5.32580049e-02 2.43179818e+02] [ 1.44980207e-01 9.89425019e-01 -4.34401968e-03 1.94399743e+01] [ 5.33247059e-02 -3.42948007e-03 9.98571337e-01 1.13620771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.21, Y:19.45, Z:11.36 [[ 9.88130348e-01 -1.44177067e-01 -5.30225245e-02 2.43211472e+02] [ 1.44151784e-01 9.89546155e-01 -4.32099508e-03 1.94459892e+01] [ 5.30912237e-02 -3.37358511e-03 9.98583968e-01 1.13636692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.24, Y:19.45, Z:11.36 [[ 9.88413121e-01 -1.42186893e-01 -5.31261604e-02 2.43242293e+02] [ 1.42158847e-01 9.89834406e-01 -4.32572278e-03 1.94473043e+01] [ 5.32011625e-02 -3.27675254e-03 9.98578439e-01 1.13644840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.27, Y:19.45, Z:11.37 [[ 9.88625531e-01 -1.40867582e-01 -5.26866566e-02 2.43273083e+02] [ 1.40838232e-01 9.90023336e-01 -4.28801747e-03 1.94508293e+01] [ 5.27650622e-02 -3.18105202e-03 9.98601887e-01 1.13662315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.30, Y:19.45, Z:11.37 [[ 9.88867953e-01 -1.39385564e-01 -5.20752962e-02 2.43303373e+02] [ 1.39354935e-01 9.90233434e-01 -4.23649092e-03 1.94499603e+01] [ 5.21572050e-02 -3.06761940e-03 9.98634175e-01 1.13676813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.33, Y:19.46, Z:11.37 [[ 9.89016475e-01 -1.38491068e-01 -5.16394807e-02 2.43334894e+02] [ 1.38459792e-01 9.90359150e-01 -4.19989408e-03 1.94591070e+01] [ 5.17232801e-02 -2.99622734e-03 9.98656961e-01 1.13703394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.37, Y:19.46, Z:11.37 [[ 9.89213677e-01 -1.37179516e-01 -5.13622535e-02 2.43366013e+02] [ 1.37147000e-01 9.90541912e-01 -4.17372947e-03 1.94603908e+01] [ 5.14490150e-02 -2.91546871e-03 9.98671367e-01 1.13725601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.40, Y:19.47, Z:11.37 [[ 9.89343905e-01 -1.36237321e-01 -5.13617570e-02 2.43398248e+02] [ 1.36203691e-01 9.90672075e-01 -4.17077109e-03 1.94674286e+01] [ 5.14508730e-02 -2.86933391e-03 9.98671405e-01 1.13744310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.43, Y:19.47, Z:11.38 [[ 9.89422365e-01 -1.35594487e-01 -5.15511350e-02 2.43429937e+02] [ 1.35559982e-01 9.90760317e-01 -4.18145465e-03 1.94679202e+01] [ 5.16418010e-02 -2.85104620e-03 9.98661602e-01 1.13757153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.46, Y:19.47, Z:11.38 [[ 9.89562898e-01 -1.34362391e-01 -5.20770476e-02 2.43461592e+02] [ 1.34325681e-01 9.90928252e-01 -4.22026104e-03 1.94707371e+01] [ 5.21716621e-02 -2.81907113e-03 9.98634152e-01 1.13771982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.49, Y:19.47, Z:11.38 [[ 9.89655104e-01 -1.33684500e-01 -5.20694734e-02 2.43494110e+02] [ 1.33647067e-01 9.91020024e-01 -4.21579901e-03 1.94739461e+01] [ 5.21654778e-02 -2.78674540e-03 9.98634566e-01 1.13785398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.53, Y:19.48, Z:11.38 [[ 9.89715407e-01 -1.32922174e-01 -5.28687810e-02 2.43526662e+02] [ 1.32882758e-01 9.91122541e-01 -4.27567356e-03 1.94766922e+01] [ 5.29677724e-02 -2.79364945e-03 9.98592315e-01 1.13799957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.56, Y:19.48, Z:11.38 [[ 9.89794676e-01 -1.32178226e-01 -5.32486177e-02 2.43558558e+02] [ 1.32137423e-01 9.91222073e-01 -4.30166340e-03 1.94804868e+01] [ 5.33497915e-02 -2.77837159e-03 9.98572021e-01 1.13813519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.59, Y:19.48, Z:11.38 [[ 9.89838525e-01 -1.31303965e-01 -5.45798859e-02 2.43590702e+02] [ 1.31259998e-01 9.91338190e-01 -4.40515162e-03 1.94825601e+01] [ 5.46855392e-02 -2.80376691e-03 9.98499690e-01 1.13821706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.62, Y:19.48, Z:11.38 [[ 9.89835186e-01 -1.31122427e-01 -5.50746124e-02 2.43621574e+02] [ 1.31077594e-01 9.91362164e-01 -4.44121371e-03 1.94836542e+01] [ 5.51812296e-02 -2.82297807e-03 9.98472365e-01 1.13828991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.65, Y:19.48, Z:11.38 [[ 9.89846199e-01 -1.30727715e-01 -5.58101038e-02 2.43653243e+02] [ 1.30681252e-01 9.91414236e-01 -4.49698118e-03 1.94830669e+01] [ 5.59188115e-02 -2.84201450e-03 9.98431274e-01 1.13836065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.68, Y:19.49, Z:11.38 [[ 9.89840372e-01 -1.30517298e-01 -5.64027676e-02 2.43684516e+02] [ 1.30469831e-01 9.91441890e-01 -4.53897034e-03 1.94850776e+01] [ 5.65124806e-02 -2.86600346e-03 9.98397779e-01 1.13849553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.72, Y:19.49, Z:11.39 [[ 9.89915694e-01 -1.30067686e-01 -5.61187661e-02 2.43716280e+02] [ 1.30020104e-01 9.91501083e-01 -4.51383372e-03 1.94926856e+01] [ 5.62289212e-02 -2.82825294e-03 9.98413897e-01 1.13877341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.75, Y:19.49, Z:11.39 [[ 9.90189088e-01 -1.28233950e-01 -5.55123738e-02 2.43748026e+02] [ 1.28184732e-01 9.91740275e-01 -4.46115866e-03 1.94947906e+01] [ 5.56259288e-02 -2.69844813e-03 9.98448033e-01 1.13898522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.78, Y:19.50, Z:11.39 [[ 9.90393732e-01 -1.26944230e-01 -5.48216909e-02 2.43779547e+02] [ 1.26894419e-01 9.91906459e-01 -4.40270332e-03 1.94980603e+01] [ 5.49368871e-02 -2.59615686e-03 9.98486454e-01 1.13914429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.81, Y:19.50, Z:11.39 [[ 9.90571535e-01 -1.25608313e-01 -5.46862485e-02 2.43811113e+02] [ 1.25556871e-01 9.92076715e-01 -4.38903026e-03 1.95008902e+01] [ 5.48042524e-02 -2.51858581e-03 9.98493941e-01 1.13933624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.84, Y:19.50, Z:11.39 [[ 9.90956362e-01 -1.22626118e-01 -5.44823220e-02 2.43842036e+02] [ 1.22570720e-01 9.92450162e-01 -4.36978727e-03 1.95039212e+01] [ 5.46068393e-02 -2.34766892e-03 9.98505174e-01 1.13945715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.87, Y:19.51, Z:11.40 [[ 9.91126677e-01 -1.21202589e-01 -5.45696040e-02 2.43874218e+02] [ 1.21144986e-01 9.92625184e-01 -4.37450744e-03 1.95068498e+01] [ 5.46973648e-02 -2.27514288e-03 9.98500387e-01 1.13960655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.90, Y:19.51, Z:11.40 [[ 9.91492469e-01 -1.18356227e-01 -5.41709097e-02 2.43904331e+02] [ 1.18295417e-01 9.92968966e-01 -4.33896747e-03 1.95076211e+01] [ 5.43035760e-02 -2.10611677e-03 9.98522251e-01 1.13970441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.94, Y:19.51, Z:11.40 [[ 9.91646974e-01 -1.17274755e-01 -5.36927449e-02 2.43935950e+02] [ 1.17213493e-01 9.93097433e-01 -4.29951458e-03 1.95117020e+01] [ 5.38263517e-02 -2.02991354e-03 9.98548248e-01 1.13989616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.97, Y:19.51, Z:11.40 [[ 9.91755848e-01 -1.16470865e-01 -5.34310282e-02 2.43966351e+02] [ 1.16409155e-01 9.93192137e-01 -4.27629681e-03 1.95105214e+01] [ 5.35653411e-02 -1.97881847e-03 9.98562386e-01 1.13998465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.00, Y:19.52, Z:11.40 [[ 9.91836416e-01 -1.16001780e-01 -5.29538596e-02 2.43998417e+02] [ 1.15940567e-01 9.93247116e-01 -4.23685147e-03 1.95166608e+01] [ 5.30877507e-02 -1.93723693e-03 9.98587972e-01 1.14022902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.03, Y:19.52, Z:11.40 [[ 9.91857604e-01 -1.15744395e-01 -5.31199414e-02 2.44030689e+02] [ 1.15682637e-01 9.93277150e-01 -4.24623040e-03 1.95182139e+01] [ 5.32543014e-02 -1.93339898e-03 9.98579111e-01 1.14038678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.06, Y:19.52, Z:11.41 [[ 9.91847377e-01 -1.15787557e-01 -5.32167543e-02 2.44062351e+02] [ 1.15725832e-01 9.93272101e-01 -4.25029489e-03 1.95196652e+01] [ 5.33508486e-02 -1.94290932e-03 9.98573939e-01 1.14051331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.09, Y:19.52, Z:11.41 [[ 9.91756181e-01 -1.16392459e-01 -5.35954624e-02 2.44093243e+02] [ 1.16330833e-01 9.93201304e-01 -4.27870126e-03 1.95184024e+01] [ 5.37290917e-02 -1.99137639e-03 9.98553563e-01 1.14059381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.12, Y:19.52, Z:11.41 [[ 9.91599045e-01 -1.17483018e-01 -5.41209165e-02 2.44123820e+02] [ 1.17421846e-01 9.93072731e-01 -4.31979072e-03 1.95179226e+01] [ 5.42535084e-02 -2.07147757e-03 9.98525045e-01 1.14070122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.15, Y:19.52, Z:11.41 [[ 9.91538939e-01 -1.17918007e-01 -5.42759276e-02 2.44154777e+02] [ 1.17857134e-01 9.93021112e-01 -4.33216330e-03 1.95185833e+01] [ 5.44079820e-02 -2.10129668e-03 9.98516578e-01 1.14079007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.19, Y:19.52, Z:11.41 [[ 9.91555840e-01 -1.17837072e-01 -5.41427795e-02 2.44185236e+02] [ 1.17776378e-01 9.93030739e-01 -4.32153577e-03 1.95207786e+01] [ 5.42746815e-02 -2.09169642e-03 9.98523852e-01 1.14093729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.22, Y:19.52, Z:11.41 [[ 9.91541476e-01 -1.17937833e-01 -5.41864297e-02 2.44216448e+02] [ 1.17877204e-01 9.93018762e-01 -4.32477166e-03 1.95217942e+01] [ 5.43181955e-02 -2.09915437e-03 9.98521471e-01 1.14108053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.25, Y:19.52, Z:11.41 [[ 9.91569279e-01 -1.17937411e-01 -5.36761713e-02 2.44245963e+02] [ 1.17878010e-01 9.93018850e-01 -4.28233729e-03 1.95223342e+01] [ 5.38064976e-02 -2.08100613e-03 9.98549213e-01 1.14117048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.28, Y:19.52, Z:11.41 [[ 9.91569279e-01 -1.17937411e-01 -5.36761716e-02 2.44275857e+02] [ 1.17878010e-01 9.93018850e-01 -4.28233287e-03 1.95247192e+01] [ 5.38064975e-02 -2.08101056e-03 9.98549213e-01 1.14131316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.31, Y:19.53, Z:11.41 [[ 9.91549244e-01 -1.18201558e-01 -5.34648383e-02 2.44306198e+02] [ 1.18143006e-01 9.92987430e-01 -4.26547251e-03 1.95257274e+01] [ 5.35940978e-02 -2.08707067e-03 9.98560623e-01 1.14144913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.34, Y:19.52, Z:11.42 [[ 9.91516886e-01 -1.19028144e-01 -5.22165183e-02 2.44335746e+02] [ 1.18973432e-01 9.92888698e-01 -4.16596698e-03 1.95231900e+01] [ 5.23410582e-02 -2.08175177e-03 9.98627098e-01 1.14154703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.37, Y:19.52, Z:11.42 [[ 9.91413407e-01 -1.19880725e-01 -5.22309208e-02 2.44366463e+02] [ 1.19827119e-01 9.92786024e-01 -4.16796266e-03 1.95234242e+01] [ 5.23537866e-02 -2.12650669e-03 9.98626336e-01 1.14163939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.40, Y:19.53, Z:11.42 [[ 9.91227150e-01 -1.21484954e-01 -5.20590351e-02 2.44397297e+02] [ 1.21433911e-01 9.92590826e-01 -4.15416033e-03 1.95257024e+01] [ 5.21779886e-02 -2.20401571e-03 9.98635369e-01 1.14170697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.43, Y:19.52, Z:11.42 [[ 9.91114141e-01 -1.22528089e-01 -5.17651147e-02 2.44427342e+02] [ 1.22479104e-01 9.92462501e-01 -4.12944162e-03 1.95244077e+01] [ 5.18809078e-02 -2.24739690e-03 9.98650750e-01 1.14179845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.46, Y:19.53, Z:11.42 [[ 9.90977616e-01 -1.23616011e-01 -5.17923351e-02 2.44457846e+02] [ 1.23568682e-01 9.92327439e-01 -4.12729921e-03 1.95252867e+01] [ 5.19051555e-02 -2.30984943e-03 9.98649348e-01 1.14192246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.49, Y:19.53, Z:11.42 [[ 9.90814708e-01 -1.24870766e-01 -5.18989980e-02 2.44489205e+02] [ 1.24824966e-01 9.92170159e-01 -4.13563383e-03 1.95280455e+01] [ 5.20090569e-02 -2.38064385e-03 9.98643776e-01 1.14203888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.52, Y:19.53, Z:11.42 [[ 9.90648353e-01 -1.26153444e-01 -5.19725844e-02 2.44519934e+02] [ 1.26109369e-01 9.92007707e-01 -4.13968218e-03 1.95258072e+01] [ 5.20794394e-02 -2.45326047e-03 9.98639932e-01 1.14211585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.55, Y:19.53, Z:11.42 [[ 9.90358354e-01 -1.28551680e-01 -5.16216662e-02 2.44551247e+02] [ 1.28511497e-01 9.91699499e-01 -4.11072168e-03 1.95283717e+01] [ 5.17216207e-02 -2.56289006e-03 9.98658253e-01 1.14228763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.58, Y:19.53, Z:11.42 [[ 9.90216954e-01 -1.29743080e-01 -5.13528774e-02 2.44581426e+02] [ 1.29705000e-01 9.91544202e-01 -4.08758103e-03 1.95258719e+01] [ 5.14489832e-02 -2.61313292e-03 9.98672205e-01 1.14241142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.61, Y:19.53, Z:11.43 [[ 9.90216954e-01 -1.29743080e-01 -5.13528774e-02 2.44611336e+02] [ 1.29705000e-01 9.91544202e-01 -4.08758103e-03 1.95282527e+01] [ 5.14489832e-02 -2.61313292e-03 9.98672205e-01 1.14255417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.64, Y:19.53, Z:11.43 [[ 9.89973244e-01 -1.31957811e-01 -5.03995247e-02 2.44641430e+02] [ 1.31923986e-01 9.91251718e-01 -4.01175006e-03 1.95274749e+01] [ 5.04879972e-02 -2.67738097e-03 9.98721079e-01 1.14271831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.67, Y:19.53, Z:11.43 [[ 9.89749685e-01 -1.33587661e-01 -5.04965209e-02 2.44672246e+02] [ 1.33555776e-01 9.91033144e-01 -4.02031621e-03 1.95272725e+01] [ 5.05807905e-02 -2.76499533e-03 9.98716145e-01 1.14283313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.70, Y:19.53, Z:11.43 [[ 9.89741619e-01 -1.33651561e-01 -5.04855197e-02 2.44703443e+02] [ 1.33619778e-01 9.91024520e-01 -4.01932723e-03 1.95316528e+01] [ 5.05695773e-02 -2.76776852e-03 9.98716705e-01 1.14297117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.73, Y:19.53, Z:11.43 [[ 9.89707379e-01 -1.33831064e-01 -5.06808602e-02 2.44734949e+02] [ 1.33799365e-01 9.91000234e-01 -4.03303089e-03 1.95333954e+01] [ 5.07644891e-02 -2.78954646e-03 9.98706756e-01 1.14308773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.77, Y:19.54, Z:11.43 [[ 9.89712191e-01 -1.33795424e-01 -5.06810053e-02 2.44765711e+02] [ 1.33763771e-01 9.91005047e-01 -4.03120661e-03 1.95358121e+01] [ 5.07644890e-02 -2.78954807e-03 9.98706756e-01 1.14323450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.80, Y:19.54, Z:11.43 [[ 9.89799164e-01 -1.33178316e-01 -5.06078223e-02 2.44796677e+02] [ 1.33146044e-01 9.91088262e-01 -4.02355560e-03 1.95386450e+01] [ 5.06926690e-02 -2.75571936e-03 9.98710498e-01 1.14327826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.83, Y:19.54, Z:11.43 [[ 9.89848613e-01 -1.32781978e-01 -5.06820417e-02 2.44826926e+02] [ 1.32749184e-01 9.91141479e-01 -4.02766593e-03 1.95368406e+01] [ 5.07678753e-02 -2.74122017e-03 9.98706718e-01 1.14334618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.86, Y:19.55, Z:11.44 [[ 9.89930123e-01 -1.32294189e-01 -5.03646679e-02 2.44857346e+02] [ 1.32261223e-01 9.91206818e-01 -4.00148046e-03 1.95459888e+01] [ 5.04511749e-02 -2.70010655e-03 9.98722879e-01 1.14356632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.89, Y:19.55, Z:11.44 [[ 9.90017002e-01 -1.31511199e-01 -5.07064117e-02 2.44887271e+02] [ 1.31476864e-01 9.91311062e-01 -4.02661995e-03 1.95483512e+01] [ 5.07953724e-02 -2.68029777e-03 9.98705485e-01 1.14363093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.92, Y:19.55, Z:11.44 [[ 9.90009290e-01 -1.31508579e-01 -5.08635366e-02 2.44918106e+02] [ 1.31474207e-01 9.91311377e-01 -4.03560409e-03 1.95476581e+01] [ 5.09523191e-02 -2.69195757e-03 9.98697459e-01 1.14372073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.95, Y:19.55, Z:11.44 [[ 9.90007852e-01 -1.31526477e-01 -5.08452460e-02 2.44949118e+02] [ 1.31492203e-01 9.91309000e-01 -4.03316777e-03 1.95539575e+01] [ 5.09338183e-02 -2.69288564e-03 9.98698400e-01 1.14390450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.98, Y:19.55, Z:11.44 [[ 9.90020822e-01 -1.31579804e-01 -5.04532212e-02 2.44979425e+02] [ 1.31546213e-01 9.91301968e-01 -4.00030495e-03 1.95542758e+01] [ 5.05407368e-02 -2.67654502e-03 9.98718414e-01 1.14402739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.01, Y:19.56, Z:11.44 [[ 9.89991974e-01 -1.31954586e-01 -5.00387754e-02 2.45010433e+02] [ 1.31922068e-01 9.91252155e-01 -3.96649818e-03 1.95591977e+01] [ 5.01244416e-02 -2.67441739e-03 9.98739399e-01 1.14418271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.04, Y:19.56, Z:11.44 [[ 9.89995814e-01 -1.31945056e-01 -4.99879118e-02 2.45041978e+02] [ 1.31912683e-01 9.91253427e-01 -3.96065110e-03 1.95625888e+01] [ 5.00732773e-02 -2.67301158e-03 9.98741970e-01 1.14432925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.07, Y:19.57, Z:11.44 [[ 9.89991180e-01 -1.31977923e-01 -4.99929155e-02 2.45073522e+02] [ 1.31945677e-01 9.91249042e-01 -3.95922577e-03 1.95670365e+01] [ 5.00779600e-02 -2.67675049e-03 9.98741725e-01 1.14444916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.11, Y:19.57, Z:11.45 [[ 9.90012681e-01 -1.31819621e-01 -4.99847953e-02 2.45105646e+02] [ 1.31787280e-01 9.91270123e-01 -3.95666706e-03 1.95730543e+01] [ 5.00700005e-02 -2.67020966e-03 9.98742141e-01 1.14460046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.14, Y:19.57, Z:11.45 [[ 9.90083108e-01 -1.31334130e-01 -4.98676883e-02 2.45136800e+02] [ 1.31301510e-01 9.91334636e-01 -3.94373938e-03 1.95703695e+01] [ 4.99535142e-02 -2.64307304e-03 9.98748047e-01 1.14472612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.17, Y:19.58, Z:11.45 [[ 9.90213123e-01 -1.30149786e-01 -5.03885238e-02 2.45167671e+02] [ 1.30115096e-01 9.91490900e-01 -3.98210778e-03 1.95826039e+01] [ 5.04780333e-02 -2.61317223e-03 9.98721753e-01 1.14488060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.20, Y:19.59, Z:11.45 [[ 9.90283775e-01 -1.29649163e-01 -5.02905493e-02 2.45199118e+02] [ 1.29614105e-01 9.91556559e-01 -3.97157536e-03 1.95855478e+01] [ 5.03808354e-02 -2.58537790e-03 9.98726733e-01 1.14499287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45509989299998 meters Centerline goodness [0,1] 0.9998739866425841 Centerline is valid? [True, True] Translation: X:245.23, Y:19.59, Z:11.45 [[ 9.90335408e-01 -1.29265805e-01 -5.02606320e-02 2.45231103e+02] [ 1.29230439e-01 9.91606657e-01 -3.96638824e-03 1.95905192e+01] [ 5.03514956e-02 -2.56714879e-03 9.98728260e-01 1.14516181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.26, Y:19.59, Z:11.45 [[ 9.90370581e-01 -1.29170100e-01 -4.98116192e-02 2.45263251e+02] [ 1.29135423e-01 9.91619190e-01 -3.92732388e-03 1.95943981e+01] [ 4.99014503e-02 -2.54293846e-03 9.98750909e-01 1.14532610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.29, Y:19.60, Z:11.45 [[ 9.90328849e-01 -1.29517336e-01 -4.97396362e-02 2.45294682e+02] [ 1.29483375e-01 9.91573852e-01 -3.91804364e-03 1.95975776e+01] [ 4.98279773e-02 -2.56030432e-03 9.98754533e-01 1.14544471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.33, Y:19.60, Z:11.46 [[ 9.90226992e-01 -1.30274392e-01 -4.97904414e-02 2.45326218e+02] [ 1.30241454e-01 9.91474560e-01 -3.91927592e-03 1.96019805e+01] [ 4.98765372e-02 -2.60380666e-03 9.98751997e-01 1.14560556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.36, Y:19.61, Z:11.46 [[ 9.90035120e-01 -1.31583034e-01 -5.01633900e-02 2.45358434e+02] [ 1.31551459e-01 9.91301493e-01 -3.94498015e-03 1.96076216e+01] [ 5.02461359e-02 -2.69339823e-03 9.98733233e-01 1.14572625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.39, Y:19.61, Z:11.46 [[ 9.89962024e-01 -1.32147811e-01 -5.01213309e-02 2.45389711e+02] [ 1.32117190e-01 9.91226281e-01 -3.93808948e-03 1.96092725e+01] [ 5.02019904e-02 -2.72333036e-03 9.98735372e-01 1.14582401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.635099893 meters Centerline goodness [0,1] 0.9997664394759751 Centerline is valid? [True, True] Translation: X:245.42, Y:19.62, Z:11.46 [[ 9.89861216e-01 -1.32816158e-01 -5.03452141e-02 2.45421500e+02] [ 1.32786265e-01 9.91136813e-01 -3.95288912e-03 1.96153633e+01] [ 5.04240026e-02 -2.77234133e-03 9.98724053e-01 1.14597959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.665099893 meters Centerline goodness [0,1] 0.9997462036292881 Centerline is valid? [True, True] Translation: X:245.45, Y:19.62, Z:11.46 [[ 9.89753210e-01 -1.33752140e-01 -4.99894799e-02 2.45452514e+02] [ 1.33724036e-01 9.91010850e-01 -3.92139625e-03 1.96193696e+01] [ 5.00646121e-02 -2.80358048e-03 9.98742046e-01 1.14617951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.695099893 meters Centerline goodness [0,1] 0.9996629663176964 Centerline is valid? [True, True] Translation: X:245.48, Y:19.62, Z:11.46 [[ 9.89743564e-01 -1.34165598e-01 -4.90639317e-02 2.45484326e+02] [ 1.34139158e-01 9.90955041e-01 -3.84615163e-03 1.96242319e+01] [ 4.91361717e-02 -2.77469066e-03 9.98788235e-01 1.14644141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.725099893 meters Centerline goodness [0,1] 0.9998305407867144 Centerline is valid? [True, True] Translation: X:245.52, Y:19.63, Z:11.47 [[ 9.89818101e-01 -1.33916786e-01 -4.82329859e-02 2.45515480e+02] [ 1.33891105e-01 9.90988851e-01 -3.77754915e-03 1.96265395e+01] [ 4.83042285e-02 -2.71888126e-03 9.98828969e-01 1.14664899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.755099893 meters Centerline goodness [0,1] 0.9999577059719168 Centerline is valid? [True, True] Translation: X:245.55, Y:19.63, Z:11.47 [[ 9.89881531e-01 -1.33400420e-01 -4.83619984e-02 2.45547568e+02] [ 1.33374262e-01 9.91058526e-01 -3.78201014e-03 1.96313664e+01] [ 4.84340926e-02 -2.70650385e-03 9.98822714e-01 1.14679752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.785099893 meters Centerline goodness [0,1] 0.9998729836148863 Centerline is valid? [True, True] Translation: X:245.58, Y:19.64, Z:11.47 [[ 9.90149760e-01 -1.31822240e-01 -4.71842042e-02 2.45577400e+02] [ 1.31795707e-01 9.91270044e-01 -3.68661736e-03 1.96368733e+01] [ 4.72582664e-02 -2.56837226e-03 9.98879402e-01 1.14698893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.61, Y:19.65, Z:11.47 [[ 9.90332602e-01 -1.30677856e-01 -4.65256401e-02 2.45609298e+02] [ 1.30650834e-01 9.91421782e-01 -3.63440322e-03 1.96454626e+01] [ 4.66014690e-02 -2.47934567e-03 9.98910484e-01 1.14721897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.845099893 meters Centerline goodness [0,1] 0.9998298306815281 Centerline is valid? [True, True] Translation: X:245.64, Y:19.65, Z:11.47 [[ 9.90518080e-01 -1.29407132e-01 -4.61272956e-02 2.45640428e+02] [ 1.29379351e-01 9.91588636e-01 -3.59993674e-03 1.96456895e+01] [ 4.62051597e-02 -2.40211716e-03 9.98929083e-01 1.14738992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.875099893 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:245.67, Y:19.65, Z:11.47 [[ 9.90863411e-01 -1.26542731e-01 -4.66544480e-02 2.45670096e+02] [ 1.26511267e-01 9.91958497e-01 -3.63849112e-03 1.96519307e+01] [ 4.67397008e-02 -2.29706560e-03 9.98904462e-01 1.14749851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.70, Y:19.66, Z:11.48 [[ 9.91024316e-01 -1.25103106e-01 -4.71170608e-02 2.45701977e+02] [ 1.25069432e-01 9.92141190e-01 -3.67376131e-03 1.96623276e+01] [ 4.72063757e-02 -2.25211723e-03 9.98882619e-01 1.14760851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.73, Y:19.67, Z:11.48 [[ 9.91211321e-01 -1.23381406e-01 -4.77194439e-02 2.45733414e+02] [ 1.23345085e-01 9.92356881e-01 -3.71634952e-03 1.96686626e+01] [ 4.78132470e-02 -2.20227117e-03 9.98853865e-01 1.14770993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.76, Y:19.67, Z:11.48 [[ 9.91494100e-01 -1.20577331e-01 -4.89954772e-02 2.45763991e+02] [ 1.20535808e-01 9.92701661e-01 -3.81206843e-03 1.96738583e+01] [ 4.90975407e-02 -2.12606608e-03 9.98791726e-01 1.14780922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.80, Y:19.68, Z:11.48 [[ 9.91679421e-01 -1.18783561e-01 -4.96224940e-02 2.45795955e+02] [ 1.18738825e-01 9.92918023e-01 -3.85892762e-03 1.96785013e+01] [ 4.97294458e-02 -2.06529750e-03 9.98760590e-01 1.14792976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.83, Y:19.69, Z:11.48 [[ 9.91851528e-01 -1.17122039e-01 -5.01295791e-02 2.45827306e+02] [ 1.17074449e-01 9.93115504e-01 -3.89474576e-03 1.96861614e+01] [ 5.02406227e-02 -2.00588332e-03 9.98735128e-01 1.14809975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.86, Y:19.69, Z:11.48 [[ 9.92028360e-01 -1.15442510e-01 -5.05248491e-02 2.45859460e+02] [ 1.15392183e-01 9.93312269e-01 -3.92169920e-03 1.96909309e+01] [ 5.06396833e-02 -1.93973581e-03 9.98715104e-01 1.14825146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.89, Y:19.70, Z:11.48 [[ 9.92190234e-01 -1.13698695e-01 -5.12946968e-02 2.45890954e+02] [ 1.13644695e-01 9.93513494e-01 -3.97763355e-03 1.96953566e+01] [ 5.14142252e-02 -1.88280100e-03 9.98675639e-01 1.14842035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.92, Y:19.70, Z:11.49 [[ 9.92481225e-01 -1.11037829e-01 -5.14938627e-02 2.45921460e+02] [ 1.10980021e-01 9.93814630e-01 -3.98945459e-03 1.96993505e+01] [ 5.16183345e-02 -1.75533116e-03 9.98665343e-01 1.14859535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.95, Y:19.71, Z:11.49 [[ 9.92601666e-01 -1.10142366e-01 -5.10939601e-02 2.45953392e+02] [ 1.10084368e-01 9.93914372e-01 -3.95649470e-03 1.97063970e+01] [ 5.12187989e-02 -1.69742308e-03 9.98686013e-01 1.14887521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.99, Y:19.71, Z:11.49 [[ 9.92743422e-01 -1.09378882e-01 -4.99675675e-02 2.45985373e+02] [ 1.09322627e-01 9.93998803e-01 -3.86569412e-03 1.97115477e+01] [ 5.00905275e-02 -1.62494333e-03 9.98743360e-01 1.14921378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.02, Y:19.71, Z:11.49 [[ 9.92699311e-01 -1.09611576e-01 -5.03326962e-02 2.46016345e+02] [ 1.09554978e-01 9.93973125e-01 -3.89029880e-03 1.97127774e+01] [ 5.04557691e-02 -1.65230049e-03 9.98724930e-01 1.14938887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.05, Y:19.72, Z:11.50 [[ 9.92677563e-01 -1.09705852e-01 -5.05557350e-02 2.46048516e+02] [ 1.09649016e-01 9.93962699e-01 -3.90472281e-03 1.97167861e+01] [ 5.06788857e-02 -1.66725588e-03 9.98713608e-01 1.14957463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.08, Y:19.72, Z:11.50 [[ 9.92591077e-01 -1.10481998e-01 -5.05636353e-02 2.46079162e+02] [ 1.10426344e-01 9.93876653e-01 -3.90151322e-03 1.97182236e+01] [ 5.06850636e-02 -1.71095016e-03 9.98713221e-01 1.14975183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.11, Y:19.72, Z:11.50 [[ 9.92442502e-01 -1.12025725e-01 -5.00811071e-02 2.46111068e+02] [ 1.11973393e-01 9.93703715e-01 -3.85822280e-03 1.97189852e+01] [ 5.01980023e-02 -1.77868721e-03 9.98737702e-01 1.14995781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.14, Y:19.72, Z:11.50 [[ 9.92295934e-01 -1.13245254e-01 -5.02423330e-02 2.46142481e+02] [ 1.13194323e-01 9.93565343e-01 -3.86712276e-03 1.97222838e+01] [ 5.03569742e-02 -1.84981666e-03 9.98729570e-01 1.15015522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.17, Y:19.72, Z:11.50 [[ 9.92120374e-01 -1.14800751e-01 -5.01791875e-02 2.46173397e+02] [ 1.14752071e-01 9.93386665e-01 -3.85952179e-03 1.97224600e+01] [ 5.02904117e-02 -1.92905547e-03 9.98732774e-01 1.15028189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.20, Y:19.72, Z:11.50 [[ 9.91668256e-01 -1.17972306e-01 -5.17359235e-02 2.46203892e+02] [ 1.17925007e-01 9.93014542e-01 -3.97652861e-03 1.97195485e+01] [ 5.18436446e-02 -2.15756195e-03 9.98652883e-01 1.15030623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.24, Y:19.72, Z:11.50 [[ 9.91412772e-01 -1.19667212e-01 -5.27301917e-02 2.46235335e+02] [ 1.19620531e-01 9.92811418e-01 -4.05180039e-03 1.97228648e+01] [ 5.28360040e-02 -2.29060688e-03 9.98600576e-01 1.15039364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.27, Y:19.72, Z:11.50 [[ 9.91031170e-01 -1.22410790e-01 -5.35986734e-02 2.46265593e+02] [ 1.22366701e-01 9.92476423e-01 -4.11592519e-03 1.97208432e+01] [ 5.36992533e-02 -2.47968267e-03 9.98554075e-01 1.15036770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.30, Y:19.72, Z:11.50 [[ 9.90864055e-01 -1.23684024e-01 -5.37650996e-02 2.46297018e+02] [ 1.23641548e-01 9.92318358e-01 -4.12836528e-03 1.97195392e+01] [ 5.38627082e-02 -2.55695140e-03 9.98545077e-01 1.15043699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.33, Y:19.72, Z:11.51 [[ 9.90748202e-01 -1.24706294e-01 -5.35382232e-02 2.46328531e+02] [ 1.24665816e-01 9.92190283e-01 -4.10809405e-03 1.97232832e+01] [ 5.36324100e-02 -2.60429947e-03 9.98557350e-01 1.15061882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.36, Y:19.72, Z:11.51 [[ 9.90614700e-01 -1.26217932e-01 -5.24552264e-02 2.46360939e+02] [ 1.26181338e-01 9.91999039e-01 -4.02208470e-03 1.97227038e+01] [ 5.25431934e-02 -2.63453440e-03 9.98615177e-01 1.15082759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.39, Y:19.73, Z:11.51 [[ 9.90623808e-01 -1.26146301e-01 -5.24555171e-02 2.46392550e+02] [ 1.26109807e-01 9.92008150e-01 -4.01828935e-03 1.97250651e+01] [ 5.25431929e-02 -2.63454202e-03 9.98615177e-01 1.15097829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.42, Y:19.72, Z:11.51 [[ 9.90488317e-01 -1.27467853e-01 -5.18154434e-02 2.46424350e+02] [ 1.27434234e-01 9.91839095e-01 -3.96561731e-03 1.97245924e+01] [ 5.18980712e-02 -2.67516372e-03 9.98648804e-01 1.15117282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.46, Y:19.72, Z:11.51 [[ 9.90430211e-01 -1.28503228e-01 -5.03479708e-02 2.46456010e+02] [ 1.28472957e-01 9.91705537e-01 -3.85049312e-03 1.97225606e+01] [ 5.04251622e-02 -2.65470796e-03 9.98724314e-01 1.15132266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.49, Y:19.73, Z:11.52 [[ 9.90361816e-01 -1.28985855e-01 -5.04591242e-02 2.46488005e+02] [ 1.28956342e-01 9.91642784e-01 -3.85371192e-03 1.97278873e+01] [ 5.05345007e-02 -2.69045496e-03 9.98718692e-01 1.15151543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.52, Y:19.73, Z:11.52 [[ 9.90214841e-01 -1.30073525e-01 -5.05514217e-02 2.46519233e+02] [ 1.30045503e-01 9.91500525e-01 -3.85707975e-03 1.97259449e+01] [ 5.06234651e-02 -2.75464745e-03 9.98714011e-01 1.15156896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.55, Y:19.73, Z:11.52 [[ 9.90171534e-01 -1.30346605e-01 -5.06961080e-02 2.46551477e+02] [ 1.30318924e-01 9.91464592e-01 -3.86526934e-03 1.97263361e+01] [ 5.07672208e-02 -2.77938258e-03 9.98706646e-01 1.15165696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.58, Y:19.73, Z:11.52 [[ 9.90097982e-01 -1.30595853e-01 -5.14850447e-02 2.46583356e+02] [ 1.30567838e-01 9.91431622e-01 -3.92163423e-03 1.97282559e+01] [ 5.15560505e-02 -2.83948882e-03 9.98666066e-01 1.15168731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.61, Y:19.73, Z:11.52 [[ 9.90107566e-01 -1.30523059e-01 -5.14853323e-02 2.46614975e+02] [ 1.30495142e-01 9.91441208e-01 -3.91785406e-03 1.97306033e+01] [ 5.15560504e-02 -2.83948882e-03 9.98666066e-01 1.15183805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.65, Y:19.73, Z:11.52 [[ 9.90154364e-01 -1.30077101e-01 -5.17134783e-02 2.46645917e+02] [ 1.30048525e-01 9.91499836e-01 -3.93146224e-03 1.97312711e+01] [ 5.17852985e-02 -2.83250708e-03 9.98654224e-01 1.15191270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.68, Y:19.73, Z:11.52 [[ 9.90163814e-01 -1.30005057e-01 -5.17136992e-02 2.46677535e+02] [ 1.29976535e-01 9.91509287e-01 -3.92855507e-03 1.97336138e+01] [ 5.17853451e-02 -2.83165436e-03 9.98654224e-01 1.15206347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.71, Y:19.73, Z:11.52 [[ 9.90284703e-01 -1.29007767e-01 -5.18960826e-02 2.46708357e+02] [ 1.28977891e-01 9.91639649e-01 -3.93833950e-03 1.97343154e+01] [ 5.19702895e-02 -2.79336993e-03 9.98644725e-01 1.15219391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.74, Y:19.74, Z:11.52 [[ 9.90574173e-01 -1.26914381e-01 -5.15320079e-02 2.46739918e+02] [ 1.26882430e-01 9.91910079e-01 -3.90429320e-03 1.97370035e+01] [ 5.16106290e-02 -2.67101436e-03 9.98663711e-01 1.15239868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.77, Y:19.74, Z:11.53 [[ 9.90787641e-01 -1.25431377e-01 -5.10570383e-02 2.46772317e+02] [ 1.25398197e-01 9.92098962e-01 -3.86538328e-03 1.97406859e+01] [ 5.11384751e-02 -2.57268656e-03 9.98688258e-01 1.15258141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.80, Y:19.75, Z:11.53 [[ 9.91228654e-01 -1.22077459e-01 -5.06245892e-02 2.46804048e+02] [ 1.22040741e-01 9.92517712e-01 -3.82739370e-03 1.97454297e+01] [ 5.07130400e-02 -2.38444009e-03 9.98710420e-01 1.15276667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.84, Y:19.75, Z:11.53 [[ 9.91448004e-01 -1.20440920e-01 -5.02477960e-02 2.46835601e+02] [ 1.20402787e-01 9.92717864e-01 -3.79618094e-03 1.97471193e+01] [ 5.03391003e-02 -2.28625869e-03 9.98729567e-01 1.15294773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.87, Y:19.75, Z:11.53 [[ 9.91657163e-01 -1.18884490e-01 -4.98251899e-02 2.46867648e+02] [ 1.18845212e-01 9.92905672e-01 -3.76071032e-03 1.97502055e+01] [ 4.99188037e-02 -2.19214994e-03 9.98750874e-01 1.15311629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.90, Y:19.75, Z:11.53 [[ 9.91861885e-01 -1.17220557e-01 -4.96924844e-02 2.46899789e+02] [ 1.17179580e-01 9.93103673e-01 -3.74717891e-03 1.97532540e+01] [ 4.97890351e-02 -2.10626051e-03 9.98757536e-01 1.15328576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.93, Y:19.76, Z:11.53 [[ 9.91902891e-01 -1.16902525e-01 -4.96231160e-02 2.46932182e+02] [ 1.16861440e-01 9.93141192e-01 -3.73843397e-03 1.97574566e+01] [ 4.97197929e-02 -2.09086531e-03 9.98761018e-01 1.15342000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.96, Y:19.76, Z:11.53 [[ 9.91881928e-01 -1.17098918e-01 -4.95790784e-02 2.46963575e+02] [ 1.17058328e-01 9.93118031e-01 -3.73156298e-03 1.97571821e+01] [ 4.96748387e-02 -2.10237412e-03 9.98763230e-01 1.15347476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.00, Y:19.76, Z:11.54 [[ 9.91769327e-01 -1.17868970e-01 -5.00050776e-02 2.46996207e+02] [ 1.17828795e-01 9.93026803e-01 -3.76085718e-03 1.97581850e+01] [ 5.00996707e-02 -2.16213523e-03 9.98741883e-01 1.15357957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.03, Y:19.76, Z:11.54 [[ 9.91620152e-01 -1.19184765e-01 -4.98444127e-02 2.47028308e+02] [ 1.19146680e-01 9.92869599e-01 -3.74527022e-03 1.97587661e+01] [ 4.99353812e-02 -2.22491087e-03 9.98749972e-01 1.15368119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.06, Y:19.76, Z:11.54 [[ 9.91172712e-01 -1.22495794e-01 -5.07093227e-02 2.47059037e+02] [ 1.22460873e-01 9.92466041e-01 -3.80680638e-03 1.97593201e+01] [ 5.07935985e-02 -2.43670532e-03 9.98706199e-01 1.15372036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.09, Y:19.76, Z:11.54 [[ 9.90597361e-01 -1.26470358e-01 -5.21739145e-02 2.47090469e+02] [ 1.26438936e-01 9.91966664e-01 -3.91579636e-03 1.97575062e+01] [ 5.22500160e-02 -2.71783669e-03 9.98630337e-01 1.15366411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.12, Y:19.76, Z:11.54 [[ 9.90395572e-01 -1.27914707e-01 -5.24827496e-02 2.47122075e+02] [ 1.27884994e-01 9.91781186e-01 -3.93784671e-03 1.97597453e+01] [ 5.25551122e-02 -2.81173015e-03 9.98614067e-01 1.15380933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.15, Y:19.76, Z:11.54 [[ 9.90286174e-01 -1.28956069e-01 -5.19963991e-02 2.47153790e+02] [ 1.28928491e-01 9.91646231e-01 -3.89830365e-03 1.97621129e+01] [ 5.20647431e-02 -2.84338103e-03 9.98639664e-01 1.15394029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.19, Y:19.76, Z:11.54 [[ 9.90234560e-01 -1.29513225e-01 -5.15930275e-02 2.47185665e+02] [ 1.29487101e-01 9.91573583e-01 -3.86272959e-03 1.97645964e+01] [ 5.16585577e-02 -2.85562323e-03 9.98660723e-01 1.15412838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.22, Y:19.76, Z:11.54 [[ 9.90300930e-01 -1.29257384e-01 -5.09568178e-02 2.47216992e+02] [ 1.29231746e-01 9.91607094e-01 -3.81147573e-03 1.97644625e+01] [ 5.10218034e-02 -2.81073058e-03 9.98693584e-01 1.15430360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.25, Y:19.77, Z:11.55 [[ 9.90496803e-01 -1.28083645e-01 -5.01065114e-02 2.47249610e+02] [ 1.28057496e-01 9.91759674e-01 -3.74509452e-03 1.97670587e+01] [ 5.01733028e-02 -2.70701025e-03 9.98736858e-01 1.15451143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.28, Y:19.78, Z:11.55 [[ 9.91087651e-01 -1.24003216e-01 -4.86669357e-02 2.47279524e+02] [ 1.23973840e-01 9.92278835e-01 -3.63338414e-03 1.97773244e+01] [ 4.87417215e-02 -2.43242472e-03 9.98808454e-01 1.15475524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.31, Y:19.78, Z:11.55 [[ 9.91449965e-01 -1.21318300e-01 -4.80503491e-02 2.47310033e+02] [ 1.21286572e-01 9.92611055e-01 -3.58620247e-03 1.97775707e+01] [ 4.81303797e-02 -2.27232183e-03 9.98838477e-01 1.15492232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.34, Y:19.78, Z:11.55 [[ 9.91814484e-01 -1.18328489e-01 -4.79833116e-02 2.47341652e+02] [ 1.18293402e-01 9.92972232e-01 -3.58028216e-03 1.97826319e+01] [ 4.80697454e-02 -2.12513347e-03 9.98841721e-01 1.15509305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.37, Y:19.79, Z:11.55 [[ 9.92556975e-01 -1.12412197e-01 -4.68417478e-02 2.47370647e+02] [ 1.12372297e-01 9.93660037e-01 -3.49262898e-03 1.97900073e+01] [ 4.69373869e-02 -1.79708151e-03 9.98896217e-01 1.15530785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.40, Y:19.80, Z:11.55 [[ 9.92935933e-01 -1.09381102e-01 -4.59783458e-02 2.47402070e+02] [ 1.09339390e-01 9.93998562e-01 -3.42876618e-03 1.97967160e+01] [ 4.60774519e-02 -1.62269913e-03 9.98936552e-01 1.15549394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.43, Y:19.80, Z:11.56 [[ 9.93208570e-01 -1.07051281e-01 -4.55714806e-02 2.47433228e+02] [ 1.07007958e-01 9.94252364e-01 -3.39614775e-03 1.97989022e+01] [ 4.56731143e-02 -1.50342806e-03 9.98955307e-01 1.15571288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.46, Y:19.81, Z:11.56 [[ 9.93622870e-01 -1.03633513e-01 -4.44262056e-02 2.47464689e+02] [ 1.03589209e-01 9.94614677e-01 -3.30449524e-03 1.98062889e+01] [ 4.45294126e-02 -1.31865346e-03 9.99007203e-01 1.15582934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.50, Y:19.81, Z:11.56 [[ 9.93714094e-01 -1.02746422e-01 -4.44462797e-02 2.47496274e+02] [ 1.02701317e-01 9.94706755e-01 -3.30316635e-03 1.98095142e+01] [ 4.45504032e-02 -1.28228852e-03 9.99006315e-01 1.15597219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.53, Y:19.81, Z:11.56 [[ 9.93734120e-01 -1.02403410e-01 -4.47888504e-02 2.47528465e+02] [ 1.02357406e-01 9.94742129e-01 -3.32536905e-03 1.98130943e+01] [ 4.48938855e-02 -1.27993787e-03 9.98990941e-01 1.15607496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.56, Y:19.82, Z:11.56 [[ 9.93658098e-01 -1.02771843e-01 -4.56238237e-02 2.47560176e+02] [ 1.02724651e-01 9.94704074e-01 -3.38396460e-03 1.98154045e+01] [ 4.57299796e-02 -1.32418756e-03 9.98952960e-01 1.15615965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.59, Y:19.82, Z:11.56 [[ 9.93383370e-01 -1.04796828e-01 -4.69798396e-02 2.47591597e+02] [ 1.04749216e-01 9.94492576e-01 -3.48101592e-03 1.98150090e+01] [ 4.70859011e-02 -1.46311805e-03 9.98889772e-01 1.15611580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.62, Y:19.82, Z:11.56 [[ 9.93204404e-01 -1.06230759e-01 -4.75398444e-02 2.47623753e+02] [ 1.06183770e-01 9.94340292e-01 -3.51990087e-03 1.98180585e+01] [ 4.76447045e-02 -1.55197887e-03 9.98863141e-01 1.15618637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.66, Y:19.82, Z:11.56 [[ 9.92981834e-01 -1.07964380e-01 -4.82780390e-02 2.47655104e+02] [ 1.07918139e-01 9.94153370e-01 -3.57100111e-03 1.98184399e+01] [ 4.83813161e-02 -1.66413688e-03 9.98827552e-01 1.15625104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.69, Y:19.82, Z:11.56 [[ 9.92807325e-01 -1.09424480e-01 -4.85787812e-02 2.47687338e+02] [ 1.09379536e-01 9.93993574e-01 -3.59057334e-03 1.98201311e+01] [ 4.86798930e-02 -1.74877702e-03 9.98812900e-01 1.15630403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.72, Y:19.82, Z:11.56 [[ 9.92440470e-01 -1.12362263e-01 -4.93622949e-02 2.47717562e+02] [ 1.12319657e-01 9.93665441e-01 -3.64497378e-03 1.98200086e+01] [ 4.94591641e-02 -1.92693656e-03 9.98774288e-01 1.15634757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.75, Y:19.82, Z:11.57 [[ 9.92303399e-01 -1.13672959e-01 -4.91164113e-02 2.47749543e+02] [ 1.13632425e-01 9.93516243e-01 -3.62585188e-03 1.98222990e+01] [ 4.92101137e-02 -1.98327180e-03 9.98786479e-01 1.15652586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.78, Y:19.82, Z:11.57 [[ 9.92169796e-01 -1.15411102e-01 -4.77427850e-02 2.47780761e+02] [ 1.15374969e-01 9.93315770e-01 -3.52112765e-03 1.98231879e+01] [ 4.78300384e-02 -2.01476583e-03 9.98853457e-01 1.15673759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.81, Y:19.83, Z:11.57 [[ 9.92111684e-01 -1.16029503e-01 -4.74506133e-02 2.47812671e+02] [ 1.15994636e-01 9.93243684e-01 -3.49705682e-03 1.98254507e+01] [ 4.75357837e-02 -2.03454566e-03 9.98867464e-01 1.15690946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.84, Y:19.83, Z:11.57 [[ 9.92127431e-01 -1.16181136e-01 -4.67450948e-02 2.47844115e+02] [ 1.16147618e-01 9.93225999e-01 -3.44178924e-03 1.98272468e+01] [ 4.68283145e-02 -2.01463790e-03 9.98900921e-01 1.15711080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.87, Y:19.83, Z:11.57 [[ 9.92197298e-01 -1.16091818e-01 -4.54666042e-02 2.47874999e+02] [ 1.16060120e-01 9.93236557e-01 -3.34532219e-03 1.98293329e+01] [ 4.55474579e-02 -1.95763989e-03 9.98960258e-01 1.15732541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.91, Y:19.84, Z:11.58 [[ 9.92281702e-01 -1.15757873e-01 -4.44650206e-02 2.47906853e+02] [ 1.15727319e-01 9.93275641e-01 -3.26941592e-03 1.98360777e+01] [ 4.45444825e-02 -1.90163603e-03 9.99005592e-01 1.15751857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.94, Y:19.84, Z:11.58 [[ 9.92307335e-01 -1.15509308e-01 -4.45393274e-02 2.47939445e+02] [ 1.15478545e-01 9.93304587e-01 -3.27167819e-03 1.98384804e+01] [ 4.46190274e-02 -1.89682647e-03 9.99002274e-01 1.15765746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.97, Y:19.84, Z:11.58 [[ 9.92329823e-01 -1.15368428e-01 -4.44032494e-02 2.47970643e+02] [ 1.15337895e-01 9.93320974e-01 -3.25755730e-03 1.98389014e+01] [ 4.44824982e-02 -1.88880607e-03 9.99008378e-01 1.15783060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.00, Y:19.84, Z:11.58 [[ 9.92332046e-01 -1.15399289e-01 -4.42731769e-02 2.48002848e+02] [ 1.15369070e-01 9.93317393e-01 -3.24567629e-03 1.98415721e+01] [ 4.43518654e-02 -1.88696663e-03 9.99014190e-01 1.15796486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.03, Y:19.85, Z:11.58 [[ 9.92228955e-01 -1.16181216e-01 -4.45379183e-02 2.48034584e+02] [ 1.16151562e-01 9.93226145e-01 -3.26190885e-03 1.98461817e+01] [ 4.46151975e-02 -1.93658836e-03 9.99002369e-01 1.15805399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.07, Y:19.85, Z:11.58 [[ 9.92176425e-01 -1.16523151e-01 -4.48140295e-02 2.48065394e+02] [ 1.16493618e-01 9.93186028e-01 -3.27897892e-03 1.98472195e+01] [ 4.48907449e-02 -1.96722284e-03 9.98989965e-01 1.15818227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.10, Y:19.85, Z:11.58 [[ 9.91947431e-01 -1.18074523e-01 -4.58115743e-02 2.48096531e+02] [ 1.18045596e-01 9.93002539e-01 -3.34577131e-03 1.98470913e+01] [ 4.58860600e-02 -2.08902534e-03 9.98944496e-01 1.15823485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.13, Y:19.85, Z:11.58 [[ 9.91818293e-01 -1.18921871e-01 -4.64118729e-02 2.48128794e+02] [ 1.18893333e-01 9.92901263e-01 -3.38475884e-03 1.98487676e+01] [ 4.64849291e-02 -2.16099654e-03 9.98916654e-01 1.15829909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.16, Y:19.85, Z:11.58 [[ 9.91680502e-01 -1.19671034e-01 -4.74196729e-02 2.48160840e+02] [ 1.19642263e-01 9.92811056e-01 -3.45479987e-03 1.98500779e+01] [ 4.74922150e-02 -2.24733932e-03 9.98869080e-01 1.15837559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.19, Y:19.85, Z:11.58 [[ 9.91575442e-01 -1.20124841e-01 -4.84578785e-02 2.48192336e+02] [ 1.20095512e-01 9.92756077e-01 -3.52687716e-03 1.98511796e+01] [ 4.85305189e-02 -2.32240896e-03 9.98819000e-01 1.15841581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.22, Y:19.85, Z:11.58 [[ 9.91424904e-01 -1.20900300e-01 -4.95961497e-02 2.48223753e+02] [ 1.20870821e-01 9.92661702e-01 -3.60422627e-03 1.98494403e+01] [ 4.96679504e-02 -2.42140766e-03 9.98762850e-01 1.15846565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.26, Y:19.85, Z:11.59 [[ 9.91274998e-01 -1.21561891e-01 -5.09567078e-02 2.48255582e+02] [ 1.21531790e-01 9.92580643e-01 -3.70029869e-03 1.98544400e+01] [ 5.10284571e-02 -2.52484631e-03 9.98694008e-01 1.15850458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.29, Y:19.86, Z:11.59 [[ 9.91265528e-01 -1.21533548e-01 -5.12079010e-02 2.48287759e+02] [ 1.21503295e-01 9.92584076e-01 -3.71497989e-03 1.98566078e+01] [ 5.12796418e-02 -2.53939722e-03 9.98681105e-01 1.15864932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39509989299998 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:248.32, Y:19.86, Z:11.59 [[ 9.91338387e-01 -1.20978787e-01 -5.11110095e-02 2.48319205e+02] [ 1.20948094e-01 9.92651921e-01 -3.70443160e-03 1.98615339e+01] [ 5.11835994e-02 -2.50943391e-03 9.98686108e-01 1.15884172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.35, Y:19.87, Z:11.59 [[ 9.91488280e-01 -1.20109481e-01 -5.02464243e-02 2.48350448e+02] [ 1.20078877e-01 9.92757688e-01 -3.63829035e-03 1.98694872e+01] [ 5.03195171e-02 -2.42621197e-03 9.98730224e-01 1.15910166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.38, Y:19.87, Z:11.59 [[ 9.91713329e-01 -1.18700594e-01 -4.91410458e-02 2.48381917e+02] [ 1.18669766e-01 9.92927414e-01 -3.55476480e-03 1.98660351e+01] [ 4.92154443e-02 -2.30624879e-03 9.98785523e-01 1.15933642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.41, Y:19.88, Z:11.60 [[ 9.91845679e-01 -1.17848774e-01 -4.85161347e-02 2.48413200e+02] [ 1.17817836e-01 9.93029032e-01 -3.50692988e-03 1.98776860e+01] [ 4.85912177e-02 -2.23773276e-03 9.98816242e-01 1.15956788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.45, Y:19.87, Z:11.60 [[ 9.92014338e-01 -1.16693152e-01 -4.78566664e-02 2.48445189e+02] [ 1.16661874e-01 9.93165678e-01 -3.45578845e-03 1.98718820e+01] [ 4.79328654e-02 -2.15485666e-03 9.98848235e-01 1.15974981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.48, Y:19.88, Z:11.60 [[ 9.92134621e-01 -1.15836340e-01 -4.74429691e-02 2.48476573e+02] [ 1.15804745e-01 9.93266098e-01 -3.42332887e-03 1.98831585e+01] [ 4.75200387e-02 -2.09771784e-03 9.98868082e-01 1.15995675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.51, Y:19.89, Z:11.60 [[ 9.92239482e-01 -1.14936131e-01 -4.74393947e-02 2.48507236e+02] [ 1.14903677e-01 9.93370752e-01 -3.41963518e-03 1.98850377e+01] [ 4.75179468e-02 -2.05786385e-03 9.98868265e-01 1.16014904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.54, Y:19.89, Z:11.60 [[ 9.92417854e-01 -1.13636218e-01 -4.68360198e-02 2.48539544e+02] [ 1.13603256e-01 9.93520467e-01 -3.37366667e-03 1.98903427e+01] [ 4.69159150e-02 -1.97263730e-03 9.98896894e-01 1.16038131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.57, Y:19.89, Z:11.61 [[ 9.92400590e-01 -1.13549147e-01 -4.74094974e-02 2.48570430e+02] [ 1.13515480e-01 9.93530374e-01 -3.41065131e-03 1.98921500e+01] [ 4.74900522e-02 -1.99697947e-03 9.98869715e-01 1.16051016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.60, Y:19.89, Z:11.61 [[ 9.92408656e-01 -1.13478553e-01 -4.74096797e-02 2.48602039e+02] [ 1.13444926e-01 9.93538441e-01 -3.40811516e-03 1.98943619e+01] [ 4.74900873e-02 -1.99614464e-03 9.98869715e-01 1.16066083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.63, Y:19.90, Z:11.61 [[ 9.92263632e-01 -1.13264373e-01 -5.08337101e-02 2.48633917e+02] [ 1.13225638e-01 9.93562595e-01 -3.65037581e-03 1.98982511e+01] [ 5.09199304e-02 -2.13354407e-03 9.98700460e-01 1.16050705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.67, Y:19.90, Z:11.61 [[ 9.92178507e-01 -1.13283715e-01 -5.24271822e-02 2.48665557e+02] [ 1.13242744e-01 9.93560233e-01 -3.76098656e-03 1.98960606e+01] [ 5.25156218e-02 -2.20542793e-03 9.98617667e-01 1.16050798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.70, Y:19.90, Z:11.61 [[ 9.92149365e-01 -1.13330630e-01 -5.28753798e-02 2.48696996e+02] [ 1.13289180e-01 9.93554828e-01 -3.79016187e-03 1.99019361e+01] [ 5.29641303e-02 -2.22980172e-03 9.98593926e-01 1.16066072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.73, Y:19.90, Z:11.61 [[ 9.92110615e-01 -1.13341210e-01 -5.35751614e-02 2.48729344e+02] [ 1.13298881e-01 9.93553544e-01 -3.83645008e-03 1.99044055e+01] [ 5.36646193e-02 -2.26382301e-03 9.98556450e-01 1.16082664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.76, Y:19.91, Z:11.61 [[ 9.92152950e-01 -1.12735073e-01 -5.40677986e-02 2.48760096e+02] [ 1.12691269e-01 9.93622522e-01 -3.86797225e-03 1.99059773e+01] [ 5.41590385e-02 -2.25534876e-03 9.98529775e-01 1.16094753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.79, Y:19.91, Z:11.61 [[ 9.92214009e-01 -1.12065595e-01 -5.43384158e-02 2.48791744e+02] [ 1.12020516e-01 9.93698302e-01 -3.88429647e-03 1.99135121e+01] [ 5.44312875e-02 -2.23296400e-03 9.98515022e-01 1.16117143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.82, Y:19.92, Z:11.61 [[ 9.92455445e-01 -1.09814873e-01 -5.45241568e-02 2.48822577e+02] [ 1.09766302e-01 9.93949796e-01 -3.89381141e-03 1.99163053e+01] [ 5.46218729e-02 -2.12048073e-03 9.98504860e-01 1.16129067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.85, Y:19.92, Z:11.61 [[ 9.92604614e-01 -1.08640969e-01 -5.41592196e-02 2.48854107e+02] [ 1.08591414e-01 9.94078951e-01 -3.86566548e-03 1.99172635e+01] [ 5.42585099e-02 -2.04414886e-03 9.98524830e-01 1.16144230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.89, Y:19.92, Z:11.62 [[ 9.92870541e-01 -1.06777997e-01 -5.29768581e-02 2.48885137e+02] [ 1.06728075e-01 9.94281067e-01 -3.77860318e-03 1.99236808e+01] [ 5.30773586e-02 -1.90245432e-03 9.98588591e-01 1.16173476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.92, Y:19.93, Z:11.62 [[ 9.92969573e-01 -1.05963712e-01 -5.27552773e-02 2.48916663e+02] [ 1.05913168e-01 9.94368271e-01 -3.76075953e-03 1.99276263e+01] [ 5.28566779e-02 -1.85315877e-03 9.98600389e-01 1.16196991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.95, Y:19.93, Z:11.62 [[ 9.93022121e-01 -1.05625743e-01 -5.24430162e-02 2.48947455e+02] [ 1.05575513e-01 9.94404275e-01 -3.73490568e-03 1.99296645e+01] [ 5.25440616e-02 -1.82785440e-03 9.98616934e-01 1.16209380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.98, Y:19.93, Z:11.62 [[ 9.93003931e-01 -1.05704885e-01 -5.26276627e-02 2.48979440e+02] [ 1.05654565e-01 9.94395840e-01 -3.74517793e-03 1.99334808e+01] [ 5.27286125e-02 -1.84137641e-03 9.98607181e-01 1.16223615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.01, Y:19.94, Z:11.62 [[ 9.92947001e-01 -1.06153528e-01 -5.27984929e-02 2.49011797e+02] [ 1.06103713e-01 9.94347984e-01 -3.75356288e-03 1.99365146e+01] [ 5.28985289e-02 -1.87502714e-03 9.98598132e-01 1.16233996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.04, Y:19.94, Z:11.62 [[ 9.92617654e-01 -1.08785714e-01 -5.36270641e-02 2.49041986e+02] [ 1.08738350e-01 9.94063109e-01 -3.80888521e-03 1.99373599e+01] [ 5.37230383e-02 -2.05055175e-03 9.98553769e-01 1.16241216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.07, Y:19.94, Z:11.63 [[ 9.92422690e-01 -1.10381241e-01 -5.39739464e-02 2.49073526e+02] [ 1.10335682e-01 9.93886991e-01 -3.83231912e-03 1.99388126e+01] [ 5.40670193e-02 -2.15197171e-03 9.98534990e-01 1.16255452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.11, Y:19.94, Z:11.63 [[ 9.92161309e-01 -1.12416245e-01 -5.45758721e-02 2.49105920e+02] [ 1.12372905e-01 9.93658562e-01 -3.87196757e-03 1.99403908e+01] [ 5.46650546e-02 -2.29123286e-03 9.98502119e-01 1.16270750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.14, Y:19.94, Z:11.63 [[ 9.91894280e-01 -1.14485266e-01 -5.51258711e-02 2.49138412e+02] [ 1.14444456e-01 9.93421966e-01 -3.90700314e-03 1.99414788e+01] [ 5.52105456e-02 -2.43351627e-03 9.98471769e-01 1.16284991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.17, Y:19.94, Z:11.63 [[ 9.91563125e-01 -1.16387263e-01 -5.70663961e-02 2.49170587e+02] [ 1.16346915e-01 9.93200418e-01 -4.04032960e-03 1.99446819e+01] [ 5.71486114e-02 -2.63325731e-03 9.98362210e-01 1.16293483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.20, Y:19.94, Z:11.63 [[ 9.91567189e-01 -1.16431695e-01 -5.69049266e-02 2.49201638e+02] [ 1.16391874e-01 9.93195213e-01 -4.02494000e-03 1.99439377e+01] [ 5.69863313e-02 -2.63227258e-03 9.98371489e-01 1.16300126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.23, Y:19.95, Z:11.63 [[ 9.91622360e-01 -1.15820709e-01 -5.71896799e-02 2.49233486e+02] [ 1.15779664e-01 9.93266698e-01 -4.04179733e-03 1.99484666e+01] [ 5.72727283e-02 -2.61346533e-03 9.98355149e-01 1.16320903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.26, Y:19.95, Z:11.63 [[ 9.91897993e-01 -1.13861386e-01 -5.63378812e-02 2.49263524e+02] [ 1.13818599e-01 9.93493584e-01 -3.97808733e-03 1.99489975e+01] [ 5.64242741e-02 -2.46644187e-03 9.98403835e-01 1.16338336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.30, Y:19.96, Z:11.64 [[ 9.92066206e-01 -1.12606415e-01 -5.58966813e-02 2.49295478e+02] [ 1.12562388e-01 9.93636826e-01 -3.94548526e-03 1.99564249e+01] [ 5.59852880e-02 -2.37768136e-03 9.98428763e-01 1.16368824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.33, Y:19.96, Z:11.64 [[ 9.92237096e-01 -1.11397689e-01 -5.52820007e-02 2.49326744e+02] [ 1.11352998e-01 9.93773273e-01 -3.89767398e-03 1.99583483e+01] [ 5.53719666e-02 -2.28839978e-03 9.98463173e-01 1.16390906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.36, Y:19.96, Z:11.64 [[ 9.92460732e-01 -1.09458018e-01 -5.51419703e-02 2.49357877e+02] [ 1.09410925e-01 9.93989027e-01 -3.88129605e-03 1.99634309e+01] [ 5.52353524e-02 -2.18110004e-03 9.98470980e-01 1.16414140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.39, Y:19.97, Z:11.64 [[ 9.92515936e-01 -1.08759860e-01 -5.55284578e-02 2.49389841e+02] [ 1.08711143e-01 9.94065707e-01 -3.90620387e-03 1.99661090e+01] [ 5.56237738e-02 -2.15959250e-03 9.98449464e-01 1.16428276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.42, Y:19.97, Z:11.64 [[ 9.92544137e-01 -1.08281060e-01 -5.59584586e-02 2.49421502e+02] [ 1.08231054e-01 9.94117989e-01 -3.93242140e-03 1.99696825e+01] [ 5.60551170e-02 -2.15334112e-03 9.98425354e-01 1.16442029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.45, Y:19.97, Z:11.65 [[ 9.92563366e-01 -1.07842482e-01 -5.64620530e-02 2.49453642e+02] [ 1.07791097e-01 9.94165665e-01 -3.96369707e-03 1.99726548e+01] [ 5.65600894e-02 -2.15188614e-03 9.98396878e-01 1.16455710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.48, Y:19.97, Z:11.65 [[ 9.92558052e-01 -1.07743794e-01 -5.67431818e-02 2.49484473e+02] [ 1.07691962e-01 9.94176345e-01 -3.97946206e-03 1.99740159e+01] [ 5.68414914e-02 -2.16093745e-03 9.98380877e-01 1.16465004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.52, Y:19.98, Z:11.65 [[ 9.92538442e-01 -1.07340260e-01 -5.78403745e-02 2.49515344e+02] [ 1.07285907e-01 9.94219948e-01 -4.05323509e-03 1.99764064e+01] [ 5.79411294e-02 -2.18246540e-03 9.98317616e-01 1.16477242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.55, Y:19.98, Z:11.65 [[ 9.92468169e-01 -1.07295949e-01 -5.91144008e-02 2.49547039e+02] [ 1.07239278e-01 9.94224623e-01 -4.13950628e-03 1.99784829e+01] [ 5.92171451e-02 -2.23105742e-03 9.98242632e-01 1.16484903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.58, Y:19.98, Z:11.65 [[ 9.92416824e-01 -1.07476569e-01 -5.96459090e-02 2.49578326e+02] [ 1.07419329e-01 9.94205040e-01 -4.17459749e-03 1.99811493e+01] [ 5.97489347e-02 -2.26418272e-03 9.98210869e-01 1.16497010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.61, Y:19.98, Z:11.65 [[ 9.92247423e-01 -1.08201708e-01 -6.11346247e-02 2.49609015e+02] [ 1.08143073e-01 9.94126141e-01 -4.27681133e-03 1.99801217e+01] [ 6.12382868e-02 -2.36763115e-03 9.98120367e-01 1.16495973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.64, Y:19.98, Z:11.65 [[ 9.92107540e-01 -1.09083099e-01 -6.18345166e-02 2.49638922e+02] [ 1.09024860e-01 9.94029614e-01 -4.32517293e-03 1.99802463e+01] [ 6.19371439e-02 -2.45046286e-03 9.98077044e-01 1.16500688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.67, Y:19.99, Z:11.65 [[ 9.92071448e-01 -1.09223092e-01 -6.21655663e-02 2.49669985e+02] [ 1.09164485e-01 9.94014187e-01 -4.34861496e-03 1.99861191e+01] [ 6.22684240e-02 -2.47213531e-03 9.98056377e-01 1.16532092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.70, Y:19.99, Z:11.65 [[ 9.92097499e-01 -1.09066148e-01 -6.20252161e-02 2.49701327e+02] [ 1.09007638e-01 9.94031453e-01 -4.33655400e-03 1.99879837e+01] [ 6.21279869e-02 -2.45893795e-03 9.98065162e-01 1.16549251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.73, Y:19.99, Z:11.66 [[ 9.92153546e-01 -1.08325320e-01 -6.24256799e-02 2.49731470e+02] [ 1.08264755e-01 9.94112527e-01 -4.36193189e-03 1.99890927e+01] [ 6.25306581e-02 -2.43079476e-03 9.98040083e-01 1.16559623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.76, Y:19.99, Z:11.66 [[ 9.92153549e-01 -1.08325186e-01 -6.24258760e-02 2.49761389e+02] [ 1.08264798e-01 9.94112535e-01 -4.35912410e-03 1.99911805e+01] [ 6.25305487e-02 -2.43360441e-03 9.98040083e-01 1.16573883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.79, Y:19.99, Z:11.66 [[ 9.92254682e-01 -1.07675522e-01 -6.19405266e-02 2.49791108e+02] [ 1.07614789e-01 9.94183256e-01 -4.32548910e-03 1.99917252e+01] [ 6.20459837e-02 -2.37372989e-03 9.98070469e-01 1.16586425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.82, Y:20.00, Z:11.66 [[ 9.92456698e-01 -1.06072999e-01 -6.14672360e-02 2.49821083e+02] [ 1.06010072e-01 9.94355788e-01 -4.29326735e-03 1.99964747e+01] [ 6.15757016e-02 -2.25526415e-03 9.98099868e-01 1.16620011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.85, Y:20.00, Z:11.66 [[ 9.92578880e-01 -1.05067576e-01 -6.12206836e-02 2.49850672e+02] [ 1.05003228e-01 9.94462687e-01 -4.27629319e-03 1.99959409e+01] [ 6.13309853e-02 -2.18381113e-03 9.98115094e-01 1.16628965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.88, Y:20.00, Z:11.67 [[ 9.92613554e-01 -1.04672254e-01 -6.13355590e-02 2.49880564e+02] [ 1.04606859e-01 9.94504421e-01 -4.28516499e-03 2.00008358e+01] [ 6.14470224e-02 -2.16260732e-03 9.98108003e-01 1.16657586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.91, Y:20.00, Z:11.67 [[ 9.92645063e-01 -1.04296696e-01 -6.14652678e-02 2.49910734e+02] [ 1.04230306e-01 9.94543917e-01 -4.29422700e-03 2.00028866e+01] [ 6.15777819e-02 -2.14390043e-03 9.98099985e-01 1.16680160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.94, Y:20.00, Z:11.67 [[ 9.92651848e-01 -1.04355981e-01 -6.12546962e-02 2.49939993e+02] [ 1.04290142e-01 9.94537707e-01 -4.27976437e-03 2.00025767e+01] [ 6.13667241e-02 -2.13994494e-03 9.98112993e-01 1.16687446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.97, Y:20.00, Z:11.67 [[ 9.92647861e-01 -1.04457635e-01 -6.11459450e-02 2.49970634e+02] [ 1.04392170e-01 9.94527031e-01 -4.27301604e-03 2.00044630e+01] [ 6.12576443e-02 -2.14155763e-03 9.98119690e-01 1.16702035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.00, Y:20.01, Z:11.67 [[ 9.92638365e-01 -1.04469424e-01 -6.12798088e-02 2.50001285e+02] [ 1.04403694e-01 9.94525781e-01 -4.28237075e-03 2.00061638e+01] [ 6.13917265e-02 -2.14699293e-03 9.98111440e-01 1.16717029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.03, Y:20.01, Z:11.67 [[ 9.92589447e-01 -1.05070623e-01 -6.10438662e-02 2.50031803e+02] [ 1.05006532e-01 9.94462383e-01 -4.26588255e-03 2.00056332e+01] [ 6.11540475e-02 -2.17573471e-03 9.98125968e-01 1.16732731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.06, Y:20.01, Z:11.68 [[ 9.92575177e-01 -1.05142944e-01 -6.11512851e-02 2.50063389e+02] [ 1.05078795e-01 9.94454720e-01 -4.27288707e-03 2.00084153e+01] [ 6.12614480e-02 -2.18454174e-03 9.98119363e-01 1.16755386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.09, Y:20.01, Z:11.68 [[ 9.92600617e-01 -1.05254655e-01 -6.05431507e-02 2.50093182e+02] [ 1.05192072e-01 9.94442932e-01 -4.22891840e-03 2.00074549e+01] [ 6.06518216e-02 -2.17103244e-03 9.98156623e-01 1.16765501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.12, Y:20.01, Z:11.68 [[ 9.92559676e-01 -1.05784517e-01 -6.02903353e-02 2.50123518e+02] [ 1.05723379e-01 9.94386658e-01 -4.21211541e-03 2.00067336e+01] [ 6.03974816e-02 -2.19332205e-03 9.98171996e-01 1.16789853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.15, Y:20.01, Z:11.68 [[ 9.92549913e-01 -1.06241592e-01 -5.96438889e-02 2.50153924e+02] [ 1.06182580e-01 9.94337919e-01 -4.16695217e-03 2.00087845e+01] [ 5.97488839e-02 -2.19723398e-03 9.98211021e-01 1.16812816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.18, Y:20.01, Z:11.68 [[ 9.92564889e-01 -1.06461437e-01 -5.89991792e-02 2.50184044e+02] [ 1.06404067e-01 9.94314428e-01 -4.12211656e-03 2.00071452e+01] [ 5.91025816e-02 -2.18628445e-03 9.98249520e-01 1.16826746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.21, Y:20.01, Z:11.68 [[ 9.92537183e-01 -1.06733296e-01 -5.89740916e-02 2.50214978e+02] [ 1.06676404e-01 9.94285251e-01 -4.12120682e-03 2.00076595e+01] [ 5.90769395e-02 -2.20069304e-03 9.98251007e-01 1.16843454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.24, Y:20.01, Z:11.69 [[ 9.92512162e-01 -1.07115997e-01 -5.87007014e-02 2.50244687e+02] [ 1.07060287e-01 9.94244068e-01 -4.10229982e-03 2.00061141e+01] [ 5.88022461e-02 -2.21293147e-03 9.98267198e-01 1.16855075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.28, Y:20.01, Z:11.69 [[ 9.92443262e-01 -1.07905469e-01 -5.84190098e-02 2.50275503e+02] [ 1.07851607e-01 9.94158617e-01 -4.08344054e-03 2.00062241e+01] [ 5.85183876e-02 -2.24800107e-03 9.98283800e-01 1.16875416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.31, Y:20.01, Z:11.69 [[ 9.92382610e-01 -1.08257082e-01 -5.87976080e-02 2.50305814e+02] [ 1.08203137e-01 9.94120310e-01 -4.10990425e-03 2.00082764e+01] [ 5.88968225e-02 -2.28348814e-03 9.98261464e-01 1.16893300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.34, Y:20.01, Z:11.69 [[ 9.92366756e-01 -1.08276281e-01 -5.90293907e-02 2.50335798e+02] [ 1.08222006e-01 9.94118193e-01 -4.12506067e-03 2.00074345e+01] [ 5.91288374e-02 -2.29470599e-03 9.98247722e-01 1.16905925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.37, Y:20.01, Z:11.69 [[ 9.92454512e-01 -1.07938916e-01 -5.81655657e-02 2.50366826e+02] [ 1.07885894e-01 9.94154992e-01 -4.06030104e-03 2.00074629e+01] [ 5.82638520e-02 -2.24557996e-03 9.98298693e-01 1.16928728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.40, Y:20.01, Z:11.69 [[ 9.92527311e-01 -1.07318296e-01 -5.80716818e-02 2.50397432e+02] [ 1.07264436e-01 9.94222266e-01 -4.05288746e-03 2.00077945e+01] [ 5.81711081e-02 -2.20642468e-03 9.98304189e-01 1.16945012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.43, Y:20.01, Z:11.70 [[ 9.92736692e-01 -1.05382410e-01 -5.80379844e-02 2.50427321e+02] [ 1.05325299e-01 9.94429572e-01 -4.05072591e-03 2.00061118e+01] [ 5.81415633e-02 -2.09156382e-03 9.98306157e-01 1.16961162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.46, Y:20.01, Z:11.70 [[ 9.92733033e-01 -1.05416918e-01 -5.80378997e-02 2.50456389e+02] [ 1.05359795e-01 9.94425912e-01 -4.05193928e-03 2.00081718e+01] [ 5.81415343e-02 -2.09236726e-03 9.98306157e-01 1.16975030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.49, Y:20.01, Z:11.70 [[ 9.93013043e-01 -1.02787779e-01 -5.79635096e-02 2.50486188e+02] [ 1.02726224e-01 9.94701429e-01 -4.04858653e-03 2.00112040e+01] [ 5.80725310e-02 -1.93407322e-03 9.98310493e-01 1.16997631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.52, Y:20.01, Z:11.70 [[ 9.93161188e-01 -1.01151537e-01 -5.83028365e-02 2.50516484e+02] [ 1.01086396e-01 9.94869313e-01 -4.07313685e-03 2.00140052e+01] [ 5.84157069e-02 -1.84834217e-03 9.98290633e-01 1.17011514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.54, Y:20.01, Z:11.70 [[ 9.93444778e-01 -9.79369970e-02 -5.89560610e-02 2.50544942e+02] [ 9.78646994e-02 9.95191203e-01 -4.11939615e-03 2.00143577e+01] [ 5.90759945e-02 -1.67732458e-03 9.98252079e-01 1.17014524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.57, Y:20.02, Z:11.70 [[ 9.93416742e-01 -9.82212207e-02 -5.89556513e-02 2.50572247e+02] [ 9.81490756e-02 9.95163173e-01 -4.12524927e-03 2.00163321e+01] [ 5.90756800e-02 -1.68835098e-03 9.98252079e-01 1.17027557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.60, Y:20.02, Z:11.70 [[ 9.93552283e-01 -9.67790086e-02 -5.90566201e-02 2.50600742e+02] [ 9.67030897e-02 9.95304626e-01 -4.14889072e-03 2.00176033e+01] [ 5.91808527e-02 -1.58881778e-03 9.98246013e-01 1.17037629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.63, Y:20.02, Z:11.71 [[ 9.93669100e-01 -9.55780971e-02 -5.90469927e-02 2.50629852e+02] [ 9.54992195e-02 9.95420800e-01 -4.16282683e-03 2.00193269e+01] [ 5.91744798e-02 -1.50246933e-03 9.98246524e-01 1.17052944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.66, Y:20.02, Z:11.71 [[ 9.93822560e-01 -9.37648679e-02 -5.93706125e-02 2.50658323e+02] [ 9.36810462e-02 9.95593402e-01 -4.19983422e-03 2.00201658e+01] [ 5.95027870e-02 -1.38801110e-03 9.98227174e-01 1.17071974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.69, Y:20.02, Z:11.71 [[ 9.93833733e-01 -9.36843239e-02 -5.93107017e-02 2.50686606e+02] [ 9.35996072e-02 9.95601015e-01 -4.21105880e-03 2.00207285e+01] [ 5.94443050e-02 -1.36636610e-03 9.98230689e-01 1.17086228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.71, Y:20.02, Z:11.71 [[ 9.93853017e-01 -9.34483909e-02 -5.93597413e-02 2.50714704e+02] [ 9.33622343e-02 9.95623225e-01 -4.22929940e-03 2.00205579e+01] [ 5.94951583e-02 -1.33865610e-03 9.98227697e-01 1.17098096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.74, Y:20.02, Z:11.71 [[ 9.93802773e-01 -9.41953710e-02 -5.90193201e-02 2.50742332e+02] [ 9.41111776e-02 9.95552789e-01 -4.21074120e-03 2.00181371e+01] [ 5.91534811e-02 -1.36973143e-03 9.98247960e-01 1.17112934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.77, Y:20.02, Z:11.71 [[ 9.93750740e-01 -9.49554728e-02 -5.86764349e-02 2.50769934e+02] [ 9.48730314e-02 9.95480540e-01 -4.19555433e-03 2.00187196e+01] [ 5.88096400e-02 -1.39747603e-03 9.98268237e-01 1.17131360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.80, Y:20.02, Z:11.71 [[ 9.93666844e-01 -9.61900536e-02 -5.80833584e-02 2.50798380e+02] [ 9.61104371e-02 9.95361945e-01 -4.16925083e-03 2.00180691e+01] [ 5.82150051e-02 -1.43957065e-03 9.98303031e-01 1.17149821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.83, Y:20.02, Z:11.72 [[ 9.93584698e-01 -9.75446804e-02 -5.72231038e-02 2.50827174e+02] [ 9.74688367e-02 9.95230043e-01 -4.12161894e-03 2.00176319e+01] [ 5.73521940e-02 -1.48229184e-03 9.98352908e-01 1.17171223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.85, Y:20.02, Z:11.72 [[ 9.93506730e-01 -9.88610066e-02 -5.63105520e-02 2.50854779e+02] [ 9.87889459e-02 9.95100090e-01 -4.06875664e-03 2.00163841e+01] [ 5.64368768e-02 -1.52052297e-03 9.98405011e-01 1.17192282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.88, Y:20.01, Z:11.72 [[ 9.93301928e-01 -1.01614563e-01 -5.50069083e-02 2.50883208e+02] [ 1.01549634e-01 9.94822507e-01 -3.98144376e-03 2.00117703e+01] [ 5.51266831e-02 -1.63115563e-03 9.98478036e-01 1.17214745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.91, Y:20.01, Z:11.72 [[ 9.93184830e-01 -1.02870049e-01 -5.47872871e-02 2.50911609e+02] [ 1.02807280e-01 9.94693370e-01 -3.97034902e-03 2.00116970e+01] [ 5.49049812e-02 -1.68924156e-03 9.98490155e-01 1.17230453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.94, Y:20.01, Z:11.72 [[ 9.92864482e-01 -1.05984877e-01 -5.46564414e-02 2.50941122e+02] [ 1.05926865e-01 9.94366016e-01 -3.96545358e-03 2.00098970e+01] [ 5.47687860e-02 -1.85242750e-03 9.98497345e-01 1.17238301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.97, Y:20.01, Z:11.72 [[ 9.92707027e-01 -1.07288493e-01 -5.49721545e-02 2.50970365e+02] [ 1.07231636e-01 9.94226053e-01 -3.99140703e-03 2.00083124e+01] [ 5.50829802e-02 -1.93245625e-03 9.98479910e-01 1.17242841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.00, Y:20.01, Z:11.73 [[ 9.92459993e-01 -1.09350222e-01 -5.53686828e-02 2.50999443e+02] [ 1.09295484e-01 9.94001156e-01 -4.02486496e-03 2.00082053e+01] [ 5.54766546e-02 -2.05702953e-03 9.98457866e-01 1.17250553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.03, Y:20.01, Z:11.73 [[ 9.92245683e-01 -1.11077485e-01 -5.57700423e-02 2.51027891e+02] [ 1.11023952e-01 9.93809409e-01 -4.06691457e-03 2.00067763e+01] [ 5.58765354e-02 -2.15643209e-03 9.98435357e-01 1.17254944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.06, Y:20.00, Z:11.73 [[ 9.91897953e-01 -1.13831209e-01 -5.63995300e-02 2.51057974e+02] [ 1.13780687e-01 9.93497362e-01 -4.11663015e-03 2.00036699e+01] [ 5.65013853e-02 -2.33390024e-03 9.98399793e-01 1.17250350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.09, Y:20.00, Z:11.73 [[ 9.91697333e-01 -1.15456423e-01 -5.66234459e-02 2.51086584e+02] [ 1.15407909e-01 9.93309569e-01 -4.13704498e-03 2.00045090e+01] [ 5.67222591e-02 -2.43209704e-03 9.98387034e-01 1.17261589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.12, Y:20.00, Z:11.73 [[ 9.91534902e-01 -1.16861335e-01 -5.65859236e-02 2.51115032e+02] [ 1.16814433e-01 9.93145100e-01 -4.14721739e-03 1.99993115e+01] [ 5.66826821e-02 -2.49794181e-03 9.98389119e-01 1.17260835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.14, Y:20.00, Z:11.73 [[ 9.91288156e-01 -1.18487822e-01 -5.75189372e-02 2.51144281e+02] [ 1.18441703e-01 9.92952030e-01 -4.22236318e-03 1.99988540e+01] [ 5.76138441e-02 -2.62706229e-03 9.98335486e-01 1.17265000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.17, Y:20.01, Z:11.73 [[ 9.91235622e-01 -1.19035493e-01 -5.72930395e-02 2.51172121e+02] [ 1.18989854e-01 9.92886504e-01 -4.21959093e-03 2.00060475e+01] [ 5.73877668e-02 -2.63468155e-03 9.98348488e-01 1.17292722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.20, Y:20.01, Z:11.73 [[ 9.91218981e-01 -1.19378421e-01 -5.68658422e-02 2.51200379e+02] [ 1.19333173e-01 9.92845370e-01 -4.20298526e-03 2.00080974e+01] [ 5.69607338e-02 -2.61990261e-03 9.98372982e-01 1.17311365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.23, Y:20.01, Z:11.73 [[ 9.91278431e-01 -1.19245441e-01 -5.61034580e-02 2.51229488e+02] [ 1.19200291e-01 9.92861503e-01 -4.16248181e-03 2.00098297e+01] [ 5.61993206e-02 -2.56137010e-03 9.98416284e-01 1.17331618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.26, Y:20.01, Z:11.74 [[ 9.91563505e-01 -1.17114096e-01 -5.55527116e-02 2.51257938e+02] [ 1.17065835e-01 9.93115555e-01 -4.13338959e-03 2.00133789e+01] [ 5.56543402e-02 -2.40480629e-03 9.98447200e-01 1.17353591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.29, Y:20.02, Z:11.74 [[ 9.91653812e-01 -1.16219403e-01 -5.58190659e-02 2.51286180e+02] [ 1.16168947e-01 9.93220761e-01 -4.15888892e-03 2.00169164e+01] [ 5.59239987e-02 -2.36026404e-03 9.98432239e-01 1.17369909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.31, Y:20.02, Z:11.74 [[ 9.91876167e-01 -1.14118478e-01 -5.62017934e-02 2.51314421e+02] [ 1.14063230e-01 9.93464612e-01 -4.20039703e-03 2.00197001e+01] [ 5.63138359e-02 -2.24428440e-03 9.98410594e-01 1.17382205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.34, Y:20.03, Z:11.74 [[ 9.92251997e-01 -1.10641890e-01 -5.65185448e-02 2.51344272e+02] [ 1.10580182e-01 9.93858214e-01 -4.22772540e-03 2.00258468e+01] [ 5.66391836e-02 -2.05486197e-03 9.98392598e-01 1.17395632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.37, Y:20.03, Z:11.74 [[ 9.92422725e-01 -1.08995150e-01 -5.67203044e-02 2.51373291e+02] [ 1.08930139e-01 9.94040340e-01 -4.24592971e-03 2.00294404e+01] [ 5.68450564e-02 -1.96479352e-03 9.98381079e-01 1.17409701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.40, Y:20.03, Z:11.74 [[ 9.92525461e-01 -1.07873048e-01 -5.70667637e-02 2.51402255e+02] [ 1.07804592e-01 9.94162865e-01 -4.28578564e-03 2.00324655e+01] [ 5.71959780e-02 -1.89830783e-03 9.98361165e-01 1.17423071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.43, Y:20.03, Z:11.74 [[ 9.92705156e-01 -1.05987115e-01 -5.74735099e-02 2.51429829e+02] [ 1.05913762e-01 9.94365893e-01 -4.32955202e-03 2.00349903e+01] [ 5.76085748e-02 -1.78926705e-03 9.98337644e-01 1.17425720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.46, Y:20.04, Z:11.74 [[ 9.92706637e-01 -1.05587937e-01 -5.81783533e-02 2.51457613e+02] [ 1.05511778e-01 9.94408372e-01 -4.38798885e-03 2.00368966e+01] [ 5.83163602e-02 -1.78251586e-03 9.98296562e-01 1.17428290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.49, Y:20.04, Z:11.74 [[ 9.92646063e-01 -1.05863899e-01 -5.87079923e-02 2.51485708e+02] [ 1.05786387e-01 9.94378986e-01 -4.43544886e-03 2.00400563e+01] [ 5.88475478e-02 -1.80767555e-03 9.98265345e-01 1.17437220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.51, Y:20.04, Z:11.74 [[ 9.92543211e-01 -1.06581204e-01 -5.91474544e-02 2.51513063e+02] [ 1.06502928e-01 9.94302281e-01 -4.48330870e-03 2.00421834e+01] [ 5.92882852e-02 -1.84949943e-03 9.98239189e-01 1.17442093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.54, Y:20.05, Z:11.75 [[ 9.92444171e-01 -1.07406817e-01 -5.93156280e-02 2.51541325e+02] [ 1.07329134e-01 9.94213346e-01 -4.50333475e-03 2.00469902e+01] [ 5.94560778e-02 -1.89698664e-03 9.98229120e-01 1.17466294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.57, Y:20.05, Z:11.75 [[ 9.92403450e-01 -1.07755581e-01 -5.93643571e-02 2.51569528e+02] [ 1.07677596e-01 9.94175589e-01 -4.52038479e-03 2.00466997e+01] [ 5.95056914e-02 -1.90616581e-03 9.98226146e-01 1.17470271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.60, Y:20.05, Z:11.75 [[ 9.92322057e-01 -1.08791407e-01 -5.88333699e-02 2.51597130e+02] [ 1.08716280e-01 9.94062698e-01 -4.48583027e-03 2.00478001e+01] [ 5.89720782e-02 -1.94475681e-03 9.98257738e-01 1.17481119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.63, Y:20.05, Z:11.75 [[ 9.92267427e-01 -1.09434988e-01 -5.85605460e-02 2.51625409e+02] [ 1.09361125e-01 9.93992014e-01 -4.47438562e-03 2.00528526e+01] [ 5.86983694e-02 -1.96446009e-03 9.98273831e-01 1.17508423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.65, Y:20.06, Z:11.75 [[ 9.92222995e-01 -1.10125512e-01 -5.80163681e-02 2.51654133e+02] [ 1.10053340e-01 9.93915732e-01 -4.44743679e-03 2.00557575e+01] [ 5.81531572e-02 -1.97204603e-03 9.98305725e-01 1.17528882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.68, Y:20.06, Z:11.75 [[ 9.92136344e-01 -1.11020367e-01 -5.77923326e-02 2.51683129e+02] [ 1.10949415e-01 9.93816115e-01 -4.44492946e-03 2.00586222e+01] [ 5.79284291e-02 -2.00204944e-03 9.98318731e-01 1.17544484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.71, Y:20.06, Z:11.75 [[ 9.91971623e-01 -1.12418726e-01 -5.79165766e-02 2.51711089e+02] [ 1.12349058e-01 9.93658757e-01 -4.46805165e-03 2.00573249e+01] [ 5.80516062e-02 -2.07469236e-03 9.98311428e-01 1.17542578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.74, Y:20.06, Z:11.76 [[ 9.91915649e-01 -1.13108695e-01 -5.75305915e-02 2.51739865e+02] [ 1.13040581e-01 9.93580418e-01 -4.44742972e-03 2.00632467e+01] [ 5.76643121e-02 -2.09181636e-03 9.98333838e-01 1.17563749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.77, Y:20.07, Z:11.76 [[ 9.91817556e-01 -1.14033348e-01 -5.73962690e-02 2.51768610e+02] [ 1.13966262e-01 9.93474647e-01 -4.45151986e-03 2.00653063e+01] [ 5.75293598e-02 -2.12614268e-03 9.98341551e-01 1.17576185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.80, Y:20.07, Z:11.76 [[ 9.91697633e-01 -1.15258843e-01 -5.70193295e-02 2.51796821e+02] [ 1.15193837e-01 9.93333125e-01 -4.43659740e-03 2.00687170e+01] [ 5.71505459e-02 -2.16851220e-03 9.98363217e-01 1.17593584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.82, Y:20.07, Z:11.76 [[ 9.91658677e-01 -1.15762312e-01 -5.66758733e-02 2.51824675e+02] [ 1.15698153e-01 9.93274571e-01 -4.42310907e-03 2.00708167e+01] [ 5.68067330e-02 -2.17107934e-03 9.98382833e-01 1.17605087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.85, Y:20.07, Z:11.76 [[ 9.91553153e-01 -1.16871732e-01 -5.62436083e-02 2.51852139e+02] [ 1.16809922e-01 9.93144558e-01 -4.39655397e-03 2.00724079e+01] [ 5.63718664e-02 -2.21039454e-03 9.98407395e-01 1.17619782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.88, Y:20.08, Z:11.76 [[ 9.91465735e-01 -1.17742269e-01 -5.59683326e-02 2.51880624e+02] [ 1.17682091e-01 9.93041655e-01 -4.38134862e-03 2.00757239e+01] [ 5.60947556e-02 -2.24251337e-03 9.98422931e-01 1.17636807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.91, Y:20.08, Z:11.77 [[ 9.91392049e-01 -1.18454803e-01 -5.57697459e-02 2.51910224e+02] [ 1.18395507e-01 9.92956867e-01 -4.37775020e-03 2.00779459e+01] [ 5.58955177e-02 -2.26282057e-03 9.98434059e-01 1.17652094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.94, Y:20.08, Z:11.77 [[ 9.91305461e-01 -1.19237869e-01 -5.56400330e-02 2.51939672e+02] [ 1.19179970e-01 9.92863053e-01 -4.36950876e-03 2.00809950e+01] [ 5.57639440e-02 -2.29965959e-03 9.98441332e-01 1.17664883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.97, Y:20.08, Z:11.77 [[ 9.91246580e-01 -1.19760276e-01 -5.55670158e-02 2.51969562e+02] [ 1.19703240e-01 9.92800118e-01 -4.36571002e-03 2.00843219e+01] [ 5.56897785e-02 -2.32405667e-03 9.98445415e-01 1.17680122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.00, Y:20.09, Z:11.77 [[ 9.91226080e-01 -1.19963598e-01 -5.54940770e-02 2.51997791e+02] [ 1.19906913e-01 9.92775556e-01 -4.36205941e-03 2.00865415e+01] [ 5.56164515e-02 -2.33033639e-03 9.98449488e-01 1.17690735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.03, Y:20.09, Z:11.77 [[ 9.91130837e-01 -1.20658566e-01 -5.56881930e-02 2.52028061e+02] [ 1.20602439e-01 9.92691225e-01 -4.37979620e-03 2.00933764e+01] [ 5.58096405e-02 -2.37518083e-03 9.98438602e-01 1.17711603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.06, Y:20.10, Z:11.77 [[ 9.91035235e-01 -1.21288616e-01 -5.60199412e-02 2.52058633e+02] [ 1.21232824e-01 9.92614321e-01 -4.40588773e-03 2.00984016e+01] [ 5.61405800e-02 -2.42506567e-03 9.98419929e-01 1.17729653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.09, Y:20.10, Z:11.77 [[ 9.90875468e-01 -1.22307298e-01 -5.66280142e-02 2.52087911e+02] [ 1.22251938e-01 9.92489107e-01 -4.45387860e-03 2.01005022e+01] [ 5.67474291e-02 -2.50964544e-03 9.98385412e-01 1.17736137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.12, Y:20.10, Z:11.78 [[ 9.90825511e-01 -1.22728229e-01 -5.65914258e-02 2.52117141e+02] [ 1.22673558e-01 9.92437089e-01 -4.45217936e-03 2.01026094e+01] [ 5.67098379e-02 -2.53093867e-03 9.98387494e-01 1.17750226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.15, Y:20.11, Z:11.78 [[ 9.90705500e-01 -1.23686842e-01 -5.66054466e-02 2.52147030e+02] [ 1.23633610e-01 9.92317935e-01 -4.45495346e-03 2.01058300e+01] [ 5.67216190e-02 -2.58478880e-03 9.98386687e-01 1.17767044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.18, Y:20.11, Z:11.78 [[ 9.90601546e-01 -1.24518196e-01 -5.66020842e-02 2.52175904e+02] [ 1.24466304e-01 9.92213834e-01 -4.45501454e-03 2.01079976e+01] [ 5.67161013e-02 -2.63190792e-03 9.98386877e-01 1.17783326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.21, Y:20.11, Z:11.78 [[ 9.90473740e-01 -1.25727379e-01 -5.61640192e-02 2.52206388e+02] [ 1.25678131e-01 9.92061214e-01 -4.42219471e-03 2.01124469e+01] [ 5.62741360e-02 -2.67852121e-03 9.98411762e-01 1.17802834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.24, Y:20.12, Z:11.78 [[ 9.90412224e-01 -1.26103170e-01 -5.64058156e-02 2.52237184e+02] [ 1.26054124e-01 9.92013425e-01 -4.44090351e-03 2.01183220e+01] [ 5.65153384e-02 -2.71186055e-03 9.98398048e-01 1.17824732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.27, Y:20.12, Z:11.78 [[ 9.90434693e-01 -1.26096210e-01 -5.60255713e-02 2.52267265e+02] [ 1.26047916e-01 9.92014356e-01 -4.40909245e-03 2.01169198e+01] [ 5.61341408e-02 -2.69498837e-03 9.98419599e-01 1.17830726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.30, Y:20.12, Z:11.78 [[ 9.90472063e-01 -1.25997142e-01 -5.55860752e-02 2.52298028e+02] [ 1.25949493e-01 9.92027014e-01 -4.37365278e-03 2.01199674e+01] [ 5.56939560e-02 -2.66905713e-03 9.98444320e-01 1.17843233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.33, Y:20.13, Z:11.79 [[ 9.90541735e-01 -1.25614961e-01 -5.52082643e-02 2.52329165e+02] [ 1.25567380e-01 9.92075585e-01 -4.34364179e-03 2.01275856e+01] [ 5.53163975e-02 -2.62979864e-03 9.98465413e-01 1.17864962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.36, Y:20.13, Z:11.79 [[ 9.90805851e-01 -1.23891404e-01 -5.43570149e-02 2.52360291e+02] [ 1.23842796e-01 9.92292643e-01 -4.27472075e-03 2.01324715e+01] [ 5.44676671e-02 -2.49630639e-03 9.98512414e-01 1.17876484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.39, Y:20.13, Z:11.79 [[ 9.90814850e-01 -1.23819336e-01 -5.43571908e-02 2.52391889e+02] [ 1.23770743e-01 9.92301642e-01 -4.27248265e-03 2.01348974e+01] [ 5.44677457e-02 -2.49459063e-03 9.98512414e-01 1.17891556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.42, Y:20.14, Z:11.79 [[ 9.90985356e-01 -1.22674694e-01 -5.38418384e-02 2.52422471e+02] [ 1.22625524e-01 9.92444004e-01 -4.22842585e-03 2.01369247e+01] [ 5.39537305e-02 -2.41207553e-03 9.98540523e-01 1.17905853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.45, Y:20.15, Z:11.79 [[ 9.91404966e-01 -1.19703056e-01 -5.27955723e-02 2.52452862e+02] [ 1.19651627e-01 9.92807285e-01 -4.14521585e-03 2.01459980e+01] [ 5.29120238e-02 -2.20748856e-03 9.98596738e-01 1.17935570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.48, Y:20.15, Z:11.80 [[ 9.91596095e-01 -1.18202925e-01 -5.25856624e-02 2.52483301e+02] [ 1.18149913e-01 9.92987195e-01 -4.12657598e-03 2.01485204e+01] [ 5.27046628e-02 -2.12109483e-03 9.98607891e-01 1.17951769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.52, Y:20.15, Z:11.80 [[ 9.91761086e-01 -1.16750522e-01 -5.27187162e-02 2.52515285e+02] [ 1.16695407e-01 9.93159152e-01 -4.13297757e-03 2.01534207e+01] [ 5.28406027e-02 -2.05310572e-03 9.98600849e-01 1.17966425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.55, Y:20.16, Z:11.80 [[ 9.91894046e-01 -1.15521155e-01 -5.29250787e-02 2.52546535e+02] [ 1.15464056e-01 9.93303008e-01 -4.14549215e-03 2.01565964e+01] [ 5.30495320e-02 -1.99905528e-03 9.98589881e-01 1.17975444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.58, Y:20.16, Z:11.80 [[ 9.91996069e-01 -1.14274717e-01 -5.37130160e-02 2.52576899e+02] [ 1.14214183e-01 9.93447248e-01 -4.20536230e-03 2.01607776e+01] [ 5.38416145e-02 -1.96308534e-03 9.98547559e-01 1.17983583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.61, Y:20.17, Z:11.80 [[ 9.91983220e-01 -1.13978396e-01 -5.45730374e-02 2.52609175e+02] [ 1.13915538e-01 9.93481256e-01 -4.27130370e-03 2.01660996e+01] [ 5.47041261e-02 -1.97965531e-03 9.98500646e-01 1.17996839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.64, Y:20.17, Z:11.80 [[ 9.91951648e-01 -1.13918899e-01 -5.52667333e-02 2.52639522e+02] [ 1.13854545e-01 9.93488029e-01 -4.32192633e-03 2.01671864e+01] [ 5.53991870e-02 -2.00522683e-03 9.98462272e-01 1.18001675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.67, Y:20.17, Z:11.80 [[ 9.91947728e-01 -1.13335711e-01 -5.65218753e-02 2.52670833e+02] [ 1.13267527e-01 9.93554700e-01 -4.41886752e-03 2.01725595e+01] [ 5.66583903e-02 -2.01880743e-03 9.98391582e-01 1.18014607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.70, Y:20.17, Z:11.80 [[ 9.91988324e-01 -1.13004360e-01 -5.64728150e-02 2.52700716e+02] [ 1.12935864e-01 9.93592479e-01 -4.41314977e-03 2.01738804e+01] [ 5.66096694e-02 -2.00001313e-03 9.98394384e-01 1.18026574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.73, Y:20.18, Z:11.80 [[ 9.92089654e-01 -1.12327721e-01 -5.60410680e-02 2.52730579e+02] [ 1.12259238e-01 9.93669307e-01 -4.37856333e-03 2.01759988e+01] [ 5.61781232e-02 -1.94720022e-03 9.98418863e-01 1.18038166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.76, Y:20.18, Z:11.81 [[ 9.92180278e-01 -1.11204444e-01 -5.66733421e-02 2.52761572e+02] [ 1.11132599e-01 9.93795724e-01 -4.42762629e-03 2.01831711e+01] [ 5.68140968e-02 -1.90525229e-03 9.98382957e-01 1.18059735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.79, Y:20.19, Z:11.81 [[ 9.92231296e-01 -1.10670574e-01 -5.68249907e-02 2.52792811e+02] [ 1.10597588e-01 9.93855363e-01 -4.43740678e-03 2.01862048e+01] [ 5.69669122e-02 -1.88177302e-03 9.98374293e-01 1.18075607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.82, Y:20.19, Z:11.81 [[ 9.92278197e-01 -1.10471901e-01 -5.63909420e-02 2.52823481e+02] [ 1.10399811e-01 9.93877511e-01 -4.40164399e-03 2.01879648e+01] [ 5.65319471e-02 -1.85789395e-03 9.98399062e-01 1.18087414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.85, Y:20.19, Z:11.81 [[ 9.92275640e-01 -1.10535165e-01 -5.63119076e-02 2.52852436e+02] [ 1.10463417e-01 9.93870474e-01 -4.39477996e-03 2.01891945e+01] [ 5.64525200e-02 -1.85957266e-03 9.98403553e-01 1.18101692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.88, Y:20.19, Z:11.81 [[ 9.92205193e-01 -1.11306722e-01 -5.60327465e-02 2.52883012e+02] [ 1.11236883e-01 9.93784297e-01 -4.37350929e-03 2.01945369e+01] [ 5.61712645e-02 -1.89348942e-03 9.98419353e-01 1.18126940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.91, Y:20.19, Z:11.81 [[ 9.92109513e-01 -1.12408919e-01 -5.55243041e-02 2.52913577e+02] [ 1.12342181e-01 9.93660138e-01 -4.33170899e-03 2.01939039e+01] [ 5.56592104e-02 -1.94019174e-03 9.98447940e-01 1.18138652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.94, Y:20.20, Z:11.82 [[ 9.91974849e-01 -1.13690640e-01 -5.53203223e-02 2.52944266e+02] [ 1.13626529e-01 9.93514171e-01 -4.31312743e-03 2.01979739e+01] [ 5.54518863e-02 -2.00734224e-03 9.98459343e-01 1.18164411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.98, Y:20.20, Z:11.82 [[ 9.91868846e-01 -1.15076058e-01 -5.43478991e-02 2.52975005e+02] [ 1.15016351e-01 9.93354569e-01 -4.23552948e-03 2.01982950e+01] [ 5.44741419e-02 -2.04980732e-03 9.98513078e-01 1.18177938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.01, Y:20.20, Z:11.82 [[ 9.91445366e-01 -1.18200231e-01 -5.53605517e-02 2.53006412e+02] [ 1.18143201e-01 9.92987200e-01 -4.31330967e-03 2.02014220e+01] [ 5.54821534e-02 -2.26406191e-03 9.98457112e-01 1.18191556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.04, Y:20.20, Z:11.82 [[ 9.91200442e-01 -1.19949920e-01 -5.59794581e-02 2.53037099e+02] [ 1.19894496e-01 9.92777066e-01 -4.35966036e-03 2.02015051e+01] [ 5.60980631e-02 -2.39033165e-03 9.98422402e-01 1.18198491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.07, Y:20.21, Z:11.82 [[ 9.90931037e-01 -1.21779814e-01 -5.67922314e-02 2.53068216e+02] [ 1.21725836e-01 9.92553912e-01 -4.42176113e-03 2.02067689e+01] [ 5.69078327e-02 -2.53142151e-03 9.98376227e-01 1.18218506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.10, Y:20.21, Z:11.82 [[ 9.90673635e-01 -1.23452262e-01 -5.76653022e-02 2.53099696e+02] [ 1.23399561e-01 9.92346920e-01 -4.48761821e-03 2.02088128e+01] [ 5.77779916e-02 -2.67010794e-03 9.98325886e-01 1.18227072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.13, Y:20.21, Z:11.82 [[ 9.90191338e-01 -1.26596760e-01 -5.91132326e-02 2.53130235e+02] [ 1.26547084e-01 9.91949944e-01 -4.59833593e-03 2.02104541e+01] [ 5.92195022e-02 -2.92737481e-03 9.98240693e-01 1.18234867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.16, Y:20.21, Z:11.82 [[ 9.90012650e-01 -1.27900826e-01 -5.92986702e-02 2.53161197e+02] [ 1.27853246e-01 9.91782376e-01 -4.61148243e-03 2.02136597e+01] [ 5.94011885e-02 -3.01610152e-03 9.98229634e-01 1.18249307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.19, Y:20.22, Z:11.83 [[ 9.89868137e-01 -1.28973732e-01 -5.93872793e-02 2.53191172e+02] [ 1.28928047e-01 9.91643206e-01 -4.61646349e-03 2.02153782e+01] [ 5.94863945e-02 -3.08699580e-03 9.98224343e-01 1.18261998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.22, Y:20.22, Z:11.83 [[ 9.89767394e-01 -1.29954303e-01 -5.89269481e-02 2.53222579e+02] [ 1.29911127e-01 9.91515067e-01 -4.57943844e-03 2.02171103e+01] [ 5.90220746e-02 -3.12268739e-03 9.98251794e-01 1.18281246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.25, Y:20.22, Z:11.83 [[ 9.89729653e-01 -1.30447159e-01 -5.84701077e-02 2.53253285e+02] [ 1.30405613e-01 9.91450324e-01 -4.54208861e-03 2.02183440e+01] [ 5.85627098e-02 -3.12939045e-03 9.98278827e-01 1.18296330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.29, Y:20.23, Z:11.83 [[ 9.89718266e-01 -1.30777716e-01 -5.79218688e-02 2.53285196e+02] [ 1.30737598e-01 9.91406803e-01 -4.49791732e-03 2.02257526e+01] [ 5.80123622e-02 -3.12089510e-03 9.98310987e-01 1.18321349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.32, Y:20.23, Z:11.83 [[ 9.89786699e-01 -1.30169991e-01 -5.81211091e-02 2.53315906e+02] [ 1.30128789e-01 9.91486845e-01 -4.50936695e-03 2.02275212e+01] [ 5.82132993e-02 -3.09991810e-03 9.98299355e-01 1.18334578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.35, Y:20.23, Z:11.83 [[ 9.89817253e-01 -1.29834549e-01 -5.83506175e-02 2.53348190e+02] [ 1.29792638e-01 9.91530840e-01 -4.52381577e-03 2.02313331e+01] [ 5.84437844e-02 -3.09572966e-03 9.98285901e-01 1.18345803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.38, Y:20.24, Z:11.84 [[ 9.89881568e-01 -1.28827454e-01 -5.94808305e-02 2.53379859e+02] [ 1.28782357e-01 9.91662180e-01 -4.60706795e-03 2.02374281e+01] [ 5.95784069e-02 -3.09962991e-03 9.98218817e-01 1.18354069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.41, Y:20.24, Z:11.84 [[ 9.89917883e-01 -1.28305524e-01 -6.00023071e-02 2.53410699e+02] [ 1.28258983e-01 9.91729843e-01 -4.64242009e-03 2.02384474e+01] [ 6.01017267e-02 -3.10022021e-03 9.98187443e-01 1.18358161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.44, Y:20.24, Z:11.84 [[ 9.89934716e-01 -1.28156600e-01 -6.00428436e-02 2.53442061e+02] [ 1.28110110e-01 9.91749100e-01 -4.63915290e-03 2.02395731e+01] [ 6.01419741e-02 -3.09963677e-03 9.98185021e-01 1.18367075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.47, Y:20.24, Z:11.84 [[ 9.89873552e-01 -1.28734158e-01 -5.98152736e-02 2.53473506e+02] [ 1.28689248e-01 9.91674214e-01 -4.61858801e-03 2.02416132e+01] [ 5.99118345e-02 -3.12576446e-03 9.98198779e-01 1.18387460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.50, Y:20.24, Z:11.84 [[ 9.89915137e-01 -1.28554813e-01 -5.95120237e-02 2.53504749e+02] [ 1.28510159e-01 9.91697556e-01 -4.59306887e-03 2.02440495e+01] [ 5.96083896e-02 -3.10115122e-03 9.98217022e-01 1.18404098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.54, Y:20.25, Z:11.84 [[ 9.89963683e-01 -1.28364987e-01 -5.91129068e-02 2.53536850e+02] [ 1.28320740e-01 9.91722238e-01 -4.55975555e-03 2.02483804e+01] [ 5.92088972e-02 -3.07141953e-03 9.98240889e-01 1.18425377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.57, Y:20.25, Z:11.84 [[ 9.90040695e-01 -1.27807361e-01 -5.90313521e-02 2.53568256e+02] [ 1.27762531e-01 9.91794356e-01 -4.54867415e-03 2.02493790e+01] [ 5.91283159e-02 -3.03862245e-03 9.98245766e-01 1.18438043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.60, Y:20.26, Z:11.85 [[ 9.90210579e-01 -1.26703485e-01 -5.85596851e-02 2.53599635e+02] [ 1.26657818e-01 9.91936235e-01 -4.50592959e-03 2.02573002e+01] [ 5.86583906e-02 -2.95522282e-03 9.98273740e-01 1.18467069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.63, Y:20.26, Z:11.85 [[ 9.90556000e-01 -1.24056571e-01 -5.83847405e-02 2.53629811e+02] [ 1.24006860e-01 9.92271212e-01 -4.48789709e-03 2.02597006e+01] [ 5.84902503e-02 -2.79459495e-03 9.98284068e-01 1.18479791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.66, Y:20.27, Z:11.85 [[ 9.90719757e-01 -1.22597348e-01 -5.86877570e-02 2.53661146e+02] [ 1.22544868e-01 9.92452745e-01 -4.50609979e-03 2.02653855e+01] [ 5.87972614e-02 -2.72760133e-03 9.98266218e-01 1.18492418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.69, Y:20.27, Z:11.85 [[ 9.90867547e-01 -1.21088055e-01 -5.93227455e-02 2.53692158e+02] [ 1.21031865e-01 9.92638182e-01 -4.55270959e-03 2.02696691e+01] [ 5.94373010e-02 -2.66881037e-03 9.98228473e-01 1.18505257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.72, Y:20.28, Z:11.85 [[ 9.91126070e-01 -1.18690082e-01 -5.98479587e-02 2.53723257e+02] [ 1.18628665e-01 9.92928076e-01 -4.59084447e-03 2.02754767e+01] [ 5.99696062e-02 -2.54957779e-03 9.98196947e-01 1.18517909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.75, Y:20.28, Z:11.85 [[ 9.91254269e-01 -1.17787107e-01 -5.95077426e-02 2.53754009e+02] [ 1.17724890e-01 9.93035766e-01 -4.56259177e-03 2.02770748e+01] [ 5.96307313e-02 -2.48285391e-03 9.98217417e-01 1.18529250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.78, Y:20.28, Z:11.85 [[ 9.91359720e-01 -1.17123780e-01 -5.90586717e-02 2.53783894e+02] [ 1.17061436e-01 9.93114361e-01 -4.52626125e-03 2.02783832e+01] [ 5.91821478e-02 -2.42633985e-03 9.98244252e-01 1.18540446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.82, Y:20.28, Z:11.86 [[ 9.91529137e-01 -1.16148401e-01 -5.81336336e-02 2.53815081e+02] [ 1.16086391e-01 9.93229133e-01 -4.45415734e-03 2.02831381e+01] [ 5.82573617e-02 -2.33209695e-03 9.98298874e-01 1.18568169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.85, Y:20.29, Z:11.86 [[ 9.91578674e-01 -1.16293665e-01 -5.69869930e-02 2.53847175e+02] [ 1.16234448e-01 9.93212217e-01 -4.36396340e-03 2.02870826e+01] [ 5.71076790e-02 -2.29663866e-03 9.98365383e-01 1.18591995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.88, Y:20.29, Z:11.86 [[ 9.91620231e-01 -1.16302732e-01 -5.62404804e-02 2.53878764e+02] [ 1.16245288e-01 9.93211215e-01 -4.30292693e-03 2.02876576e+01] [ 5.63591181e-02 -2.27082146e-03 9.98407979e-01 1.18610770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.91, Y:20.29, Z:11.86 [[ 9.91558011e-01 -1.16999776e-01 -5.58906449e-02 2.53910974e+02] [ 1.16944325e-01 9.93129280e-01 -4.27300588e-03 2.02899917e+01] [ 5.60065767e-02 -2.29916052e-03 9.98427753e-01 1.18628280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.94, Y:20.29, Z:11.86 [[ 9.91562316e-01 -1.17169602e-01 -5.54568203e-02 2.53943382e+02] [ 1.17115493e-01 9.93109268e-01 -4.23587478e-03 2.02914714e+01] [ 5.55709980e-02 -2.29471903e-03 9.98452101e-01 1.18635016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.97, Y:20.29, Z:11.86 [[ 9.91551315e-01 -1.17112184e-01 -5.57738745e-02 2.53974682e+02] [ 1.17057584e-01 9.93116009e-01 -4.25618571e-03 2.02904772e+01] [ 5.58883788e-02 -2.30852843e-03 9.98434354e-01 1.18639937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.01, Y:20.30, Z:11.87 [[ 9.91559656e-01 -1.17009789e-01 -5.58404703e-02 2.54006558e+02] [ 1.16955074e-01 9.93128078e-01 -4.25808723e-03 2.02954269e+01] [ 5.59549768e-02 -2.30867884e-03 9.98430624e-01 1.18657348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.04, Y:20.29, Z:11.87 [[ 9.91567898e-01 -1.16825828e-01 -5.60787771e-02 2.54037783e+02] [ 1.16770575e-01 9.93149727e-01 -4.27230276e-03 2.02935751e+01] [ 5.61937375e-02 -2.31207276e-03 9.98417206e-01 1.18657152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.07, Y:20.30, Z:11.87 [[ 9.91504769e-01 -1.16857390e-01 -5.71195514e-02 2.54069708e+02] [ 1.16800313e-01 9.93145900e-01 -4.34826051e-03 2.02972321e+01] [ 5.72361747e-02 -2.36026043e-03 9.98357876e-01 1.18661823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.10, Y:20.30, Z:11.87 [[ 9.91495688e-01 -1.16707565e-01 -5.75816458e-02 2.54101230e+02] [ 1.16649538e-01 9.93163484e-01 -4.37947697e-03 2.02963314e+01] [ 5.76991061e-02 -2.37463988e-03 9.98331195e-01 1.18665983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.13, Y:20.30, Z:11.87 [[ 9.91508934e-01 -1.16431717e-01 -5.79110513e-02 2.54132577e+02] [ 1.16372726e-01 9.93195859e-01 -4.40161822e-03 2.03002125e+01] [ 5.80295043e-02 -2.37502309e-03 9.98312043e-01 1.18678079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.16, Y:20.30, Z:11.87 [[ 9.91540665e-01 -1.16298047e-01 -5.76357041e-02 2.54163541e+02] [ 1.16239506e-01 9.93211561e-01 -4.37866838e-03 2.03019199e+01] [ 5.77536782e-02 -2.35791803e-03 9.98328079e-01 1.18687565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.19, Y:20.31, Z:11.87 [[ 9.91575222e-01 -1.15891134e-01 -5.78603897e-02 2.54194940e+02] [ 1.15831563e-01 9.93259153e-01 -4.39370391e-03 2.03055767e+01] [ 5.79795529e-02 -2.34537145e-03 9.98315016e-01 1.18703455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.23, Y:20.31, Z:11.87 [[ 9.91661250e-01 -1.15213227e-01 -5.77397322e-02 2.54225996e+02] [ 1.15152877e-01 9.93338114e-01 -4.38249326e-03 2.03093609e+01] [ 5.78599979e-02 -2.30294751e-03 9.98322051e-01 1.18720166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.26, Y:20.31, Z:11.87 [[ 9.91929788e-01 -1.13608780e-01 -5.62880095e-02 2.54256735e+02] [ 1.13548958e-01 9.93523225e-01 -4.27031984e-03 2.03139520e+01] [ 5.64085905e-02 -2.15558737e-03 9.98405441e-01 1.18743397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.29, Y:20.31, Z:11.88 [[ 9.92055768e-01 -1.12809331e-01 -5.56723209e-02 2.54288075e+02] [ 1.12749673e-01 9.93614458e-01 -4.22145236e-03 2.03146127e+01] [ 5.57930422e-02 -2.08911983e-03 9.98440169e-01 1.18759964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.32, Y:20.32, Z:11.88 [[ 9.92247642e-01 -1.11607370e-01 -5.46663615e-02 2.54319865e+02] [ 1.11548194e-01 9.93750393e-01 -4.14213075e-03 2.03199616e+01] [ 5.47870105e-02 -1.98791443e-03 9.98496085e-01 1.18785181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.35, Y:20.32, Z:11.88 [[ 9.92381126e-01 -1.10857419e-01 -5.37618179e-02 2.54352305e+02] [ 1.10799292e-01 9.93834470e-01 -4.06976576e-03 2.03227066e+01] [ 5.38815115e-02 -1.91801263e-03 9.98545494e-01 1.18805050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.38, Y:20.33, Z:11.88 [[ 9.92389113e-01 -1.10785755e-01 -5.37621105e-02 2.54383899e+02] [ 1.10727732e-01 9.93842461e-01 -4.06589696e-03 2.03250361e+01] [ 5.38815116e-02 -1.91800468e-03 9.98545494e-01 1.18820111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.42, Y:20.33, Z:11.88 [[ 9.92540936e-01 -1.09960019e-01 -5.26429971e-02 2.54416253e+02] [ 1.09903425e-01 9.93934312e-01 -3.97751604e-03 2.03277247e+01] [ 5.27610489e-02 -1.83779816e-03 9.98605475e-01 1.18841341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.45, Y:20.33, Z:11.89 [[ 9.92661711e-01 -1.09415824e-01 -5.14869456e-02 2.54448467e+02] [ 1.09361144e-01 9.93994484e-01 -3.88651902e-03 2.03306366e+01] [ 5.16029866e-02 -1.77267265e-03 9.98666105e-01 1.18865200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.48, Y:20.33, Z:11.89 [[ 9.92731849e-01 -1.09288618e-01 -5.03931987e-02 2.54480085e+02] [ 1.09236251e-01 9.94008550e-01 -3.80042173e-03 2.03303824e+01] [ 5.05066133e-02 -1.73196442e-03 9.98722225e-01 1.18888040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.51, Y:20.33, Z:11.89 [[ 9.92639315e-01 -1.09805276e-01 -5.10880686e-02 2.54512533e+02] [ 1.09752286e-01 9.93951515e-01 -3.84995419e-03 2.03341215e+01] [ 5.12018084e-02 -1.78541641e-03 9.98686731e-01 1.18894835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.54, Y:20.33, Z:11.89 [[ 9.92323534e-01 -1.11540842e-01 -5.34101605e-02 2.54544100e+02] [ 1.11485647e-01 9.93757909e-01 -4.02101696e-03 2.03332642e+01] [ 5.35252770e-02 -1.96431654e-03 9.98564563e-01 1.18884904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.58, Y:20.33, Z:11.89 [[ 9.92165010e-01 -1.12755270e-01 -5.38037288e-02 2.54575084e+02] [ 1.12701199e-01 9.93620680e-01 -4.04771969e-03 2.03335079e+01] [ 5.39168993e-02 -2.04773888e-03 9.98543326e-01 1.18891575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.61, Y:20.33, Z:11.89 [[ 9.91995171e-01 -1.14032041e-01 -5.42427270e-02 2.54606313e+02] [ 1.13979147e-01 9.93474773e-01 -4.07782041e-03 2.03322368e+01] [ 5.43537831e-02 -2.13736161e-03 9.98519453e-01 1.18896044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.64, Y:20.33, Z:11.89 [[ 9.91617024e-01 -1.16439987e-01 -5.60125548e-02 2.54637095e+02] [ 1.16387575e-01 9.93194958e-01 -4.20811617e-03 2.03325008e+01] [ 5.61213800e-02 -2.34632579e-03 9.98421196e-01 1.18894345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.67, Y:20.33, Z:11.89 [[ 9.91406407e-01 -1.17684949e-01 -5.71278342e-02 2.54668609e+02] [ 1.17632560e-01 9.93047920e-01 -4.29071738e-03 2.03333921e+01] [ 5.72356298e-02 -2.46624872e-03 9.98357651e-01 1.18901644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.70, Y:20.34, Z:11.89 [[ 9.91229029e-01 -1.18657001e-01 -5.81852887e-02 2.54699456e+02] [ 1.18604438e-01 9.92931974e-01 -4.36825943e-03 2.03354549e+01] [ 5.82923582e-02 -2.57108790e-03 9.98296244e-01 1.18911621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.73, Y:20.34, Z:11.89 [[ 9.91083943e-01 -1.19634465e-01 -5.86533274e-02 2.54730763e+02] [ 1.19582834e-01 9.92814467e-01 -4.40214465e-03 2.03386687e+01] [ 5.87585202e-02 -2.65103626e-03 9.98268705e-01 1.18924894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.76, Y:20.34, Z:11.89 [[ 9.91081238e-01 -1.19577383e-01 -5.88152138e-02 2.54763096e+02] [ 1.19525518e-01 9.92821327e-01 -4.41174500e-03 2.03421037e+01] [ 5.89205436e-02 -2.65752121e-03 9.98259138e-01 1.18942927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.79, Y:20.34, Z:11.90 [[ 9.91109153e-01 -1.19492686e-01 -5.85161925e-02 2.54793123e+02] [ 1.19441413e-01 9.92831564e-01 -4.38566846e-03 2.03414569e+01] [ 5.86207782e-02 -2.64258054e-03 9.98276826e-01 1.18956298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.82, Y:20.35, Z:11.90 [[ 9.91237444e-01 -1.18759733e-01 -5.78312645e-02 2.54824378e+02] [ 1.18708479e-01 9.92919695e-01 -4.33311470e-03 2.03459259e+01] [ 5.79364011e-02 -2.56991588e-03 9.98316968e-01 1.18979209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.86, Y:20.35, Z:11.90 [[ 9.91600420e-01 -1.16696024e-01 -5.57731541e-02 2.54855135e+02] [ 1.16645190e-01 9.93164866e-01 -4.17712438e-03 2.03497050e+01] [ 5.58793910e-02 -2.36363189e-03 9.98434728e-01 1.19007599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.89, Y:20.35, Z:11.90 [[ 9.91836351e-01 -1.15301369e-01 -5.44632656e-02 2.54886113e+02] [ 1.15250853e-01 9.93328048e-01 -4.07794494e-03 2.03546826e+01] [ 5.45700819e-02 -2.23228379e-03 9.98507448e-01 1.19030860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.92, Y:20.36, Z:11.91 [[ 9.92278139e-01 -1.12411728e-01 -5.24184998e-02 2.54916690e+02] [ 1.12361003e-01 9.93659708e-01 -3.92300796e-03 2.03576253e+01] [ 5.25271433e-02 -1.99708018e-03 9.98617500e-01 1.19055778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.95, Y:20.36, Z:11.91 [[ 9.92446381e-01 -1.11134540e-01 -5.19547323e-02 2.54948955e+02] [ 1.11083066e-01 9.93803526e-01 -3.88627155e-03 2.03618058e+01] [ 5.20646952e-02 -1.91437484e-03 9.98641879e-01 1.19079375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.98, Y:20.36, Z:11.91 [[ 9.92550837e-01 -1.10356997e-01 -5.16155940e-02 2.54981437e+02] [ 1.10305337e-01 9.93890263e-01 -3.85716783e-03 2.03646374e+01] [ 5.17259018e-02 -1.86504032e-03 9.98659578e-01 1.19096713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.01, Y:20.37, Z:11.91 [[ 9.92575167e-01 -1.10089623e-01 -5.17185876e-02 2.55013631e+02] [ 1.10037629e-01 9.93919925e-01 -3.86033900e-03 2.03690756e+01] [ 5.18291180e-02 -1.85931414e-03 9.98654237e-01 1.19113671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.05, Y:20.37, Z:11.91 [[ 9.92437946e-01 -1.10925402e-01 -5.25592830e-02 2.55045125e+02] [ 1.10873092e-01 9.93826846e-01 -3.91898491e-03 2.03689369e+01] [ 5.26695414e-02 -1.93806086e-03 9.98610116e-01 1.19114322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.08, Y:20.37, Z:11.91 [[ 9.92285423e-01 -1.11910975e-01 -5.33439126e-02 2.55077605e+02] [ 1.11858827e-01 9.93716171e-01 -3.97163017e-03 2.03707605e+01] [ 5.34531776e-02 -2.02599676e-03 9.98568302e-01 1.19125228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.11, Y:20.37, Z:11.91 [[ 9.92113620e-01 -1.13034042e-01 -5.41652064e-02 2.55108431e+02] [ 1.12982181e-01 9.93588848e-01 -4.02848567e-03 2.03709226e+01] [ 5.42733010e-02 -2.12298762e-03 9.98523861e-01 1.19128434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.14, Y:20.37, Z:11.91 [[ 9.91721196e-01 -1.15857042e-01 -5.53734186e-02 2.55139081e+02] [ 1.15807587e-01 9.93263155e-01 -4.11194394e-03 2.03724008e+01] [ 5.54767742e-02 -2.33476003e-03 9.98457248e-01 1.19133960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.17, Y:20.37, Z:11.91 [[ 9.91546738e-01 -1.17147213e-01 -5.57816933e-02 2.55169458e+02] [ 1.17099196e-01 9.93111595e-01 -4.13989099e-03 2.03716676e+01] [ 5.58824231e-02 -2.42709603e-03 9.98434406e-01 1.19141332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.20, Y:20.38, Z:11.92 [[ 9.91358040e-01 -1.18527569e-01 -5.62178919e-02 2.55201136e+02] [ 1.18481097e-01 9.92947549e-01 -4.17076106e-03 2.03760340e+01] [ 5.63157681e-02 -2.52603996e-03 9.98409812e-01 1.19160027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.23, Y:20.38, Z:11.92 [[ 9.91371785e-01 -1.18549458e-01 -5.59286088e-02 2.55232218e+02] [ 1.18503716e-01 9.92944956e-01 -4.14537861e-03 2.03766134e+01] [ 5.60254623e-02 -2.51813660e-03 9.98426165e-01 1.19171573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.26, Y:20.38, Z:11.92 [[ 9.91387279e-01 -1.18355403e-01 -5.60648039e-02 2.55263784e+02] [ 1.18309311e-01 9.92968109e-01 -4.15224757e-03 2.03804348e+01] [ 5.61620033e-02 -2.51650292e-03 9.98418498e-01 1.19192899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.29, Y:20.38, Z:11.92 [[ 9.91580996e-01 -1.17075820e-01 -5.53207016e-02 2.55293614e+02] [ 1.17029152e-01 9.93120043e-01 -4.09358941e-03 2.03835138e+01] [ 5.54193579e-02 -2.41500934e-03 9.98460246e-01 1.19217177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.32, Y:20.39, Z:11.92 [[ 9.91781065e-01 -1.15794713e-01 -5.44233741e-02 2.55323903e+02] [ 1.15747696e-01 9.93270489e-01 -4.02580297e-03 2.03860624e+01] [ 5.45232981e-02 -2.30666501e-03 9.98509834e-01 1.19232836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.35, Y:20.39, Z:11.93 [[ 9.92122066e-01 -1.13381214e-01 -5.32776301e-02 2.55354150e+02] [ 1.13332879e-01 9.93549272e-01 -3.93733691e-03 2.03890387e+01] [ 5.33803706e-02 -2.13178838e-03 9.98571976e-01 1.19258792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.39, Y:20.39, Z:11.93 [[ 9.92322207e-01 -1.11987021e-01 -5.24932881e-02 2.55386065e+02] [ 1.11938214e-01 9.93707601e-01 -3.87816797e-03 2.03948535e+01] [ 5.25972839e-02 -2.02761273e-03 9.98613746e-01 1.19286419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.42, Y:20.40, Z:11.93 [[ 9.92670873e-01 -1.09176349e-01 -5.18175971e-02 2.55416948e+02] [ 1.09125152e-01 9.94020660e-01 -3.82469772e-03 2.04000730e+01] [ 5.19253286e-02 -1.85793713e-03 9.98649242e-01 1.19310956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.45, Y:20.40, Z:11.93 [[ 9.92771025e-01 -1.08012270e-01 -5.23358592e-02 2.55448492e+02] [ 1.07958536e-01 9.94147900e-01 -3.86093005e-03 2.03991351e+01] [ 5.24466124e-02 -1.81708328e-03 9.98622076e-01 1.19320626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.48, Y:20.41, Z:11.93 [[ 9.92926443e-01 -1.06574846e-01 -5.23343116e-02 2.55480674e+02] [ 1.06519281e-01 9.94303153e-01 -3.85779940e-03 2.04061109e+01] [ 5.24473154e-02 -1.74410220e-03 9.98622169e-01 1.19338405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.51, Y:20.41, Z:11.93 [[ 9.92857664e-01 -1.06526262e-01 -5.37197815e-02 2.55512993e+02] [ 1.06467907e-01 9.94308273e-01 -3.95508483e-03 2.04089266e+01] [ 5.38353435e-02 -1.79259641e-03 9.98548217e-01 1.19347799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.54, Y:20.41, Z:11.94 [[ 9.92865342e-01 -1.06454533e-01 -5.37200668e-02 2.55544589e+02] [ 1.06396282e-01 9.94315955e-01 -3.95120622e-03 2.04111912e+01] [ 5.38353433e-02 -1.79259968e-03 9.98548217e-01 1.19362859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.58, Y:20.41, Z:11.94 [[ 9.92828198e-01 -1.06613071e-01 -5.40908810e-02 2.55576088e+02] [ 1.06554456e-01 9.94298924e-01 -3.97465710e-03 2.04120886e+01] [ 5.42062551e-02 -1.81747276e-03 9.98528106e-01 1.19371376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.61, Y:20.41, Z:11.94 [[ 9.92835739e-01 -1.06542707e-01 -5.40911029e-02 2.55607684e+02] [ 1.06484153e-01 9.94306467e-01 -3.97163496e-03 2.04143484e+01] [ 5.42062822e-02 -1.81666415e-03 9.98528106e-01 1.19386438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.64, Y:20.42, Z:11.94 [[ 9.92619704e-01 -1.08096373e-01 -5.49663212e-02 2.55637627e+02] [ 1.08038513e-01 9.94138534e-01 -4.03180293e-03 2.04150364e+01] [ 5.50799612e-02 -1.93643255e-03 9.98480069e-01 1.19399511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.67, Y:20.42, Z:11.94 [[ 9.92544564e-01 -1.08696847e-01 -5.51387756e-02 2.55669140e+02] [ 1.08639794e-01 9.94072972e-01 -4.03999643e-03 2.04164418e+01] [ 5.52511014e-02 -1.98038873e-03 9.98470527e-01 1.19413605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.70, Y:20.42, Z:11.94 [[ 9.92430728e-01 -1.09668572e-01 -5.52635005e-02 2.55699738e+02] [ 1.09612864e-01 9.93966116e-01 -4.04733055e-03 2.04169195e+01] [ 5.53739119e-02 -2.04089536e-03 9.98463602e-01 1.19427556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.73, Y:20.42, Z:11.95 [[ 9.92230482e-01 -1.11261176e-01 -5.56742505e-02 2.55730589e+02] [ 1.11207203e-01 9.93788882e-01 -4.07627801e-03 2.04222714e+01] [ 5.57819826e-02 -2.14677035e-03 9.98440665e-01 1.19455467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.76, Y:20.42, Z:11.95 [[ 9.92123011e-01 -1.12163342e-01 -5.57791640e-02 2.55761063e+02] [ 1.12110693e-01 9.93687340e-01 -4.08207758e-03 2.04217503e+01] [ 5.58849086e-02 -2.20351764e-03 9.98434786e-01 1.19470228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.79, Y:20.42, Z:11.95 [[ 9.92066433e-01 -1.12933394e-01 -5.52289865e-02 2.55792467e+02] [ 1.12883030e-01 9.93600068e-01 -4.04069229e-03 2.04235182e+01] [ 5.53318539e-02 -2.22578014e-03 9.98465539e-01 1.19489581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.82, Y:20.43, Z:11.95 [[ 9.91962421e-01 -1.13780076e-01 -5.53592787e-02 2.55824175e+02] [ 1.13730913e-01 9.93503343e-01 -4.04798822e-03 2.04279037e+01] [ 5.54602088e-02 -2.28060913e-03 9.98458294e-01 1.19514338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.86, Y:20.43, Z:11.95 [[ 9.91837103e-01 -1.14798413e-01 -5.55021249e-02 2.55856708e+02] [ 1.14750811e-01 9.93386034e-01 -4.05441698e-03 2.04295688e+01] [ 5.56004764e-02 -2.34759264e-03 9.98450337e-01 1.19533121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.89, Y:20.43, Z:11.96 [[ 9.91448877e-01 -1.17881210e-01 -5.59745039e-02 2.55887666e+02] [ 1.17837895e-01 9.93024441e-01 -4.08533887e-03 2.04318415e+01] [ 5.60656352e-02 -2.54551305e-03 9.98423840e-01 1.19554141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.92, Y:20.43, Z:11.96 [[ 9.91177126e-01 -1.19822671e-01 -5.66606719e-02 2.55918921e+02] [ 1.19781529e-01 9.92791667e-01 -4.13403790e-03 2.04316718e+01] [ 5.67475944e-02 -2.68933811e-03 9.98384935e-01 1.19569566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.95, Y:20.43, Z:11.96 [[ 9.90835920e-01 -1.22150089e-01 -5.76501209e-02 2.55950534e+02] [ 1.22111600e-01 9.92507476e-01 -4.20322552e-03 2.04322699e+01] [ 5.77316003e-02 -2.87504169e-03 9.98328000e-01 1.19580257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.98, Y:20.44, Z:11.96 [[ 9.90757433e-01 -1.22423374e-01 -5.84142571e-02 2.55982119e+02] [ 1.22384484e-01 9.92473638e-01 -4.25640030e-03 2.04354552e+01] [ 5.84956932e-02 -2.93193848e-03 9.98283355e-01 1.19598160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.01, Y:20.44, Z:11.96 [[ 9.90748783e-01 -1.22534771e-01 -5.83273474e-02 2.56013798e+02] [ 1.22496439e-01 9.92459871e-01 -4.24577812e-03 2.04378820e+01] [ 5.84078071e-02 -2.93839287e-03 9.98288482e-01 1.19617394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.05, Y:20.44, Z:11.96 [[ 9.90759633e-01 -1.22162739e-01 -5.89204054e-02 2.56045521e+02] [ 1.22123229e-01 9.92505697e-01 -4.28457422e-03 2.04397106e+01] [ 5.90022534e-02 -2.95056701e-03 9.98253489e-01 1.19634674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.08, Y:20.44, Z:11.97 [[ 9.90845690e-01 -1.21612979e-01 -5.86097430e-02 2.56077306e+02] [ 1.21573163e-01 9.92573340e-01 -4.25793050e-03 2.04415933e+01] [ 5.86922880e-02 -2.90641978e-03 9.98271891e-01 1.19654260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.11, Y:20.44, Z:11.97 [[ 9.90920369e-01 -1.21350531e-01 -5.78867118e-02 2.56108687e+02] [ 1.21311423e-01 9.92605601e-01 -4.20229270e-03 2.04425399e+01] [ 5.79686248e-02 -2.85818195e-03 9.98314314e-01 1.19681948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.14, Y:20.45, Z:11.97 [[ 9.91000504e-01 -1.20524862e-01 -5.82388130e-02 2.56140343e+02] [ 1.20484054e-01 9.92706274e-01 -4.22448310e-03 2.04463933e+01] [ 5.83231903e-02 -2.83038341e-03 9.98293742e-01 1.19700190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.17, Y:20.45, Z:11.97 [[ 9.91072066e-01 -1.19873952e-01 -5.83643418e-02 2.56172817e+02] [ 1.19832090e-01 9.92785164e-01 -4.22936678e-03 2.04488578e+01] [ 5.84502436e-02 -2.80231381e-03 9.98286390e-01 1.19711751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.20, Y:20.45, Z:11.97 [[ 9.91174738e-01 -1.18907331e-01 -5.85976558e-02 2.56204479e+02] [ 1.18863699e-01 9.92901519e-01 -4.24204333e-03 2.04526671e+01] [ 5.86861115e-02 -2.76052794e-03 9.98272668e-01 1.19728949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.24, Y:20.45, Z:11.97 [[ 9.91171693e-01 -1.18813438e-01 -5.88391199e-02 2.56235980e+02] [ 1.18769522e-01 9.92912731e-01 -4.25546126e-03 2.04515521e+01] [ 5.89277172e-02 -2.77040138e-03 9.98258408e-01 1.19733368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.27, Y:20.46, Z:11.98 [[ 9.91199028e-01 -1.18566160e-01 -5.88774460e-02 2.56266772e+02] [ 1.18521927e-01 9.92942317e-01 -4.25526259e-03 2.04566287e+01] [ 5.89664378e-02 -2.76045619e-03 9.98256149e-01 1.19755724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.30, Y:20.46, Z:11.98 [[ 9.91138706e-01 -1.18675278e-01 -5.96677846e-02 2.56298258e+02] [ 1.18630179e-01 9.92929153e-01 -4.31022058e-03 2.04587881e+01] [ 5.97573994e-02 -2.80637350e-03 9.98208985e-01 1.19772865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.33, Y:20.46, Z:11.98 [[ 9.91059103e-01 -1.18832497e-01 -6.06687040e-02 2.56328489e+02] [ 1.18786288e-01 9.92910181e-01 -4.38056723e-03 2.04583505e+01] [ 6.07591277e-02 -2.86520915e-03 9.98148345e-01 1.19774157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.36, Y:20.46, Z:11.98 [[ 9.91059104e-01 -1.18832457e-01 -6.06687643e-02 2.56358413e+02] [ 1.18786300e-01 9.92910184e-01 -4.37973264e-03 2.04605103e+01] [ 6.07590883e-02 -2.86604411e-03 9.98148345e-01 1.19788428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.39, Y:20.47, Z:11.98 [[ 9.90979829e-01 -1.19063544e-01 -6.15048896e-02 2.56389234e+02] [ 1.19016584e-01 9.92882341e-01 -4.43958571e-03 2.04653821e+01] [ 6.15957116e-02 -2.92056199e-03 9.98096908e-01 1.19806721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.42, Y:20.47, Z:11.98 [[ 9.90936754e-01 -1.19106639e-01 -6.21124591e-02 2.56420033e+02] [ 1.19058974e-01 9.92877072e-01 -4.48118765e-03 2.04685481e+01] [ 6.22037757e-02 -2.95447210e-03 9.98059097e-01 1.19825978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.45, Y:20.47, Z:11.98 [[ 9.90943304e-01 -1.19001496e-01 -6.22094301e-02 2.56451368e+02] [ 1.18953617e-01 9.92889678e-01 -4.48592370e-03 2.04725959e+01] [ 6.23009326e-02 -2.95474065e-03 9.98053036e-01 1.19849567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.48, Y:20.47, Z:11.99 [[ 9.90975810e-01 -1.18821412e-01 -6.20356029e-02 2.56481732e+02] [ 1.18773573e-01 9.92911298e-01 -4.47138913e-03 2.04716989e+01] [ 6.21271478e-02 -2.93715173e-03 9.98063921e-01 1.19857309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.51, Y:20.48, Z:11.99 [[ 9.91064778e-01 -1.18299651e-01 -6.16100544e-02 2.56512362e+02] [ 1.18251544e-01 9.92973748e-01 -4.43934229e-03 2.04770890e+01] [ 6.17023393e-02 -2.88580827e-03 9.98090423e-01 1.19883581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.54, Y:20.48, Z:11.99 [[ 9.91304270e-01 -1.16736409e-01 -6.07326537e-02 2.56543407e+02] [ 1.16686866e-01 9.93159123e-01 -4.37393530e-03 2.04810374e+01] [ 6.08277866e-02 -2.75080230e-03 9.98144485e-01 1.19908665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.57, Y:20.49, Z:11.99 [[ 9.91436124e-01 -1.15842533e-01 -6.02902959e-02 2.56574075e+02] [ 1.15792192e-01 9.93263980e-01 -4.33989001e-03 2.04854125e+01] [ 6.03869231e-02 -2.67842180e-03 9.98171451e-01 1.19932393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.60, Y:20.49, Z:11.99 [[ 9.91632285e-01 -1.14468247e-01 -5.96861150e-02 2.56604295e+02] [ 1.14416541e-01 9.93423582e-01 -4.29446122e-03 2.04869739e+01] [ 5.97851736e-02 -2.57055244e-03 9.98207957e-01 1.19947941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.63, Y:20.49, Z:12.00 [[ 9.91864851e-01 -1.12696848e-01 -5.91906907e-02 2.56634668e+02] [ 1.12642956e-01 9.93626410e-01 -4.25701691e-03 2.04883863e+01] [ 5.92931859e-02 -2.44502891e-03 9.98237617e-01 1.19960487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.67, Y:20.50, Z:12.00 [[ 9.92293710e-01 -1.09054931e-01 -5.88235875e-02 2.56665719e+02] [ 1.08995579e-01 9.94033250e-01 -4.22620444e-03 2.04975169e+01] [ 5.89334903e-02 -2.21787487e-03 9.98259448e-01 1.19991567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.70, Y:20.50, Z:12.00 [[ 9.92514449e-01 -1.07133348e-01 -5.86303109e-02 2.56696091e+02] [ 1.07071204e-01 9.94242444e-01 -4.20950756e-03 2.04991462e+01] [ 5.87437222e-02 -2.09962092e-03 9.98270888e-01 1.20002613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.73, Y:20.50, Z:12.00 [[ 9.92753725e-01 -1.05080275e-01 -5.82938867e-02 2.56726780e+02] [ 1.05015382e-01 9.94461796e-01 -4.18410455e-03 2.05034185e+01] [ 5.84107101e-02 -1.96796938e-03 9.98290697e-01 1.20021691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.76, Y:20.51, Z:12.00 [[ 9.92953658e-01 -1.03149099e-01 -5.83377826e-02 2.56757510e+02] [ 1.03080904e-01 9.94664170e-01 -4.18515215e-03 2.05071562e+01] [ 5.84581968e-02 -1.85784926e-03 9.98288129e-01 1.20038838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.79, Y:20.51, Z:12.01 [[ 9.93293477e-01 -9.96548888e-02 -5.86256984e-02 2.56788184e+02] [ 9.95800666e-02 9.95020673e-01 -4.20368404e-03 2.05126780e+01] [ 5.87526995e-02 -1.66245901e-03 9.98271184e-01 1.20058477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.82, Y:20.51, Z:12.01 [[ 9.93438073e-01 -9.79128744e-02 -5.91089181e-02 2.56818597e+02] [ 9.78338506e-02 9.95193745e-01 -4.23638469e-03 2.05149321e+01] [ 5.92396222e-02 -1.57426722e-03 9.98242550e-01 1.20071129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.85, Y:20.52, Z:12.01 [[ 9.93750725e-01 -9.47351598e-02 -5.90317445e-02 2.56848526e+02] [ 9.46507925e-02 9.95501549e-01 -4.23000595e-03 2.05195790e+01] [ 5.91669234e-02 -1.38382992e-03 9.98247144e-01 1.20093998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.88, Y:20.52, Z:12.01 [[ 9.93903720e-01 -9.30692809e-02 -5.91058696e-02 2.56878544e+02] [ 9.29817597e-02 9.95658804e-01 -4.23531750e-03 2.05226806e+01] [ 5.92434574e-02 -1.28626995e-03 9.98242735e-01 1.20109681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.91, Y:20.53, Z:12.01 [[ 9.94046513e-01 -9.13787702e-02 -5.93418058e-02 2.56908624e+02] [ 9.12875399e-02 9.95815497e-01 -4.25222385e-03 2.05255804e+01] [ 5.94820528e-02 -1.19025918e-03 9.98228666e-01 1.20125302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.94, Y:20.53, Z:12.01 [[ 9.94365757e-01 -8.78053643e-02 -5.93882104e-02 2.56938122e+02] [ 8.77075983e-02 9.96137171e-01 -4.25597751e-03 2.05294896e+01] [ 5.95325015e-02 -9.76799004e-04 9.98225890e-01 1.20142272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.97, Y:20.53, Z:12.02 [[ 9.94504546e-01 -8.62641991e-02 -5.93228182e-02 2.56966279e+02] [ 8.61636323e-02 9.96271908e-01 -4.25593926e-03 2.05319822e+01] [ 5.94687924e-02 -8.78918552e-04 9.98229778e-01 1.20150456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.99, Y:20.54, Z:12.02 [[ 9.94593816e-01 -8.51129457e-02 -5.94888851e-02 2.56994386e+02] [ 8.50088704e-02 9.96370990e-01 -4.28270132e-03 2.05366057e+01] [ 5.96375127e-02 -7.97534680e-04 9.98219781e-01 1.20179278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.02, Y:20.54, Z:12.02 [[ 9.94753566e-01 -8.29074970e-02 -5.99307087e-02 2.57022413e+02] [ 8.27970739e-02 9.96557031e-01 -4.32773965e-03 2.05400084e+01] [ 6.00831712e-02 -6.57052873e-04 9.98193158e-01 1.20190516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.05, Y:20.54, Z:12.02 [[ 9.94787346e-01 -8.24413899e-02 -6.00129475e-02 2.57051263e+02] [ 8.23293712e-02 9.96595720e-01 -4.34105769e-03 2.05425395e+01] [ 6.01665295e-02 -6.22398974e-04 9.98188159e-01 1.20206683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.08, Y:20.54, Z:12.02 [[ 9.94809269e-01 -8.23051752e-02 -5.98362513e-02 2.57079926e+02] [ 8.21926832e-02 9.96606994e-01 -4.34302299e-03 2.05446927e+01] [ 5.99906798e-02 -5.97622519e-04 9.98198758e-01 1.20222438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.11, Y:20.55, Z:12.02 [[ 9.94873052e-01 -8.21491205e-02 -5.89841671e-02 2.57107723e+02] [ 8.20387956e-02 9.96619888e-01 -4.29369843e-03 2.05462186e+01] [ 5.91375175e-02 -5.67305165e-04 9.98249684e-01 1.20238019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.14, Y:20.55, Z:12.03 [[ 9.94816124e-01 -8.34930678e-02 -5.80498663e-02 2.57135269e+02] [ 8.33882072e-02 9.96508158e-01 -4.23067508e-03 2.05462978e+01] [ 5.82003974e-02 -6.31930498e-04 9.98304720e-01 1.20256897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.16, Y:20.55, Z:12.03 [[ 9.94731551e-01 -8.47798425e-02 -5.76326259e-02 2.57164700e+02] [ 8.46783856e-02 9.96399464e-01 -4.20469824e-03 2.05476165e+01] [ 5.77815912e-02 -6.97691712e-04 9.98329004e-01 1.20278687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.19, Y:20.55, Z:12.03 [[ 9.94591163e-01 -8.65903767e-02 -5.73631046e-02 2.57194589e+02] [ 8.64927571e-02 9.96243681e-01 -4.18707669e-03 2.05484518e+01] [ 5.75101910e-02 -7.97063607e-04 9.98344601e-01 1.20295940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.22, Y:20.54, Z:12.03 [[ 9.94220748e-01 -9.11028632e-02 -5.67923562e-02 2.57223522e+02] [ 9.10144019e-02 9.95840939e-01 -4.14763762e-03 2.05448680e+01] [ 5.69340150e-02 -1.04525495e-03 9.98377396e-01 1.20297223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.25, Y:20.55, Z:12.03 [[ 9.93991713e-01 -9.37894279e-02 -5.64271093e-02 2.57254330e+02] [ 9.37062787e-02 9.95591347e-01 -4.12352261e-03 2.05452880e+01] [ 5.65650845e-02 -1.18882712e-03 9.98398206e-01 1.20314967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.29, Y:20.54, Z:12.03 [[ 9.93735104e-01 -9.66223124e-02 -5.61664582e-02 2.57285370e+02] [ 9.65444563e-02 9.95320211e-01 -4.10431668e-03 2.05442490e+01] [ 5.63001796e-02 -1.34395660e-03 9.98412982e-01 1.20327404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.32, Y:20.54, Z:12.03 [[ 9.93167330e-01 -1.02570967e-01 -5.56583511e-02 2.57316063e+02] [ 1.02503885e-01 9.94724293e-01 -4.06628489e-03 2.05384287e+01] [ 5.57817968e-02 -1.66669592e-03 9.98441592e-01 1.20333315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.35, Y:20.54, Z:12.03 [[ 9.92860188e-01 -1.05664965e-01 -5.53494583e-02 2.57346952e+02] [ 1.05603459e-01 9.94400102e-01 -4.04306606e-03 2.05375921e+01] [ 5.54667174e-02 -1.83089492e-03 9.98458858e-01 1.20348198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.38, Y:20.54, Z:12.04 [[ 9.92565315e-01 -1.08696628e-01 -5.47643904e-02 2.57378760e+02] [ 1.08641144e-01 9.94072994e-01 -3.99805897e-03 2.05363522e+01] [ 5.48743771e-02 -1.98133137e-03 9.98491300e-01 1.20365368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.41, Y:20.54, Z:12.04 [[ 9.92261901e-01 -1.11752801e-01 -5.41075899e-02 2.57410435e+02] [ 1.11703274e-01 9.93733762e-01 -3.94820308e-03 2.05356626e+01] [ 5.42097617e-02 -2.12634347e-03 9.98527306e-01 1.20384549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.44, Y:20.53, Z:12.04 [[ 9.91611624e-01 -1.17519784e-01 -5.38097270e-02 2.57441477e+02] [ 1.17479358e-01 9.93067569e-01 -3.92474832e-03 2.05332688e+01] [ 5.38979304e-02 -2.42970612e-03 9.98543494e-01 1.20401052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.47, Y:20.53, Z:12.04 [[ 9.91295974e-01 -1.20048024e-01 -5.40440962e-02 2.57471451e+02] [ 1.20011004e-01 9.92764737e-01 -3.94159007e-03 2.05314450e+01] [ 5.41262530e-02 -2.57860386e-03 9.98530770e-01 1.20409664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.50, Y:20.53, Z:12.04 [[ 9.90716591e-01 -1.24307911e-01 -5.50288957e-02 2.57502836e+02] [ 1.24276094e-01 9.92239561e-01 -4.01314461e-03 2.05290357e+01] [ 5.51007130e-02 -2.86288726e-03 9.98476697e-01 1.20412822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.53, Y:20.53, Z:12.04 [[ 9.90469658e-01 -1.26077771e-01 -5.54459475e-02 2.57534369e+02] [ 1.26048352e-01 9.92015867e-01 -4.04143414e-03 2.05266141e+01] [ 5.55127946e-02 -2.98595240e-03 9.98453511e-01 1.20418363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.57, Y:20.53, Z:12.04 [[ 9.90281655e-01 -1.27549800e-01 -5.54372814e-02 2.57566175e+02] [ 1.27522855e-01 9.91827413e-01 -4.03779168e-03 2.05269356e+01] [ 5.54992349e-02 -3.07096936e-03 9.98454007e-01 1.20432625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51509989299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.60, Y:20.53, Z:12.05 [[ 9.90025002e-01 -1.29328444e-01 -5.58985613e-02 2.57597636e+02] [ 1.29304044e-01 9.91596648e-01 -4.06835128e-03 2.05287180e+01] [ 5.59549796e-02 -3.20014056e-03 9.98428164e-01 1.20450882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.63, Y:20.53, Z:12.05 [[ 9.89954294e-01 -1.29721766e-01 -5.62384130e-02 2.57628747e+02] [ 1.29697876e-01 9.91545124e-01 -4.09000148e-03 2.05296814e+01] [ 5.62934864e-02 -3.24508819e-03 9.98408991e-01 1.20466090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.66, Y:20.53, Z:12.05 [[ 9.89940617e-01 -1.29828364e-01 -5.62331830e-02 2.57660801e+02] [ 1.29804832e-01 9.91531143e-01 -4.08638912e-03 2.05337560e+01] [ 5.62874814e-02 -3.25405631e-03 9.98409300e-01 1.20488442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.69, Y:20.53, Z:12.05 [[ 9.90009807e-01 -1.29297403e-01 -5.62384598e-02 2.57692022e+02] [ 1.29273272e-01 9.91600604e-01 -4.08218664e-03 2.05341125e+01] [ 5.62939068e-02 -3.22872491e-03 9.98409020e-01 1.20504213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.72, Y:20.54, Z:12.05 [[ 9.90019169e-01 -1.29225490e-01 -5.62389270e-02 2.57723654e+02] [ 1.29201609e-01 9.91609970e-01 -4.07574053e-03 2.05363434e+01] [ 5.62937703e-02 -3.23109859e-03 9.98409020e-01 1.20519282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.75, Y:20.54, Z:12.05 [[ 9.90137040e-01 -1.28545224e-01 -5.57204377e-02 2.57754724e+02] [ 1.28520922e-01 9.91698592e-01 -4.03429505e-03 2.05363756e+01] [ 5.57764690e-02 -3.16673707e-03 9.98438259e-01 1.20533572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.79, Y:20.54, Z:12.06 [[ 9.90140509e-01 -1.28600068e-01 -5.55319195e-02 2.57787109e+02] [ 1.28576190e-01 9.91691496e-01 -4.01748748e-03 2.05405778e+01] [ 5.55871815e-02 -3.16220555e-03 9.98448830e-01 1.20553071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.82, Y:20.54, Z:12.06 [[ 9.90158898e-01 -1.28271688e-01 -5.59618715e-02 2.57819135e+02] [ 1.28247151e-01 9.91733992e-01 -4.04447002e-03 2.05375140e+01] [ 5.60180812e-02 -3.17228259e-03 9.98424715e-01 1.20555848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.85, Y:20.54, Z:12.06 [[ 9.90103381e-01 -1.28222514e-01 -5.70463074e-02 2.57851452e+02] [ 1.28197181e-01 9.91740147e-01 -4.11863588e-03 2.05425867e+01] [ 5.71032152e-02 -3.23530048e-03 9.98363038e-01 1.20562337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.88, Y:20.54, Z:12.06 [[ 9.90080567e-01 -1.28336126e-01 -5.71866289e-02 2.57882750e+02] [ 1.28311074e-01 9.91725392e-01 -4.12497528e-03 2.05441761e+01] [ 5.72428153e-02 -3.25361993e-03 9.98354984e-01 1.20572888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.91, Y:20.55, Z:12.06 [[ 9.90071293e-01 -1.28441527e-01 -5.71105020e-02 2.57914410e+02] [ 1.28416834e-01 9.91711734e-01 -4.11743204e-03 2.05450648e+01] [ 5.71660042e-02 -3.25739857e-03 9.98359373e-01 1.20587819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.95, Y:20.55, Z:12.06 [[ 9.90048543e-01 -1.28594613e-01 -5.71603799e-02 2.57945935e+02] [ 1.28570248e-01 9.91691850e-01 -4.11898622e-03 2.05464477e+01] [ 5.72151623e-02 -3.27112790e-03 9.98356512e-01 1.20603102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.98, Y:20.55, Z:12.06 [[ 9.89987418e-01 -1.29019862e-01 -5.72606968e-02 2.57977408e+02] [ 1.28996237e-01 9.91636507e-01 -4.12417740e-03 2.05484409e+01] [ 5.73138981e-02 -3.30353069e-03 9.98350742e-01 1.20619134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.01, Y:20.55, Z:12.06 [[ 9.89936475e-01 -1.29128313e-01 -5.78934697e-02 2.58008772e+02] [ 1.29104472e-01 9.91622240e-01 -4.16767608e-03 2.05512159e+01] [ 5.79466171e-02 -3.34857125e-03 9.98314067e-01 1.20631883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.04, Y:20.55, Z:12.06 [[ 9.89924598e-01 -1.28953418e-01 -5.84833877e-02 2.58039576e+02] [ 1.28928899e-01 9.91644911e-01 -4.20824216e-03 2.05510828e+01] [ 5.85374210e-02 -3.37435635e-03 9.98279512e-01 1.20637564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.07, Y:20.55, Z:12.07 [[ 9.89994841e-01 -1.28272935e-01 -5.87900380e-02 2.58069878e+02] [ 1.28247026e-01 9.91733237e-01 -4.22926912e-03 2.05540209e+01] [ 5.88465355e-02 -3.35269291e-03 9.98261411e-01 1.20653803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99509989299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.10, Y:20.56, Z:12.07 [[ 9.90066655e-01 -1.27875792e-01 -5.84448588e-02 2.58101110e+02] [ 1.27849566e-01 9.91784665e-01 -4.20323865e-03 2.05598223e+01] [ 5.85022072e-02 -3.31066338e-03 9.98281790e-01 1.20679566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.13, Y:20.56, Z:12.07 [[ 9.90199668e-01 -1.27197727e-01 -5.76658991e-02 2.58131225e+02] [ 1.27171181e-01 9.91872124e-01 -4.14487621e-03 2.05607526e+01] [ 5.77244166e-02 -3.22918544e-03 9.98327333e-01 1.20697408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.16, Y:20.57, Z:12.07 [[ 9.90602109e-01 -1.24411024e-01 -5.68274393e-02 2.58161167e+02] [ 1.24380852e-01 9.92226156e-01 -4.08144544e-03 2.05656231e+01] [ 5.68934485e-02 -3.02515683e-03 9.98375673e-01 1.20724044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.19, Y:20.57, Z:12.08 [[ 9.90860031e-01 -1.22643714e-01 -5.61686527e-02 2.58192431e+02] [ 1.22611432e-01 9.92446556e-01 -4.03365194e-03 2.05749878e+01] [ 5.62390880e-02 -2.89013444e-03 9.98413147e-01 1.20750430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.22, Y:20.58, Z:12.08 [[ 9.91388413e-01 -1.18866530e-01 -5.49523701e-02 2.58222796e+02] [ 1.18829987e-01 9.92906784e-01 -3.94361579e-03 2.05804206e+01] [ 5.50313450e-02 -2.62033444e-03 9.98481189e-01 1.20771110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.25, Y:20.58, Z:12.08 [[ 9.91396932e-01 -1.18795407e-01 -5.49524814e-02 2.58254414e+02] [ 1.18758842e-01 9.92915302e-01 -3.94206400e-03 2.05826297e+01] [ 5.50314588e-02 -2.61794288e-03 9.98481189e-01 1.20786186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.29, Y:20.58, Z:12.08 [[ 9.91856093e-01 -1.15484582e-01 -5.37103605e-02 2.58285087e+02] [ 1.15444997e-01 9.93306415e-01 -3.84939612e-03 2.05841476e+01] [ 5.37953915e-02 -2.38254544e-03 9.98549137e-01 1.20804299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.32, Y:20.59, Z:12.08 [[ 9.92019481e-01 -1.14228099e-01 -5.33787397e-02 2.58315876e+02] [ 1.14187286e-01 9.93451882e-01 -3.82375712e-03 2.05913602e+01] [ 5.34659900e-02 -2.30193188e-03 9.98567018e-01 1.20827814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.35, Y:20.59, Z:12.08 [[ 9.92027550e-01 -1.14157932e-01 -5.33788896e-02 2.58347487e+02] [ 1.14117130e-01 9.93459952e-01 -3.82166323e-03 2.05935629e+01] [ 5.34660623e-02 -2.30025049e-03 9.98567018e-01 1.20842884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.38, Y:20.60, Z:12.09 [[ 9.92230164e-01 -1.12611111e-01 -5.28964985e-02 2.58378961e+02] [ 1.12569038e-01 9.93636702e-01 -3.78359277e-03 2.05970260e+01] [ 5.29859770e-02 -2.20031307e-03 9.98592832e-01 1.20855534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.41, Y:20.60, Z:12.09 [[ 9.92229344e-01 -1.12581849e-01 -5.29741150e-02 2.58411344e+02] [ 1.12539721e-01 9.93640010e-01 -3.78706099e-03 2.05991568e+01] [ 5.30635545e-02 -2.20405908e-03 9.98588705e-01 1.20870561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.44, Y:20.60, Z:12.09 [[ 9.92232341e-01 -1.12656470e-01 -5.27589024e-02 2.58443067e+02] [ 1.12614981e-01 9.93631555e-01 -3.76802852e-03 2.05990949e+01] [ 5.28474030e-02 -2.20268304e-03 9.98600170e-01 1.20881045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.47, Y:20.60, Z:12.09 [[ 9.92165413e-01 -1.13221929e-01 -5.28070917e-02 2.58474630e+02] [ 1.13181307e-01 9.93567204e-01 -3.76876332e-03 2.06011469e+01] [ 5.28941011e-02 -2.23753905e-03 9.98597620e-01 1.20895849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.51, Y:20.60, Z:12.09 [[ 9.91993236e-01 -1.14949957e-01 -5.23060878e-02 2.58506527e+02] [ 1.14912601e-01 9.93368599e-01 -3.73101015e-03 2.06041509e+01] [ 5.23881046e-02 -2.30949177e-03 9.98624130e-01 1.20913963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.54, Y:20.60, Z:12.09 [[ 9.91924772e-01 -1.15723858e-01 -5.18963822e-02 2.58538139e+02] [ 1.15688344e-01 9.93278678e-01 -3.69787281e-03 2.06017133e+01] [ 5.19755020e-02 -2.33579489e-03 9.98645628e-01 1.20925323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.57, Y:20.61, Z:12.09 [[ 9.91747044e-01 -1.17063772e-01 -5.22864703e-02 2.58569437e+02] [ 1.17029873e-01 9.93121428e-01 -3.72006758e-03 2.06069780e+01] [ 5.23622991e-02 -2.42971296e-03 9.98625198e-01 1.20934912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.60, Y:20.61, Z:12.09 [[ 9.91650471e-01 -1.17483582e-01 -5.31690812e-02 2.58601010e+02] [ 1.17449313e-01 9.93071686e-01 -3.77950389e-03 2.06051935e+01] [ 5.32447388e-02 -2.49672525e-03 9.98578372e-01 1.20938831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.63, Y:20.61, Z:12.09 [[ 9.91610570e-01 -1.17442778e-01 -5.39969616e-02 2.58632859e+02] [ 1.17407706e-01 9.93076404e-01 -3.83224825e-03 2.06088013e+01] [ 5.40731783e-02 -2.53956150e-03 9.98533746e-01 1.20949354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.66, Y:20.61, Z:12.09 [[ 9.91595329e-01 -1.16965820e-01 -5.52964855e-02 2.58664460e+02] [ 1.16928522e-01 9.93132594e-01 -3.92054077e-03 2.06099975e+01] [ 5.53753114e-02 -2.57814644e-03 9.98462282e-01 1.20946046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.70, Y:20.61, Z:12.10 [[ 9.91636289e-01 -1.16537940e-01 -5.54651180e-02 2.58695392e+02] [ 1.16499906e-01 9.93182929e-01 -3.92964223e-03 2.06146651e+01] [ 5.55449607e-02 -2.56490518e-03 9.98452893e-01 1.20960932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.73, Y:20.62, Z:12.10 [[ 9.91723653e-01 -1.15739244e-01 -5.55753846e-02 2.58727036e+02] [ 1.15699930e-01 9.93276417e-01 -3.93528460e-03 2.06175232e+01] [ 5.56571857e-02 -2.52735327e-03 9.98446739e-01 1.20975749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.76, Y:20.62, Z:12.10 [[ 9.92046129e-01 -1.13671979e-01 -5.40662515e-02 2.58757816e+02] [ 1.13631854e-01 9.93515559e-01 -3.82566251e-03 2.06213269e+01] [ 5.41505327e-02 -2.34841469e-03 9.98530022e-01 1.21001642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.79, Y:20.62, Z:12.10 [[ 9.92233277e-01 -1.12477208e-01 -5.31225194e-02 2.58789558e+02] [ 1.12436874e-01 9.93651768e-01 -3.75676657e-03 2.06246487e+01] [ 5.32078359e-02 -2.24534121e-03 9.98580935e-01 1.21022673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.82, Y:20.63, Z:12.10 [[ 9.92469738e-01 -1.10901218e-01 -5.20071066e-02 2.58821270e+02] [ 1.10860587e-01 9.93829175e-01 -3.67426870e-03 2.06281730e+01] [ 5.20936607e-02 -2.11893789e-03 9.98639955e-01 1.21045025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.85, Y:20.63, Z:12.11 [[ 9.92672290e-01 -1.09535424e-01 -5.10266061e-02 2.58852865e+02] [ 1.09494647e-01 9.93980858e-01 -3.60229252e-03 2.06300742e+01] [ 5.11140483e-02 -2.01124426e-03 9.98690797e-01 1.21065644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.88, Y:20.63, Z:12.11 [[ 9.92956405e-01 -1.07037874e-01 -5.07983422e-02 2.58884089e+02] [ 1.06994378e-01 9.94253171e-01 -3.58264872e-03 2.06347592e+01] [ 5.08898919e-02 -1.87772302e-03 9.98702505e-01 1.21078627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.91, Y:20.64, Z:12.11 [[ 9.93132814e-01 -1.05091699e-01 -5.14096149e-02 2.58914332e+02] [ 1.05044641e-01 9.94460904e-01 -3.62394500e-03 2.06372328e+01] [ 5.15056987e-02 -1.80124585e-03 9.98671076e-01 1.21078371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.95, Y:20.64, Z:12.11 [[ 9.93140289e-01 -1.05020994e-01 -5.14096945e-02 2.58945935e+02] [ 1.04973900e-01 9.94468378e-01 -3.62281490e-03 2.06394010e+01] [ 5.15057872e-02 -1.79871270e-03 9.98671076e-01 1.21093439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.98, Y:20.64, Z:12.11 [[ 9.93244438e-01 -1.04138340e-01 -5.11926955e-02 2.58976455e+02] [ 1.04090658e-01 9.94561284e-01 -3.60391163e-03 2.06399515e+01] [ 5.12895784e-02 -1.74911619e-03 9.98682292e-01 1.21102497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.01, Y:20.64, Z:12.11 [[ 9.93313401e-01 -1.03588986e-01 -5.09687160e-02 2.59007293e+02] [ 1.03541150e-01 9.94618709e-01 -3.58518020e-03 2.06401267e+01] [ 5.10658237e-02 -1.71615191e-03 9.98693815e-01 1.21113083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.04, Y:20.64, Z:12.11 [[ 9.93294490e-01 -1.03641998e-01 -5.12288183e-02 2.59038244e+02] [ 1.03593792e-01 9.94613165e-01 -3.60252004e-03 2.06429355e+01] [ 5.13262295e-02 -1.72862424e-03 9.98680444e-01 1.21123541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.07, Y:20.65, Z:12.11 [[ 9.93233388e-01 -1.03474690e-01 -5.27297403e-02 2.59070007e+02] [ 1.03423495e-01 9.94630507e-01 -3.70598371e-03 2.06474275e+01] [ 5.28300839e-02 -1.77258726e-03 9.98601943e-01 1.21127980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.10, Y:20.65, Z:12.11 [[ 9.93172808e-01 -1.03532009e-01 -5.37484624e-02 2.59100198e+02] [ 1.03479098e-01 9.94624469e-01 -3.77393046e-03 2.06472852e+01] [ 5.38502584e-02 -1.81367730e-03 9.98547375e-01 1.21128257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.13, Y:20.65, Z:12.11 [[ 9.93123675e-01 -1.03746129e-01 -5.42411941e-02 2.59131319e+02] [ 1.03692624e-01 9.94602103e-01 -3.80741637e-03 2.06501968e+01] [ 5.43434104e-02 -1.84317639e-03 9.98520604e-01 1.21135436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.16, Y:20.65, Z:12.11 [[ 9.93048560e-01 -1.04037236e-01 -5.50528074e-02 2.59162611e+02] [ 1.03982677e-01 9.94571609e-01 -3.86237070e-03 2.06519059e+01] [ 5.51557896e-02 -1.88901661e-03 9.98475974e-01 1.21143543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.19, Y:20.65, Z:12.11 [[ 9.92938703e-01 -1.04684566e-01 -5.58020892e-02 2.59191951e+02] [ 1.04629621e-01 9.94503559e-01 -3.91335230e-03 2.06524442e+01] [ 5.59050439e-02 -1.95283251e-03 9.98434180e-01 1.21145668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.22, Y:20.65, Z:12.12 [[ 9.92911570e-01 -1.04771235e-01 -5.61213174e-02 2.59222112e+02] [ 1.04715750e-01 9.94494402e-01 -3.93659319e-03 2.06549118e+01] [ 5.62247777e-02 -1.96809694e-03 9.98416196e-01 1.21157448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.25, Y:20.66, Z:12.12 [[ 9.92925685e-01 -1.04218062e-01 -5.68962228e-02 2.59252705e+02] [ 1.04160129e-01 9.94552532e-01 -3.99094842e-03 2.06577210e+01] [ 5.70022114e-02 -1.96360273e-03 9.98372121e-01 1.21166219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.28, Y:20.66, Z:12.12 [[ 9.93031399e-01 -1.03649184e-01 -5.60846428e-02 2.59282766e+02] [ 1.03591986e-01 9.94612097e-01 -3.93402067e-03 2.06616150e+01] [ 5.61902222e-02 -1.90331345e-03 9.98418267e-01 1.21186833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.31, Y:20.66, Z:12.12 [[ 9.93094871e-01 -1.03481792e-01 -5.52638819e-02 2.59313204e+02] [ 1.03425995e-01 9.94629598e-01 -3.87644894e-03 2.06646120e+01] [ 5.53682345e-02 -1.86604044e-03 9.98464259e-01 1.21210616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.34, Y:20.67, Z:12.12 [[ 9.93169216e-01 -1.03260185e-01 -5.43345471e-02 2.59343501e+02] [ 1.03205917e-01 9.94652710e-01 -3.81126135e-03 2.06670655e+01] [ 5.44375561e-02 -1.82241933e-03 9.98515514e-01 1.21235501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.38, Y:20.67, Z:12.13 [[ 9.93268273e-01 -1.03190150e-01 -5.26301364e-02 2.59375055e+02] [ 1.03139148e-01 9.94660087e-01 -3.69142498e-03 2.06707483e+01] [ 5.27300148e-02 -1.76165213e-03 9.98607251e-01 1.21266055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.41, Y:20.67, Z:12.13 [[ 9.93259083e-01 -1.03431515e-01 -5.23289247e-02 2.59406580e+02] [ 1.03381572e-01 9.94635008e-01 -3.66758015e-03 2.06731671e+01] [ 5.24275238e-02 -1.76698919e-03 9.98623168e-01 1.21279292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.44, Y:20.67, Z:12.13 [[ 9.93206282e-01 -1.03908295e-01 -5.23865158e-02 2.59436946e+02] [ 1.03858999e-01 9.94585261e-01 -3.66981531e-03 2.06733072e+01] [ 5.24841808e-02 -1.79592747e-03 9.98620141e-01 1.21288562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.47, Y:20.68, Z:12.13 [[ 9.92984846e-01 -1.05684054e-01 -5.30280809e-02 2.59467706e+02] [ 1.05636121e-01 9.94397917e-01 -3.71379953e-03 2.06754049e+01] [ 5.31235026e-02 -1.91393411e-03 9.98586116e-01 1.21294012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.50, Y:20.68, Z:12.13 [[ 9.92858639e-01 -1.06799699e-01 -5.31558851e-02 2.59499390e+02] [ 1.06753186e-01 9.94278586e-01 -3.72169999e-03 2.06770516e+01] [ 5.32492347e-02 -1.97943810e-03 9.98579291e-01 1.21305657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.53, Y:20.68, Z:12.13 [[ 9.92734190e-01 -1.07995418e-01 -5.30642787e-02 2.59530185e+02] [ 1.07950865e-01 9.94149295e-01 -3.71349809e-03 2.06795540e+01] [ 5.31548560e-02 -2.04181825e-03 9.98584194e-01 1.21320999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.56, Y:20.68, Z:12.13 [[ 9.92523986e-01 -1.09934624e-01 -5.30142967e-02 2.59561002e+02] [ 1.09892965e-01 9.93936507e-01 -3.70904268e-03 2.06778401e+01] [ 5.31005971e-02 -2.14458443e-03 9.98586865e-01 1.21324530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.59, Y:20.68, Z:12.13 [[ 9.92419052e-01 -1.10753720e-01 -5.32732405e-02 2.59591815e+02] [ 1.10712888e-01 9.93845447e-01 -3.72609424e-03 2.06802613e+01] [ 5.33580463e-02 -2.20018741e-03 9.98573021e-01 1.21339605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.62, Y:20.68, Z:12.14 [[ 9.92214711e-01 -1.12426241e-01 -5.35752606e-02 2.59622493e+02] [ 1.12387474e-01 9.93657400e-01 -3.74540872e-03 2.06831471e+01] [ 5.36565363e-02 -2.30493859e-03 9.98556790e-01 1.21353579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.65, Y:20.69, Z:12.14 [[ 9.92156219e-01 -1.12835783e-01 -5.37970592e-02 2.59654151e+02] [ 1.12797366e-01 9.93610900e-01 -3.75958845e-03 2.06852204e+01] [ 5.38775605e-02 -2.33806754e-03 9.98544812e-01 1.21367869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.69, Y:20.69, Z:12.14 [[ 9.92131576e-01 -1.13131188e-01 -5.36308703e-02 2.59685833e+02] [ 1.13093648e-01 9.93577279e-01 -3.74408712e-03 2.06883658e+01] [ 5.37099872e-02 -2.35068369e-03 9.98553810e-01 1.21382410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.72, Y:20.69, Z:12.14 [[ 9.92142764e-01 -1.13186657e-01 -5.33058790e-02 2.59716630e+02] [ 1.13149851e-01 9.93570979e-01 -3.71763197e-03 2.06891535e+01] [ 5.33839607e-02 -2.34313061e-03 9.98571311e-01 1.21395680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.75, Y:20.69, Z:12.14 [[ 9.92249241e-01 -1.12233582e-01 -5.33391605e-02 2.59748149e+02] [ 1.12195518e-01 9.93679199e-01 -3.71694189e-03 2.06934236e+01] [ 5.34191799e-02 -2.29628197e-03 9.98569536e-01 1.21413568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.78, Y:20.70, Z:12.14 [[ 9.92333197e-01 -1.11618858e-01 -5.30665205e-02 2.59779349e+02] [ 1.11580497e-01 9.93748532e-01 -3.69433388e-03 2.06963909e+01] [ 5.31471342e-02 -2.25517858e-03 9.98584146e-01 1.21429536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.81, Y:20.70, Z:12.14 [[ 9.92544760e-01 -1.09854771e-01 -5.27904197e-02 2.59810756e+02] [ 1.09814422e-01 9.93945321e-01 -3.67313497e-03 2.07012573e+01] [ 5.28743020e-02 -2.15139858e-03 9.98598858e-01 1.21444161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.84, Y:20.71, Z:12.15 [[ 9.92692705e-01 -1.08792105e-01 -5.22060409e-02 2.59842285e+02] [ 1.08751326e-01 9.94062360e-01 -3.62961969e-03 2.07066287e+01] [ 5.22909341e-02 -2.07437921e-03 9.98629739e-01 1.21466383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.87, Y:20.71, Z:12.15 [[ 9.92696600e-01 -1.08835959e-01 -5.20403176e-02 2.59873188e+02] [ 1.08795690e-01 9.94057561e-01 -3.61443431e-03 2.07088583e+01] [ 5.21244516e-02 -2.07372560e-03 9.98638444e-01 1.21484062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.90, Y:20.71, Z:12.15 [[ 9.92650958e-01 -1.09225068e-01 -5.20956912e-02 2.59904954e+02] [ 1.09185400e-01 9.94014828e-01 -3.61537999e-03 2.07139588e+01] [ 5.21787797e-02 -2.09927845e-03 9.98635553e-01 1.21504480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.94, Y:20.71, Z:12.15 [[ 9.92543982e-01 -1.09924643e-01 -5.26594336e-02 2.59936611e+02] [ 1.09885298e-01 9.93937570e-01 -3.65065435e-03 2.07127484e+01] [ 5.27414864e-02 -2.16306255e-03 9.98605857e-01 1.21510997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.97, Y:20.72, Z:12.15 [[ 9.92423318e-01 -1.10673611e-01 -5.33601843e-02 2.59968591e+02] [ 1.10634458e-01 9.93854293e-01 -3.69614827e-03 2.07151123e+01] [ 5.34413143e-02 -2.23533136e-03 9.98568490e-01 1.21520260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.00, Y:20.71, Z:12.15 [[ 9.92282511e-01 -1.11689489e-01 -5.38597939e-02 2.60000052e+02] [ 1.11651299e-01 9.93740458e-01 -3.72694673e-03 2.07143847e+01] [ 5.39389171e-02 -2.31533189e-03 9.98541553e-01 1.21527431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.03, Y:20.72, Z:12.15 [[ 9.92112320e-01 -1.13019315e-01 -5.42197229e-02 2.60031702e+02] [ 1.12982747e-01 9.93589877e-01 -3.74904253e-03 2.07158831e+01] [ 5.42958820e-02 -2.40642195e-03 9.98521991e-01 1.21540784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.06, Y:20.72, Z:12.16 [[ 9.91962762e-01 -1.14189359e-01 -5.45038351e-02 2.60063933e+02] [ 1.14154289e-01 9.93455893e-01 -3.76648664e-03 2.07211482e+01] [ 5.45772489e-02 -2.48563207e-03 9.98506457e-01 1.21558253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.09, Y:20.72, Z:12.16 [[ 9.91669590e-01 -1.16626430e-01 -5.46781543e-02 2.60094119e+02] [ 1.16595058e-01 9.93172365e-01 -3.77433492e-03 2.07202935e+01] [ 5.47450191e-02 -2.63230941e-03 9.98496897e-01 1.21566124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.13, Y:20.72, Z:12.16 [[ 9.91560005e-01 -1.17612377e-01 -5.45535079e-02 2.60126252e+02] [ 1.17582900e-01 9.93055949e-01 -3.76087332e-03 2.07222323e+01] [ 5.46170108e-02 -2.68542812e-03 9.98503766e-01 1.21585199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.16, Y:20.72, Z:12.16 [[ 9.91466184e-01 -1.18198480e-01 -5.49902302e-02 2.60157139e+02] [ 1.18169638e-01 9.92986200e-01 -3.78720820e-03 2.07203941e+01] [ 5.50521820e-02 -2.74328674e-03 9.98479710e-01 1.21593278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.19, Y:20.73, Z:12.16 [[ 9.91399690e-01 -1.18682948e-01 -5.51453740e-02 2.60189285e+02] [ 1.18654817e-01 9.92928310e-01 -3.79560352e-03 2.07257328e+01] [ 5.52058764e-02 -2.78030409e-03 9.98471122e-01 1.21607995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.22, Y:20.73, Z:12.16 [[ 9.91448028e-01 -1.18536597e-01 -5.45883026e-02 2.60221419e+02] [ 1.18509022e-01 9.92945882e-01 -3.75336539e-03 2.07296177e+01] [ 5.46481414e-02 -2.74793962e-03 9.98501893e-01 1.21628652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.25, Y:20.73, Z:12.17 [[ 9.91558146e-01 -1.18189251e-01 -5.33267713e-02 2.60252715e+02] [ 1.18162628e-01 9.92987501e-01 -3.66294912e-03 2.07317897e+01] [ 5.33857385e-02 -2.66920438e-03 9.98570397e-01 1.21658886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.28, Y:20.73, Z:12.17 [[ 9.91566411e-01 -1.18119795e-01 -5.33269746e-02 2.60284343e+02] [ 1.18093230e-01 9.92995767e-01 -3.65998728e-03 2.07338982e+01] [ 5.33857770e-02 -2.66843422e-03 9.98570397e-01 1.21673959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.32, Y:20.74, Z:12.17 [[ 9.91603429e-01 -1.17981554e-01 -5.29432920e-02 2.60316401e+02] [ 1.17955369e-01 9.93012263e-01 -3.62994673e-03 2.07393374e+01] [ 5.30016049e-02 -2.64547793e-03 9.98590923e-01 1.21698274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.35, Y:20.74, Z:12.17 [[ 9.91646898e-01 -1.17817460e-01 -5.24926179e-02 2.60347970e+02] [ 1.17791686e-01 9.93031818e-01 -3.59530499e-03 2.07418358e+01] [ 5.25504296e-02 -2.61792092e-03 9.98614840e-01 1.21717532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.38, Y:20.75, Z:12.17 [[ 9.91679505e-01 -1.17839307e-01 -5.18233221e-02 2.60380035e+02] [ 1.17814404e-01 9.93029301e-01 -3.54579917e-03 2.07461390e+01] [ 5.18799118e-02 -2.58923743e-03 9.98649974e-01 1.21738649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.41, Y:20.75, Z:12.18 [[ 9.91710881e-01 -1.17975790e-01 -5.09042341e-02 2.60411160e+02] [ 1.17952120e-01 9.93013188e-01 -3.47934796e-03 2.07472523e+01] [ 5.09590546e-02 -2.55375512e-03 9.98697478e-01 1.21752553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.44, Y:20.75, Z:12.18 [[ 9.91779747e-01 -1.17248657e-01 -5.12414470e-02 2.60442244e+02] [ 1.17223849e-01 9.93099352e-01 -3.49962158e-03 2.07489493e+01] [ 5.12981737e-02 -2.53586583e-03 9.98680162e-01 1.21760454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.47, Y:20.75, Z:12.18 [[ 9.91874400e-01 -1.16335849e-01 -5.14892775e-02 2.60473935e+02] [ 1.16309721e-01 9.93206777e-01 -3.51372358e-03 2.07548964e+01] [ 5.15482714e-02 -2.50353103e-03 9.98667366e-01 1.21770873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.51, Y:20.76, Z:12.18 [[ 9.92055462e-01 -1.14657589e-01 -5.17648254e-02 2.60505101e+02] [ 1.14629096e-01 9.93402093e-01 -3.52880858e-03 2.07556601e+01] [ 5.18278906e-02 -2.43298131e-03 9.98653068e-01 1.21774094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.54, Y:20.76, Z:12.18 [[ 9.92137880e-01 -1.14037973e-01 -5.15535361e-02 2.60537388e+02] [ 1.14009026e-01 9.93473508e-01 -3.51154442e-03 2.07584681e+01] [ 5.16175218e-02 -2.39363217e-03 9.98664059e-01 1.21790701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.57, Y:20.76, Z:12.18 [[ 9.92203443e-01 -1.13478297e-01 -5.15267279e-02 2.60569621e+02] [ 1.13448812e-01 9.93537656e-01 -3.50612125e-03 2.07621930e+01] [ 5.15916131e-02 -2.36686050e-03 9.98665461e-01 1.21808022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.60, Y:20.77, Z:12.18 [[ 9.92243731e-01 -1.13258502e-01 -5.12336872e-02 2.60601262e+02] [ 1.13229242e-01 9.93562786e-01 -3.48260396e-03 2.07663103e+01] [ 5.12983195e-02 -2.34555964e-03 9.98680620e-01 1.21827283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.63, Y:20.77, Z:12.18 [[ 9.92278309e-01 -1.13164583e-01 -5.07694331e-02 2.60633344e+02] [ 1.13135910e-01 9.93573541e-01 -3.44746814e-03 2.07699213e+01] [ 5.08332967e-02 -2.32299816e-03 9.98704451e-01 1.21844978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.67, Y:20.77, Z:12.19 [[ 9.92298468e-01 -1.12949767e-01 -5.08537110e-02 2.60665034e+02] [ 1.12920904e-01 9.93597992e-01 -3.44953726e-03 2.07719714e+01] [ 5.09177696e-02 -2.31947647e-03 9.98700156e-01 1.21857360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.70, Y:20.77, Z:12.19 [[ 9.92323182e-01 -1.12663861e-01 -5.10054525e-02 2.60696862e+02] [ 1.12634638e-01 9.93630461e-01 -3.45614403e-03 2.07738945e+01] [ 5.10699538e-02 -2.31536880e-03 9.98692395e-01 1.21868912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.73, Y:20.77, Z:12.19 [[ 9.92389366e-01 -1.12465260e-01 -5.01488907e-02 2.60728504e+02] [ 1.12436934e-01 9.93653065e-01 -3.39455015e-03 2.07747636e+01] [ 5.02123679e-02 -2.26987203e-03 9.98735984e-01 1.21890605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.76, Y:20.78, Z:12.19 [[ 9.92450309e-01 -1.11995404e-01 -4.99941291e-02 2.60760271e+02] [ 1.11966835e-01 9.93706194e-01 -3.38052047e-03 2.07783637e+01] [ 5.00580785e-02 -2.24268581e-03 9.98743791e-01 1.21907886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.79, Y:20.78, Z:12.19 [[ 9.92492042e-01 -1.11718330e-01 -4.97851443e-02 2.60792168e+02] [ 1.11689830e-01 9.93737427e-01 -3.36282271e-03 2.07811147e+01] [ 4.98490501e-02 -2.22291951e-03 9.98754290e-01 1.21928923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.82, Y:20.79, Z:12.19 [[ 9.92506418e-01 -1.11514157e-01 -4.99560099e-02 2.60824332e+02] [ 1.11485385e-01 9.93760357e-01 -3.37074284e-03 2.07850337e+01] [ 5.00201877e-02 -2.22388108e-03 9.98745731e-01 1.21943504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.86, Y:20.78, Z:12.20 [[ 9.92455144e-01 -1.11862071e-01 -5.01962655e-02 2.60855595e+02] [ 1.11833650e-01 9.93721182e-01 -3.38328400e-03 2.07848605e+01] [ 5.02595534e-02 -2.25587399e-03 9.98733642e-01 1.21957573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.89, Y:20.79, Z:12.20 [[ 9.92418233e-01 -1.12169181e-01 -5.02406788e-02 2.60888063e+02] [ 1.12141244e-01 9.93686517e-01 -3.38346445e-03 2.07861934e+01] [ 5.03030056e-02 -2.27624042e-03 9.98731409e-01 1.21967274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.92, Y:20.79, Z:12.20 [[ 9.92220424e-01 -1.13497547e-01 -5.11560129e-02 2.60919833e+02] [ 1.13470544e-01 9.93535401e-01 -3.44123211e-03 2.07877171e+01] [ 5.12158812e-02 -2.39023985e-03 9.98684745e-01 1.21977914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.95, Y:20.79, Z:12.20 [[ 9.92070769e-01 -1.14454705e-01 -5.19202294e-02 2.60950601e+02] [ 1.14428471e-01 9.93425369e-01 -3.48740382e-03 2.07861429e+01] [ 5.19780228e-02 -2.48140107e-03 9.98645146e-01 1.21989120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.98, Y:20.78, Z:12.20 [[ 9.91936769e-01 -1.15477034e-01 -5.22159134e-02 2.60982520e+02] [ 1.15452029e-01 9.93306873e-01 -3.50503879e-03 2.07817428e+01] [ 5.22711771e-02 -2.55165632e-03 9.98629668e-01 1.21994599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.01, Y:20.79, Z:12.20 [[ 9.91681608e-01 -1.17379870e-01 -5.28162404e-02 2.61013907e+02] [ 1.17357254e-01 9.93083452e-01 -3.54011953e-03 2.07872986e+01] [ 5.28664731e-02 -2.68769754e-03 9.98597973e-01 1.22017231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.05, Y:20.78, Z:12.20 [[ 9.91460341e-01 -1.19211672e-01 -5.28674686e-02 2.61045032e+02] [ 1.19191758e-01 9.92864940e-01 -3.54072769e-03 2.07843800e+01] [ 5.29123521e-02 -2.79087542e-03 9.98595260e-01 1.22034022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.08, Y:20.79, Z:12.21 [[ 9.91300600e-01 -1.20537252e-01 -5.28572707e-02 2.61077142e+02] [ 1.20519376e-01 9.92704673e-01 -3.53714145e-03 2.07873664e+01] [ 5.28980169e-02 -2.86395486e-03 9.98595813e-01 1.22057937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.11, Y:20.79, Z:12.21 [[ 9.91150306e-01 -1.21747038e-01 -5.29030169e-02 2.61108752e+02] [ 1.21731056e-01 9.92556822e-01 -3.53628962e-03 2.07882557e+01] [ 5.29397831e-02 -2.93494556e-03 9.98593393e-01 1.22077623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.14, Y:20.79, Z:12.21 [[ 9.91028749e-01 -1.22890148e-01 -5.25359904e-02 2.61140345e+02] [ 1.22876234e-01 9.92415806e-01 -3.50701135e-03 2.07872902e+01] [ 5.25685244e-02 -2.97987558e-03 9.98612873e-01 1.22094754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.17, Y:20.78, Z:12.21 [[ 9.90793120e-01 -1.24769641e-01 -5.25502651e-02 2.61172096e+02] [ 1.24758495e-01 9.92180947e-01 -3.50524811e-03 2.07848629e+01] [ 5.25767203e-02 -3.08311628e-03 9.98612128e-01 1.22110879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.20, Y:20.79, Z:12.21 [[ 9.90801892e-01 -1.24699904e-01 -5.25503996e-02 2.61203743e+02] [ 1.24688767e-01 9.92189719e-01 -3.50322938e-03 2.07869102e+01] [ 5.25768186e-02 -3.08143825e-03 9.98612128e-01 1.22125962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.23, Y:20.78, Z:12.21 [[ 9.90577165e-01 -1.26203453e-01 -5.31936906e-02 2.61234846e+02] [ 1.26194400e-01 9.91999206e-01 -3.54241710e-03 2.07846826e+01] [ 5.32151641e-02 -3.20370838e-03 9.98577930e-01 1.22141326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.27, Y:20.79, Z:12.22 [[ 9.90524222e-01 -1.26604689e-01 -5.32260997e-02 2.61266431e+02] [ 1.26596357e-01 9.91947992e-01 -3.54166316e-03 2.07877516e+01] [ 5.32459139e-02 -3.23012720e-03 9.98576206e-01 1.22163014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.30, Y:20.79, Z:12.22 [[ 9.90448553e-01 -1.27165446e-01 -5.32974073e-02 2.61298830e+02] [ 1.27158103e-01 9.91876135e-01 -3.54261896e-03 2.07885922e+01] [ 5.33149251e-02 -3.26841537e-03 9.98572399e-01 1.22184725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.33, Y:20.79, Z:12.22 [[ 9.90412981e-01 -1.27531524e-01 -5.30832984e-02 2.61330331e+02] [ 1.27524961e-01 9.91829099e-01 -3.52463901e-03 2.07929571e+01] [ 5.30990626e-02 -3.27859732e-03 9.98583867e-01 1.22209621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.36, Y:20.79, Z:12.22 [[ 9.90410166e-01 -1.27694381e-01 -5.27432331e-02 2.61362108e+02] [ 1.27688327e-01 9.91808173e-01 -3.49834577e-03 2.07879223e+01] [ 5.27578888e-02 -3.26989796e-03 9.98601979e-01 1.22230649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:261.39, Y:20.78, Z:12.22 [[ 9.90324951e-01 -1.27873708e-01 -5.38962635e-02 2.61393413e+02] [ 1.27867815e-01 9.91784787e-01 -3.57186100e-03 2.07827515e+01] [ 5.39102413e-02 -3.35429441e-03 9.98540152e-01 1.22238324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.43, Y:20.79, Z:12.23 [[ 9.90388858e-01 -1.27186000e-01 -5.43473258e-02 2.61425036e+02] [ 1.27179142e-01 9.91873235e-01 -3.59877038e-03 2.07911917e+01] [ 5.43633711e-02 -3.34766419e-03 9.98515607e-01 1.22257465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.46, Y:20.79, Z:12.23 [[ 9.90446028e-01 -1.26545822e-01 -5.47979903e-02 2.61457325e+02] [ 1.26538092e-01 9.91955126e-01 -3.62470052e-03 2.07941762e+01] [ 5.48158381e-02 -3.34396291e-03 9.98490882e-01 1.22271189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.49, Y:20.79, Z:12.23 [[ 9.90710823e-01 -1.24088446e-01 -5.56248455e-02 2.61488143e+02] [ 1.24076835e-01 9.92265805e-01 -3.67566555e-03 2.07940798e+01] [ 5.56507398e-02 -3.26023314e-03 9.98444974e-01 1.22282583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.52, Y:20.80, Z:12.23 [[ 9.90873347e-01 -1.22466940e-01 -5.63192544e-02 2.61519379e+02] [ 1.22452547e-01 9.92467399e-01 -3.71952884e-03 2.07980861e+01] [ 5.63505433e-02 -3.21085413e-03 9.98405883e-01 1.22297125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.55, Y:20.80, Z:12.23 [[ 9.91131597e-01 -1.20021141e-01 -5.70358074e-02 2.61551168e+02] [ 1.20002474e-01 9.92766455e-01 -3.76462783e-03 2.08026408e+01] [ 5.70750712e-02 -3.11319643e-03 9.98365036e-01 1.22311534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.58, Y:20.81, Z:12.23 [[ 9.91720086e-01 -1.14419538e-01 -5.83047215e-02 2.61580740e+02] [ 1.14390527e-01 9.93428415e-01 -3.84595017e-03 2.08067117e+01] [ 5.83616189e-02 -2.85540176e-03 9.98291424e-01 1.22320087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.61, Y:20.81, Z:12.23 [[ 9.92050477e-01 -1.11264340e-01 -5.87885770e-02 2.61610679e+02] [ 1.11229278e-01 9.93787203e-01 -3.87863120e-03 2.08093843e+01] [ 5.88548888e-02 -2.69121305e-03 9.98262921e-01 1.22333056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.64, Y:20.82, Z:12.24 [[ 9.92362378e-01 -1.08433407e-01 -5.88141810e-02 2.61640779e+02] [ 1.08393355e-01 9.94100510e-01 -3.88032044e-03 2.08169935e+01] [ 5.88879636e-02 -2.52438237e-03 9.98261406e-01 1.22359671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.67, Y:20.82, Z:12.24 [[ 9.92940012e-01 -1.02908913e-01 -5.89905767e-02 2.61670969e+02] [ 1.02858890e-01 9.94688344e-01 -3.89195831e-03 2.08193558e+01] [ 5.90777563e-02 -2.20322411e-03 9.98250953e-01 1.22372326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.70, Y:20.82, Z:12.24 [[ 9.93180378e-01 -1.00517740e-01 -5.90670875e-02 2.61700041e+02] [ 1.00463342e-01 9.94933127e-01 -3.89742525e-03 2.08230033e+01] [ 5.91595624e-02 -2.06323074e-03 9.98246407e-01 1.22390535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.73, Y:20.82, Z:12.24 [[ 9.93662733e-01 -9.57227486e-02 -5.89196843e-02 2.61728987e+02] [ 9.56600793e-02 9.95406459e-01 -3.88981085e-03 2.08237175e+01] [ 5.90213777e-02 -1.77110159e-03 9.98255148e-01 1.22401436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.76, Y:20.83, Z:12.24 [[ 9.93870051e-01 -9.37827781e-02 -5.85415423e-02 2.61757199e+02] [ 9.37172862e-02 9.95591331e-01 -3.86933568e-03 2.08284678e+01] [ 5.86463290e-02 -1.64073762e-03 9.98277474e-01 1.22423006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.79, Y:20.83, Z:12.24 [[ 9.94097246e-01 -9.14341068e-02 -5.83992210e-02 2.61785211e+02] [ 9.13640246e-02 9.95810023e-01 -3.87461856e-03 2.08304535e+01] [ 5.85088019e-02 -1.48384023e-03 9.98285790e-01 1.22433454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.81, Y:20.83, Z:12.25 [[ 9.94486683e-01 -8.75641915e-02 -5.76953172e-02 2.61812515e+02] [ 8.74885509e-02 9.96158122e-01 -3.84055016e-03 2.08328850e+01] [ 5.78099535e-02 -1.22830370e-03 9.98326851e-01 1.22452346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.84, Y:20.83, Z:12.25 [[ 9.94613776e-01 -8.64441188e-02 -5.71913584e-02 2.61841327e+02] [ 8.63675669e-02 9.96256041e-01 -3.81358060e-03 2.08347814e+01] [ 5.73068980e-02 -1.14643868e-03 9.98355951e-01 1.22472070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.87, Y:20.84, Z:12.25 [[ 9.94718966e-01 -8.55683181e-02 -5.66766382e-02 2.61870351e+02] [ 8.54909299e-02 9.96331728e-01 -3.79311282e-03 2.08354759e+01] [ 5.67933032e-02 -1.07225723e-03 9.98385382e-01 1.22492216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.90, Y:20.84, Z:12.25 [[ 9.94648175e-01 -8.63355680e-02 -5.67554115e-02 2.61899018e+02] [ 8.62584158e-02 9.96265503e-01 -3.81236148e-03 2.08363297e+01] [ 5.68726010e-02 -1.10367350e-03 9.98380834e-01 1.22507672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.93, Y:20.84, Z:12.25 [[ 9.94538463e-01 -8.71330019e-02 -5.74550720e-02 2.61927780e+02] [ 8.70544360e-02 9.96196025e-01 -3.87372402e-03 2.08371073e+01] [ 5.75740435e-02 -1.14915136e-03 9.98340578e-01 1.22521769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.96, Y:20.84, Z:12.25 [[ 9.94417327e-01 -8.84466129e-02 -5.75445672e-02 2.61956129e+02] [ 8.83691645e-02 9.96080181e-01 -3.89419611e-03 2.08370578e+01] [ 5.76634313e-02 -1.21270923e-03 9.98335343e-01 1.22530649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.98, Y:20.83, Z:12.25 [[ 9.94087724e-01 -9.13757911e-02 -5.86520434e-02 2.61983828e+02] [ 9.12996397e-02 9.95815503e-01 -3.98244132e-03 2.08334362e+01] [ 5.87705128e-02 -1.39601440e-03 9.98270543e-01 1.22526989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.01, Y:20.83, Z:12.25 [[ 9.93907418e-01 -9.31244678e-02 -5.89565845e-02 2.62012495e+02] [ 9.30501244e-02 9.95653346e-01 -4.01107246e-03 2.08336164e+01] [ 5.90738497e-02 -1.49928286e-03 9.98252489e-01 1.22540796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.04, Y:20.83, Z:12.26 [[ 9.93759924e-01 -9.47253356e-02 -5.88924889e-02 2.62041002e+02] [ 9.46530901e-02 9.95502195e-01 -4.02142872e-03 2.08339156e+01] [ 5.90085332e-02 -1.57802137e-03 9.98256231e-01 1.22557633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.07, Y:20.83, Z:12.26 [[ 9.93707693e-01 -9.54178807e-02 -5.86553426e-02 2.62069336e+02] [ 9.53466580e-02 9.95436020e-01 -4.01818142e-03 2.08331940e+01] [ 5.87710471e-02 -1.59969310e-03 9.98270206e-01 1.22564423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.10, Y:20.83, Z:12.26 [[ 9.93689717e-01 -9.61789610e-02 -5.77092253e-02 2.62097368e+02] [ 9.61108873e-02 9.95362754e-01 -3.96046030e-03 2.08316347e+01] [ 5.78225264e-02 -1.61101618e-03 9.98325578e-01 1.22576940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.13, Y:20.83, Z:12.26 [[ 9.93864200e-01 -9.55280185e-02 -5.57525811e-02 2.62125331e+02] [ 9.54626909e-02 9.95425602e-01 -3.83990199e-03 2.08305223e+01] [ 5.58643649e-02 -1.50595030e-03 9.98437231e-01 1.22599872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.15, Y:20.83, Z:12.26 [[ 9.93837745e-01 -9.58031066e-02 -5.57521360e-02 2.62152642e+02] [ 9.57378496e-02 9.95399151e-01 -3.84635252e-03 2.08324838e+01] [ 5.58641214e-02 -1.51493930e-03 9.98437231e-01 1.22612912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.18, Y:20.83, Z:12.26 [[ 9.93940371e-01 -9.56627208e-02 -5.41403917e-02 2.62181339e+02] [ 9.56001877e-02 9.95412751e-01 -3.74962108e-03 2.08325663e+01] [ 5.42507351e-02 -1.44893184e-03 9.98526293e-01 1.22633906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.21, Y:20.83, Z:12.27 [[ 9.93953488e-01 -9.60451873e-02 -5.32145169e-02 2.62209181e+02] [ 9.59846211e-02 9.95375945e-01 -3.69861805e-03 2.08327117e+01] [ 5.33236846e-02 -1.43152093e-03 9.98576254e-01 1.22651128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.24, Y:20.83, Z:12.27 [[ 9.93915611e-01 -9.71969949e-02 -5.18121770e-02 2.62237672e+02] [ 9.71404459e-02 9.95264120e-01 -3.61451521e-03 2.08306147e+01] [ 5.19181208e-02 -1.44053489e-03 9.98650306e-01 1.22669873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.27, Y:20.83, Z:12.27 [[ 9.93912210e-01 -9.72319336e-02 -5.18118766e-02 2.62266732e+02] [ 9.71752080e-02 9.95260711e-01 -3.61881628e-03 2.08326762e+01] [ 5.19181897e-02 -1.43804420e-03 9.98650306e-01 1.22683746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.30, Y:20.83, Z:12.27 [[ 9.93808294e-01 -9.85543581e-02 -5.13041329e-02 2.62296106e+02] [ 9.85004058e-02 9.95130553e-01 -3.58514293e-03 2.08332354e+01] [ 5.14076416e-02 -1.49053313e-03 9.98676641e-01 1.22700632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.33, Y:20.83, Z:12.27 [[ 9.93501269e-01 -1.01635252e-01 -5.12396739e-02 2.62326149e+02] [ 1.01585430e-01 9.94820369e-01 -3.58247383e-03 2.08297757e+01] [ 5.13383769e-02 -1.64601203e-03 9.98679960e-01 1.22710030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.36, Y:20.83, Z:12.27 [[ 9.93271882e-01 -1.03425224e-01 -5.20979001e-02 2.62355455e+02] [ 1.03376074e-01 9.94635665e-01 -3.64444846e-03 2.08293160e+01] [ 5.21953574e-02 -1.76574821e-03 9.98635332e-01 1.22716796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.38, Y:20.83, Z:12.27 [[ 9.93061789e-01 -1.05184441e-01 -5.25786715e-02 2.62383834e+02] [ 1.05136689e-01 9.94450968e-01 -3.68096475e-03 2.08279479e+01] [ 5.26740910e-02 -1.87252201e-03 9.98610001e-01 1.22724691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.41, Y:20.83, Z:12.27 [[ 9.92683541e-01 -1.08042035e-01 -5.39101656e-02 2.62412983e+02] [ 1.07995861e-01 9.94144167e-01 -3.77748872e-03 2.08251670e+01] [ 5.40026043e-02 -2.07222390e-03 9.98538645e-01 1.22733592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.44, Y:20.83, Z:12.28 [[ 9.92560808e-01 -1.08983325e-01 -5.42740998e-02 2.62441899e+02] [ 1.08937700e-01 9.94041288e-01 -3.80722123e-03 2.08267255e+01] [ 5.43656197e-02 -2.13359702e-03 9.98518817e-01 1.22750242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.47, Y:20.82, Z:12.28 [[ 9.92471231e-01 -1.09243175e-01 -5.53785527e-02 2.62469531e+02] [ 1.09195350e-01 9.94012667e-01 -3.89784437e-03 2.08248174e+01] [ 5.54727957e-02 -2.17858202e-03 9.98457822e-01 1.22760155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.50, Y:20.83, Z:12.28 [[ 9.92493380e-01 -1.08918439e-01 -5.56207251e-02 2.62498296e+02] [ 1.08869218e-01 9.94048340e-01 -3.92327611e-03 2.08272722e+01] [ 5.57170065e-02 -2.16155925e-03 9.98444261e-01 1.22775422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.53, Y:20.83, Z:12.28 [[ 9.92549764e-01 -1.08146434e-01 -5.61187601e-02 2.62526821e+02] [ 1.08094306e-01 9.94132708e-01 -3.97246292e-03 2.08327233e+01] [ 5.62191026e-02 -2.12325128e-03 9.98416198e-01 1.22797721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.55, Y:20.83, Z:12.28 [[ 9.92640353e-01 -1.07121609e-01 -5.64808843e-02 2.62554763e+02] [ 1.07066401e-01 9.94243780e-01 -4.01132174e-03 2.08318927e+01] [ 5.65854671e-02 -2.06540518e-03 9.98395622e-01 1.22805025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.58, Y:20.84, Z:12.28 [[ 9.92989730e-01 -1.03900107e-01 -5.63574664e-02 2.62583712e+02] [ 1.03839593e-01 9.94585977e-01 -4.00904193e-03 2.08378328e+01] [ 5.64688857e-02 -1.87119893e-03 9.98402606e-01 1.22830943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.61, Y:20.84, Z:12.29 [[ 9.93485668e-01 -9.95089346e-02 -5.55355680e-02 2.62613187e+02] [ 9.94426810e-02 9.95035404e-01 -3.96204773e-03 2.08416154e+01] [ 5.56541155e-02 -1.58636814e-03 9.98448848e-01 1.22850834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.64, Y:20.84, Z:12.29 [[ 9.93702265e-01 -9.73997516e-02 -5.53994386e-02 2.62640867e+02] [ 9.73304097e-02 9.95244267e-01 -3.95483791e-03 2.08426242e+01] [ 5.55211739e-02 -1.46211867e-03 9.98456439e-01 1.22863931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.67, Y:20.85, Z:12.29 [[ 9.94144183e-01 -9.35767959e-02 -5.40437456e-02 2.62669717e+02] [ 9.35049044e-02 9.95611326e-01 -3.86281678e-03 2.08456010e+01] [ 5.41680352e-02 -1.21315844e-03 9.98531097e-01 1.22883942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.70, Y:20.85, Z:12.29 [[ 9.94264289e-01 -9.21908344e-02 -5.42159963e-02 2.62697974e+02] [ 9.21161406e-02 9.95740709e-01 -3.88036334e-03 2.08476222e+01] [ 5.43428086e-02 -1.13606164e-03 9.98521692e-01 1.22895308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.73, Y:20.85, Z:12.29 [[ 9.94333674e-01 -9.11842373e-02 -5.46441103e-02 2.62726732e+02] [ 9.11060680e-02 9.95833459e-01 -3.92509104e-03 2.08501760e+01] [ 5.47743398e-02 -1.07555984e-03 9.98498180e-01 1.22906456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.75, Y:20.85, Z:12.29 [[ 9.94344529e-01 -9.08754314e-02 -5.49601069e-02 2.62754748e+02] [ 9.07950833e-02 9.95861714e-01 -3.96230078e-03 2.08518137e+01] [ 5.50927421e-02 -1.05021539e-03 9.98480689e-01 1.22918221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.78, Y:20.85, Z:12.29 [[ 9.94333793e-01 -9.07808836e-02 -5.53094880e-02 2.62782440e+02] [ 9.06984609e-02 9.95870353e-01 -4.00376117e-03 2.08533426e+01] [ 5.54445443e-02 -1.03541041e-03 9.98461231e-01 1.22930088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.81, Y:20.85, Z:12.29 [[ 9.94356448e-01 -9.08758706e-02 -5.47433148e-02 2.62809001e+02] [ 9.07944687e-02 9.95861710e-01 -3.97737105e-03 2.08542494e+01] [ 5.48782182e-02 -1.01546564e-03 9.98492539e-01 1.22943230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.84, Y:20.85, Z:12.30 [[ 9.94291817e-01 -9.18370138e-02 -5.43115524e-02 2.62837747e+02] [ 9.17579050e-02 9.95773496e-01 -3.95367395e-03 2.08542399e+01] [ 5.44450981e-02 -1.05240861e-03 9.98516211e-01 1.22959323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.87, Y:20.85, Z:12.30 [[ 9.94240515e-01 -9.26114038e-02 -5.39344555e-02 2.62865086e+02] [ 9.25338516e-02 9.95701749e-01 -3.93871464e-03 2.08544078e+01] [ 5.40674016e-02 -1.07473323e-03 9.98536710e-01 1.22971308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.89, Y:20.86, Z:12.30 [[ 9.94138290e-01 -9.35525104e-02 -5.41939903e-02 2.62893884e+02] [ 9.34752389e-02 9.95613712e-01 -3.96442503e-03 2.08559923e+01] [ 5.43271617e-02 -1.12460947e-03 9.98522556e-01 1.22987896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.92, Y:20.86, Z:12.30 [[ 9.93988469e-01 -9.50507401e-02 -5.43348900e-02 2.62922259e+02] [ 9.49746234e-02 9.95471709e-01 -3.98716483e-03 2.08566616e+01] [ 5.44678288e-02 -1.19723985e-03 9.98514808e-01 1.22998363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.95, Y:20.86, Z:12.30 [[ 9.93876982e-01 -9.62367925e-02 -5.42864943e-02 2.62950822e+02] [ 9.61622564e-02 9.95357677e-01 -3.98951937e-03 2.08584680e+01] [ 5.44184173e-02 -1.25522031e-03 9.98517431e-01 1.23014666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.98, Y:20.86, Z:12.30 [[ 9.93664036e-01 -9.83969125e-02 -5.43123463e-02 2.62979877e+02] [ 9.83247876e-02 9.95146319e-01 -4.00498206e-03 2.08594885e+01] [ 5.44428094e-02 -1.36064328e-03 9.98515963e-01 1.23026279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.01, Y:20.86, Z:12.30 [[ 9.93529180e-01 -9.97217908e-02 -5.43629756e-02 2.63008979e+02] [ 9.96507666e-02 9.95014344e-01 -4.02236808e-03 2.08605109e+01] [ 5.44930582e-02 -1.42097212e-03 9.98513138e-01 1.23035099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.04, Y:20.86, Z:12.30 [[ 9.93353976e-01 -1.01135232e-01 -5.49503664e-02 2.63036874e+02] [ 1.01064104e-01 9.94871554e-01 -4.07886160e-03 2.08612384e+01] [ 5.50810731e-02 -1.50175618e-03 9.98480756e-01 1.23039085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.07, Y:20.86, Z:12.30 [[ 9.93176412e-01 -1.02703157e-01 -5.52510247e-02 2.63065228e+02] [ 1.02633202e-01 9.94710780e-01 -4.10964485e-03 2.08622090e+01] [ 5.53808634e-02 -1.58898723e-03 9.98464038e-01 1.23044396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.09, Y:20.86, Z:12.31 [[ 9.92890005e-01 -1.05538436e-01 -5.50552071e-02 2.63093442e+02] [ 1.05472642e-01 9.94413722e-01 -4.10745650e-03 2.08640845e+01] [ 5.51811479e-02 -1.72856562e-03 9.98474863e-01 1.23054995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.12, Y:20.86, Z:12.31 [[ 9.92707113e-01 -1.07371766e-01 -5.48077641e-02 2.63121292e+02] [ 1.07309078e-01 9.94217281e-01 -4.09395894e-03 2.08636186e+01] [ 5.49304018e-02 -1.81726846e-03 9.98488532e-01 1.23063710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.15, Y:20.86, Z:12.31 [[ 9.92295536e-01 -1.11418949e-01 -5.41792212e-02 2.63150964e+02] [ 1.11363464e-01 9.93771485e-01 -4.05148524e-03 2.08647339e+01] [ 5.42931774e-02 -2.01331502e-03 9.98523008e-01 1.23083167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.18, Y:20.87, Z:12.31 [[ 9.92263470e-01 -1.11704283e-01 -5.41789477e-02 2.63178282e+02] [ 1.11649023e-01 9.93739428e-01 -4.05513741e-03 2.08668434e+01] [ 5.42927328e-02 -2.02526187e-03 9.98523008e-01 1.23096207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.21, Y:20.87, Z:12.31 [[ 9.91739259e-01 -1.16408027e-01 -5.38740548e-02 2.63208099e+02] [ 1.16359564e-01 9.93198913e-01 -4.04606867e-03 2.08667571e+01] [ 5.39786475e-02 -2.25611636e-03 9.98539541e-01 1.23111810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.24, Y:20.87, Z:12.31 [[ 9.91487970e-01 -1.18557414e-01 -5.38121301e-02 2.63237819e+02] [ 1.18512160e-01 9.92944372e-01 -4.04251570e-03 2.08676277e+01] [ 5.39117219e-02 -2.36928607e-03 9.98542895e-01 1.23127787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.27, Y:20.87, Z:12.31 [[ 9.91015488e-01 -1.22419644e-01 -5.38677372e-02 2.63266847e+02] [ 1.22379885e-01 9.92475074e-01 -4.04849677e-03 2.08664278e+01] [ 5.39580021e-02 -2.58020449e-03 9.98539872e-01 1.23149744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.30, Y:20.87, Z:12.32 [[ 9.90852335e-01 -1.23860983e-01 -5.35733799e-02 2.63296448e+02] [ 1.23823721e-01 9.92296059e-01 -4.02704801e-03 2.08719127e+01] [ 5.36594478e-02 -2.64344529e-03 9.98555795e-01 1.23176301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.33, Y:20.87, Z:12.32 [[ 9.90683337e-01 -1.25155228e-01 -5.36907308e-02 2.63326341e+02] [ 1.25119647e-01 9.92133448e-01 -4.03679970e-03 2.08741405e+01] [ 5.37735965e-02 -2.71857510e-03 9.98549453e-01 1.23198515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.36, Y:20.87, Z:12.32 [[ 9.90539484e-01 -1.26196895e-01 -5.39061599e-02 2.63355356e+02] [ 1.26162529e-01 9.92001302e-01 -4.05367635e-03 2.08737622e+01] [ 5.39865422e-02 -2.78561097e-03 9.98537778e-01 1.23213799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.39, Y:20.88, Z:12.32 [[ 9.90218644e-01 -1.28310769e-01 -5.48031394e-02 2.63385052e+02] [ 1.28278373e-01 9.91729630e-01 -4.12301673e-03 2.08768035e+01] [ 5.48789246e-02 -2.94736953e-03 9.98488666e-01 1.23223868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.41, Y:20.88, Z:12.32 [[ 9.90016692e-01 -1.29491000e-01 -5.56689433e-02 2.63414627e+02] [ 1.29459370e-01 9.91575878e-01 -4.18932447e-03 2.08787484e+01] [ 5.57424611e-02 -3.05936516e-03 9.98440493e-01 1.23236194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.44, Y:20.88, Z:12.32 [[ 9.89838092e-01 -1.30546735e-01 -5.63746521e-02 2.63444394e+02] [ 1.30515889e-01 9.91437132e-01 -4.24449350e-03 2.08807780e+01] [ 5.64460281e-02 -3.15642648e-03 9.98400663e-01 1.23248339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.47, Y:20.88, Z:12.33 [[ 9.89564808e-01 -1.32025362e-01 -5.77130326e-02 2.63473272e+02] [ 1.31995410e-01 9.91240793e-01 -4.34757261e-03 2.08832702e+01] [ 5.77815020e-02 -3.31565055e-03 9.98323747e-01 1.23260390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.50, Y:20.89, Z:12.33 [[ 9.89421867e-01 -1.32670830e-01 -5.86755454e-02 2.63502185e+02] [ 1.32640817e-01 9.91154301e-01 -4.42329240e-03 2.08873502e+01] [ 5.87433611e-02 -3.40627006e-03 9.98267306e-01 1.23276376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.53, Y:20.89, Z:12.33 [[ 9.89395647e-01 -1.32575385e-01 -5.93297662e-02 2.63532098e+02] [ 1.32544350e-01 9.91166971e-01 -4.47565575e-03 2.08914108e+01] [ 5.93990664e-02 -3.43563099e-03 9.98228404e-01 1.23286781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.56, Y:20.90, Z:12.33 [[ 9.89602203e-01 -1.30716525e-01 -6.00055803e-02 2.63560957e+02] [ 1.30681246e-01 9.91414092e-01 -4.52885108e-03 2.08988049e+01] [ 6.00823736e-02 -3.35984298e-03 9.98187768e-01 1.23303333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.59, Y:20.90, Z:12.33 [[ 9.89855995e-01 -1.29054745e-01 -5.94136574e-02 2.63589168e+02] [ 1.29017030e-01 9.91632228e-01 -4.48657506e-03 2.09008842e+01] [ 5.94955113e-02 -3.22431043e-03 9.98223366e-01 1.23317569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.62, Y:20.91, Z:12.34 [[ 9.90572023e-01 -1.24177750e-01 -5.78528688e-02 2.63619108e+02] [ 1.24133541e-01 9.92255892e-01 -4.37129143e-03 2.09125569e+01] [ 5.79476671e-02 -2.85140244e-03 9.98315550e-01 1.23359729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.65, Y:20.92, Z:12.34 [[ 9.90942441e-01 -1.21466449e-01 -5.72623739e-02 2.63648154e+02] [ 1.21418591e-01 9.92591961e-01 -4.32720655e-03 2.09186850e+01] [ 5.73637824e-02 -2.66470414e-03 9.98349786e-01 1.23384509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.68, Y:20.93, Z:12.34 [[ 9.91614769e-01 -1.16077933e-01 -5.67984408e-02 2.63677023e+02] [ 1.16021915e-01 9.93237372e-01 -4.29408229e-03 2.09261740e+01] [ 5.69127823e-02 -2.33178844e-03 9.98376431e-01 1.23406965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.71, Y:20.93, Z:12.34 [[ 9.91862685e-01 -1.14048741e-01 -5.65800223e-02 2.63705268e+02] [ 1.13989771e-01 9.93472708e-01 -4.27909697e-03 2.09305780e+01] [ 5.66987336e-02 -2.20526716e-03 9.98388897e-01 1.23422951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.74, Y:20.94, Z:12.34 [[ 9.92022849e-01 -1.12710570e-01 -5.64534630e-02 2.63735213e+02] [ 1.12649559e-01 9.93625597e-01 -4.27203209e-03 2.09372266e+01] [ 5.65751091e-02 -2.12150427e-03 9.98396092e-01 1.23445921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.77, Y:20.94, Z:12.35 [[ 9.92099688e-01 -1.12026745e-01 -5.64642960e-02 2.63765615e+02] [ 1.11964606e-01 9.93703009e-01 -4.27285185e-03 2.09410273e+01] [ 5.65874145e-02 -2.08290764e-03 9.98395476e-01 1.23459423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.79, Y:20.94, Z:12.35 [[ 9.92076223e-01 -1.11678333e-01 -5.75562140e-02 2.63794677e+02] [ 1.11613173e-01 9.93742184e-01 -4.35566200e-03 2.09445017e+01] [ 5.76824708e-02 -2.10288295e-03 9.98332765e-01 1.23467093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.82, Y:20.94, Z:12.34 [[ 9.91824521e-01 -1.12622939e-01 -6.00016160e-02 2.63823569e+02] [ 1.12553746e-01 9.93635255e-01 -4.54250577e-03 2.09441332e+01] [ 6.01313113e-02 -2.24803805e-03 9.98187944e-01 1.23447427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.85, Y:20.95, Z:12.35 [[ 9.91651927e-01 -1.13927060e-01 -6.03910692e-02 2.63851921e+02] [ 1.13858977e-01 9.93486371e-01 -4.57861070e-03 2.09510925e+01] [ 6.05193318e-02 -2.33567724e-03 9.98164293e-01 1.23473371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.88, Y:20.96, Z:12.35 [[ 9.91495686e-01 -1.15320646e-01 -6.03112972e-02 2.63881414e+02] [ 1.15254581e-01 9.93325406e-01 -4.58466348e-03 2.09556732e+01] [ 6.04374501e-02 -2.40547924e-03 9.98169088e-01 1.23492641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.91, Y:20.96, Z:12.35 [[ 9.91142304e-01 -1.18127995e-01 -6.06853280e-02 2.63909830e+02] [ 1.18066209e-01 9.92994999e-01 -4.61552376e-03 2.09577785e+01] [ 6.08054497e-02 -2.59024574e-03 9.98146276e-01 1.23506997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.94, Y:20.96, Z:12.35 [[ 9.90970614e-01 -1.19646475e-01 -6.05141524e-02 2.63940218e+02] [ 1.19587704e-01 9.92812961e-01 -4.60503600e-03 2.09621115e+01] [ 6.06302112e-02 -2.67329322e-03 9.98156717e-01 1.23525845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.97, Y:20.96, Z:12.35 [[ 9.90779331e-01 -1.20908239e-01 -6.11352111e-02 2.63970280e+02] [ 1.20850653e-01 9.92659799e-01 -4.65229764e-03 2.09642718e+01] [ 6.12489675e-02 -2.77882985e-03 9.98118651e-01 1.23533579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.00, Y:20.96, Z:12.35 [[ 9.90433583e-01 -1.23521467e-01 -6.15123225e-02 2.64000203e+02] [ 1.23468176e-01 9.92337491e-01 -4.68125153e-03 2.09629529e+01] [ 6.16192188e-02 -2.95834553e-03 9.98095346e-01 1.23531270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.03, Y:20.97, Z:12.35 [[ 9.90287041e-01 -1.24821346e-01 -6.12471060e-02 2.64029487e+02] [ 1.24770907e-01 9.92174623e-01 -4.66241113e-03 2.09654796e+01] [ 6.13497927e-02 -3.02473164e-03 9.98111744e-01 1.23545560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.06, Y:20.97, Z:12.36 [[ 9.90282677e-01 -1.24856040e-01 -6.12469429e-02 2.64058560e+02] [ 1.24805536e-01 9.92170258e-01 -4.66455284e-03 2.09677250e+01] [ 6.13497927e-02 -3.02473164e-03 9.98111744e-01 1.23559438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.09, Y:20.97, Z:12.36 [[ 9.90172950e-01 -1.26087345e-01 -6.04938962e-02 2.64088177e+02] [ 1.26040255e-01 9.92014421e-01 -4.60895244e-03 2.09727859e+01] [ 6.05919480e-02 -3.06100606e-03 9.98157926e-01 1.23585092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.12, Y:20.98, Z:12.36 [[ 9.90054530e-01 -1.27135355e-01 -6.02380967e-02 2.64118797e+02] [ 1.27090571e-01 9.91880497e-01 -4.58984300e-03 2.09764690e+01] [ 6.03325246e-02 -3.11149925e-03 9.98173484e-01 1.23603683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.15, Y:20.98, Z:12.36 [[ 9.89851716e-01 -1.28707207e-01 -6.02331673e-02 2.64149275e+02] [ 1.28665361e-01 9.91677451e-01 -4.58894727e-03 2.09781534e+01] [ 6.03225044e-02 -3.20754485e-03 9.98173786e-01 1.23615394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.18, Y:20.98, Z:12.36 [[ 9.89789521e-01 -1.29279791e-01 -6.00286613e-02 2.64179800e+02] [ 1.29239392e-01 9.91602885e-01 -4.57145560e-03 2.09804066e+01] [ 6.01155906e-02 -3.23328882e-03 9.98186186e-01 1.23630505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.21, Y:20.98, Z:12.36 [[ 9.89744674e-01 -1.29790648e-01 -5.96646253e-02 2.64209870e+02] [ 1.29751647e-01 9.91536113e-01 -4.54395106e-03 2.09796296e+01] [ 5.97493930e-02 -3.24423204e-03 9.98208137e-01 1.23638316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.24, Y:20.99, Z:12.37 [[ 9.89785217e-01 -1.29768470e-01 -5.90370162e-02 2.64240630e+02] [ 1.29730219e-01 9.91539133e-01 -4.49656009e-03 2.09893042e+01] [ 5.91210235e-02 -3.20825631e-03 9.98245667e-01 1.23670403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.27, Y:20.99, Z:12.37 [[ 9.89845017e-01 -1.29552007e-01 -5.85074258e-02 2.64270707e+02] [ 1.29514173e-01 9.91567566e-01 -4.45430036e-03 2.09892247e+01] [ 5.85911294e-02 -3.16847386e-03 9.98277036e-01 1.23680202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.30, Y:20.99, Z:12.37 [[ 9.89877364e-01 -1.29190578e-01 -5.87588112e-02 2.64301704e+02] [ 1.29151859e-01 9.91614742e-01 -4.47217378e-03 2.09921473e+01] [ 5.88438661e-02 -3.16190611e-03 9.98262191e-01 1.23696971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.33, Y:21.00, Z:12.37 [[ 9.89960570e-01 -1.28701201e-01 -5.84300439e-02 2.64332409e+02] [ 1.28662184e-01 9.91678518e-01 -4.44509008e-03 2.09992802e+01] [ 5.85159078e-02 -3.11727314e-03 9.98281609e-01 1.23717136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.36, Y:21.00, Z:12.37 [[ 9.89964318e-01 -1.28483875e-01 -5.88433693e-02 2.64363823e+02] [ 1.28444062e-01 9.91706663e-01 -4.47418544e-03 2.10005159e+01] [ 5.89302221e-02 -3.12879745e-03 9.98257201e-01 1.23725075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.39, Y:21.00, Z:12.37 [[ 9.89981374e-01 -1.28322406e-01 -5.89087366e-02 2.64394862e+02] [ 1.28282397e-01 9.91727579e-01 -4.47617237e-03 2.10048147e+01] [ 5.89958120e-02 -3.12562664e-03 9.98253337e-01 1.23741316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.43, Y:21.01, Z:12.38 [[ 9.90014771e-01 -1.28132172e-01 -5.87613876e-02 2.64426477e+02] [ 1.28092152e-01 9.91752229e-01 -4.46287499e-03 2.10077309e+01] [ 5.88485750e-02 -3.10856043e-03 9.98262081e-01 1.23751861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.46, Y:21.01, Z:12.38 [[ 9.90104447e-01 -1.27638031e-01 -5.83242459e-02 2.64457849e+02] [ 1.27597869e-01 9.91816102e-01 -4.42761175e-03 2.10102918e+01] [ 5.84120578e-02 -3.05825140e-03 9.98287874e-01 1.23764534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.49, Y:21.02, Z:12.38 [[ 9.90295661e-01 -1.26236665e-01 -5.81275160e-02 2.64488584e+02] [ 1.26194486e-01 9.91995715e-01 -4.41062295e-03 2.10166123e+01] [ 5.82190291e-02 -2.96755125e-03 9.98299423e-01 1.23782958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.52, Y:21.02, Z:12.38 [[ 9.90406044e-01 -1.25358507e-01 -5.81473410e-02 2.64520466e+02] [ 1.25314936e-01 9.92107213e-01 -4.40964554e-03 2.10219658e+01] [ 5.82411830e-02 -2.91939071e-03 9.98298273e-01 1.23798203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.55, Y:21.02, Z:12.38 [[ 9.90535288e-01 -1.24101805e-01 -5.86394605e-02 2.64551658e+02] [ 1.24055590e-01 9.92265327e-01 -4.44203129e-03 2.10233344e+01] [ 5.87371675e-02 -2.87456412e-03 9.98269343e-01 1.23803100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.58, Y:21.03, Z:12.38 [[ 9.90816026e-01 -1.21696427e-01 -5.89371079e-02 2.64582571e+02] [ 1.21645886e-01 9.92563552e-01 -4.45804925e-03 2.10297160e+01] [ 5.90413538e-02 -2.75235003e-03 9.98251743e-01 1.23808645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.61, Y:21.03, Z:12.38 [[ 9.90941884e-01 -1.20658639e-01 -5.89548629e-02 2.64613939e+02] [ 1.20606359e-01 9.92690404e-01 -4.45730854e-03 2.10337769e+01] [ 5.90617395e-02 -2.69339765e-03 9.98250698e-01 1.23818292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.65, Y:21.04, Z:12.38 [[ 9.91059517e-01 -1.19641222e-01 -5.90509261e-02 2.64645763e+02] [ 1.19587121e-01 9.92813684e-01 -4.46204695e-03 2.10419773e+01] [ 5.91604122e-02 -2.63957615e-03 9.98244999e-01 1.23840653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.68, Y:21.05, Z:12.38 [[ 9.91220222e-01 -1.18289651e-01 -5.90764847e-02 2.64676403e+02] [ 1.18233342e-01 9.92975823e-01 -4.46004625e-03 2.10450245e+01] [ 5.91890983e-02 -2.56392217e-03 9.98243496e-01 1.23846950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.71, Y:21.05, Z:12.39 [[ 9.91318897e-01 -1.17854484e-01 -5.82852076e-02 2.64707757e+02] [ 1.17799044e-01 9.93027714e-01 -4.39820238e-03 2.10503602e+01] [ 5.83971743e-02 -2.50592060e-03 9.98290284e-01 1.23864529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.74, Y:21.05, Z:12.39 [[ 9.91520107e-01 -1.16634835e-01 -5.73078844e-02 2.64737697e+02] [ 1.16579312e-01 9.93171979e-01 -4.32257231e-03 2.10540933e+01] [ 5.74207474e-02 -2.39499639e-03 9.98347195e-01 1.23878591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.77, Y:21.06, Z:12.39 [[ 9.91796904e-01 -1.15023210e-01 -5.57544881e-02 2.64768797e+02] [ 1.14968176e-01 9.93360278e-01 -4.20426420e-03 2.10614227e+01] [ 5.58678818e-02 -2.24021561e-03 9.98435657e-01 1.23906161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.80, Y:21.07, Z:12.39 [[ 9.91947907e-01 -1.13848352e-01 -5.54788435e-02 2.64800900e+02] [ 1.13792155e-01 9.93495779e-01 -4.18117463e-03 2.10664118e+01] [ 5.55940167e-02 -2.16554975e-03 9.98451108e-01 1.23924376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.83, Y:21.07, Z:12.39 [[ 9.92020227e-01 -1.13248909e-01 -5.54125734e-02 2.64833209e+02] [ 1.13192137e-01 9.93564358e-01 -4.17215026e-03 2.10709310e+01] [ 5.55284494e-02 -2.13341017e-03 9.98454826e-01 1.23940677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.86, Y:21.07, Z:12.40 [[ 9.92126601e-01 -1.12641826e-01 -5.47414570e-02 2.64863837e+02] [ 1.12585708e-01 9.93633485e-01 -4.11780706e-03 2.10736139e+01] [ 5.48567820e-02 -2.07771976e-03 9.98492071e-01 1.23955142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.90, Y:21.08, Z:12.40 [[ 9.92199551e-01 -1.12195652e-01 -5.43340270e-02 2.64895347e+02] [ 1.12139864e-01 9.93684040e-01 -4.08410431e-03 2.10771521e+01] [ 5.44490742e-02 -2.04076395e-03 9.98514463e-01 1.23972327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.93, Y:21.08, Z:12.40 [[ 9.92255818e-01 -1.11746652e-01 -5.42316987e-02 2.64927880e+02] [ 1.11690622e-01 9.93734683e-01 -4.07240645e-03 2.10803306e+01] [ 5.43469977e-02 -2.01630318e-03 9.98520074e-01 1.23987372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.96, Y:21.08, Z:12.40 [[ 9.92223195e-01 -1.11898931e-01 -5.45138636e-02 2.64958844e+02] [ 1.11842800e-01 9.93717499e-01 -4.08897509e-03 2.10832004e+01] [ 5.46289321e-02 -2.03980721e-03 9.98504641e-01 1.23992783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.99, Y:21.09, Z:12.40 [[ 9.92220495e-01 -1.12099905e-01 -5.41488827e-02 2.64990641e+02] [ 1.12044984e-01 9.93694847e-01 -4.05860261e-03 2.10890416e+01] [ 5.42624347e-02 -2.04008199e-03 9.98524625e-01 1.24012559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.02, Y:21.09, Z:12.40 [[ 9.92170310e-01 -1.12541131e-01 -5.41531997e-02 2.65021796e+02] [ 1.12487065e-01 9.93644915e-01 -4.05508284e-03 2.10895610e+01] [ 5.42654151e-02 -2.06820172e-03 9.98524405e-01 1.24022845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.05, Y:21.09, Z:12.40 [[ 9.92055449e-01 -1.13528745e-01 -5.41960366e-02 2.65052743e+02] [ 1.13476225e-01 9.93532436e-01 -4.05534411e-03 2.10919937e+01] [ 5.43059183e-02 -2.12683542e-03 9.98522080e-01 1.24036930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.08, Y:21.10, Z:12.41 [[ 9.91960266e-01 -1.14129722e-01 -5.46739112e-02 2.65084791e+02] [ 1.14077351e-01 9.93463460e-01 -4.08804453e-03 2.10978752e+01] [ 5.47831004e-02 -2.18187722e-03 9.98495894e-01 1.24052953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.12, Y:21.10, Z:12.41 [[ 9.91955252e-01 -1.14189097e-01 -5.46408976e-02 2.65116140e+02] [ 1.14137088e-01 9.93456624e-01 -4.08174800e-03 2.10991501e+01] [ 5.47494528e-02 -2.18764159e-03 9.98497727e-01 1.24064010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.15, Y:21.10, Z:12.41 [[ 9.91959588e-01 -1.14181083e-01 -5.45788942e-02 2.65147975e+02] [ 1.14129349e-01 9.93457545e-01 -4.07404427e-03 2.11016555e+01] [ 5.46869931e-02 -2.18776638e-03 9.98501150e-01 1.24076460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.18, Y:21.10, Z:12.41 [[ 9.92051979e-01 -1.13658541e-01 -5.39871017e-02 2.65180518e+02] [ 1.13607361e-01 9.93517569e-01 -4.02596141e-03 2.11042570e+01] [ 5.40947189e-02 -2.13936916e-03 9.98533517e-01 1.24092131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.21, Y:21.11, Z:12.41 [[ 9.92272496e-01 -1.11990208e-01 -5.34180338e-02 2.65212576e+02] [ 1.11937932e-01 9.93707234e-01 -3.97896710e-03 2.11108308e+01] [ 5.35274920e-02 -2.03128464e-03 9.98564310e-01 1.24112119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.24, Y:21.11, Z:12.41 [[ 9.92396793e-01 -1.11046675e-01 -5.30776858e-02 2.65244196e+02] [ 1.10993937e-01 9.93813236e-01 -3.94945812e-03 2.11117809e+01] [ 5.31878808e-02 -1.97187173e-03 9.98582576e-01 1.24123106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.28, Y:21.12, Z:12.41 [[ 9.92512748e-01 -1.10244459e-01 -5.25795058e-02 2.65276390e+02] [ 1.10191929e-01 9.93902653e-01 -3.90582810e-03 2.11185767e+01] [ 5.26895062e-02 -1.91725299e-03 9.98609103e-01 1.24144793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.31, Y:21.12, Z:12.42 [[ 9.92581368e-01 -1.09613956e-01 -5.26023568e-02 2.65307957e+02] [ 1.09560742e-01 9.93972440e-01 -3.90287253e-03 2.11194530e+01] [ 5.27131022e-02 -1.88923467e-03 9.98607911e-01 1.24155022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.34, Y:21.12, Z:12.42 [[ 9.92752185e-01 -1.08551539e-01 -5.15719082e-02 2.65340194e+02] [ 1.08499105e-01 9.94089193e-01 -3.82355899e-03 2.11243407e+01] [ 5.16821299e-02 -1.79965935e-03 9.98661964e-01 1.24168733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.37, Y:21.13, Z:12.42 [[ 9.92789464e-01 -1.08204625e-01 -5.15833160e-02 2.65371433e+02] [ 1.08151892e-01 9.94127039e-01 -3.82070418e-03 2.11255932e+01] [ 5.16937870e-02 -1.78567836e-03 9.98661386e-01 1.24182024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.40, Y:21.13, Z:12.42 [[ 9.92850005e-01 -1.07842533e-01 -5.11747620e-02 2.65403499e+02] [ 1.07790297e-01 9.94166438e-01 -3.78760581e-03 2.11282225e+01] [ 5.12846958e-02 -1.75561836e-03 9.98682531e-01 1.24195429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.44, Y:21.13, Z:12.42 [[ 9.92859854e-01 -1.07602306e-01 -5.14883927e-02 2.65435402e+02] [ 1.07549298e-01 9.94192463e-01 -3.80710279e-03 2.11320967e+01] [ 5.15990250e-02 -1.75762098e-03 9.98666336e-01 1.24212862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.47, Y:21.13, Z:12.42 [[ 9.92861983e-01 -1.07397486e-01 -5.18735315e-02 2.65467468e+02] [ 1.07343600e-01 9.94214599e-01 -3.83180453e-03 2.11347249e+01] [ 5.19849485e-02 -1.76383855e-03 9.98646311e-01 1.24225946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.50, Y:21.14, Z:12.42 [[ 9.92842377e-01 -1.07587766e-01 -5.18544870e-02 2.65499258e+02] [ 1.07534372e-01 9.94194003e-01 -3.82667433e-03 2.11364892e+01] [ 5.19651234e-02 -1.77685527e-03 9.98647319e-01 1.24233094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.53, Y:21.14, Z:12.42 [[ 9.92833613e-01 -1.07671252e-01 -5.18490013e-02 2.65530835e+02] [ 1.07618171e-01 9.94184951e-01 -3.82264924e-03 2.11378826e+01] [ 5.19590862e-02 -1.78464004e-03 9.98647620e-01 1.24245051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.56, Y:21.14, Z:12.43 [[ 9.92873399e-01 -1.07567947e-01 -5.12986310e-02 2.65563266e+02] [ 1.07515992e-01 9.94196172e-01 -3.77929374e-03 2.11412491e+01] [ 5.14074335e-02 -1.76306296e-03 9.98676207e-01 1.24264756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.60, Y:21.14, Z:12.43 [[ 9.92968728e-01 -1.07035480e-01 -5.05619525e-02 2.65595098e+02] [ 1.06984500e-01 9.94253724e-01 -3.72141068e-03 2.11428151e+01] [ 5.06697326e-02 -1.71410077e-03 9.98713993e-01 1.24279237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.63, Y:21.14, Z:12.43 [[ 9.93008201e-01 -1.06686167e-01 -5.05249970e-02 2.65625890e+02] [ 1.06634992e-01 9.94291294e-01 -3.71508902e-03 2.11444603e+01] [ 5.06329132e-02 -1.69861881e-03 9.98715887e-01 1.24295484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.66, Y:21.15, Z:12.43 [[ 9.92997561e-01 -1.06612283e-01 -5.08887598e-02 2.65657651e+02] [ 1.06560417e-01 9.94299199e-01 -3.73899584e-03 2.11464814e+01] [ 5.09972760e-02 -1.70991374e-03 9.98697329e-01 1.24309893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.69, Y:21.15, Z:12.43 [[ 9.93135364e-01 -1.05176191e-01 -5.11870875e-02 2.65689816e+02] [ 1.05122000e-01 9.94452235e-01 -3.75724655e-03 2.11508495e+01] [ 5.12982864e-02 -1.64943457e-03 9.98682014e-01 1.24321260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.72, Y:21.15, Z:12.43 [[ 9.93151311e-01 -1.05056996e-01 -5.11224115e-02 2.65720747e+02] [ 1.05002971e-01 9.94464842e-01 -3.74884845e-03 2.11522496e+01] [ 5.12332836e-02 -1.64483136e-03 9.98685358e-01 1.24333193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.75, Y:21.15, Z:12.43 [[ 9.93132965e-01 -1.04961639e-01 -5.16717310e-02 2.65752004e+02] [ 1.04906480e-01 9.94474885e-01 -3.78603341e-03 2.11533743e+01] [ 5.17836270e-02 -1.66066480e-03 9.98656947e-01 1.24342298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.78, Y:21.15, Z:12.44 [[ 9.93071768e-01 -1.05431754e-01 -5.18903500e-02 2.65784291e+02] [ 1.05377077e-01 9.94425091e-01 -3.79609650e-03 2.11544517e+01] [ 5.20012951e-02 -1.69825715e-03 9.98645573e-01 1.24351151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.82, Y:21.16, Z:12.44 [[ 9.92944425e-01 -1.06546511e-01 -5.20500614e-02 2.65816714e+02] [ 1.06493218e-01 9.94306152e-01 -3.80411696e-03 2.11555536e+01] [ 5.21590116e-02 -1.76570180e-03 9.98637231e-01 1.24358545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.85, Y:21.16, Z:12.44 [[ 9.92854267e-01 -1.07102951e-01 -5.26247350e-02 2.65847551e+02] [ 1.07049449e-01 9.94246273e-01 -3.84244207e-03 2.11565761e+01] [ 5.27334836e-02 -1.81846389e-03 9.98606966e-01 1.24370788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.88, Y:21.16, Z:12.44 [[ 9.92780065e-01 -1.07889673e-01 -5.24171890e-02 2.65879420e+02] [ 1.07837836e-01 9.94161141e-01 -3.82443736e-03 2.11584838e+01] [ 5.25237498e-02 -1.85573109e-03 9.98617951e-01 1.24388847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.91, Y:21.16, Z:12.44 [[ 9.92808795e-01 -1.07834947e-01 -5.19838559e-02 2.65911303e+02] [ 1.07784079e-01 9.94167106e-01 -3.78916345e-03 2.11605321e+01] [ 5.20892438e-02 -1.84111723e-03 9.98640737e-01 1.24406934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.94, Y:21.16, Z:12.44 [[ 9.92853159e-01 -1.07616657e-01 -5.15874008e-02 2.65942575e+02] [ 1.07566451e-01 9.94190799e-01 -3.75671304e-03 2.11619564e+01] [ 5.16920041e-02 -1.81920923e-03 9.98661418e-01 1.24423341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.97, Y:21.17, Z:12.44 [[ 9.92900511e-01 -1.07448013e-01 -5.10245060e-02 2.65974087e+02] [ 1.07398814e-01 9.94209087e-01 -3.71298580e-03 2.11659380e+01] [ 5.11279805e-02 -1.79334595e-03 9.98690499e-01 1.24444885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.01, Y:21.17, Z:12.45 [[ 9.92907019e-01 -1.07487010e-01 -5.08152971e-02 2.66005668e+02] [ 1.07438449e-01 9.94204875e-01 -3.69413950e-03 2.11663271e+01] [ 5.09178881e-02 -1.79157969e-03 9.98701236e-01 1.24456187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.04, Y:21.16, Z:12.45 [[ 9.92902427e-01 -1.07711350e-01 -5.04285150e-02 2.66037049e+02] [ 1.07663961e-01 9.94180594e-01 -3.66311736e-03 2.11612641e+01] [ 5.05296103e-02 -1.79221558e-03 9.98720955e-01 1.24465039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.07, Y:21.17, Z:12.45 [[ 9.92821210e-01 -1.08387700e-01 -5.05781798e-02 2.66069211e+02] [ 1.08341201e-01 9.94107001e-01 -3.66816248e-03 2.11658987e+01] [ 5.06777063e-02 -1.83787122e-03 9.98713368e-01 1.24481962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.10, Y:21.17, Z:12.45 [[ 9.92828670e-01 -1.08319225e-01 -5.05784323e-02 2.66100813e+02] [ 1.08272815e-01 9.94114464e-01 -3.66467831e-03 2.11681250e+01] [ 5.06777062e-02 -1.83787155e-03 9.98713368e-01 1.24497023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.13, Y:21.17, Z:12.45 [[ 9.92627950e-01 -1.10024143e-01 -5.08373912e-02 2.66132992e+02] [ 1.09979668e-01 9.93927025e-01 -3.67989943e-03 2.11694102e+01] [ 5.09335348e-02 -1.93830841e-03 9.98700164e-01 1.24507782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.16, Y:21.17, Z:12.45 [[ 9.92495283e-01 -1.11133679e-01 -5.10139037e-02 2.66163912e+02] [ 1.11090539e-01 9.93803443e-01 -3.68912214e-03 2.11697816e+01] [ 5.11077788e-02 -2.00572574e-03 9.98691129e-01 1.24519020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.20, Y:21.17, Z:12.45 [[ 9.92249579e-01 -1.13175232e-01 -5.13043811e-02 2.66195313e+02] [ 1.13134463e-01 9.93572770e-01 -3.70738724e-03 2.11730689e+01] [ 5.13942204e-02 -2.12564015e-03 9.98676182e-01 1.24534678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.23, Y:21.17, Z:12.45 [[ 9.92167315e-01 -1.13887615e-01 -5.13189158e-02 2.66226791e+02] [ 1.13847918e-01 9.93491278e-01 -3.70562051e-03 2.11730899e+01] [ 5.14069196e-02 -2.16595620e-03 9.98675441e-01 1.24547597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.26, Y:21.18, Z:12.46 [[ 9.92100297e-01 -1.14400006e-01 -5.14746500e-02 2.66259211e+02] [ 1.14360906e-01 9.93432328e-01 -3.71396874e-03 2.11752353e+01] [ 5.15614594e-02 -2.20205811e-03 9.98667396e-01 1.24564019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.29, Y:21.18, Z:12.46 [[ 9.92061770e-01 -1.14788864e-01 -5.13513454e-02 2.66291418e+02] [ 1.14750661e-01 9.93387430e-01 -3.70136603e-03 2.11771768e+01] [ 5.14366567e-02 -2.22061712e-03 9.98673790e-01 1.24575626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.32, Y:21.18, Z:12.46 [[ 9.91995906e-01 -1.15104279e-01 -5.19146144e-02 2.66324036e+02] [ 1.15065865e-01 9.93350831e-01 -3.73813848e-03 2.11787030e+01] [ 5.19997010e-02 -2.26538192e-03 9.98644531e-01 1.24588471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.35, Y:21.18, Z:12.46 [[ 9.91935257e-01 -1.15479677e-01 -5.22387787e-02 2.66354873e+02] [ 1.15441517e-01 9.93307172e-01 -3.75738062e-03 2.11781992e+01] [ 5.23230547e-02 -2.30344556e-03 9.98627554e-01 1.24594821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.39, Y:21.18, Z:12.46 [[ 9.91873538e-01 -1.15813584e-01 -5.26697013e-02 2.66386563e+02] [ 1.15775602e-01 9.93268195e-01 -3.78194345e-03 2.11818401e+01] [ 5.27531396e-02 -2.34665673e-03 9.98604826e-01 1.24611685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.42, Y:21.18, Z:12.46 [[ 9.91873143e-01 -1.15813463e-01 -5.26774066e-02 2.66418552e+02] [ 1.15775674e-01 9.93268199e-01 -3.77863140e-03 2.11837446e+01] [ 5.27604092e-02 -2.35083923e-03 9.98604433e-01 1.24626805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.45, Y:21.18, Z:12.46 [[ 9.91890303e-01 -1.15908817e-01 -5.21418535e-02 2.66449731e+02] [ 1.15872116e-01 9.93257112e-01 -3.73652359e-03 2.11834152e+01] [ 5.22233629e-02 -2.33556535e-03 9.98632698e-01 1.24642453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.48, Y:21.19, Z:12.47 [[ 9.91986297e-01 -1.15317756e-01 -5.16236610e-02 2.66482135e+02] [ 1.15281129e-01 9.93326028e-01 -3.69652757e-03 2.11855200e+01] [ 5.17054014e-02 -2.28432924e-03 9.98659769e-01 1.24659218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.51, Y:21.19, Z:12.47 [[ 9.92103165e-01 -1.14440085e-01 -5.13300685e-02 2.66513297e+02] [ 1.14402902e-01 9.93427650e-01 -3.67160632e-03 2.11859783e+01] [ 5.14128882e-02 -2.22969654e-03 9.98674994e-01 1.24672204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.54, Y:21.19, Z:12.47 [[ 9.92402361e-01 -1.12031909e-01 -5.08567085e-02 2.66544601e+02] [ 1.11992571e-01 9.93702408e-01 -3.63151127e-03 2.11922385e+01] [ 5.09432789e-02 -2.09165316e-03 9.98699358e-01 1.24695908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.58, Y:21.19, Z:12.47 [[ 9.92588658e-01 -1.10270828e-01 -5.10695702e-02 2.66575686e+02] [ 1.10228994e-01 9.93899539e-01 -3.64358194e-03 2.11917633e+01] [ 5.11598031e-02 -2.01276922e-03 9.98688452e-01 1.24702057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.61, Y:21.20, Z:12.47 [[ 9.92938762e-01 -1.06764454e-01 -5.17104161e-02 2.66606444e+02] [ 1.06717175e-01 9.94282598e-01 -3.68241322e-03 2.11982668e+01] [ 5.18079177e-02 -1.86197871e-03 9.98655332e-01 1.24710214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.64, Y:21.20, Z:12.47 [[ 9.93109722e-01 -1.05105805e-01 -5.18251949e-02 2.66638480e+02] [ 1.05056166e-01 9.94459449e-01 -3.68857089e-03 2.12023481e+01] [ 5.19257450e-02 -1.78140066e-03 9.98649360e-01 1.24722922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.67, Y:21.21, Z:12.47 [[ 9.93449356e-01 -1.01848371e-01 -5.18197469e-02 2.66669510e+02] [ 1.01794502e-01 9.94798624e-01 -3.68462961e-03 2.12065245e+01] [ 5.19254864e-02 -1.61447241e-03 9.98649657e-01 1.24732308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.70, Y:21.21, Z:12.47 [[ 9.93582870e-01 -1.00423701e-01 -5.20399823e-02 2.66701625e+02] [ 1.00367529e-01 9.94943557e-01 -3.69825853e-03 2.12099900e+01] [ 5.21482379e-02 -1.54859810e-03 9.98638154e-01 1.24746562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.73, Y:21.21, Z:12.48 [[ 9.93710669e-01 -9.93605575e-02 -5.16389932e-02 2.66733149e+02] [ 9.93039961e-02 9.95050388e-01 -3.66624023e-03 2.12128023e+01] [ 5.17476799e-02 -1.48477635e-03 9.98659088e-01 1.24758379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.76, Y:21.21, Z:12.48 [[ 9.93807061e-01 -9.84302773e-02 -5.15655472e-02 2.66764132e+02] [ 9.83727253e-02 9.95142913e-01 -3.65910854e-03 2.12146154e+01] [ 5.16752560e-02 -1.43619550e-03 9.98662909e-01 1.24771582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.80, Y:21.22, Z:12.48 [[ 9.93875943e-01 -9.76787234e-02 -5.16669895e-02 2.66795700e+02] [ 9.76200699e-02 9.95217011e-01 -3.66361869e-03 2.12173478e+01] [ 5.17777244e-02 -1.40255265e-03 9.98657649e-01 1.24782276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.83, Y:21.22, Z:12.48 [[ 9.93906156e-01 -9.74051816e-02 -5.16021673e-02 2.66827358e+02] [ 9.73464091e-02 9.95243841e-01 -3.65705066e-03 2.12196192e+01] [ 5.17129549e-02 -1.38852053e-03 9.98661025e-01 1.24794547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.86, Y:21.22, Z:12.48 [[ 9.93840062e-01 -9.78201696e-02 -5.20878655e-02 2.66858787e+02] [ 9.77610453e-02 9.95203084e-01 -3.68782993e-03 2.12207576e+01] [ 5.21987486e-02 -1.42705106e-03 9.98635696e-01 1.24804115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.89, Y:21.22, Z:12.48 [[ 9.93757592e-01 -9.85470488e-02 -5.22908023e-02 2.66890471e+02] [ 9.84886088e-02 9.95131302e-01 -3.69950807e-03 2.12233167e+01] [ 5.24007897e-02 -1.47363414e-03 9.98625048e-01 1.24816571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.92, Y:21.22, Z:12.48 [[ 9.93736757e-01 -9.87798706e-02 -5.22474320e-02 2.66921574e+02] [ 9.87219455e-02 9.95108199e-01 -3.69459565e-03 2.12249433e+01] [ 5.23567997e-02 -1.48651263e-03 9.98627336e-01 1.24826409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.95, Y:21.23, Z:12.48 [[ 9.93650124e-01 -9.98844968e-02 -5.17930356e-02 2.66953799e+02] [ 9.98291757e-02 9.94997858e-01 -3.66048305e-03 2.12271269e+01] [ 5.18995849e-02 -1.53321661e-03 9.98651131e-01 1.24846789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.99, Y:21.23, Z:12.49 [[ 9.93620649e-01 -1.00347329e-01 -5.14627982e-02 2.66985899e+02] [ 1.00293523e-01 9.94951259e-01 -3.63341273e-03 2.12284638e+01] [ 5.15675791e-02 -1.55115143e-03 9.98668303e-01 1.24864453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.02, Y:21.23, Z:12.49 [[ 9.93609764e-01 -1.00622891e-01 -5.11338472e-02 2.67017377e+02] [ 1.00570320e-01 9.94923416e-01 -3.60657867e-03 2.12293474e+01] [ 5.12371663e-02 -1.55901562e-03 9.98685297e-01 1.24876573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.05, Y:21.23, Z:12.49 [[ 9.93579543e-01 -1.00946793e-01 -5.10826393e-02 2.67049950e+02] [ 1.00894899e-01 9.94890576e-01 -3.60015266e-03 2.12310891e+01] [ 5.11850603e-02 -1.57693971e-03 9.98687941e-01 1.24891650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.08, Y:21.23, Z:12.49 [[ 9.93540714e-01 -1.01577925e-01 -5.05843362e-02 2.67082099e+02] [ 1.01528037e-01 9.94826303e-01 -3.56145197e-03 2.12337890e+01] [ 5.06843930e-02 -1.59728083e-03 9.98713443e-01 1.24911952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.11, Y:21.24, Z:12.49 [[ 9.93538850e-01 -1.01582552e-01 -5.06116464e-02 2.67113475e+02] [ 1.01532799e-01 9.94825823e-01 -3.55975938e-03 2.12354282e+01] [ 5.07113822e-02 -1.60198290e-03 9.98712065e-01 1.24927213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.15, Y:21.24, Z:12.49 [[ 9.93572771e-01 -1.01411017e-01 -5.02887118e-02 2.67145181e+02] [ 1.01361817e-01 9.94843350e-01 -3.53428955e-03 2.12373306e+01] [ 5.03878064e-02 -1.58578134e-03 9.98728469e-01 1.24942516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.18, Y:21.24, Z:12.50 [[ 9.93590235e-01 -1.01247832e-01 -5.02724820e-02 2.67177379e+02] [ 1.01198637e-01 9.94859979e-01 -3.52954273e-03 2.12394807e+01] [ 5.03714389e-02 -1.58058745e-03 9.98729303e-01 1.24958580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.21, Y:21.24, Z:12.50 [[ 9.93595687e-01 -1.01004981e-01 -5.06517916e-02 2.67208759e+02] [ 1.00954908e-01 9.94884660e-01 -3.55258210e-03 2.12404461e+01] [ 5.07515189e-02 -1.58371672e-03 9.98710056e-01 1.24967863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.24, Y:21.24, Z:12.50 [[ 9.93579291e-01 -1.01111507e-01 -5.07607769e-02 2.67240346e+02] [ 1.01061499e-01 9.94873820e-01 -3.55745379e-03 2.12434796e+01] [ 5.08602675e-02 -1.59534778e-03 9.98704505e-01 1.24979539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.27, Y:21.24, Z:12.50 [[ 9.93468703e-01 -1.01990703e-01 -5.11647576e-02 2.67272284e+02] [ 1.01941250e-01 9.94783972e-01 -3.58204380e-03 2.12442316e+01] [ 5.12632160e-02 -1.65715096e-03 9.98683802e-01 1.24983539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.30, Y:21.24, Z:12.50 [[ 9.93387542e-01 -1.02830841e-01 -5.10588912e-02 2.67303832e+02] [ 1.02782885e-01 9.94697404e-01 -3.57103137e-03 2.12436536e+01] [ 5.11553587e-02 -1.70056206e-03 9.98689260e-01 1.24996614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.34, Y:21.25, Z:12.50 [[ 9.93307513e-01 -1.03792713e-01 -5.06681187e-02 2.67335307e+02] [ 1.03746874e-01 9.94597430e-01 -3.54099740e-03 2.12472778e+01] [ 5.07619104e-02 -1.73935963e-03 9.98709269e-01 1.25015071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.37, Y:21.24, Z:12.50 [[ 9.93041676e-01 -1.06254366e-01 -5.07763757e-02 2.67366920e+02] [ 1.06211684e-01 9.94337219e-01 -3.54578761e-03 2.12419790e+01] [ 5.08655957e-02 -1.87192949e-03 9.98703753e-01 1.25022322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.40, Y:21.25, Z:12.50 [[ 9.92926106e-01 -1.07373197e-01 -5.06827872e-02 2.67399138e+02] [ 1.07332269e-01 9.94216917e-01 -3.53644958e-03 2.12475076e+01] [ 5.07694044e-02 -1.92846545e-03 9.98708540e-01 1.25037693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.43, Y:21.25, Z:12.50 [[ 9.92739132e-01 -1.08782252e-01 -5.13365176e-02 2.67430381e+02] [ 1.08742340e-01 9.94063529e-01 -3.57821219e-03 2.12473487e+01] [ 5.14210058e-02 -2.03022179e-03 9.98675001e-01 1.25047530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.46, Y:21.25, Z:12.51 [[ 9.92330976e-01 -1.12041708e-01 -5.22100615e-02 2.67461787e+02] [ 1.12005181e-01 9.93700977e-01 -3.63425087e-03 2.12486092e+01] [ 5.22883768e-02 -2.24141767e-03 9.98629512e-01 1.25053846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.49, Y:21.25, Z:12.51 [[ 9.92117675e-01 -1.13792078e-01 -5.24774442e-02 2.67492635e+02] [ 1.13757743e-01 9.93501812e-01 -3.65047942e-03 2.12480837e+01] [ 5.25518315e-02 -2.34801048e-03 9.98615437e-01 1.25066412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.52, Y:21.25, Z:12.51 [[ 9.91656493e-01 -1.17790144e-01 -5.23725353e-02 2.67523447e+02] [ 1.17761824e-01 9.93035208e-01 -3.63707679e-03 2.12460583e+01] [ 5.24361833e-02 -2.56075447e-03 9.98620994e-01 1.25082397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.55, Y:21.24, Z:12.51 [[ 9.91429438e-01 -1.19581929e-01 -5.26101967e-02 2.67554227e+02] [ 1.19555920e-01 9.92820750e-01 -3.65254267e-03 2.12449385e+01] [ 5.26692731e-02 -2.66862217e-03 9.98608445e-01 1.25098356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.58, Y:21.25, Z:12.51 [[ 9.91078944e-01 -1.22514598e-01 -5.24661714e-02 2.67584824e+02] [ 1.22492919e-01 9.92462709e-01 -3.64075699e-03 2.12477553e+01] [ 5.25167645e-02 -2.81845692e-03 9.98616065e-01 1.25114527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.62, Y:21.24, Z:12.51 [[ 9.90989427e-01 -1.23308412e-01 -5.22971373e-02 2.67615857e+02] [ 1.23288029e-01 9.92364298e-01 -3.62797498e-03 2.12428216e+01] [ 5.23451718e-02 -2.85232612e-03 9.98624978e-01 1.25127964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.65, Y:21.25, Z:12.52 [[ 9.90984043e-01 -1.23744804e-01 -5.13600014e-02 2.67647481e+02] [ 1.23725828e-01 9.92310052e-01 -3.56096206e-03 2.12475116e+01] [ 5.14056962e-02 -2.82570214e-03 9.98673856e-01 1.25152220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.68, Y:21.25, Z:12.52 [[ 9.90984863e-01 -1.23794173e-01 -5.12250427e-02 2.67678999e+02] [ 1.23775552e-01 9.92303898e-01 -3.54792368e-03 2.12504274e+01] [ 5.12700218e-02 -2.82446926e-03 9.98680834e-01 1.25175268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.71, Y:21.25, Z:12.52 [[ 9.91046840e-01 -1.23461888e-01 -5.08264064e-02 2.67710893e+02] [ 1.23443305e-01 9.92345395e-01 -3.51664448e-03 2.12547026e+01] [ 5.08715219e-02 -2.78902019e-03 9.98701312e-01 1.25196082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.74, Y:21.25, Z:12.52 [[ 9.91220487e-01 -1.22129357e-01 -5.06593262e-02 2.67742641e+02] [ 1.22109350e-01 9.92510477e-01 -3.50136606e-03 2.12538584e+01] [ 5.07075316e-02 -2.71535163e-03 9.98709854e-01 1.25217270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.77, Y:21.26, Z:12.52 [[ 9.91348392e-01 -1.21288552e-01 -5.01742279e-02 2.67773991e+02] [ 1.21268035e-01 9.92613753e-01 -3.46420819e-03 2.12600432e+01] [ 5.02237975e-02 -2.65029279e-03 9.98734472e-01 1.25238137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.81, Y:21.26, Z:12.53 [[ 9.91446256e-01 -1.20580466e-01 -4.99467036e-02 2.67805140e+02] [ 1.20559429e-01 9.92700135e-01 -3.44468013e-03 2.12610090e+01] [ 4.99974606e-02 -2.60633088e-03 9.98745944e-01 1.25256576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.84, Y:21.26, Z:12.53 [[ 9.91531564e-01 -1.19937488e-01 -4.98011686e-02 2.67836745e+02] [ 1.19916083e-01 9.92778112e-01 -3.42826511e-03 2.12644092e+01] [ 4.98526876e-02 -2.57272798e-03 9.98753268e-01 1.25276729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.87, Y:21.26, Z:12.53 [[ 9.91572139e-01 -1.19319177e-01 -5.04740336e-02 2.67868173e+02] [ 1.19296580e-01 9.92852597e-01 -3.47089253e-03 2.12649003e+01] [ 5.05274193e-02 -2.57973926e-03 9.98719342e-01 1.25290773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.90, Y:21.27, Z:12.53 [[ 9.91556035e-01 -1.18979099e-01 -5.15810453e-02 2.67900395e+02] [ 1.18955197e-01 9.92893298e-01 -3.54406327e-03 2.12698394e+01] [ 5.16361436e-02 -2.62169609e-03 9.98662523e-01 1.25301088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.93, Y:21.27, Z:12.53 [[ 9.91539774e-01 -1.18480100e-01 -5.30220932e-02 2.67931682e+02] [ 1.18454344e-01 9.92952831e-01 -3.63918666e-03 2.12683675e+01] [ 5.30796088e-02 -2.67229896e-03 9.98586708e-01 1.25296916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.96, Y:21.27, Z:12.53 [[ 9.91575097e-01 -1.17957727e-01 -5.35238484e-02 2.67963775e+02] [ 1.17930888e-01 9.93015021e-01 -3.67056025e-03 2.12733463e+01] [ 5.35829564e-02 -2.67247886e-03 9.98559825e-01 1.25313083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.99, Y:21.27, Z:12.53 [[ 9.91679265e-01 -1.16500376e-01 -5.47713146e-02 2.67994783e+02] [ 1.16470275e-01 9.93187090e-01 -3.75220081e-03 2.12738156e+01] [ 5.48352954e-02 -2.65825034e-03 9.98491875e-01 1.25319486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.03, Y:21.28, Z:12.53 [[ 9.91840161e-01 -1.14679956e-01 -5.56920430e-02 2.68025774e+02] [ 1.14646137e-01 9.93399078e-01 -3.81238212e-03 2.12795921e+01] [ 5.57616280e-02 -2.60360391e-03 9.98440715e-01 1.25335305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.06, Y:21.28, Z:12.54 [[ 9.91848307e-01 -1.14609404e-01 -5.56921989e-02 2.68057398e+02] [ 1.14575602e-01 9.93407225e-01 -3.81010321e-03 2.12816953e+01] [ 5.57617065e-02 -2.60192280e-03 9.98440715e-01 1.25350378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.09, Y:21.28, Z:12.54 [[ 9.91968219e-01 -1.13420653e-01 -5.59893507e-02 2.68088479e+02] [ 1.13384810e-01 9.93543779e-01 -3.82672392e-03 2.12847514e+01] [ 5.60619006e-02 -2.55235338e-03 9.98424033e-01 1.25363229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.12, Y:21.29, Z:12.54 [[ 9.92092948e-01 -1.12215200e-01 -5.62079276e-02 2.68119745e+02] [ 1.12177260e-01 9.93680793e-01 -3.83966728e-03 2.12883246e+01] [ 5.62836071e-02 -2.49594449e-03 9.98411702e-01 1.25378938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.15, Y:21.29, Z:12.54 [[ 9.92223363e-01 -1.11030452e-01 -5.62586601e-02 2.68150076e+02] [ 1.10990675e-01 9.93814026e-01 -3.84082426e-03 2.12913160e+01] [ 5.63370939e-02 -2.43323111e-03 9.98408840e-01 1.25394922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.18, Y:21.30, Z:12.54 [[ 9.92544742e-01 -1.08587084e-01 -5.53514325e-02 2.68180651e+02] [ 1.08544979e-01 9.94084370e-01 -3.77541114e-03 2.12962243e+01] [ 5.54339548e-02 -2.26085563e-03 9.98459796e-01 1.25422568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.21, Y:21.30, Z:12.54 [[ 9.92680772e-01 -1.07474584e-01 -5.50826515e-02 2.68211320e+02] [ 1.07431238e-01 9.94205422e-01 -3.75599489e-03 2.12989657e+01] [ 5.51671448e-02 -2.18909355e-03 9.98474734e-01 1.25441525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.24, Y:21.31, Z:12.55 [[ 9.92956290e-01 -1.05097885e-01 -5.47013803e-02 2.68241846e+02] [ 1.05051641e-01 9.94459780e-01 -3.72810836e-03 2.13073488e+01] [ 5.47901389e-02 -2.04462110e-03 9.98495799e-01 1.25467045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.27, Y:21.31, Z:12.55 [[ 9.93148808e-01 -1.03710609e-01 -5.38475118e-02 2.68272612e+02] [ 1.03663864e-01 9.94605625e-01 -3.66797651e-03 2.13105780e+01] [ 5.39374462e-02 -1.93919466e-03 9.98542433e-01 1.25486188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.30, Y:21.32, Z:12.55 [[ 9.93350172e-01 -1.01982606e-01 -5.34320588e-02 2.68303645e+02] [ 1.01934187e-01 9.94784493e-01 -3.63776414e-03 2.13156363e+01] [ 5.35243722e-02 -1.83297981e-03 9.98564861e-01 1.25512560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.33, Y:21.32, Z:12.55 [[ 9.93413288e-01 -1.01412542e-01 -5.33435577e-02 2.68334505e+02] [ 1.01363571e-01 9.94842828e-01 -3.62970991e-03 2.13179773e+01] [ 5.34365539e-02 -1.80129146e-03 9.98569622e-01 1.25529030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.37, Y:21.32, Z:12.55 [[ 9.93420481e-01 -1.01341950e-01 -5.33437596e-02 2.68366114e+02] [ 1.01293037e-01 9.94850023e-01 -3.62673985e-03 2.13200666e+01] [ 5.34365814e-02 -1.80047376e-03 9.98569622e-01 1.25544092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.40, Y:21.32, Z:12.56 [[ 9.93403890e-01 -1.01579379e-01 -5.32009492e-02 2.68398125e+02] [ 1.01531269e-01 9.94825787e-01 -3.61324513e-03 2.13229662e+01] [ 5.32927073e-02 -1.81214813e-03 9.98577290e-01 1.25562961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.43, Y:21.32, Z:12.56 [[ 9.93358213e-01 -1.01775429e-01 -5.36770269e-02 2.68429702e+02] [ 1.01726942e-01 9.94805693e-01 -3.64183517e-03 2.13236569e+01] [ 5.37688612e-02 -1.84275292e-03 9.98551708e-01 1.25573820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.46, Y:21.33, Z:12.56 [[ 9.93300613e-01 -1.02292694e-01 -5.37596321e-02 2.68461722e+02] [ 1.02244974e-01 9.94752574e-01 -3.64445755e-03 2.13275931e+01] [ 5.38503337e-02 -1.87661027e-03 9.98547255e-01 1.25589752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.49, Y:21.33, Z:12.56 [[ 9.93168449e-01 -1.03128691e-01 -5.45976665e-02 2.68492371e+02] [ 1.03080938e-01 9.94666099e-01 -3.69754790e-03 2.13283387e+01] [ 5.46877712e-02 -1.95569074e-03 9.98501589e-01 1.25597423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.52, Y:21.33, Z:12.56 [[ 9.93156236e-01 -1.03202787e-01 -5.46797575e-02 2.68523935e+02] [ 1.03155125e-01 9.94658396e-01 -3.70087412e-03 2.13326722e+01] [ 5.47696204e-02 -1.96495100e-03 9.98497084e-01 1.25616455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.56, Y:21.34, Z:12.56 [[ 9.93123872e-01 -1.03169880e-01 -5.53258518e-02 2.68556070e+02] [ 1.03121262e-01 9.94661759e-01 -3.74051750e-03 2.13352567e+01] [ 5.54164178e-02 -1.99047445e-03 9.98461346e-01 1.25632142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.59, Y:21.34, Z:12.56 [[ 9.93221386e-01 -1.01811001e-01 -5.60874215e-02 2.68585991e+02] [ 1.01759080e-01 9.94801859e-01 -3.78834423e-03 2.13391862e+01] [ 5.61815663e-02 -1.94473992e-03 9.98418675e-01 1.25643635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.62, Y:21.34, Z:12.57 [[ 9.93287055e-01 -1.00934837e-01 -5.65064973e-02 2.68615847e+02] [ 1.00880781e-01 9.94891205e-01 -3.81562632e-03 2.13411531e+01] [ 5.66029468e-02 -1.91040735e-03 9.98394940e-01 1.25655652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.65, Y:21.35, Z:12.57 [[ 9.93467133e-01 -9.94630056e-02 -5.59478873e-02 2.68647016e+02] [ 9.94077466e-02 9.95039615e-01 -3.77676126e-03 2.13464877e+01] [ 5.60460123e-02 -1.80956523e-03 9.98426547e-01 1.25680008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.68, Y:21.35, Z:12.57 [[ 9.93643785e-01 -9.79218073e-02 -5.55279078e-02 2.68678199e+02] [ 9.78650834e-02 9.95192640e-01 -3.74640360e-03 2.13496888e+01] [ 5.56278197e-02 -1.71165267e-03 9.98450107e-01 1.25697646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.71, Y:21.35, Z:12.57 [[ 9.93968331e-01 -9.51289048e-02 -5.45659987e-02 2.68709086e+02] [ 9.50700315e-02 9.95463786e-01 -3.67956588e-03 2.13539789e+01] [ 5.46685088e-02 -1.53021927e-03 9.98503386e-01 1.25719644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.74, Y:21.36, Z:12.57 [[ 9.94119957e-01 -9.36259495e-02 -5.44030629e-02 2.68740536e+02] [ 9.35652866e-02 9.95606395e-01 -3.66661941e-03 2.13584576e+01] [ 5.45073280e-02 -1.44517864e-03 9.98512325e-01 1.25738741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.77, Y:21.36, Z:12.58 [[ 9.94368953e-01 -9.09523066e-02 -5.43880765e-02 2.68770910e+02] [ 9.08877839e-02 9.95854401e-01 -3.66374856e-03 2.13627692e+01] [ 5.44958317e-02 -1.30009392e-03 9.98513152e-01 1.25752554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.80, Y:21.37, Z:12.58 [[ 9.94440088e-01 -8.98856277e-02 -5.48587697e-02 2.68801872e+02] [ 8.98184249e-02 9.95951305e-01 -3.69431833e-03 2.13663829e+01] [ 5.49687294e-02 -1.25355004e-03 9.98487290e-01 1.25764358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.83, Y:21.37, Z:12.58 [[ 9.94537903e-01 -8.86736710e-02 -5.50576049e-02 2.68831760e+02] [ 8.86042200e-02 9.96060017e-01 -3.70599378e-03 2.13687942e+01] [ 5.51693030e-02 -1.19258486e-03 9.98476302e-01 1.25774834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.86, Y:21.37, Z:12.58 [[ 9.94755571e-01 -8.67444408e-02 -5.41918432e-02 2.68861702e+02] [ 8.66742970e-02 9.96230024e-01 -3.64771831e-03 2.13730018e+01] [ 5.43039605e-02 -1.06845180e-03 9.98523880e-01 1.25793355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.89, Y:21.37, Z:12.58 [[ 9.94866115e-01 -8.56740330e-02 -5.38644010e-02 2.68891995e+02] [ 8.56031733e-02 9.96322715e-01 -3.62556231e-03 2.13747381e+01] [ 5.39769428e-02 -1.00401456e-03 9.98541677e-01 1.25807379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.92, Y:21.38, Z:12.58 [[ 9.95126925e-01 -8.33396755e-02 -5.26963109e-02 2.68922110e+02] [ 8.32686299e-02 9.96520828e-01 -3.54610877e-03 2.13786537e+01] [ 5.28085029e-02 -8.59121285e-04 9.98604288e-01 1.25827538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.95, Y:21.38, Z:12.58 [[ 9.95220244e-01 -8.22365515e-02 -5.26670180e-02 2.68952507e+02] [ 8.21640464e-02 9.96612517e-01 -3.54404327e-03 2.13803158e+01] [ 5.27800593e-02 -8.00231711e-04 9.98605841e-01 1.25839648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.98, Y:21.38, Z:12.59 [[ 9.95307518e-01 -8.12349511e-02 -5.25721076e-02 2.68982952e+02] [ 8.11613560e-02 9.96694700e-01 -3.53680683e-03 2.13831499e+01] [ 5.26856533e-02 -7.46613109e-04 9.98610867e-01 1.25856150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.01, Y:21.39, Z:12.59 [[ 9.95401449e-01 -8.02266778e-02 -5.23415197e-02 2.69013021e+02] [ 8.01523343e-02 9.96776406e-01 -3.52129396e-03 2.13858885e+01] [ 5.24552937e-02 -6.90193880e-04 9.98623035e-01 1.25869536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.04, Y:21.39, Z:12.59 [[ 9.95459791e-01 -7.93035487e-02 -5.26379315e-02 2.69043081e+02] [ 7.92270709e-02 9.96850305e-01 -3.54123516e-03 2.13888803e+01] [ 5.27529706e-02 -6.45191921e-04 9.98607384e-01 1.25873922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.07, Y:21.39, Z:12.59 [[ 9.95434339e-01 -7.92886626e-02 -5.31392963e-02 2.69073003e+02] [ 7.92106884e-02 9.96851486e-01 -3.57516819e-03 2.13903385e+01] [ 5.32554567e-02 -6.50355052e-04 9.98580709e-01 1.25881989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.10, Y:21.39, Z:12.59 [[ 9.95353600e-01 -7.97198861e-02 -5.39995504e-02 2.69102429e+02] [ 7.96398941e-02 9.96817072e-01 -3.63499552e-03 2.13917947e+01] [ 5.41174551e-02 -6.82412598e-04 9.98534344e-01 1.25889022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.13, Y:21.39, Z:12.59 [[ 9.95240070e-01 -8.15449404e-02 -5.33631497e-02 2.69130696e+02] [ 8.14693368e-02 9.96669368e-01 -3.59416014e-03 2.13915521e+01] [ 5.34785023e-02 -7.70408233e-04 9.98568704e-01 1.25896510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.16, Y:21.39, Z:12.59 [[ 9.95000434e-01 -8.40616941e-02 -5.39237254e-02 2.69160491e+02] [ 8.39880333e-02 9.96460134e-01 -3.63471525e-03 2.13918733e+01] [ 5.40383830e-02 -9.12404397e-04 9.98538442e-01 1.25908206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.19, Y:21.39, Z:12.59 [[ 9.94857308e-01 -8.55585627e-02 -5.42094994e-02 2.69190086e+02] [ 8.54862387e-02 9.96332644e-01 -3.65581214e-03 2.13913093e+01] [ 5.43234799e-02 -9.97154786e-04 9.98522892e-01 1.25911692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.22, Y:21.39, Z:12.59 [[ 9.94561003e-01 -8.91021089e-02 -5.39372305e-02 2.69220395e+02] [ 8.90356676e-02 9.96021793e-01 -3.63829171e-03 2.13914249e+01] [ 5.40468365e-02 -1.18383428e-03 9.98537700e-01 1.25925517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.25, Y:21.39, Z:12.59 [[ 9.94564189e-01 -8.90665310e-02 -5.39372463e-02 2.69251149e+02] [ 8.90000501e-02 9.96024977e-01 -3.63805817e-03 2.13934708e+01] [ 5.40468737e-02 -1.18213524e-03 9.98537700e-01 1.25940181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.28, Y:21.39, Z:12.60 [[ 9.94248024e-01 -9.29061543e-02 -5.32852130e-02 2.69281259e+02] [ 9.28468663e-02 9.95673920e-01 -3.59239406e-03 2.13898441e+01] [ 5.33884524e-02 -1.37563435e-03 9.98572872e-01 1.25952442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.31, Y:21.39, Z:12.60 [[ 9.94079574e-01 -9.48799686e-02 -5.29489616e-02 2.69312150e+02] [ 9.48242269e-02 9.95487631e-01 -3.56962736e-03 2.13909129e+01] [ 5.30487225e-02 -1.47235071e-03 9.98590840e-01 1.25970078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.34, Y:21.39, Z:12.60 [[ 9.93912447e-01 -9.67541779e-02 -5.26941839e-02 2.69343199e+02] [ 9.67016545e-02 9.95307077e-01 -3.55143399e-03 2.13915809e+01] [ 5.27905103e-02 -1.56580033e-03 9.98604381e-01 1.25986728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.37, Y:21.39, Z:12.60 [[ 9.93568284e-01 -1.00637766e-01 -5.19047620e-02 2.69374969e+02] [ 1.00592187e-01 9.94921598e-01 -3.49640559e-03 2.13892929e+01] [ 5.19930392e-02 -1.74729582e-03 9.98645919e-01 1.26002283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.41, Y:21.39, Z:12.60 [[ 9.93235300e-01 -1.04340399e-01 -5.09580155e-02 2.69405761e+02] [ 1.04301416e-01 9.94539815e-01 -3.43091731e-03 2.13871740e+01] [ 5.10377586e-02 -1.90728498e-03 9.98694903e-01 1.26022734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.44, Y:21.39, Z:12.60 [[ 9.93128601e-01 -1.05520855e-01 -5.06056418e-02 2.69437937e+02] [ 1.05483992e-01 9.94415168e-01 -3.40612508e-03 2.13897196e+01] [ 5.06824350e-02 -1.95536488e-03 9.98712905e-01 1.26039025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.47, Y:21.39, Z:12.60 [[ 9.93031440e-01 -1.06520066e-01 -5.04186044e-02 2.69469021e+02] [ 1.06484943e-01 9.94308536e-01 -3.38991422e-03 2.13864484e+01] [ 5.04927426e-02 -2.00253079e-03 9.98722420e-01 1.26048641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.125099893 meters Centerline goodness [0,1] 0.9999784152474692 Centerline is valid? [True, True] Translation: X:269.50, Y:21.39, Z:12.61 [[ 9.92916235e-01 -1.07561082e-01 -5.04773690e-02 2.69501051e+02] [ 1.07527362e-01 9.94196342e-01 -3.39105392e-03 2.13901081e+01] [ 5.05491610e-02 -2.06066582e-03 9.98719448e-01 1.26066323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.53, Y:21.39, Z:12.61 [[ 9.92731162e-01 -1.08978456e-01 -5.10738310e-02 2.69533623e+02] [ 1.08945998e-01 9.94041761e-01 -3.42737923e-03 2.13906500e+01] [ 5.11430314e-02 -2.16182331e-03 9.98688999e-01 1.26073488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.56, Y:21.39, Z:12.61 [[ 9.92618209e-01 -1.09710761e-01 -5.16975845e-02 2.69564533e+02] [ 1.09678687e-01 9.93961053e-01 -3.46556116e-03 2.13885342e+01] [ 5.17655949e-02 -2.23014409e-03 9.98656773e-01 1.26079471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.60, Y:21.39, Z:12.61 [[ 9.92433624e-01 -1.10819268e-01 -5.28638924e-02 2.69596740e+02] [ 1.10787417e-01 9.93837816e-01 -3.54158826e-03 2.13892507e+01] [ 5.29306116e-02 -2.34186280e-03 9.98595447e-01 1.26082423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.63, Y:21.39, Z:12.61 [[ 9.92349683e-01 -1.11440783e-01 -5.31324620e-02 2.69627915e+02] [ 1.11409687e-01 9.93768201e-01 -3.55599308e-03 2.13897191e+01] [ 5.31976338e-02 -2.39068238e-03 9.98581142e-01 1.26090155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.66, Y:21.39, Z:12.61 [[ 9.92266205e-01 -1.11982954e-01 -5.35499417e-02 2.69658776e+02] [ 1.11952252e-01 9.93707131e-01 -3.58214159e-03 2.13894227e+01] [ 5.36140978e-02 -2.44059853e-03 9.98558747e-01 1.26098366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.69, Y:21.39, Z:12.61 [[ 9.92118679e-01 -1.12668569e-01 -5.48299259e-02 2.69690201e+02] [ 1.12637490e-01 9.93629383e-01 -3.66665161e-03 2.13917214e+01] [ 5.48937419e-02 -2.53815170e-03 9.98488976e-01 1.26101536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.72, Y:21.39, Z:12.61 [[ 9.92105082e-01 -1.12655952e-01 -5.51012105e-02 2.69721337e+02] [ 1.12624663e-01 9.93630778e-01 -3.68268970e-03 2.13924616e+01] [ 5.51651356e-02 -2.55214009e-03 9.98473983e-01 1.26109789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.75, Y:21.39, Z:12.61 [[ 9.92146607e-01 -1.12204798e-01 -5.52738019e-02 2.69752124e+02] [ 1.12172770e-01 9.93681862e-01 -3.69142152e-03 2.13935154e+01] [ 5.53387696e-02 -2.53778415e-03 9.98464411e-01 1.26124338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.78, Y:21.40, Z:12.61 [[ 9.92335298e-01 -1.10992198e-01 -5.43266857e-02 2.69783182e+02] [ 1.10959545e-01 9.93818308e-01 -3.62629914e-03 2.13965559e+01] [ 5.43933458e-02 -2.42955971e-03 9.98516630e-01 1.26147802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.81, Y:21.40, Z:12.62 [[ 9.92468276e-01 -1.09966632e-01 -5.39820503e-02 2.69813772e+02] [ 1.09932979e-01 9.93932477e-01 -3.60143795e-03 2.13991615e+01] [ 5.40505510e-02 -2.36009470e-03 9.98535411e-01 1.26167642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.84, Y:21.40, Z:12.62 [[ 9.92624730e-01 -1.08763051e-01 -5.35419887e-02 2.69843931e+02] [ 1.08728289e-01 9.94065094e-01 -3.57035857e-03 2.14015063e+01] [ 5.36125452e-02 -2.27750260e-03 9.98559216e-01 1.26187334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.88, Y:21.41, Z:12.62 [[ 9.92955156e-01 -1.06280691e-01 -5.23877233e-02 2.69875200e+02] [ 1.06244017e-01 9.94333954e-01 -3.49232698e-03 2.14112147e+01] [ 5.24620589e-02 -2.09815807e-03 9.98620714e-01 1.26222558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.91, Y:21.41, Z:12.62 [[ 9.93113039e-01 -1.05064948e-01 -5.18444594e-02 2.69906975e+02] [ 1.05027526e-01 9.94463320e-01 -3.45322819e-03 2.14147616e+01] [ 5.19202265e-02 -2.01564938e-03 9.98649201e-01 1.26236061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.94, Y:21.41, Z:12.63 [[ 9.93335447e-01 -1.03143206e-01 -5.14409170e-02 2.69937939e+02] [ 1.03103977e-01 9.94664695e-01 -3.42277001e-03 2.14121576e+01] [ 5.15194994e-02 -1.90380433e-03 9.98670174e-01 1.26251900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.97, Y:21.42, Z:12.63 [[ 9.93414040e-01 -1.02616648e-01 -5.09741993e-02 2.69969185e+02] [ 1.02577528e-01 9.94719236e-01 -3.38989345e-03 2.14199143e+01] [ 5.10528761e-02 -1.86123960e-03 9.98694217e-01 1.26276861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.00, Y:21.42, Z:12.63 [[ 9.93489893e-01 -1.02170428e-01 -5.03888434e-02 2.70000496e+02] [ 1.02131721e-01 9.94765246e-01 -3.34912089e-03 2.14212686e+01] [ 5.04672513e-02 -1.81898153e-03 9.98724060e-01 1.26293482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.03, Y:21.42, Z:12.63 [[ 9.93502736e-01 -1.02052586e-01 -5.03744286e-02 2.70031885e+02] [ 1.02013886e-01 9.94777349e-01 -3.34545940e-03 2.14206959e+01] [ 5.04527533e-02 -1.81516817e-03 9.98724799e-01 1.26307171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.06, Y:21.42, Z:12.63 [[ 9.93509693e-01 -1.01984745e-01 -5.03746078e-02 2.70063498e+02] [ 1.01946095e-01 9.94784308e-01 -3.34275864e-03 2.14227298e+01] [ 5.04527798e-02 -1.81443147e-03 9.98724799e-01 1.26322235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.10, Y:21.43, Z:12.63 [[ 9.93463404e-01 -1.02368465e-01 -5.05090370e-02 2.70095447e+02] [ 1.02330280e-01 9.94744843e-01 -3.34820146e-03 2.14263897e+01] [ 5.05863544e-02 -1.84228826e-03 9.98717992e-01 1.26334715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.13, Y:21.42, Z:12.63 [[ 9.93372295e-01 -1.02846163e-01 -5.13239718e-02 2.70126655e+02] [ 1.02807560e-01 9.94695459e-01 -3.39859763e-03 2.14219275e+01] [ 5.14012544e-02 -1.90041956e-03 9.98676274e-01 1.26339852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.16, Y:21.43, Z:12.64 [[ 9.93287373e-01 -1.03347051e-01 -5.19575075e-02 2.70158486e+02] [ 1.03308323e-01 9.94643440e-01 -3.43768772e-03 2.14303154e+01] [ 5.20344689e-02 -1.95303118e-03 9.98643380e-01 1.26356615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.19, Y:21.43, Z:12.64 [[ 9.93107899e-01 -1.04389906e-01 -5.32864732e-02 2.70189490e+02] [ 1.04350869e-01 9.94534309e-01 -3.52192427e-03 2.14312483e+01] [ 5.33628791e-02 -2.06283896e-03 9.98573056e-01 1.26361606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.22, Y:21.43, Z:12.64 [[ 9.93038393e-01 -1.04740593e-01 -5.38902504e-02 2.70221170e+02] [ 1.04701287e-01 9.94497344e-01 -3.55989645e-03 2.14324242e+01] [ 5.39665765e-02 -2.10726471e-03 9.98540519e-01 1.26370317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.25, Y:21.44, Z:12.64 [[ 9.92958955e-01 -1.05493627e-01 -5.38851464e-02 2.70252556e+02] [ 1.05455538e-01 9.94417655e-01 -3.55764640e-03 2.14360367e+01] [ 5.39596499e-02 -2.14989027e-03 9.98540802e-01 1.26386262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.28, Y:21.44, Z:12.64 [[ 9.92933409e-01 -1.05818197e-01 -5.37192182e-02 2.70284290e+02] [ 1.05780921e-01 9.94383141e-01 -3.54474115e-03 2.14373662e+01] [ 5.37925830e-02 -2.16277646e-03 9.98549789e-01 1.26400658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.31, Y:21.44, Z:12.64 [[ 9.92803390e-01 -1.07041338e-01 -5.36989873e-02 2.70314624e+02] [ 1.07005974e-01 9.94252070e-01 -3.54157378e-03 2.14360028e+01] [ 5.37694241e-02 -2.23002597e-03 9.98550888e-01 1.26411394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.35, Y:21.44, Z:12.64 [[ 9.92835363e-01 -1.07409321e-01 -5.23562819e-02 2.70346364e+02] [ 1.07376273e-01 9.94212463e-01 -3.45182612e-03 2.14400723e+01] [ 5.24240263e-02 -2.19472739e-03 9.98622504e-01 1.26435820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.38, Y:21.44, Z:12.65 [[ 9.92853643e-01 -1.07440185e-01 -5.19446937e-02 2.70377318e+02] [ 1.07407887e-01 9.94209154e-01 -3.42100475e-03 2.14377955e+01] [ 5.20114433e-02 -2.18271277e-03 9.98644104e-01 1.26454623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.41, Y:21.44, Z:12.65 [[ 9.92870183e-01 -1.07701861e-01 -5.10794370e-02 2.70409577e+02] [ 1.07671117e-01 9.94180885e-01 -3.36122534e-03 2.14431347e+01] [ 5.11442101e-02 -2.16251962e-03 9.98688937e-01 1.26480308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.44, Y:21.44, Z:12.65 [[ 9.92855307e-01 -1.08133236e-01 -5.04533766e-02 2.70440941e+02] [ 1.08103984e-01 9.94134061e-01 -3.31629749e-03 2.14427691e+01] [ 5.05160222e-02 -2.16160747e-03 9.98720911e-01 1.26494368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.47, Y:21.45, Z:12.65 [[ 9.92805253e-01 -1.08593244e-01 -5.04503502e-02 2.70473115e+02] [ 1.08564874e-01 9.94083854e-01 -3.31044417e-03 2.14451104e+01] [ 5.05113705e-02 -2.19050955e-03 9.98721084e-01 1.26511617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.51, Y:21.45, Z:12.65 [[ 9.92698812e-01 -1.09724246e-01 -5.00964903e-02 2.70505047e+02] [ 1.09697887e-01 9.93959552e-01 -3.28366883e-03 2.14453605e+01] [ 5.01541831e-02 -2.23578497e-03 9.98738985e-01 1.26527522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.54, Y:21.44, Z:12.65 [[ 9.92633789e-01 -1.10302549e-01 -5.01149620e-02 2.70536692e+02] [ 1.10277083e-01 9.93895466e-01 -3.28135729e-03 2.14443863e+01] [ 5.01709756e-02 -2.26934570e-03 9.98738065e-01 1.26540603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.57, Y:21.45, Z:12.66 [[ 9.92575339e-01 -1.10756983e-01 -5.02701394e-02 2.70568355e+02] [ 1.10732078e-01 9.93844852e-01 -3.28878962e-03 2.14475193e+01] [ 5.03249757e-02 -2.30214551e-03 9.98730242e-01 1.26556624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17509989300004 meters Centerline goodness [0,1] 0.9998927429907545 Centerline is valid? [True, True] Translation: X:270.60, Y:21.45, Z:12.66 [[ 9.92519470e-01 -1.11342738e-01 -5.00789009e-02 2.70600184e+02] [ 1.11318943e-01 9.93779343e-01 -3.27273014e-03 2.14505037e+01] [ 5.01317720e-02 -2.32648193e-03 9.98739903e-01 1.26574107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.63, Y:21.45, Z:12.66 [[ 9.92523231e-01 -1.11722185e-01 -4.91506886e-02 2.70632290e+02] [ 1.11699897e-01 9.93736805e-01 -3.20857738e-03 2.14535997e+01] [ 4.92013175e-02 -2.30553928e-03 9.98786221e-01 1.26599284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.66, Y:21.45, Z:12.66 [[ 9.92556882e-01 -1.11407617e-01 -4.91851487e-02 2.70663458e+02] [ 1.11385090e-01 9.93772145e-01 -3.20723765e-03 2.14519395e+01] [ 4.92361414e-02 -2.29512641e-03 9.98784529e-01 1.26612814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.70, Y:21.46, Z:12.66 [[ 9.92560374e-01 -1.11112516e-01 -4.97786410e-02 2.70695730e+02] [ 1.11089213e-01 9.93805146e-01 -3.24313638e-03 2.14559857e+01] [ 4.98306227e-02 -2.31086141e-03 9.98755009e-01 1.26625123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.73, Y:21.46, Z:12.66 [[ 9.92675603e-01 -1.09761020e-01 -5.04744118e-02 2.70727424e+02] [ 1.09735518e-01 9.93955395e-01 -3.28455093e-03 2.14555271e+01] [ 5.05298295e-02 -2.27834216e-03 9.98719953e-01 1.26628761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.76, Y:21.46, Z:12.66 [[ 9.92762512e-01 -1.08861988e-01 -5.07115613e-02 2.70758471e+02] [ 1.08835412e-01 9.94054328e-01 -3.29338943e-03 2.14570941e+01] [ 5.07685719e-02 -2.24966010e-03 9.98707911e-01 1.26641774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.79, Y:21.46, Z:12.67 [[ 9.92861319e-01 -1.07999914e-01 -5.06203419e-02 2.70790371e+02] [ 1.07972453e-01 9.94148460e-01 -3.28476709e-03 2.14638864e+01] [ 5.06788895e-02 -2.20428429e-03 9.98712567e-01 1.26659456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.82, Y:21.46, Z:12.67 [[ 9.93137970e-01 -1.05542831e-01 -5.03754253e-02 2.70820557e+02] [ 1.05512656e-01 9.94412599e-01 -3.26538825e-03 2.14643887e+01] [ 5.04385959e-02 -2.07226388e-03 9.98725014e-01 1.26674495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.85, Y:21.47, Z:12.67 [[ 9.93303678e-01 -1.04128763e-01 -5.00500170e-02 2.70852531e+02] [ 1.04097237e-01 9.94561836e-01 -3.24325667e-03 2.14693710e+01] [ 5.01155531e-02 -1.98852973e-03 9.98741447e-01 1.26690024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.88, Y:21.47, Z:12.67 [[ 9.93626722e-01 -1.01164949e-01 -4.97150974e-02 2.70883045e+02] [ 1.01130312e-01 9.94867983e-01 -3.21809832e-03 2.14696177e+01] [ 4.97855175e-02 -1.83011483e-03 9.98758256e-01 1.26701732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.91, Y:21.47, Z:12.67 [[ 9.93770661e-01 -9.98664419e-02 -4.94627878e-02 2.70914414e+02] [ 9.98305960e-02 9.94999300e-01 -3.20083794e-03 2.14743048e+01] [ 4.95350955e-02 -1.75700075e-03 9.98770838e-01 1.26718985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.94, Y:21.48, Z:12.67 [[ 9.93976174e-01 -9.75625861e-02 -4.99290316e-02 2.70944503e+02] [ 9.75232474e-02 9.95228008e-01 -3.22926290e-03 2.14777745e+01] [ 5.00058259e-02 -1.65943092e-03 9.98747548e-01 1.26733599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.98, Y:21.48, Z:12.67 [[ 9.94050792e-01 -9.67191532e-02 -5.00842048e-02 2.70975311e+02] [ 9.66785479e-02 9.95310389e-01 -3.23836492e-03 2.14809209e+01] [ 5.01625413e-02 -1.62296897e-03 9.98739749e-01 1.26748033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.01, Y:21.48, Z:12.68 [[ 9.94070049e-01 -9.63639732e-02 -5.03857453e-02 2.71007235e+02] [ 9.63225183e-02 9.95344850e-01 -3.25596203e-03 2.14843340e+01] [ 5.04649496e-02 -1.61662754e-03 9.98724524e-01 1.26766968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.04, Y:21.49, Z:12.68 [[ 9.94089132e-01 -9.57950545e-02 -5.10891869e-02 2.71039089e+02] [ 9.57518758e-02 9.95399771e-01 -3.29768808e-03 2.14879481e+01] [ 5.11700671e-02 -1.61368960e-03 9.98688650e-01 1.26776092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.07, Y:21.49, Z:12.68 [[ 9.94088294e-01 -9.53477609e-02 -5.19352367e-02 2.71071365e+02] [ 9.53027335e-02 9.95442704e-01 -3.34842429e-03 2.14899405e+01] [ 5.20178172e-02 -1.62094063e-03 9.98644841e-01 1.26782327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.10, Y:21.49, Z:12.68 [[ 9.94119095e-01 -9.44365090e-02 -5.29997208e-02 2.71102229e+02] [ 9.43885242e-02 9.95529586e-01 -3.41330844e-03 2.14927108e+01] [ 5.30851310e-02 -1.60933034e-03 9.98588694e-01 1.26786330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.13, Y:21.50, Z:12.68 [[ 9.94257189e-01 -9.29781754e-02 -5.29877504e-02 2.71132267e+02] [ 9.29282361e-02 9.95666967e-01 -3.41081017e-03 2.14963814e+01] [ 5.30752836e-02 -1.53283565e-03 9.98589337e-01 1.26807894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.16, Y:21.50, Z:12.68 [[ 9.94332384e-01 -9.23057928e-02 -5.27517930e-02 2.71161584e+02] [ 9.22553472e-02 9.95729592e-01 -3.39571689e-03 2.14989356e+01] [ 5.28399656e-02 -1.49016371e-03 9.98601881e-01 1.26820717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.19, Y:21.50, Z:12.68 [[ 9.94389897e-01 -9.16078950e-02 -5.28840773e-02 2.71192360e+02] [ 9.15561758e-02 9.95794092e-01 -3.40488766e-03 2.15020217e+01] [ 5.29735663e-02 -1.45607799e-03 9.98594853e-01 1.26835480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.22, Y:21.51, Z:12.69 [[ 9.94515595e-01 -9.04469129e-02 -5.25175004e-02 2.71221540e+02] [ 9.03943750e-02 9.95900314e-01 -3.37969817e-03 2.15059223e+01] [ 5.26078783e-02 -1.38612409e-03 9.98614285e-01 1.26859759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.25, Y:21.51, Z:12.69 [[ 9.94537225e-01 -9.02981642e-02 -5.23636321e-02 2.71252761e+02] [ 9.02456929e-02 9.95913829e-01 -3.37045872e-03 2.15088036e+01] [ 5.24540115e-02 -1.37354560e-03 9.98622396e-01 1.26874938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.28, Y:21.51, Z:12.69 [[ 9.94491272e-01 -9.04937743e-02 -5.28959933e-02 2.71284277e+02] [ 9.04406070e-02 9.95896037e-01 -3.40284694e-03 2.15117134e+01] [ 5.29868466e-02 -1.39984416e-03 9.98594229e-01 1.26884272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.32, Y:21.51, Z:12.69 [[ 9.94385285e-01 -9.13403214e-02 -5.34308043e-02 2.71315728e+02] [ 9.12873966e-02 9.95818663e-01 -3.43533680e-03 2.15145785e+01] [ 5.35211769e-02 -1.46151066e-03 9.98565645e-01 1.26898668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.35, Y:21.52, Z:12.69 [[ 9.94333557e-01 -9.19796137e-02 -5.32966144e-02 2.71345826e+02] [ 9.19279675e-02 9.95759770e-01 -3.42490945e-03 2.15160334e+01] [ 5.33856463e-02 -1.49394704e-03 9.98572852e-01 1.26915171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.38, Y:21.52, Z:12.69 [[ 9.94242657e-01 -9.32852792e-02 -5.27199727e-02 2.71377091e+02] [ 9.32366307e-02 9.95638217e-01 -3.38682955e-03 2.15185616e+01] [ 5.28059610e-02 -1.54810222e-03 9.98603592e-01 1.26936864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.41, Y:21.52, Z:12.70 [[ 9.94053714e-01 -9.57308642e-02 -5.18923509e-02 2.71408522e+02] [ 9.56871524e-02 9.95405881e-01 -3.33182198e-03 2.15203795e+01] [ 5.19729094e-02 -1.65342127e-03 9.98647126e-01 1.26964243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.44, Y:21.52, Z:12.70 [[ 9.93745376e-01 -9.82485922e-02 -5.30786468e-02 2.71439497e+02] [ 9.82065436e-02 9.95160225e-01 -3.40612622e-03 2.15211162e+01] [ 5.31564052e-02 -1.82784826e-03 9.98584526e-01 1.26977983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.47, Y:21.52, Z:12.70 [[ 9.93603465e-01 -9.95428924e-02 -5.33232285e-02 2.71469852e+02] [ 9.95023674e-02 9.95031445e-01 -3.42085476e-03 2.15217284e+01] [ 5.33988109e-02 -1.90681433e-03 9.98571445e-01 1.26992349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.50, Y:21.53, Z:12.70 [[ 9.93448356e-01 -1.00836941e-01 -5.37798820e-02 2.71501590e+02] [ 1.00797683e-01 9.94900966e-01 -3.44882287e-03 2.15254822e+01] [ 5.38534254e-02 -1.99466009e-03 9.98546859e-01 1.27011555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.53, Y:21.53, Z:12.70 [[ 9.93264492e-01 -1.02362459e-01 -5.42915779e-02 2.71532064e+02] [ 1.02324925e-01 9.94744949e-01 -3.47797049e-03 2.15255948e+01] [ 5.43622865e-02 -2.10083704e-03 9.98519068e-01 1.27023188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.56, Y:21.52, Z:12.70 [[ 9.92925301e-01 -1.05003782e-01 -5.54396322e-02 2.71562472e+02] [ 1.04968809e-01 9.94469177e-01 -3.55048607e-03 2.15242006e+01] [ 5.55058198e-02 -2.29406474e-03 9.98455728e-01 1.27030934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.59, Y:21.52, Z:12.70 [[ 9.92811961e-01 -1.05810115e-01 -5.59341606e-02 2.71592453e+02] [ 1.05775884e-01 9.94383549e-01 -3.58055310e-03 2.15238696e+01] [ 5.59988678e-02 -2.36166931e-03 9.98428039e-01 1.27043129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.62, Y:21.53, Z:12.71 [[ 9.92719012e-01 -1.06587872e-01 -5.61069364e-02 2.71623261e+02] [ 1.06554920e-01 9.94300348e-01 -3.58713502e-03 2.15284453e+01] [ 5.61694915e-02 -2.41745297e-03 9.98418321e-01 1.27067645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.65, Y:21.53, Z:12.71 [[ 9.92741264e-01 -1.06173072e-01 -5.64983412e-02 2.71654842e+02] [ 1.06139115e-01 9.94344737e-01 -3.60994462e-03 2.15296497e+01] [ 5.65621072e-02 -2.41294295e-03 9.98396167e-01 1.27080129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.68, Y:21.53, Z:12.71 [[ 9.93050063e-01 -1.03326459e-01 -5.63490539e-02 2.71684978e+02] [ 1.03288262e-01 9.94644958e-01 -3.59768831e-03 2.15332191e+01] [ 5.64190387e-02 -2.24751123e-03 9.98404648e-01 1.27104716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.72, Y:21.54, Z:12.71 [[ 9.93289097e-01 -1.01266056e-01 -5.58744640e-02 2.71715543e+02] [ 1.01225301e-01 9.94857135e-01 -3.56639847e-03 2.15371160e+01] [ 5.59482643e-02 -2.11344472e-03 9.98431432e-01 1.27131962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.75, Y:21.54, Z:12.72 [[ 9.93510537e-01 -9.94815432e-02 -5.51383270e-02 2.71746349e+02] [ 9.94391708e-02 9.95037423e-01 -3.51832177e-03 2.15434310e+01] [ 5.52147069e-02 -1.98741977e-03 9.98472527e-01 1.27161444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.78, Y:21.55, Z:12.72 [[ 9.93731973e-01 -9.72098710e-02 -5.51997072e-02 2.71777296e+02] [ 9.71640162e-02 9.95262157e-01 -3.52024488e-03 2.15479992e+01] [ 5.52803822e-02 -1.86524535e-03 9.98469128e-01 1.27178785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.81, Y:21.55, Z:12.72 [[ 9.94110723e-01 -9.26807752e-02 -5.61617728e-02 2.71806971e+02] [ 9.26261919e-02 9.95694518e-01 -3.57982400e-03 2.15510498e+01] [ 5.62517502e-02 -1.64330972e-03 9.98415264e-01 1.27175719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.84, Y:21.55, Z:12.72 [[ 9.94246046e-01 -9.06785787e-02 -5.70280313e-02 2.71837111e+02] [ 9.06190107e-02 9.95878999e-01 -3.63504043e-03 2.15544753e+01] [ 5.71226390e-02 -1.55369920e-03 9.98365960e-01 1.27186133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.87, Y:21.56, Z:12.72 [[ 9.94364163e-01 -8.92454274e-02 -5.72290521e-02 2.71867642e+02] [ 8.91830686e-02 9.96008571e-01 -3.64785376e-03 2.15591247e+01] [ 5.73261807e-02 -1.47656743e-03 9.98354410e-01 1.27206150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.90, Y:21.56, Z:12.72 [[ 9.94609980e-01 -8.65372135e-02 -5.71165260e-02 2.71896636e+02] [ 8.64706486e-02 9.96247747e-01 -3.64052102e-03 2.15619722e+01] [ 5.72172509e-02 -1.31800450e-03 9.98360881e-01 1.27220254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.93, Y:21.56, Z:12.72 [[ 9.94707172e-01 -8.56659810e-02 -5.67360695e-02 2.71926043e+02] [ 8.55989098e-02 9.96323116e-01 -3.61582474e-03 2.15649126e+01] [ 5.68372107e-02 -1.25985890e-03 9.98382664e-01 1.27239158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.96, Y:21.57, Z:12.73 [[ 9.94753328e-01 -8.54473023e-02 -5.62545601e-02 2.71955438e+02] [ 8.53809030e-02 9.96341926e-01 -3.58713007e-03 2.15677473e+01] [ 5.63552874e-02 -1.23475557e-03 9.98410014e-01 1.27262646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.98, Y:21.57, Z:12.73 [[ 9.94750287e-01 -8.54827762e-02 -5.62544323e-02 2.71984504e+02] [ 8.54163202e-02 9.96338883e-01 -3.58913367e-03 2.15696313e+01] [ 5.63552874e-02 -1.23475486e-03 9.98410014e-01 1.27276509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.01, Y:21.57, Z:12.73 [[ 9.94802634e-01 -8.47093759e-02 -5.64981566e-02 2.72012600e+02] [ 8.46409731e-02 9.96404986e-01 -3.60686932e-03 2.15713681e+01] [ 5.66005806e-02 -1.19393585e-03 9.98396188e-01 1.27288527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.04, Y:21.57, Z:12.73 [[ 9.94764913e-01 -8.48336493e-02 -5.69738546e-02 2.72041870e+02] [ 8.47641281e-02 9.96394396e-01 -3.64013054e-03 2.15742882e+01] [ 5.70772350e-02 -1.20826497e-03 9.98369035e-01 1.27305324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.07, Y:21.58, Z:12.73 [[ 9.94786657e-01 -8.52388632e-02 -5.59807365e-02 2.72070324e+02] [ 8.51722640e-02 9.96359813e-01 -3.57883772e-03 2.15761377e+01] [ 5.60820122e-02 -1.20782606e-03 9.98425435e-01 1.27325199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.10, Y:21.58, Z:12.73 [[ 9.94745659e-01 -8.58512985e-02 -5.57730056e-02 2.72099778e+02] [ 8.57859940e-02 9.96307196e-01 -3.56841756e-03 2.15778128e+01] [ 5.58734001e-02 -1.23487484e-03 9.98437098e-01 1.27347184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.13, Y:21.58, Z:12.74 [[ 9.94731589e-01 -8.64290935e-02 -5.51278372e-02 2.72129171e+02] [ 8.63660765e-02 9.96257219e-01 -3.52895893e-03 2.15792500e+01] [ 5.52265105e-02 -1.25080808e-03 9.98473068e-01 1.27368140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.16, Y:21.58, Z:12.74 [[ 9.94596667e-01 -8.82785881e-02 -5.46293040e-02 2.72158901e+02] [ 8.82194385e-02 9.96094922e-01 -3.49801128e-03 2.15790784e+01] [ 5.47247719e-02 -1.34025617e-03 9.98500577e-01 1.27377472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.19, Y:21.58, Z:12.74 [[ 9.94326977e-01 -9.08288380e-02 -5.53532748e-02 2.72190509e+02] [ 9.07720246e-02 9.95865389e-01 -3.54492641e-03 2.15803409e+01] [ 5.54463921e-02 -1.49971287e-03 9.98460539e-01 1.27390433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.22, Y:21.58, Z:12.74 [[ 9.93959354e-01 -9.49329023e-02 -5.50685563e-02 2.72221367e+02] [ 9.48830603e-02 9.95482185e-01 -3.52483622e-03 2.15775619e+01] [ 5.51543897e-02 -1.72152922e-03 9.98476354e-01 1.27396395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.25, Y:21.58, Z:12.74 [[ 9.93706153e-01 -9.74255570e-02 -5.52841997e-02 2.72252503e+02] [ 9.73792370e-02 9.95241061e-01 -3.53749953e-03 2.15777322e+01] [ 5.53657485e-02 -1.86829814e-03 9.98464393e-01 1.27409296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.28, Y:21.58, Z:12.74 [[ 9.93439103e-01 -9.97667703e-02 -5.59047474e-02 2.72282543e+02] [ 9.97232388e-02 9.95008792e-01 -3.57480729e-03 2.15769758e+01] [ 5.59823622e-02 -2.02364913e-03 9.98429707e-01 1.27417434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.31, Y:21.58, Z:12.74 [[ 9.93170085e-01 -1.02281749e-01 -5.61393438e-02 2.72313955e+02] [ 1.02242098e-01 9.94753083e-01 -3.58557102e-03 2.15776247e+01] [ 5.62115238e-02 -2.17872242e-03 9.98416505e-01 1.27431266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.35, Y:21.58, Z:12.74 [[ 9.92912942e-01 -1.04581281e-01 -5.64503825e-02 2.72345349e+02] [ 1.04545010e-01 9.94513628e-01 -3.60343085e-03 2.15786959e+01] [ 5.65175261e-02 -2.32371269e-03 9.98398903e-01 1.27444894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.38, Y:21.58, Z:12.75 [[ 9.92450448e-01 -1.08684118e-01 -5.68319519e-02 2.72375215e+02] [ 1.08654159e-01 9.94072998e-01 -3.62609096e-03 2.15763343e+01] [ 5.68892073e-02 -2.57631235e-03 9.98377174e-01 1.27452672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.41, Y:21.58, Z:12.75 [[ 9.92285880e-01 -1.10615785e-01 -5.59721334e-02 2.72406497e+02] [ 1.10589804e-01 9.93859720e-01 -3.57092051e-03 2.15795173e+01] [ 5.60234490e-02 -2.64657327e-03 9.98425946e-01 1.27472071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.44, Y:21.58, Z:12.75 [[ 9.92130284e-01 -1.12180767e-01 -5.56145216e-02 2.72437711e+02] [ 1.12157687e-01 9.93684094e-01 -3.54594546e-03 2.15776949e+01] [ 5.56610524e-02 -2.71955625e-03 9.98446018e-01 1.27487695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.47, Y:21.58, Z:12.75 [[ 9.91962082e-01 -1.13888097e-01 -5.51428157e-02 2.72469031e+02] [ 1.13868191e-01 9.93489655e-01 -3.51303257e-03 2.15781478e+01] [ 5.51839095e-02 -2.79421755e-03 9.98472297e-01 1.27507246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.50, Y:21.58, Z:12.75 [[ 9.91973450e-01 -1.13821052e-01 -5.50766965e-02 2.72501558e+02] [ 1.13801213e-01 9.93497352e-01 -3.50660035e-03 2.15797519e+01] [ 5.51176770e-02 -2.78934040e-03 9.98475969e-01 1.27521743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.53, Y:21.58, Z:12.75 [[ 9.91998699e-01 -1.13480592e-01 -5.53239280e-02 2.72533291e+02] [ 1.13460267e-01 9.93536305e-01 -3.51838329e-03 2.15834202e+01] [ 5.53655993e-02 -2.78683599e-03 9.98462260e-01 1.27539285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.56, Y:21.58, Z:12.75 [[ 9.91992997e-01 -1.12986690e-01 -5.64260683e-02 2.72564969e+02] [ 1.12964989e-01 9.93592504e-01 -3.58433392e-03 2.15845436e+01] [ 5.64695006e-02 -2.81853605e-03 9.98400346e-01 1.27545131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.60, Y:21.59, Z:12.76 [[ 9.92011364e-01 -1.12808593e-01 -5.64595083e-02 2.72596752e+02] [ 1.12786808e-01 9.93612753e-01 -3.58240364e-03 2.15889018e+01] [ 5.65030134e-02 -2.81410263e-03 9.98398463e-01 1.27561699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.63, Y:21.59, Z:12.76 [[ 9.91918603e-01 -1.13213761e-01 -5.72724133e-02 2.72628329e+02] [ 1.13192287e-01 9.93566472e-01 -3.62936242e-03 2.15915600e+01] [ 5.73148434e-02 -2.88276332e-03 9.98351991e-01 1.27577860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.66, Y:21.59, Z:12.76 [[ 9.91809924e-01 -1.13903387e-01 -5.77848824e-02 2.72659942e+02] [ 1.13883032e-01 9.93487438e-01 -3.65602958e-03 2.15924533e+01] [ 5.78249889e-02 -2.95463118e-03 9.98322363e-01 1.27584899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.69, Y:21.59, Z:12.76 [[ 9.91818119e-01 -1.13831927e-01 -5.77850372e-02 2.72691585e+02] [ 1.13811593e-01 9.93495633e-01 -3.65358178e-03 2.15943951e+01] [ 5.78250763e-02 -2.95291853e-03 9.98322363e-01 1.27599976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.72, Y:21.60, Z:12.76 [[ 9.91756335e-01 -1.14179660e-01 -5.81582061e-02 2.72723066e+02] [ 1.14159884e-01 9.93455599e-01 -3.67334075e-03 2.15952789e+01] [ 5.81970163e-02 -2.99627509e-03 9.98300621e-01 1.27612511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.75, Y:21.60, Z:12.76 [[ 9.91655477e-01 -1.14997945e-01 -5.82656559e-02 2.72754710e+02] [ 1.14979625e-01 9.93361041e-01 -3.67803954e-03 2.15959030e+01] [ 5.83017996e-02 -3.05201525e-03 9.98294338e-01 1.27622399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.79, Y:21.60, Z:12.76 [[ 9.91692157e-01 -1.14895446e-01 -5.78420465e-02 2.72786445e+02] [ 1.14877357e-01 9.93372981e-01 -3.64886492e-03 2.15999369e+01] [ 5.78779641e-02 -3.02619070e-03 9.98319079e-01 1.27642490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.82, Y:21.60, Z:12.77 [[ 9.91861524e-01 -1.14049314e-01 -5.65992201e-02 2.72817161e+02] [ 1.14030826e-01 9.93470809e-01 -3.56674984e-03 2.16009842e+01] [ 5.66364584e-02 -2.91633387e-03 9.98390608e-01 1.27657855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.85, Y:21.60, Z:12.77 [[ 9.92017274e-01 -1.12960487e-01 -5.60504726e-02 2.72848182e+02] [ 1.12940779e-01 9.93595453e-01 -3.52936398e-03 2.16003562e+01] [ 5.60901734e-02 -2.82919401e-03 9.98421699e-01 1.27670929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.88, Y:21.61, Z:12.77 [[ 9.92174061e-01 -1.11824507e-01 -5.55509854e-02 2.72878721e+02] [ 1.11803726e-01 9.93724175e-01 -3.49155638e-03 2.16071273e+01] [ 5.55927987e-02 -2.74657547e-03 9.98449747e-01 1.27696003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.91, Y:21.61, Z:12.77 [[ 9.92315356e-01 -1.10612489e-01 -5.54536791e-02 2.72909736e+02] [ 1.10590005e-01 9.93860009e-01 -3.48344424e-03 2.16099882e+01] [ 5.54985065e-02 -2.67594742e-03 9.98455184e-01 1.27710961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.94, Y:21.61, Z:12.77 [[ 9.92547615e-01 -1.08448413e-01 -5.55713321e-02 2.72940093e+02] [ 1.08422554e-01 9.94098776e-01 -3.48898218e-03 2.16113565e+01] [ 5.56217678e-02 -2.56220479e-03 9.98448624e-01 1.27716563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.97, Y:21.61, Z:12.77 [[ 9.92640249e-01 -1.07720462e-01 -5.53320767e-02 2.72971022e+02] [ 1.07693759e-01 9.94178049e-01 -3.47284286e-03 2.16130420e+01] [ 5.53840323e-02 -2.51163571e-03 9.98461968e-01 1.27727480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.00, Y:21.62, Z:12.77 [[ 9.92747823e-01 -1.07308560e-01 -5.41907127e-02 2.73001880e+02] [ 1.07282433e-01 9.94222774e-01 -3.39934510e-03 2.16156210e+01] [ 5.42424196e-02 -2.43901905e-03 9.98524817e-01 1.27746666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.03, Y:21.62, Z:12.78 [[ 9.92760599e-01 -1.07390879e-01 -5.37921219e-02 2.73033996e+02] [ 1.07365368e-01 9.94213914e-01 -3.37223309e-03 2.16181214e+01] [ 5.38430231e-02 -2.42759080e-03 9.98546461e-01 1.27766503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.07, Y:21.62, Z:12.78 [[ 9.92703610e-01 -1.07838271e-01 -5.39485885e-02 2.73066293e+02] [ 1.07813478e-01 9.94165400e-01 -3.37819644e-03 2.16194333e+01] [ 5.39981189e-02 -2.46283715e-03 9.98538000e-01 1.27780558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.10, Y:21.62, Z:12.78 [[ 9.92687519e-01 -1.07963245e-01 -5.39946940e-02 2.73098197e+02] [ 1.07938801e-01 9.94151804e-01 -3.37726395e-03 2.16207139e+01] [ 5.40435429e-02 -2.47555474e-03 9.98535511e-01 1.27793367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.13, Y:21.63, Z:12.78 [[ 9.92694368e-01 -1.07919118e-01 -5.39569860e-02 2.73129697e+02] [ 1.07894849e-01 9.94156596e-01 -3.37109193e-03 2.16258095e+01] [ 5.40054988e-02 -2.47521687e-03 9.98537570e-01 1.27805509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.16, Y:21.63, Z:12.78 [[ 9.92797452e-01 -1.07347717e-01 -5.31948105e-02 2.73161725e+02] [ 1.07323515e-01 9.94218609e-01 -3.31960657e-03 2.16279046e+01] [ 5.32436227e-02 -2.41335708e-03 9.98578636e-01 1.27814696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.19, Y:21.63, Z:12.78 [[ 9.92833222e-01 -1.07097128e-01 -5.30320606e-02 2.73193580e+02] [ 1.07072923e-01 9.94245675e-01 -3.30555661e-03 2.16260197e+01] [ 5.30809125e-02 -2.39643134e-03 9.98587339e-01 1.27827290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.23, Y:21.63, Z:12.78 [[ 9.93005122e-01 -1.05968093e-01 -5.20729415e-02 2.73226051e+02] [ 1.05943404e-01 9.94366876e-01 -3.24195664e-03 2.16311911e+01] [ 5.21231521e-02 -2.29750515e-03 9.98638022e-01 1.27845780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.26, Y:21.63, Z:12.79 [[ 9.93109228e-01 -1.05173658e-01 -5.16968384e-02 2.73257012e+02] [ 1.05148498e-01 9.94451339e-01 -3.21374690e-03 2.16321040e+01] [ 5.17479917e-02 -2.24424323e-03 9.98657653e-01 1.27860184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.29, Y:21.64, Z:12.79 [[ 9.93320569e-01 -1.04020077e-01 -4.99406734e-02 2.73289103e+02] [ 1.03995441e-01 9.94572947e-01 -3.09853659e-03 2.16351573e+01] [ 4.99919527e-02 -2.11576224e-03 9.98747380e-01 1.27885060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.32, Y:21.64, Z:12.79 [[ 9.93460378e-01 -1.03218668e-01 -4.88096759e-02 2.73320724e+02] [ 1.03194337e-01 9.94656613e-01 -3.02493222e-03 2.16365092e+01] [ 4.88610964e-02 -2.03173181e-03 9.98803517e-01 1.27907614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.35, Y:21.64, Z:12.79 [[ 9.93580344e-01 -1.02580042e-01 -4.77015190e-02 2.73352636e+02] [ 1.02556225e-01 9.94722826e-01 -2.95293029e-03 2.16404422e+01] [ 4.77527015e-02 -1.95811424e-03 9.98857270e-01 1.27931552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.38, Y:21.64, Z:12.79 [[ 9.93667800e-01 -1.01914477e-01 -4.73047804e-02 2.73383836e+02] [ 1.01890464e-01 9.94791324e-01 -2.92496169e-03 2.16416930e+01] [ 4.73564810e-02 -1.91346576e-03 9.98876220e-01 1.27948708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.42, Y:21.64, Z:12.80 [[ 9.93815919e-01 -1.00525153e-01 -4.71658076e-02 2.73416027e+02] [ 1.00499839e-01 9.94932808e-01 -2.91383064e-03 2.16440596e+01] [ 4.72197227e-02 -1.84434480e-03 9.98882824e-01 1.27962436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.45, Y:21.65, Z:12.80 [[ 9.93869135e-01 -9.99314525e-02 -4.73058826e-02 2.73447955e+02] [ 9.99054774e-02 9.94992650e-01 -2.91909504e-03 2.16460003e+01] [ 4.73607149e-02 -1.82491832e-03 9.98876185e-01 1.27974364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.48, Y:21.65, Z:12.80 [[ 9.93878596e-01 -9.94992138e-02 -4.80129470e-02 2.73480280e+02] [ 9.94721210e-02 9.95035949e-01 -2.95925827e-03 2.16477894e+01] [ 4.80690522e-02 -1.83480622e-03 9.98842330e-01 1.27982727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.51, Y:21.65, Z:12.80 [[ 9.93866222e-01 -9.90025881e-02 -4.92789985e-02 2.73512189e+02] [ 9.89736177e-02 9.95085433e-01 -3.03370124e-03 2.16499446e+01] [ 4.93371579e-02 -1.86222756e-03 9.98780445e-01 1.27979341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.54, Y:21.65, Z:12.80 [[ 9.93884765e-01 -9.89560315e-02 -4.89977394e-02 2.73543005e+02] [ 9.89275096e-02 9.95090082e-01 -3.01280973e-03 2.16497192e+01] [ 4.90553002e-02 -1.85283865e-03 9.98794345e-01 1.27993128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.57, Y:21.65, Z:12.80 [[ 9.93959615e-01 -9.85306450e-02 -4.83321440e-02 2.73574692e+02] [ 9.85026635e-02 9.95132366e-01 -2.96623439e-03 2.16545730e+01] [ 4.83891459e-02 -1.81252773e-03 9.98826915e-01 1.28014112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.61, Y:21.66, Z:12.80 [[ 9.93988880e-01 -9.84723576e-02 -4.78466392e-02 2.73605417e+02] [ 9.84450325e-02 9.95138168e-01 -2.93299371e-03 2.16552355e+01] [ 4.79028357e-02 -1.79490082e-03 9.98850388e-01 1.28032264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.64, Y:21.65, Z:12.80 [[ 9.94015274e-01 -9.82968802e-02 -4.76587631e-02 2.73636278e+02] [ 9.82696908e-02 9.95155540e-01 -2.91890124e-03 2.16531670e+01] [ 4.77148010e-02 -1.78197950e-03 9.98859411e-01 1.28048501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.67, Y:21.66, Z:12.81 [[ 9.94061127e-01 -9.78255108e-02 -4.76722588e-02 2.73667909e+02] [ 9.77978872e-02 9.95202021e-01 -2.91717009e-03 2.16579248e+01] [ 4.77289020e-02 -1.76240080e-03 9.98858772e-01 1.28058810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.70, Y:21.66, Z:12.81 [[ 9.94052901e-01 -9.81100637e-02 -4.72572225e-02 2.73699973e+02] [ 9.80833986e-02 9.95174007e-01 -2.88841066e-03 2.16582785e+01] [ 4.73125416e-02 -1.76391599e-03 9.98878577e-01 1.28069186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.73, Y:21.66, Z:12.81 [[ 9.94016608e-01 -9.82573732e-02 -4.77123757e-02 2.73732190e+02] [ 9.82305267e-02 9.95159424e-01 -2.91278508e-03 2.16589045e+01] [ 4.77676229e-02 -1.79145505e-03 9.98856869e-01 1.28081270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.76, Y:21.66, Z:12.81 [[ 9.93864443e-01 -9.97849684e-02 -4.77119447e-02 2.73763641e+02] [ 9.97600411e-02 9.95007271e-01 -2.90936606e-03 2.16565754e+01] [ 4.77640429e-02 -1.86823009e-03 9.98856900e-01 1.28090153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.80, Y:21.66, Z:12.81 [[ 9.93760931e-01 -1.00897320e-01 -4.75283390e-02 2.73796203e+02] [ 1.00874089e-01 9.94894993e-01 -2.89322675e-03 2.16578453e+01] [ 4.75776253e-02 -1.91920218e-03 9.98865700e-01 1.28101342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.83, Y:21.66, Z:12.81 [[ 9.93470693e-01 -1.03076380e-01 -4.89003273e-02 2.73828652e+02] [ 1.03054596e-01 9.94671257e-01 -2.97322489e-03 2.16582197e+01] [ 4.89462193e-02 -2.08559167e-03 9.98799238e-01 1.28104633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.86, Y:21.66, Z:12.81 [[ 9.93478051e-01 -1.03005339e-01 -4.89005395e-02 2.73860285e+02] [ 1.02983640e-01 9.94678617e-01 -2.96973093e-03 2.16600806e+01] [ 4.89462191e-02 -2.08559308e-03 9.98799238e-01 1.28119698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.89, Y:21.66, Z:12.81 [[ 9.93205921e-01 -1.05595882e-01 -4.89030390e-02 2.73890549e+02] [ 1.05577480e-01 9.94406655e-01 -2.96648217e-03 2.16566382e+01] [ 4.89427557e-02 -2.21673195e-03 9.98799125e-01 1.28133276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.92, Y:21.66, Z:12.82 [[ 9.93084857e-01 -1.06691088e-01 -4.89844711e-02 2.73922444e+02] [ 1.06673958e-01 9.94289615e-01 -2.97130947e-03 2.16594851e+01] [ 4.90217632e-02 -2.27460498e-03 9.98795121e-01 1.28153181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.95, Y:21.66, Z:12.82 [[ 9.92913957e-01 -1.08324036e-01 -4.88648887e-02 2.73954022e+02] [ 1.08309136e-01 9.94112854e-01 -2.96048542e-03 2.16599160e+01] [ 4.88979057e-02 -2.35300657e-03 9.98801010e-01 1.28174651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.99, Y:21.66, Z:12.82 [[ 9.92818275e-01 -1.09341313e-01 -4.85422415e-02 2.73985385e+02] [ 1.09328042e-01 9.94001387e-01 -2.93638603e-03 2.16590064e+01] [ 4.85721237e-02 -2.39173050e-03 9.98816814e-01 1.28204256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.02, Y:21.66, Z:12.82 [[ 9.92826072e-01 -1.09270426e-01 -4.85424011e-02 2.74017027e+02] [ 1.09257199e-01 9.94009184e-01 -2.93374500e-03 2.16608583e+01] [ 4.85721641e-02 -2.39090826e-03 9.98816814e-01 1.28219328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.05, Y:21.66, Z:12.82 [[ 9.92833865e-01 -1.09199499e-01 -4.85426102e-02 2.74048670e+02] [ 1.09186357e-01 9.94016978e-01 -2.93028129e-03 2.16627075e+01] [ 4.85721640e-02 -2.39090825e-03 9.98816814e-01 1.28234397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.08, Y:21.66, Z:12.82 [[ 9.92824876e-01 -1.09115623e-01 -4.89136664e-02 2.74080184e+02] [ 1.09102350e-01 9.94026146e-01 -2.94917825e-03 2.16627073e+01] [ 4.89432647e-02 -2.40857842e-03 9.98798656e-01 1.28249473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.11, Y:21.67, Z:12.83 [[ 9.92850071e-01 -1.08681710e-01 -4.93661973e-02 2.74112018e+02] [ 1.08667790e-01 9.94073673e-01 -2.97376793e-03 2.16661928e+01] [ 4.93968312e-02 -2.41200988e-03 9.98776319e-01 1.28254128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.14, Y:21.67, Z:12.83 [[ 9.93005776e-01 -1.07614220e-01 -4.85665459e-02 2.74144451e+02] [ 1.07599641e-01 9.94190011e-01 -2.92213456e-03 2.16680080e+01] [ 4.85988381e-02 -2.32404641e-03 9.98815675e-01 1.28272907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.18, Y:21.67, Z:12.83 [[ 9.93130715e-01 -1.06640288e-01 -4.81583998e-02 2.74175784e+02] [ 1.06624977e-01 9.94295096e-01 -2.89409934e-03 2.16677139e+01] [ 4.81922883e-02 -2.26066934e-03 9.98835518e-01 1.28292291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.21, Y:21.67, Z:12.83 [[ 9.93250341e-01 -1.05438443e-01 -4.83373027e-02 2.74208201e+02] [ 1.05421730e-01 9.94423369e-01 -2.90215716e-03 2.16718783e+01] [ 4.83737424e-02 -2.21323349e-03 9.98826853e-01 1.28309041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.24, Y:21.67, Z:12.83 [[ 9.93282842e-01 -1.04622326e-01 -4.94304097e-02 2.74238997e+02] [ 1.04604119e-01 9.94509529e-01 -2.96222111e-03 2.16730044e+01] [ 4.94689280e-02 -2.22830106e-03 9.98773177e-01 1.28320826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.27, Y:21.67, Z:12.83 [[ 9.93272009e-01 -1.03842566e-01 -5.12585420e-02 2.74270237e+02] [ 1.03822292e-01 9.94591140e-01 -3.06525156e-03 2.16739686e+01] [ 5.12995953e-02 -2.27715072e-03 9.98680713e-01 1.28317079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.30, Y:21.68, Z:12.83 [[ 9.93254819e-01 -1.03557284e-01 -5.21608347e-02 2.74301719e+02] [ 1.03536043e-01 9.94620820e-01 -3.11646336e-03 2.16763847e+01] [ 5.22029846e-02 -2.30508415e-03 9.98633834e-01 1.28326175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.33, Y:21.68, Z:12.83 [[ 9.93246886e-01 -1.03380748e-01 -5.26597087e-02 2.74332013e+02] [ 1.03358947e-01 9.94639151e-01 -3.14447654e-03 2.16771157e+01] [ 5.27024863e-02 -2.31961049e-03 9.98607564e-01 1.28335753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.36, Y:21.68, Z:12.83 [[ 9.93223400e-01 -1.02865733e-01 -5.40917524e-02 2.74363244e+02] [ 1.02842032e-01 9.94692460e-01 -3.22889462e-03 2.16800786e+01] [ 5.41368009e-02 -2.35589203e-03 9.98530749e-01 1.28345684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.39, Y:21.68, Z:12.84 [[ 9.93261872e-01 -1.02223669e-01 -5.46001415e-02 2.74394789e+02] [ 1.02198661e-01 9.94758676e-01 -3.25728702e-03 2.16835062e+01] [ 5.46469363e-02 -2.34472234e-03 9.98502987e-01 1.28361027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.43, Y:21.69, Z:12.84 [[ 9.93446639e-01 -1.00216149e-01 -5.49590576e-02 2.74425517e+02] [ 1.00187850e-01 9.94963144e-01 -3.27684021e-03 2.16861769e+01] [ 5.50106290e-02 -2.25086390e-03 9.98483232e-01 1.28376769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.45, Y:21.69, Z:12.84 [[ 9.93601333e-01 -9.84386018e-02 -5.53735828e-02 2.74454899e+02] [ 9.84071607e-02 9.95140762e-01 -3.30083722e-03 2.16876738e+01] [ 5.54294392e-02 -2.16944080e-03 9.98460250e-01 1.28386455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.48, Y:21.69, Z:12.84 [[ 9.94125785e-01 -9.35206615e-02 -5.44776026e-02 2.74483364e+02] [ 9.34827962e-02 9.95615596e-01 -3.24850804e-03 2.16924188e+01] [ 5.45425534e-02 -1.86329302e-03 9.98509709e-01 1.28409168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.51, Y:21.70, Z:12.84 [[ 9.94697153e-01 -8.83095259e-02 -5.27162320e-02 2.74512545e+02] [ 8.82666625e-02 9.96091915e-01 -3.14527297e-03 2.16994817e+01] [ 5.27879701e-02 -1.52449179e-03 9.98604579e-01 1.28442776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.54, Y:21.70, Z:12.85 [[ 9.94694045e-01 -8.83445952e-02 -5.27161210e-02 2.74541625e+02] [ 8.83016824e-02 9.96088806e-01 -3.14713343e-03 2.17012479e+01] [ 5.27879702e-02 -1.52448729e-03 9.98604579e-01 1.28456641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.57, Y:21.71, Z:12.85 [[ 9.95073056e-01 -8.38320254e-02 -5.29320848e-02 2.74571708e+02] [ 8.37822933e-02 9.96479067e-01 -3.16170934e-03 2.17071437e+01] [ 5.30107670e-02 -1.28863968e-03 9.98593109e-01 1.28480732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.60, Y:21.71, Z:12.85 [[ 9.95163933e-01 -8.27438760e-02 -5.29357886e-02 2.74600443e+02] [ 8.26925834e-02 9.96570086e-01 -3.16223014e-03 2.17084581e+01] [ 5.30158786e-02 -1.23045973e-03 9.98592911e-01 1.28495208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.63, Y:21.71, Z:12.85 [[ 9.95126615e-01 -8.25456352e-02 -5.39373546e-02 2.74630090e+02] [ 8.24919376e-02 9.96586514e-01 -3.22493115e-03 2.17106009e+01] [ 5.40194442e-02 -1.24018206e-03 9.98539114e-01 1.28511296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.66, Y:21.71, Z:12.85 [[ 9.95055661e-01 -8.32344538e-02 -5.41872508e-02 2.74659281e+02] [ 8.31810899e-02 9.96529170e-01 -3.24332367e-03 2.17113387e+01] [ 5.42691323e-02 -1.28006700e-03 9.98525524e-01 1.28525274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.69, Y:21.71, Z:12.85 [[ 9.94959823e-01 -8.42604309e-02 -5.43611136e-02 2.74688000e+02] [ 8.42075740e-02 9.96442882e-01 -3.26619033e-03 2.17107920e+01] [ 5.44429553e-02 -1.32788934e-03 9.98516000e-01 1.28535009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.72, Y:21.71, Z:12.86 [[ 9.94848127e-01 -8.55095078e-02 -5.44548302e-02 2.74717546e+02] [ 8.54581832e-02 9.96336377e-01 -3.27463614e-03 2.17131636e+01] [ 5.45353407e-02 -1.39584522e-03 9.98510865e-01 1.28555147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.75, Y:21.71, Z:12.86 [[ 9.94524213e-01 -8.88086386e-02 -5.50873476e-02 2.74746142e+02] [ 8.87609630e-02 9.96047435e-01 -3.31636660e-03 2.17118738e+01] [ 5.51641333e-02 -1.59139914e-03 9.98476032e-01 1.28562561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.78, Y:21.71, Z:12.86 [[ 9.94154996e-01 -9.22856157e-02 -5.60286398e-02 2.74776132e+02] [ 9.22411032e-02 9.95730946e-01 -3.38558660e-03 2.17108992e+01] [ 5.61018915e-02 -1.80234572e-03 9.98423422e-01 1.28567872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.81, Y:21.71, Z:12.86 [[ 9.93942463e-01 -9.42039670e-02 -5.66038288e-02 2.74805044e+02] [ 9.41614108e-02 9.95551055e-01 -3.42439876e-03 2.17110866e+01] [ 5.66745934e-02 -1.92624104e-03 9.98390845e-01 1.28577909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.83, Y:21.71, Z:12.86 [[ 9.93584402e-01 -9.77014956e-02 -5.69601008e-02 2.74833861e+02] [ 9.76634182e-02 9.95213492e-01 -3.45851925e-03 2.17088562e+01] [ 5.70253634e-02 -2.12658736e-03 9.98370465e-01 1.28582397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.86, Y:21.71, Z:12.86 [[ 9.93374572e-01 -9.98720417e-02 -5.68553926e-02 2.74862378e+02] [ 9.98373740e-02 9.94997763e-01 -3.45700576e-03 2.17091048e+01] [ 5.69162466e-02 -2.24219148e-03 9.98376439e-01 1.28600229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.89, Y:21.71, Z:12.86 [[ 9.93098928e-01 -1.02961343e-01 -5.61558627e-02 2.74892056e+02] [ 1.02931784e-01 9.94682517e-01 -3.42623885e-03 2.17118059e+01] [ 5.62100250e-02 -2.37762901e-03 9.98416136e-01 1.28631900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.92, Y:21.71, Z:12.87 [[ 9.93067032e-01 -1.03573369e-01 -5.55916198e-02 2.74923700e+02] [ 1.03545277e-01 9.94618953e-01 -3.39321970e-03 2.17132869e+01] [ 5.56439258e-02 -2.38655507e-03 9.98447824e-01 1.28650676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.95, Y:21.71, Z:12.87 [[ 9.92969164e-01 -1.04270379e-01 -5.60350537e-02 2.74953160e+02] [ 1.04243034e-01 9.94545978e-01 -3.41870859e-03 2.17118698e+01] [ 5.60859073e-02 -2.44659179e-03 9.98422949e-01 1.28659900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.98, Y:21.72, Z:12.87 [[ 9.92883575e-01 -1.04061117e-01 -5.79093245e-02 2.74984089e+02] [ 1.04031535e-01 9.94567722e-01 -3.53355819e-03 2.17189811e+01] [ 5.79624510e-02 -2.51598403e-03 9.98315593e-01 1.28668926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.01, Y:21.72, Z:12.87 [[ 9.92907181e-01 -1.03949863e-01 -5.77040306e-02 2.75014005e+02] [ 1.03920402e-01 9.94579391e-01 -3.51931040e-03 2.17219569e+01] [ 5.77570714e-02 -2.50227749e-03 9.98327531e-01 1.28684139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.04, Y:21.72, Z:12.87 [[ 9.92960717e-01 -1.03633670e-01 -5.73504720e-02 2.75043836e+02] [ 1.03604031e-01 9.94612472e-01 -3.49792704e-03 2.17222108e+01] [ 5.74039977e-02 -2.46843595e-03 9.98347979e-01 1.28697440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.07, Y:21.72, Z:12.87 [[ 9.92960716e-01 -1.03633711e-01 -5.73504197e-02 2.75073776e+02] [ 1.03604023e-01 9.94612470e-01 -3.49878387e-03 2.17240378e+01] [ 5.74040345e-02 -2.46757925e-03 9.98347979e-01 1.28711714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.10, Y:21.73, Z:12.87 [[ 9.93004173e-01 -1.03632789e-01 -5.65946852e-02 2.75103487e+02] [ 1.03603874e-01 9.94612646e-01 -3.45267869e-03 2.17283898e+01] [ 5.66476004e-02 -2.43490429e-03 9.98391266e-01 1.28740314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.13, Y:21.73, Z:12.87 [[ 9.93000647e-01 -1.03104010e-01 -5.76131776e-02 2.75132572e+02] [ 1.03073150e-01 9.94667568e-01 -3.51499673e-03 2.17296028e+01] [ 5.76683695e-02 -2.44797765e-03 9.98332793e-01 1.28748725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.16, Y:21.73, Z:12.88 [[ 9.93000646e-01 -1.03104050e-01 -5.76131259e-02 2.75162511e+02] [ 1.03073141e-01 9.94667566e-01 -3.51584501e-03 2.17314303e+01] [ 5.76684055e-02 -2.44712947e-03 9.98332793e-01 1.28762998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.19, Y:21.73, Z:12.88 [[ 9.92940227e-01 -1.03334226e-01 -5.82386819e-02 2.75192966e+02] [ 1.03303039e-01 9.94643580e-01 -3.55401961e-03 2.17343143e+01] [ 5.82939829e-02 -2.48730380e-03 9.98296361e-01 1.28781543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.22, Y:21.74, Z:12.88 [[ 9.92910607e-01 -1.03565116e-01 -5.83334725e-02 2.75223024e+02] [ 1.03534225e-01 9.94619521e-01 -3.55980421e-03 2.17370332e+01] [ 5.83882821e-02 -2.50494351e-03 9.98290806e-01 1.28803175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.25, Y:21.74, Z:12.88 [[ 9.92829526e-01 -1.04231329e-01 -5.85265914e-02 2.75252307e+02] [ 1.04201377e-01 9.94549805e-01 -3.57178292e-03 2.17388685e+01] [ 5.85799018e-02 -2.55237988e-03 9.98279460e-01 1.28819124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.28, Y:21.74, Z:12.88 [[ 9.92714646e-01 -1.04528246e-01 -5.99289422e-02 2.75282860e+02] [ 1.04497336e-01 9.94518438e-01 -3.65821365e-03 2.17409174e+01] [ 5.99828247e-02 -2.63085252e-03 9.98195942e-01 1.28831369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.31, Y:21.74, Z:12.88 [[ 9.92720698e-01 -1.04420671e-01 -6.00161580e-02 2.75313620e+02] [ 1.04389474e-01 9.94529746e-01 -3.66353752e-03 2.17447697e+01] [ 6.00704034e-02 -2.62818566e-03 9.98190683e-01 1.28847121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.34, Y:21.75, Z:12.89 [[ 9.92777089e-01 -1.04440815e-01 -5.90403943e-02 2.75343889e+02] [ 1.04410656e-01 9.94527740e-01 -3.60397445e-03 2.17496445e+01] [ 5.90937120e-02 -2.58650306e-03 9.98249089e-01 1.28879957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.37, Y:21.75, Z:12.89 [[ 9.92854338e-01 -1.04395714e-01 -5.78082882e-02 2.75373712e+02] [ 1.04366720e-01 9.94532622e-01 -3.52876359e-03 2.17513697e+01] [ 5.78606162e-02 -2.52971321e-03 9.98321466e-01 1.28911994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.41, Y:21.76, Z:12.89 [[ 9.92877830e-01 -1.04693673e-01 -5.68581567e-02 2.75405154e+02] [ 1.04666128e-01 9.94501361e-01 -3.47042862e-03 2.17558618e+01] [ 5.69088462e-02 -2.50541147e-03 9.98376235e-01 1.28941716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.44, Y:21.76, Z:12.90 [[ 9.92881546e-01 -1.04658358e-01 -5.68582801e-02 2.75435942e+02] [ 1.04630871e-01 9.94505078e-01 -3.46840660e-03 2.17577098e+01] [ 5.69088460e-02 -2.50541446e-03 9.98376235e-01 1.28956385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.47, Y:21.76, Z:12.90 [[ 9.92909062e-01 -1.04347941e-01 -5.69482370e-02 2.75466708e+02] [ 1.04319975e-01 9.94537726e-01 -3.47186191e-03 2.17604196e+01] [ 5.69994518e-02 -2.49359548e-03 9.98371096e-01 1.28969709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.50, Y:21.76, Z:12.90 [[ 9.92924748e-01 -1.04211346e-01 -5.69248662e-02 2.75498097e+02] [ 1.04183294e-01 9.94552066e-01 -3.46840754e-03 2.17632365e+01] [ 5.69761907e-02 -2.48675237e-03 9.98372440e-01 1.28980984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.53, Y:21.76, Z:12.90 [[ 9.92968986e-01 -1.03709355e-01 -5.70698057e-02 2.75528846e+02] [ 1.03680441e-01 9.94604589e-01 -3.47535784e-03 2.17633785e+01] [ 5.71223177e-02 -2.46610008e-03 9.98364142e-01 1.28983863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.56, Y:21.77, Z:12.90 [[ 9.93132825e-01 -1.02925687e-01 -5.56191936e-02 2.75559561e+02] [ 1.02897057e-01 9.94686248e-01 -3.38590172e-03 2.17695865e+01] [ 5.56721432e-02 -2.36040117e-03 9.98446314e-01 1.29013954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.59, Y:21.77, Z:12.90 [[ 9.93221865e-01 -1.02188301e-01 -5.53884363e-02 2.75590529e+02] [ 1.02158873e-01 9.94762388e-01 -3.36987487e-03 2.17728451e+01] [ 5.54426950e-02 -2.31138681e-03 9.98459195e-01 1.29034211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.62, Y:21.77, Z:12.90 [[ 9.93280838e-01 -1.01640865e-01 -5.53381575e-02 2.75620806e+02] [ 1.01610744e-01 9.94818543e-01 -3.36497912e-03 2.17722102e+01] [ 5.53934446e-02 -2.28058209e-03 9.98462000e-01 1.29048094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.65, Y:21.78, Z:12.91 [[ 9.93489758e-01 -9.96147997e-02 -5.52719867e-02 2.75651944e+02] [ 9.95816846e-02 9.95023718e-01 -3.35983296e-03 2.17804714e+01] [ 5.53316268e-02 -2.16611792e-03 9.98465682e-01 1.29067111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.68, Y:21.78, Z:12.91 [[ 9.93532358e-01 -9.88182985e-02 -5.59320747e-02 2.75682608e+02] [ 9.87832357e-02 9.95103173e-01 -3.39807449e-03 2.17821791e+01] [ 5.59939769e-02 -2.14905435e-03 9.98428794e-01 1.29069456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.71, Y:21.79, Z:12.91 [[ 9.93638918e-01 -9.77617623e-02 -5.58957842e-02 2.75714000e+02] [ 9.77251410e-02 9.95207653e-01 -3.39472274e-03 2.17872464e+01] [ 5.59597863e-02 -2.08929476e-03 9.98430837e-01 1.29087250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.74, Y:21.79, Z:12.91 [[ 9.93723852e-01 -9.74116885e-02 -5.49897115e-02 2.75744032e+02] [ 9.73758078e-02 9.95242086e-01 -3.33788344e-03 2.17891931e+01] [ 5.50532240e-02 -2.03773319e-03 9.98481342e-01 1.29111480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.78, Y:21.79, Z:12.91 [[ 9.93709433e-01 -9.77856806e-02 -5.45850094e-02 2.75776335e+02] [ 9.77509625e-02 9.95205396e-01 -3.31196177e-03 2.17933507e+01] [ 5.46471583e-02 -2.04460955e-03 9.98503634e-01 1.29146430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.81, Y:21.80, Z:12.92 [[ 9.93728794e-01 -9.82313182e-02 -5.34199652e-02 2.75808543e+02] [ 9.81989097e-02 9.95161541e-01 -3.23747664e-03 2.17953971e+01] [ 5.34795165e-02 -2.02860858e-03 9.98566886e-01 1.29165817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.84, Y:21.80, Z:12.92 [[ 9.93720009e-01 -9.89847126e-02 -5.21782583e-02 2.75839547e+02] [ 9.89550178e-02 9.95086895e-01 -3.15857703e-03 2.17950657e+01] [ 5.22345519e-02 -2.02455929e-03 9.98632792e-01 1.29193044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.87, Y:21.80, Z:12.92 [[ 9.93711964e-01 -9.93930966e-02 -5.15513832e-02 2.75872101e+02] [ 9.93648053e-02 9.95046187e-01 -3.11778226e-03 2.17965901e+01] [ 5.16058933e-02 -2.02421563e-03 9.98665477e-01 1.29212675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.90, Y:21.80, Z:12.92 [[ 9.93719084e-01 -9.93217670e-02 -5.15516065e-02 2.75903732e+02] [ 9.92935714e-02 9.95053310e-01 -3.11408538e-03 2.17984413e+01] [ 5.16058932e-02 -2.02421705e-03 9.98665477e-01 1.29227737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.94, Y:21.80, Z:12.92 [[ 9.93617066e-01 -1.00439119e-01 -5.13527978e-02 2.75936061e+02] [ 1.00412818e-01 9.94941036e-01 -3.09838994e-03 2.18003591e+01] [ 5.14042054e-02 -2.07786604e-03 9.98675768e-01 1.29244293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.97, Y:21.80, Z:12.93 [[ 9.93624384e-01 -1.00366584e-01 -5.13530233e-02 2.75967694e+02] [ 1.00340380e-01 9.94948356e-01 -3.09464907e-03 2.18022072e+01] [ 5.14042054e-02 -2.07786308e-03 9.98675768e-01 1.29259356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.00, Y:21.80, Z:12.93 [[ 9.93512537e-01 -1.01054929e-01 -5.21607095e-02 2.75998998e+02] [ 1.01029055e-01 9.94878523e-01 -3.13926016e-03 2.18020107e+01] [ 5.22108074e-02 -2.15085286e-03 9.98633769e-01 1.29264313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.03, Y:21.80, Z:12.93 [[ 9.93386578e-01 -1.01838439e-01 -5.30286708e-02 2.76031460e+02] [ 1.01813125e-01 9.94798442e-01 -3.18561616e-03 2.18031166e+01] [ 5.30772573e-02 -2.23446634e-03 9.98587909e-01 1.29267776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.06, Y:21.80, Z:12.93 [[ 9.93393937e-01 -1.01766507e-01 -5.30289006e-02 2.76063095e+02] [ 1.01741294e-01 9.94805803e-01 -3.18178684e-03 2.18049554e+01] [ 5.30772573e-02 -2.23446123e-03 9.98587909e-01 1.29282841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.09, Y:21.80, Z:12.93 [[ 9.93057032e-01 -1.04171818e-01 -5.46439678e-02 2.76094533e+02] [ 1.04148890e-01 9.94556325e-01 -3.27488568e-03 2.18038241e+01] [ 5.46876546e-02 -2.43896035e-03 9.98500532e-01 1.29279161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.13, Y:21.80, Z:12.93 [[ 9.92914880e-01 -1.05219955e-01 -5.52159551e-02 2.76125731e+02] [ 1.05198273e-01 9.94445768e-01 -3.30716042e-03 2.18041104e+01] [ 5.52572522e-02 -2.52489435e-03 9.98468958e-01 1.29289766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.16, Y:21.80, Z:12.93 [[ 9.92701946e-01 -1.07672071e-01 -5.43099587e-02 2.76157304e+02] [ 1.07654854e-01 9.94183013e-01 -3.25097619e-03 2.18033064e+01] [ 5.43440777e-02 -2.61948031e-03 9.98518833e-01 1.29311784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.19, Y:21.81, Z:12.93 [[ 9.92645697e-01 -1.08654340e-01 -5.33737317e-02 2.76188931e+02] [ 1.08639231e-01 9.94076115e-01 -3.19293886e-03 2.18050079e+01] [ 5.34044785e-02 -2.62902416e-03 9.98569502e-01 1.29334331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.22, Y:21.81, Z:12.94 [[ 9.92569594e-01 -1.09624054e-01 -5.28031042e-02 2.76220897e+02] [ 1.09610789e-01 9.93969575e-01 -3.15584186e-03 2.18051566e+01] [ 5.28306352e-02 -2.65539722e-03 9.98599956e-01 1.29355480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.25, Y:21.81, Z:12.94 [[ 9.92392661e-01 -1.11643141e-01 -5.18904148e-02 2.76252510e+02] [ 1.11633266e-01 9.93744644e-01 -3.09767287e-03 2.18052211e+01] [ 5.19116557e-02 -2.71858868e-03 9.98647981e-01 1.29373817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.29, Y:21.81, Z:12.94 [[ 9.92327907e-01 -1.12086851e-01 -5.21714728e-02 2.76285015e+02] [ 1.12077636e-01 9.93694582e-01 -3.11148620e-03 2.18068683e+01] [ 5.21912666e-02 -2.75964074e-03 9.98633294e-01 1.29386362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.32, Y:21.81, Z:12.94 [[ 9.92216236e-01 -1.12617895e-01 -5.31427391e-02 2.76316749e+02] [ 1.12609317e-01 9.93634300e-01 -3.16526010e-03 2.18053861e+01] [ 5.31609133e-02 -2.84374510e-03 9.98581910e-01 1.29388887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.35, Y:21.81, Z:12.94 [[ 9.92214445e-01 -1.12695433e-01 -5.30116406e-02 2.76348422e+02] [ 1.12687284e-01 9.93625503e-01 -3.15223152e-03 2.18054436e+01] [ 5.30289601e-02 -2.84604814e-03 9.98588919e-01 1.29401068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.38, Y:21.81, Z:12.94 [[ 9.92238832e-01 -1.12619156e-01 -5.27164667e-02 2.76380299e+02] [ 1.12611143e-01 9.93634200e-01 -3.13175988e-03 2.18066917e+01] [ 5.27335803e-02 -2.82900783e-03 9.98604610e-01 1.29414559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.41, Y:21.81, Z:12.94 [[ 9.92312143e-01 -1.12354688e-01 -5.18944538e-02 2.76411934e+02] [ 1.12346747e-01 9.93664292e-01 -3.07934308e-03 2.18052394e+01] [ 5.19116444e-02 -2.77450354e-03 9.98647827e-01 1.29434561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.44, Y:21.81, Z:12.95 [[ 9.92411935e-01 -1.11731232e-01 -5.13291564e-02 2.76443645e+02] [ 1.11722772e-01 9.93734754e-01 -3.04302298e-03 2.18068209e+01] [ 5.13475673e-02 -2.71470331e-03 9.98677154e-01 1.29453229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.48, Y:21.81, Z:12.95 [[ 9.92518518e-01 -1.10791102e-01 -5.13061650e-02 2.76475433e+02] [ 1.10781583e-01 9.93840134e-01 -3.03806155e-03 2.18082906e+01] [ 5.13267161e-02 -2.66844582e-03 9.98678350e-01 1.29464185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.51, Y:21.81, Z:12.95 [[ 9.92633524e-01 -1.09738277e-01 -5.13439241e-02 2.76507010e+02] [ 1.09727525e-01 9.93957066e-01 -3.03671039e-03 2.18134726e+01] [ 5.13668995e-02 -2.61950117e-03 9.98676414e-01 1.29480265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.54, Y:21.82, Z:12.95 [[ 9.92717582e-01 -1.08771940e-01 -5.17732388e-02 2.76539188e+02] [ 1.08759893e-01 9.94063344e-01 -3.05834555e-03 2.18168387e+01] [ 5.17985411e-02 -2.59477850e-03 9.98654184e-01 1.29490856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.57, Y:21.82, Z:12.95 [[ 9.92998237e-01 -1.06221301e-01 -5.16869010e-02 2.76570711e+02] [ 1.06206040e-01 9.94339468e-01 -3.04953496e-03 2.18201056e+01] [ 5.17182512e-02 -2.46127824e-03 9.98658683e-01 1.29501403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.60, Y:21.82, Z:12.95 [[ 9.93324303e-01 -1.02925643e-01 -5.20878247e-02 2.76601021e+02] [ 1.02905803e-01 9.94686369e-01 -3.06979433e-03 2.18207136e+01] [ 5.21270098e-02 -2.31083811e-03 9.98637790e-01 1.29504807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.63, Y:21.83, Z:12.95 [[ 9.93721696e-01 -9.92603782e-02 -5.16194560e-02 2.76632571e+02] [ 9.92362145e-02 9.95059269e-01 -3.03722757e-03 2.18283566e+01] [ 5.16658946e-02 -2.10436048e-03 9.98662209e-01 1.29522606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.66, Y:21.83, Z:12.95 [[ 9.93912365e-01 -9.74889753e-02 -5.13235945e-02 2.76662789e+02] [ 9.74628805e-02 9.95234588e-01 -3.01690048e-03 2.18300846e+01] [ 5.13731309e-02 -2.00361066e-03 9.98677519e-01 1.29536718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.69, Y:21.83, Z:12.95 [[ 9.94093189e-01 -9.57633485e-02 -5.10696903e-02 2.76693361e+02] [ 9.57354249e-02 9.95402300e-01 -2.99832476e-03 2.18320992e+01] [ 5.11220168e-02 -1.90856427e-03 9.98690591e-01 1.29547757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.72, Y:21.83, Z:12.96 [[ 9.94100004e-01 -9.56925390e-02 -5.10697555e-02 2.76724991e+02] [ 9.56645791e-02 9.95409114e-01 -2.99721405e-03 2.18338966e+01] [ 5.11221111e-02 -1.90603616e-03 9.98690591e-01 1.29562827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.76, Y:21.84, Z:12.96 [[ 9.94295232e-01 -9.37388931e-02 -5.08921577e-02 2.76756518e+02] [ 9.37087546e-02 9.95595184e-01 -2.98322293e-03 2.18377659e+01] [ 5.09476311e-02 -1.80283638e-03 9.98699699e-01 1.29578010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.79, Y:21.84, Z:12.96 [[ 9.94606976e-01 -9.05504890e-02 -5.05724383e-02 2.76786945e+02] [ 9.05167570e-02 9.95890529e-01 -2.96162134e-03 2.18402883e+01] [ 5.06327886e-02 -1.63200386e-03 9.98716004e-01 1.29590374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.82, Y:21.84, Z:12.96 [[ 9.94747050e-01 -8.88843175e-02 -5.07728795e-02 2.76818052e+02] [ 8.88483847e-02 9.96040738e-01 -2.96876288e-03 2.18427032e+01] [ 5.08357328e-02 -1.55792022e-03 9.98705813e-01 1.29600588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.85, Y:21.84, Z:12.96 [[ 9.94844158e-01 -8.76769507e-02 -5.09691504e-02 2.76848506e+02] [ 8.76392476e-02 9.96147826e-01 -2.97847436e-03 2.18446276e+01] [ 5.10339519e-02 -1.50378018e-03 9.98695787e-01 1.29611513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.88, Y:21.85, Z:12.96 [[ 9.95176949e-01 -8.47384952e-02 -4.94188909e-02 2.76878507e+02] [ 8.46994708e-02 9.96402361e-01 -2.88706720e-03 2.18495261e+01] [ 4.94857453e-02 -1.31261118e-03 9.98773967e-01 1.29637886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.91, Y:21.85, Z:12.96 [[ 9.95279101e-01 -8.30657372e-02 -5.01955589e-02 2.76908935e+02] [ 8.30233522e-02 9.96543287e-01 -2.93244039e-03 2.18525808e+01] [ 5.02656326e-02 -1.24880693e-03 9.98735103e-01 1.29647000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.94, Y:21.85, Z:12.96 [[ 9.95362011e-01 -8.17835124e-02 -5.06549569e-02 2.76938872e+02] [ 8.17386926e-02 9.96649401e-01 -2.95922133e-03 2.18544805e+01] [ 5.07272480e-02 -1.19497346e-03 9.98711829e-01 1.29649320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.97, Y:21.86, Z:12.97 [[ 9.95504191e-01 -7.98784991e-02 -5.09002170e-02 2.76969411e+02] [ 7.98308001e-02 9.96803996e-01 -2.97270006e-03 2.18572647e+01] [ 5.09749945e-02 -1.10406968e-03 9.98699320e-01 1.29657904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.00, Y:21.86, Z:12.97 [[ 9.95853313e-01 -7.66122421e-02 -4.90585715e-02 2.76998797e+02] [ 7.65639701e-02 9.97060554e-01 -2.86517180e-03 2.18603079e+01] [ 4.91338737e-02 -9.02828168e-04 9.98791794e-01 1.29685152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.03, Y:21.86, Z:12.97 [[ 9.96081085e-01 -7.34995800e-02 -4.91963721e-02 2.77028714e+02] [ 7.34471997e-02 9.97294966e-01 -2.87408804e-03 2.18641224e+01] [ 4.92745385e-02 -7.50511033e-04 9.98784990e-01 1.29694509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.06, Y:21.87, Z:12.97 [[ 9.96150883e-01 -7.20699781e-02 -4.98932509e-02 2.77058141e+02] [ 7.20142643e-02 9.97399340e-01 -2.91573783e-03 2.18674479e+01] [ 4.99736327e-02 -6.88510935e-04 9.98750300e-01 1.29705274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.09, Y:21.87, Z:12.97 [[ 9.96250404e-01 -7.01356187e-02 -5.06569583e-02 2.77087273e+02] [ 7.00755924e-02 9.97537286e-01 -2.96222824e-03 2.18694998e+01] [ 5.07399624e-02 -5.98695285e-04 9.98711719e-01 1.29709001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.12, Y:21.87, Z:12.97 [[ 9.96252158e-01 -6.99928772e-02 -5.08196260e-02 2.77115743e+02] [ 6.99321483e-02 9.97547316e-01 -2.97430583e-03 2.18716471e+01] [ 5.09031617e-02 -5.90767021e-04 9.98703419e-01 1.29724302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.14, Y:21.87, Z:12.97 [[ 9.96234444e-01 -7.02451073e-02 -5.08188699e-02 2.77143894e+02] [ 7.01840502e-02 9.97529586e-01 -2.98716929e-03 2.18733358e+01] [ 5.09031603e-02 -5.90753186e-04 9.98703419e-01 1.29737761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.17, Y:21.87, Z:12.97 [[ 9.96270793e-01 -6.98101868e-02 -5.07054679e-02 2.77172046e+02] [ 6.97482135e-02 9.97560138e-01 -2.99280692e-03 2.18737306e+01] [ 5.07906820e-02 -5.54969674e-04 9.98709166e-01 1.29743169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.20, Y:21.87, Z:12.98 [[ 9.96239275e-01 -7.01359561e-02 -5.08748939e-02 2.77200300e+02] [ 7.00737584e-02 9.97537280e-01 -3.00738790e-03 2.18743813e+01] [ 5.09605293e-02 -5.68917085e-04 9.98700506e-01 1.29754138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.23, Y:21.88, Z:12.98 [[ 9.96237965e-01 -7.09036235e-02 -4.98256343e-02 2.77227693e+02] [ 7.08446835e-02 9.97482996e-01 -2.95019721e-03 2.18752438e+01] [ 4.99094027e-02 -5.90782826e-04 9.98753574e-01 1.29777926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.26, Y:21.88, Z:12.98 [[ 9.96248953e-01 -7.13029223e-02 -4.90297459e-02 2.77256453e+02] [ 7.12456608e-02 9.97454534e-01 -2.91676314e-03 2.18757065e+01] [ 4.91129161e-02 -5.87334415e-04 9.98793060e-01 1.29793948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.29, Y:21.88, Z:12.98 [[ 9.96227895e-01 -7.20622811e-02 -4.83426281e-02 2.77285538e+02] [ 7.20073822e-02 9.97399946e-01 -2.87846377e-03 2.18758791e+01] [ 4.84243633e-02 -6.13420198e-04 9.98826664e-01 1.29811653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.31, Y:21.87, Z:12.98 [[ 9.96126172e-01 -7.43304999e-02 -4.69853896e-02 2.77314878e+02] [ 7.42810467e-02 9.97233416e-01 -2.80009595e-03 2.18749652e+01] [ 4.70635331e-02 -7.00875061e-04 9.98891652e-01 1.29838686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.34, Y:21.87, Z:12.99 [[ 9.96114770e-01 -7.55095131e-02 -4.53175202e-02 2.77344529e+02] [ 7.54646559e-02 9.97144816e-01 -2.70229146e-03 2.18743496e+01] [ 4.53921790e-02 -7.28078632e-04 9.98968978e-01 1.29860196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.37, Y:21.88, Z:12.99 [[ 9.95998024e-01 -7.73042209e-02 -4.48552554e-02 2.77374726e+02] [ 7.72620552e-02 9.97007230e-01 -2.67555645e-03 2.18751901e+01] [ 4.49278458e-02 -8.00760289e-04 9.98989914e-01 1.29882360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.41, Y:21.87, Z:12.99 [[ 9.95584327e-01 -8.15668852e-02 -4.64617080e-02 2.77406038e+02] [ 8.15262800e-02 9.96667339e-01 -2.77139689e-03 2.18719136e+01] [ 4.65329211e-02 -1.02869091e-03 9.98916227e-01 1.29880276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.44, Y:21.87, Z:12.99 [[ 9.95323759e-01 -8.38417301e-02 -4.79705984e-02 2.77437747e+02] [ 8.38011271e-02 9.96478393e-01 -2.86049495e-03 2.18712827e+01] [ 4.80414937e-02 -1.17287162e-03 9.98844652e-01 1.29883625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.47, Y:21.87, Z:12.99 [[ 9.94844744e-01 -8.87368986e-02 -4.90886818e-02 2.77467858e+02] [ 8.87004151e-02 9.96054054e-01 -2.92543672e-03 2.18666983e+01] [ 4.91545747e-02 -1.44383111e-03 9.98790140e-01 1.29880445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.50, Y:21.87, Z:12.99 [[ 9.94588609e-01 -9.12860318e-02 -4.96020068e-02 2.77498403e+02] [ 9.12519032e-02 9.95823452e-01 -2.95689132e-03 2.18658513e+01] [ 4.96647645e-02 -1.58538710e-03 9.98764686e-01 1.29889658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.53, Y:21.87, Z:12.99 [[ 9.94377377e-01 -9.34140606e-02 -4.98742888e-02 2.77529944e+02] [ 9.33822326e-02 9.95625893e-01 -2.97303388e-03 2.18664798e+01] [ 4.99338565e-02 -1.70105480e-03 9.98751078e-01 1.29899519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.56, Y:21.86, Z:12.99 [[ 9.94042503e-01 -9.69057769e-02 -4.98876024e-02 2.77560093e+02] [ 9.68784058e-02 9.95291787e-01 -2.97209760e-03 2.18626087e+01] [ 4.99407344e-02 -1.87864006e-03 9.98750416e-01 1.29911303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.59, Y:21.86, Z:12.99 [[ 9.93947619e-01 -9.79671684e-02 -4.97047762e-02 2.77591027e+02] [ 9.79413256e-02 9.95187786e-01 -2.96112430e-03 2.18636201e+01] [ 4.97556791e-02 -1.92494922e-03 9.98759564e-01 1.29925197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.62, Y:21.86, Z:12.99 [[ 9.93789672e-01 -9.97440271e-02 -4.93276566e-02 2.77621254e+02] [ 9.97208431e-02 9.95011119e-01 -2.93693582e-03 2.18626901e+01] [ 4.93745086e-02 -2.00029901e-03 9.98778332e-01 1.29936878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.65, Y:21.86, Z:13.00 [[ 9.93745549e-01 -1.00416617e-01 -4.88496307e-02 2.77652235e+02] [ 1.00394734e-01 9.94943437e-01 -2.90758870e-03 2.18637208e+01] [ 4.88945897e-02 -2.01484234e-03 9.98801912e-01 1.29953398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.68, Y:21.87, Z:13.00 [[ 9.93721251e-01 -1.00925978e-01 -4.82910139e-02 2.77683461e+02] [ 1.00905273e-01 9.94891891e-01 -2.87264737e-03 2.18656842e+01] [ 4.83342628e-02 -2.01820718e-03 9.98829178e-01 1.29973319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.71, Y:21.87, Z:13.00 [[ 9.93562075e-01 -1.03213153e-01 -4.67059861e-02 2.77714898e+02] [ 1.03196378e-01 9.94657125e-01 -2.77674540e-03 2.18656095e+01] [ 4.67430386e-02 -2.06101967e-03 9.98904821e-01 1.30009209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.75, Y:21.87, Z:13.00 [[ 9.93214983e-01 -1.05222350e-01 -4.95202442e-02 2.77745804e+02] [ 1.05206082e-01 9.94446089e-01 -2.94217884e-03 2.18655922e+01] [ 4.95547962e-02 -2.28761477e-03 9.98768787e-01 1.29994766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.78, Y:21.86, Z:13.00 [[ 9.92982921e-01 -1.06866020e-01 -5.06416128e-02 2.77776499e+02] [ 1.06851248e-01 9.94270472e-01 -3.00669947e-03 2.18640687e+01] [ 5.06727743e-02 -2.42551830e-03 9.98712364e-01 1.29987399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.81, Y:21.87, Z:13.00 [[ 9.92724015e-01 -1.09701638e-01 -4.96445411e-02 2.77807789e+02] [ 1.09691017e-01 9.93961367e-01 -2.94659734e-03 2.18658804e+01] [ 4.96680024e-02 -2.52040228e-03 9.98762603e-01 1.30020100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.84, Y:21.86, Z:13.00 [[ 9.92372086e-01 -1.12621114e-01 -5.01410844e-02 2.77838322e+02] [ 1.12614084e-01 9.93634350e-01 -2.97426921e-03 2.18619081e+01] [ 5.01568693e-02 -2.69501057e-03 9.98737716e-01 1.30033757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.87, Y:21.86, Z:13.00 [[ 9.92143559e-01 -1.13916568e-01 -5.17124218e-02 2.77869123e+02] [ 1.13910936e-01 9.93486235e-01 -3.06582537e-03 2.18639865e+01] [ 5.17248275e-02 -2.84887145e-03 9.98657312e-01 1.30036580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.90, Y:21.87, Z:13.01 [[ 9.92143561e-01 -1.13916529e-01 -5.17124705e-02 2.77899082e+02] [ 1.13910939e-01 9.93486237e-01 -3.06500293e-03 2.18657618e+01] [ 5.17247823e-02 -2.84969317e-03 9.98657312e-01 1.30050856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.93, Y:21.87, Z:13.01 [[ 9.92143561e-01 -1.13916529e-01 -5.17124705e-02 2.77929042e+02] [ 1.13910939e-01 9.93486237e-01 -3.06500293e-03 2.18675375e+01] [ 5.17247823e-02 -2.84969317e-03 9.98657312e-01 1.30065135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.96, Y:21.87, Z:13.01 [[ 9.91911474e-01 -1.15278998e-01 -5.31260785e-02 2.77959133e+02] [ 1.15275045e-01 9.93328621e-01 -3.14888575e-03 2.18679069e+01] [ 5.31346547e-02 -3.00069518e-03 9.98582848e-01 1.30067551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.99, Y:21.87, Z:13.01 [[ 9.91647142e-01 -1.17027121e-01 -5.42272820e-02 2.77989587e+02] [ 1.17025565e-01 9.93123699e-01 -3.21499182e-03 2.18685220e+01] [ 5.42306401e-02 -3.15784088e-03 9.98523443e-01 1.30066252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.02, Y:21.87, Z:13.01 [[ 9.91569238e-01 -1.17564988e-01 -5.44877886e-02 2.78020503e+02] [ 1.17564227e-01 9.93060027e-01 -3.23043657e-03 2.18696667e+01] [ 5.44894311e-02 -3.20261323e-03 9.98509211e-01 1.30077035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.05, Y:21.88, Z:13.01 [[ 9.91583275e-01 -1.17656754e-01 -5.40323660e-02 2.78050165e+02] [ 1.17656139e-01 9.93049229e-01 -3.20343576e-03 2.18753124e+01] [ 5.40337052e-02 -3.18076623e-03 9.98534046e-01 1.30099953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.08, Y:21.88, Z:13.01 [[ 9.91583275e-01 -1.17656754e-01 -5.40323660e-02 2.78080131e+02] [ 1.17656139e-01 9.93049229e-01 -3.20343576e-03 2.18770890e+01] [ 5.40337052e-02 -3.18076623e-03 9.98534046e-01 1.30114235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.11, Y:21.88, Z:13.01 [[ 9.91920976e-01 -1.15297954e-01 -5.29070809e-02 2.78109563e+02] [ 1.15294012e-01 9.93326458e-01 -3.13681629e-03 2.18799036e+01] [ 5.29156718e-02 -2.98839572e-03 9.98594513e-01 1.30141110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.14, Y:21.89, Z:13.02 [[ 9.92204990e-01 -1.13134560e-01 -5.22477720e-02 2.78140557e+02] [ 1.13127690e-01 9.93575627e-01 -3.09837357e-03 2.18876589e+01] [ 5.22626459e-02 -2.83644802e-03 9.98629346e-01 1.30168279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.17, Y:21.89, Z:13.02 [[ 9.92544573e-01 -1.10620268e-01 -5.11705612e-02 2.78170626e+02] [ 1.10610432e-01 9.93859213e-01 -3.03275779e-03 2.18882527e+01] [ 5.11918181e-02 -2.64985061e-03 9.98685324e-01 1.30184771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.20, Y:21.90, Z:13.02 [[ 9.92892098e-01 -1.07799098e-01 -5.04443974e-02 2.78201699e+02] [ 1.07785957e-01 9.94169631e-01 -2.98871745e-03 2.18978349e+01] [ 5.04724690e-02 -2.46972373e-03 9.98722399e-01 1.30207512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.23, Y:21.90, Z:13.02 [[ 9.93523078e-01 -1.02284429e-01 -4.94953354e-02 2.78231049e+02] [ 1.02265072e-01 9.94752869e-01 -2.92996549e-03 2.19027345e+01] [ 4.95353167e-02 -2.15065571e-03 9.98770057e-01 1.30225975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.26, Y:21.91, Z:13.02 [[ 9.93790017e-01 -9.96886512e-02 -4.94325352e-02 2.78262000e+02] [ 9.96661151e-02 9.95016633e-01 -2.92673426e-03 2.19109686e+01] [ 4.94779569e-02 -2.01818946e-03 9.98773177e-01 1.30246749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.29, Y:21.92, Z:13.03 [[ 9.94117314e-01 -9.58931133e-02 -5.03515377e-02 2.78291898e+02] [ 9.58649670e-02 9.95389889e-01 -2.97929262e-03 2.19152112e+01] [ 5.04051052e-02 -1.86518212e-03 9.98727113e-01 1.30254550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.32, Y:21.92, Z:13.03 [[ 9.94231452e-01 -9.42418433e-02 -5.12083549e-02 2.78322967e+02] [ 9.42105992e-02 9.95547683e-01 -3.02895718e-03 2.19186450e+01] [ 5.12658136e-02 -1.81288530e-03 9.98683398e-01 1.30261964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.35, Y:21.92, Z:13.03 [[ 9.94357223e-01 -9.21564398e-02 -5.25442962e-02 2.78353500e+02] [ 9.21207375e-02 9.95743000e-01 -3.10612194e-03 2.19216676e+01] [ 5.26068642e-02 -1.75182453e-03 9.98613764e-01 1.30269190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.38, Y:21.93, Z:13.03 [[ 9.94542175e-01 -9.00022767e-02 -5.27773929e-02 2.78383995e+02] [ 8.99632741e-02 9.95940199e-01 -3.11904667e-03 2.19250698e+01] [ 5.28438486e-02 -1.64600361e-03 9.98601431e-01 1.30281044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.41, Y:21.93, Z:13.03 [[ 9.94741574e-01 -8.72688137e-02 -5.36036877e-02 2.78414590e+02] [ 8.72246241e-02 9.96183633e-01 -3.16776738e-03 2.19310992e+01] [ 5.36755637e-02 -1.52445161e-03 9.98557264e-01 1.30303640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.44, Y:21.93, Z:13.03 [[ 9.94738423e-01 -8.73046940e-02 -5.36037252e-02 2.78443670e+02] [ 8.72605906e-02 9.96180485e-01 -3.16713286e-03 2.19328451e+01] [ 5.36754906e-02 -1.52702398e-03 9.98557264e-01 1.30317498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.47, Y:21.94, Z:13.03 [[ 9.94873892e-01 -8.58907456e-02 -5.33733852e-02 2.78471982e+02] [ 8.58448772e-02 9.96303518e-01 -3.15559593e-03 2.19354859e+01] [ 5.34471280e-02 -1.44241170e-03 9.98569639e-01 1.30330616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.50, Y:21.94, Z:13.03 [[ 9.95020782e-01 -8.42233124e-02 -5.32923650e-02 2.78501415e+02] [ 8.41750301e-02 9.96445993e-01 -3.15388291e-03 2.19388750e+01] [ 5.33685940e-02 -1.34770739e-03 9.98573972e-01 1.30348417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.53, Y:21.94, Z:13.04 [[ 9.95215386e-01 -8.13854021e-02 -5.40624732e-02 2.78530428e+02] [ 8.13313936e-02 9.96681971e-01 -3.20201285e-03 2.19434626e+01] [ 5.41436894e-02 -1.21028383e-03 9.98532421e-01 1.30355236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.56, Y:21.95, Z:13.04 [[ 9.95282262e-01 -8.02424013e-02 -5.45378487e-02 2.78557732e+02] [ 8.01853571e-02 9.96774714e-01 -3.23689076e-03 2.19462174e+01] [ 5.46216845e-02 -1.15151693e-03 9.98506457e-01 1.30366741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.59, Y:21.95, Z:13.04 [[ 9.95361750e-01 -7.86507379e-02 -5.53989982e-02 2.78586050e+02] [ 7.85890703e-02 9.96901653e-01 -3.29421344e-03 2.19507679e+01] [ 5.54864452e-02 -1.07482170e-03 9.98458862e-01 1.30380905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.61, Y:21.95, Z:13.04 [[ 9.95396822e-01 -7.81955573e-02 -5.54131911e-02 2.78614679e+02] [ 7.81323834e-02 9.96937501e-01 -3.30891306e-03 2.19534908e+01] [ 5.55022306e-02 -1.03588315e-03 9.98458026e-01 1.30395577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.64, Y:21.96, Z:13.04 [[ 9.95335760e-01 -7.88860875e-02 -5.55311698e-02 2.78643641e+02] [ 7.88229472e-02 9.96883070e-01 -3.32978874e-03 2.19554527e+01] [ 5.56207571e-02 -1.06287266e-03 9.98451402e-01 1.30413224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.67, Y:21.95, Z:13.04 [[ 9.94923180e-01 -8.27651010e-02 -5.72521115e-02 2.78672225e+02] [ 8.27036735e-02 9.96568227e-01 -3.44560418e-03 2.19545893e+01] [ 5.73408110e-02 -1.30684847e-03 9.98353807e-01 1.30414185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.70, Y:21.96, Z:13.04 [[ 9.94589806e-01 -8.60617484e-02 -5.81764056e-02 2.78701599e+02] [ 8.60037814e-02 9.96288648e-01 -3.50414799e-03 2.19558228e+01] [ 5.82620656e-02 -1.51820100e-03 9.98300169e-01 1.30433485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.73, Y:21.96, Z:13.04 [[ 9.94565204e-01 -8.63457868e-02 -5.81761185e-02 2.78728913e+02] [ 8.62880269e-02 9.96264053e-01 -3.50890534e-03 2.19575340e+01] [ 5.82617548e-02 -1.53006732e-03 9.98300169e-01 1.30446512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.76, Y:21.96, Z:13.05 [[ 9.94417788e-01 -8.82570972e-02 -5.78268804e-02 2.78757183e+02] [ 8.82023184e-02 9.96096418e-01 -3.50397570e-03 2.19586419e+01] [ 5.79103992e-02 -1.61604915e-03 9.98320477e-01 1.30467245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.79, Y:21.96, Z:13.05 [[ 9.94395612e-01 -8.85071781e-02 -5.78259980e-02 2.78785343e+02] [ 8.84519785e-02 9.96074228e-01 -3.51848288e-03 2.19603944e+01] [ 5.79103974e-02 -1.61606000e-03 9.98320477e-01 1.30480709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.81, Y:21.96, Z:13.05 [[ 9.94238613e-01 -9.01855976e-02 -5.79321833e-02 2.78814127e+02] [ 9.01321888e-02 9.95923521e-01 -3.53957932e-03 2.19617596e+01] [ 5.80152430e-02 -1.70236804e-03 9.98314246e-01 1.30499914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.84, Y:21.96, Z:13.05 [[ 9.94215833e-01 -9.04369547e-02 -5.79312864e-02 2.78842287e+02] [ 9.03831205e-02 9.95900728e-01 -3.55420327e-03 2.19635245e+01] [ 5.80152416e-02 -1.70236527e-03 9.98314246e-01 1.30513379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.87, Y:21.96, Z:13.05 [[ 9.94014203e-01 -9.28117714e-02 -5.76345404e-02 2.78871093e+02] [ 9.27617480e-02 9.95682011e-01 -3.54850080e-03 2.19621060e+01] [ 5.77150177e-02 -1.81902052e-03 9.98331442e-01 1.30524630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.90, Y:21.96, Z:13.05 [[ 9.93791559e-01 -9.49983331e-02 -5.79107420e-02 2.78900207e+02] [ 9.49513526e-02 9.95475517e-01 -3.56863123e-03 2.19634553e+01] [ 5.79877398e-02 -1.95222769e-03 9.98315386e-01 1.30544733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.93, Y:21.96, Z:13.06 [[ 9.93667315e-01 -9.62908698e-02 -5.79079963e-02 2.78929402e+02] [ 9.62459144e-02 9.95351179e-01 -3.57138074e-03 2.19648442e+01] [ 5.79826838e-02 -2.02464375e-03 9.98315536e-01 1.30560618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.96, Y:21.97, Z:13.06 [[ 9.93566591e-01 -9.72595260e-02 -5.80173504e-02 2.78959232e+02] [ 9.72159381e-02 9.95256874e-01 -3.58002463e-03 2.19672146e+01] [ 5.80903583e-02 -2.08321827e-03 9.98309156e-01 1.30582286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.99, Y:21.97, Z:13.06 [[ 9.93397581e-01 -9.85899801e-02 -5.86622710e-02 2.78988750e+02] [ 9.85476782e-02 9.95125743e-01 -3.62076236e-03 2.19667727e+01] [ 5.87333069e-02 -2.18417403e-03 9.98271320e-01 1.30590249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.02, Y:21.97, Z:13.06 [[ 9.93010246e-01 -1.01416150e-01 -6.03772852e-02 2.79018105e+02] [ 1.01376536e-01 9.94841147e-01 -3.72690338e-03 2.19657070e+01] [ 6.04437759e-02 -2.41998678e-03 9.98168670e-01 1.30595637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.05, Y:21.97, Z:13.06 [[ 9.92786400e-01 -1.02934457e-01 -6.14789548e-02 2.79047392e+02] [ 1.02896259e-01 9.94684852e-01 -3.79542121e-03 2.19671203e+01] [ 6.15428647e-02 -2.55791189e-03 9.98101164e-01 1.30607683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.08, Y:21.97, Z:13.06 [[ 9.92577741e-01 -1.04505862e-01 -6.21928688e-02 2.79077281e+02] [ 1.04469710e-01 9.94520649e-01 -3.84173107e-03 2.19687554e+01] [ 6.22535756e-02 -2.68405423e-03 9.98056756e-01 1.30624422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.11, Y:21.97, Z:13.06 [[ 9.92439998e-01 -1.05669758e-01 -6.24239776e-02 2.79105704e+02] [ 1.05635459e-01 9.94397435e-01 -3.85880482e-03 2.19682198e+01] [ 6.24820022e-02 -2.76455325e-03 9.98042262e-01 1.30634751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.14, Y:21.97, Z:13.06 [[ 9.92108709e-01 -1.07731002e-01 -6.41431244e-02 2.79135382e+02] [ 1.07698825e-01 9.94175643e-01 -3.96919127e-03 2.19696551e+01] [ 6.41971369e-02 -2.97026989e-03 9.97932816e-01 1.30646900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.16, Y:21.97, Z:13.07 [[ 9.92035891e-01 -1.08044668e-01 -6.47390142e-02 2.79164352e+02] [ 1.08012165e-01 9.94141476e-01 -4.01213336e-03 2.19713742e+01] [ 6.47932287e-02 -3.01242080e-03 9.97894164e-01 1.30659568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.19, Y:21.97, Z:13.07 [[ 9.92068986e-01 -1.07365522e-01 -6.53587912e-02 2.79192204e+02] [ 1.07330034e-01 9.94215141e-01 -4.06416741e-03 2.19735410e+01] [ 6.54170512e-02 -2.98302685e-03 9.97853552e-01 1.30674396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.22, Y:21.98, Z:13.07 [[ 9.92188148e-01 -1.06389542e-01 -6.51455568e-02 2.79220209e+02] [ 1.06351627e-01 9.94320297e-01 -4.05948285e-03 2.19759397e+01] [ 6.52074359e-02 -2.90056518e-03 9.97867515e-01 1.30686929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.25, Y:21.98, Z:13.07 [[ 9.92279892e-01 -1.05375497e-01 -6.53958720e-02 2.79248769e+02] [ 1.05334034e-01 9.94428481e-01 -4.09126089e-03 2.19789968e+01] [ 6.54626363e-02 -2.82873509e-03 9.97851012e-01 1.30705126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.28, Y:21.99, Z:13.07 [[ 9.92686796e-01 -1.01712568e-01 -6.50190690e-02 2.79278279e+02] [ 1.01662961e-01 9.94810534e-01 -4.07965574e-03 2.19862804e+01] [ 6.50966071e-02 -2.56021070e-03 9.97875682e-01 1.30738127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.31, Y:21.99, Z:13.07 [[ 9.92926762e-01 -9.95987071e-02 -6.46261838e-02 2.79306138e+02] [ 9.95450739e-02 9.95024782e-01 -4.05739365e-03 2.19876298e+01] [ 6.47087655e-02 -2.40452351e-03 9.97901295e-01 1.30747957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.33, Y:21.99, Z:13.08 [[ 9.93167230e-01 -9.74338424e-02 -6.42300495e-02 2.79334494e+02] [ 9.73759974e-02 9.95239474e-01 -4.03793023e-03 2.19927237e+01] [ 6.43177117e-02 -2.24412514e-03 9.97926949e-01 1.30773878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.36, Y:22.00, Z:13.08 [[ 9.93530444e-01 -9.32569795e-02 -6.48104379e-02 2.79364203e+02] [ 9.31889735e-02 9.95640088e-01 -4.07812508e-03 2.19983328e+01] [ 6.49081837e-02 -1.98787676e-03 9.97889260e-01 1.30799042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.39, Y:22.00, Z:13.08 [[ 9.93695708e-01 -9.15326127e-02 -6.47350074e-02 2.79393280e+02] [ 9.14607985e-02 9.95800327e-01 -4.07820574e-03 2.20022179e+01] [ 6.48364303e-02 -1.86821993e-03 9.97894156e-01 1.30818118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.42, Y:22.01, Z:13.08 [[ 9.93800289e-01 -9.01567021e-02 -6.50596242e-02 2.79421540e+02] [ 9.00802190e-02 9.95926016e-01 -4.11403257e-03 2.20054441e+01] [ 6.51654799e-02 -1.77205844e-03 9.97872898e-01 1.30834571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.45, Y:22.01, Z:13.08 [[ 9.93875223e-01 -8.86516063e-02 -6.59767614e-02 2.79449727e+02] [ 8.85685463e-02 9.96061277e-01 -4.18857293e-03 2.20079448e+01] [ 6.60882210e-02 -1.68054699e-03 9.97812369e-01 1.30832165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.48, Y:22.01, Z:13.09 [[ 9.93832071e-01 -8.84063329e-02 -6.69487525e-02 2.79476940e+02] [ 8.83190730e-02 9.96083092e-01 -4.26783570e-03 2.20115196e+01] [ 6.70638242e-02 -1.67133977e-03 9.97747288e-01 1.30852143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.51, Y:22.01, Z:13.09 [[ 9.93967034e-01 -8.69094213e-02 -6.69050691e-02 2.79505562e+02] [ 8.68176349e-02 9.96215011e-01 -4.28372744e-03 2.20146090e+01] [ 6.70241304e-02 -1.55065600e-03 9.97750150e-01 1.30865804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.53, Y:22.02, Z:13.09 [[ 9.94068835e-01 -8.59939081e-02 -6.65747575e-02 2.79533546e+02] [ 8.59000670e-02 9.96294581e-01 -4.27617123e-03 2.20172090e+01] [ 6.66957949e-02 -1.46796758e-03 9.97772277e-01 1.30879889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.56, Y:22.02, Z:13.09 [[ 9.94153237e-01 -8.49418414e-02 -6.66650198e-02 2.79562580e+02] [ 8.48448016e-02 9.96384941e-01 -4.29066769e-03 2.20206026e+01] [ 6.67884790e-02 -1.39059920e-03 9.97766188e-01 1.30901427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.59, Y:22.02, Z:13.09 [[ 9.94350990e-01 -8.27428322e-02 -6.64810692e-02 2.79590342e+02] [ 8.26405173e-02 9.96570179e-01 -4.29233256e-03 2.20239026e+01] [ 6.66082108e-02 -1.22594482e-03 9.97778454e-01 1.30912443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.62, Y:22.03, Z:13.09 [[ 9.94428322e-01 -8.19527981e-02 -6.63027212e-02 2.79619348e+02] [ 8.18485524e-02 9.96635538e-01 -4.29171445e-03 2.20266440e+01] [ 6.64313662e-02 -1.15897936e-03 9.97790324e-01 1.30927444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.65, Y:22.03, Z:13.10 [[ 9.94634675e-01 -8.10095651e-02 -6.43375017e-02 2.79648125e+02] [ 8.09084447e-02 9.96712773e-01 -4.17989061e-03 2.20304898e+01] [ 6.44646209e-02 -1.04798306e-03 9.97919443e-01 1.30959135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.68, Y:22.03, Z:13.10 [[ 9.94647178e-01 -8.11399409e-02 -6.39789056e-02 2.79675556e+02] [ 8.10391372e-02 9.96702183e-01 -4.17336002e-03 2.20325035e+01] [ 6.41065411e-02 -1.03377455e-03 9.97942525e-01 1.30978125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.70, Y:22.03, Z:13.10 [[ 9.94623596e-01 -8.14294678e-02 -6.39776880e-02 2.79702852e+02] [ 8.13280666e-02 9.96678571e-01 -4.19195340e-03 2.20343521e+01] [ 6.41065392e-02 -1.03376591e-03 9.97942525e-01 1.30991189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.73, Y:22.04, Z:13.10 [[ 9.94677275e-01 -8.15693683e-02 -6.29567888e-02 2.79731027e+02] [ 8.14704705e-02 9.96667155e-01 -4.14069092e-03 2.20354337e+01] [ 6.30847171e-02 -1.01046805e-03 9.98007664e-01 1.31000843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.76, Y:22.04, Z:13.10 [[ 9.94679067e-01 -8.21027127e-02 -6.22310037e-02 2.79758760e+02] [ 8.20064810e-02 9.96623349e-01 -4.10326872e-03 2.20370032e+01] [ 6.23577608e-02 -1.02191012e-03 9.98053338e-01 1.31015093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.79, Y:22.04, Z:13.10 [[ 9.94604416e-01 -8.28977159e-02 -6.23700616e-02 2.79787013e+02] [ 8.28015262e-02 9.96557501e-01 -4.12981772e-03 2.20392588e+01] [ 6.24977052e-02 -1.05680135e-03 9.98044548e-01 1.31033478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.81, Y:22.04, Z:13.10 [[ 9.94402137e-01 -8.50854974e-02 -6.26486052e-02 2.79814678e+02] [ 8.49919319e-02 9.96372948e-01 -4.16177001e-03 2.20382830e+01] [ 6.27754817e-02 -1.18615300e-03 9.98026970e-01 1.31027135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.84, Y:22.04, Z:13.11 [[ 9.94297244e-01 -8.66212538e-02 -6.22073087e-02 2.79843707e+02] [ 8.65315058e-02 9.96240511e-01 -4.14041941e-03 2.20403040e+01] [ 6.23320893e-02 -1.26608449e-03 9.98054662e-01 1.31052423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.87, Y:22.04, Z:13.11 [[ 9.94147734e-01 -8.85811887e-02 -6.18357190e-02 2.79871015e+02] [ 8.84954195e-02 9.96068023e-01 -4.12979231e-03 2.20399630e+01] [ 6.19584043e-02 -1.36655422e-03 9.98077797e-01 1.31063225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.90, Y:22.04, Z:13.11 [[ 9.93922397e-01 -9.08380088e-02 -6.21830023e-02 2.79899584e+02] [ 9.07549904e-02 9.95864545e-01 -4.16407520e-03 2.20405923e+01] [ 6.23041036e-02 -1.50465018e-03 9.98056078e-01 1.31073145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.93, Y:22.04, Z:13.11 [[ 9.93539882e-01 -9.47596509e-02 -6.24428721e-02 2.79928561e+02] [ 9.46828456e-02 9.95498651e-01 -4.19457583e-03 2.20387528e+01] [ 6.25592715e-02 -1.74479045e-03 9.98039725e-01 1.31081205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.96, Y:22.04, Z:13.11 [[ 9.93396247e-01 -9.68174662e-02 -6.15652074e-02 2.79957347e+02] [ 9.67463081e-02 9.95300452e-01 -4.14273778e-03 2.20392888e+01] [ 6.16769681e-02 -1.84082636e-03 9.98094466e-01 1.31098609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.99, Y:22.04, Z:13.11 [[ 9.93230258e-01 -9.87050126e-02 -6.12452048e-02 2.79986106e+02] [ 9.86372410e-02 9.95114860e-01 -4.13636488e-03 2.20394461e+01] [ 6.13542934e-02 -1.93269527e-03 9.98114180e-01 1.31112123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.02, Y:22.04, Z:13.11 [[ 9.93021589e-01 -1.01647073e-01 -5.97996274e-02 2.80015007e+02] [ 1.01587055e-01 9.94818406e-01 -4.05085722e-03 2.20372350e+01] [ 5.99015278e-02 -2.05227938e-03 9.98202181e-01 1.31126274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.04, Y:22.04, Z:13.11 [[ 9.92906300e-01 -1.02971784e-01 -5.94465362e-02 2.80044983e+02] [ 1.02914681e-01 9.94682025e-01 -4.02962850e-03 2.20373782e+01] [ 5.95453390e-02 -2.11687779e-03 9.98223357e-01 1.31138585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.07, Y:22.04, Z:13.12 [[ 9.92740025e-01 -1.05187995e-01 -5.83329155e-02 2.80074828e+02] [ 1.05136767e-01 9.94449907e-01 -3.95514255e-03 2.20394121e+01] [ 5.84251959e-02 -2.20650582e-03 9.98289351e-01 1.31161600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.11, Y:22.04, Z:13.12 [[ 9.92658117e-01 -1.06162249e-01 -5.79606666e-02 2.80106180e+02] [ 1.06113302e-01 9.94346277e-01 -3.93036350e-03 2.20418087e+01] [ 5.80502292e-02 -2.24889046e-03 9.98311131e-01 1.31179814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.14, Y:22.04, Z:13.12 [[ 9.92583770e-01 -1.07297767e-01 -5.71371083e-02 2.80137206e+02] [ 1.07252184e-01 9.94224307e-01 -3.87263872e-03 2.20380992e+01] [ 5.72226273e-02 -2.28416131e-03 9.98358830e-01 1.31184275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.17, Y:22.04, Z:13.12 [[ 9.92284862e-01 -1.10148027e-01 -5.69048709e-02 2.80168172e+02] [ 1.10107555e-01 9.93912199e-01 -3.85570250e-03 2.20422475e+01] [ 5.69831434e-02 -2.43970096e-03 9.98372160e-01 1.31215678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.20, Y:22.04, Z:13.12 [[ 9.92154569e-01 -1.11468905e-01 -5.66038292e-02 2.80199208e+02] [ 1.11431118e-01 9.93764767e-01 -3.83327456e-03 2.20428742e+01] [ 5.66781821e-02 -2.50422709e-03 9.98389359e-01 1.31226529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.23, Y:22.04, Z:13.12 [[ 9.92026532e-01 -1.12762651e-01 -5.62844995e-02 2.80229710e+02] [ 1.12727469e-01 9.93618641e-01 -3.80979318e-03 2.20423024e+01] [ 5.63549302e-02 -2.56539325e-03 9.98407502e-01 1.31234658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.26, Y:22.04, Z:13.12 [[ 9.91894279e-01 -1.13951133e-01 -5.62216857e-02 2.80261205e+02] [ 1.13917998e-01 9.93482872e-01 -3.80438025e-03 2.20430087e+01] [ 5.62887952e-02 -2.63111888e-03 9.98411062e-01 1.31246821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.29, Y:22.04, Z:13.13 [[ 9.91726923e-01 -1.15846939e-01 -5.52919288e-02 2.80292955e+02] [ 1.15817932e-01 9.93263421e-01 -3.73952928e-03 2.20428276e+01] [ 5.53526633e-02 -2.69520498e-03 9.98463228e-01 1.31262916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.32, Y:22.05, Z:13.13 [[ 9.91687117e-01 -1.16424117e-01 -5.47912960e-02 2.80324882e+02] [ 1.16396630e-01 9.93195907e-01 -3.70347859e-03 2.20455855e+01] [ 5.48496651e-02 -2.70483018e-03 9.98490960e-01 1.31285226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.36, Y:22.05, Z:13.13 [[ 9.91682760e-01 -1.16825937e-01 -5.40092889e-02 2.80357442e+02] [ 1.16800027e-01 9.93148758e-01 -3.64679272e-03 2.20469245e+01] [ 5.40652981e-02 -2.69182492e-03 9.98533774e-01 1.31304232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.39, Y:22.05, Z:13.13 [[ 9.91794908e-01 -1.16092225e-01 -5.35299461e-02 2.80389461e+02] [ 1.16065909e-01 9.93234951e-01 -3.61064014e-03 2.20481402e+01] [ 5.35869807e-02 -2.63198736e-03 9.98559717e-01 1.31323568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.42, Y:22.05, Z:13.13 [[ 9.92011349e-01 -1.14525701e-01 -5.28899526e-02 2.80420251e+02] [ 1.14497975e-01 9.93417089e-01 -3.56395598e-03 2.20512718e+01] [ 5.29499473e-02 -2.52030770e-03 9.98593987e-01 1.31339683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.45, Y:22.05, Z:13.14 [[ 9.92120545e-01 -1.13712695e-01 -5.25951257e-02 2.80451504e+02] [ 1.13684241e-01 9.93510617e-01 -3.54211599e-03 2.20515703e+01] [ 5.26565993e-02 -2.46503093e-03 9.98609637e-01 1.31355933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.48, Y:22.05, Z:13.14 [[ 9.92257325e-01 -1.12705721e-01 -5.21806597e-02 2.80483712e+02] [ 1.12676473e-01 9.93625524e-01 -3.51135675e-03 2.20543760e+01] [ 5.22437853e-02 -2.39536325e-03 9.98631488e-01 1.31374120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.52, Y:22.06, Z:13.14 [[ 9.92361808e-01 -1.11963518e-01 -5.17900926e-02 2.80516064e+02] [ 1.11933891e-01 9.93709557e-01 -3.48133316e-03 2.20606946e+01] [ 5.18540923e-02 -2.34232454e-03 9.98651925e-01 1.31392073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.55, Y:22.06, Z:13.14 [[ 9.92445161e-01 -1.11074737e-01 -5.21057036e-02 2.80547675e+02] [ 1.11043790e-01 9.93809360e-01 -3.49751794e-03 2.20631940e+01] [ 5.21716218e-02 -2.31492008e-03 9.98635451e-01 1.31408682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.58, Y:22.06, Z:13.14 [[ 9.92623047e-01 -1.09153015e-01 -5.27741112e-02 2.80578481e+02] [ 1.09118758e-01 9.94022422e-01 -3.53865434e-03 2.20638974e+01] [ 5.28449046e-02 -2.24609564e-03 9.98600206e-01 1.31414621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.61, Y:22.07, Z:13.14 [[ 9.92753778e-01 -1.07900470e-01 -5.28906848e-02 2.80610131e+02] [ 1.07864403e-01 9.94159297e-01 -3.54432937e-03 2.20681927e+01] [ 5.29642009e-02 -2.18637578e-03 9.98594018e-01 1.31432236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.64, Y:22.07, Z:13.14 [[ 9.92887818e-01 -1.06529824e-01 -5.31523989e-02 2.80641759e+02] [ 1.06491644e-01 9.94307231e-01 -3.55803834e-03 2.20679822e+01] [ 5.32288518e-02 -2.12755343e-03 9.98580073e-01 1.31441818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.67, Y:22.07, Z:13.15 [[ 9.93229014e-01 -1.03003764e-01 -5.37247616e-02 2.80672813e+02] [ 1.02959764e-01 9.94679031e-01 -3.59349094e-03 2.20734998e+01] [ 5.38090369e-02 -1.96232929e-03 9.98549316e-01 1.31455635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.70, Y:22.08, Z:13.15 [[ 9.93413528e-01 -1.00856789e-01 -5.43826390e-02 2.80704426e+02] [ 1.00808611e-01 9.94899195e-01 -3.63535566e-03 2.20766537e+01] [ 5.44718941e-02 -1.87082682e-03 9.98513552e-01 1.31468111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.73, Y:22.08, Z:13.15 [[ 9.93824093e-01 -9.61161827e-02 -5.54558516e-02 2.80734920e+02] [ 9.60588699e-02 9.95368762e-01 -3.70432532e-03 2.20820433e+01] [ 5.55550679e-02 -1.64557868e-03 9.98454269e-01 1.31479095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.77, Y:22.09, Z:13.15 [[ 9.94044626e-01 -9.35208485e-02 -5.59386453e-02 2.80765203e+02] [ 9.34584781e-02 9.95616170e-01 -3.73571963e-03 2.20860904e+01] [ 5.60427875e-02 -1.51446863e-03 9.98427219e-01 1.31491940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.80, Y:22.09, Z:13.15 [[ 9.94553271e-01 -8.76380260e-02 -5.64213315e-02 2.80795134e+02] [ 8.75651075e-02 9.96151672e-01 -3.76811531e-03 2.20919841e+01] [ 5.65344339e-02 -1.19294855e-03 9.98399937e-01 1.31509035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.82, Y:22.10, Z:13.15 [[ 9.95109573e-01 -8.12019660e-02 -5.62421369e-02 2.80824188e+02] [ 8.11191707e-02 9.96697328e-01 -3.75730885e-03 2.20979040e+01] [ 5.63614884e-02 -8.23381498e-04 9.98410088e-01 1.31530879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.85, Y:22.10, Z:13.15 [[ 9.95341100e-01 -7.83265348e-02 -5.62232013e-02 2.80851902e+02] [ 7.82390490e-02 9.96927541e-01 -3.75892051e-03 2.21014916e+01] [ 5.63448810e-02 -6.57441727e-04 9.98411149e-01 1.31549912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.88, Y:22.11, Z:13.16 [[ 9.95714235e-01 -7.33327521e-02 -5.63512980e-02 2.80879539e+02] [ 7.32364502e-02 9.97307461e-01 -3.77497602e-03 2.21068108e+01] [ 5.64763994e-02 -3.68171671e-04 9.98403867e-01 1.31573696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.91, Y:22.11, Z:13.16 [[ 9.95693637e-01 -7.36123498e-02 -5.63507132e-02 2.80906831e+02] [ 7.35160023e-02 9.97286860e-01 -3.78368664e-03 2.21087131e+01] [ 5.64763519e-02 -3.75286449e-04 9.98403867e-01 1.31586733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.94, Y:22.11, Z:13.16 [[ 9.95892687e-01 -7.08686623e-02 -5.63505924e-02 2.80935117e+02] [ 7.07670449e-02 9.97485635e-01 -3.79925283e-03 2.21126334e+01] [ 5.64781544e-02 -2.04116790e-04 9.98403814e-01 1.31601701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.96, Y:22.12, Z:13.16 [[ 9.96080096e-01 -6.78923099e-02 -5.67016424e-02 2.80961730e+02] [ 6.77838675e-02 9.97692655e-01 -3.83582758e-03 2.21162693e+01] [ 5.68312353e-02 -2.26651081e-05 9.98383799e-01 1.31613082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.99, Y:22.12, Z:13.16 [[ 9.96404047e-01 -6.20429088e-02 -5.77031378e-02 2.80990352e+02] [ 6.19203067e-02 9.98073430e-01 -3.91199841e-03 2.21208492e+01] [ 5.78346804e-02 3.24935063e-04 9.98326121e-01 1.31628580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.02, Y:22.12, Z:13.17 [[ 9.96526587e-01 -5.96030810e-02 -5.81569855e-02 2.81018815e+02] [ 5.94735440e-02 9.98222038e-01 -3.95724113e-03 2.21233120e+01] [ 5.82894484e-02 4.84693957e-04 9.98299607e-01 1.31651592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.05, Y:22.13, Z:13.17 [[ 9.96616193e-01 -5.77013663e-02 -5.85381665e-02 2.81046176e+02] [ 5.75660741e-02 9.98333700e-01 -3.99631438e-03 2.21261515e+01] [ 5.86712171e-02 6.12979198e-04 9.98277172e-01 1.31663421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.07, Y:22.13, Z:13.17 [[ 9.96682372e-01 -5.59444793e-02 -5.91139980e-02 2.81074379e+02] [ 5.58031040e-02 9.98433615e-01 -4.04098394e-03 2.21280324e+01] [ 5.92474735e-02 7.28832886e-04 9.98243059e-01 1.31677549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.10, Y:22.13, Z:13.17 [[ 9.96710714e-01 -5.49330638e-02 -5.95828007e-02 2.81101831e+02] [ 5.47873093e-02 9.98489718e-01 -4.07837690e-03 2.21289592e+01] [ 5.97168516e-02 8.00580624e-04 9.98215035e-01 1.31685620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.13, Y:22.13, Z:13.17 [[ 9.96589166e-01 -5.61670534e-02 -6.04590498e-02 2.81129095e+02] [ 5.60188886e-02 9.98421108e-01 -4.14419684e-03 2.21278262e+01] [ 6.05963588e-02 7.43212896e-04 9.98162075e-01 1.31692225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.16, Y:22.13, Z:13.17 [[ 9.96485465e-01 -5.78385497e-02 -6.05922461e-02 2.81157174e+02] [ 5.76923979e-02 9.98325738e-01 -4.16021614e-03 2.21276984e+01] [ 6.07314197e-02 6.49882940e-04 9.98153932e-01 1.31701467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.19, Y:22.13, Z:13.17 [[ 9.96323704e-01 -6.02557711e-02 -6.08959680e-02 2.81186178e+02] [ 6.01122032e-02 9.98182839e-01 -4.18851626e-03 2.21259974e+01] [ 6.10376924e-02 5.12527237e-04 9.98135330e-01 1.31723332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.21, Y:22.12, Z:13.17 [[ 9.96130776e-01 -6.31623200e-02 -6.11064528e-02 2.81214885e+02] [ 6.30222813e-02 9.98003206e-01 -4.21827641e-03 2.21244297e+01] [ 6.12508719e-02 3.50886899e-04 9.98122341e-01 1.31738068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.24, Y:22.12, Z:13.18 [[ 9.95894151e-01 -6.66615884e-02 -6.12459980e-02 2.81243376e+02] [ 6.65265733e-02 9.97775631e-01 -4.24326853e-03 2.21225602e+01] [ 6.13926273e-02 1.51359941e-04 9.98113682e-01 1.31753341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.27, Y:22.12, Z:13.18 [[ 9.95418958e-01 -7.41378409e-02 -6.03711691e-02 2.81271953e+02] [ 7.40194517e-02 9.97247961e-01 -4.19811619e-03 2.21155121e+01] [ 6.05162645e-02 -2.89756389e-04 9.98167169e-01 1.31773395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.30, Y:22.11, Z:13.18 [[ 9.95122318e-01 -7.85021407e-02 -5.97409935e-02 2.81300657e+02] [ 7.83930656e-02 9.96913803e-01 -4.17098061e-03 2.21129428e+01] [ 5.98840519e-02 -5.32643728e-04 9.98205198e-01 1.31790622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.33, Y:22.11, Z:13.18 [[ 9.94533768e-01 -8.62782338e-02 -5.88102999e-02 2.81330390e+02] [ 8.61853721e-02 9.96270606e-01 -4.11841994e-03 2.21063539e+01] [ 5.89463031e-02 -9.72679879e-04 9.98260681e-01 1.31814732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.36, Y:22.10, Z:13.18 [[ 9.94224677e-01 -8.99975663e-02 -5.84613508e-02 2.81358979e+02] [ 8.99119081e-02 9.95941285e-01 -4.09935805e-03 2.21043394e+01] [ 5.85930051e-02 -1.18068867e-03 9.98281256e-01 1.31832976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.39, Y:22.10, Z:13.18 [[ 9.93956838e-01 -9.33248970e-02 -5.77950484e-02 2.81386962e+02] [ 9.32460481e-02 9.95634795e-01 -4.06553141e-03 2.21013527e+01] [ 5.79221765e-02 -1.34819712e-03 9.98320191e-01 1.31844364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.42, Y:22.10, Z:13.19 [[ 9.93659045e-01 -9.65536548e-02 -5.76115748e-02 2.81415509e+02] [ 9.64804236e-02 9.95326611e-01 -4.05780221e-03 2.20992542e+01] [ 5.77341292e-02 -1.52631727e-03 9.98330827e-01 1.31859642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.44, Y:22.09, Z:13.19 [[ 9.93130752e-01 -1.02340335e-01 -5.67253431e-02 2.81444952e+02] [ 1.02278491e-01 9.94747762e-01 -4.00004781e-03 2.20924083e+01] [ 5.68367743e-02 -1.82921201e-03 9.98381808e-01 1.31869958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.47, Y:22.09, Z:13.19 [[ 9.92842985e-01 -1.05014788e-01 -5.68744320e-02 2.81474449e+02] [ 1.04956826e-01 9.94468680e-01 -4.01356618e-03 2.20903774e+01] [ 5.69813251e-02 -1.98451882e-03 9.98373272e-01 1.31880005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.50, Y:22.09, Z:13.19 [[ 9.92327581e-01 -1.09647304e-01 -5.71265245e-02 2.81504793e+02] [ 1.09596329e-01 9.93967993e-01 -4.03405067e-03 2.20871696e+01] [ 5.72242597e-02 -2.25775760e-03 9.98358797e-01 1.31891340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.53, Y:22.09, Z:13.19 [[ 9.92064723e-01 -1.11850909e-01 -5.74191530e-02 2.81533867e+02] [ 1.11802897e-01 9.93722116e-01 -4.05809255e-03 2.20866296e+01] [ 5.75125835e-02 -2.39373715e-03 9.98341912e-01 1.31901211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.56, Y:22.08, Z:13.19 [[ 9.91807052e-01 -1.13820607e-01 -5.79969128e-02 2.81562180e+02] [ 1.13774237e-01 9.93498121e-01 -4.11174028e-03 2.20841604e+01] [ 5.80878247e-02 -2.52050151e-03 9.98308295e-01 1.31904241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.59, Y:22.08, Z:13.19 [[ 9.91559312e-01 -1.15625163e-01 -5.86596372e-02 2.81592114e+02] [ 1.15580654e-01 9.93289377e-01 -4.16253734e-03 2.20834494e+01] [ 5.87472885e-02 -2.65251656e-03 9.98269363e-01 1.31909094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.62, Y:22.09, Z:13.19 [[ 9.91527034e-01 -1.15901799e-01 -5.86592966e-02 2.81619447e+02] [ 1.15857489e-01 9.93257104e-01 -4.16732817e-03 2.20854682e+01] [ 5.87467639e-02 -2.66410027e-03 9.98269363e-01 1.31922138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.65, Y:22.08, Z:13.19 [[ 9.91316257e-01 -1.17575510e-01 -5.88903860e-02 2.81647724e+02] [ 1.17532947e-01 9.93060110e-01 -4.19808982e-03 2.20832687e+01] [ 5.89752858e-02 -2.75992594e-03 9.98255628e-01 1.31927013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.68, Y:22.09, Z:13.19 [[ 9.90886243e-01 -1.20827468e-01 -5.95413795e-02 2.81678168e+02] [ 1.20789563e-01 9.92669044e-01 -4.24865651e-03 2.20855451e+01] [ 5.96182387e-02 -2.98204191e-03 9.98216797e-01 1.31942209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.71, Y:22.08, Z:13.19 [[ 9.90719238e-01 -1.21987999e-01 -5.99526475e-02 2.81706625e+02] [ 1.21951621e-01 9.92526821e-01 -4.27912019e-03 2.20831323e+01] [ 6.00266119e-02 -3.07191583e-03 9.98192050e-01 1.31943674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.74, Y:22.09, Z:13.20 [[ 9.90490171e-01 -1.23750304e-01 -6.01255627e-02 2.81735190e+02] [ 1.23716500e-01 9.92308292e-01 -4.29893391e-03 2.20888026e+01] [ 6.01950888e-02 -3.18047239e-03 9.98181565e-01 1.31967241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.76, Y:22.09, Z:13.20 [[ 9.90348153e-01 -1.24696435e-01 -6.05089719e-02 2.81763661e+02] [ 1.24663150e-01 9.92189632e-01 -4.33968101e-03 2.20867042e+01] [ 6.05775173e-02 -3.24544396e-03 9.98158220e-01 1.31968991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.79, Y:22.09, Z:13.20 [[ 9.90165101e-01 -1.26071815e-01 -6.06545181e-02 2.81792571e+02] [ 1.26040478e-01 9.92015528e-01 -4.35772910e-03 2.20898633e+01] [ 6.07196107e-02 -3.33005317e-03 9.98149307e-01 1.31979116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.82, Y:22.09, Z:13.20 [[ 9.90151158e-01 -1.26277006e-01 -6.04549558e-02 2.81820448e+02] [ 1.26245310e-01 9.91989476e-01 -4.35896459e-03 2.20912729e+01] [ 6.05211169e-02 -3.31612081e-03 9.98161409e-01 1.31990911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.85, Y:22.09, Z:13.20 [[ 9.90209105e-01 -1.26243743e-01 -5.95688321e-02 2.81849376e+02] [ 1.26211925e-01 9.91993932e-01 -4.31148561e-03 2.20946891e+01] [ 5.96362180e-02 -3.24902464e-03 9.98214889e-01 1.32009787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.88, Y:22.10, Z:13.20 [[ 9.90347484e-01 -1.25564426e-01 -5.86978288e-02 2.81878465e+02] [ 1.25531619e-01 9.92080470e-01 -4.26065286e-03 2.20991351e+01] [ 5.87679561e-02 -3.14890666e-03 9.98266704e-01 1.32033336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.91, Y:22.10, Z:13.21 [[ 9.90446485e-01 -1.24915420e-01 -5.84114494e-02 2.81907729e+02] [ 1.24881683e-01 9.92162573e-01 -4.24198737e-03 2.21032304e+01] [ 5.84835435e-02 -3.09305862e-03 9.98283581e-01 1.32051475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.94, Y:22.11, Z:13.21 [[ 9.90602490e-01 -1.23585443e-01 -5.85947482e-02 2.81936688e+02] [ 1.23549049e-01 9.92329334e-01 -4.25745875e-03 2.21058759e+01] [ 5.86714474e-02 -3.02187616e-03 9.98272773e-01 1.32062403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.97, Y:22.11, Z:13.21 [[ 9.90710452e-01 -1.23070202e-01 -5.78491613e-02 2.81965831e+02] [ 1.23033728e-01 9.92393579e-01 -4.20537356e-03 2.21083334e+01] [ 5.79266924e-02 -2.95109046e-03 9.98316478e-01 1.32075708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.00, Y:22.11, Z:13.21 [[ 9.90818948e-01 -1.22492894e-01 -5.72127965e-02 2.81995372e+02] [ 1.22456139e-01 9.92465203e-01 -4.16116998e-03 2.21103843e+01] [ 5.72914234e-02 -2.88309209e-03 9.98353335e-01 1.32089412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.02, Y:22.11, Z:13.21 [[ 9.91032825e-01 -1.21175264e-01 -5.63071537e-02 2.82023729e+02] [ 1.21137419e-01 9.92627290e-01 -4.09744444e-03 2.21122442e+01] [ 5.63885263e-02 -2.76020133e-03 9.98405086e-01 1.32101196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.05, Y:22.12, Z:13.21 [[ 9.91160066e-01 -1.20211068e-01 -5.61339699e-02 2.82053429e+02] [ 1.20171758e-01 9.92744700e-01 -4.08759561e-03 2.21166622e+01] [ 5.62180754e-02 -2.69425631e-03 9.98414878e-01 1.32119502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.08, Y:22.12, Z:13.21 [[ 9.91365468e-01 -1.18604152e-01 -5.59246227e-02 2.82082874e+02] [ 1.18562472e-01 9.92938236e-01 -4.07436050e-03 2.21200874e+01] [ 5.60129323e-02 -2.59138122e-03 9.98426680e-01 1.32134496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.11, Y:22.12, Z:13.22 [[ 9.91598459e-01 -1.16809237e-01 -5.55706583e-02 2.82112000e+02] [ 1.16765160e-01 9.93151293e-01 -4.05055413e-03 2.21239222e+01] [ 5.56632133e-02 -2.47219355e-03 9.98446541e-01 1.32151113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.14, Y:22.13, Z:13.22 [[ 9.92282950e-01 -1.11379911e-01 -5.44891064e-02 2.82141304e+02] [ 1.11329260e-01 9.93775632e-01 -3.97354888e-03 2.21297137e+01] [ 5.45925196e-02 -2.12334707e-03 9.98506459e-01 1.32161994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.17, Y:22.14, Z:13.22 [[ 9.92658602e-01 -1.08216444e-01 -5.40194503e-02 2.82170999e+02] [ 1.08161918e-01 9.94125481e-01 -3.94054554e-03 2.21376432e+01] [ 5.41285438e-02 -1.93123093e-03 9.98532108e-01 1.32181835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.20, Y:22.14, Z:13.22 [[ 9.93087724e-01 -1.04570361e-01 -5.33086548e-02 2.82200159e+02] [ 1.04511962e-01 9.94516023e-01 -3.88966554e-03 2.21394946e+01] [ 5.34230551e-02 -1.70861303e-03 9.98570507e-01 1.32189428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.23, Y:22.15, Z:13.22 [[ 9.93967526e-01 -9.62790929e-02 -5.25251764e-02 2.82229793e+02] [ 9.62107818e-02 9.95353601e-01 -3.83338068e-03 2.21499008e+01] [ 5.26501979e-02 -1.24323238e-03 9.98612243e-01 1.32209785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.26, Y:22.16, Z:13.22 [[ 9.94356675e-01 -9.20675814e-02 -5.27101835e-02 2.82258702e+02] [ 9.19928519e-02 9.95752235e-01 -3.84733403e-03 2.21565338e+01] [ 5.28404977e-02 -1.02333783e-03 9.98602441e-01 1.32225793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.29, Y:22.16, Z:13.22 [[ 9.94703548e-01 -8.81529332e-02 -5.28574629e-02 2.82286799e+02] [ 8.80720984e-02 9.96106619e-01 -3.86116788e-03 2.21622452e+01] [ 5.29920419e-02 -8.14550273e-04 9.98594602e-01 1.32237532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.31, Y:22.17, Z:13.23 [[ 9.95365196e-01 -8.05416749e-02 -5.25467943e-02 2.82313790e+02] [ 8.04505345e-02 9.96751164e-01 -3.85078099e-03 2.21705986e+01] [ 5.26862268e-02 -3.94484322e-04 9.98611038e-01 1.32251367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.34, Y:22.18, Z:13.23 [[ 9.95661343e-01 -7.71804745e-02 -5.19775440e-02 2.82341379e+02] [ 7.70864828e-02 9.97017116e-01 -3.81363139e-03 2.21754364e+01] [ 5.21168389e-02 -2.09680704e-04 9.98640972e-01 1.32267935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.37, Y:22.18, Z:13.23 [[ 9.95961261e-01 -7.37670532e-02 -5.11819108e-02 2.82370311e+02] [ 7.36711762e-02 9.97275499e-01 -3.75986870e-03 2.21803905e+01] [ 5.13198201e-02 -2.59479919e-05 9.98682269e-01 1.32285365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.40, Y:22.18, Z:13.23 [[ 9.96159946e-01 -7.09037029e-02 -5.13617218e-02 2.82397730e+02] [ 7.08029587e-02 9.97483157e-01 -3.78059500e-03 2.21849823e+01] [ 5.15005106e-02 1.29515448e-04 9.98672960e-01 1.32300052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.42, Y:22.19, Z:13.23 [[ 9.96520003e-01 -6.58031471e-02 -5.11647377e-02 2.82424721e+02] [ 6.56957501e-02 9.97832542e-01 -3.77980080e-03 2.21916434e+01] [ 5.13025630e-02 4.05341285e-04 9.98683074e-01 1.32310970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.45, Y:22.19, Z:13.23 [[ 9.96631306e-01 -6.43234823e-02 -5.08775860e-02 2.82452834e+02] [ 6.42151049e-02 9.97928983e-01 -3.76360968e-03 2.21940853e+01] [ 5.10143062e-02 4.83821705e-04 9.98697805e-01 1.32329279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.48, Y:22.20, Z:13.23 [[ 9.96729934e-01 -6.35602811e-02 -4.98951759e-02 2.82480369e+02] [ 6.34544634e-02 9.97977863e-01 -3.70357156e-03 2.21966261e+01] [ 5.00296811e-02 5.25389021e-04 9.98747593e-01 1.32341723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.51, Y:22.20, Z:13.24 [[ 9.96702114e-01 -6.40229082e-02 -4.98594420e-02 2.82507461e+02] [ 6.39171077e-02 9.97948296e-01 -3.71515945e-03 2.21979709e+01] [ 4.99950004e-02 5.16035953e-04 9.98749335e-01 1.32350986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.53, Y:22.20, Z:13.24 [[ 9.96633688e-01 -6.52433994e-02 -4.96446501e-02 2.82534903e+02] [ 6.51397126e-02 9.97869274e-01 -3.70536625e-03 2.21989255e+01] [ 4.97806217e-02 4.59054586e-04 9.98760071e-01 1.32359355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.56, Y:22.20, Z:13.24 [[ 9.96372453e-01 -6.89718015e-02 -4.98480320e-02 2.82563436e+02] [ 6.88716791e-02 9.97618571e-01 -3.72544765e-03 2.21976196e+01] [ 4.99862733e-02 2.78815745e-04 9.98749866e-01 1.32365194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.59, Y:22.20, Z:13.24 [[ 9.96198384e-01 -7.14346343e-02 -4.98585283e-02 2.82591241e+02] [ 7.13369382e-02 9.97445269e-01 -3.73848753e-03 2.21980981e+01] [ 4.99982106e-02 1.67520484e-04 9.98749293e-01 1.32375126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.62, Y:22.20, Z:13.24 [[ 9.96007652e-01 -7.43409653e-02 -4.94183951e-02 2.82619701e+02] [ 7.42482350e-02 9.97232882e-01 -3.71207593e-03 2.21978765e+01] [ 4.95576079e-02 2.80274205e-05 9.98771266e-01 1.32389668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.65, Y:22.19, Z:13.24 [[ 9.95561836e-01 -8.05208149e-02 -4.87137417e-02 2.82648390e+02] [ 8.04374803e-02 9.96752893e-01 -3.67185094e-03 2.21946457e+01] [ 4.88512234e-02 -2.62855967e-04 9.98806032e-01 1.32403213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.68, Y:22.19, Z:13.24 [[ 9.95272643e-01 -8.41345786e-02 -4.85153416e-02 2.82677343e+02] [ 8.40556195e-02 9.96454310e-01 -3.66904087e-03 2.21934932e+01] [ 4.86520145e-02 -4.26291090e-04 9.98815699e-01 1.32415480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.71, Y:22.19, Z:13.24 [[ 9.95008929e-01 -8.74511291e-02 -4.80575893e-02 2.82707332e+02] [ 8.73769507e-02 9.96168647e-01 -3.64618506e-03 2.21927686e+01] [ 4.81923268e-02 -5.71138919e-04 9.98837911e-01 1.32429429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.74, Y:22.19, Z:13.24 [[ 9.94465360e-01 -9.37328433e-02 -4.74636879e-02 2.82736723e+02] [ 9.36675500e-02 9.95597012e-01 -3.60285768e-03 2.21882775e+01] [ 4.75924119e-02 -8.62890192e-04 9.98866466e-01 1.32444115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.77, Y:22.19, Z:13.25 [[ 9.94188697e-01 -9.68116813e-02 -4.70779390e-02 2.82767616e+02] [ 9.67508112e-02 9.95302214e-01 -3.57530089e-03 2.21869921e+01] [ 4.72029078e-02 -1.00030505e-03 9.98884821e-01 1.32464162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.80, Y:22.19, Z:13.25 [[ 9.93960558e-01 -9.87362135e-02 -4.78912211e-02 2.82799466e+02] [ 9.86754538e-02 9.95113022e-01 -3.63704658e-03 2.21870682e+01] [ 4.80162860e-02 -1.11060713e-03 9.98845935e-01 1.32470342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.83, Y:22.19, Z:13.25 [[ 9.93668953e-01 -1.00576027e-01 -5.00647124e-02 2.82829758e+02] [ 1.00512052e-01 9.94928583e-01 -3.80025166e-03 2.21862480e+01] [ 5.01930276e-02 -1.25591488e-03 9.98738746e-01 1.32465077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.86, Y:22.19, Z:13.25 [[ 9.93548682e-01 -1.01022797e-01 -5.15306745e-02 2.82860200e+02] [ 1.00955666e-01 9.94883240e-01 -3.91064664e-03 2.21873181e+01] [ 5.16620688e-02 -1.31689576e-03 9.98663755e-01 1.32461780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.89, Y:22.19, Z:13.25 [[ 9.93612095e-01 -1.00671897e-01 -5.09919068e-02 2.82890219e+02] [ 1.00605695e-01 9.94918850e-01 -3.86989152e-03 2.21889740e+01] [ 5.11223986e-02 -1.28490520e-03 9.98691569e-01 1.32481265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.92, Y:22.19, Z:13.25 [[ 9.93734560e-01 -9.99033379e-02 -5.01093453e-02 2.82920181e+02] [ 9.98383407e-02 9.94996397e-01 -3.80471324e-03 2.21908447e+01] [ 5.02387215e-02 -1.22195884e-03 9.98736491e-01 1.32500457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.95, Y:22.19, Z:13.25 [[ 9.94035563e-01 -9.68960813e-02 -5.00444681e-02 2.82950107e+02] [ 9.68273553e-02 9.95293932e-01 -3.80156158e-03 2.21935288e+01] [ 5.01773118e-02 -1.06678609e-03 9.98739756e-01 1.32523107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.98, Y:22.20, Z:13.25 [[ 9.94191685e-01 -9.49178693e-02 -5.07295957e-02 2.82978467e+02] [ 9.48446199e-02 9.95484625e-01 -3.85469385e-03 2.21959862e+01] [ 5.08664119e-02 -9.79124651e-04 9.98704986e-01 1.32537458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.01, Y:22.20, Z:13.25 [[ 9.94375574e-01 -9.29603397e-02 -5.07502988e-02 2.83006547e+02] [ 9.28842873e-02 9.95669427e-01 -3.86010769e-03 2.21990449e+01] [ 5.08893579e-02 -8.75508538e-04 9.98703913e-01 1.32549348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.03, Y:22.20, Z:13.26 [[ 9.94816148e-01 -8.76583046e-02 -5.15446795e-02 2.83033827e+02] [ 8.75720988e-02 9.96150420e-01 -3.93287867e-03 2.22034433e+01] [ 5.16910036e-02 -6.01384561e-04 9.98662945e-01 1.32553441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.06, Y:22.21, Z:13.26 [[ 9.95010282e-01 -8.50432392e-02 -5.21745722e-02 2.83062705e+02] [ 8.49510370e-02 9.96377153e-01 -3.98633317e-03 2.22071431e+01] [ 5.23245624e-02 -4.65841522e-04 9.98630023e-01 1.32560717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.09, Y:22.21, Z:13.26 [[ 9.95407216e-01 -7.93240559e-02 -5.35926183e-02 2.83091599e+02] [ 7.92177637e-02 9.96848870e-01 -4.10806242e-03 2.22123614e+01] [ 5.37496092e-02 -1.56292393e-04 9.98554433e-01 1.32571798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.12, Y:22.22, Z:13.26 [[ 9.95588761e-01 -7.63777880e-02 -5.44926818e-02 2.83119733e+02] [ 7.62627473e-02 9.97078950e-01 -4.19048119e-03 2.22152990e+01] [ 5.46535657e-02 1.62343541e-05 9.98505377e-01 1.32577572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.15, Y:22.22, Z:13.26 [[ 9.95962633e-01 -7.05412208e-02 -5.55191028e-02 2.83148487e+02] [ 7.04118371e-02 9.97508801e-01 -4.28555010e-03 2.22190196e+01] [ 5.56831016e-02 3.59045737e-04 9.98448428e-01 1.32584402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.18, Y:22.22, Z:13.26 [[ 9.96135686e-01 -6.80096398e-02 -5.55732340e-02 2.83176924e+02] [ 6.78752703e-02 9.97684531e-01 -4.30398967e-03 2.22221065e+01] [ 5.57372687e-02 5.15309420e-04 9.98445337e-01 1.32596249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.21, Y:22.23, Z:13.26 [[ 9.96327124e-01 -6.54830121e-02 -5.51746058e-02 2.83205654e+02] [ 6.53459199e-02 9.97853462e-01 -4.28707907e-03 2.22250618e+01] [ 5.53369022e-02 6.65897787e-04 9.98467518e-01 1.32614896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.23, Y:22.23, Z:13.26 [[ 9.96500681e-01 -6.33511817e-02 -5.45254161e-02 2.83233111e+02] [ 6.32134216e-02 9.97990986e-01 -4.24922145e-03 2.22288751e+01] [ 5.46850670e-02 7.87613947e-04 9.98503342e-01 1.32629363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.26, Y:22.23, Z:13.27 [[ 9.96638214e-01 -6.19856199e-02 -5.35728841e-02 2.83261836e+02] [ 6.18503550e-02 9.98076678e-01 -4.18074108e-03 2.22297963e+01] [ 5.37289921e-02 8.53184419e-04 9.98555190e-01 1.32653952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.29, Y:22.23, Z:13.27 [[ 9.96717089e-01 -6.12045055e-02 -5.30004956e-02 2.83290555e+02] [ 6.10703118e-02 9.98124842e-01 -4.14928150e-03 2.22309855e+01] [ 5.31550661e-02 8.98902987e-04 9.98585866e-01 1.32671730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.32, Y:22.23, Z:13.27 [[ 9.96665318e-01 -6.18953764e-02 -5.31714856e-02 2.83319173e+02] [ 6.17605698e-02 9.98082256e-01 -4.17628021e-03 2.22291058e+01] [ 5.33280088e-02 8.78452390e-04 9.98576663e-01 1.32682246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.35, Y:22.23, Z:13.27 [[ 9.96555378e-01 -6.33155515e-02 -5.35585620e-02 2.83346754e+02] [ 6.31800889e-02 9.97993219e-01 -4.22030772e-03 2.22296072e+01] [ 5.37182928e-02 8.21935641e-04 9.98555792e-01 1.32687247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.38, Y:22.23, Z:13.27 [[ 9.96361145e-01 -6.62088171e-02 -5.36736466e-02 2.83375630e+02] [ 6.60766470e-02 9.97805562e-01 -4.23526720e-03 2.22281159e+01] [ 5.38362752e-02 6.73281074e-04 9.98549549e-01 1.32703706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.40, Y:22.22, Z:13.27 [[ 9.95904704e-01 -7.34448491e-02 -5.27226208e-02 2.83404259e+02] [ 7.33267565e-02 9.97299238e-01 -4.17335756e-03 2.22231029e+01] [ 5.28867411e-02 2.90287655e-04 9.98600475e-01 1.32718608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.43, Y:22.23, Z:13.27 [[ 9.95883909e-01 -7.37270443e-02 -5.27215605e-02 2.83431545e+02] [ 7.36086399e-02 9.97278416e-01 -4.18671111e-03 2.22253362e+01] [ 5.28867482e-02 2.88715868e-04 9.98600475e-01 1.32731666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.46, Y:22.22, Z:13.27 [[ 9.95587016e-01 -7.82765928e-02 -5.17616498e-02 2.83460928e+02] [ 7.81678613e-02 9.96931678e-01 -4.12481543e-03 2.22228927e+01] [ 5.19257049e-02 6.05152253e-05 9.98650949e-01 1.32749775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.49, Y:22.22, Z:13.28 [[ 9.94834202e-01 -8.78910902e-02 -5.07943631e-02 2.83490016e+02] [ 8.77982701e-02 9.96130001e-01 -4.06009202e-03 2.22159575e+01] [ 5.09546349e-02 -4.20538813e-04 9.98700880e-01 1.32776221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.52, Y:22.21, Z:13.28 [[ 9.94400147e-01 -9.28583313e-02 -5.04547057e-02 2.83518222e+02] [ 9.27725171e-02 9.95679113e-01 -4.04513882e-03 2.22129369e+01] [ 5.06123215e-02 -6.58323404e-04 9.98718158e-01 1.32791057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.55, Y:22.21, Z:13.28 [[ 9.93924371e-01 -9.80141214e-02 -5.00757073e-02 2.83547125e+02] [ 9.79358792e-02 9.95184609e-01 -4.01967259e-03 2.22117224e+01] [ 5.02285579e-02 -9.08957865e-04 9.98737336e-01 1.32807586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.58, Y:22.21, Z:13.28 [[ 9.93403325e-01 -1.02950960e-01 -5.05067673e-02 2.83576387e+02] [ 1.02877101e-01 9.94685761e-01 -4.06677243e-03 2.22090106e+01] [ 5.06570404e-02 -1.15604454e-03 9.98715439e-01 1.32818535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.61, Y:22.20, Z:13.28 [[ 9.92386349e-01 -1.12429540e-01 -5.02885015e-02 2.83607252e+02] [ 1.12368327e-01 9.93658363e-01 -4.05180131e-03 2.22032571e+01] [ 5.04251322e-02 -1.62988248e-03 9.98726514e-01 1.32827585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.64, Y:22.20, Z:13.28 [[ 9.91371177e-01 -1.20987202e-01 -5.04508282e-02 2.83638027e+02] [ 1.20936625e-01 9.92651906e-01 -4.06518792e-03 2.21979682e+01] [ 5.05719465e-02 -2.07124278e-03 9.98718273e-01 1.32833425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.67, Y:22.19, Z:13.28 [[ 9.90437673e-01 -1.28140646e-01 -5.11193797e-02 2.83669031e+02] [ 1.28098213e-01 9.91752933e-01 -4.11907798e-03 2.21945871e+01] [ 5.12256161e-02 -2.46861120e-03 9.98684055e-01 1.32838998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.70, Y:22.19, Z:13.29 [[ 9.89823097e-01 -1.32847985e-01 -5.10063632e-02 2.83699813e+02] [ 1.32811954e-01 9.91132731e-01 -4.11019526e-03 2.21934479e+01] [ 5.11001073e-02 -2.70588858e-03 9.98689870e-01 1.32850816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.73, Y:22.20, Z:13.29 [[ 9.89436108e-01 -1.35678433e-01 -5.10641791e-02 2.83729034e+02] [ 1.35646061e-01 9.90748814e-01 -4.11514356e-03 2.21956461e+01] [ 5.11501111e-02 -2.85498310e-03 9.98686895e-01 1.32865303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.76, Y:22.20, Z:13.29 [[ 9.89290969e-01 -1.36628845e-01 -5.13413776e-02 2.83758155e+02] [ 1.36597182e-01 9.90618018e-01 -4.14163744e-03 2.21980511e+01] [ 5.14255608e-02 -2.91580297e-03 9.98672574e-01 1.32878931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.79, Y:22.20, Z:13.29 [[ 9.89242597e-01 -1.36890758e-01 -5.15752300e-02 2.83786177e+02] [ 1.36859007e-01 9.90581787e-01 -4.16348667e-03 2.21991270e+01] [ 5.16594263e-02 -2.93983638e-03 9.98660433e-01 1.32886893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.81, Y:22.20, Z:13.29 [[ 9.89208442e-01 -1.37137516e-01 -5.15748007e-02 2.83814360e+02] [ 1.37105823e-01 9.90547634e-01 -4.16879701e-03 2.22014491e+01] [ 5.16589953e-02 -2.94739629e-03 9.98660433e-01 1.32900357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.84, Y:22.20, Z:13.29 [[ 9.89179153e-01 -1.37238544e-01 -5.18669969e-02 2.83841990e+02] [ 1.37205977e-01 9.90533613e-01 -4.20496026e-03 2.22017907e+01] [ 5.19530865e-02 -2.95700298e-03 9.98645149e-01 1.32902619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.87, Y:22.21, Z:13.29 [[ 9.89119521e-01 -1.37432616e-01 -5.24866612e-02 2.83869955e+02] [ 1.37399145e-01 9.90506590e-01 -4.26271138e-03 2.22087386e+01] [ 5.25742193e-02 -2.99529134e-03 9.98612527e-01 1.32911490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.90, Y:22.21, Z:13.29 [[ 9.89148784e-01 -1.37013554e-01 -5.30280109e-02 2.83897238e+02] [ 1.36978106e-01 9.90564657e-01 -4.31956443e-03 2.22112352e+01] [ 5.31195123e-02 -2.99098457e-03 9.98583683e-01 1.32917425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.93, Y:22.22, Z:13.29 [[ 9.89233877e-01 -1.36529144e-01 -5.26889803e-02 2.83925884e+02] [ 1.36493069e-01 9.90631696e-01 -4.29938140e-03 2.22158696e+01] [ 5.27823648e-02 -2.93858689e-03 9.98601716e-01 1.32929223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.95, Y:22.22, Z:13.29 [[ 9.89336749e-01 -1.35638772e-01 -5.30558175e-02 2.83954845e+02] [ 1.35600203e-01 9.90754120e-01 -4.34274466e-03 2.22207759e+01] [ 5.31543143e-02 -2.89794275e-03 9.98582105e-01 1.32940526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.98, Y:22.23, Z:13.30 [[ 9.89767234e-01 -1.32525839e-01 -5.28935209e-02 2.83983464e+02] [ 1.32482471e-01 9.91175843e-01 -4.34081631e-03 2.22263179e+01] [ 5.30020505e-02 -2.71106662e-03 9.98590723e-01 1.32951677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.01, Y:22.23, Z:13.30 [[ 9.90018564e-01 -1.30786405e-01 -5.25181771e-02 2.84011521e+02] [ 1.30741100e-01 9.91407167e-01 -4.31208188e-03 2.22349132e+01] [ 5.26308588e-02 -2.59724315e-03 9.98610658e-01 1.32971395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.04, Y:22.24, Z:13.30 [[ 9.90535515e-01 -1.26646128e-01 -5.29164561e-02 2.84041074e+02] [ 1.26594051e-01 9.91945078e-01 -4.34837555e-03 2.22444230e+01] [ 5.30409231e-02 -2.39168811e-03 9.98589475e-01 1.32987521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.07, Y:22.25, Z:13.30 [[ 9.90866256e-01 -1.24127938e-01 -5.26907724e-02 2.84069333e+02] [ 1.24072690e-01 9.92263680e-01 -4.33098115e-03 2.22496306e+01] [ 5.28207355e-02 -2.24606279e-03 9.98601485e-01 1.32998764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.10, Y:22.26, Z:13.30 [[ 9.91163625e-01 -1.21852725e-01 -5.24078400e-02 2.84097972e+02] [ 1.21794741e-01 9.92545948e-01 -4.31064952e-03 2.22552460e+01] [ 5.25424536e-02 -2.11044029e-03 9.98616461e-01 1.33017595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.13, Y:22.27, Z:13.30 [[ 9.91952446e-01 -1.15738998e-01 -5.13305844e-02 2.84127309e+02] [ 1.15675023e-01 9.93278126e-01 -4.22542771e-03 2.22658270e+01] [ 5.14745935e-02 -1.74624316e-03 9.98672778e-01 1.33039126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.16, Y:22.27, Z:13.31 [[ 9.92347144e-01 -1.12438126e-01 -5.10373783e-02 2.84156429e+02] [ 1.12370487e-01 9.93657495e-01 -4.20191099e-03 2.22723631e+01] [ 5.11861285e-02 -1.56534070e-03 9.98687904e-01 1.33057579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.19, Y:22.28, Z:13.31 [[ 9.93254703e-01 -1.04714487e-01 -4.97993168e-02 2.84185538e+02] [ 1.04640302e-01 9.94501676e-01 -4.10169251e-03 2.22841328e+01] [ 4.99550106e-02 -1.13699016e-03 9.98750822e-01 1.33079357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.21, Y:22.29, Z:13.31 [[ 9.93250935e-01 -1.04750260e-01 -4.97992392e-02 2.84214567e+02] [ 1.04676072e-01 9.94497908e-01 -4.10263399e-03 2.22865531e+01] [ 4.99549912e-02 -1.13784368e-03 9.98750822e-01 1.33093218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.24, Y:22.30, Z:13.31 [[ 9.94085763e-01 -9.68681447e-02 -4.90923430e-02 2.84242771e+02] [ 9.67863519e-02 9.95296956e-01 -4.04615239e-03 2.22969068e+01] [ 4.92534029e-02 -7.29246297e-04 9.98786048e-01 1.33107056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.27, Y:22.31, Z:13.31 [[ 9.94731820e-01 -8.99999404e-02 -4.90776594e-02 2.84271868e+02] [ 8.99097511e-02 9.95941696e-01 -4.04670593e-03 2.23067398e+01] [ 4.92426906e-02 -3.87172988e-04 9.98786768e-01 1.33116106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.30, Y:22.31, Z:13.31 [[ 9.94966030e-01 -8.72269164e-02 -4.93362389e-02 2.84300110e+02] [ 8.71322767e-02 9.96188437e-01 -4.06982921e-03 2.23120008e+01] [ 4.95031894e-02 -2.49437009e-04 9.98773934e-01 1.33124261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.33, Y:22.32, Z:13.31 [[ 9.95089335e-01 -8.55370345e-02 -4.98059323e-02 2.84328304e+02] [ 8.54383105e-02 9.96334978e-01 -4.11171564e-03 2.23173571e+01] [ 4.99750964e-02 -1.63810320e-04 9.98750451e-01 1.33133789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.36, Y:22.32, Z:13.31 [[ 9.95185212e-01 -8.42006527e-02 -5.01661703e-02 2.84355595e+02] [ 8.40981811e-02 9.96448816e-01 -4.15368534e-03 2.23219124e+01] [ 5.03377640e-02 -8.51974479e-05 9.98732248e-01 1.33143103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.38, Y:22.33, Z:13.32 [[ 9.95223901e-01 -8.38678076e-02 -4.99557533e-02 2.84383269e+02] [ 8.37654254e-02 9.96476887e-01 -4.14323341e-03 2.23259044e+01] [ 5.01272375e-02 -6.11200118e-05 9.98742838e-01 1.33155037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.41, Y:22.33, Z:13.32 [[ 9.95204531e-01 -8.46061698e-02 -4.90890807e-02 2.84412256e+02] [ 8.45075516e-02 9.96414467e-01 -4.08468164e-03 2.23294353e+01] [ 4.92586594e-02 -8.33043514e-05 9.98786052e-01 1.33175386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.44, Y:22.33, Z:13.32 [[ 9.95121918e-01 -8.60237743e-02 -4.82936735e-02 2.84441337e+02] [ 8.59294453e-02 9.96293075e-01 -4.02984942e-03 2.23317957e+01] [ 4.84613154e-02 -1.39657091e-04 9.98825050e-01 1.33191332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.47, Y:22.33, Z:13.32 [[ 9.94973107e-01 -8.79373342e-02 -4.79118143e-02 2.84469967e+02] [ 8.78466242e-02 9.96125982e-01 -3.99974045e-03 2.23325093e+01] [ 4.80779296e-02 -2.29256961e-04 9.98843561e-01 1.33205549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.50, Y:22.33, Z:13.32 [[ 9.94592348e-01 -9.31694943e-02 -4.58858008e-02 2.84499788e+02] [ 9.30917122e-02 9.95650157e-01 -3.83380196e-03 2.23328154e+01] [ 4.60433982e-02 -4.58517671e-04 9.98939335e-01 1.33232825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.53, Y:22.33, Z:13.33 [[ 9.94327367e-01 -9.64643827e-02 -4.48074867e-02 2.84531505e+02] [ 9.63934784e-02 9.95336259e-01 -3.74545333e-03 2.23333216e+01] [ 4.49598190e-02 -5.94942753e-04 9.98988619e-01 1.33255398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.56, Y:22.33, Z:13.33 [[ 9.93542020e-01 -1.04310558e-01 -4.46493221e-02 2.84563006e+02] [ 1.04248135e-01 9.94544322e-01 -3.73065214e-03 2.23308694e+01] [ 4.47948762e-02 -9.48048884e-04 9.98995756e-01 1.33270759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.59, Y:22.33, Z:13.33 [[ 9.93072293e-01 -1.08539448e-01 -4.50178674e-02 2.84593940e+02] [ 1.08480404e-01 9.94091478e-01 -3.75977381e-03 2.23304588e+01] [ 4.51599621e-02 -1.14982923e-03 9.98979107e-01 1.33280727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.62, Y:22.33, Z:13.33 [[ 9.92060386e-01 -1.16489149e-01 -4.73969316e-02 2.84624025e+02] [ 1.16432793e-01 9.93190688e-01 -3.95756397e-03 2.23256835e+01] [ 4.75352043e-02 -1.59241468e-03 9.98868294e-01 1.33269930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.66, Y:22.32, Z:13.33 [[ 9.91606239e-01 -1.20147428e-01 -4.77667498e-02 2.84655075e+02] [ 1.20094399e-01 9.92754463e-01 -3.98896485e-03 2.23247135e+01] [ 4.78999179e-02 -1.78103668e-03 9.98850552e-01 1.33275611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.69, Y:22.32, Z:13.33 [[ 9.91265080e-01 -1.23065126e-01 -4.74185136e-02 2.84685732e+02] [ 1.23016237e-01 9.92396761e-01 -3.95904894e-03 2.23240261e+01] [ 4.75452001e-02 -1.90878015e-03 9.98867264e-01 1.33293871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.72, Y:22.32, Z:13.33 [[ 9.90713452e-01 -1.28261302e-01 -4.51208837e-02 2.84716474e+02] [ 1.28222477e-01 9.91738280e-01 -3.76566350e-03 2.23229373e+01] [ 4.52310965e-02 -2.05481799e-03 9.98974437e-01 1.33329356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.75, Y:22.33, Z:13.33 [[ 9.90507032e-01 -1.30124038e-01 -4.43120127e-02 2.84748082e+02] [ 1.30088462e-01 9.91495496e-01 -3.69789471e-03 2.23275747e+01] [ 4.44163460e-02 -2.10169084e-03 9.99010896e-01 1.33346918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.78, Y:22.33, Z:13.34 [[ 9.90339997e-01 -1.31323727e-01 -4.45058331e-02 2.84779115e+02] [ 1.31289197e-01 9.91337166e-01 -3.71072399e-03 2.23281012e+01] [ 4.46075926e-02 -2.16825670e-03 9.99002233e-01 1.33360780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.81, Y:22.33, Z:13.34 [[ 9.90221110e-01 -1.32198375e-01 -4.45616816e-02 2.84810495e+02] [ 1.32164744e-01 9.91220810e-01 -3.71307503e-03 2.23282018e+01] [ 4.46613286e-02 -2.21271798e-03 9.98999735e-01 1.33372421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.84, Y:22.33, Z:13.34 [[ 9.90079911e-01 -1.33228473e-01 -4.46311961e-02 2.84842195e+02] [ 1.33195997e-01 9.91082758e-01 -3.71401157e-03 2.23338782e+01] [ 4.47280210e-02 -2.26752843e-03 9.98996628e-01 1.33378039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.87, Y:22.33, Z:13.34 [[ 9.90077867e-01 -1.33250371e-01 -4.46111633e-02 2.84873594e+02] [ 1.33218098e-01 9.91079806e-01 -3.70898216e-03 2.23347648e+01] [ 4.47074463e-02 -2.27083316e-03 9.98997541e-01 1.33391534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.91, Y:22.34, Z:13.34 [[ 9.90064384e-01 -1.33366383e-01 -4.45637075e-02 2.84905713e+02] [ 1.33334404e-01 9.91064189e-01 -3.70262050e-03 2.23372428e+01] [ 4.46592998e-02 -2.27604268e-03 9.98999683e-01 1.33406544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.94, Y:22.34, Z:13.34 [[ 9.90067866e-01 -1.33279774e-01 -4.47450946e-02 2.84937382e+02] [ 1.33247591e-01 9.91075821e-01 -3.71444694e-03 2.23423374e+01] [ 4.48408420e-02 -2.28462151e-03 9.98991531e-01 1.33422441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.97, Y:22.35, Z:13.34 [[ 9.90077577e-01 -1.33151157e-01 -4.49128081e-02 2.84968426e+02] [ 1.33118752e-01 9.91093095e-01 -3.72500068e-03 2.23451662e+01] [ 4.50087621e-02 -2.29069733e-03 9.98983966e-01 1.33443652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.00, Y:22.35, Z:13.35 [[ 9.90096765e-01 -1.32950524e-01 -4.50838540e-02 2.85000812e+02] [ 1.32917775e-01 9.91120024e-01 -3.73674558e-03 2.23487519e+01] [ 4.51803128e-02 -2.29270587e-03 9.98976217e-01 1.33460147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.03, Y:22.35, Z:13.35 [[ 9.90198750e-01 -1.32063679e-01 -4.54490930e-02 2.85032002e+02] [ 1.32029615e-01 9.91238627e-01 -3.76377014e-03 2.23499185e+01] [ 4.55479539e-02 -2.27374578e-03 9.98959566e-01 1.33475436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.06, Y:22.36, Z:13.35 [[ 9.90260814e-01 -1.31457774e-01 -4.58516513e-02 2.85063682e+02] [ 1.31422735e-01 9.91319168e-01 -3.79107535e-03 2.23570133e+01] [ 4.59519872e-02 -2.27179604e-03 9.98941066e-01 1.33487171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.10, Y:22.36, Z:13.35 [[ 9.90396413e-01 -1.30333548e-01 -4.61314530e-02 2.85095880e+02] [ 1.30297021e-01 9.91467682e-01 -3.81080490e-03 2.23605827e+01] [ 4.62345205e-02 -2.23658341e-03 9.98928109e-01 1.33503358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.13, Y:22.36, Z:13.35 [[ 9.90530271e-01 -1.29194141e-01 -4.64613369e-02 2.85127460e+02] [ 1.29156001e-01 9.91616873e-01 -3.83462309e-03 2.23643917e+01] [ 4.65672564e-02 -2.20245023e-03 9.98912729e-01 1.33516097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.16, Y:22.37, Z:13.35 [[ 9.90832728e-01 -1.26295752e-01 -4.79571592e-02 2.85158218e+02] [ 1.26251861e-01 9.91990334e-01 -3.95538875e-03 2.23686447e+01] [ 4.80725872e-02 -2.13555197e-03 9.98841562e-01 1.33525357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.19, Y:22.37, Z:13.35 [[ 9.91037720e-01 -1.24385873e-01 -4.87072153e-02 2.85189774e+02] [ 1.24338387e-01 9.92231748e-01 -4.01543921e-03 2.23726679e+01] [ 4.88283093e-02 -2.07672486e-03 9.98805028e-01 1.33538994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.22, Y:22.38, Z:13.36 [[ 9.91293790e-01 -1.22160019e-01 -4.91279075e-02 2.85221349e+02] [ 1.22109112e-01 9.92508430e-01 -4.04747363e-03 2.23770317e+01] [ 4.92543018e-02 -1.98672970e-03 9.98784294e-01 1.33554520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.25, Y:22.38, Z:13.36 [[ 9.91599604e-01 -1.19594656e-01 -4.92680896e-02 2.85252470e+02] [ 1.19540426e-01 9.92821047e-01 -4.05642782e-03 2.23818981e+01] [ 4.93995234e-02 -1.86717620e-03 9.98777353e-01 1.33573542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.28, Y:22.39, Z:13.36 [[ 9.92354025e-01 -1.13325337e-01 -4.88963875e-02 2.85282797e+02] [ 1.13264403e-01 9.93556733e-01 -4.02412366e-03 2.23926575e+01] [ 4.90373702e-02 -1.54486482e-03 9.98795750e-01 1.33605257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.31, Y:22.40, Z:13.36 [[ 9.92737167e-01 -1.09802961e-01 -4.91551262e-02 2.85313783e+02] [ 1.09737126e-01 9.93952417e-01 -4.04424972e-03 2.23985434e+01] [ 4.93019271e-02 -1.37926525e-03 9.98782968e-01 1.33626162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.34, Y:22.40, Z:13.36 [[ 9.92741135e-01 -1.09767017e-01 -4.91552736e-02 2.85344505e+02] [ 1.09701226e-01 9.93956387e-01 -4.04245750e-03 2.24010408e+01] [ 4.93019266e-02 -1.37927994e-03 9.98782968e-01 1.33640821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.38, Y:22.41, Z:13.37 [[ 9.93095584e-01 -1.06281398e-01 -4.96530469e-02 2.85375663e+02] [ 1.06210006e-01 9.94335344e-01 -4.08156844e-03 2.24063330e+01] [ 4.98055743e-02 -1.22026279e-03 9.98758187e-01 1.33659763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.41, Y:22.41, Z:13.37 [[ 9.93441444e-01 -1.02801976e-01 -5.00584834e-02 2.85406450e+02] [ 1.02725092e-01 9.94701281e-01 -4.11305839e-03 2.24116349e+01] [ 5.02160681e-02 -1.05617967e-03 9.98737819e-01 1.33679099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.44, Y:22.42, Z:13.37 [[ 9.94017125e-01 -9.72219088e-02 -4.97780702e-02 2.85437091e+02] [ 9.71389802e-02 9.95262430e-01 -4.08821415e-03 2.24180611e+01] [ 4.99397071e-02 -7.71636106e-04 9.98751936e-01 1.33698752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.47, Y:22.42, Z:13.37 [[ 9.94232793e-01 -9.51259803e-02 -4.95197041e-02 2.85467011e+02] [ 9.50414007e-02 9.95465020e-01 -4.06522166e-03 2.24204788e+01] [ 4.96818414e-02 -6.64645358e-04 9.98764874e-01 1.33713983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.50, Y:22.42, Z:13.37 [[ 9.94439285e-01 -9.30827876e-02 -4.92554841e-02 2.85496855e+02] [ 9.29966459e-02 9.95658215e-01 -4.04267761e-03 2.24243918e+01] [ 4.94179310e-02 -5.60397379e-04 9.98778030e-01 1.33731417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.53, Y:22.43, Z:13.37 [[ 9.94766583e-01 -8.95427060e-02 -4.92092414e-02 2.85527005e+02] [ 8.94523963e-02 9.95982910e-01 -4.03888221e-03 2.24292020e+01] [ 4.93732159e-02 -3.84139505e-04 9.98780325e-01 1.33748883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.56, Y:22.43, Z:13.38 [[ 9.94865322e-01 -8.82540719e-02 -4.95399811e-02 2.85556215e+02] [ 8.81609448e-02 9.96097944e-01 -4.06606705e-03 2.24320786e+01] [ 4.97055203e-02 -3.22302432e-04 9.98763865e-01 1.33760848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.59, Y:22.43, Z:13.38 [[ 9.94912784e-01 -8.72709369e-02 -5.03223268e-02 2.85585929e+02] [ 8.71735377e-02 9.96184575e-01 -4.13125008e-03 2.24349539e+01] [ 5.04908638e-02 -2.76541732e-04 9.98724485e-01 1.33768786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.61, Y:22.44, Z:13.38 [[ 9.94897603e-01 -8.65951489e-02 -5.17691066e-02 2.85614314e+02] [ 8.64910039e-02 9.96243554e-01 -4.25285375e-03 2.24368181e+01] [ 5.19429153e-02 -2.46408008e-04 9.98650025e-01 1.33770034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.64, Y:22.44, Z:13.38 [[ 9.94869986e-01 -8.65454624e-02 -5.23793356e-02 2.85643549e+02] [ 8.64381422e-02 9.96247875e-01 -4.31505465e-03 2.24384925e+01] [ 5.25562502e-02 -2.34654099e-04 9.98617938e-01 1.33784280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.67, Y:22.44, Z:13.38 [[ 9.94758739e-01 -8.77343577e-02 -5.25141192e-02 2.85671718e+02] [ 8.76280219e-02 9.96143863e-01 -4.32838440e-03 2.24373652e+01] [ 5.26913655e-02 -2.96010173e-04 9.98610801e-01 1.33793664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.70, Y:22.44, Z:13.38 [[ 9.94628461e-01 -8.91127371e-02 -5.26606591e-02 2.85700472e+02] [ 8.90074351e-02 9.96021479e-01 -4.34616767e-03 2.24384361e+01] [ 5.28384465e-02 -3.64368140e-04 9.98603007e-01 1.33813752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.73, Y:22.44, Z:13.38 [[ 9.94499493e-01 -9.06291483e-02 -5.25082386e-02 2.85728893e+02] [ 9.05258602e-02 9.95884618e-01 -4.34698605e-03 2.24389024e+01] [ 5.26861108e-02 -4.30278043e-04 9.98611030e-01 1.33832957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.76, Y:22.44, Z:13.38 [[ 9.94338978e-01 -9.24778074e-02 -5.23244906e-02 2.85757391e+02] [ 9.23771507e-02 9.95714613e-01 -4.34409464e-03 2.24384113e+01] [ 5.25019922e-02 -5.14084727e-04 9.98620687e-01 1.33844019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.79, Y:22.44, Z:13.39 [[ 9.94119102e-01 -9.47030456e-02 -5.25218450e-02 2.85786106e+02] [ 9.46045260e-02 9.95505367e-01 -4.36435089e-03 2.24382496e+01] [ 5.26990959e-02 -6.30119659e-04 9.98610238e-01 1.33864485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.82, Y:22.43, Z:13.39 [[ 9.93646793e-01 -9.96336823e-02 -5.23371726e-02 2.85815307e+02] [ 9.95419977e-02 9.95023800e-01 -4.36206992e-03 2.24349071e+01] [ 5.25113414e-02 -8.75389922e-04 9.98619944e-01 1.33884260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.85, Y:22.43, Z:13.39 [[ 9.93369654e-01 -1.02351578e-01 -5.23534583e-02 2.85845066e+02] [ 1.02262972e-01 9.94747777e-01 -4.37547867e-03 2.24348263e+01] [ 5.25263234e-02 -1.00735250e-03 9.98619032e-01 1.33902321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.87, Y:22.43, Z:13.39 [[ 9.93087396e-01 -1.05226796e-01 -5.20071650e-02 2.85874135e+02] [ 1.05143192e-01 9.94447585e-01 -4.34851664e-03 2.24325370e+01] [ 5.21759801e-02 -1.14974226e-03 9.98637244e-01 1.33913213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.90, Y:22.43, Z:13.39 [[ 9.92768491e-01 -1.08201516e-01 -5.19918750e-02 2.85904294e+02] [ 1.08121895e-01 9.94128128e-01 -4.34990761e-03 2.24323144e+01] [ 5.21572520e-02 -1.30300884e-03 9.98638034e-01 1.33930985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.93, Y:22.43, Z:13.40 [[ 9.92137613e-01 -1.14004165e-01 -5.16333938e-02 2.85934804e+02] [ 1.13933432e-01 9.93478990e-01 -4.32085042e-03 2.24285255e+01] [ 5.17892869e-02 -1.59589152e-03 9.98656759e-01 1.33950190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.96, Y:22.43, Z:13.40 [[ 9.91835342e-01 -1.16543681e-01 -5.17708803e-02 2.85964951e+02] [ 1.16475973e-01 9.93184057e-01 -4.33330325e-03 2.24284629e+01] [ 5.19230320e-02 -1.73214037e-03 9.98649587e-01 1.33963782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.00, Y:22.43, Z:13.40 [[ 9.91552073e-01 -1.18849645e-01 -5.19542824e-02 2.85995176e+02] [ 1.18784566e-01 9.92910524e-01 -4.34961063e-03 2.24282624e+01] [ 5.21029034e-02 -1.85850145e-03 9.98639992e-01 1.33978614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.02, Y:22.42, Z:13.40 [[ 9.91322215e-01 -1.20646634e-01 -5.21982270e-02 2.86024682e+02] [ 1.20583373e-01 9.92693580e-01 -4.37108163e-03 2.24247551e+01] [ 5.23442011e-02 -1.96108796e-03 9.98627177e-01 1.33984823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.05, Y:22.42, Z:13.40 [[ 9.90982443e-01 -1.23521128e-01 -5.19261828e-02 2.86054375e+02] [ 1.23462362e-01 9.92339721e-01 -4.35017555e-03 2.24241049e+01] [ 5.20657524e-02 -2.09998160e-03 9.98641451e-01 1.33996681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.09, Y:22.43, Z:13.40 [[ 9.90858920e-01 -1.24403597e-01 -5.21760937e-02 2.86085076e+02] [ 1.24345398e-01 9.92229359e-01 -4.37279604e-03 2.24261372e+01] [ 5.23146436e-02 -2.15503315e-03 9.98628326e-01 1.34010460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.11, Y:22.43, Z:13.40 [[ 9.90813014e-01 -1.24780391e-01 -5.21481003e-02 2.86114295e+02] [ 1.24722757e-01 9.92182005e-01 -4.37078048e-03 2.24255949e+01] [ 5.22857943e-02 -2.17342865e-03 9.98629797e-01 1.34016199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.14, Y:22.43, Z:13.40 [[ 9.90936099e-01 -1.23626496e-01 -5.25560296e-02 2.86144057e+02] [ 1.23566155e-01 9.92326545e-01 -4.40844888e-03 2.24287217e+01] [ 5.26977443e-02 -2.12565535e-03 9.98608246e-01 1.34027313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.17, Y:22.43, Z:13.40 [[ 9.91159670e-01 -1.21736290e-01 -5.27520971e-02 2.86173802e+02] [ 1.21672731e-01 9.92560402e-01 -4.42669369e-03 2.24333299e+01] [ 5.28985319e-02 -2.03093146e-03 9.98597827e-01 1.34040057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.20, Y:22.44, Z:13.40 [[ 9.91866696e-01 -1.15743445e-01 -5.29519764e-02 2.86202331e+02] [ 1.15670817e-01 9.93277659e-01 -4.44453300e-03 2.24367827e+01] [ 5.31104407e-02 -1.71661411e-03 9.98587169e-01 1.34048926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.23, Y:22.44, Z:13.41 [[ 9.92336905e-01 -1.11820127e-01 -5.25711459e-02 2.86231286e+02] [ 1.11742941e-01 9.93727341e-01 -4.41445124e-03 2.24429009e+01] [ 5.27350095e-02 -1.49383158e-03 9.98607424e-01 1.34065789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.26, Y:22.45, Z:13.41 [[ 9.92795990e-01 -1.07618572e-01 -5.26722500e-02 2.86260244e+02] [ 1.07535081e-01 9.94191444e-01 -4.42483088e-03 2.24496007e+01] [ 5.28424943e-02 -1.27116032e-03 9.98602050e-01 1.34084484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.29, Y:22.46, Z:13.41 [[ 9.93699466e-01 -9.90959981e-02 -5.23579516e-02 2.86288437e+02] [ 9.90015678e-02 9.95077548e-01 -4.40043371e-03 2.24556342e+01] [ 5.25362875e-02 -8.10810671e-04 9.98618687e-01 1.34094827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.32, Y:22.46, Z:13.41 [[ 9.94057882e-01 -9.56486317e-02 -5.19640965e-02 2.86316527e+02] [ 9.55507134e-02 9.95414966e-01 -4.37108930e-03 2.24613210e+01] [ 5.21439280e-02 -6.20090718e-04 9.98639387e-01 1.34113683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.34, Y:22.46, Z:13.41 [[ 9.94368739e-01 -9.24570238e-02 -5.17929588e-02 2.86343674e+02] [ 9.23547685e-02 9.95716579e-01 -4.36925920e-03 2.24648785e+01] [ 5.19750765e-02 -4.38671960e-04 9.98648286e-01 1.34126078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.37, Y:22.47, Z:13.41 [[ 9.94598888e-01 -9.01102186e-02 -5.15092185e-02 2.86371203e+02] [ 9.00056946e-02 9.95931751e-01 -4.34997838e-03 2.24681489e+01] [ 5.16916437e-02 -3.09639330e-04 9.98663045e-01 1.34136696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.40, Y:22.47, Z:13.41 [[ 9.94693669e-01 -8.83791096e-02 -5.26653423e-02 2.86398547e+02] [ 8.82671062e-02 9.96086886e-01 -4.45341149e-03 2.24713208e+01] [ 5.28528454e-02 -2.18837146e-04 9.98602288e-01 1.34140717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.43, Y:22.47, Z:13.41 [[ 9.94642931e-01 -8.88818390e-02 -5.27774458e-02 2.86426542e+02] [ 8.87692726e-02 9.96042150e-01 -4.47783225e-03 2.24729245e+01] [ 5.29665586e-02 -2.31171282e-04 9.98596260e-01 1.34149999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.45, Y:22.47, Z:13.42 [[ 9.94496749e-01 -9.02315800e-02 -5.32398099e-02 2.86454523e+02] [ 9.01181294e-02 9.95920769e-01 -4.53265612e-03 2.24738569e+01] [ 5.34316211e-02 -2.90160297e-04 9.98571468e-01 1.34159819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.48, Y:22.47, Z:13.42 [[ 9.94283296e-01 -9.23518112e-02 -5.35898411e-02 2.86483492e+02] [ 9.22391047e-02 9.95726363e-01 -4.57795848e-03 2.24747034e+01] [ 5.37836004e-02 -3.91291318e-04 9.98552538e-01 1.34170752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.51, Y:22.47, Z:13.42 [[ 9.93811555e-01 -9.73885608e-02 -5.34234172e-02 2.86512180e+02] [ 9.72830932e-02 9.95246225e-01 -4.57730649e-03 2.24729890e+01] [ 5.36152315e-02 -6.48215188e-04 9.98561459e-01 1.34184710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.54, Y:22.47, Z:13.42 [[ 9.93548988e-01 -1.00153542e-01 -5.31947077e-02 2.86540485e+02] [ 1.00052266e-01 9.94971687e-01 -4.57021808e-03 2.24736571e+01] [ 5.33849516e-02 -7.81515489e-04 9.98573701e-01 1.34203876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.57, Y:22.47, Z:13.42 [[ 9.93040053e-01 -1.05390703e-01 -5.25761596e-02 2.86569577e+02] [ 1.05298856e-01 9.94430342e-01 -4.52166131e-03 2.24705294e+01] [ 5.27598694e-02 -1.04601867e-03 9.98606680e-01 1.34219084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.60, Y:22.47, Z:13.42 [[ 9.92803443e-01 -1.07789187e-01 -5.21806005e-02 2.86597812e+02] [ 1.07701867e-01 9.94173095e-01 -4.49066124e-03 2.24724198e+01] [ 5.23605938e-02 -1.16160413e-03 9.98627568e-01 1.34240210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.63, Y:22.47, Z:13.43 [[ 9.92517829e-01 -1.10374189e-01 -5.22101246e-02 2.86625943e+02] [ 1.10290088e-01 9.93889262e-01 -4.49803409e-03 2.24714811e+01] [ 5.23875490e-02 -1.29388019e-03 9.98625991e-01 1.34256161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.65, Y:22.47, Z:13.43 [[ 9.92281693e-01 -1.12694322e-01 -5.17400340e-02 2.86654795e+02] [ 1.12614596e-01 9.93628721e-01 -4.46294207e-03 2.24718268e+01] [ 5.19133320e-02 -1.39818732e-03 9.98650615e-01 1.34270141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.68, Y:22.47, Z:13.43 [[ 9.91785720e-01 -1.17178918e-01 -5.12853460e-02 2.86684578e+02] [ 1.17105958e-01 9.93109521e-01 -4.43562158e-03 2.24723345e+01] [ 5.14517267e-02 -1.60663343e-03 9.98674190e-01 1.34289025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.71, Y:22.47, Z:13.43 [[ 9.91555968e-01 -1.19400802e-01 -5.05985214e-02 2.86713771e+02] [ 1.19332574e-01 9.92844685e-01 -4.37811102e-03 2.24736744e+01] [ 5.07592230e-02 -1.69690969e-03 9.98709478e-01 1.34305226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.74, Y:22.47, Z:13.43 [[ 9.91284647e-01 -1.21825395e-01 -5.01330360e-02 2.86743028e+02] [ 1.21761382e-01 9.92549912e-01 -4.34037780e-03 2.24729754e+01] [ 5.02883087e-02 -1.80171785e-03 9.98733117e-01 1.34321668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.77, Y:22.47, Z:13.43 [[ 9.90965368e-01 -1.24413253e-01 -5.00897484e-02 2.86772899e+02] [ 1.24352693e-01 9.92228607e-01 -4.33575021e-03 2.24747935e+01] [ 5.02399061e-02 -1.93221678e-03 9.98735309e-01 1.34337628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.80, Y:22.48, Z:13.43 [[ 9.90606280e-01 -1.27213971e-01 -5.01577791e-02 2.86803268e+02] [ 1.27156784e-01 9.91873124e-01 -4.34250858e-03 2.24761650e+01] [ 5.03025808e-02 -2.07618559e-03 9.98731866e-01 1.34349070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.83, Y:22.47, Z:13.44 [[ 9.89689603e-01 -1.33834558e-01 -5.10176512e-02 2.86833613e+02] [ 1.33784155e-01 9.91000651e-01 -4.41702719e-03 2.24721993e+01] [ 5.11496764e-02 -2.45386749e-03 9.98687984e-01 1.34358297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.86, Y:22.47, Z:13.44 [[ 9.89177173e-01 -1.37421868e-01 -5.14174208e-02 2.86863288e+02] [ 1.37375449e-01 9.90509041e-01 -4.45266811e-03 2.24742894e+01] [ 5.15413142e-02 -2.65901360e-03 9.98667323e-01 1.34376324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.89, Y:22.47, Z:13.44 [[ 9.88685155e-01 -1.40967241e-01 -5.12825548e-02 2.86892558e+02] [ 1.40925763e-01 9.90010201e-01 -4.44199959e-03 2.24739655e+01] [ 5.13964288e-02 -2.83529409e-03 9.98674305e-01 1.34393534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.92, Y:22.47, Z:13.44 [[ 9.87812668e-01 -1.46864217e-01 -5.15464318e-02 2.86923118e+02] [ 1.46830211e-01 9.89151626e-01 -4.46658388e-03 2.24733084e+01] [ 5.16432182e-02 -3.15642531e-03 9.98660611e-01 1.34411315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.95, Y:22.47, Z:13.44 [[ 9.87489635e-01 -1.48918169e-01 -5.18420643e-02 2.86953007e+02] [ 1.48886588e-01 9.88844075e-01 -4.49224012e-03 2.24747953e+01] [ 5.19326943e-02 -3.28254751e-03 9.98645192e-01 1.34424771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.98, Y:22.48, Z:13.44 [[ 9.87213661e-01 -1.50420344e-01 -5.27532783e-02 2.86982659e+02] [ 1.50389730e-01 9.88616217e-01 -4.57214651e-03 2.24799160e+01] [ 5.28404903e-02 -3.41986580e-03 9.98597110e-01 1.34437378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.01, Y:22.48, Z:13.44 [[ 9.86976747e-01 -1.51674965e-01 -5.35873642e-02 2.87013330e+02] [ 1.51645182e-01 9.88424080e-01 -4.64512219e-03 2.24828477e+01] [ 5.36715899e-02 -3.54163799e-03 9.98552361e-01 1.34442290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.04, Y:22.48, Z:13.45 [[ 9.87004597e-01 -1.51448192e-01 -5.37156452e-02 2.87041799e+02] [ 1.51417913e-01 9.88458867e-01 -4.65659196e-03 2.24826683e+01] [ 5.38009382e-02 -3.53743324e-03 9.98545415e-01 1.34451304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.07, Y:22.49, Z:13.45 [[ 9.87056402e-01 -1.51016088e-01 -5.39796284e-02 2.87071449e+02] [ 1.50984728e-01 9.88525007e-01 -4.68208979e-03 2.24906870e+01] [ 5.40672834e-02 -3.52861282e-03 9.98531060e-01 1.34469308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.10, Y:22.49, Z:13.45 [[ 9.87197912e-01 -1.50022554e-01 -5.41619332e-02 2.87100361e+02] [ 1.49989481e-01 9.88676430e-01 -4.69815105e-03 2.24944755e+01] [ 5.42534553e-02 -3.48571531e-03 9.98521113e-01 1.34481059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.13, Y:22.50, Z:13.45 [[ 9.87553408e-01 -1.47360918e-01 -5.49820485e-02 2.87130251e+02] [ 1.47322627e-01 9.89076984e-01 -4.77117903e-03 2.25015109e+01] [ 5.50845640e-02 -3.38830574e-03 9.98475944e-01 1.34493499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.16, Y:22.51, Z:13.45 [[ 9.87734257e-01 -1.46079131e-01 -5.51536514e-02 2.87158543e+02] [ 1.46038542e-01 9.89267318e-01 -4.78734179e-03 2.25055299e+01] [ 5.52610355e-02 -3.32593736e-03 9.98466402e-01 1.34510464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.19, Y:22.51, Z:13.45 [[ 9.87729100e-01 -1.46114090e-01 -5.51534090e-02 2.87187608e+02] [ 1.46073400e-01 9.89262158e-01 -4.79013244e-03 2.25080859e+01] [ 5.52610863e-02 -3.32509280e-03 9.98466402e-01 1.34524352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.22, Y:22.52, Z:13.45 [[ 9.87929178e-01 -1.44883865e-01 -5.48142719e-02 2.87217657e+02] [ 1.44841695e-01 9.89443381e-01 -4.76235139e-03 2.25155180e+01] [ 5.49256063e-02 -3.23452614e-03 9.98485211e-01 1.34543892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.25, Y:22.52, Z:13.46 [[ 9.88122462e-01 -1.43748295e-01 -5.43178402e-02 2.87247557e+02] [ 1.43705175e-01 9.89609292e-01 -4.71922061e-03 2.25209953e+01] [ 5.44318193e-02 -3.14258683e-03 9.98512544e-01 1.34567625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.28, Y:22.53, Z:13.46 [[ 9.88432188e-01 -1.41627997e-01 -5.42523680e-02 2.87276336e+02] [ 1.41581791e-01 9.89915339e-01 -4.71365621e-03 2.25274275e+01] [ 5.43728369e-02 -3.02201790e-03 9.98516130e-01 1.34589282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.31, Y:22.53, Z:13.46 [[ 9.88581656e-01 -1.40677759e-01 -5.40007236e-02 2.87306983e+02] [ 1.40630528e-01 9.90051026e-01 -4.69251971e-03 2.25323560e+01] [ 5.41236050e-02 -2.95521137e-03 9.98529870e-01 1.34604564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.34, Y:22.54, Z:13.46 [[ 9.88775302e-01 -1.39204290e-01 -5.42730831e-02 2.87337717e+02] [ 1.39154422e-01 9.90259468e-01 -4.71522231e-03 2.25371124e+01] [ 5.44008136e-02 -2.89004417e-03 9.98514997e-01 1.34621735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.37, Y:22.55, Z:13.46 [[ 9.89161933e-01 -1.36319559e-01 -5.45494942e-02 2.87367575e+02] [ 1.36264856e-01 9.90661111e-01 -4.73839701e-03 2.25461158e+01] [ 5.46859987e-02 -2.74613703e-03 9.98499825e-01 1.34636799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.40, Y:22.55, Z:13.46 [[ 9.89436361e-01 -1.34291011e-01 -5.46041449e-02 2.87398393e+02] [ 1.34233119e-01 9.90938430e-01 -4.74313642e-03 2.25509933e+01] [ 5.47463062e-02 -2.63665302e-03 9.98496815e-01 1.34649412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.43, Y:22.55, Z:13.47 [[ 9.89727658e-01 -1.32122822e-01 -5.46143132e-02 2.87427479e+02] [ 1.32061612e-01 9.91230157e-01 -4.74409683e-03 2.25539976e+01] [ 5.47621577e-02 -2.51709038e-03 9.98496255e-01 1.34661849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.46, Y:22.57, Z:13.47 [[ 9.90426379e-01 -1.26550562e-01 -5.51411103e-02 2.87456936e+02] [ 1.26479509e-01 9.91957653e-01 -4.79055814e-03 2.25680009e+01] [ 5.53038942e-02 -2.22952540e-03 9.98467079e-01 1.34691506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.49, Y:22.57, Z:13.47 [[ 9.90811085e-01 -1.23458365e-01 -5.52397142e-02 2.87486615e+02] [ 1.23382308e-01 9.92347612e-01 -4.79827435e-03 2.25722920e+01] [ 5.54093855e-02 -2.06142002e-03 9.98461592e-01 1.34701422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.52, Y:22.58, Z:13.47 [[ 9.91162181e-01 -1.20215909e-01 -5.60862352e-02 2.87517377e+02] [ 1.20132340e-01 9.92745934e-01 -4.87147797e-03 2.25820544e+01] [ 5.62650111e-02 -1.90934597e-03 9.98414044e-01 1.34725702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.55, Y:22.58, Z:13.47 [[ 9.91589631e-01 -1.16562721e-01 -5.62417657e-02 2.87547345e+02] [ 1.16472921e-01 9.93181863e-01 -4.88320847e-03 2.25843785e+01] [ 5.64275017e-02 -1.70850384e-03 9.98405237e-01 1.34727871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.58, Y:22.59, Z:13.47 [[ 9.91996607e-01 -1.12896677e-01 -5.65426529e-02 2.87576974e+02] [ 1.12799956e-01 9.93605589e-01 -4.90949334e-03 2.25904160e+01] [ 5.67353614e-02 -1.50780800e-03 9.98388114e-01 1.34741582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.61, Y:22.60, Z:13.48 [[ 9.92830935e-01 -1.05097561e-01 -5.69318724e-02 2.87606233e+02] [ 1.04986629e-01 9.94461342e-01 -4.94429073e-03 2.26014554e+01] [ 5.71361791e-02 -1.06824060e-03 9.98365823e-01 1.34765102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.64, Y:22.61, Z:13.48 [[ 9.93223794e-01 -1.01278025e-01 -5.70022471e-02 2.87635910e+02] [ 1.01160485e-01 9.94857800e-01 -4.95125209e-03 2.26079476e+01] [ 5.72105832e-02 -8.48673559e-04 9.98361773e-01 1.34785011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.67, Y:22.62, Z:13.48 [[ 9.93893917e-01 -9.39670291e-02 -5.78366517e-02 2.87665476e+02] [ 9.38336053e-02 9.95575216e-01 -5.02442161e-03 2.26158217e+01] [ 5.80528670e-02 -4.33279471e-04 9.98313416e-01 1.34793668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.69, Y:22.62, Z:13.48 [[ 9.94139308e-01 -9.15619322e-02 -5.74756296e-02 2.87693973e+02] [ 9.14258223e-02 9.95799343e-01 -4.99878192e-03 2.26204887e+01] [ 5.76918923e-02 -2.85271102e-04 9.98334395e-01 1.34809613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.72, Y:22.62, Z:13.48 [[ 9.94348886e-01 -8.94577983e-02 -5.71628839e-02 2.87721308e+02] [ 8.93189412e-02 9.95990602e-01 -4.98464496e-03 2.26244272e+01] [ 5.73796105e-02 -1.49252097e-04 9.98352422e-01 1.34816979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.75, Y:22.63, Z:13.48 [[ 9.94491200e-01 -8.80446888e-02 -5.68804470e-02 2.87748748e+02] [ 8.79044905e-02 9.96116524e-01 -4.96703294e-03 2.26279291e+01] [ 5.70968740e-02 -6.03761630e-05 9.98368641e-01 1.34830774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.78, Y:22.63, Z:13.48 [[ 9.94599706e-01 -8.72596114e-02 -5.61888390e-02 2.87776736e+02] [ 8.71206579e-02 9.96185605e-01 -4.92247326e-03 2.26310574e+01] [ 5.64040457e-02 6.81836099e-07 9.98408025e-01 1.34846788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.80, Y:22.63, Z:13.49 [[ 9.94549109e-01 -8.78538412e-02 -5.61584590e-02 2.87804365e+02] [ 8.77151535e-02 9.96133376e-01 -4.93453079e-03 2.26330639e+01] [ 5.63748328e-02 -1.83146521e-05 9.98409674e-01 1.34858513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.83, Y:22.63, Z:13.49 [[ 9.94267629e-01 -9.09324293e-02 -5.62421130e-02 2.87832296e+02] [ 9.07977458e-02 9.95857048e-01 -4.95075813e-03 2.26332957e+01] [ 5.64592891e-02 -1.84278530e-04 9.98404885e-01 1.34868281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.86, Y:22.64, Z:13.49 [[ 9.94244994e-01 -9.11804389e-02 -5.62407276e-02 2.87860394e+02] [ 9.10452643e-02 9.95834371e-01 -4.96645060e-03 2.26358150e+01] [ 5.64592928e-02 -1.82583262e-04 9.98404885e-01 1.34881745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.89, Y:22.63, Z:13.49 [[ 9.93713049e-01 -9.65760090e-02 -5.66343596e-02 2.87889067e+02] [ 9.64468717e-02 9.95325497e-01 -5.01549363e-03 2.26339926e+01] [ 5.68539985e-02 -4.78245355e-04 9.98382389e-01 1.34886504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.92, Y:22.63, Z:13.49 [[ 9.93401453e-01 -1.00176354e-01 -5.58413129e-02 2.87917990e+02] [ 1.00055717e-01 9.94969478e-01 -4.95906344e-03 2.26340123e+01] [ 5.60571828e-02 -6.60901757e-04 9.98427341e-01 1.34900671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.95, Y:22.63, Z:13.49 [[ 9.93064053e-01 -1.03788893e-01 -5.52417569e-02 2.87947660e+02] [ 1.03675743e-01 9.94598992e-01 -4.91791830e-03 2.26339353e+01] [ 5.54538210e-02 -8.43422339e-04 9.98460897e-01 1.34918450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.98, Y:22.63, Z:13.49 [[ 9.92382787e-01 -1.10779491e-01 -5.38916446e-02 2.87977790e+02] [ 1.10681992e-01 9.93844284e-01 -4.79963994e-03 2.26300063e+01] [ 5.40916046e-02 -1.20175451e-03 9.98535254e-01 1.34935907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.01, Y:22.63, Z:13.49 [[ 9.92039322e-01 -1.13984862e-01 -5.35297642e-02 2.88008235e+02] [ 1.13893235e-01 9.93481548e-01 -4.76910862e-03 2.26293837e+01] [ 5.37244392e-02 -1.36553475e-03 9.98554866e-01 1.34948465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.04, Y:22.63, Z:13.50 [[ 9.91739525e-01 -1.16898103e-01 -5.27972340e-02 2.88038378e+02] [ 1.16813086e-01 9.93142777e-01 -4.70389702e-03 2.26268973e+01] [ 5.29850682e-02 -1.50236723e-03 9.98594175e-01 1.34960421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.07, Y:22.63, Z:13.50 [[ 9.91411121e-01 -1.19736021e-01 -5.26048819e-02 2.88068406e+02] [ 1.19655580e-01 9.92804397e-01 -4.68729724e-03 2.26279192e+01] [ 5.27875963e-02 -1.64742906e-03 9.98604404e-01 1.34976315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.10, Y:22.63, Z:13.50 [[ 9.90866979e-01 -1.24173558e-01 -5.25695455e-02 2.88099241e+02] [ 1.24099421e-01 9.92258730e-01 -4.68480070e-03 2.26285748e+01] [ 5.27443188e-02 -1.88183585e-03 9.98606277e-01 1.34986092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.13, Y:22.63, Z:13.50 [[ 9.90600396e-01 -1.26141183e-01 -5.29080003e-02 2.88130088e+02] [ 1.26068984e-01 9.92010281e-01 -4.71317511e-03 2.26265487e+01] [ 5.30798057e-02 -2.00118474e-03 9.98588268e-01 1.34997273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.16, Y:22.63, Z:13.50 [[ 9.90337188e-01 -1.28022515e-01 -5.33150032e-02 2.88161173e+02] [ 1.27951979e-01 9.91768997e-01 -4.74834553e-03 2.26318377e+01] [ 5.34840624e-02 -2.11929703e-03 9.98566454e-01 1.35015733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.19, Y:22.63, Z:13.50 [[ 9.90090234e-01 -1.29910304e-01 -5.33351804e-02 2.88192713e+02] [ 1.29842552e-01 9.91523256e-01 -4.74816538e-03 2.26329263e+01] [ 5.34999074e-02 -2.22406378e-03 9.98565378e-01 1.35026643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.22, Y:22.63, Z:13.50 [[ 9.89619176e-01 -1.33646538e-01 -5.28440065e-02 2.88223010e+02] [ 1.33585448e-01 9.91026143e-01 -4.70236050e-03 2.26302651e+01] [ 5.29982461e-02 -2.40564417e-03 9.98591708e-01 1.35031424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.25, Y:22.63, Z:13.50 [[ 9.89308020e-01 -1.35784497e-01 -5.32185245e-02 2.88254617e+02] [ 1.35725792e-01 9.90735137e-01 -4.73251778e-03 2.26318234e+01] [ 5.33680647e-02 -2.54120859e-03 9.98571676e-01 1.35045194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.29, Y:22.63, Z:13.51 [[ 9.88994641e-01 -1.37993000e-01 -5.33622788e-02 2.88285081e+02] [ 1.37937280e-01 9.90429607e-01 -4.74347173e-03 2.26323772e+01] [ 5.35061467e-02 -2.66937947e-03 9.98563952e-01 1.35054444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.32, Y:22.63, Z:13.51 [[ 9.88440289e-01 -1.41720837e-01 -5.38609268e-02 2.88316165e+02] [ 1.41669637e-01 9.89902420e-01 -4.78682102e-03 2.26331960e+01] [ 5.39954540e-02 -2.89897119e-03 9.98536973e-01 1.35057516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.35, Y:22.64, Z:13.51 [[ 9.88159834e-01 -1.43419197e-01 -5.45075892e-02 2.88347632e+02] [ 1.43369396e-01 9.89657395e-01 -4.84317465e-03 2.26362517e+01] [ 5.46384430e-02 -3.02888950e-03 9.98501611e-01 1.35065802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.38, Y:22.64, Z:13.51 [[ 9.87940996e-01 -1.44757323e-01 -5.49354707e-02 2.88377737e+02] [ 1.44708931e-01 9.89462239e-01 -4.87880045e-03 2.26353588e+01] [ 5.50628160e-02 -3.12968629e-03 9.98477987e-01 1.35071902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.41, Y:22.64, Z:13.51 [[ 9.87619287e-01 -1.46688544e-01 -5.55932983e-02 2.88408727e+02] [ 1.46642287e-01 9.89177289e-01 -4.93269474e-03 2.26394291e+01] [ 5.57151979e-02 -3.28070396e-03 9.98441312e-01 1.35076486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.44, Y:22.64, Z:13.51 [[ 9.87537777e-01 -1.47115714e-01 -5.59115819e-02 2.88439500e+02] [ 1.47069720e-01 9.89113697e-01 -4.95896318e-03 2.26428296e+01] [ 5.60324529e-02 -3.32573724e-03 9.98423409e-01 1.35086923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.47, Y:22.65, Z:13.51 [[ 9.87532798e-01 -1.47042726e-01 -5.61908265e-02 2.88470514e+02] [ 1.46996268e-01 9.89124502e-01 -4.98173656e-03 2.26510346e+01] [ 5.63122514e-02 -3.34021353e-03 9.98407619e-01 1.35107812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.50, Y:22.65, Z:13.51 [[ 9.87602533e-01 -1.46692664e-01 -5.58793209e-02 2.88500738e+02] [ 1.46646288e-01 9.89176600e-01 -4.95184357e-03 2.26543056e+01] [ 5.60009158e-02 -3.30404172e-03 9.98425250e-01 1.35122690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.53, Y:22.66, Z:13.51 [[ 9.87871049e-01 -1.45048431e-01 -5.54233115e-02 2.88532175e+02] [ 1.45000423e-01 9.89419420e-01 -4.90794133e-03 2.26610910e+01] [ 5.55487900e-02 -3.18799047e-03 9.98450884e-01 1.35141630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.56, Y:22.67, Z:13.52 [[ 9.88048508e-01 -1.43935017e-01 -5.51620999e-02 2.88563287e+02] [ 1.43885889e-01 9.89582244e-01 -4.88195750e-03 2.26670705e+01] [ 5.52901192e-02 -3.11343694e-03 9.98465477e-01 1.35162527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.59, Y:22.67, Z:13.52 [[ 9.88302600e-01 -1.42353002e-01 -5.47137516e-02 2.88593694e+02] [ 1.42302362e-01 9.89811401e-01 -4.84028991e-03 2.26743203e+01] [ 5.48453249e-02 -3.00222498e-03 9.98490349e-01 1.35184078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.62, Y:22.67, Z:13.52 [[ 9.88578202e-01 -1.40647785e-01 -5.41418499e-02 2.88624133e+02] [ 1.40595750e-01 9.90055510e-01 -4.78781972e-03 2.26748403e+01] [ 5.42768330e-02 -2.87897977e-03 9.98521776e-01 1.35200512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.65, Y:22.69, Z:13.52 [[ 9.89412963e-01 -1.35027650e-01 -5.31932506e-02 2.88653572e+02] [ 1.34969363e-01 9.90838611e-01 -4.70306930e-03 2.26865502e+01] [ 5.33409709e-02 -2.52618144e-03 9.98573162e-01 1.35226305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.68, Y:22.69, Z:13.52 [[ 9.89861876e-01 -1.31800373e-01 -5.29351413e-02 2.88684665e+02] [ 1.31738066e-01 9.91273515e-01 -4.67987846e-03 2.26933351e+01] [ 5.30900133e-02 -2.34113985e-03 9.98586986e-01 1.35240678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.72, Y:22.70, Z:13.53 [[ 9.90340803e-01 -1.28247868e-01 -5.27027342e-02 2.88716026e+02] [ 1.28181236e-01 9.91739829e-01 -4.65649706e-03 2.27007788e+01] [ 5.28645864e-02 -2.14398260e-03 9.98599389e-01 1.35258997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.74, Y:22.71, Z:13.53 [[ 9.91325622e-01 -1.20772501e-01 -5.18412457e-02 2.88744876e+02] [ 1.20697946e-01 9.92678724e-01 -4.57792699e-03 2.27116008e+01] [ 5.20145893e-02 -1.71891556e-03 9.98644846e-01 1.35281661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.78, Y:22.72, Z:13.53 [[ 9.91807613e-01 -1.17041822e-01 -5.11749035e-02 2.88775621e+02] [ 1.16964179e-01 9.93125850e-01 -4.51970905e-03 2.27202561e+01] [ 5.13521145e-02 -1.50294876e-03 9.98679479e-01 1.35305200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.81, Y:22.73, Z:13.53 [[ 9.92230638e-01 -1.13309821e-01 -5.13735807e-02 2.88806803e+02] [ 1.13226677e-01 9.93558831e-01 -4.53529944e-03 2.27265455e+01] [ 5.15565687e-02 -1.31679679e-03 9.98669208e-01 1.35323545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.84, Y:22.74, Z:13.53 [[ 9.93008863e-01 -1.06330620e-01 -5.12561956e-02 2.88837240e+02] [ 1.06238702e-01 9.94330371e-01 -4.52223477e-03 2.27357268e+01] [ 5.14464441e-02 -9.54772495e-04 9.98675298e-01 1.35335657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.87, Y:22.74, Z:13.54 [[ 9.93348702e-01 -1.03094736e-01 -5.12818777e-02 2.88868941e+02] [ 1.02998519e-01 9.94671228e-01 -4.52250104e-03 2.27427151e+01] [ 5.14748543e-02 -7.89536926e-04 9.98673979e-01 1.35353674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.90, Y:22.75, Z:13.54 [[ 9.93660986e-01 -1.00126183e-01 -5.11135267e-02 2.88900313e+02] [ 1.00026865e-01 9.94974543e-01 -4.50390389e-03 2.27476417e+01] [ 5.13076166e-02 -6.37372247e-04 9.98682693e-01 1.35367992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.93, Y:22.75, Z:13.54 [[ 9.93940033e-01 -9.71975925e-02 -5.13404167e-02 2.88932471e+02] [ 9.70936790e-02 9.95264983e-01 -4.52013604e-03 2.27538102e+01] [ 5.15366653e-02 -4.92085775e-04 9.98670982e-01 1.35386024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.96, Y:22.76, Z:13.54 [[ 9.94180896e-01 -9.45744911e-02 -5.15753021e-02 2.88963000e+02] [ 9.44662882e-02 9.95517722e-01 -4.53711198e-03 2.27586332e+01] [ 5.17732223e-02 -3.61417298e-04 9.98658802e-01 1.35396411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.99, Y:22.77, Z:13.54 [[ 9.94562829e-01 -8.99144152e-02 -5.25373947e-02 2.88993403e+02] [ 8.97957841e-02 9.95949488e-01 -4.61893473e-03 2.27656752e+01] [ 5.27399002e-02 -1.23815759e-04 9.98608275e-01 1.35406879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.02, Y:22.77, Z:13.54 [[ 9.94751448e-01 -8.74318022e-02 -5.31529595e-02 2.89023836e+02] [ 8.73069292e-02 9.96170507e-01 -4.67120987e-03 2.27699109e+01] [ 5.33578229e-02 6.07111070e-06 9.98575457e-01 1.35416476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.05, Y:22.77, Z:13.54 [[ 9.94923634e-01 -8.51673704e-02 -5.36048675e-02 2.89054727e+02] [ 8.50371371e-02 9.96366651e-01 -4.70983621e-03 2.27738138e+01] [ 5.38112267e-02 1.27522884e-04 9.98551118e-01 1.35425916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.08, Y:22.78, Z:13.54 [[ 9.95195662e-01 -8.16692821e-02 -5.39974321e-02 2.89083513e+02] [ 8.15320742e-02 9.96659434e-01 -4.74270574e-03 2.27788538e+01] [ 5.42043835e-02 3.17397539e-04 9.98529811e-01 1.35438245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.11, Y:22.78, Z:13.55 [[ 9.95192746e-01 -8.17048689e-02 -5.39973364e-02 2.89112519e+02] [ 8.15676542e-02 9.96656518e-01 -4.74379537e-03 2.27814304e+01] [ 5.42043884e-02 3.16554675e-04 9.98529811e-01 1.35452102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.14, Y:22.79, Z:13.55 [[ 9.95288274e-01 -8.05466110e-02 -5.39768096e-02 2.89141954e+02] [ 8.04076929e-02 9.96750770e-01 -4.74393866e-03 2.27850932e+01] [ 5.41835347e-02 3.81435782e-04 9.98530920e-01 1.35472064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.17, Y:22.79, Z:13.55 [[ 9.95276979e-01 -8.04695541e-02 -5.42990415e-02 2.89170481e+02] [ 8.03287411e-02 9.96756991e-01 -4.77437303e-03 2.27883665e+01] [ 5.45071409e-02 3.90049920e-04 9.98513305e-01 1.35490425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.20, Y:22.79, Z:13.55 [[ 9.95210841e-01 -8.11433681e-02 -5.45081188e-02 2.89200238e+02] [ 8.10023219e-02 9.96702376e-01 -4.79559455e-03 2.27903426e+01] [ 5.47175022e-02 3.57343507e-04 9.98501811e-01 1.35508587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.23, Y:22.79, Z:13.55 [[ 9.95063494e-01 -8.31003402e-02 -5.42492068e-02 2.89229805e+02] [ 8.29634308e-02 9.96541154e-01 -4.77477133e-03 2.27916358e+01] [ 5.44583522e-02 2.50500333e-04 9.98516011e-01 1.35529139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.26, Y:22.79, Z:13.55 [[ 9.94888346e-01 -8.56438928e-02 -5.35005008e-02 2.89258155e+02] [ 8.55143036e-02 9.96325806e-01 -4.71091869e-03 2.27925401e+01] [ 5.37073910e-02 1.11780033e-04 9.98556710e-01 1.35547580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.29, Y:22.79, Z:13.56 [[ 9.94609009e-01 -8.89376483e-02 -5.33199241e-02 2.89288321e+02] [ 8.88135234e-02 9.96037193e-01 -4.69759017e-03 2.27925540e+01] [ 5.35264202e-02 -6.32648253e-05 9.98566432e-01 1.35566979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.32, Y:22.79, Z:13.56 [[ 9.93906618e-01 -9.68819449e-02 -5.25692289e-02 2.89318076e+02] [ 9.67723834e-02 9.95295762e-01 -4.63154675e-03 2.27880879e+01] [ 5.27706440e-02 -4.83924606e-04 9.98606542e-01 1.35583200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.35, Y:22.79, Z:13.56 [[ 9.93539753e-01 -1.00845532e-01 -5.20474629e-02 2.89349877e+02] [ 1.00743536e-01 9.94901858e-01 -4.58616844e-03 2.27878899e+01] [ 5.22446121e-02 -6.86904811e-04 9.98634081e-01 1.35605412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.38, Y:22.79, Z:13.56 [[ 9.93155242e-01 -1.04518410e-01 -5.21398780e-02 2.89381315e+02] [ 1.04421250e-01 9.94522559e-01 -4.59158382e-03 2.27873686e+01] [ 5.23341899e-02 -8.84355677e-04 9.98629236e-01 1.35621022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.41, Y:22.78, Z:13.56 [[ 9.92495825e-01 -1.10489751e-01 -5.23837105e-02 2.89412107e+02] [ 1.10400076e-01 9.93876531e-01 -4.61126881e-03 2.27830950e+01] [ 5.25724384e-02 -1.20650059e-03 9.98616384e-01 1.35629886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.44, Y:22.78, Z:13.56 [[ 9.92238298e-01 -1.12614827e-01 -5.27357682e-02 2.89444158e+02] [ 1.12527005e-01 9.93637828e-01 -4.64102945e-03 2.27835517e+01] [ 5.29229029e-02 -1.32919088e-03 9.98597717e-01 1.35645184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.48, Y:22.78, Z:13.57 [[ 9.92051666e-01 -1.14296988e-01 -5.26278532e-02 2.89476345e+02] [ 1.14212087e-01 9.93445611e-01 -4.62777910e-03 2.27849101e+01] [ 5.28118510e-02 -1.41974099e-03 9.98603471e-01 1.35658317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.51, Y:22.79, Z:13.57 [[ 9.91964716e-01 -1.15164034e-01 -5.23760137e-02 2.89508405e+02] [ 1.15081349e-01 9.93345411e-01 -4.60185240e-03 2.27852152e+01] [ 5.25574407e-02 -1.46262710e-03 9.98616831e-01 1.35671276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.54, Y:22.79, Z:13.57 [[ 9.92019531e-01 -1.14755101e-01 -5.22352068e-02 2.89540774e+02] [ 1.14672492e-01 9.93392768e-01 -4.58572361e-03 2.27867584e+01] [ 5.24163119e-02 -1.44081394e-03 9.98624281e-01 1.35693572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.57, Y:22.79, Z:13.57 [[ 9.92138177e-01 -1.13668574e-01 -5.23573575e-02 2.89572421e+02] [ 1.13584264e-01 9.93517751e-01 -4.59270527e-03 2.27869882e+01] [ 5.25400103e-02 -1.39037367e-03 9.98617852e-01 1.35705205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.60, Y:22.79, Z:13.57 [[ 9.92344360e-01 -1.11972371e-01 -5.21043196e-02 2.89603966e+02] [ 1.11886681e-01 9.93710474e-01 -4.56777744e-03 2.27895506e+01] [ 5.22880730e-02 -1.29697123e-03 9.98631201e-01 1.35722199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.64, Y:22.79, Z:13.57 [[ 9.92593228e-01 -1.09884534e-01 -5.18080310e-02 2.89635337e+02] [ 1.09797072e-01 9.93943656e-01 -4.53994050e-03 2.27946285e+01] [ 5.19931330e-02 -1.18205589e-03 9.98646743e-01 1.35742561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.67, Y:22.80, Z:13.58 [[ 9.93185134e-01 -1.04434321e-01 -5.17374434e-02 2.89666890e+02] [ 1.04339850e-01 9.94531380e-01 -4.53099058e-03 2.28004927e+01] [ 5.19277019e-02 -8.98164604e-04 9.98650443e-01 1.35762501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.70, Y:22.80, Z:13.58 [[ 9.93459237e-01 -1.01647306e-01 -5.20247082e-02 2.89697042e+02] [ 1.01548104e-01 9.94820209e-01 -4.55345209e-03 2.28039518e+01] [ 5.22180772e-02 -7.59341440e-04 9.98635417e-01 1.35772344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.73, Y:22.81, Z:13.58 [[ 9.93709044e-01 -9.89837131e-02 -5.23885489e-02 2.89728378e+02] [ 9.88794740e-02 9.95088857e-01 -4.58425411e-03 2.28079532e+01] [ 5.25850277e-02 -6.24737379e-04 9.98616255e-01 1.35784330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.76, Y:22.81, Z:13.58 [[ 9.94012583e-01 -9.54990185e-02 -5.30935198e-02 2.89758167e+02] [ 9.53870825e-02 9.95429423e-01 -4.64412035e-03 2.28124351e+01] [ 5.32943608e-02 -4.48121889e-04 9.98578745e-01 1.35791890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.79, Y:22.82, Z:13.58 [[ 9.94054952e-01 -9.49158073e-02 -5.33454994e-02 2.89789230e+02] [ 9.48020231e-02 9.95485215e-01 -4.66510404e-03 2.28155443e+01] [ 5.35474480e-02 -4.19891497e-04 9.98565218e-01 1.35803184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.82, Y:22.82, Z:13.58 [[ 9.94015987e-01 -9.49063848e-02 -5.40832386e-02 2.89819928e+02] [ 9.47895080e-02 9.95486110e-01 -4.72792549e-03 2.28179300e+01] [ 5.42878232e-02 -4.26890061e-04 9.98525238e-01 1.35813846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.85, Y:22.82, Z:13.58 [[ 9.93898956e-01 -9.58091217e-02 -5.46395226e-02 2.89850061e+02] [ 9.56911897e-02 9.95399609e-01 -4.77655551e-03 2.28201489e+01] [ 5.48457970e-02 -4.81107387e-04 9.98494721e-01 1.35828389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.88, Y:22.82, Z:13.58 [[ 9.93504983e-01 -9.94079065e-02 -5.53707291e-02 2.89880070e+02] [ 9.92923691e-02 9.95046528e-01 -4.84062292e-03 2.28196909e+01] [ 5.55776479e-02 -6.88707875e-04 9.98454131e-01 1.35835914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.91, Y:22.82, Z:13.58 [[ 9.93213798e-01 -1.01890475e-01 -5.60774785e-02 2.89910911e+02] [ 1.01775897e-01 9.94795270e-01 -4.90281308e-03 2.28206277e+01] [ 5.62851603e-02 -8.37794048e-04 9.98414382e-01 1.35848523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.94, Y:22.82, Z:13.59 [[ 9.92903226e-01 -1.04671190e-01 -5.64546353e-02 2.89940209e+02] [ 1.04559688e-01 9.94506377e-01 -4.93341231e-03 2.28208400e+01] [ 5.66608809e-02 -1.00447808e-03 9.98392977e-01 1.35860182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.97, Y:22.82, Z:13.59 [[ 9.92630085e-01 -1.07313835e-01 -5.62961456e-02 2.89971641e+02] [ 1.07207173e-01 9.94224529e-01 -4.92008537e-03 2.28224728e+01] [ 5.64990021e-02 -1.15152587e-03 9.98401992e-01 1.35883696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.00, Y:22.82, Z:13.59 [[ 9.92091053e-01 -1.12521874e-01 -5.56252698e-02 2.90003274e+02] [ 1.12426023e-01 9.93648215e-01 -4.85943136e-03 2.28221242e+01] [ 5.58187424e-02 -1.43272951e-03 9.98439891e-01 1.35909855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.03, Y:22.82, Z:13.59 [[ 9.91804548e-01 -1.15148226e-01 -5.53590442e-02 2.90034073e+02] [ 1.15057478e-01 9.93347072e-01 -4.83430843e-03 2.28217226e+01] [ 5.55474065e-02 -1.57478294e-03 9.98454809e-01 1.35924529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.06, Y:22.82, Z:13.59 [[ 9.91517157e-01 -1.17634566e-01 -5.52796172e-02 2.90064620e+02] [ 1.17547991e-01 9.93055475e-01 -4.82637433e-03 2.28208362e+01] [ 5.54634750e-02 -1.71257497e-03 9.98459248e-01 1.35935772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.10, Y:22.82, Z:13.60 [[ 9.91211827e-01 -1.20239884e-01 -5.51496505e-02 2.90095214e+02] [ 1.20157793e-01 9.92743134e-01 -4.81405569e-03 2.28240385e+01] [ 5.53282784e-02 -1.85491136e-03 9.98466495e-01 1.35957016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.13, Y:22.82, Z:13.60 [[ 9.90616385e-01 -1.25285325e-01 -5.46146948e-02 2.90126441e+02] [ 1.25212527e-01 9.92118494e-01 -4.76624994e-03 2.28248383e+01] [ 5.47813900e-02 -2.11691867e-03 9.98496128e-01 1.35977461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.16, Y:22.82, Z:13.60 [[ 9.90302495e-01 -1.27895203e-01 -5.42566627e-02 2.90157333e+02] [ 1.27827371e-01 9.91785139e-01 -4.73302285e-03 2.28230004e+01] [ 5.44162827e-02 -2.24836220e-03 9.98515805e-01 1.35989230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.19, Y:22.82, Z:13.60 [[ 9.90014259e-01 -1.30376069e-01 -5.36082722e-02 2.90188249e+02] [ 1.30313573e-01 9.91461810e-01 -4.67462982e-03 2.28244263e+01] [ 5.37600145e-02 -2.35793530e-03 9.98551101e-01 1.36007594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.22, Y:22.82, Z:13.60 [[ 9.89464040e-01 -1.34562199e-01 -5.34221656e-02 2.90218132e+02] [ 1.34506260e-01 9.90901798e-01 -4.65755976e-03 2.28230090e+01] [ 5.35628514e-02 -2.57712781e-03 9.98561155e-01 1.36021640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.25, Y:22.83, Z:13.60 [[ 9.89286642e-01 -1.36159229e-01 -5.26555166e-02 2.90249506e+02] [ 1.36107154e-01 9.90683487e-01 -4.59042501e-03 2.28289472e+01] [ 5.27899795e-02 -2.62554634e-03 9.98602185e-01 1.36043592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.28, Y:22.83, Z:13.61 [[ 9.89154584e-01 -1.37275943e-01 -5.22352849e-02 2.90281195e+02] [ 1.37226402e-01 9.90529255e-01 -4.55081671e-03 2.28318187e+01] [ 5.23652955e-02 -2.66659899e-03 9.98624436e-01 1.36060657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.31, Y:22.83, Z:13.61 [[ 9.89062561e-01 -1.37989656e-01 -5.20970844e-02 2.90312061e+02] [ 1.37941575e-01 9.90429987e-01 -4.53472597e-03 2.28330296e+01] [ 5.22242599e-02 -2.70122618e-03 9.98631729e-01 1.36072437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.34, Y:22.84, Z:13.61 [[ 9.89039517e-01 -1.38144218e-01 -5.21249308e-02 2.90343635e+02] [ 1.38096599e-01 9.90408398e-01 -4.53142246e-03 2.28364902e+01] [ 5.22509591e-02 -2.71651979e-03 9.98630291e-01 1.36083677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.38, Y:22.84, Z:13.61 [[ 9.89245474e-01 -1.36440322e-01 -5.27013386e-02 2.90375500e+02] [ 1.36389441e-01 9.90644722e-01 -4.57762856e-03 2.28418969e+01] [ 5.28328761e-02 -2.65950779e-03 9.98599827e-01 1.36092370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.41, Y:22.85, Z:13.61 [[ 9.89446686e-01 -1.34735572e-01 -5.33064914e-02 2.90407174e+02] [ 1.34681262e-01 9.90878174e-01 -4.62624323e-03 2.28482370e+01] [ 5.34435584e-02 -2.60196451e-03 9.98567482e-01 1.36104545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.44, Y:22.85, Z:13.61 [[ 9.89733462e-01 -1.32482064e-01 -5.36299935e-02 2.90437378e+02] [ 1.32424023e-01 9.91182251e-01 -4.65008684e-03 2.28501052e+01] [ 5.37731508e-02 -2.49955294e-03 9.98550049e-01 1.36111924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.47, Y:22.86, Z:13.61 [[ 9.90418811e-01 -1.26785606e-01 -5.47356211e-02 2.90467760e+02] [ 1.26716764e-01 9.91927613e-01 -4.74055715e-03 2.28602666e+01] [ 5.48948084e-02 -2.24078378e-03 9.98489629e-01 1.36121248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.50, Y:22.87, Z:13.61 [[ 9.90802560e-01 -1.23623612e-01 -5.50226310e-02 2.90498732e+02] [ 1.23549241e-01 9.92327006e-01 -4.76429896e-03 2.28658714e+01] [ 5.51894225e-02 -2.07752472e-03 9.98473741e-01 1.36134378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.53, Y:22.87, Z:13.61 [[ 9.91153514e-01 -1.20499201e-01 -5.56296216e-02 2.90529382e+02] [ 1.20418383e-01 9.92711555e-01 -4.81481904e-03 2.28724085e+01] [ 5.58043500e-02 -1.92660425e-03 9.98439864e-01 1.36146702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.56, Y:22.88, Z:13.62 [[ 9.91828939e-01 -1.14437925e-01 -5.63854257e-02 2.90559182e+02] [ 1.14345219e-01 9.93429098e-01 -4.87832937e-03 2.28826880e+01] [ 5.65731885e-02 -1.60893564e-03 9.98397158e-01 1.36162373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.59, Y:22.89, Z:13.62 [[ 9.92176142e-01 -1.11355239e-01 -5.64492247e-02 2.90589975e+02] [ 1.11257408e-01 9.93779628e-01 -4.88265762e-03 2.28888511e+01] [ 5.66417990e-02 -1.43593801e-03 9.98393532e-01 1.36176197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.62, Y:22.89, Z:13.62 [[ 9.92427217e-01 -1.08728746e-01 -5.71513732e-02 2.90619852e+02] [ 1.08624226e-01 9.94070601e-01 -4.94146491e-03 2.28939213e+01] [ 5.73497792e-02 -1.30397943e-03 9.98353295e-01 1.36187647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.65, Y:22.90, Z:13.62 [[ 9.92683868e-01 -1.06528492e-01 -5.68367797e-02 2.90651284e+02] [ 1.06421595e-01 9.94308960e-01 -4.91291472e-03 2.28990852e+01] [ 5.70366847e-02 -1.17168954e-03 9.98371396e-01 1.36199085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.68, Y:22.90, Z:13.62 [[ 9.92903574e-01 -1.04506029e-01 -5.67537082e-02 2.90682517e+02] [ 1.04396306e-01 9.94523692e-01 -4.90288371e-03 2.29045142e+01] [ 5.69552883e-02 -1.05678671e-03 9.98376171e-01 1.36217935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.71, Y:22.91, Z:13.62 [[ 9.93271825e-01 -1.01423985e-01 -5.58950603e-02 2.90712963e+02] [ 1.01312793e-01 9.94842913e-01 -4.82672057e-03 2.29112025e+01] [ 5.60963498e-02 -8.68639132e-04 9.98424982e-01 1.36241959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.74, Y:22.92, Z:13.63 [[ 9.93422843e-01 -1.00336280e-01 -5.51696095e-02 2.90743776e+02] [ 1.00226391e-01 9.94953262e-01 -4.76209550e-03 2.29153267e+01] [ 5.53689939e-02 -7.98676386e-04 9.98465641e-01 1.36262127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.77, Y:22.92, Z:13.63 [[ 9.93557264e-01 -9.92833176e-02 -5.46515016e-02 2.90774584e+02] [ 9.91739993e-02 9.95058934e-01 -4.71542012e-03 2.29194506e+01] [ 5.48496275e-02 -7.34968074e-04 9.98494356e-01 1.36285094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.80, Y:22.92, Z:13.63 [[ 9.93799684e-01 -9.75607023e-02 -5.33300809e-02 2.90804441e+02] [ 9.74542252e-02 9.95229379e-01 -4.59963722e-03 2.29243389e+01] [ 5.35244071e-02 -6.26123695e-04 9.98566345e-01 1.36311123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.84, Y:22.93, Z:13.63 [[ 9.93843465e-01 -9.69945901e-02 -5.35463974e-02 2.90835678e+02] [ 9.68864895e-02 9.95284728e-01 -4.61711538e-03 2.29275456e+01] [ 5.37417468e-02 -5.99232520e-04 9.98554688e-01 1.36326627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.87, Y:22.93, Z:13.63 [[ 9.93873136e-01 -9.67614040e-02 -5.34174068e-02 2.90866582e+02] [ 9.66536339e-02 9.95307432e-01 -4.60326124e-03 2.29305730e+01] [ 5.36121600e-02 -5.87928790e-04 9.98561661e-01 1.36340010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.90, Y:22.93, Z:13.64 [[ 9.93852430e-01 -9.70145355e-02 -5.33434808e-02 2.90896555e+02] [ 9.69075228e-02 9.95282782e-01 -4.59512247e-03 2.29331152e+01] [ 5.35376417e-02 -6.02510947e-04 9.98565650e-01 1.36353781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.93, Y:22.94, Z:13.64 [[ 9.93824696e-01 -9.77051580e-02 -5.25944499e-02 2.90927339e+02] [ 9.76021497e-02 9.95215204e-01 -4.52960343e-03 2.29351883e+01] [ 5.27853619e-02 -6.31699631e-04 9.98605681e-01 1.36367414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.96, Y:22.94, Z:13.64 [[ 9.93789031e-01 -9.80232246e-02 -5.26764499e-02 2.90959617e+02] [ 9.79204480e-02 9.95183914e-01 -4.53464848e-03 2.29382851e+01] [ 5.28672564e-02 -6.51617646e-04 9.98601336e-01 1.36387333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.99, Y:22.94, Z:13.64 [[ 9.93783791e-01 -9.81248929e-02 -5.25859430e-02 2.90992033e+02] [ 9.80228105e-02 9.95173889e-01 -4.52309188e-03 2.29415831e+01] [ 5.27759853e-02 -6.59646529e-04 9.98606159e-01 1.36399295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.02, Y:22.94, Z:13.64 [[ 9.93826127e-01 -9.75834440e-02 -5.27930045e-02 2.91023584e+02] [ 9.74799927e-02 9.95227143e-01 -4.53712651e-03 2.29437549e+01] [ 5.29837795e-02 -6.37146835e-04 9.98595170e-01 1.36407817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.06, Y:22.95, Z:13.64 [[ 9.93833039e-01 -9.75128821e-02 -5.27932579e-02 2.91055135e+02] [ 9.74094880e-02 9.95234059e-01 -4.53417613e-03 2.29464056e+01] [ 5.29837890e-02 -6.36350184e-04 9.98595170e-01 1.36422872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.09, Y:22.95, Z:13.64 [[ 9.93907425e-01 -9.68072400e-02 -5.26914556e-02 2.91087439e+02] [ 9.67034533e-02 9.95302967e-01 -4.52166441e-03 2.29500761e+01] [ 5.28816919e-02 -6.01329878e-04 9.98600603e-01 1.36438000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.12, Y:22.95, Z:13.65 [[ 9.94024152e-01 -9.54339802e-02 -5.29937863e-02 2.91119933e+02] [ 9.53272614e-02 9.95435618e-01 -4.54360652e-03 2.29532745e+01] [ 5.31855168e-02 -5.35297904e-04 9.98584505e-01 1.36453290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.15, Y:22.96, Z:13.65 [[ 9.94315356e-01 -9.25149069e-02 -5.27064030e-02 2.91151589e+02] [ 9.24054840e-02 9.95711226e-01 -4.51443638e-03 2.29571024e+01] [ 5.28980099e-02 -3.81587265e-04 9.98599847e-01 1.36464272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.18, Y:22.96, Z:13.65 [[ 9.94461188e-01 -9.09133067e-02 -5.27419832e-02 2.91183069e+02] [ 9.08016329e-02 9.95858766e-01 -4.51468894e-03 2.29598744e+01] [ 5.29340115e-02 -2.99375267e-04 9.98597968e-01 1.36474832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.21, Y:22.96, Z:13.65 [[ 9.94565871e-01 -8.94259180e-02 -5.33079028e-02 2.91214546e+02] [ 8.93100254e-02 9.95993450e-01 -4.55702419e-03 2.29630209e+01] [ 5.35018381e-02 -2.28669420e-04 9.98567725e-01 1.36491234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.25, Y:22.97, Z:13.65 [[ 9.94779357e-01 -8.70258078e-02 -5.32967073e-02 2.91245843e+02] [ 8.69066251e-02 9.96206052e-01 -4.55412336e-03 2.29651300e+01] [ 5.34908286e-02 -1.01489050e-04 9.98568336e-01 1.36499540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.28, Y:22.97, Z:13.65 [[ 9.94881754e-01 -8.58696975e-02 -5.32605926e-02 2.91276528e+02] [ 8.57491181e-02 9.96306375e-01 -4.54921785e-03 2.29670230e+01] [ 5.34545079e-02 -4.11150099e-05 9.98570285e-01 1.36511752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.31, Y:22.97, Z:13.65 [[ 9.94955700e-01 -8.52450450e-02 -5.28813424e-02 2.91306985e+02] [ 8.51253411e-02 9.96360016e-01 -4.51598000e-03 2.29685222e+01] [ 5.30738201e-02 -8.34226312e-06 9.98590592e-01 1.36527006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.34, Y:22.97, Z:13.65 [[ 9.95071748e-01 -8.42069536e-02 -5.23584226e-02 2.91336366e+02] [ 8.40881661e-02 9.96448286e-01 -4.47141329e-03 2.29685091e+01] [ 5.25489846e-02 4.66533009e-05 9.98618347e-01 1.36540980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.37, Y:22.97, Z:13.66 [[ 9.95068005e-01 -8.43262659e-02 -5.22374082e-02 2.91366376e+02] [ 8.42081471e-02 9.96438196e-01 -4.46192539e-03 2.29695270e+01] [ 5.24276063e-02 4.11038400e-05 9.98624727e-01 1.36556677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.40, Y:22.97, Z:13.66 [[ 9.95015679e-01 -8.46582758e-02 -5.26951069e-02 2.91396747e+02] [ 8.45385418e-02 9.96410044e-01 -4.50102032e-03 2.29702866e+01] [ 5.28869824e-02 2.38182871e-05 9.98600504e-01 1.36572456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.43, Y:22.97, Z:13.66 [[ 9.94791215e-01 -8.70981339e-02 -5.29561515e-02 2.91426216e+02] [ 8.69806582e-02 9.96199731e-01 -4.52342021e-03 2.29678417e+01] [ 5.31488853e-02 -1.06302223e-04 9.98586593e-01 1.36581177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.46, Y:22.97, Z:13.66 [[ 9.94604742e-01 -8.90547111e-02 -5.32039961e-02 2.91455768e+02] [ 8.89388718e-02 9.96026714e-01 -4.54566561e-03 2.29674844e+01] [ 5.33974143e-02 -2.10762809e-04 9.98573318e-01 1.36594543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.49, Y:22.97, Z:13.66 [[ 9.94362742e-01 -9.15294453e-02 -5.35266026e-02 2.91485348e+02] [ 9.14156758e-02 9.95802311e-01 -4.57512663e-03 2.29670073e+01] [ 5.37206733e-02 -3.43835088e-04 9.98555943e-01 1.36612455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.51, Y:22.97, Z:13.66 [[ 9.94086746e-01 -9.43287279e-02 -5.37924889e-02 2.91514681e+02] [ 9.42178192e-02 9.95540981e-01 -4.59969326e-03 2.29653416e+01] [ 5.39865104e-02 -4.95716883e-04 9.98541542e-01 1.36619417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.54, Y:22.96, Z:13.66 [[ 9.93376702e-01 -1.00881167e-01 -5.50065287e-02 2.91544590e+02] [ 1.00775159e-01 9.94898102e-01 -4.70464772e-03 2.29604768e+01] [ 5.52005014e-02 -8.69804255e-04 9.98474911e-01 1.36629412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.58, Y:22.96, Z:13.66 [[ 9.92932848e-01 -1.04618706e-01 -5.60293247e-02 2.91575543e+02] [ 1.04514571e-01 9.94511802e-01 -4.79369208e-03 2.29597361e+01] [ 5.62233345e-02 -1.09606649e-03 9.98417616e-01 1.36640501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.61, Y:22.96, Z:13.67 [[ 9.92515871e-01 -1.08113273e-01 -5.67782117e-02 2.91606188e+02] [ 1.08012093e-01 9.94137716e-01 -4.85689718e-03 2.29588854e+01] [ 5.69704567e-02 -1.31218592e-03 9.98375002e-01 1.36651552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.64, Y:22.96, Z:13.67 [[ 9.92062186e-01 -1.11852071e-01 -5.74607113e-02 2.91635731e+02] [ 1.11754682e-01 9.93723668e-01 -4.91564430e-03 2.29563120e+01] [ 5.76498937e-02 -1.54487868e-03 9.98335667e-01 1.36654741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.67, Y:22.95, Z:13.67 [[ 9.91179094e-01 -1.18983273e-01 -5.83693714e-02 2.91665837e+02] [ 1.18894991e-01 9.92894268e-01 -4.99542462e-03 2.29524626e+01] [ 5.85489862e-02 -1.98846545e-03 9.98282556e-01 1.36669506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.70, Y:22.95, Z:13.67 [[ 9.90808359e-01 -1.22233432e-01 -5.79463892e-02 2.91696831e+02] [ 1.22151892e-01 9.92499022e-01 -4.96054796e-03 2.29512955e+01] [ 5.81180794e-02 -2.16330869e-03 9.98307372e-01 1.36685972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.73, Y:22.95, Z:13.67 [[ 9.90149098e-01 -1.27900867e-01 -5.69748392e-02 2.91727373e+02] [ 1.27831379e-01 9.91783922e-01 -4.87758700e-03 2.29484828e+01] [ 5.71305771e-02 -2.45363387e-03 9.98363700e-01 1.36713689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.76, Y:22.95, Z:13.67 [[ 9.89901120e-01 -1.30159929e-01 -5.61619615e-02 2.91758632e+02] [ 1.30095993e-01 9.91489742e-01 -4.80869198e-03 2.29489030e+01] [ 5.63099078e-02 -2.54631657e-03 9.98410091e-01 1.36734636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.79, Y:22.95, Z:13.67 [[ 9.89670443e-01 -1.32120891e-01 -5.56460641e-02 2.91789072e+02] [ 1.32061316e-01 9.91230107e-01 -4.76266756e-03 2.29474863e+01] [ 5.57873020e-02 -2.63522114e-03 9.98439198e-01 1.36748836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.82, Y:22.95, Z:13.68 [[ 9.89509856e-01 -1.33632980e-01 -5.48859966e-02 2.91819067e+02] [ 1.33577421e-01 9.91027255e-01 -4.69610601e-03 2.29469809e+01] [ 5.50210731e-02 -2.68468669e-03 9.98481584e-01 1.36765181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.85, Y:22.95, Z:13.68 [[ 9.89134584e-01 -1.36545471e-01 -5.44803493e-02 2.91849956e+02] [ 1.36495366e-01 9.90629763e-01 -4.65711514e-03 2.29464808e+01] [ 5.46057635e-02 -2.82980154e-03 9.98503982e-01 1.36783650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.88, Y:22.95, Z:13.68 [[ 9.88939443e-01 -1.37752155e-01 -5.49829273e-02 2.91880932e+02] [ 1.37703035e-01 9.90462414e-01 -4.69908818e-03 2.29475798e+01] [ 5.51058324e-02 -2.92420230e-03 9.98476237e-01 1.36795119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.91, Y:22.95, Z:13.68 [[ 9.88705949e-01 -1.39069718e-01 -5.58583877e-02 2.91912402e+02] [ 1.39021184e-01 9.90277906e-01 -4.77274822e-03 2.29477571e+01] [ 5.59790720e-02 -3.04665461e-03 9.98427294e-01 1.36803489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.94, Y:22.95, Z:13.68 [[ 9.88479872e-01 -1.40493015e-01 -5.62961441e-02 2.91942744e+02] [ 1.40446122e-01 9.90076647e-01 -4.80830435e-03 2.29462319e+01] [ 5.64130307e-02 -3.15366306e-03 9.98402536e-01 1.36810068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.97, Y:22.95, Z:13.68 [[ 9.88043591e-01 -1.42736064e-01 -5.82775901e-02 2.91973011e+02] [ 1.42689743e-01 9.89754954e-01 -4.97687090e-03 2.29472554e+01] [ 5.83909125e-02 -3.39824896e-03 9.98288011e-01 1.36816164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.00, Y:22.95, Z:13.68 [[ 9.87851991e-01 -1.43560817e-01 -5.94872816e-02 2.92002969e+02] [ 1.43513971e-01 9.89635245e-01 -5.08144931e-03 2.29481149e+01] [ 5.96002075e-02 -3.51753621e-03 9.98216130e-01 1.36823393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.03, Y:22.95, Z:13.68 [[ 9.87761938e-01 -1.43945725e-01 -6.00498302e-02 2.92032834e+02] [ 1.43898600e-01 9.89579135e-01 -5.13116904e-03 2.29542393e+01] [ 6.01626689e-02 -3.57271304e-03 9.98182192e-01 1.36842509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.06, Y:22.96, Z:13.69 [[ 9.87895230e-01 -1.42426239e-01 -6.14636521e-02 2.92062139e+02] [ 1.42373933e-01 9.89799009e-01 -5.25223006e-03 2.29581257e+01] [ 6.15847172e-02 -3.56216884e-03 9.98095503e-01 1.36855148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.09, Y:22.97, Z:13.69 [[ 9.88180932e-01 -1.40202118e-01 -6.19823518e-02 2.92091881e+02] [ 1.40144517e-01 9.90116888e-01 -5.29740663e-03 2.29664361e+01] [ 6.21124809e-02 -3.45169050e-03 9.98063187e-01 1.36883587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.12, Y:22.97, Z:13.69 [[ 9.88615112e-01 -1.37171892e-01 -6.18387678e-02 2.92120955e+02] [ 1.37108633e-01 9.90541916e-01 -5.28540059e-03 2.29705426e+01] [ 6.19788999e-02 -3.25340201e-03 9.98072157e-01 1.36899669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.15, Y:22.97, Z:13.69 [[ 9.89184202e-01 -1.33289365e-01 -6.12254911e-02 2.92149569e+02] [ 1.33219855e-01 9.91072688e-01 -5.23430961e-03 2.29741852e+01] [ 6.13765899e-02 -2.97875467e-03 9.98110235e-01 1.36915020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.18, Y:22.99, Z:13.70 [[ 9.90546845e-01 -1.23339304e-01 -6.00363627e-02 2.92179522e+02] [ 1.23254129e-01 9.92361860e-01 -5.13408995e-03 2.29864314e+01] [ 6.02110316e-02 -2.31417302e-03 9.98182987e-01 1.36950739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.21, Y:22.99, Z:13.70 [[ 9.91258874e-01 -1.17572275e-01 -5.98548611e-02 2.92207571e+02] [ 1.17477104e-01 9.93062399e-01 -5.11876667e-03 2.29928884e+01] [ 6.00414370e-02 -1.95755285e-03 9.98193966e-01 1.36968405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.24, Y:23.01, Z:13.70 [[ 9.92711324e-01 -1.05013940e-01 -5.91295202e-02 2.92237167e+02] [ 1.04898638e-01 9.94470050e-01 -5.05928501e-03 2.30087922e+01] [ 5.93338323e-02 -1.18019659e-03 9.98237499e-01 1.37008002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.27, Y:23.02, Z:13.70 [[ 9.93317074e-01 -9.90866472e-02 -5.91863818e-02 2.92265715e+02] [ 9.89605522e-02 9.95078466e-01 -5.06506441e-03 2.30158411e+01] [ 5.93969742e-02 -8.25902068e-04 9.98234099e-01 1.37024272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.29, Y:23.02, Z:13.70 [[ 9.93862442e-01 -9.35025385e-02 -5.91161644e-02 2.92293886e+02] [ 9.33665909e-02 9.95618922e-01 -5.06373427e-03 2.30226244e+01] [ 5.93306439e-02 -4.86819428e-04 9.98238267e-01 1.37036917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.32, Y:23.03, Z:13.70 [[ 9.94282994e-01 -8.85278540e-02 -5.97004687e-02 2.92321772e+02] [ 8.83793291e-02 9.96073686e-01 -5.12896915e-03 2.30287358e+01] [ 5.99201225e-02 -1.76640564e-04 9.98203160e-01 1.37048280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.35, Y:23.03, Z:13.71 [[ 9.94691140e-01 -8.39074829e-02 -5.95740675e-02 2.92348675e+02] [ 8.37504410e-02 9.96473543e-01 -5.13251847e-03 2.30342378e+01] [ 5.97946388e-02 1.15916220e-04 9.98210693e-01 1.37057939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.38, Y:23.04, Z:13.71 [[ 9.95266960e-01 -7.63614260e-02 -6.01050017e-02 2.92377270e+02] [ 7.61870283e-02 9.97080031e-01 -5.19126355e-03 2.30411467e+01] [ 6.03259093e-02 5.87471623e-04 9.98178561e-01 1.37069374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.41, Y:23.04, Z:13.71 [[ 9.95421959e-01 -7.40478607e-02 -6.04320978e-02 2.92405662e+02] [ 7.38663760e-02 9.97254409e-01 -5.23468356e-03 2.30449721e+01] [ 6.06537931e-02 7.46818914e-04 9.98158584e-01 1.37080359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.43, Y:23.05, Z:13.71 [[ 9.95555687e-01 -7.20522902e-02 -6.06410851e-02 2.92433552e+02] [ 7.18650583e-02 9.97400464e-01 -5.26574073e-03 2.30488468e+01] [ 6.08628551e-02 8.84363021e-04 9.98145746e-01 1.37081342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.46, Y:23.05, Z:13.71 [[ 9.95603048e-01 -7.12222778e-02 -6.08437141e-02 2.92462010e+02] [ 7.10317859e-02 9.97460021e-01 -5.29080181e-03 2.30507174e+01] [ 6.10659953e-02 9.45700727e-04 9.98133283e-01 1.37098238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.49, Y:23.05, Z:13.71 [[ 9.95618422e-01 -7.07232463e-02 -6.11733553e-02 2.92489363e+02] [ 7.05289522e-02 9.97495480e-01 -5.33229456e-03 2.30523373e+01] [ 6.13972626e-02 9.94438046e-04 9.98112913e-01 1.37105483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.52, Y:23.05, Z:13.71 [[ 9.95579955e-01 -7.16298445e-02 -6.07430510e-02 2.92517930e+02] [ 7.14395103e-02 9.97430841e-01 -5.30219585e-03 2.30529027e+01] [ 6.09667880e-02 9.39306085e-04 9.98139353e-01 1.37126187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.55, Y:23.05, Z:13.71 [[ 9.95498940e-01 -7.26896688e-02 -6.08117876e-02 2.92546745e+02] [ 7.24999461e-02 9.97354209e-01 -5.32343802e-03 2.30536282e+01] [ 6.10378513e-02 8.90625584e-04 9.98135055e-01 1.37146372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.58, Y:23.05, Z:13.72 [[ 9.95310801e-01 -7.57084540e-02 -6.02049798e-02 2.92575803e+02] [ 7.55271021e-02 9.97129741e-01 -5.28545290e-03 2.30529226e+01] [ 6.04323294e-02 7.13560697e-04 9.98172041e-01 1.37167789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.61, Y:23.05, Z:13.72 [[ 9.95203760e-01 -7.75240609e-02 -5.96615194e-02 2.92605066e+02] [ 7.73483466e-02 9.96990293e-01 -5.25247794e-03 2.30536537e+01] [ 5.98891491e-02 6.12565913e-04 9.98204846e-01 1.37187182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.63, Y:23.05, Z:13.72 [[ 9.95109060e-01 -7.94320079e-02 -5.87240641e-02 2.92633524e+02] [ 7.92642797e-02 9.96840159e-01 -5.18377785e-03 2.30539671e+01] [ 5.89502633e-02 5.03703662e-04 9.98260794e-01 1.37208057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.66, Y:23.05, Z:13.72 [[ 9.94862940e-01 -8.34389829e-02 -5.73207411e-02 2.92661586e+02] [ 8.32850736e-02 9.96512851e-01 -5.07295607e-03 2.30521189e+01] [ 5.75441374e-02 2.72933846e-04 9.98342926e-01 1.37230879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.69, Y:23.05, Z:13.73 [[ 9.94710193e-01 -8.59240798e-02 -5.62910659e-02 2.92690702e+02] [ 8.57791510e-02 9.96301678e-01 -4.99029584e-03 2.30516864e+01] [ 5.65116700e-02 1.35298299e-04 9.98401930e-01 1.37252706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.72, Y:23.05, Z:13.73 [[ 9.94216437e-01 -9.19590338e-02 -5.54726334e-02 2.92718607e+02] [ 9.18268881e-02 9.95762773e-01 -4.93181935e-03 2.30470170e+01] [ 5.56911086e-02 -1.90583447e-04 9.98448028e-01 1.37263986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.75, Y:23.05, Z:13.73 [[ 9.93869686e-01 -9.55367323e-02 -5.56397365e-02 2.92747903e+02] [ 9.54085147e-02 9.95425834e-01 -4.96229624e-03 2.30455858e+01] [ 5.58593127e-02 -3.76628816e-04 9.98438579e-01 1.37271441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.78, Y:23.04, Z:13.73 [[ 9.93511843e-01 -9.93762291e-02 -5.53044521e-02 2.92776905e+02] [ 9.92547384e-02 9.95049765e-01 -4.94599029e-03 2.30439709e+01] [ 5.55221959e-02 -5.75328997e-04 9.98457287e-01 1.37279407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.81, Y:23.04, Z:13.73 [[ 9.93106718e-01 -1.03194278e-01 -5.55876573e-02 2.92806262e+02] [ 1.03076732e-01 9.94660914e-01 -4.98527833e-03 2.30427874e+01] [ 5.58053222e-02 -7.78880650e-04 9.98441365e-01 1.37288930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.84, Y:23.04, Z:13.73 [[ 9.92351927e-01 -1.10138835e-01 -5.57412711e-02 2.92836097e+02] [ 1.10030870e-01 9.93915535e-01 -5.01160110e-03 2.30376377e+01] [ 5.59540872e-02 -1.15998853e-03 9.98432669e-01 1.37291875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.87, Y:23.04, Z:13.73 [[ 9.92026325e-01 -1.13026525e-01 -5.57563935e-02 2.92866252e+02] [ 1.12922891e-01 9.93591094e-01 -5.01588861e-03 2.30362225e+01] [ 5.59659845e-02 -1.32027959e-03 9.98431803e-01 1.37298957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.90, Y:23.03, Z:13.73 [[ 9.91677512e-01 -1.15834426e-01 -5.61969619e-02 2.92895369e+02] [ 1.15733522e-01 9.93267422e-01 -5.05775604e-03 2.30342590e+01] [ 5.64044737e-02 -1.48820940e-03 9.98406891e-01 1.37304440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.93, Y:23.03, Z:13.73 [[ 9.91148344e-01 -1.20180888e-01 -5.64049072e-02 2.92925474e+02] [ 1.20086093e-01 9.92750487e-01 -5.07939773e-03 2.30317242e+01] [ 5.66064456e-02 -1.73900828e-03 9.98395055e-01 1.37312155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.95, Y:23.03, Z:13.73 [[ 9.91143979e-01 -1.20216969e-01 -5.64047226e-02 2.92954491e+02] [ 1.20122116e-01 9.92746119e-01 -5.08144684e-03 2.30343673e+01] [ 5.66064455e-02 -1.73900919e-03 9.98395055e-01 1.37326021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.98, Y:23.03, Z:13.73 [[ 9.90872307e-01 -1.22096474e-01 -5.71359925e-02 2.92983502e+02] [ 1.22002132e-01 9.92516479e-01 -5.14961769e-03 2.30339823e+01] [ 5.73371642e-02 -1.86809934e-03 9.98353124e-01 1.37334366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.01, Y:23.03, Z:13.73 [[ 9.90598270e-01 -1.24248916e-01 -5.72474796e-02 2.93012711e+02] [ 1.24157499e-01 9.92249082e-01 -5.16476497e-03 2.30341093e+01] [ 5.74454755e-02 -1.99149662e-03 9.98346659e-01 1.37344339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.04, Y:23.04, Z:13.74 [[ 9.90377115e-01 -1.25846913e-01 -5.75823249e-02 2.93042381e+02] [ 1.25756397e-01 9.92047484e-01 -5.20741597e-03 2.30366008e+01] [ 5.77797377e-02 -2.08404011e-03 9.98327180e-01 1.37363548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.07, Y:23.04, Z:13.74 [[ 9.90020881e-01 -1.28367845e-01 -5.81407945e-02 2.93071222e+02] [ 1.28279763e-01 9.91724070e-01 -5.26029695e-03 2.30350485e+01] [ 5.83348784e-02 -2.25048351e-03 9.98294534e-01 1.37372630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.10, Y:23.04, Z:13.74 [[ 9.89910399e-01 -1.29216922e-01 -5.81411113e-02 2.93100076e+02] [ 1.29130112e-01 9.91613690e-01 -5.26353972e-03 2.30350166e+01] [ 5.83336603e-02 -2.29733548e-03 9.98294499e-01 1.37380606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.13, Y:23.04, Z:13.74 [[ 9.89823241e-01 -1.29818180e-01 -5.82854299e-02 2.93129300e+02] [ 1.29731802e-01 9.91535065e-01 -5.27961211e-03 2.30377775e+01] [ 5.84774371e-02 -2.33559110e-03 9.98285998e-01 1.37398186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.16, Y:23.04, Z:13.74 [[ 9.89781197e-01 -1.30063948e-01 -5.84512782e-02 2.93158008e+02] [ 1.29977367e-01 9.91502812e-01 -5.29699613e-03 2.30370861e+01] [ 5.86435549e-02 -2.35447606e-03 9.98276209e-01 1.37405861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.19, Y:23.04, Z:13.74 [[ 9.89877443e-01 -1.29598133e-01 -5.78530193e-02 2.93186951e+02] [ 1.29512348e-01 9.91563933e-01 -5.24573870e-03 2.30420256e+01] [ 5.80448053e-02 -2.30004198e-03 9.98311329e-01 1.37425994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.22, Y:23.05, Z:13.74 [[ 9.89963727e-01 -1.28986436e-01 -5.77435531e-02 2.93215977e+02] [ 1.28899815e-01 9.91643788e-01 -5.23793569e-03 2.30455238e+01] [ 5.79366584e-02 -2.25776697e-03 9.98317708e-01 1.37441390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.24, Y:23.05, Z:13.75 [[ 9.90254504e-01 -1.26757622e-01 -5.76933572e-02 2.93244312e+02] [ 1.26667241e-01 9.91931448e-01 -5.23570155e-03 2.30493306e+01] [ 5.78915204e-02 -2.12318134e-03 9.98320622e-01 1.37456816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.27, Y:23.05, Z:13.75 [[ 9.90378348e-01 -1.25707657e-01 -5.78646087e-02 2.93272474e+02] [ 1.25614644e-01 9.92065184e-01 -5.25653007e-03 2.30510247e+01] [ 5.80662498e-02 -2.06268863e-03 9.98310601e-01 1.37464745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.30, Y:23.06, Z:13.75 [[ 9.90544996e-01 -1.24514845e-01 -5.75904930e-02 2.93300887e+02] [ 1.24419854e-01 9.92215792e-01 -5.24621272e-03 2.30567112e+01] [ 5.77954280e-02 -1.96879097e-03 9.98326506e-01 1.37487341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.33, Y:23.06, Z:13.75 [[ 9.90789845e-01 -1.22800116e-01 -5.70579878e-02 2.93330056e+02] [ 1.22703326e-01 9.92429720e-01 -5.21005006e-03 2.30606580e+01] [ 5.72658376e-02 -1.83914019e-03 9.98357271e-01 1.37502488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.36, Y:23.07, Z:13.75 [[ 9.91296431e-01 -1.18948935e-01 -5.64139797e-02 2.93358372e+02] [ 1.18847964e-01 9.92899090e-01 -5.15345093e-03 2.30654532e+01] [ 5.66263867e-02 -1.59608911e-03 9.98394163e-01 1.37517316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.39, Y:23.07, Z:13.75 [[ 9.91523229e-01 -1.17105936e-01 -5.62839704e-02 2.93387292e+02] [ 1.17002201e-01 9.93118322e-01 -5.14623556e-03 2.30697390e+01] [ 5.64992970e-02 -1.48273631e-03 9.98401538e-01 1.37531982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.42, Y:23.07, Z:13.75 [[ 9.91761608e-01 -1.15109127e-01 -5.62032166e-02 2.93415471e+02] [ 1.15001735e-01 9.93351930e-01 -5.15216535e-03 2.30744545e+01] [ 5.64226349e-02 -1.35374762e-03 9.98406056e-01 1.37548097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.44, Y:23.08, Z:13.76 [[ 9.91997122e-01 -1.12966510e-01 -5.63939473e-02 2.93443910e+02] [ 1.12854214e-01 9.93598043e-01 -5.18224548e-03 2.30776405e+01] [ 5.66183358e-02 -1.22352202e-03 9.98395146e-01 1.37557496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.47, Y:23.08, Z:13.76 [[ 9.92511839e-01 -1.08657029e-01 -5.58023162e-02 2.93472029e+02] [ 1.08540096e-01 9.94078830e-01 -5.13101403e-03 2.30835069e+01] [ 5.60294219e-02 -9.64196578e-04 9.98428653e-01 1.37574616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.50, Y:23.09, Z:13.76 [[ 9.92717093e-01 -1.06774333e-01 -5.57854366e-02 2.93500550e+02] [ 1.06654194e-01 9.94282915e-01 -5.13492343e-03 2.30879331e+01] [ 5.60147845e-02 -8.52224497e-04 9.98429576e-01 1.37590077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.53, Y:23.09, Z:13.76 [[ 9.92892348e-01 -1.04815988e-01 -5.63772424e-02 2.93527971e+02] [ 1.04689408e-01 9.94491360e-01 -5.20214306e-03 2.30912964e+01] [ 5.66119482e-02 -7.36932092e-04 9.98395986e-01 1.37594424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.56, Y:23.10, Z:13.76 [[ 9.93308309e-01 -1.01158540e-01 -5.57274960e-02 2.93555945e+02] [ 1.01028756e-01 9.94870184e-01 -5.14849662e-03 2.30978001e+01] [ 5.59624386e-02 -5.16035136e-04 9.98432741e-01 1.37624009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.58, Y:23.10, Z:13.76 [[ 9.93530003e-01 -9.96449621e-02 -5.44886703e-02 2.93583511e+02] [ 9.95179203e-02 9.95022972e-01 -5.04667609e-03 2.31007605e+01] [ 5.47203545e-02 -4.08575036e-04 9.98501635e-01 1.37640231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.61, Y:23.10, Z:13.77 [[ 9.93671568e-01 -9.82451203e-02 -5.44491645e-02 2.93611364e+02] [ 9.81158911e-02 9.95162193e-01 -5.04797334e-03 2.31041250e+01] [ 5.46816887e-02 -3.26300714e-04 9.98503784e-01 1.37659574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.64, Y:23.11, Z:13.77 [[ 9.93725999e-01 -9.74385673e-02 -5.49032341e-02 2.93639711e+02] [ 9.73055999e-02 9.95241502e-01 -5.09627101e-03 2.31079335e+01] [ 5.51385505e-02 -2.78095131e-04 9.98478674e-01 1.37676365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.67, Y:23.11, Z:13.77 [[ 9.93806769e-01 -9.52019455e-02 -5.73122620e-02 2.93667692e+02] [ 9.50525310e-02 9.95457969e-01 -5.33370412e-03 2.31112125e+01] [ 5.75597269e-02 -1.47004299e-04 9.98342054e-01 1.37668507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.70, Y:23.11, Z:13.77 [[ 9.93938372e-01 -9.40523409e-02 -5.69268810e-02 2.93695408e+02] [ 9.39026340e-02 9.95567251e-01 -5.30503886e-03 2.31142042e+01] [ 5.71734898e-02 -7.27023937e-05 9.98364256e-01 1.37684973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.72, Y:23.12, Z:13.77 [[ 9.94334981e-01 -9.12622015e-02 -5.44899709e-02 2.93723235e+02] [ 9.11200854e-02 9.95826893e-01 -5.09205892e-03 2.31169938e+01] [ 5.47272909e-02 9.80814993e-05 9.98501334e-01 1.37707794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.75, Y:23.12, Z:13.77 [[ 9.94526500e-01 -8.98553501e-02 -5.33203164e-02 2.93750632e+02] [ 8.97169313e-02 9.95954810e-01 -4.98876435e-03 2.31194487e+01] [ 5.35528928e-02 1.77723181e-04 9.98564998e-01 1.37727602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.78, Y:23.12, Z:13.77 [[ 9.94608823e-01 -8.88357090e-02 -5.34930408e-02 2.93778703e+02] [ 8.86940737e-02 9.96046261e-01 -5.02060696e-03 2.31216743e+01] [ 5.37275525e-02 2.49024274e-04 9.98555601e-01 1.37746274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.81, Y:23.12, Z:13.77 [[ 9.94769016e-01 -8.65712966e-02 -5.42219102e-02 2.93806669e+02] [ 8.64216035e-02 9.96245581e-01 -5.10380741e-03 2.31242786e+01] [ 5.44601816e-02 3.91165051e-04 9.98515866e-01 1.37745927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.83, Y:23.13, Z:13.78 [[ 9.94816627e-01 -8.61536605e-02 -5.40131950e-02 2.93834767e+02] [ 8.60041631e-02 9.96281773e-01 -5.09042730e-03 2.31253724e+01] [ 5.42509206e-02 4.18682090e-04 9.98527247e-01 1.37762713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.86, Y:23.13, Z:13.78 [[ 9.94831694e-01 -8.58542640e-02 -5.42120476e-02 2.93862531e+02] [ 8.57023503e-02 9.96307603e-01 -5.12509022e-03 2.31268226e+01] [ 5.44518861e-02 4.52502295e-04 9.98516293e-01 1.37768992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.89, Y:23.13, Z:13.78 [[ 9.94797687e-01 -8.61444763e-02 -5.43754623e-02 2.93890006e+02] [ 8.59912074e-02 9.96282552e-01 -5.15645197e-03 2.31276510e+01] [ 5.46175242e-02 4.53814844e-04 9.98507246e-01 1.37782646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.92, Y:23.13, Z:13.78 [[ 9.94733161e-01 -8.71134984e-02 -5.40108995e-02 2.93917929e+02] [ 8.69629234e-02 9.96198308e-01 -5.13629713e-03 2.31264149e+01] [ 5.42530075e-02 4.12299365e-04 9.98527136e-01 1.37792882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.95, Y:23.13, Z:13.78 [[ 9.94595331e-01 -8.85511640e-02 -5.42108682e-02 2.93945696e+02] [ 8.84012591e-02 9.96071571e-01 -5.16164982e-03 2.31259555e+01] [ 5.44549747e-02 3.41443813e-04 9.98516169e-01 1.37809437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.98, Y:23.12, Z:13.78 [[ 9.94298130e-01 -9.19213824e-02 -5.40526426e-02 2.93975120e+02] [ 9.17764802e-02 9.95766253e-01 -5.16215097e-03 2.31227554e+01] [ 5.42983094e-02 1.71955776e-04 9.98524744e-01 1.37815378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.00, Y:23.12, Z:13.78 [[ 9.94102581e-01 -9.42797520e-02 -5.35853190e-02 2.94002825e+02] [ 9.41400250e-02 9.95545742e-01 -5.13132878e-03 2.31224632e+01] [ 5.38304166e-02 5.65439151e-05 9.98550090e-01 1.37832587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.03, Y:23.12, Z:13.78 [[ 9.93882334e-01 -9.67085054e-02 -5.33420290e-02 2.94030789e+02] [ 9.65727014e-02 9.95312746e-01 -5.12365752e-03 2.31225210e+01] [ 5.35875026e-02 -5.90711496e-05 9.98563156e-01 1.37847820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.06, Y:23.12, Z:13.79 [[ 9.93645716e-01 -9.93624408e-02 -5.28705616e-02 2.94059203e+02] [ 9.92319620e-02 9.95051291e-01 -5.09378062e-03 2.31223396e+01] [ 5.31150511e-02 -1.85036270e-04 9.98588382e-01 1.37861523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.09, Y:23.12, Z:13.79 [[ 9.93145722e-01 -1.04254323e-01 -5.28451586e-02 2.94088509e+02] [ 1.04130074e-01 9.94550577e-01 -5.10661443e-03 2.31182656e+01] [ 5.30895696e-02 -4.31158000e-04 9.98589661e-01 1.37868051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.12, Y:23.12, Z:13.79 [[ 9.92865049e-01 -1.06776442e-01 -5.30828186e-02 2.94116834e+02] [ 1.06653979e-01 9.94282899e-01 -5.14257148e-03 2.31173540e+01] [ 5.33284442e-02 -5.55614348e-04 9.98576872e-01 1.37875632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.14, Y:23.12, Z:13.79 [[ 9.92544270e-01 -1.09493543e-01 -5.35447132e-02 2.94144747e+02] [ 1.09372502e-01 9.93987260e-01 -5.19446130e-03 2.31163203e+01] [ 5.37915228e-02 -7.00586478e-04 9.98551942e-01 1.37882282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.17, Y:23.12, Z:13.79 [[ 9.92223526e-01 -1.12162124e-01 -5.39641805e-02 2.94173005e+02] [ 1.12042855e-01 9.93689559e-01 -5.24004379e-03 2.31151919e+01] [ 5.42113772e-02 -8.47006125e-04 9.98529123e-01 1.37891833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.20, Y:23.11, Z:13.79 [[ 9.91714979e-01 -1.16945382e-01 -5.31524063e-02 2.94202456e+02] [ 1.16836234e-01 9.93137754e-01 -5.16684927e-03 2.31120030e+01] [ 5.33919006e-02 -1.08608515e-03 9.98573045e-01 1.37909990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.23, Y:23.11, Z:13.79 [[ 9.91512675e-01 -1.18713205e-01 -5.30074474e-02 2.94230391e+02] [ 1.18606507e-01 9.92927901e-01 -5.16529139e-03 2.31106767e+01] [ 5.32457617e-02 -1.16557627e-03 9.98580758e-01 1.37924117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.26, Y:23.11, Z:13.79 [[ 9.91360651e-01 -1.20419584e-01 -5.19921464e-02 2.94258669e+02] [ 1.20319037e-01 9.92722325e-01 -5.07097015e-03 2.31117540e+01] [ 5.22244085e-02 -1.22848471e-03 9.98634619e-01 1.37949055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.29, Y:23.11, Z:13.80 [[ 9.91143495e-01 -1.22604865e-01 -5.10158649e-02 2.94287876e+02] [ 1.22510685e-01 9.92454696e-01 -4.98090917e-03 2.31093875e+01] [ 5.12416184e-02 -1.31319283e-03 9.98685422e-01 1.37969637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.32, Y:23.11, Z:13.80 [[ 9.91035950e-01 -1.23553221e-01 -5.08168003e-02 2.94316092e+02] [ 1.23460385e-01 9.92337036e-01 -4.97388601e-03 2.31081237e+01] [ 5.10419326e-02 -1.34456188e-03 9.98695606e-01 1.37982461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.34, Y:23.11, Z:13.80 [[ 9.90916646e-01 -1.24599110e-01 -5.05891510e-02 2.94344835e+02] [ 1.24508106e-01 9.92206200e-01 -4.95865529e-03 2.31078707e+01] [ 5.08127133e-02 -1.38514531e-03 9.98707239e-01 1.37996511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.37, Y:23.11, Z:13.80 [[ 9.90849297e-01 -1.25045949e-01 -5.08053176e-02 2.94372885e+02] [ 1.24954130e-01 9.92149961e-01 -4.99203452e-03 2.31077332e+01] [ 5.10307276e-02 -1.40198034e-03 9.98696100e-01 1.38006935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.40, Y:23.11, Z:13.80 [[ 9.90721196e-01 -1.26039649e-01 -5.08479909e-02 2.94401320e+02] [ 1.25948722e-01 9.92024146e-01 -5.00131502e-03 2.31088406e+01] [ 5.10727988e-02 -1.44933066e-03 9.98693881e-01 1.38017896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.43, Y:23.11, Z:13.80 [[ 9.90587827e-01 -1.26788248e-01 -5.15800166e-02 2.94429736e+02] [ 1.26695051e-01 9.91928676e-01 -5.08576523e-03 2.31079097e+01] [ 5.18085128e-02 -1.49703570e-03 9.98655915e-01 1.38026572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.46, Y:23.11, Z:13.80 [[ 9.90401440e-01 -1.28353801e-01 -5.12863518e-02 2.94457991e+02] [ 1.28263489e-01 9.91727207e-01 -5.06201130e-03 2.31097033e+01] [ 5.15117988e-02 -1.56474313e-03 9.98671160e-01 1.38045619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.49, Y:23.11, Z:13.81 [[ 9.89973276e-01 -1.31432156e-01 -5.17542472e-02 2.94487836e+02] [ 1.31343745e-01 9.91323661e-01 -5.12050476e-03 2.31099725e+01] [ 5.19782088e-02 -1.72843380e-03 9.98646723e-01 1.38056833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.52, Y:23.11, Z:13.81 [[ 9.89755515e-01 -1.32932749e-01 -5.20855445e-02 2.94516065e+02] [ 1.32845161e-01 9.91123395e-01 -5.15549434e-03 2.31110090e+01] [ 5.23085357e-02 -1.81663360e-03 9.98629319e-01 1.38072378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.54, Y:23.11, Z:13.81 [[ 9.89716502e-01 -1.33223127e-01 -5.20849766e-02 2.94543338e+02] [ 1.33135639e-01 9.91084388e-01 -5.16122451e-03 2.31137705e+01] [ 5.23082016e-02 -1.82621759e-03 9.98629319e-01 1.38085428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.57, Y:23.11, Z:13.81 [[ 9.89468661e-01 -1.35226536e-01 -5.16289996e-02 2.94571484e+02] [ 1.35142552e-01 9.90812884e-01 -5.13032934e-03 2.31136907e+01] [ 5.18484347e-02 -1.90097467e-03 9.98653156e-01 1.38100787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.60, Y:23.12, Z:13.81 [[ 9.89157917e-01 -1.37397615e-01 -5.18508446e-02 2.94599833e+02] [ 1.37315635e-01 9.90513917e-01 -5.15714339e-03 2.31157645e+01] [ 5.20675624e-02 -2.01870246e-03 9.98641524e-01 1.38114721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.63, Y:23.12, Z:13.81 [[ 9.89118000e-01 -1.37684893e-01 -5.18502864e-02 2.94627111e+02] [ 1.37603013e-01 9.90474006e-01 -5.16274984e-03 2.31185437e+01] [ 5.20671935e-02 -2.02818684e-03 9.98641524e-01 1.38127774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.66, Y:23.12, Z:13.81 [[ 9.88783120e-01 -1.39992657e-01 -5.20576282e-02 2.94656557e+02] [ 1.39912574e-01 9.90150220e-01 -5.19749990e-03 2.31204592e+01] [ 5.22724838e-02 -2.14431657e-03 9.98630557e-01 1.38142553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.68, Y:23.12, Z:13.82 [[ 9.88477245e-01 -1.42025808e-01 -5.23584409e-02 2.94684450e+02] [ 1.41947523e-01 9.89860369e-01 -5.22975268e-03 2.31198497e+01] [ 5.25703055e-02 -2.26265949e-03 9.98614662e-01 1.38151407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.71, Y:23.12, Z:13.82 [[ 9.88163981e-01 -1.44117266e-01 -5.25562563e-02 2.94712647e+02] [ 1.44041091e-01 9.89557759e-01 -5.25419579e-03 2.31207543e+01] [ 5.27646716e-02 -2.37825349e-03 9.98604142e-01 1.38163595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.74, Y:23.12, Z:13.82 [[ 9.88123008e-01 -1.44398096e-01 -5.25557858e-02 2.94739932e+02] [ 1.44322068e-01 9.89516794e-01 -5.25889769e-03 2.31235577e+01] [ 5.27642074e-02 -2.38852188e-03 9.98604142e-01 1.38176651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.77, Y:23.13, Z:13.82 [[ 9.87603494e-01 -1.47607703e-01 -5.33976019e-02 2.94769500e+02] [ 1.47533143e-01 9.89042604e-01 -5.35714935e-03 2.31260289e+01] [ 5.36032598e-02 -2.58717663e-03 9.98558960e-01 1.38188385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.80, Y:23.13, Z:13.82 [[ 9.87349649e-01 -1.49194334e-01 -5.36816603e-02 2.94797683e+02] [ 1.49121193e-01 9.88804248e-01 -5.38794561e-03 2.31258959e+01] [ 5.38845046e-02 -2.68528700e-03 9.98543564e-01 1.38198546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.83, Y:23.13, Z:13.82 [[ 9.87143424e-01 -1.50518695e-01 -5.37771582e-02 2.94825395e+02] [ 1.50446972e-01 9.88603318e-01 -5.40269913e-03 2.31320565e+01] [ 5.39774842e-02 -2.75737170e-03 9.98538346e-01 1.38216778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.85, Y:23.14, Z:13.82 [[ 9.86765396e-01 -1.52796554e-01 -5.42887267e-02 2.94854549e+02] [ 1.52726509e-01 9.88253403e-01 -5.46116424e-03 2.31350665e+01] [ 5.44854660e-02 -2.90243984e-03 9.98510345e-01 1.38232680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.88, Y:23.14, Z:13.82 [[ 9.86578885e-01 -1.53991771e-01 -5.43013671e-02 2.94882520e+02] [ 1.53923320e-01 9.88067679e-01 -5.46568619e-03 2.31358046e+01] [ 5.44950964e-02 -2.96591613e-03 9.98509633e-01 1.38247531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.91, Y:23.14, Z:13.83 [[ 9.86451006e-01 -1.54859359e-01 -5.41571001e-02 2.94911344e+02] [ 1.54792244e-01 9.87931971e-01 -5.45722293e-03 2.31396239e+01] [ 5.43486327e-02 -2.99981601e-03 9.98517515e-01 1.38263048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.94, Y:23.14, Z:13.83 [[ 9.86369556e-01 -1.55315053e-01 -5.43353817e-02 2.94939467e+02] [ 1.55247489e-01 9.87860365e-01 -5.48791082e-03 2.31428475e+01] [ 5.45281252e-02 -3.02232342e-03 9.98507661e-01 1.38278376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.97, Y:23.15, Z:13.83 [[ 9.86277845e-01 -1.55614340e-01 -5.51379099e-02 2.94967676e+02] [ 1.55544880e-01 9.87813093e-01 -5.57535360e-03 2.31503099e+01] [ 5.53335542e-02 -3.07757181e-03 9.98463182e-01 1.38296673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.00, Y:23.15, Z:13.83 [[ 9.86316848e-01 -1.55427621e-01 -5.49666288e-02 2.94996288e+02] [ 1.55357518e-01 9.87842595e-01 -5.57223253e-03 2.31546489e+01] [ 5.51644560e-02 -3.04349222e-03 9.98472644e-01 1.38313457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.02, Y:23.16, Z:13.83 [[ 9.86407396e-01 -1.54814418e-01 -5.50721882e-02 2.95024399e+02] [ 1.54742378e-01 9.87939008e-01 -5.59585550e-03 2.31552136e+01] [ 5.52742821e-02 -3.00220811e-03 9.98466695e-01 1.38326386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.05, Y:23.16, Z:13.83 [[ 9.86565931e-01 -1.53847673e-01 -5.49413997e-02 2.95053290e+02] [ 1.53774147e-01 9.88090218e-01 -5.58861784e-03 2.31609409e+01] [ 5.51468555e-02 -2.93502691e-03 9.98473941e-01 1.38344436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.08, Y:23.17, Z:13.84 [[ 9.86935409e-01 -1.51383416e-01 -5.51503402e-02 2.95082249e+02] [ 1.51304888e-01 9.88471162e-01 -5.62082032e-03 2.31707503e+01] [ 5.53654199e-02 -2.79712943e-03 9.98462241e-01 1.38368268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.11, Y:23.18, Z:13.84 [[ 9.87127294e-01 -1.50182276e-01 -5.49999066e-02 2.95110540e+02] [ 1.50102164e-01 9.88654585e-01 -5.60824361e-03 2.31772870e+01] [ 5.52181686e-02 -2.71955464e-03 9.98470609e-01 1.38384168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.14, Y:23.19, Z:13.84 [[ 9.87517818e-01 -1.47357279e-01 -5.56272559e-02 2.95139298e+02] [ 1.47270187e-01 9.89079967e-01 -5.68424823e-03 2.31895532e+01] [ 5.58574198e-02 -2.57893999e-03 9.98435425e-01 1.38407546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.17, Y:23.20, Z:13.84 [[ 9.87709100e-01 -1.45838810e-01 -5.62296708e-02 2.95167565e+02] [ 1.45747188e-01 9.89305163e-01 -5.74898396e-03 2.31961026e+01] [ 5.64667287e-02 -2.51699263e-03 9.98401309e-01 1.38420811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.20, Y:23.20, Z:13.84 [[ 9.87960159e-01 -1.43954594e-01 -5.66727419e-02 2.95195817e+02] [ 1.43857695e-01 9.89581346e-01 -5.80720093e-03 2.32024848e+01] [ 5.69182615e-02 -2.41552686e-03 9.98375920e-01 1.38434953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.22, Y:23.21, Z:13.85 [[ 9.88556077e-01 -1.39610268e-01 -5.71476719e-02 2.95224604e+02] [ 1.39504282e-01 9.90204131e-01 -5.85953311e-03 2.32136750e+01] [ 5.74059117e-02 -2.17986788e-03 9.98348541e-01 1.38451826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.25, Y:23.22, Z:13.85 [[ 9.88860193e-01 -1.37397302e-01 -5.72494546e-02 2.95251580e+02] [ 1.37287113e-01 9.90513890e-01 -5.87209615e-03 2.32194706e+01] [ 5.75131902e-02 -2.05293023e-03 9.98342636e-01 1.38465787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.28, Y:23.23, Z:13.85 [[ 9.89217294e-01 -1.34798402e-01 -5.72585008e-02 2.95279881e+02] [ 1.34683448e-01 9.90871232e-01 -5.87970910e-03 2.32264627e+01] [ 5.75283766e-02 -1.89546237e-03 9.98342072e-01 1.38478718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.31, Y:23.24, Z:13.85 [[ 9.89824925e-01 -1.30105405e-01 -5.76125107e-02 2.95308919e+02] [ 1.29980875e-01 9.91498830e-01 -5.91967224e-03 2.32383017e+01] [ 5.78929183e-02 -1.62908542e-03 9.98321469e-01 1.38495956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.34, Y:23.24, Z:13.85 [[ 9.90067749e-01 -1.28240452e-01 -5.76215095e-02 2.95337104e+02] [ 1.28112525e-01 9.91741945e-01 -5.92411729e-03 2.32449479e+01] [ 5.79053794e-02 -1.51675959e-03 9.98320924e-01 1.38510156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.37, Y:23.25, Z:13.85 [[ 9.90254310e-01 -1.26809366e-01 -5.75828608e-02 2.95365765e+02] [ 1.26678349e-01 9.91926094e-01 -5.93471198e-03 2.32515874e+01] [ 5.78705192e-02 -1.41762762e-03 9.98323091e-01 1.38523798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.39, Y:23.26, Z:13.85 [[ 9.90516548e-01 -1.24463552e-01 -5.81875602e-02 2.95394636e+02] [ 1.24325036e-01 9.92223352e-01 -6.00880567e-03 2.32604752e+01] [ 5.84829333e-02 -1.28234905e-03 9.98287585e-01 1.38537191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.42, Y:23.27, Z:13.86 [[ 9.90555080e-01 -1.24153348e-01 -5.81943261e-02 2.95423292e+02] [ 1.24013998e-01 9.92262243e-01 -6.01405759e-03 2.32659932e+01] [ 5.84906979e-02 -1.25965573e-03 9.98287159e-01 1.38551463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.45, Y:23.27, Z:13.86 [[ 9.90574873e-01 -1.24070389e-01 -5.80341191e-02 2.95451634e+02] [ 1.23930907e-01 9.92272646e-01 -6.01044558e-03 2.32703409e+01] [ 5.83313872e-02 -1.23842465e-03 9.98296507e-01 1.38567661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.48, Y:23.27, Z:13.86 [[ 9.90557573e-01 -1.24387778e-01 -5.76487291e-02 2.95479815e+02] [ 1.24250338e-01 9.92232904e-01 -5.97642185e-03 2.32745180e+01] [ 5.79443597e-02 -1.24288416e-03 9.98319040e-01 1.38581937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.51, Y:23.28, Z:13.86 [[ 9.90367858e-01 -1.25923215e-01 -5.75747368e-02 2.95508603e+02] [ 1.25787999e-01 9.92039115e-01 -5.98115660e-03 2.32802023e+01] [ 5.78695573e-02 -1.31866569e-03 9.98323282e-01 1.38600397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.54, Y:23.28, Z:13.86 [[ 9.90213601e-01 -1.26954377e-01 -5.79621446e-02 2.95537708e+02] [ 1.26818975e-01 9.91907589e-01 -6.02351839e-03 2.32845699e+01] [ 5.82578031e-02 -1.38612992e-03 9.98300610e-01 1.38617408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.57, Y:23.29, Z:13.86 [[ 9.90041187e-01 -1.28275815e-01 -5.79979629e-02 2.95567351e+02] [ 1.28142397e-01 9.91737453e-01 -6.02916258e-03 2.32894546e+01] [ 5.82921477e-02 -1.46287872e-03 9.98298495e-01 1.38636441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.60, Y:23.29, Z:13.86 [[ 9.89631448e-01 -1.31263309e-01 -5.83055847e-02 2.95597128e+02] [ 1.31133582e-01 9.91346172e-01 -6.06222890e-03 2.32891186e+01] [ 5.85967664e-02 -1.64644783e-03 9.98280376e-01 1.38631226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.63, Y:23.30, Z:13.87 [[ 9.89397121e-01 -1.32912498e-01 -5.85457585e-02 2.95626654e+02] [ 1.32784530e-01 9.91126230e-01 -6.08807609e-03 2.32960249e+01] [ 5.88354184e-02 -1.75044610e-03 9.98266162e-01 1.38658579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.66, Y:23.30, Z:13.87 [[ 9.89005172e-01 -1.35677152e-01 -5.88258415e-02 2.95656189e+02] [ 1.35552824e-01 9.90751235e-01 -6.11741247e-03 2.32996614e+01] [ 5.91117682e-02 -1.92385636e-03 9.98249517e-01 1.38668347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.69, Y:23.30, Z:13.87 [[ 9.89005172e-01 -1.35677193e-01 -5.88257528e-02 2.95686012e+02] [ 1.35552814e-01 9.90751231e-01 -6.11826591e-03 2.33027636e+01] [ 5.91117961e-02 -1.92299969e-03 9.98249517e-01 1.38682614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.72, Y:23.30, Z:13.87 [[ 9.88713167e-01 -1.37901600e-01 -5.85612640e-02 2.95715075e+02] [ 1.37782206e-01 9.90443820e-01 -6.09116594e-03 2.33040794e+01] [ 5.88416236e-02 -2.04628416e-03 9.98265233e-01 1.38686786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.74, Y:23.31, Z:13.87 [[ 9.88609456e-01 -1.38822371e-01 -5.81351175e-02 2.95743843e+02] [ 1.38706164e-01 9.90315106e-01 -6.04911623e-03 2.33085471e+01] [ 5.84118377e-02 -2.08348562e-03 9.98290397e-01 1.38703687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.77, Y:23.31, Z:13.87 [[ 9.88522208e-01 -1.39876584e-01 -5.70822615e-02 2.95773494e+02] [ 1.39766157e-01 9.90166710e-01 -5.94207796e-03 2.33130896e+01] [ 5.73521126e-02 -2.10429230e-03 9.98351795e-01 1.38719711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.80, Y:23.32, Z:13.87 [[ 9.88403929e-01 -1.40759478e-01 -5.69600039e-02 2.95804591e+02] [ 1.40650993e-01 9.90041485e-01 -5.92922024e-03 2.33169017e+01] [ 5.72273608e-02 -2.15101652e-03 9.98358854e-01 1.38734344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.84, Y:23.32, Z:13.88 [[ 9.88195025e-01 -1.42800144e-01 -5.54861384e-02 2.95835866e+02] [ 1.42700519e-01 9.89749072e-01 -5.77382867e-03 2.33217679e+01] [ 5.57418575e-02 -2.21223196e-03 9.98442763e-01 1.38753647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.87, Y:23.32, Z:13.88 [[ 9.88054315e-01 -1.44052927e-01 -5.47487482e-02 2.95867784e+02] [ 1.43957974e-01 9.89567416e-01 -5.69482832e-03 2.33249806e+01] [ 5.49979340e-02 -2.25471920e-03 9.98483923e-01 1.38769996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.90, Y:23.33, Z:13.88 [[ 9.87623212e-01 -1.47089801e-01 -5.44516354e-02 2.95897447e+02] [ 1.47000668e-01 9.89120196e-01 -5.66045730e-03 2.33270110e+01] [ 5.46918078e-02 -2.41402776e-03 9.98500365e-01 1.38781233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.93, Y:23.33, Z:13.88 [[ 9.87386479e-01 -1.48658540e-01 -5.44846792e-02 2.95928882e+02] [ 1.48571701e-01 9.88885420e-01 -5.66349629e-03 2.33298294e+01] [ 5.47210320e-02 -2.50282181e-03 9.98498545e-01 1.38793853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.96, Y:23.33, Z:13.88 [[ 9.87142478e-01 -1.50301127e-01 -5.43994425e-02 2.95959671e+02] [ 1.50217202e-01 9.88636864e-01 -5.65178317e-03 2.33338094e+01] [ 5.46307637e-02 -2.59261679e-03 9.98503259e-01 1.38808238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.99, Y:23.34, Z:13.88 [[ 9.86925666e-01 -1.51766164e-01 -5.42656630e-02 2.95991004e+02] [ 1.51684974e-01 9.88412822e-01 -5.63575345e-03 2.33353923e+01] [ 5.44921938e-02 -2.66921597e-03 9.98510629e-01 1.38818256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.02, Y:23.34, Z:13.88 [[ 9.86512420e-01 -1.54319987e-01 -5.45764404e-02 2.96021958e+02] [ 1.54241910e-01 9.88016871e-01 -5.66526579e-03 2.33375102e+01] [ 5.47967076e-02 -2.82911937e-03 9.98493524e-01 1.38828027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.05, Y:23.34, Z:13.88 [[ 9.86362983e-01 -1.55254653e-01 -5.46265289e-02 2.96052989e+02] [ 1.55177930e-01 9.87870270e-01 -5.66921085e-03 2.33390615e+01] [ 5.48440952e-02 -2.88493196e-03 9.98490762e-01 1.38836531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.08, Y:23.34, Z:13.89 [[ 9.86250412e-01 -1.55896869e-01 -5.48296591e-02 2.96084984e+02] [ 1.55820736e-01 9.87768978e-01 -5.68717764e-03 2.33438441e+01] [ 5.50456495e-02 -2.93461651e-03 9.98479526e-01 1.38852954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.12, Y:23.35, Z:13.89 [[ 9.86183021e-01 -1.56113379e-01 -5.54225820e-02 2.96116437e+02] [ 1.56036159e-01 9.87734639e-01 -5.74462278e-03 2.33487008e+01] [ 5.56396165e-02 -2.98267735e-03 9.98446462e-01 1.38863341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.15, Y:23.35, Z:13.89 [[ 9.86203522e-01 -1.55749563e-01 -5.60775061e-02 2.96147665e+02] [ 1.55670155e-01 9.87792015e-01 -5.80836893e-03 2.33547564e+01] [ 5.62975637e-02 -3.00136020e-03 9.98409523e-01 1.38877200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.18, Y:23.36, Z:13.89 [[ 9.86692816e-01 -1.52594675e-01 -5.61440260e-02 2.96176688e+02] [ 1.52510176e-01 9.88284811e-01 -5.81191006e-03 2.33594433e+01] [ 5.63731546e-02 -2.82796539e-03 9.98405764e-01 1.38891354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.21, Y:23.37, Z:13.89 [[ 9.87051706e-01 -1.50386945e-01 -5.57915410e-02 2.96207308e+02] [ 1.50299956e-01 9.88623569e-01 -5.77596671e-03 2.33664497e+01] [ 5.60254624e-02 -2.68428838e-03 9.98425732e-01 1.38915192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.24, Y:23.37, Z:13.89 [[ 9.87556332e-01 -1.47482710e-01 -5.46016567e-02 2.96237253e+02] [ 1.47395063e-01 9.89061556e-01 -5.65093213e-03 2.33712342e+01] [ 5.48378143e-02 -2.46740083e-03 9.98492226e-01 1.38935477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.27, Y:23.38, Z:13.90 [[ 9.88087981e-01 -1.44114653e-01 -5.39732186e-02 2.96267982e+02] [ 1.44024058e-01 9.89558427e-01 -5.58478301e-03 2.33778975e+01] [ 5.42145024e-02 -2.25518500e-03 9.98526766e-01 1.38962082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.30, Y:23.38, Z:13.90 [[ 9.88692246e-01 -1.40285485e-01 -5.29870276e-02 2.96299203e+02] [ 1.40192787e-01 9.90109057e-01 -5.48072037e-03 2.33848460e+01] [ 5.32318014e-02 -2.00965337e-03 9.98580160e-01 1.38988724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.33, Y:23.40, Z:13.90 [[ 9.89848115e-01 -1.32324961e-01 -5.18730625e-02 2.96328642e+02] [ 1.32225331e-01 9.91205176e-01 -5.36293305e-03 2.33963399e+01] [ 5.21264979e-02 -1.55044370e-03 9.98639286e-01 1.39016419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.36, Y:23.40, Z:13.90 [[ 9.90331078e-01 -1.28535843e-01 -5.21813476e-02 2.96358926e+02] [ 1.28429789e-01 9.91703932e-01 -5.39443883e-03 2.34015670e+01] [ 5.24418264e-02 -1.35935906e-03 9.98623056e-01 1.39029358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.39, Y:23.41, Z:13.90 [[ 9.90838763e-01 -1.24652881e-01 -5.19635011e-02 2.96389880e+02] [ 1.24542476e-01 9.92199745e-01 -5.37000611e-03 2.34089415e+01] [ 5.22275593e-02 -1.15085287e-03 9.98634547e-01 1.39044361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.42, Y:23.41, Z:13.91 [[ 9.91255238e-01 -1.21227900e-01 -5.21233960e-02 2.96420603e+02] [ 1.21112190e-01 9.92624221e-01 -5.38449154e-03 2.34142355e+01] [ 5.23916960e-02 -9.75373175e-04 9.98626136e-01 1.39054066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.45, Y:23.42, Z:13.91 [[ 9.91607887e-01 -1.18149810e-01 -5.24825790e-02 2.96452073e+02] [ 1.18028349e-01 9.92995442e-01 -5.41858143e-03 2.34198041e+01] [ 5.27551661e-02 -8.21324067e-04 9.98607139e-01 1.39065231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.48, Y:23.43, Z:13.91 [[ 9.92242052e-01 -1.12649442e-01 -5.25910012e-02 2.96482397e+02] [ 1.12519953e-01 9.93634650e-01 -5.42601556e-03 2.34263447e+01] [ 5.28674787e-02 -5.33616182e-04 9.98601394e-01 1.39076576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.51, Y:23.43, Z:13.91 [[ 9.92545376e-01 -1.10241555e-01 -5.19661142e-02 2.96513985e+02] [ 1.10111979e-01 9.93904742e-01 -5.35865591e-03 2.34312311e+01] [ 5.22401139e-02 -4.03382528e-04 9.98634472e-01 1.39092027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.54, Y:23.44, Z:13.91 [[ 9.92754262e-01 -1.08203290e-01 -5.22591910e-02 2.96544800e+02] [ 1.08069637e-01 9.94128743e-01 -5.38483824e-03 2.34357237e+01] [ 5.25350210e-02 -3.01810707e-04 9.98619037e-01 1.39108147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.58, Y:23.44, Z:13.91 [[ 9.92920762e-01 -1.06408774e-01 -5.27781438e-02 2.96576961e+02] [ 1.06270246e-01 9.94322446e-01 -5.43213863e-03 2.34404212e+01] [ 5.30565202e-02 -2.15063111e-04 9.98591488e-01 1.39118427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.61, Y:23.44, Z:13.91 [[ 9.93087418e-01 -1.04121950e-01 -5.41848579e-02 2.96607910e+02] [ 1.03972738e-01 9.94564533e-01 -5.57315909e-03 2.34446770e+01] [ 5.44706260e-02 -9.91138500e-05 9.98515368e-01 1.39119853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.64, Y:23.45, Z:13.91 [[ 9.93091147e-01 -1.04086280e-01 -5.41850574e-02 2.96638564e+02] [ 1.03937121e-01 9.94568266e-01 -5.57121789e-03 2.34477998e+01] [ 5.44706260e-02 -9.91116953e-05 9.98515368e-01 1.39134507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.67, Y:23.45, Z:13.91 [[ 9.93094274e-01 -1.03833281e-01 -5.46114758e-02 2.96669943e+02] [ 1.03681490e-01 9.94594713e-01 -5.61306855e-03 2.34509218e+01] [ 5.48991084e-02 -8.78929358e-05 9.98491903e-01 1.39146278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.70, Y:23.45, Z:13.92 [[ 9.93104162e-01 -1.03856890e-01 -5.43863050e-02 2.96699647e+02] [ 1.03706485e-01 9.94592247e-01 -5.58809013e-03 2.34536509e+01] [ 5.46725590e-02 -9.06569727e-05 9.98504333e-01 1.39158340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.73, Y:23.45, Z:13.92 [[ 9.92968832e-01 -1.05600554e-01 -5.34922664e-02 2.96729682e+02] [ 1.05457636e-01 9.94408613e-01 -5.49528467e-03 2.34545387e+01] [ 5.37734756e-02 -1.84521565e-04 9.98553143e-01 1.39177383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.76, Y:23.46, Z:13.92 [[ 9.92829355e-01 -1.06885902e-01 -5.35282657e-02 2.96761190e+02] [ 1.06744715e-01 9.94271260e-01 -5.49792999e-03 2.34561281e+01] [ 5.38092674e-02 -2.55353149e-04 9.98551199e-01 1.39193621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.79, Y:23.46, Z:13.92 [[ 9.92644321e-01 -1.08685639e-01 -5.33355684e-02 2.96792475e+02] [ 1.08548163e-01 9.94076107e-01 -5.47626063e-03 2.34575952e+01] [ 5.36148051e-02 -3.53498956e-04 9.98561629e-01 1.39210644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.82, Y:23.46, Z:13.92 [[ 9.92204308e-01 -1.12943511e-01 -5.26723377e-02 2.96823844e+02] [ 1.12815525e-01 9.93601243e-01 -5.40629847e-03 2.34567600e+01] [ 5.29459065e-02 -5.78104818e-04 9.98597214e-01 1.39227890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.86, Y:23.46, Z:13.92 [[ 9.91928754e-01 -1.15291957e-01 -5.27741586e-02 2.96855477e+02] [ 1.15166902e-01 9.93331397e-01 -5.41475327e-03 2.34568306e+01] [ 5.30465062e-02 -7.06786876e-04 9.98591793e-01 1.39242509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.89, Y:23.46, Z:13.93 [[ 9.91633714e-01 -1.17961612e-01 -5.24178851e-02 2.96885465e+02] [ 1.17842123e-01 9.93017795e-01 -5.37522466e-03 2.34564899e+01] [ 5.26859628e-02 -8.46780849e-04 9.98610771e-01 1.39255588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.92, Y:23.46, Z:13.93 [[ 9.91332855e-01 -1.20884535e-01 -5.14402574e-02 2.96916637e+02] [ 1.20773611e-01 9.92666084e-01 -5.27075897e-03 2.34572342e+01] [ 5.17001521e-02 -9.87549108e-04 9.98662165e-01 1.39276398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.95, Y:23.46, Z:13.93 [[ 9.90971550e-01 -1.23845078e-01 -5.13593636e-02 2.96947603e+02] [ 1.23738568e-01 9.92300908e-01 -5.26064331e-03 2.34551053e+01] [ 5.16154479e-02 -1.14198625e-03 9.98666381e-01 1.39290624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.98, Y:23.45, Z:13.93 [[ 9.90167984e-01 -1.30041238e-01 -5.15426054e-02 2.96979466e+02] [ 1.29942439e-01 9.91507494e-01 -5.27757050e-03 2.34532256e+01] [ 5.17911813e-02 -1.47189050e-03 9.98656852e-01 1.39302282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.01, Y:23.45, Z:13.93 [[ 9.89697008e-01 -1.33246069e-01 -5.23957710e-02 2.97011206e+02] [ 1.33148552e-01 9.91081581e-01 -5.36304781e-03 2.34527247e+01] [ 5.26430886e-02 -1.66862868e-03 9.98611997e-01 1.39310044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.04, Y:23.45, Z:13.93 [[ 9.88843569e-01 -1.39279303e-01 -5.28173505e-02 2.97042059e+02] [ 1.39188888e-01 9.90251102e-01 -5.40441890e-03 2.34511969e+01] [ 5.30551632e-02 -2.00746339e-03 9.98589565e-01 1.39316923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.07, Y:23.45, Z:13.93 [[ 9.88448095e-01 -1.42133399e-01 -5.26161558e-02 2.97072994e+02] [ 1.42047753e-01 9.89845170e-01 -5.38288694e-03 2.34512351e+01] [ 5.28469357e-02 -2.15330238e-03 9.98600303e-01 1.39329399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.10, Y:23.45, Z:13.93 [[ 9.88122157e-01 -1.44468165e-01 -5.23789351e-02 2.97104599e+02] [ 1.44386621e-01 9.89506847e-01 -5.35749414e-03 2.34530394e+01] [ 5.26033023e-02 -2.26895877e-03 9.98612910e-01 1.39346941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.14, Y:23.45, Z:13.94 [[ 9.87791617e-01 -1.46631897e-01 -5.26004508e-02 2.97135758e+02] [ 1.46552873e-01 9.89188223e-01 -5.37725715e-03 2.34488435e+01] [ 5.28202239e-02 -2.39713764e-03 9.98601160e-01 1.39356380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.17, Y:23.46, Z:13.94 [[ 9.87159538e-01 -1.50436748e-01 -5.37106187e-02 2.97166555e+02] [ 1.50360124e-01 9.88616061e-01 -5.48783814e-03 2.34550139e+01] [ 5.39247529e-02 -2.65856350e-03 9.98541463e-01 1.39372835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.20, Y:23.46, Z:13.94 [[ 9.86955186e-01 -1.51795232e-01 -5.36439039e-02 2.97198388e+02] [ 1.51720916e-01 9.88408188e-01 -5.47882224e-03 2.34597359e+01] [ 5.38537329e-02 -2.73155022e-03 9.98545099e-01 1.39388248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.23, Y:23.46, Z:13.94 [[ 9.86692326e-01 -1.53321305e-01 -5.41371536e-02 2.97229946e+02] [ 1.53248122e-01 9.88172295e-01 -5.52522143e-03 2.34609491e+01] [ 5.43439695e-02 -2.84472354e-03 9.98518222e-01 1.39400832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.26, Y:23.46, Z:13.94 [[ 9.86533925e-01 -1.54478935e-01 -5.37314960e-02 2.97260802e+02] [ 1.54408741e-01 9.87991855e-01 -5.48035831e-03 2.34599342e+01] [ 5.39328803e-02 -2.89005326e-03 9.98540381e-01 1.39412454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.29, Y:23.46, Z:13.94 [[ 9.86144094e-01 -1.57119149e-01 -5.32296731e-02 2.97291919e+02] [ 1.57054422e-01 9.87575060e-01 -5.42294833e-03 2.34627321e+01] [ 5.34203467e-02 -3.01214710e-03 9.98567571e-01 1.39431517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.32, Y:23.47, Z:13.94 [[ 9.85973173e-01 -1.58242563e-01 -5.30678226e-02 2.97323302e+02] [ 1.58179963e-01 9.87395510e-01 -5.40434023e-03 2.34684220e+01] [ 5.32541264e-02 -3.06573170e-03 9.98576286e-01 1.39449243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.35, Y:23.47, Z:13.95 [[ 9.85825267e-01 -1.59301493e-01 -5.26457672e-02 2.97354823e+02] [ 1.59241586e-01 9.87225108e-01 -5.35758457e-03 2.34695290e+01] [ 5.28266944e-02 -3.10175324e-03 9.98598878e-01 1.39461066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.39, Y:23.47, Z:13.95 [[ 9.85603617e-01 -1.60546756e-01 -5.30117825e-02 2.97387156e+02] [ 1.60487970e-01 9.87023070e-01 -5.39178504e-03 2.34725814e+01] [ 5.31894859e-02 -3.19359055e-03 9.98579331e-01 1.39472442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.42, Y:23.48, Z:13.95 [[ 9.85417388e-01 -1.61670595e-01 -5.30583626e-02 2.97418905e+02] [ 1.61613535e-01 9.86839392e-01 -5.39263677e-03 2.34776904e+01] [ 5.32319130e-02 -3.26095148e-03 9.98576852e-01 1.39487541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.45, Y:23.48, Z:13.95 [[ 9.85038027e-01 -1.63585756e-01 -5.42197909e-02 2.97450180e+02] [ 1.63529271e-01 9.86523113e-01 -5.50682204e-03 2.34807919e+01] [ 5.43899146e-02 -3.44209378e-03 9.98513840e-01 1.39497261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.48, Y:23.48, Z:13.95 [[ 9.84931173e-01 -1.64150654e-01 -5.44531660e-02 2.97481248e+02] [ 1.64094659e-01 9.86429105e-01 -5.52836950e-03 2.34815969e+01] [ 5.46216733e-02 -3.49041027e-03 9.98501021e-01 1.39502961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.51, Y:23.49, Z:13.95 [[ 9.84711323e-01 -1.65527565e-01 -5.42608176e-02 2.97512922e+02] [ 1.65474214e-01 9.86198748e-01 -5.50572345e-03 2.34853701e+01] [ 5.44232994e-02 -3.55721792e-03 9.98511618e-01 1.39513092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.54, Y:23.49, Z:13.95 [[ 9.84586713e-01 -1.66354027e-01 -5.39939093e-02 2.97544239e+02] [ 1.66302642e-01 9.86059561e-01 -5.47482381e-03 2.34895351e+01] [ 5.41519695e-02 -3.58889098e-03 9.98526256e-01 1.39532375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.58, Y:23.49, Z:13.95 [[ 9.84536260e-01 -1.66715301e-01 -5.37992741e-02 2.97576322e+02] [ 1.66664988e-01 9.85998508e-01 -5.45199700e-03 2.34931251e+01] [ 5.39549353e-02 -3.59876665e-03 9.98536887e-01 1.39548337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.61, Y:23.50, Z:13.96 [[ 9.84536303e-01 -1.66703375e-01 -5.38354220e-02 2.97607819e+02] [ 1.66653205e-01 9.86000503e-01 -5.45144181e-03 2.34964836e+01] [ 5.39905269e-02 -3.60470327e-03 9.98534941e-01 1.39563664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.64, Y:23.50, Z:13.96 [[ 9.84662721e-01 -1.66165297e-01 -5.31828922e-02 2.97639744e+02] [ 1.66115856e-01 9.86091568e-01 -5.37970141e-03 2.35036123e+01] [ 5.33371212e-02 -3.53733021e-03 9.98570297e-01 1.39584899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.67, Y:23.51, Z:13.96 [[ 9.84937356e-01 -1.64678288e-01 -5.27206384e-02 2.97671292e+02] [ 1.64627781e-01 9.86341368e-01 -5.32915680e-03 2.35093338e+01] [ 5.28781430e-02 -3.43039612e-03 9.98595080e-01 1.39597949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.70, Y:23.51, Z:13.96 [[ 9.84949383e-01 -1.64606243e-01 -5.27209403e-02 2.97702860e+02] [ 1.64555793e-01 9.86353397e-01 -5.32616836e-03 2.35124631e+01] [ 5.28781991e-02 -3.42952989e-03 9.98595080e-01 1.39613034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.73, Y:23.52, Z:13.96 [[ 9.85146709e-01 -1.63485020e-01 -5.25224646e-02 2.97734765e+02] [ 1.63433566e-01 9.86540093e-01 -5.30225415e-03 2.35173895e+01] [ 5.26823563e-02 -3.36043544e-03 9.98605666e-01 1.39631648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.77, Y:23.52, Z:13.96 [[ 9.85540063e-01 -1.61258086e-01 -5.20251262e-02 2.97765516e+02] [ 1.61204699e-01 9.86907037e-01 -5.24842877e-03 2.35217440e+01] [ 5.21903147e-02 -3.21415799e-03 9.98631984e-01 1.39640209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.80, Y:23.53, Z:13.97 [[ 9.85758987e-01 -1.60045771e-01 -5.16194739e-02 2.97797265e+02] [ 1.59991663e-01 9.87104640e-01 -5.20547850e-03 2.35278388e+01] [ 5.17869371e-02 -3.12733825e-03 9.98653260e-01 1.39653049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.83, Y:23.53, Z:13.97 [[ 9.85961957e-01 -1.58774208e-01 -5.16698247e-02 2.97828298e+02] [ 1.58718462e-01 9.87310155e-01 -5.20655795e-03 2.35309713e+01] [ 5.18408097e-02 -3.06748706e-03 9.98650650e-01 1.39668193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.86, Y:23.54, Z:13.97 [[ 9.86179091e-01 -1.57696308e-01 -5.08200143e-02 2.97860231e+02] [ 1.57641282e-01 9.87483199e-01 -5.11449161e-03 2.35355705e+01] [ 5.09904468e-02 -2.96752754e-03 9.98694732e-01 1.39685600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.89, Y:23.54, Z:13.97 [[ 9.86364953e-01 -1.56715323e-01 -5.02442754e-02 2.97891527e+02] [ 1.56660445e-01 9.87639596e-01 -5.05303801e-03 2.35434793e+01] [ 5.04151244e-02 -2.88715094e-03 9.98724176e-01 1.39706423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.92, Y:23.55, Z:13.97 [[ 9.86713342e-01 -1.54672013e-01 -4.97327774e-02 2.97921344e+02] [ 1.54615830e-01 9.87962025e-01 -4.99816865e-03 2.35468255e+01] [ 4.99071723e-02 -2.75771497e-03 9.98750053e-01 1.39722421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.95, Y:23.55, Z:13.97 [[ 9.86832443e-01 -1.53854053e-01 -4.99065054e-02 2.97953157e+02] [ 1.53796487e-01 9.88089821e-01 -5.01458547e-03 2.35517972e+01] [ 5.00836243e-02 -2.72688958e-03 9.98741305e-01 1.39735695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.98, Y:23.56, Z:13.97 [[ 9.87017393e-01 -1.52657092e-01 -4.99247238e-02 2.97983780e+02] [ 1.52598130e-01 9.88275610e-01 -5.01297868e-03 2.35550459e+01] [ 5.01046536e-02 -2.67052236e-03 9.98740403e-01 1.39744367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.01, Y:23.57, Z:13.98 [[ 9.87214386e-01 -1.51071758e-01 -5.08436819e-02 2.98014737e+02] [ 1.51008654e-01 9.88519272e-01 -5.10248282e-03 2.35676748e+01] [ 5.10308004e-02 -2.64059152e-03 9.98693589e-01 1.39754603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.05, Y:23.57, Z:13.98 [[ 9.87342676e-01 -1.50273165e-01 -5.07189863e-02 2.98046272e+02] [ 1.50209511e-01 9.88641104e-01 -5.08622082e-03 2.35707872e+01] [ 5.09071971e-02 -2.59663123e-03 9.98700012e-01 1.39769828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.08, Y:23.58, Z:13.98 [[ 9.87588987e-01 -1.48476002e-01 -5.12139502e-02 2.98078456e+02] [ 1.48408889e-01 9.88912769e-01 -5.13199796e-03 2.35775086e+01] [ 5.14081079e-02 -2.53230077e-03 9.98674519e-01 1.39788716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.11, Y:23.58, Z:13.98 [[ 9.87764260e-01 -1.47274590e-01 -5.13026501e-02 2.98109449e+02] [ 1.47205862e-01 9.89092540e-01 -5.13635277e-03 2.35771690e+01] [ 5.14995227e-02 -2.47854514e-03 9.98669943e-01 1.39796411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.14, Y:23.58, Z:13.98 [[ 9.87963865e-01 -1.45853188e-01 -5.15193944e-02 2.98141526e+02] [ 1.45782106e-01 9.89303292e-01 -5.15507058e-03 2.35845547e+01] [ 5.17201899e-02 -2.41758236e-03 9.98658689e-01 1.39816384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.17, Y:23.59, Z:13.98 [[ 9.88174348e-01 -1.44466193e-01 -5.13904436e-02 2.98173008e+02] [ 1.44393830e-01 9.89506961e-01 -5.13762491e-03 2.35893307e+01] [ 5.15934148e-02 -2.34359386e-03 9.98665423e-01 1.39837535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.21, Y:23.59, Z:13.99 [[ 9.88371001e-01 -1.43294876e-01 -5.08855952e-02 2.98205411e+02] [ 1.43222568e-01 9.89677450e-01 -5.08345507e-03 2.35932147e+01] [ 5.10887591e-02 -2.26362606e-03 9.98691551e-01 1.39856454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.24, Y:23.60, Z:13.99 [[ 9.88509961e-01 -1.42170161e-01 -5.13390885e-02 2.98237711e+02] [ 1.42095281e-01 9.89839721e-01 -5.12420289e-03 2.35971182e+01] [ 5.15459778e-02 -2.22971661e-03 9.98668133e-01 1.39874438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.27, Y:23.60, Z:13.99 [[ 9.88778787e-01 -1.40458632e-01 -5.08712482e-02 2.98269705e+02] [ 1.40383035e-01 9.90084269e-01 -5.07390100e-03 2.36013933e+01] [ 5.10794958e-02 -2.12449452e-03 9.98692331e-01 1.39892545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.30, Y:23.61, Z:13.99 [[ 9.88878681e-01 -1.39659217e-01 -5.11298122e-02 2.98301842e+02] [ 1.39581972e-01 9.90197406e-01 -5.09602382e-03 2.36058901e+01] [ 5.13403142e-02 -2.09745069e-03 9.98679014e-01 1.39909570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.33, Y:23.61, Z:13.99 [[ 9.88961644e-01 -1.38867388e-01 -5.16789645e-02 2.98333885e+02] [ 1.38787591e-01 9.90308797e-01 -5.14699918e-03 2.36101364e+01] [ 5.18928835e-02 -2.08221422e-03 9.98650486e-01 1.39922731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.36, Y:23.61, Z:13.99 [[ 9.89117035e-01 -1.37150577e-01 -5.32654724e-02 2.98364460e+02] [ 1.37063529e-01 9.90548074e-01 -5.30115445e-03 2.36139398e+01] [ 5.34890675e-02 -2.05729145e-03 9.98566316e-01 1.39926054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.40, Y:23.62, Z:13.99 [[ 9.89233872e-01 -1.36133583e-01 -5.37028321e-02 2.98396245e+02] [ 1.36043768e-01 9.90688427e-01 -5.34164884e-03 2.36185432e+01] [ 5.39299521e-02 -2.02179568e-03 9.98542674e-01 1.39939629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.43, Y:23.62, Z:14.00 [[ 9.89362547e-01 -1.35185913e-01 -5.37263358e-02 2.98427223e+02] [ 1.35094827e-01 9.90818283e-01 -5.34024409e-03 2.36214518e+01] [ 5.39549615e-02 -1.97471253e-03 9.98541418e-01 1.39950873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.46, Y:23.63, Z:14.00 [[ 9.89677821e-01 -1.33022454e-01 -5.33182649e-02 2.98459299e+02] [ 1.32929776e-01 9.91111306e-01 -5.29662129e-03 2.36285647e+01] [ 5.35489047e-02 -1.84563641e-03 9.98563522e-01 1.39970850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.49, Y:23.63, Z:14.00 [[ 9.89813579e-01 -1.32276406e-01 -5.26500759e-02 2.98491454e+02] [ 1.32185231e-01 9.91211258e-01 -5.22556754e-03 2.36327152e+01] [ 5.28785673e-02 -1.78722474e-03 9.98599351e-01 1.39991380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.52, Y:23.63, Z:14.00 [[ 9.89925855e-01 -1.31677127e-01 -5.20378284e-02 2.98523080e+02] [ 1.31587432e-01 9.91291134e-01 -5.16099943e-03 2.36346413e+01] [ 5.22642234e-02 -1.73851744e-03 9.98631778e-01 1.40005766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.55, Y:23.64, Z:14.00 [[ 9.89993046e-01 -1.31307148e-01 -5.16933349e-02 2.98554662e+02] [ 1.31218329e-01 9.91340257e-01 -5.12306930e-03 2.36396622e+01] [ 5.19183795e-02 -1.71131003e-03 9.98649865e-01 1.40025496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.59, Y:23.64, Z:14.00 [[ 9.90004753e-01 -1.31226176e-01 -5.16747548e-02 2.98586171e+02] [ 1.31137504e-01 9.91350980e-01 -5.11750496e-03 2.36416758e+01] [ 5.18993695e-02 -1.71014414e-03 9.98650855e-01 1.40041160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.62, Y:23.64, Z:14.01 [[ 9.90014111e-01 -1.31155440e-01 -5.16750405e-02 2.98617698e+02] [ 1.31066822e-01 9.91360343e-01 -5.11461897e-03 2.36447369e+01] [ 5.18993959e-02 -1.70933840e-03 9.98650855e-01 1.40056221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.65, Y:23.65, Z:14.01 [[ 9.89929024e-01 -1.31754074e-01 -5.17821478e-02 2.98649780e+02] [ 1.31666101e-01 9.91280893e-01 -5.12147915e-03 2.36480981e+01] [ 5.20054294e-02 -1.74805262e-03 9.98645272e-01 1.40072860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.68, Y:23.65, Z:14.01 [[ 9.89742114e-01 -1.33263865e-01 -5.14906848e-02 2.98681720e+02] [ 1.33179111e-01 9.91078921e-01 -5.08894379e-03 2.36513593e+01] [ 5.17095047e-02 -1.82074163e-03 9.98660509e-01 1.40088592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.71, Y:23.65, Z:14.01 [[ 9.89617690e-01 -1.34308150e-01 -5.11678438e-02 2.98712444e+02] [ 1.34226034e-01 9.90937856e-01 -5.05343447e-03 2.36520806e+01] [ 5.13828709e-02 -1.86708857e-03 9.98677282e-01 1.40103028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.74, Y:23.65, Z:14.01 [[ 9.89428040e-01 -1.35750226e-01 -5.10296985e-02 2.98743926e+02] [ 1.35670565e-01 9.90741196e-01 -5.03785805e-03 2.36520805e+01] [ 5.12411149e-02 -1.93863000e-03 9.98684430e-01 1.40117023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.78, Y:23.66, Z:14.01 [[ 9.89224005e-01 -1.37309142e-01 -5.08140386e-02 2.98775932e+02] [ 1.37232348e-01 9.90526196e-01 -5.01376821e-03 2.36559737e+01] [ 5.10210725e-02 -2.01358993e-03 9.98695547e-01 1.40133567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.81, Y:23.66, Z:14.01 [[ 9.88664201e-01 -1.41040127e-01 -5.14857252e-02 2.98806884e+02] [ 1.40966517e-01 9.90001349e-01 -5.07649095e-03 2.36566406e+01] [ 5.16869264e-02 -2.23881852e-03 9.98660828e-01 1.40148402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.84, Y:23.66, Z:14.02 [[ 9.88369680e-01 -1.42804027e-01 -5.22722295e-02 2.98838044e+02] [ 1.42730671e-01 9.89748151e-01 -5.15290259e-03 2.36577471e+01] [ 5.24721977e-02 -2.36787772e-03 9.98619578e-01 1.40158299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.87, Y:23.66, Z:14.02 [[ 9.87837379e-01 -1.46176809e-01 -5.30061533e-02 2.98868428e+02] [ 1.46106381e-01 9.89255101e-01 -5.22219878e-03 2.36575417e+01] [ 5.31999718e-02 -2.58585409e-03 9.98580531e-01 1.40162224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.90, Y:23.66, Z:14.02 [[ 9.87597119e-01 -1.47658783e-01 -5.33742804e-02 2.98900387e+02] [ 1.47589762e-01 9.89034709e-01 -5.25417773e-03 2.36638068e+01] [ 5.35648414e-02 -2.68848654e-03 9.98560754e-01 1.40181746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.93, Y:23.66, Z:14.02 [[ 9.87475904e-01 -1.48326880e-01 -5.37631540e-02 2.98931500e+02] [ 1.48258048e-01 9.88934569e-01 -5.28853881e-03 2.36632124e+01] [ 5.39526740e-02 -2.74851564e-03 9.98539711e-01 1.40192613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.96, Y:23.67, Z:14.02 [[ 9.87443498e-01 -1.48640751e-01 -5.34907955e-02 2.98963131e+02] [ 1.48573239e-01 9.88887425e-01 -5.25867553e-03 2.36673468e+01] [ 5.36780285e-02 -2.75465579e-03 9.98554496e-01 1.40211781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.00, Y:23.67, Z:14.02 [[ 9.87514184e-01 -1.48143587e-01 -5.35650523e-02 2.98995122e+02] [ 1.48075370e-01 9.88962080e-01 -5.26205039e-03 2.36734151e+01] [ 5.37533445e-02 -2.73531552e-03 9.98550497e-01 1.40233068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.03, Y:23.68, Z:14.03 [[ 9.88003102e-01 -1.44916119e-01 -5.33777909e-02 2.99025639e+02] [ 1.44843881e-01 9.89440647e-01 -5.23991030e-03 2.36773148e+01] [ 5.35735034e-02 -2.55439878e-03 9.98560642e-01 1.40260875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.06, Y:23.68, Z:14.03 [[ 9.88422822e-01 -1.41855850e-01 -5.38260421e-02 2.99055987e+02] [ 1.41777976e-01 9.89884391e-01 -5.28190620e-03 2.36820343e+01] [ 5.40308282e-02 -2.41059069e-03 9.98536358e-01 1.40279405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.09, Y:23.69, Z:14.03 [[ 9.88925601e-01 -1.38094396e-01 -5.43699710e-02 2.99086932e+02] [ 1.38009384e-01 9.90416562e-01 -5.33316075e-03 2.36906090e+01] [ 5.45853994e-02 -2.22946702e-03 9.98506617e-01 1.40298997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.12, Y:23.70, Z:14.03 [[ 9.89496865e-01 -1.33822291e-01 -5.46584652e-02 2.99118418e+02] [ 1.33730044e-01 9.91003312e-01 -5.35826762e-03 2.36977739e+01] [ 5.48837757e-02 -2.00748995e-03 9.98490732e-01 1.40317949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.15, Y:23.70, Z:14.03 [[ 9.90072224e-01 -1.29408504e-01 -5.48673962e-02 2.99148985e+02] [ 1.29309001e-01 9.91589781e-01 -5.37477351e-03 2.37041370e+01] [ 5.51014908e-02 -1.77343421e-03 9.98479184e-01 1.40333617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.18, Y:23.71, Z:14.04 [[ 9.91170617e-01 -1.20512012e-01 -5.52961348e-02 2.99179096e+02] [ 1.20397215e-01 9.92711030e-01 -5.41487735e-03 2.37149925e+01] [ 5.55456407e-02 -1.29043330e-03 9.98455315e-01 1.40360973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.21, Y:23.72, Z:14.04 [[ 9.91699354e-01 -1.16351422e-01 -5.47241983e-02 2.99209269e+02] [ 1.16232711e-01 9.93207556e-01 -5.35789692e-03 2.37196621e+01] [ 5.49758862e-02 -1.04731903e-03 9.98487133e-01 1.40373174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.24, Y:23.73, Z:14.04 [[ 9.92129137e-01 -1.12554059e-01 -5.48758457e-02 2.99241003e+02] [ 1.12428963e-01 9.93645247e-01 -5.37132150e-03 2.37268102e+01] [ 5.51316873e-02 -8.40589845e-04 9.98478738e-01 1.40397436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.27, Y:23.73, Z:14.04 [[ 9.92741049e-01 -1.06931810e-01 -5.50526774e-02 2.99272191e+02] [ 1.06797488e-01 9.94266213e-01 -5.38458269e-03 2.37334362e+01] [ 5.53128002e-02 -5.33991383e-04 9.98468932e-01 1.40413942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.30, Y:23.74, Z:14.04 [[ 9.92881565e-01 -1.05340862e-01 -5.55832840e-02 2.99304505e+02] [ 1.05201673e-01 9.94436070e-01 -5.43240847e-03 2.37378054e+01] [ 5.58462771e-02 -4.53716226e-04 9.98439276e-01 1.40429036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.34, Y:23.74, Z:14.04 [[ 9.92972569e-01 -1.04322369e-01 -5.58777339e-02 2.99336308e+02] [ 1.04180317e-01 9.94543454e-01 -5.45713665e-03 2.37415216e+01] [ 5.61421359e-02 -4.02573024e-04 9.98422705e-01 1.40447272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.37, Y:23.74, Z:14.05 [[ 9.93005494e-01 -1.03868325e-01 -5.61378698e-02 2.99367138e+02] [ 1.03724476e-01 9.94590983e-01 -5.47802636e-03 2.37446474e+01] [ 5.64032125e-02 -3.83160881e-04 9.98407998e-01 1.40461944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.40, Y:23.75, Z:14.05 [[ 9.92766575e-01 -1.05491465e-01 -5.73243345e-02 2.99398212e+02] [ 1.05344537e-01 9.94420087e-01 -5.58744131e-03 2.37462406e+01] [ 5.75938971e-02 -4.91780509e-04 9.98339973e-01 1.40473512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.43, Y:23.75, Z:14.05 [[ 9.92540236e-01 -1.07317147e-01 -5.78524781e-02 2.99429506e+02] [ 1.07170766e-01 9.94224654e-01 -5.63599051e-03 2.37478251e+01] [ 5.81231984e-02 -6.06147039e-04 9.98309234e-01 1.40485058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.46, Y:23.75, Z:14.05 [[ 9.92233859e-01 -1.09465775e-01 -5.90695581e-02 2.99461362e+02] [ 1.09317122e-01 9.93990282e-01 -5.75198009e-03 2.37492609e+01] [ 5.93442117e-02 -7.50004686e-04 9.98237297e-01 1.40498716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.49, Y:23.75, Z:14.05 [[ 9.91890749e-01 -1.12326472e-01 -5.94601188e-02 2.99493362e+02] [ 1.12181239e-01 9.93670919e-01 -5.78564128e-03 2.37504438e+01] [ 5.97336716e-02 -9.31585752e-04 9.98213915e-01 1.40516337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.52, Y:23.75, Z:14.05 [[ 9.91086335e-01 -1.18765558e-01 -6.03541091e-02 2.99524376e+02] [ 1.18628084e-01 9.92921416e-01 -5.86857907e-03 2.37468588e+01] [ 6.06238725e-02 -1.34342380e-03 9.98159777e-01 1.40521126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.56, Y:23.75, Z:14.05 [[ 9.90702422e-01 -1.21971548e-01 -6.02631973e-02 2.99555443e+02] [ 1.21840548e-01 9.92532403e-01 -5.85741996e-03 2.37484050e+01] [ 6.05276146e-02 -1.53954087e-03 9.98165336e-01 1.40546375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.59, Y:23.75, Z:14.06 [[ 9.90325907e-01 -1.25134741e-01 -5.99657820e-02 2.99587132e+02] [ 1.25011001e-01 9.92138253e-01 -5.82548694e-03 2.37475585e+01] [ 6.02233170e-02 -1.72725182e-03 9.98183434e-01 1.40562492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.62, Y:23.75, Z:14.06 [[ 9.89637976e-01 -1.30372408e-01 -6.01640482e-02 2.99618356e+02] [ 1.30257812e-01 9.91462960e-01 -5.83963082e-03 2.37469176e+01] [ 6.04117520e-02 -2.05771687e-03 9.98171421e-01 1.40589934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.65, Y:23.75, Z:14.06 [[ 9.89329243e-01 -1.32817601e-01 -5.98926790e-02 2.99650025e+02] [ 1.32708598e-01 9.91138059e-01 -5.81177335e-03 2.37465081e+01] [ 6.01338194e-02 -2.19851612e-03 9.98187903e-01 1.40603997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.68, Y:23.75, Z:14.06 [[ 9.89045327e-01 -1.34898954e-01 -5.99300748e-02 2.99681409e+02] [ 1.34793804e-01 9.90856622e-01 -5.81242604e-03 2.37468070e+01] [ 6.01662017e-02 -2.32944996e-03 9.98185655e-01 1.40620137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.71, Y:23.75, Z:14.06 [[ 9.88780191e-01 -1.36777828e-01 -6.00463159e-02 2.99713051e+02] [ 1.36675881e-01 9.90598717e-01 -5.82111511e-03 2.37512665e+01] [ 6.02780029e-02 -2.45107983e-03 9.98178619e-01 1.40649049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.74, Y:23.75, Z:14.07 [[ 9.88569627e-01 -1.38405001e-01 -5.97841738e-02 2.99744218e+02] [ 1.38307158e-01 9.90372449e-01 -5.79156999e-03 2.37504208e+01] [ 6.00101809e-02 -2.54320898e-03 9.98194525e-01 1.40661646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.78, Y:23.75, Z:14.07 [[ 9.88202466e-01 -1.41069654e-01 -5.96258247e-02 2.99775228e+02] [ 1.40977331e-01 9.89995990e-01 -5.77343340e-03 2.37474854e+01] [ 5.98437835e-02 -2.70056849e-03 9.98204102e-01 1.40676618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.81, Y:23.75, Z:14.07 [[ 9.88100400e-01 -1.41647857e-01 -5.99456709e-02 2.99807569e+02] [ 1.41555707e-01 9.89913285e-01 -5.80266273e-03 2.37506063e+01] [ 6.01629507e-02 -2.75203847e-03 9.98184775e-01 1.40697515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.84, Y:23.75, Z:14.07 [[ 9.88101148e-01 -1.41703656e-01 -5.98012939e-02 2.99839858e+02] [ 1.41612305e-01 9.89905296e-01 -5.78446373e-03 2.37530112e+01] [ 6.00172972e-02 -2.75296385e-03 9.98193541e-01 1.40714906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.87, Y:23.76, Z:14.07 [[ 9.88271597e-01 -1.40546557e-01 -5.97152951e-02 2.99871003e+02] [ 1.40453588e-01 9.90070437e-01 -5.77237522e-03 2.37552773e+01] [ 5.99336358e-02 -2.68255299e-03 9.98198759e-01 1.40734581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.90, Y:23.76, Z:14.08 [[ 9.88434751e-01 -1.39275508e-01 -5.99922935e-02 2.99903053e+02] [ 1.39179496e-01 9.90250205e-01 -5.79657844e-03 2.37603707e+01] [ 6.02147024e-02 -2.62015760e-03 9.98182010e-01 1.40756291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.93, Y:23.77, Z:14.08 [[ 9.88673360e-01 -1.37552580e-01 -6.00356216e-02 2.99934737e+02] [ 1.37453521e-01 9.90491257e-01 -5.79645151e-03 2.37654674e+01] [ 6.02620752e-02 -2.52131037e-03 9.98179405e-01 1.40776700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.97, Y:23.77, Z:14.08 [[ 9.89217368e-01 -1.33257826e-01 -6.07564799e-02 2.99965603e+02] [ 1.33148531e-01 9.91078758e-01 -5.86210093e-03 2.37684215e+01] [ 6.09956274e-02 -2.29074400e-03 9.98135405e-01 1.40778568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.00, Y:23.77, Z:14.08 [[ 9.89520346e-01 -1.30536686e-01 -6.17224333e-02 2.99996049e+02] [ 1.30418742e-01 9.91441129e-01 -5.95310066e-03 2.37725732e+01] [ 6.19712570e-02 -2.15904790e-03 9.98075599e-01 1.40788504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.03, Y:23.78, Z:14.08 [[ 9.89869686e-01 -1.27620673e-01 -6.22171011e-02 3.00026582e+02] [ 1.27495220e-01 9.91821045e-01 -5.99860847e-03 2.37808923e+01] [ 6.24737767e-02 -1.99454228e-03 9.98044613e-01 1.40815341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.06, Y:23.79, Z:14.08 [[ 9.90190351e-01 -1.24772414e-01 -6.28881011e-02 3.00057441e+02] [ 1.24638651e-01 9.92183688e-01 -6.06099240e-03 2.37859421e+01] [ 6.31527927e-02 -1.83675191e-03 9.98002180e-01 1.40830715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.09, Y:23.79, Z:14.08 [[ 9.90905595e-01 -1.18725840e-01 -6.33267484e-02 3.00086447e+02] [ 1.18577960e-01 9.92925997e-01 -6.10182304e-03 2.37907512e+01] [ 6.36032188e-02 -1.46282605e-03 9.97974193e-01 1.40830491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.11, Y:23.80, Z:14.08 [[ 9.91252616e-01 -1.15894739e-01 -6.31400150e-02 3.00114398e+02] [ 1.15741891e-01 9.93260682e-01 -6.08545682e-03 2.37954956e+01] [ 6.34197668e-02 -1.27571974e-03 9.97986125e-01 1.40844681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.14, Y:23.80, Z:14.09 [[ 9.91836219e-01 -1.10801244e-01 -6.31189325e-02 3.00143697e+02] [ 1.10638026e-01 9.93842134e-01 -6.08602508e-03 2.38034049e+01] [ 6.34045937e-02 -9.47014019e-04 9.97987455e-01 1.40867730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.17, Y:23.81, Z:14.09 [[ 9.92116727e-01 -1.08462829e-01 -6.27711285e-02 3.00173923e+02] [ 1.08296679e-01 9.94100190e-01 -6.05329033e-03 2.38084995e+01] [ 6.30573477e-02 -7.92334149e-04 9.98009591e-01 1.40890656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.20, Y:23.81, Z:14.09 [[ 9.92292740e-01 -1.06763405e-01 -6.29022500e-02 3.00203230e+02] [ 1.06593131e-01 9.94284218e-01 -6.06620660e-03 2.38120374e+01] [ 6.31903633e-02 -6.85495003e-04 9.98001257e-01 1.40901306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.23, Y:23.82, Z:14.09 [[ 9.92440079e-01 -1.05622796e-01 -6.25021194e-02 3.00232887e+02] [ 1.05452373e-01 9.94406082e-01 -6.02843672e-03 2.38164153e+01] [ 6.27892280e-02 -6.08134581e-04 9.98026624e-01 1.40928443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.26, Y:23.82, Z:14.09 [[ 9.92586652e-01 -1.04395904e-01 -6.22353110e-02 3.00262643e+02] [ 1.04224523e-01 9.94535679e-01 -6.00270259e-03 2.38194901e+01] [ 6.25218948e-02 -5.28243162e-04 9.98043453e-01 1.40948056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.29, Y:23.82, Z:14.10 [[ 9.92593001e-01 -1.04525767e-01 -6.19152533e-02 3.00292723e+02] [ 1.04356399e-01 9.94522036e-01 -5.97183247e-03 2.38220120e+01] [ 6.22002941e-02 -5.33653767e-04 9.98063544e-01 1.40966159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.32, Y:23.82, Z:14.10 [[ 9.92559211e-01 -1.05211855e-01 -6.12917453e-02 3.00323153e+02] [ 1.05047190e-01 9.94449667e-01 -5.91169406e-03 2.38241585e+01] [ 6.15735360e-02 -5.70819221e-04 9.98102386e-01 1.40981835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.35, Y:23.83, Z:14.10 [[ 9.92438306e-01 -1.06379772e-01 -6.12335929e-02 3.00353983e+02] [ 1.06217671e-01 9.94325365e-01 -5.90557633e-03 2.38260801e+01] [ 6.15143485e-02 -6.43169457e-04 9.98105992e-01 1.41007339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.38, Y:23.82, Z:14.10 [[ 9.92058428e-01 -1.10215936e-01 -6.06013474e-02 3.00384798e+02] [ 1.10064419e-01 9.93907282e-01 -5.84289121e-03 2.38248884e+01] [ 6.08761002e-02 -8.73562620e-04 9.98144948e-01 1.41020166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.42, Y:23.83, Z:14.10 [[ 9.91780124e-01 -1.12578022e-01 -6.08142648e-02 3.00416198e+02] [ 1.12429902e-01 9.93642362e-01 -5.86292318e-03 2.38257047e+01] [ 6.10876660e-02 -1.02261113e-03 9.98131881e-01 1.41035210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.45, Y:23.83, Z:14.10 [[ 9.91467650e-01 -1.15286737e-01 -6.08347576e-02 3.00446876e+02] [ 1.15143729e-01 9.93331540e-01 -5.86291371e-03 2.38250339e+01] [ 6.11049996e-02 -1.19185158e-03 9.98130632e-01 1.41037626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.48, Y:23.82, Z:14.10 [[ 9.90847268e-01 -1.20276818e-01 -6.12795126e-02 3.00477829e+02] [ 1.20141304e-01 9.92739242e-01 -5.90465712e-03 2.38233525e+01] [ 6.15447703e-02 -1.51158719e-03 9.98103179e-01 1.41049347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.51, Y:23.82, Z:14.11 [[ 9.90557895e-01 -1.22601515e-01 -6.13508298e-02 3.00508094e+02] [ 1.22470225e-01 9.92454591e-01 -5.91007156e-03 2.38235674e+01] [ 6.16124964e-02 -1.65938187e-03 9.98098766e-01 1.41058665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.54, Y:23.82, Z:14.11 [[ 9.90375526e-01 -1.24317444e-01 -6.08398705e-02 3.00538458e+02] [ 1.24191689e-01 9.92240948e-01 -5.85881432e-03 2.38247723e+01] [ 6.10961636e-02 -1.75337996e-03 9.98130344e-01 1.41075935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.57, Y:23.82, Z:14.11 [[ 9.90220392e-01 -1.25772731e-01 -6.03721388e-02 3.00568659e+02] [ 1.25651615e-01 9.92057395e-01 -5.81354261e-03 2.38248087e+01] [ 6.06238119e-02 -1.82916830e-03 9.98159009e-01 1.41088656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.60, Y:23.83, Z:14.11 [[ 9.90224704e-01 -1.25738723e-01 -6.03722613e-02 3.00599348e+02] [ 1.25617621e-01 9.92061707e-01 -5.81227069e-03 2.38277323e+01] [ 6.06238361e-02 -1.82836583e-03 9.98159009e-01 1.41103320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.63, Y:23.83, Z:14.11 [[ 9.90144536e-01 -1.26876479e-01 -5.92971956e-02 3.00630326e+02] [ 1.26761810e-01 9.91916769e-01 -5.70673457e-03 2.38300994e+01] [ 5.95419330e-02 -1.86612781e-03 9.98224061e-01 1.41131500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.66, Y:23.83, Z:14.11 [[ 9.90163942e-01 -1.26857419e-01 -5.90132487e-02 3.00661710e+02] [ 1.26743936e-01 9.91919222e-01 -5.67732018e-03 2.38325635e+01] [ 5.92565859e-02 -1.85809369e-03 9.98241055e-01 1.41145515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.69, Y:23.83, Z:14.12 [[ 9.90226795e-01 -1.26408058e-01 -5.89228170e-02 3.00691600e+02] [ 1.26294239e-01 9.91976639e-01 -5.66674306e-03 2.38344748e+01] [ 5.91663800e-02 -1.83025155e-03 9.98246457e-01 1.41156503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.72, Y:23.84, Z:14.12 [[ 9.90421131e-01 -1.25375838e-01 -5.78522437e-02 3.00723787e+02] [ 1.25264452e-01 9.92107796e-01 -5.56220384e-03 2.38393723e+01] [ 5.80930280e-02 -1.73790539e-03 9.98309661e-01 1.41178584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.75, Y:23.84, Z:14.12 [[ 9.90520862e-01 -1.24755630e-01 -5.74843855e-02 3.00754741e+02] [ 1.24644841e-01 9.92186052e-01 -5.52288839e-03 2.38406505e+01] [ 5.77242169e-02 -1.69459595e-03 9.98331129e-01 1.41189139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.79, Y:23.84, Z:14.12 [[ 9.90632359e-01 -1.24062429e-01 -5.70617455e-02 3.00786515e+02] [ 1.23952300e-01 9.92273051e-01 -5.47905882e-03 2.38447697e+01] [ 5.73005776e-02 -1.64520165e-03 9.98355617e-01 1.41207480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.82, Y:23.85, Z:14.12 [[ 9.90674003e-01 -1.23758424e-01 -5.69988757e-02 3.00818051e+02] [ 1.23648249e-01 9.92311039e-01 -5.46929996e-03 2.38468352e+01] [ 5.72374855e-02 -1.62951790e-03 9.98359261e-01 1.41218791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.85, Y:23.85, Z:14.12 [[ 9.90710623e-01 -1.23616998e-01 -5.66683236e-02 3.00849708e+02] [ 1.23508000e-01 9.92328692e-01 -5.43523909e-03 2.38502878e+01] [ 5.69054913e-02 -1.61424219e-03 9.98378265e-01 1.41234579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.88, Y:23.85, Z:14.12 [[ 9.90630694e-01 -1.24106967e-01 -5.69937691e-02 3.00881136e+02] [ 1.23997752e-01 9.92267463e-01 -5.46246633e-03 2.38494460e+01] [ 5.72309928e-02 -1.65581242e-03 9.98359590e-01 1.41232336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.91, Y:23.85, Z:14.12 [[ 9.90578203e-01 -1.24424280e-01 -5.72138345e-02 3.00912149e+02] [ 1.24314916e-01 9.92227678e-01 -5.48062657e-03 2.38537947e+01] [ 5.74510731e-02 -1.68354383e-03 9.98346904e-01 1.41249324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.94, Y:23.86, Z:14.13 [[ 9.90534695e-01 -1.24643959e-01 -5.74882809e-02 3.00943810e+02] [ 1.24534056e-01 9.92200066e-01 -5.50445623e-03 2.38574945e+01] [ 5.77259733e-02 -1.70689390e-03 9.98331006e-01 1.41263139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.98, Y:23.86, Z:14.13 [[ 9.90440261e-01 -1.25014063e-01 -5.83058653e-02 3.00975340e+02] [ 1.24901894e-01 9.92153414e-01 -5.57859415e-03 2.38563384e+01] [ 5.85457661e-02 -1.75724879e-03 9.98283179e-01 1.41259056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.01, Y:23.86, Z:14.13 [[ 9.90326567e-01 -1.26147224e-01 -5.77941989e-02 3.01006657e+02] [ 1.26039112e-01 9.92009878e-01 -5.52669410e-03 2.38591102e+01] [ 5.80295933e-02 -1.81109752e-03 9.98313221e-01 1.41273041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.04, Y:23.86, Z:14.13 [[ 9.90299731e-01 -1.26516184e-01 -5.74464837e-02 3.01038457e+02] [ 1.26410127e-01 9.91962866e-01 -5.49106477e-03 2.38642482e+01] [ 5.76794871e-02 -1.82401731e-03 9.98333486e-01 1.41293827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.07, Y:23.87, Z:14.13 [[ 9.90278281e-01 -1.26833864e-01 -5.71147795e-02 3.01069786e+02] [ 1.26729783e-01 9.91922276e-01 -5.45539713e-03 2.38654474e+01] [ 5.73453512e-02 -1.83578231e-03 9.98352714e-01 1.41300545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.10, Y:23.87, Z:14.13 [[ 9.90461851e-01 -1.25913618e-01 -5.59560736e-02 3.01100595e+02] [ 1.25812409e-01 9.92039667e-01 -5.34189800e-03 2.38697846e+01] [ 5.61832624e-02 -1.74902225e-03 9.98418941e-01 1.41318301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.13, Y:23.87, Z:14.13 [[ 9.90643519e-01 -1.24935511e-01 -5.49229987e-02 3.01132031e+02] [ 1.24836626e-01 9.92163468e-01 -5.24108242e-03 2.38748682e+01] [ 5.51473902e-02 -1.66435749e-03 9.98476838e-01 1.41342064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.16, Y:23.88, Z:14.14 [[ 9.90819645e-01 -1.23888870e-01 -5.41108008e-02 3.01163679e+02] [ 1.23791540e-01 9.92294831e-01 -5.15971648e-03 2.38799451e+01] [ 5.43330994e-02 -1.58611089e-03 9.98521606e-01 1.41368634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.20, Y:23.89, Z:14.14 [[ 9.91160362e-01 -1.22029220e-01 -5.20577286e-02 3.01195326e+02] [ 1.21936766e-01 9.92525476e-01 -4.96026755e-03 2.38855331e+01] [ 5.22739195e-02 -1.43133049e-03 9.98631758e-01 1.41393907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.23, Y:23.89, Z:14.14 [[ 9.91251036e-01 -1.21533003e-01 -5.14889656e-02 3.01225929e+02] [ 1.21442081e-01 9.92586413e-01 -4.90238869e-03 2.38880203e+01] [ 5.17030497e-02 -1.39342925e-03 9.98661531e-01 1.41408187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.26, Y:23.89, Z:14.14 [[ 9.91318097e-01 -1.21299481e-01 -5.07431363e-02 3.01256981e+02] [ 1.21211021e-01 9.92615019e-01 -4.82839867e-03 2.38907013e+01] [ 5.09540815e-02 -1.36414835e-03 9.98700065e-01 1.41424926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.29, Y:23.89, Z:14.14 [[ 9.91305170e-01 -1.21594865e-01 -5.02866603e-02 3.01289297e+02] [ 1.21508667e-01 9.92578866e-01 -4.77907093e-03 2.38946457e+01] [ 5.04945867e-02 -1.37274732e-03 9.98723391e-01 1.41439680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.32, Y:23.90, Z:14.14 [[ 9.91083615e-01 -1.23370365e-01 -5.03291358e-02 3.01319928e+02] [ 1.23286488e-01 9.92359611e-01 -4.77953028e-03 2.38960992e+01] [ 5.05342540e-02 -1.46798825e-03 9.98721249e-01 1.41446219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.35, Y:23.90, Z:14.15 [[ 9.90921815e-01 -1.24250779e-01 -5.13390699e-02 3.01351034e+02] [ 1.24164784e-01 9.92249644e-01 -4.87345978e-03 2.38963075e+01] [ 5.15467050e-02 -1.54528689e-03 9.98669389e-01 1.41450947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.38, Y:23.90, Z:14.15 [[ 9.90712681e-01 -1.25857196e-01 -5.14621238e-02 3.01382498e+02] [ 1.25773095e-01 9.92047021e-01 -4.88235217e-03 2.39005470e+01] [ 5.16673258e-02 -1.63554237e-03 9.98663012e-01 1.41463041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.41, Y:23.90, Z:14.15 [[ 9.90485365e-01 -1.27815428e-01 -5.10093936e-02 3.01414247e+02] [ 1.27735534e-01 9.91796471e-01 -4.83661301e-03 2.38999874e+01] [ 5.12091304e-02 -1.72511776e-03 9.98686462e-01 1.41472906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.45, Y:23.90, Z:14.15 [[ 9.90052208e-01 -1.31199399e-01 -5.08265960e-02 3.01445141e+02] [ 1.31124661e-01 9.91354187e-01 -4.81664009e-03 2.38997138e+01] [ 5.10190990e-02 -1.89589503e-03 9.98695878e-01 1.41477733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.48, Y:23.90, Z:14.15 [[ 9.89819751e-01 -1.32958229e-01 -5.07835590e-02 3.01476807e+02] [ 1.32885988e-01 9.91119652e-01 -4.81136899e-03 2.39021427e+01] [ 5.09722945e-02 -1.98603535e-03 9.98698093e-01 1.41490728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.51, Y:23.90, Z:14.15 [[ 9.89638380e-01 -1.34365429e-01 -5.06143083e-02 3.01508699e+02] [ 1.34295763e-01 9.90929716e-01 -4.79024645e-03 2.39038878e+01] [ 5.07988657e-02 -2.05667543e-03 9.98706786e-01 1.41501948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.54, Y:23.91, Z:14.15 [[ 9.89367568e-01 -1.36283587e-01 -5.07799038e-02 3.01540668e+02] [ 1.36216170e-01 9.90667499e-01 -4.80228288e-03 2.39067214e+01] [ 5.09604726e-02 -2.16582105e-03 9.98698323e-01 1.41510520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.57, Y:23.91, Z:14.15 [[ 9.89279488e-01 -1.36860941e-01 -5.09428816e-02 3.01571983e+02] [ 1.36794040e-01 9.90587813e-01 -4.81406604e-03 2.39078922e+01] [ 5.11222552e-02 -2.20622581e-03 9.98689966e-01 1.41521081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.60, Y:23.91, Z:14.15 [[ 9.89304357e-01 -1.36849371e-01 -5.04889919e-02 3.01603798e+02] [ 1.36783781e-01 9.90589451e-01 -4.76841628e-03 2.39119154e+01] [ 5.06664176e-02 -2.18866022e-03 9.98713234e-01 1.41534915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.64, Y:23.91, Z:14.16 [[ 9.89319415e-01 -1.36934283e-01 -4.99609660e-02 3.01635603e+02] [ 1.36870344e-01 9.90577750e-01 -4.71499836e-03 2.39148970e+01] [ 5.01358662e-02 -2.17353517e-03 9.98740042e-01 1.41552047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.67, Y:23.92, Z:14.16 [[ 9.89473644e-01 -1.36036506e-01 -4.93556091e-02 3.01667707e+02] [ 1.35973164e-01 9.90701587e-01 -4.65437771e-03 2.39213132e+01] [ 4.95298456e-02 -2.10565428e-03 9.98770424e-01 1.41569924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.70, Y:23.93, Z:14.16 [[ 9.89892573e-01 -1.33074749e-01 -4.90286190e-02 3.01697441e+02] [ 1.33008792e-01 9.91104090e-01 -4.62001878e-03 2.39262016e+01] [ 4.92072727e-02 -1.94791510e-03 9.98786689e-01 1.41588189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.73, Y:23.93, Z:14.16 [[ 9.90194188e-01 -1.30741450e-01 -4.92152805e-02 3.01727764e+02] [ 1.30672158e-01 9.91414791e-01 -4.63668850e-03 2.39302395e+01] [ 4.93989644e-02 -1.83984489e-03 9.98777431e-01 1.41600637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.76, Y:23.93, Z:14.16 [[ 9.90521660e-01 -1.28221942e-01 -4.92541835e-02 3.01757980e+02] [ 1.28149475e-01 9.91744013e-01 -4.63946290e-03 2.39346528e+01] [ 4.94424226e-02 -1.71640926e-03 9.98775501e-01 1.41614775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.79, Y:23.94, Z:14.16 [[ 9.91156518e-01 -1.23337214e-01 -4.89559796e-02 3.01789117e+02] [ 1.23259715e-01 9.92363737e-01 -4.61044495e-03 2.39433571e+01] [ 4.91507783e-02 -1.46462755e-03 9.98790296e-01 1.41633988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.82, Y:23.95, Z:14.16 [[ 9.91510610e-01 -1.20601657e-01 -4.85998958e-02 3.01820158e+02] [ 1.20522129e-01 9.92700102e-01 -4.57424376e-03 2.39456293e+01] [ 4.87967829e-02 -1.32195166e-03 9.98807853e-01 1.41649294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.85, Y:23.95, Z:14.17 [[ 9.91755433e-01 -1.18478161e-01 -4.88270993e-02 3.01851737e+02] [ 1.18395450e-01 9.92955902e-01 -4.59290954e-03 2.39519574e+01] [ 4.90273158e-02 -1.22586341e-03 9.98796686e-01 1.41665194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.88, Y:23.96, Z:14.17 [[ 9.91986946e-01 -1.16546185e-01 -4.87738268e-02 3.01883990e+02] [ 1.16461496e-01 9.93184627e-01 -4.58433522e-03 2.39564116e+01] [ 4.89757017e-02 -1.13267215e-03 9.98799328e-01 1.41678393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.92, Y:23.96, Z:14.17 [[ 9.92277849e-01 -1.13978690e-01 -4.89236931e-02 3.01915840e+02] [ 1.13890539e-01 9.93482679e-01 -4.59479484e-03 2.39605497e+01] [ 4.91285504e-02 -1.01263266e-03 9.98791950e-01 1.41690021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.95, Y:23.96, Z:14.17 [[ 9.92380742e-01 -1.13063225e-01 -4.89609045e-02 3.01948067e+02] [ 1.12974005e-01 9.93587320e-01 -4.59469678e-03 2.39639692e+01] [ 4.91664251e-02 -9.71620840e-04 9.98790127e-01 1.41703584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.98, Y:23.97, Z:14.17 [[ 9.92465981e-01 -1.12199352e-01 -4.92197339e-02 3.01980040e+02] [ 1.12108302e-01 9.93685276e-01 -4.61538942e-03 2.39673181e+01] [ 4.94267686e-02 -9.37323818e-04 9.98777311e-01 1.41716344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.01, Y:23.97, Z:14.17 [[ 9.92547929e-01 -1.11453277e-01 -4.92623074e-02 3.02011984e+02] [ 1.11361329e-01 9.93769263e-01 -4.61579632e-03 2.39710792e+01] [ 4.94698126e-02 -9.04516921e-04 9.98775210e-01 1.41729616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.04, Y:23.97, Z:14.17 [[ 9.92604192e-01 -1.11003336e-01 -4.91444493e-02 3.02043545e+02] [ 1.10911455e-01 9.93819641e-01 -4.60113331e-03 2.39740900e+01] [ 4.93514601e-02 -8.83578153e-04 9.98781083e-01 1.41742310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.08, Y:23.98, Z:14.18 [[ 9.92573377e-01 -1.11002201e-01 -4.97654762e-02 3.02075015e+02] [ 1.10908165e-01 9.93819754e-01 -4.65560318e-03 2.39767101e+01] [ 4.99746956e-02 -8.98369895e-04 9.98750080e-01 1.41754817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.11, Y:23.98, Z:14.18 [[ 9.92552795e-01 -1.11249144e-01 -4.96243530e-02 3.02105695e+02] [ 1.11156085e-01 9.93792130e-01 -4.63967974e-03 2.39789606e+01] [ 4.98324519e-02 -9.10921726e-04 9.98757176e-01 1.41764203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.14, Y:23.98, Z:14.18 [[ 9.92309532e-01 -1.13295277e-01 -4.98595222e-02 3.02136983e+02] [ 1.13204050e-01 9.93560837e-01 -4.65894257e-03 2.39802140e+01] [ 5.00663048e-02 -1.02118671e-03 9.98745374e-01 1.41779348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.17, Y:23.98, Z:14.18 [[ 9.92184905e-01 -1.14628702e-01 -4.92886875e-02 3.02169430e+02] [ 1.14541327e-01 9.93407820e-01 -4.60294254e-03 2.39828233e+01] [ 4.94913969e-02 -1.07862156e-03 9.98773968e-01 1.41796123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.20, Y:23.98, Z:14.18 [[ 9.91975243e-01 -1.16606592e-01 -4.88673712e-02 3.02201749e+02] [ 1.16523275e-01 9.93177493e-01 -4.56007194e-03 2.39844396e+01] [ 4.90657077e-02 -1.17070767e-03 9.98794867e-01 1.41812473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.23, Y:23.98, Z:14.18 [[ 9.91716444e-01 -1.18750098e-01 -4.89582358e-02 3.02233257e+02] [ 1.18669258e-01 9.92923345e-01 -4.56491929e-03 2.39841467e+01] [ 4.91538598e-02 -1.28273197e-03 9.98790395e-01 1.41825103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.26, Y:23.98, Z:14.18 [[ 9.91134993e-01 -1.23418108e-01 -4.91873562e-02 3.02263525e+02] [ 1.23342496e-01 9.92353587e-01 -4.58122768e-03 2.39822372e+01] [ 4.93766558e-02 -1.52627622e-03 9.98779063e-01 1.41832191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.30, Y:23.98, Z:14.18 [[ 9.90839373e-01 -1.25697871e-01 -4.93698424e-02 3.02295863e+02] [ 1.25624529e-01 9.92067203e-01 -4.59807736e-03 2.39845229e+01] [ 4.95561700e-02 -1.64610710e-03 9.98769982e-01 1.41843187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.33, Y:23.99, Z:14.19 [[ 9.90548794e-01 -1.27891055e-01 -4.95677751e-02 3.02326703e+02] [ 1.27820047e-01 9.91786649e-01 -4.61283456e-03 2.39850058e+01] [ 4.97505979e-02 -1.76651763e-03 9.98760110e-01 1.41854840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.36, Y:23.98, Z:14.19 [[ 9.89938774e-01 -1.32561300e-01 -4.94846030e-02 3.02357086e+02] [ 1.32496648e-01 9.91172783e-01 -4.59907427e-03 2.39834323e+01] [ 4.96574510e-02 -2.00374210e-03 9.98764298e-01 1.41869805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.39, Y:23.98, Z:14.19 [[ 9.89651742e-01 -1.34683303e-01 -4.94958410e-02 3.02388985e+02] [ 1.34621445e-01 9.90886441e-01 -4.59657356e-03 2.39838558e+01] [ 4.96638394e-02 -2.11419459e-03 9.98763752e-01 1.41881735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.42, Y:23.99, Z:14.19 [[ 9.89358365e-01 -1.36748056e-01 -4.96990444e-02 3.02420436e+02] [ 1.36688521e-01 9.90603346e-01 -4.61076654e-03 2.39889612e+01] [ 4.98625530e-02 -2.23158841e-03 9.98753596e-01 1.41897871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.45, Y:23.99, Z:14.19 [[ 9.88903867e-01 -1.40341039e-01 -4.87189346e-02 3.02451646e+02] [ 1.40288301e-01 9.90100393e-01 -4.51723208e-03 2.39894823e+01] [ 4.88705893e-02 -2.36758828e-03 9.98802313e-01 1.41916627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.48, Y:23.99, Z:14.19 [[ 9.88811372e-01 -1.41256620e-01 -4.79441047e-02 3.02483890e+02] [ 1.41206661e-01 9.89970164e-01 -4.44448174e-03 2.39916299e+01] [ 4.80910457e-02 -2.37527285e-03 9.98840132e-01 1.41939211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.52, Y:23.99, Z:14.20 [[ 9.88750852e-01 -1.41897225e-01 -4.72961978e-02 3.02515297e+02] [ 1.41849501e-01 9.89878541e-01 -4.38096630e-03 2.39884990e+01] [ 4.74391383e-02 -2.37725792e-03 9.98871301e-01 1.41961705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.55, Y:23.99, Z:14.20 [[ 9.88785225e-01 -1.41855422e-01 -4.66992304e-02 3.02547574e+02] [ 1.41808966e-01 9.89884603e-01 -4.32313882e-03 2.39924129e+01] [ 4.68401099e-02 -2.34771379e-03 9.98899641e-01 1.41980711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.58, Y:24.00, Z:14.20 [[ 9.88794999e-01 -1.41787176e-01 -4.66995283e-02 3.02579140e+02] [ 1.41740796e-01 9.89894381e-01 -4.31991923e-03 2.39952686e+01] [ 4.68401098e-02 -2.34771379e-03 9.98899641e-01 1.41995781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.61, Y:24.01, Z:14.20 [[ 9.88820992e-01 -1.41590996e-01 -4.67443700e-02 3.02610427e+02] [ 1.41544462e-01 9.89922470e-01 -4.32081730e-03 2.40060716e+01] [ 4.68850911e-02 -2.34389185e-03 9.98897539e-01 1.42015275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.64, Y:24.01, Z:14.20 [[ 9.88625496e-01 -1.43317804e-01 -4.56030242e-02 3.02641992e+02] [ 1.43275498e-01 9.89673881e-01 -4.21193351e-03 2.40054031e+01] [ 4.57357670e-02 -2.36977115e-03 9.98950761e-01 1.42043560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.67, Y:24.01, Z:14.21 [[ 9.88260538e-01 -1.45410607e-01 -4.68707141e-02 3.02673677e+02] [ 1.45368390e-01 9.89368139e-01 -4.32631874e-03 2.40095669e+01] [ 4.70014838e-02 -2.53799018e-03 9.98891595e-01 1.42054658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.70, Y:24.01, Z:14.20 [[ 9.87262963e-01 -1.50025482e-01 -5.29546661e-02 3.02704244e+02] [ 1.49978434e-01 9.88677206e-01 -4.88382443e-03 2.40073527e+01] [ 5.30877694e-02 -3.12043889e-03 9.98584975e-01 1.42017694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.74, Y:24.01, Z:14.20 [[ 9.86999295e-01 -1.50559008e-01 -5.62527877e-02 3.02736016e+02] [ 1.50506879e-01 9.88595357e-01 -5.18646167e-03 2.40111090e+01] [ 5.63921133e-02 -3.34739750e-03 9.98403087e-01 1.42001725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.77, Y:24.01, Z:14.20 [[ 9.86879115e-01 -1.50502503e-01 -5.84688764e-02 3.02768408e+02] [ 1.50446354e-01 9.88603501e-01 -5.38639125e-03 2.40148025e+01] [ 5.86132013e-02 -3.48071228e-03 9.98274700e-01 1.41995249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.80, Y:24.02, Z:14.20 [[ 9.86884924e-01 -1.49840269e-01 -6.00503231e-02 3.02800263e+02] [ 1.49780098e-01 9.88703883e-01 -5.52762513e-03 2.40193226e+01] [ 6.02002484e-02 -3.53921335e-03 9.98180046e-01 1.41999017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.83, Y:24.03, Z:14.20 [[ 9.87292202e-01 -1.46836951e-01 -6.07702037e-02 3.02830939e+02] [ 1.46769905e-01 9.89154865e-01 -5.58994276e-03 2.40278780e+01] [ 6.09319528e-02 -3.40033014e-03 9.98136130e-01 1.42017790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.86, Y:24.03, Z:14.20 [[ 9.87706697e-01 -1.43984250e-01 -6.08606333e-02 3.02861561e+02] [ 1.43911742e-01 9.89574704e-01 -5.59607101e-03 2.40348964e+01] [ 6.10318892e-02 -3.23128291e-03 9.98130586e-01 1.42043656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.89, Y:24.04, Z:14.21 [[ 9.88221621e-01 -1.40517731e-01 -6.06035821e-02 3.02891197e+02] [ 1.40439439e-01 9.90073599e-01 -5.57070941e-03 2.40405216e+01] [ 6.07847901e-02 -3.00603761e-03 9.98146369e-01 1.42066880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.92, Y:24.05, Z:14.21 [[ 9.88786145e-01 -1.36828258e-01 -5.98329969e-02 3.02920979e+02] [ 1.36745206e-01 9.90590985e-01 -5.49987687e-03 2.40490980e+01] [ 6.00225660e-02 -2.74367342e-03 9.98193250e-01 1.42098850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.95, Y:24.05, Z:14.21 [[ 9.89424909e-01 -1.32674599e-01 -5.86157075e-02 3.02950227e+02] [ 1.32587664e-01 9.91156642e-01 -5.38716578e-03 2.40528895e+01] [ 5.88120879e-02 -2.44152372e-03 9.98266085e-01 1.42117293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.98, Y:24.07, Z:14.22 [[ 9.90652004e-01 -1.24740150e-01 -5.52132347e-02 3.02979793e+02] [ 1.24650880e-01 9.92187704e-01 -5.07123297e-03 2.40652345e+01] [ 5.54144790e-02 -1.85855117e-03 9.98461707e-01 1.42170630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.01, Y:24.07, Z:14.22 [[ 9.91167464e-01 -1.21509460e-01 -5.31273013e-02 3.03011079e+02] [ 1.21422189e-01 9.92588960e-01 -4.87933979e-03 2.40706895e+01] [ 5.33264587e-02 -1.61459036e-03 9.98575827e-01 1.42204124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.04, Y:24.08, Z:14.22 [[ 9.91987832e-01 -1.15762133e-01 -5.05892227e-02 3.03040774e+02] [ 1.15675656e-01 9.93276184e-01 -4.64380408e-03 2.40773475e+01] [ 5.07866468e-02 -1.24534439e-03 9.98708749e-01 1.42242390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.07, Y:24.08, Z:14.23 [[ 9.92360784e-01 -1.12608998e-01 -5.03913567e-02 3.03072936e+02] [ 1.12519151e-01 9.93638791e-01 -4.62532455e-03 2.40827207e+01] [ 5.05916599e-02 -1.08000197e-03 9.98718838e-01 1.42258959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.10, Y:24.09, Z:14.23 [[ 9.92701297e-01 -1.09375233e-01 -5.08054536e-02 3.03104541e+02] [ 1.09279934e-01 9.94000099e-01 -4.65815835e-03 2.40864683e+01] [ 5.10101131e-02 -9.27856804e-04 9.98697706e-01 1.42267542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.14, Y:24.09, Z:14.23 [[ 9.92971534e-01 -1.06481719e-01 -5.16640645e-02 3.03136222e+02] [ 1.06379455e-01 9.94314341e-01 -4.73307742e-03 2.40903384e+01] [ 5.18743065e-02 -7.96183881e-04 9.98653304e-01 1.42273165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.17, Y:24.10, Z:14.23 [[ 9.93444855e-01 -1.01367340e-01 -5.28392054e-02 3.03168167e+02] [ 1.01253345e-01 9.94848916e-01 -4.83682931e-03 2.40956860e+01] [ 5.30573228e-02 -5.45023083e-04 9.98591320e-01 1.42280945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.20, Y:24.10, Z:14.23 [[ 9.93606105e-01 -9.93948792e-02 -5.35496595e-02 3.03199862e+02] [ 9.92751466e-02 9.95047967e-01 -4.89789621e-03 2.40990050e+01] [ 5.37713056e-02 -4.49570727e-04 9.98553176e-01 1.42295389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.23, Y:24.10, Z:14.23 [[ 9.93740476e-01 -9.79607855e-02 -5.36987078e-02 3.03231623e+02] [ 9.78385037e-02 9.95190204e-01 -4.90762183e-03 2.41016993e+01] [ 5.39211824e-02 -3.76898767e-04 9.98545124e-01 1.42305636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.26, Y:24.10, Z:14.23 [[ 9.93856308e-01 -9.64145607e-02 -5.43495404e-02 3.03262170e+02] [ 9.62871956e-02 9.95341219e-01 -4.96323815e-03 2.41040267e+01] [ 5.45748662e-02 -3.00419287e-04 9.98509636e-01 1.42315881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.29, Y:24.11, Z:14.23 [[ 9.94155860e-01 -9.29471698e-02 -5.49085536e-02 3.03292052e+02] [ 9.28120448e-02 9.95671035e-01 -5.01136161e-03 2.41063117e+01] [ 5.51366483e-02 -1.14100619e-04 9.98478811e-01 1.42323393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.32, Y:24.11, Z:14.23 [[ 9.94310651e-01 -9.12098535e-02 -5.50190126e-02 3.03322192e+02] [ 9.10715721e-02 9.95831694e-01 -5.02060545e-03 2.41091144e+01] [ 5.52476052e-02 -1.86264993e-05 9.98472685e-01 1.42337462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.35, Y:24.11, Z:14.24 [[ 9.94682151e-01 -8.77622657e-02 -5.38999283e-02 3.03352081e+02] [ 8.76244969e-02 9.96141434e-01 -4.91848655e-03 2.41123745e+01] [ 5.41236094e-02 1.69376687e-04 9.98534229e-01 1.42362022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.38, Y:24.12, Z:14.24 [[ 9.94867256e-01 -8.59964824e-02 -5.33267957e-02 3.03382708e+02] [ 8.58590949e-02 9.96295406e-01 -4.86618695e-03 2.41154950e+01] [ 5.35477166e-02 2.62619648e-04 9.98565257e-01 1.42382292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.41, Y:24.12, Z:14.24 [[ 9.95186152e-01 -8.35743029e-02 -5.11845631e-02 3.03413158e+02] [ 8.34445377e-02 9.96501477e-01 -4.67070353e-03 2.41165691e+01] [ 5.13958436e-02 3.77147266e-04 9.98678289e-01 1.42409673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.44, Y:24.11, Z:14.24 [[ 9.94823974e-01 -8.77132247e-02 -5.12996121e-02 3.03442323e+02] [ 8.75883612e-02 9.96145754e-01 -4.68141353e-03 2.41077270e+01] [ 5.15125126e-02 1.63933461e-04 9.98672336e-01 1.42408408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.48, Y:24.06, Z:14.23 [[ 9.89949589e-01 -1.29386717e-01 -5.70866722e-02 3.03477129e+02] [ 1.29300762e-01 9.91591722e-01 -5.21243815e-03 2.40608557e+01] [ 5.72810919e-02 -2.22129924e-03 9.98355619e-01 1.42338863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.51, Y:24.06, Z:14.24 [[ 9.89949589e-01 -1.29386743e-01 -5.70866214e-02 3.03506995e+02] [ 1.29300757e-01 9.91591720e-01 -5.21299418e-03 2.40635832e+01] [ 5.72811135e-02 -2.22074192e-03 9.98355619e-01 1.42353133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.54, Y:24.06, Z:14.24 [[ 9.89748459e-01 -1.30776926e-01 -5.74054244e-02 3.03537854e+02] [ 1.30692309e-01 9.91409119e-01 -5.24210639e-03 2.40643678e+01] [ 5.75978078e-02 -2.31408072e-03 9.98337186e-01 1.42363461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.57, Y:24.07, Z:14.24 [[ 9.89748459e-01 -1.30776926e-01 -5.74054244e-02 3.03567721e+02] [ 1.30692309e-01 9.91409119e-01 -5.24210639e-03 2.40670952e+01] [ 5.75978078e-02 -2.31408072e-03 9.98337186e-01 1.42377730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.60, Y:24.07, Z:14.24 [[ 9.89748459e-01 -1.30776926e-01 -5.74054244e-02 3.03597589e+02] [ 1.30692309e-01 9.91409119e-01 -5.24210639e-03 2.40698227e+01] [ 5.75978078e-02 -2.31408072e-03 9.98337186e-01 1.42391999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.63, Y:24.07, Z:14.24 [[ 9.89595174e-01 -1.31746862e-01 -5.78286851e-02 3.03627509e+02] [ 1.31662634e-01 9.91280517e-01 -5.28094982e-03 2.40705261e+01] [ 5.80201974e-02 -2.38787452e-03 9.98312554e-01 1.42400180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.66, Y:24.07, Z:14.24 [[ 9.89595173e-01 -1.31746903e-01 -5.78286066e-02 3.03657378e+02] [ 1.31662624e-01 9.91280513e-01 -5.28180941e-03 2.40732546e+01] [ 5.80202328e-02 -2.38701301e-03 9.98312554e-01 1.42414452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.69, Y:24.08, Z:14.24 [[ 9.89595173e-01 -1.31746903e-01 -5.78286066e-02 3.03687247e+02] [ 1.31662624e-01 9.91280513e-01 -5.28180941e-03 2.40759826e+01] [ 5.80202328e-02 -2.38701301e-03 9.98312554e-01 1.42428721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.72, Y:24.08, Z:14.24 [[ 9.89530375e-01 -1.32085419e-01 -5.81642381e-02 3.03717970e+02] [ 1.32000743e-01 9.91235381e-01 -5.31246451e-03 2.40791935e+01] [ 5.83561498e-02 -2.42087766e-03 9.98292892e-01 1.42444933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.75, Y:24.08, Z:14.25 [[ 9.89530375e-01 -1.32085419e-01 -5.81642381e-02 3.03747840e+02] [ 1.32000743e-01 9.91235381e-01 -5.31246451e-03 2.40819217e+01] [ 5.83561498e-02 -2.42087766e-03 9.98292892e-01 1.42459203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.78, Y:24.08, Z:14.25 [[ 9.89530375e-01 -1.32085419e-01 -5.81642381e-02 3.03777709e+02] [ 1.32000743e-01 9.91235381e-01 -5.31246451e-03 2.40846498e+01] [ 5.83561498e-02 -2.42087766e-03 9.98292892e-01 1.42473473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.81, Y:24.09, Z:14.25 [[ 9.89530375e-01 -1.32085419e-01 -5.81642381e-02 3.03807578e+02] [ 1.32000743e-01 9.91235381e-01 -5.31246451e-03 2.40873779e+01] [ 5.83561498e-02 -2.42087766e-03 9.98292892e-01 1.42487743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.84, Y:24.09, Z:14.25 [[ 9.89475880e-01 -1.32360621e-01 -5.84649414e-02 3.03838260e+02] [ 1.32275548e-01 9.91198600e-01 -5.33992942e-03 2.40888164e+01] [ 5.86571645e-02 -2.44975078e-03 9.98275180e-01 1.42495974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.87, Y:24.09, Z:14.25 [[ 9.89510810e-01 -1.32260718e-01 -5.80987081e-02 3.03868850e+02] [ 1.32176535e-01 9.91211988e-01 -5.30647929e-03 2.40909985e+01] [ 5.82899747e-02 -2.42846729e-03 9.98296740e-01 1.42507439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.90, Y:24.09, Z:14.25 [[ 9.89510810e-01 -1.32260718e-01 -5.80987081e-02 3.03898719e+02] [ 1.32176535e-01 9.91211988e-01 -5.30647929e-03 2.40937267e+01] [ 5.82899747e-02 -2.42846729e-03 9.98296740e-01 1.42521709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.93, Y:24.09, Z:14.25 [[ 9.89507729e-01 -1.32609618e-01 -5.73510559e-02 3.03927795e+02] [ 1.32528160e-01 9.91165398e-01 -5.23837589e-03 2.40946105e+01] [ 5.75390412e-02 -2.41721649e-03 9.98340331e-01 1.42533781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.96, Y:24.10, Z:14.26 [[ 9.89507876e-01 -1.32982864e-01 -5.64776115e-02 3.03957897e+02] [ 1.32904424e-01 9.91115429e-01 -5.15945093e-03 2.40993189e+01] [ 5.66619508e-02 -2.40080713e-03 9.98390535e-01 1.42559020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.99, Y:24.10, Z:14.26 [[ 9.89541980e-01 -1.33590142e-01 -5.44090413e-02 3.03988391e+02] [ 1.33518255e-01 9.91033889e-01 -4.97047893e-03 2.41025075e+01] [ 5.45852108e-02 -2.34610269e-03 9.98506360e-01 1.42585713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.02, Y:24.10, Z:14.26 [[ 9.89602346e-01 -1.33666833e-01 -5.31071972e-02 3.04018333e+02] [ 1.33598459e-01 9.91023670e-01 -4.85144498e-03 2.41043995e+01] [ 5.32789668e-02 -2.29403839e-03 9.98577032e-01 1.42603419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.05, Y:24.11, Z:14.26 [[ 9.89632547e-01 -1.33654729e-01 -5.25721983e-02 3.04050389e+02] [ 1.33587774e-01 9.91025355e-01 -4.80132751e-03 2.41102154e+01] [ 5.27421016e-02 -2.27145295e-03 9.98605583e-01 1.42627756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.08, Y:24.11, Z:14.26 [[ 9.89686735e-01 -1.33507279e-01 -5.19227677e-02 3.04081726e+02] [ 1.33441955e-01 9.91045303e-01 -4.73837055e-03 2.41131839e+01] [ 5.20904220e-02 -2.23917313e-03 9.98639862e-01 1.42641653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.11, Y:24.12, Z:14.27 [[ 9.89643404e-01 -1.33905473e-01 -5.17228826e-02 3.04113156e+02] [ 1.33841296e-01 9.90991547e-01 -4.71815334e-03 2.41155330e+01] [ 5.18887260e-02 -2.25336831e-03 9.98650330e-01 1.42651126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.15, Y:24.12, Z:14.27 [[ 9.89510281e-01 -1.34596061e-01 -5.24719379e-02 3.04145400e+02] [ 1.34531140e-01 9.90897821e-01 -4.78346050e-03 2.41204106e+01] [ 5.26381639e-02 -2.32582628e-03 9.98610942e-01 1.42660108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.18, Y:24.12, Z:14.27 [[ 9.89330286e-01 -1.35551124e-01 -5.33992402e-02 3.04177048e+02] [ 1.35485502e-01 9.90767391e-01 -4.86380177e-03 2.41213304e+01] [ 5.35655197e-02 -2.42291647e-03 9.98561398e-01 1.42664796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.21, Y:24.12, Z:14.27 [[ 9.89153595e-01 -1.36555876e-01 -5.41078469e-02 3.04208474e+02] [ 1.36490291e-01 9.90629176e-01 -4.92300847e-03 2.41239159e+01] [ 5.42730776e-02 -2.51558425e-03 9.98522962e-01 1.42670901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.24, Y:24.13, Z:14.27 [[ 9.88969854e-01 -1.37618351e-01 -5.47705943e-02 3.04239329e+02] [ 1.37552884e-01 9.90481898e-01 -4.98131595e-03 2.41303759e+01] [ 5.49348027e-02 -2.60748190e-03 9.98486539e-01 1.42678850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.27, Y:24.13, Z:14.27 [[ 9.89015317e-01 -1.37211301e-01 -5.49705488e-02 3.04270329e+02] [ 1.37144841e-01 9.90538398e-01 -4.99746555e-03 2.41343675e+01] [ 5.51361481e-02 -2.59635721e-03 9.98475470e-01 1.42695237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.30, Y:24.14, Z:14.27 [[ 9.89147722e-01 -1.36126929e-01 -5.52833015e-02 3.04300603e+02] [ 1.36058128e-01 9.90688117e-01 -5.02400605e-03 2.41358281e+01] [ 5.54524124e-02 -2.55225837e-03 9.98458069e-01 1.42705670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.33, Y:24.15, Z:14.27 [[ 9.89853540e-01 -1.31731098e-01 -5.32624293e-02 3.04330303e+02] [ 1.31660931e-01 9.91282997e-01 -4.83941551e-03 2.41489004e+01] [ 5.34356420e-02 -2.22226845e-03 9.98568823e-01 1.42742173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.36, Y:24.15, Z:14.28 [[ 9.90300822e-01 -1.28452031e-01 -5.29561791e-02 3.04359918e+02] [ 1.28378040e-01 9.91713636e-01 -4.81061967e-03 2.41545410e+01] [ 5.31352988e-02 -2.03444989e-03 9.98585250e-01 1.42761388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.39, Y:24.16, Z:14.28 [[ 9.90806743e-01 -1.24789302e-01 -5.22458356e-02 3.04391044e+02] [ 1.24712258e-01 9.92181605e-01 -4.74493143e-03 2.41624726e+01] [ 5.24294737e-02 -1.81438610e-03 9.98622981e-01 1.42783069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.42, Y:24.17, Z:14.28 [[ 9.91901763e-01 -1.16608219e-01 -5.03330415e-02 3.04421139e+02] [ 1.16526325e-01 9.93177096e-01 -4.56846032e-03 2.41739659e+01] [ 5.05223440e-02 -1.33366051e-03 9.98722040e-01 1.42808845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.45, Y:24.18, Z:14.28 [[ 9.91910172e-01 -1.16536650e-01 -5.03330903e-02 3.04452683e+02] [ 1.16454692e-01 9.93185501e-01 -4.56792292e-03 2.41767715e+01] [ 5.05224259e-02 -1.33055529e-03 9.98722040e-01 1.42823911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.48, Y:24.18, Z:14.28 [[ 9.92447433e-01 -1.12356229e-01 -4.92358700e-02 3.04482239e+02] [ 1.12272833e-01 9.93667387e-01 -4.46494110e-03 2.41831889e+01] [ 4.94257422e-02 -1.09663128e-03 9.98777199e-01 1.42844154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.51, Y:24.19, Z:14.29 [[ 9.93415221e-01 -1.04256204e-01 -4.75062411e-02 3.04512770e+02] [ 1.04169344e-01 9.94550248e-01 -4.30725726e-03 2.41945683e+01] [ 4.76964022e-02 -6.69799069e-04 9.98861654e-01 1.42874359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.54, Y:24.20, Z:14.29 [[ 9.93422617e-01 -1.04185589e-01 -4.75065005e-02 3.04544307e+02] [ 1.04098785e-01 9.94557648e-01 -4.30439432e-03 2.41973664e+01] [ 4.76964093e-02 -6.69286324e-04 9.98861654e-01 1.42889413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.58, Y:24.20, Z:14.29 [[ 9.93820570e-01 -1.00538133e-01 -4.70399631e-02 3.04575157e+02] [ 1.00449099e-01 9.94933084e-01 -4.25880443e-03 2.42037933e+01] [ 4.72297878e-02 -4.92634474e-04 9.98883929e-01 1.42910265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.61, Y:24.21, Z:14.29 [[ 9.94171236e-01 -9.73244713e-02 -4.63842636e-02 3.04606586e+02] [ 9.72346839e-02 9.95252647e-01 -4.19348651e-03 2.42100028e+01] [ 4.65721900e-02 -3.41115543e-04 9.98914869e-01 1.42929827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.64, Y:24.22, Z:14.29 [[ 9.94626371e-01 -9.25035920e-02 -4.64915807e-02 3.04638472e+02] [ 9.24082761e-02 9.95712344e-01 -4.19990285e-03 2.42173220e+01] [ 4.66807469e-02 -1.18872693e-04 9.98909853e-01 1.42943096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.67, Y:24.22, Z:14.30 [[ 9.94779667e-01 -9.06610175e-02 -4.68400986e-02 3.04670084e+02] [ 9.05623839e-02 9.95881810e-01 -4.22800343e-03 2.42215909e+01] [ 4.70305172e-02 -3.60191437e-05 9.98893452e-01 1.42956797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.70, Y:24.23, Z:14.30 [[ 9.94886208e-01 -8.95429020e-02 -4.67279550e-02 3.04701352e+02] [ 8.94436674e-02 9.95982966e-01 -4.21447908e-03 2.42251183e+01] [ 4.69176239e-02 1.34074512e-05 9.98898762e-01 1.42970882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.73, Y:24.23, Z:14.30 [[ 9.94945042e-01 -8.88199997e-02 -4.68547846e-02 3.04731929e+02] [ 8.87196966e-02 9.96047693e-01 -4.22013329e-03 2.42281214e+01] [ 4.70444323e-02 4.18584207e-05 9.98892797e-01 1.42983814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.76, Y:24.23, Z:14.30 [[ 9.94835834e-01 -8.96319236e-02 -4.76212314e-02 3.04763005e+02] [ 8.95293656e-02 9.95974959e-01 -4.28654087e-03 2.42297412e+01] [ 4.78137649e-02 9.05823489e-07 9.98856268e-01 1.42992676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.79, Y:24.23, Z:14.30 [[ 9.94768996e-01 -9.04208489e-02 -4.75259430e-02 3.04794228e+02] [ 9.03197209e-02 9.95903644e-01 -4.27545141e-03 2.42314469e+01] [ 4.77178498e-02 -3.94434095e-05 9.98860854e-01 1.43005882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.83, Y:24.23, Z:14.30 [[ 9.94632192e-01 -9.17503263e-02 -4.78401539e-02 3.04825159e+02] [ 9.16494765e-02 9.95782038e-01 -4.30197499e-03 2.42327723e+01] [ 4.80330735e-02 -1.05642240e-04 9.98845740e-01 1.43022963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.86, Y:24.23, Z:14.30 [[ 9.94518157e-01 -9.29529073e-02 -4.78893692e-02 3.04856729e+02] [ 9.28533673e-02 9.95670492e-01 -4.30381949e-03 2.42337727e+01] [ 4.80820843e-02 -1.66462559e-04 9.98843374e-01 1.43038366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.89, Y:24.23, Z:14.31 [[ 9.94196006e-01 -9.67759472e-02 -4.69969911e-02 3.04889455e+02] [ 9.66844674e-02 9.95306132e-01 -4.22117144e-03 2.42325898e+01] [ 4.71849013e-02 -3.47207267e-04 9.98886112e-01 1.43060091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.92, Y:24.23, Z:14.31 [[ 9.94008627e-01 -9.88528569e-02 -4.66364962e-02 3.04921840e+02] [ 9.87652195e-02 9.95101962e-01 -4.18538364e-03 2.42329675e+01] [ 4.68218060e-02 -4.45756342e-04 9.98903158e-01 1.43078431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.95, Y:24.23, Z:14.31 [[ 9.93810310e-01 -1.01237025e-01 -4.57398398e-02 3.04953475e+02] [ 1.01155402e-01 9.94862182e-01 -4.10159479e-03 2.42326546e+01] [ 4.59200701e-02 -5.50624691e-04 9.98944965e-01 1.43098425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.99, Y:24.23, Z:14.31 [[ 9.93334573e-01 -1.06230154e-01 -4.47390189e-02 3.04985939e+02] [ 1.06157229e-01 9.94341273e-01 -4.00950567e-03 2.42311017e+01] [ 4.49117834e-02 -7.66589653e-04 9.98990663e-01 1.43120506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.02, Y:24.23, Z:14.31 [[ 9.93086430e-01 -1.08838498e-01 -4.39718455e-02 3.05017035e+02] [ 1.08770750e-01 9.94059063e-01 -3.93750952e-03 2.42300594e+01] [ 4.41391642e-02 -8.72563329e-04 9.99025011e-01 1.43138326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.05, Y:24.23, Z:14.32 [[ 9.92795085e-01 -1.11567030e-01 -4.37117385e-02 3.05049573e+02] [ 1.11502825e-01 9.93756417e-01 -3.91189185e-03 2.42299133e+01] [ 4.38752588e-02 -9.90275321e-04 9.99036526e-01 1.43154788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.08, Y:24.23, Z:14.32 [[ 9.92509783e-01 -1.14111575e-01 -4.36220028e-02 3.05082105e+02] [ 1.14050224e-01 9.93467327e-01 -3.90075805e-03 2.42317670e+01] [ 4.37821562e-02 -1.10355865e-03 9.99040492e-01 1.43166710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.11, Y:24.23, Z:14.32 [[ 9.91981650e-01 -1.18507843e-01 -4.39123846e-02 3.05113309e+02] [ 1.18450110e-01 9.92952253e-01 -3.92360442e-03 2.42286228e+01] [ 4.40678791e-02 -1.30928319e-03 9.99027681e-01 1.43176618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.15, Y:24.23, Z:14.32 [[ 9.91750062e-01 -1.20207636e-01 -4.45189804e-02 3.05145223e+02] [ 1.20150273e-01 9.92747771e-01 -3.97182827e-03 2.42291377e+01] [ 4.46735626e-02 -1.40990674e-03 9.99000643e-01 1.43189633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.18, Y:24.23, Z:14.32 [[ 9.91559323e-01 -1.21712462e-01 -4.46786866e-02 3.05177156e+02] [ 1.21656360e-01 9.92564289e-01 -3.98277827e-03 2.42295933e+01] [ 4.48312225e-02 -1.48628543e-03 9.98993470e-01 1.43200055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.21, Y:24.23, Z:14.32 [[ 9.91397156e-01 -1.23047757e-01 -4.46198318e-02 3.05209363e+02] [ 1.22993299e-01 9.92399543e-01 -3.97425039e-03 2.42309452e+01] [ 4.47697233e-02 -1.54787980e-03 9.98996134e-01 1.43209606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.24, Y:24.23, Z:14.32 [[ 9.91191736e-01 -1.24564532e-01 -4.49735528e-02 3.05240473e+02] [ 1.24510923e-01 9.92210165e-01 -4.00229479e-03 2.42285715e+01] [ 4.51217602e-02 -1.63265702e-03 9.98980161e-01 1.43219197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.27, Y:24.23, Z:14.32 [[ 9.91159068e-01 -1.24739919e-01 -4.52068075e-02 3.05272881e+02] [ 1.24686007e-01 9.92188101e-01 -4.02144524e-03 2.42307610e+01] [ 4.53552912e-02 -1.65076439e-03 9.98969555e-01 1.43230262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.31, Y:24.23, Z:14.32 [[ 9.91152483e-01 -1.24437844e-01 -4.61733481e-02 3.05305206e+02] [ 1.24381435e-01 9.92225990e-01 -4.10398154e-03 2.42315994e+01] [ 4.63250866e-02 -1.67543581e-03 9.98925012e-01 1.43234748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.34, Y:24.23, Z:14.32 [[ 9.91161409e-01 -1.24366619e-01 -4.61736426e-02 3.05336764e+02] [ 1.24310288e-01 9.92234920e-01 -4.10066565e-03 2.42343419e+01] [ 4.63250865e-02 -1.67543724e-03 9.98925012e-01 1.43249808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.37, Y:24.23, Z:14.33 [[ 9.91147470e-01 -1.24045901e-01 -4.73213166e-02 3.05368087e+02] [ 1.23986537e-01 9.92275015e-01 -4.19908120e-03 2.42348625e+01] [ 4.74766390e-02 -1.70529747e-03 9.98870893e-01 1.43251636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.40, Y:24.24, Z:14.33 [[ 9.91180151e-01 -1.23743131e-01 -4.74293793e-02 3.05399317e+02] [ 1.23683272e-01 9.92312832e-01 -4.20610513e-03 2.42415944e+01] [ 4.75852583e-02 -1.69721288e-03 9.98865738e-01 1.43262392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.43, Y:24.24, Z:14.33 [[ 9.91200337e-01 -1.23608387e-01 -4.73588365e-02 3.05430611e+02] [ 1.23548721e-01 9.92329635e-01 -4.19630422e-03 2.42392033e+01] [ 4.75142754e-02 -1.69174553e-03 9.98869126e-01 1.43276620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.46, Y:24.25, Z:14.33 [[ 9.91185133e-01 -1.23763336e-01 -4.72722811e-02 3.05462286e+02] [ 1.23704189e-01 9.92310310e-01 -4.18600229e-03 2.42458677e+01] [ 4.74268455e-02 -1.69867594e-03 9.98873270e-01 1.43292494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.49, Y:24.25, Z:14.33 [[ 9.91144379e-01 -1.24287581e-01 -4.67484390e-02 3.05493207e+02] [ 1.24230479e-01 9.92244768e-01 -4.13620977e-03 2.42471193e+01] [ 4.68999735e-02 -1.70799989e-03 9.98898131e-01 1.43308532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.53, Y:24.25, Z:14.33 [[ 9.91124867e-01 -1.24411710e-01 -4.68318702e-02 3.05525377e+02] [ 1.24354663e-01 9.92229192e-01 -4.14103299e-03 2.42504485e+01] [ 4.69831417e-02 -1.71948063e-03 9.98894202e-01 1.43323909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.56, Y:24.25, Z:14.33 [[ 9.91062152e-01 -1.24940380e-01 -4.67516022e-02 3.05557744e+02] [ 1.24884274e-01 9.92162717e-01 -4.13054625e-03 2.42541506e+01] [ 4.69012687e-02 -1.74491185e-03 9.98898006e-01 1.43338665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.59, Y:24.26, Z:14.34 [[ 9.90995920e-01 -1.25439535e-01 -4.68188987e-02 3.05589835e+02] [ 1.25383986e-01 9.92099680e-01 -4.13303361e-03 2.42564699e+01] [ 4.69674602e-02 -1.77452069e-03 9.98894844e-01 1.43351978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.62, Y:24.25, Z:14.34 [[ 9.90722000e-01 -1.27453896e-01 -4.71743879e-02 3.05621173e+02] [ 1.27399944e-01 9.91842700e-01 -4.16092741e-03 2.42549548e+01] [ 4.73198987e-02 -1.88769204e-03 9.98878002e-01 1.43362875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.65, Y:24.26, Z:14.34 [[ 9.90512158e-01 -1.28856975e-01 -4.77655228e-02 3.05653288e+02] [ 1.28803530e-01 9.91661204e-01 -4.20805640e-03 2.42593444e+01] [ 4.79094532e-02 -1.98423694e-03 9.98849712e-01 1.43377661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.68, Y:24.26, Z:14.34 [[ 9.90300444e-01 -1.30354811e-01 -4.80900598e-02 3.05684418e+02] [ 1.30302569e-01 9.91465239e-01 -4.23314196e-03 2.42601909e+01] [ 4.82314330e-02 -2.07417597e-03 9.98834034e-01 1.43390288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.71, Y:24.26, Z:14.34 [[ 9.89938468e-01 -1.32889767e-01 -4.86018377e-02 3.05714888e+02] [ 1.32839582e-01 9.91128329e-01 -4.27557685e-03 2.42605475e+01] [ 4.87388386e-02 -2.22368980e-03 9.98809081e-01 1.43403308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.75, Y:24.26, Z:14.34 [[ 9.89815187e-01 -1.33760223e-01 -4.87247202e-02 3.05747038e+02] [ 1.33710882e-01 9.91011118e-01 -4.28544150e-03 2.42640065e+01] [ 4.88599610e-02 -2.27323021e-03 9.98803052e-01 1.43420806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.78, Y:24.26, Z:14.34 [[ 9.89781226e-01 -1.34118328e-01 -4.84293154e-02 3.05778492e+02] [ 1.34070178e-01 9.90962700e-01 -4.25600422e-03 2.42645141e+01] [ 4.85624534e-02 -2.28041388e-03 9.98817545e-01 1.43445199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.81, Y:24.27, Z:14.35 [[ 9.89894567e-01 -1.33561698e-01 -4.76447239e-02 3.05810761e+02] [ 1.33514572e-01 9.91038016e-01 -4.18452749e-03 2.42678058e+01] [ 4.77766253e-02 -2.21902390e-03 9.98855580e-01 1.43465057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.84, Y:24.28, Z:14.35 [[ 9.90059929e-01 -1.32618354e-01 -4.68370410e-02 3.05842246e+02] [ 1.32571910e-01 9.91164867e-01 -4.11037657e-03 2.42751964e+01] [ 4.69683409e-02 -2.13975683e-03 9.98894087e-01 1.43486131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.87, Y:24.28, Z:14.35 [[ 9.90274286e-01 -1.31185522e-01 -4.63378612e-02 3.05873098e+02] [ 1.31138653e-01 9.91355710e-01 -4.06321541e-03 2.42775425e+01] [ 4.64703383e-02 -2.05298694e-03 9.98917561e-01 1.43503895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.90, Y:24.28, Z:14.35 [[ 9.90548383e-01 -1.29095185e-01 -4.63501260e-02 3.05903975e+02] [ 1.29046126e-01 9.91630274e-01 -4.06175872e-03 2.42834286e+01] [ 4.64865416e-02 -1.95793565e-03 9.98916998e-01 1.43522864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.93, Y:24.29, Z:14.35 [[ 9.91242158e-01 -1.23725717e-01 -4.61620099e-02 3.05933896e+02] [ 1.23671318e-01 9.92314998e-01 -4.04360630e-03 2.42923488e+01] [ 4.63075529e-02 -1.70072356e-03 9.98925782e-01 1.43538201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.97, Y:24.30, Z:14.36 [[ 9.91666368e-01 -1.20392011e-01 -4.58647845e-02 3.05965444e+02] [ 1.20334797e-01 9.92725241e-01 -4.01653963e-03 2.42978751e+01] [ 4.60146885e-02 -1.53606225e-03 9.98939582e-01 1.43554079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.00, Y:24.31, Z:14.36 [[ 9.92078558e-01 -1.16923739e-01 -4.59235648e-02 3.05996652e+02] [ 1.16862779e-01 9.93139938e-01 -4.01921856e-03 2.43051127e+01] [ 4.60784684e-02 -1.37937487e-03 9.98936871e-01 1.43571831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.03, Y:24.31, Z:14.36 [[ 9.92856746e-01 -1.10407415e-01 -4.52292531e-02 3.06026765e+02] [ 1.10341641e-01 9.93885845e-01 -3.95594376e-03 2.43144868e+01] [ 4.53894800e-02 -1.06298456e-03 9.98968801e-01 1.43590083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.06, Y:24.32, Z:14.36 [[ 9.93181281e-01 -1.07538139e-01 -4.50165646e-02 3.06058875e+02] [ 1.07470067e-01 9.94200527e-01 -3.93665511e-03 2.43202088e+01] [ 4.51788328e-02 -9.28121069e-04 9.98978484e-01 1.43608544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.09, Y:24.33, Z:14.36 [[ 9.93419848e-01 -1.05217980e-01 -4.52347380e-02 3.06090240e+02] [ 1.05146995e-01 9.94448836e-01 -3.95240652e-03 2.43253148e+01] [ 4.53994967e-02 -8.29897695e-04 9.98968567e-01 1.43622544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.12, Y:24.33, Z:14.36 [[ 9.93709881e-01 -1.01824855e-01 -4.66086935e-02 3.06121827e+02] [ 1.01745924e-01 9.94802096e-01 -4.06897220e-03 2.43322501e+01] [ 4.67807485e-02 -6.98866700e-04 9.98904937e-01 1.43629113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.15, Y:24.34, Z:14.36 [[ 9.93777840e-01 -1.00810777e-01 -4.73581212e-02 3.06152867e+02] [ 1.00728301e-01 9.94905395e-01 -4.13090661e-03 2.43357000e+01] [ 4.75332902e-02 -6.65099637e-04 9.98869433e-01 1.43637804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.18, Y:24.34, Z:14.36 [[ 9.93814292e-01 -1.00255111e-01 -4.77709739e-02 3.06184698e+02] [ 1.00170675e-01 9.94961554e-01 -4.16430730e-03 2.43404248e+01] [ 4.79477756e-02 -6.46702600e-04 9.98849635e-01 1.43647799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.22, Y:24.34, Z:14.37 [[ 9.93763152e-01 -1.00255227e-01 -4.88230249e-02 3.06216712e+02] [ 1.00167208e-01 9.94961531e-01 -4.25236468e-03 2.43441741e+01] [ 4.90033534e-02 -6.64622776e-04 9.98798393e-01 1.43654624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.25, Y:24.35, Z:14.37 [[ 9.93747076e-01 -1.00238555e-01 -4.91831440e-02 3.06249220e+02] [ 1.00149390e-01 9.94963205e-01 -4.28012912e-03 2.43471958e+01] [ 4.93644526e-02 -6.72296077e-04 9.98780606e-01 1.43667551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.28, Y:24.35, Z:14.37 [[ 9.93690061e-01 -1.00822133e-01 -4.91422363e-02 3.06280228e+02] [ 1.00734005e-01 9.94904217e-01 -4.27301392e-03 2.43490537e+01] [ 4.93226325e-02 -7.04242805e-04 9.98782650e-01 1.43677146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.31, Y:24.35, Z:14.37 [[ 9.93619084e-01 -1.01544380e-01 -4.90902665e-02 3.06312339e+02] [ 1.01457452e-01 9.94830734e-01 -4.26579271e-03 2.43521554e+01] [ 4.92696731e-02 -7.42000332e-04 9.98785237e-01 1.43696028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.34, Y:24.35, Z:14.37 [[ 9.93386804e-01 -1.04040874e-01 -4.85608357e-02 3.06343351e+02] [ 1.03958963e-01 9.94572650e-01 -4.21627038e-03 2.43524055e+01] [ 4.87359435e-02 -8.59946778e-04 9.98811328e-01 1.43716606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.38, Y:24.35, Z:14.37 [[ 9.93230415e-01 -1.05819154e-01 -4.79129302e-02 3.06375665e+02] [ 1.05741607e-01 9.94384950e-01 -4.15741304e-03 2.43538696e+01] [ 4.80838306e-02 -9.37121167e-04 9.98842864e-01 1.43734827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.41, Y:24.35, Z:14.38 [[ 9.93025575e-01 -1.08052628e-01 -4.71681721e-02 3.06407339e+02] [ 1.07980147e-01 9.94144639e-01 -4.08948321e-03 2.43548519e+01] [ 4.73338648e-02 -1.03226473e-03 9.98878591e-01 1.43751695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.44, Y:24.35, Z:14.38 [[ 9.92762936e-01 -1.10622484e-01 -4.67377615e-02 3.06438405e+02] [ 1.10554239e-01 9.93861838e-01 -4.05054613e-03 2.43537927e+01] [ 4.68989590e-02 -1.14582561e-03 9.98898981e-01 1.43770230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.47, Y:24.36, Z:14.38 [[ 9.92102051e-01 -1.16704435e-01 -4.59738607e-02 3.06469933e+02] [ 1.16645032e-01 9.93165686e-01 -3.98194492e-03 2.43557805e+01] [ 4.61243715e-02 -1.41212673e-03 9.98934707e-01 1.43775062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.50, Y:24.36, Z:14.38 [[ 9.91732919e-01 -1.19720462e-01 -4.61825534e-02 3.06502279e+02] [ 1.19663859e-01 9.92806413e-01 -3.99835818e-03 2.43563209e+01] [ 4.63290204e-02 -1.56107911e-03 9.98925015e-01 1.43785385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.53, Y:24.36, Z:14.38 [[ 9.91741677e-01 -1.19647779e-01 -4.61828456e-02 3.06533841e+02] [ 1.19591255e-01 9.92815175e-01 -3.99498015e-03 2.43589934e+01] [ 4.63290204e-02 -1.56107613e-03 9.98925015e-01 1.43800445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.57, Y:24.36, Z:14.38 [[ 9.91352215e-01 -1.22697458e-01 -4.65415923e-02 3.06565434e+02] [ 1.22643567e-01 9.92442630e-01 -4.02253868e-03 2.43600855e+01] [ 4.66834155e-02 -1.72027428e-03 9.98908254e-01 1.43811781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.60, Y:24.36, Z:14.38 [[ 9.90630008e-01 -1.28520957e-01 -4.62011962e-02 3.06596080e+02] [ 1.28474288e-01 9.91704812e-01 -3.99051948e-03 2.43594520e+01] [ 4.63308139e-02 -1.98253742e-03 9.98924184e-01 1.43821816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.63, Y:24.36, Z:14.38 [[ 9.90325763e-01 -1.30848808e-01 -4.61895337e-02 3.06627627e+02] [ 1.30804721e-01 9.91400128e-01 -3.98878525e-03 2.43574910e+01] [ 4.63142375e-02 -2.09161226e-03 9.98924730e-01 1.43839499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.66, Y:24.36, Z:14.39 [[ 9.90075783e-01 -1.32658356e-01 -4.63864632e-02 3.06658943e+02] [ 1.32616111e-01 9.91159403e-01 -4.00066805e-03 2.43615772e+01] [ 4.65071012e-02 -2.19062780e-03 9.98915557e-01 1.43854593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.69, Y:24.36, Z:14.39 [[ 9.89923671e-01 -1.33873305e-01 -4.61417712e-02 3.06690196e+02] [ 1.33832938e-01 9.90995927e-01 -3.97702003e-03 2.43620182e+01] [ 4.62587241e-02 -2.23834254e-03 9.98926984e-01 1.43869845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.72, Y:24.36, Z:14.39 [[ 9.89831347e-01 -1.34584471e-01 -4.60534893e-02 3.06721508e+02] [ 1.34545143e-01 9.90899525e-01 -3.96688446e-03 2.43625247e+01] [ 4.61682617e-02 -2.26972669e-03 9.98931099e-01 1.43887666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.75, Y:24.37, Z:14.39 [[ 9.89795578e-01 -1.34943364e-01 -4.57711946e-02 3.06753604e+02] [ 1.34905010e-01 9.90850702e-01 -3.94014144e-03 2.43673635e+01] [ 4.58841163e-02 -2.27482887e-03 9.98944179e-01 1.43905656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.78, Y:24.37, Z:14.39 [[ 9.89886208e-01 -1.34270300e-01 -4.57906221e-02 3.06784591e+02] [ 1.34231349e-01 9.90942195e-01 -3.93845742e-03 2.43680981e+01] [ 4.59046774e-02 -2.24791231e-03 9.98943295e-01 1.43918650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.82, Y:24.37, Z:14.39 [[ 9.90002486e-01 -1.33225071e-01 -4.63266570e-02 3.06816629e+02] [ 1.33184179e-01 9.91083305e-01 -3.98204663e-03 2.43731735e+01] [ 4.64440847e-02 -2.22774173e-03 9.98918407e-01 1.43929053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.85, Y:24.38, Z:14.39 [[ 9.90215538e-01 -1.31399301e-01 -4.69831046e-02 3.06849134e+02] [ 1.31355354e-01 9.91327135e-01 -4.03505469e-03 2.43778349e+01] [ 4.71058299e-02 -2.17590851e-03 9.98887534e-01 1.43934027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.88, Y:24.38, Z:14.39 [[ 9.90461809e-01 -1.29189621e-01 -4.79108238e-02 3.06880152e+02] [ 1.29141553e-01 9.91617650e-01 -4.11038057e-03 2.43815528e+01] [ 4.80402370e-02 -2.11610323e-03 9.98843160e-01 1.43941050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.91, Y:24.39, Z:14.39 [[ 9.91045100e-01 -1.23989840e-01 -4.95593603e-02 3.06909805e+02] [ 1.23932007e-01 9.92281611e-01 -4.25004802e-03 2.43871950e+01] [ 4.97038047e-02 -1.93000174e-03 9.98762137e-01 1.43936891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.94, Y:24.39, Z:14.39 [[ 9.91347330e-01 -1.21320647e-01 -5.01175724e-02 3.06940833e+02] [ 1.21258104e-01 9.92611707e-01 -4.29781956e-03 2.43935775e+01] [ 5.02687033e-02 -1.81652986e-03 9.98734078e-01 1.43949130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.97, Y:24.40, Z:14.40 [[ 9.91961764e-01 -1.16007131e-01 -5.05391392e-02 3.06970735e+02] [ 1.15936731e-01 9.93247153e-01 -4.33226562e-03 2.44013635e+01] [ 5.07004298e-02 -1.56190073e-03 9.98712685e-01 1.43957301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.00, Y:24.41, Z:14.40 [[ 9.92229907e-01 -1.13424535e-01 -5.11340049e-02 3.07001062e+02] [ 1.13349045e-01 9.93545561e-01 -4.38319184e-03 2.44056550e+01] [ 5.13011250e-02 -1.44685660e-03 9.98682182e-01 1.43966535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.03, Y:24.41, Z:14.40 [[ 9.92463010e-01 -1.11183273e-01 -5.15310968e-02 3.07031846e+02] [ 1.11103640e-01 9.93799013e-01 -4.41624843e-03 2.44109008e+01] [ 5.17025661e-02 -1.34232924e-03 9.98661626e-01 1.43975377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.06, Y:24.42, Z:14.40 [[ 9.92738148e-01 -1.08483423e-01 -5.19838020e-02 3.07063100e+02] [ 1.08398782e-01 9.94097517e-01 -4.45320688e-03 2.44158402e+01] [ 5.21600676e-02 -1.21411250e-03 9.98637999e-01 1.43986068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.09, Y:24.42, Z:14.40 [[ 9.93271913e-01 -1.02855439e-01 -5.32133868e-02 3.07093489e+02] [ 1.02758776e-01 9.94695869e-01 -4.55664196e-03 2.44235528e+01] [ 5.33998114e-02 -9.42158013e-04 9.98572768e-01 1.43985805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.12, Y:24.43, Z:14.40 [[ 9.93579094e-01 -9.96206384e-02 -5.36312646e-02 3.07124454e+02] [ 9.95178429e-02 9.95025189e-01 -4.59053717e-03 2.44307830e+01] [ 5.38217714e-02 -7.76206009e-04 9.98550256e-01 1.44006994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.16, Y:24.44, Z:14.40 [[ 9.93913548e-01 -9.63391272e-02 -5.34287456e-02 3.07155680e+02] [ 9.62324703e-02 9.95348389e-01 -4.57130306e-03 2.44370644e+01] [ 5.36206112e-02 -5.98100130e-04 9.98561201e-01 1.44025916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.19, Y:24.44, Z:14.40 [[ 9.94230413e-01 -9.29005361e-02 -5.36225419e-02 3.07186030e+02] [ 9.27881977e-02 9.95675307e-01 -4.58616418e-03 2.44428064e+01] [ 5.38166980e-02 -4.15835117e-04 9.98550745e-01 1.44041083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.22, Y:24.45, Z:14.41 [[ 9.94754790e-01 -8.69924078e-02 -5.38073286e-02 3.07215449e+02] [ 8.68706522e-02 9.96208970e-01 -4.60196839e-03 2.44509335e+01] [ 5.40036797e-02 -9.64476288e-05 9.98540732e-01 1.44058208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.24, Y:24.46, Z:14.41 [[ 9.95005621e-01 -8.41632290e-02 -5.36690385e-02 3.07244201e+02] [ 8.40379791e-02 9.96451980e-01 -4.59025579e-03 2.44559069e+01] [ 5.38649504e-02 5.70927767e-05 9.98548228e-01 1.44070114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.27, Y:24.46, Z:14.41 [[ 9.95227252e-01 -8.18955489e-02 -5.30644524e-02 3.07273245e+02] [ 8.17698290e-02 9.96640902e-01 -4.53960174e-03 2.44606434e+01] [ 5.32579768e-02 1.78864168e-04 9.98580771e-01 1.44085566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.30, Y:24.47, Z:14.41 [[ 9.95467279e-01 -7.92193068e-02 -5.26231752e-02 3.07302653e+02] [ 7.90918344e-02 9.96857160e-01 -4.50371988e-03 2.44661841e+01] [ 5.28145706e-02 3.21242313e-04 9.98604285e-01 1.44105909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.33, Y:24.47, Z:14.41 [[ 9.95536516e-01 -7.87630241e-02 -5.19945411e-02 3.07331609e+02] [ 7.86378628e-02 9.96893308e-01 -4.45176929e-03 2.44691606e+01] [ 5.21836449e-02 3.43159296e-04 9.98637446e-01 1.44123055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.36, Y:24.47, Z:14.41 [[ 9.95522135e-01 -7.91411077e-02 -5.16949138e-02 3.07361581e+02] [ 7.90177981e-02 9.96863371e-01 -4.42798565e-03 2.44716653e+01] [ 5.18832017e-02 3.23339468e-04 9.98653107e-01 1.44140732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.39, Y:24.47, Z:14.42 [[ 9.95423384e-01 -8.06308641e-02 -5.12927925e-02 3.07390522e+02] [ 8.05113445e-02 9.96744001e-01 -4.39545253e-03 2.44736233e+01] [ 5.14801924e-02 2.45684542e-04 9.98673986e-01 1.44157944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.42, Y:24.47, Z:14.42 [[ 9.95054328e-01 -8.55326037e-02 -5.05079921e-02 3.07420788e+02] [ 8.54228967e-02 9.96335372e-01 -4.33070887e-03 2.44724151e+01] [ 5.06933159e-02 -5.24839064e-06 9.98714267e-01 1.44179836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.45, Y:24.47, Z:14.42 [[ 9.94764352e-01 -8.89771051e-02 -5.02688651e-02 3.07451810e+02] [ 8.88728289e-02 9.96033655e-01 -4.31020539e-03 2.44724016e+01] [ 5.04529910e-02 -1.79897579e-04 9.98726421e-01 1.44195533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.48, Y:24.47, Z:14.42 [[ 9.94413873e-01 -9.29535991e-02 -5.00067663e-02 3.07481835e+02] [ 9.28554429e-02 9.95670369e-01 -4.28749304e-03 2.44714947e+01] [ 5.01887934e-02 -3.79857869e-04 9.98739676e-01 1.44210805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.51, Y:24.47, Z:14.42 [[ 9.93516594e-01 -1.02036572e-01 -5.01329842e-02 3.07513792e+02] [ 1.01949684e-01 9.94780289e-01 -4.29394446e-03 2.44670877e+01] [ 5.03094439e-02 -8.44936827e-04 9.98733321e-01 1.44221607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.54, Y:24.47, Z:14.42 [[ 9.92992940e-01 -1.06901789e-01 -5.03689250e-02 3.07544942e+02] [ 1.06820419e-01 9.94268978e-01 -4.31241176e-03 2.44659931e+01] [ 5.05412641e-02 -1.09823522e-03 9.98721370e-01 1.44234225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.58, Y:24.47, Z:14.42 [[ 9.92482639e-01 -1.11361291e-01 -5.07629174e-02 3.07576146e+02] [ 1.11284514e-01 9.93779088e-01 -4.34517849e-03 2.44659311e+01] [ 5.09310105e-02 -1.33661238e-03 9.98701279e-01 1.44243505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.61, Y:24.46, Z:14.42 [[ 9.91889836e-01 -1.16084951e-01 -5.17574859e-02 3.07607004e+02] [ 1.16011648e-01 9.93237981e-01 -4.42849923e-03 2.44628112e+01] [ 5.19215829e-02 -1.61188785e-03 9.98649864e-01 1.44249081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.64, Y:24.46, Z:14.42 [[ 9.90744563e-01 -1.24927286e-01 -5.30884581e-02 3.07637514e+02] [ 1.24862867e-01 9.92163615e-01 -4.54149680e-03 2.44608353e+01] [ 5.32397934e-02 -2.12931382e-03 9.98579486e-01 1.44249198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.67, Y:24.46, Z:14.43 [[ 9.90210208e-01 -1.28792911e-01 -5.38157031e-02 3.07668390e+02] [ 1.28732422e-01 9.91668680e-01 -4.60344812e-03 2.44626248e+01] [ 5.39602387e-02 -2.36944449e-03 9.98540274e-01 1.44261453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.70, Y:24.46, Z:14.43 [[ 9.89741017e-01 -1.32183743e-01 -5.42234057e-02 3.07698817e+02] [ 1.32127483e-01 9.91221886e-01 -4.63691353e-03 2.44597835e+01] [ 5.43603511e-02 -2.57505863e-03 9.98518063e-01 1.44265441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.73, Y:24.46, Z:14.43 [[ 9.88931887e-01 -1.37652759e-01 -5.53664166e-02 3.07729864e+02] [ 1.37602856e-01 9.90476185e-01 -4.73081015e-03 2.44600701e+01] [ 5.54903261e-02 -2.94012802e-03 9.98454896e-01 1.44276637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.76, Y:24.46, Z:14.43 [[ 9.88659584e-01 -1.39752878e-01 -5.49668903e-02 3.07760199e+02] [ 1.39706940e-01 9.90181759e-01 -4.69638547e-03 2.44581837e+01] [ 5.50835455e-02 -3.03612953e-03 9.98477133e-01 1.44289021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.79, Y:24.46, Z:14.43 [[ 9.88501719e-01 -1.41059273e-01 -5.44667991e-02 3.07791516e+02] [ 1.41016199e-01 9.89996356e-01 -4.65258208e-03 2.44600587e+01] [ 5.45782225e-02 -3.08161561e-03 9.98504743e-01 1.44310091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.82, Y:24.47, Z:14.43 [[ 9.88470397e-01 -1.41561381e-01 -5.37275436e-02 3.07823444e+02] [ 1.41520315e-01 9.89924723e-01 -4.58738216e-03 2.44666798e+01] [ 5.38356199e-02 -3.06904745e-03 9.98545095e-01 1.44339654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.86, Y:24.47, Z:14.44 [[ 9.88546370e-01 -1.41090202e-01 -5.35689252e-02 3.07855354e+02] [ 1.41048891e-01 9.89992083e-01 -4.57008682e-03 2.44704066e+01] [ 5.36776064e-02 -3.03809473e-03 9.98553696e-01 1.44358801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.89, Y:24.47, Z:14.44 [[ 9.88730212e-01 -1.39944407e-01 -5.31801777e-02 3.07886262e+02] [ 1.39902257e-01 9.90154943e-01 -4.53285318e-03 2.44738685e+01] [ 5.32909633e-02 -2.95825799e-03 9.98574645e-01 1.44376185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.92, Y:24.49, Z:14.44 [[ 9.89004406e-01 -1.37946321e-01 -5.33019477e-02 3.07916705e+02] [ 1.37901440e-01 9.90435567e-01 -4.53662038e-03 2.44855743e+01] [ 5.34179548e-02 -2.86367782e-03 9.98568136e-01 1.44398945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.95, Y:24.49, Z:14.44 [[ 9.89140071e-01 -1.36876986e-01 -5.35407450e-02 3.07948884e+02] [ 1.36830259e-01 9.90584037e-01 -4.55475213e-03 2.44892427e+01] [ 5.36600480e-02 -2.82070617e-03 9.98555278e-01 1.44413732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.98, Y:24.49, Z:14.44 [[ 9.89250111e-01 -1.35918860e-01 -5.39470206e-02 3.07980774e+02] [ 1.35870217e-01 9.90716033e-01 -4.58537598e-03 2.44882827e+01] [ 5.40694174e-02 -2.79370968e-03 9.98533271e-01 1.44418965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.01, Y:24.50, Z:14.44 [[ 9.89410778e-01 -1.34455467e-01 -5.46629624e-02 3.08012119e+02] [ 1.34403517e-01 9.90915811e-01 -4.64225371e-03 2.44971919e+01] [ 5.47905701e-02 -2.75379855e-03 9.98494071e-01 1.44430043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.04, Y:24.50, Z:14.44 [[ 9.89435423e-01 -1.33794849e-01 -5.58254606e-02 3.08043486e+02] [ 1.33739849e-01 9.91005154e-01 -4.73692132e-03 2.45029932e+01] [ 5.59570948e-02 -2.77921093e-03 9.98429306e-01 1.44441822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.08, Y:24.51, Z:14.45 [[ 9.89464281e-01 -1.33014137e-01 -5.71635878e-02 3.08075194e+02] [ 1.32955417e-01 9.91110171e-01 -4.84624208e-03 2.45086309e+01] [ 5.73000320e-02 -2.80502519e-03 9.98353063e-01 1.44450466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.11, Y:24.51, Z:14.45 [[ 9.89476506e-01 -1.32252841e-01 -5.86977807e-02 3.08107469e+02] [ 1.32189854e-01 9.91211946e-01 -4.97191251e-03 2.45125222e+01] [ 5.88394910e-02 -2.83966047e-03 9.98263417e-01 1.44456357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.14, Y:24.52, Z:14.45 [[ 9.89675710e-01 -1.29987228e-01 -6.03764058e-02 3.08138997e+02] [ 1.29916663e-01 9.91511751e-01 -5.10959674e-03 2.45200229e+01] [ 6.05280982e-02 -2.78705737e-03 9.98162603e-01 1.44459348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.17, Y:24.52, Z:14.45 [[ 9.89861488e-01 -1.28187325e-01 -6.11738818e-02 3.08169588e+02] [ 1.28111720e-01 9.91746252e-01 -5.17282455e-03 2.45239110e+01] [ 6.13320585e-02 -2.71671141e-03 9.98113720e-01 1.44465637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.20, Y:24.53, Z:14.45 [[ 9.90064578e-01 -1.26119885e-01 -6.21764144e-02 3.08199462e+02] [ 1.26037900e-01 9.92011510e-01 -5.25469328e-03 2.45284324e+01] [ 6.23424400e-02 -2.63409899e-03 9.98051342e-01 1.44474159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.23, Y:24.54, Z:14.45 [[ 9.90763064e-01 -1.20140847e-01 -6.28866309e-02 3.08229103e+02] [ 1.20045029e-01 9.92754228e-01 -5.31358055e-03 2.45397671e+01] [ 6.30693468e-02 -2.28472806e-03 9.98006532e-01 1.44493829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.26, Y:24.55, Z:14.45 [[ 9.91209033e-01 -1.16450275e-01 -6.28011714e-02 3.08259805e+02] [ 1.16347411e-01 9.93194411e-01 -5.30495347e-03 2.45475459e+01] [ 6.29915357e-02 -2.04843591e-03 9.98011959e-01 1.44517208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.29, Y:24.55, Z:14.45 [[ 9.91723496e-01 -1.12207368e-01 -6.24020287e-02 3.08289588e+02] [ 1.12097544e-01 9.93683237e-01 -5.26925532e-03 2.45538637e+01] [ 6.25990991e-02 -1.76946984e-03 9.98037185e-01 1.44535269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.32, Y:24.57, Z:14.46 [[ 9.92779019e-01 -1.03000225e-01 -6.14879967e-02 3.08319080e+02] [ 1.02876017e-01 9.94680642e-01 -5.19090103e-03 2.45680515e+01] [ 6.16955840e-02 -1.17222259e-03 9.98094325e-01 1.44581300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.35, Y:24.58, Z:14.46 [[ 9.93314079e-01 -9.81377181e-02 -6.07958032e-02 3.08350197e+02] [ 9.80073024e-02 9.95172470e-01 -5.13065124e-03 2.45752654e+01] [ 6.10058201e-02 -8.62084557e-04 9.98137038e-01 1.44605670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.38, Y:24.58, Z:14.46 [[ 9.93804398e-01 -9.35067969e-02 -6.00774344e-02 3.08381073e+02] [ 9.33711726e-02 9.95618476e-01 -5.06700495e-03 2.45823616e+01] [ 6.02880031e-02 -5.73888687e-04 9.98180859e-01 1.44631713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.41, Y:24.59, Z:14.46 [[ 9.94228971e-01 -8.93747722e-02 -5.93371957e-02 3.08410630e+02] [ 8.92352191e-02 9.95998016e-01 -5.00285946e-03 2.45877931e+01] [ 5.95468586e-02 -3.20979844e-04 9.98225460e-01 1.44646701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.44, Y:24.59, Z:14.47 [[ 9.94488220e-01 -8.70766495e-02 -5.84023818e-02 3.08441224e+02] [ 8.69375020e-02 9.96201598e-01 -4.92404309e-03 2.45911885e+01] [ 5.86093153e-02 -1.80454340e-04 9.98280980e-01 1.44667966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.47, Y:24.59, Z:14.47 [[ 9.94488220e-01 -8.70766495e-02 -5.84023818e-02 3.08471086e+02] [ 8.69375020e-02 9.96201598e-01 -4.92404309e-03 2.45937063e+01] [ 5.86093153e-02 -1.80454340e-04 9.98280980e-01 1.44682223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.50, Y:24.60, Z:14.47 [[ 9.94818924e-01 -8.37945861e-02 -5.75654046e-02 3.08500990e+02] [ 8.36539096e-02 9.96483049e-01 -4.85347556e-03 2.45972990e+01] [ 5.77696448e-02 1.27581823e-05 9.98329939e-01 1.44709632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.53, Y:24.60, Z:14.47 [[ 9.94883876e-01 -8.26932517e-02 -5.80336131e-02 3.08530278e+02] [ 8.25484050e-02 9.96575045e-01 -4.89292059e-03 2.46000322e+01] [ 5.82394621e-02 7.73056003e-05 9.98302639e-01 1.44720192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.56, Y:24.60, Z:14.47 [[ 9.94988718e-01 -8.09435576e-02 -5.86991552e-02 3.08559332e+02] [ 8.07923083e-02 9.96718670e-01 -4.94930106e-03 2.46031756e+01] [ 5.89071579e-02 1.82058474e-04 9.98263449e-01 1.44736445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.59, Y:24.61, Z:14.48 [[ 9.95027320e-01 -8.06158885e-02 -5.84953946e-02 3.08589316e+02] [ 8.04650000e-02 9.96745222e-01 -4.93420795e-03 2.46055192e+01] [ 5.87027807e-02 2.02839790e-04 9.98275484e-01 1.44754005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.62, Y:24.61, Z:14.48 [[ 9.95007862e-01 -8.06509297e-02 -5.87773944e-02 3.08618660e+02] [ 8.04985166e-02 9.96742387e-01 -4.96012511e-03 2.46073754e+01] [ 5.89859591e-02 2.03870422e-04 9.98258792e-01 1.44767889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.65, Y:24.61, Z:14.48 [[ 9.94955366e-01 -8.09742428e-02 -5.92198558e-02 3.08647593e+02] [ 8.08199559e-02 9.96716177e-01 -4.99982389e-03 2.46085300e+01] [ 5.94302452e-02 1.88455478e-04 9.98232443e-01 1.44770966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.68, Y:24.61, Z:14.48 [[ 9.94864848e-01 -8.20043223e-02 -5.93230549e-02 3.08676346e+02] [ 8.18509897e-02 9.96631965e-01 -5.01417952e-03 2.46065132e+01] [ 5.95344371e-02 1.32780194e-04 9.98226243e-01 1.44782854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.71, Y:24.61, Z:14.48 [[ 9.94794701e-01 -8.26639957e-02 -5.95832702e-02 3.08705438e+02] [ 8.25097203e-02 9.96577469e-01 -5.04911940e-03 2.46070609e+01] [ 5.97967250e-02 1.06638263e-04 9.98210569e-01 1.44785280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.73, Y:24.61, Z:14.48 [[ 9.94713055e-01 -8.36808494e-02 -5.95269077e-02 3.08734250e+02] [ 8.35283513e-02 9.96492606e-01 -5.04991919e-03 2.46075936e+01] [ 5.97407049e-02 5.10360847e-05 9.98213928e-01 1.44795853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.76, Y:24.61, Z:14.48 [[ 9.94648285e-01 -8.44132385e-02 -5.95751193e-02 3.08763234e+02] [ 8.42609255e-02 9.96430833e-01 -5.06870083e-03 2.46083391e+01] [ 5.97903512e-02 2.17198961e-05 9.98210956e-01 1.44817185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.79, Y:24.61, Z:14.48 [[ 9.94644537e-01 -8.50798551e-02 -5.86827286e-02 3.08790628e+02] [ 8.49324798e-02 9.96374136e-01 -5.00556188e-03 2.46085029e+01] [ 5.88958255e-02 -5.31487871e-06 9.98264134e-01 1.44827610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.82, Y:24.61, Z:14.49 [[ 9.94684038e-01 -8.50486953e-02 -5.80550064e-02 3.08818862e+02] [ 8.49040041e-02 9.96376796e-01 -4.95889968e-03 2.46101649e+01] [ 5.82664092e-02 3.43585675e-06 9.98301070e-01 1.44857123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.85, Y:24.61, Z:14.49 [[ 9.94728299e-01 -8.50487825e-02 -5.72915056e-02 3.08847413e+02] [ 8.49070501e-02 9.96376788e-01 -4.90801069e-03 2.46115642e+01] [ 5.75013467e-02 1.76843870e-05 9.98345429e-01 1.44874110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.88, Y:24.61, Z:14.49 [[ 9.94802076e-01 -8.46788183e-02 -5.65537646e-02 3.08875664e+02] [ 8.45394147e-02 9.96408297e-01 -4.85718161e-03 2.46125420e+01] [ 5.67619407e-02 5.09121890e-05 9.98387740e-01 1.44886370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.91, Y:24.61, Z:14.49 [[ 9.94937269e-01 -8.41355119e-02 -5.49640398e-02 3.08905085e+02] [ 8.40028607e-02 9.96454319e-01 -4.72340169e-03 2.46114822e+01] [ 5.51665607e-02 8.23518000e-05 9.98477162e-01 1.44902830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.93, Y:24.61, Z:14.49 [[ 9.94959711e-01 -8.40648731e-02 -5.46650723e-02 3.08933573e+02] [ 8.39334416e-02 9.96460280e-01 -4.69978574e-03 2.46126436e+01] [ 5.48666602e-02 8.78698043e-05 9.98493686e-01 1.44915828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.96, Y:24.61, Z:14.49 [[ 9.95015362e-01 -8.37747448e-02 -5.40945563e-02 3.08962707e+02] [ 8.36454669e-02 9.96484712e-01 -4.65347977e-03 2.46135382e+01] [ 5.42942424e-02 1.05519444e-04 9.98524974e-01 1.44934453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.99, Y:24.61, Z:14.49 [[ 9.95062154e-01 -8.34896673e-02 -5.36729400e-02 3.08992040e+02] [ 8.33618854e-02 9.96508635e-01 -4.61903336e-03 2.46128839e+01] [ 5.38711898e-02 1.21947808e-04 9.98547886e-01 1.44949033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.02, Y:24.61, Z:14.50 [[ 9.95106817e-01 -8.29993959e-02 -5.36052593e-02 3.09021894e+02] [ 8.28711735e-02 9.96549586e-01 -4.61417410e-03 2.46136936e+01] [ 5.38032726e-02 1.49265355e-04 9.98551544e-01 1.44961510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.05, Y:24.61, Z:14.50 [[ 9.95113162e-01 -8.26880965e-02 -5.39673393e-02 3.09050470e+02] [ 8.25576120e-02 9.96575461e-01 -4.64654404e-03 2.46145660e+01] [ 5.41667400e-02 1.68422478e-04 9.98531890e-01 1.44972020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.08, Y:24.61, Z:14.50 [[ 9.95176881e-01 -8.20987127e-02 -5.36914988e-02 3.09078162e+02] [ 8.19685375e-02 9.96624182e-01 -4.62585250e-03 2.46133045e+01] [ 5.38900226e-02 2.02527837e-04 9.98546856e-01 1.44978885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.11, Y:24.61, Z:14.50 [[ 9.95194398e-01 -8.19771702e-02 -5.35523517e-02 3.09108311e+02] [ 8.18472588e-02 9.96634185e-01 -4.61822495e-03 2.46133709e+01] [ 5.37506934e-02 2.12918409e-04 9.98554364e-01 1.44996989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.14, Y:24.61, Z:14.50 [[ 9.95181856e-01 -8.19737505e-02 -5.37901266e-02 3.09138085e+02] [ 8.18425703e-02 9.96634465e-01 -4.64070298e-03 2.46137368e+01] [ 5.39895098e-02 2.16021190e-04 9.98541479e-01 1.45009346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.17, Y:24.61, Z:14.50 [[ 9.95179039e-01 -8.20031261e-02 -5.37974653e-02 3.09167595e+02] [ 8.18718469e-02 9.96632049e-01 -4.64329806e-03 2.46141753e+01] [ 5.39970430e-02 2.16415070e-04 9.98541072e-01 1.45020957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.20, Y:24.61, Z:14.50 [[ 9.95064788e-01 -8.23649319e-02 -5.53361152e-02 3.09196608e+02] [ 8.22264654e-02 9.96602216e-01 -4.77831225e-03 2.46121277e+01] [ 5.55416603e-02 2.04637109e-04 9.98456350e-01 1.45026868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.22, Y:24.61, Z:14.50 [[ 9.94969640e-01 -8.31941334e-02 -5.58045907e-02 3.09224153e+02] [ 8.30543304e-02 9.96533346e-01 -4.82381167e-03 2.46120621e+01] [ 5.60124484e-02 1.64733238e-04 9.98430057e-01 1.45034264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.25, Y:24.61, Z:14.50 [[ 9.94870569e-01 -8.39402239e-02 -5.64498787e-02 3.09251878e+02] [ 8.37975333e-02 9.96470782e-01 -4.89426857e-03 2.46119393e+01] [ 5.66614808e-02 1.38803173e-04 9.98393438e-01 1.45038701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.28, Y:24.61, Z:14.51 [[ 9.94761687e-01 -8.50379491e-02 -5.67250752e-02 3.09279839e+02] [ 8.48952494e-02 9.96377710e-01 -4.92507942e-03 2.46114868e+01] [ 5.69384192e-02 8.35909045e-05 9.98377689e-01 1.45051372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.31, Y:24.61, Z:14.51 [[ 9.94499534e-01 -8.76671263e-02 -5.73162476e-02 3.09308142e+02] [ 8.75249535e-02 9.96149824e-01 -4.99102781e-03 2.46078101e+01] [ 5.75331190e-02 -5.30270728e-05 9.98343597e-01 1.45063543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.34, Y:24.61, Z:14.51 [[ 9.94333345e-01 -8.96414075e-02 -5.71455783e-02 3.09336326e+02] [ 8.95029364e-02 9.95974092e-01 -4.98315551e-03 2.46069308e+01] [ 5.73622125e-02 -1.59779375e-04 9.98353420e-01 1.45080879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.36, Y:24.60, Z:14.51 [[ 9.94034272e-01 -9.34274591e-02 -5.62776761e-02 3.09364089e+02] [ 9.32983237e-02 9.95626026e-01 -4.92341875e-03 2.46030187e+01] [ 5.64915015e-02 -3.56565871e-04 9.98403016e-01 1.45111183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.39, Y:24.60, Z:14.51 [[ 9.93880740e-01 -9.53479458e-02 -5.57659800e-02 3.09391612e+02] [ 9.52233456e-02 9.95443906e-01 -4.89334909e-03 2.46019435e+01] [ 5.59784757e-02 -4.46817774e-04 9.98431876e-01 1.45123802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.42, Y:24.60, Z:14.51 [[ 9.93595791e-01 -9.90415646e-02 -5.43890866e-02 3.09419606e+02] [ 9.89282880e-02 9.95083096e-01 -4.77772655e-03 2.45970744e+01] [ 5.45948541e-02 -6.33490229e-04 9.98508388e-01 1.45146616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.45, Y:24.60, Z:14.52 [[ 9.93463878e-01 -1.00976162e-01 -5.32291058e-02 3.09448122e+02] [ 1.00870029e-01 9.94888588e-01 -4.68354211e-03 2.45961883e+01] [ 5.34299560e-02 -7.16291534e-04 9.98571343e-01 1.45164728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.48, Y:24.60, Z:14.52 [[ 9.93321936e-01 -1.02893733e-01 -5.21958985e-02 3.09477459e+02] [ 1.02793704e-01 9.94692039e-01 -4.60449305e-03 2.45950073e+01] [ 5.23926182e-02 -7.91665792e-04 9.98626250e-01 1.45186924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.51, Y:24.59, Z:14.52 [[ 9.92924230e-01 -1.07171857e-01 -5.11435918e-02 3.09507549e+02] [ 1.07081355e-01 9.94240014e-01 -4.51427631e-03 2.45905955e+01] [ 5.13328088e-02 -9.94190786e-04 9.98681107e-01 1.45205442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.54, Y:24.59, Z:14.52 [[ 9.92675420e-01 -1.09647868e-01 -5.07233244e-02 3.09537435e+02] [ 1.09561987e-01 9.93969874e-01 -4.47894313e-03 2.45882595e+01] [ 5.09085630e-02 -1.11121144e-03 9.98702700e-01 1.45217466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.57, Y:24.58, Z:14.52 [[ 9.92315281e-01 -1.12800492e-01 -5.08569676e-02 3.09567132e+02] [ 1.12718241e-01 9.93616839e-01 -4.49172286e-03 2.45830779e+01] [ 5.10390079e-02 -1.27530268e-03 9.98695846e-01 1.45224516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.60, Y:24.58, Z:14.52 [[ 9.91899869e-01 -1.16321516e-01 -5.10289632e-02 3.09597301e+02] [ 1.16243269e-01 9.93210539e-01 -4.50866052e-03 2.45839900e+01] [ 5.12069583e-02 -1.45963374e-03 9.98686996e-01 1.45239281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.63, Y:24.58, Z:14.52 [[ 9.91407241e-01 -1.20156572e-01 -5.17115163e-02 3.09628227e+02] [ 1.20081380e-01 9.92753534e-01 -4.56981778e-03 2.45833275e+01] [ 5.18858842e-02 -1.67903980e-03 9.98651609e-01 1.45249208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.66, Y:24.58, Z:14.52 [[ 9.90375233e-01 -1.27983543e-01 -5.26983071e-02 3.09658193e+02] [ 1.27916495e-01 9.91774007e-01 -4.65712904e-03 2.45765687e+01] [ 5.28608471e-02 -2.12867748e-03 9.98599619e-01 1.45249593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.69, Y:24.57, Z:14.53 [[ 9.89849446e-01 -1.31655668e-01 -5.35243734e-02 3.09687395e+02] [ 1.31591785e-01 9.91292699e-01 -4.73142324e-03 2.45715031e+01] [ 5.36812393e-02 -2.35997117e-03 9.98555334e-01 1.45255637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.72, Y:24.58, Z:14.53 [[ 9.89412047e-01 -1.34623958e-01 -5.42235310e-02 3.09717340e+02] [ 1.34562700e-01 9.90893476e-01 -4.79578884e-03 2.45779353e+01] [ 5.43753712e-02 -2.55145351e-03 9.98517305e-01 1.45276454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.75, Y:24.58, Z:14.53 [[ 9.88798223e-01 -1.38715972e-01 -5.50994858e-02 3.09746776e+02] [ 1.38659042e-01 9.90328188e-01 -4.87342899e-03 2.45757749e+01] [ 5.52425964e-02 -2.82120398e-03 9.98468976e-01 1.45284966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.78, Y:24.57, Z:14.53 [[ 9.88656966e-01 -1.39544384e-01 -5.55406972e-02 3.09775659e+02] [ 1.39487760e-01 9.90211603e-01 -4.91392538e-03 2.45742150e+01] [ 5.56827535e-02 -2.88906090e-03 9.98444332e-01 1.45296194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.80, Y:24.58, Z:14.53 [[ 9.88561850e-01 -1.40270866e-01 -5.54035514e-02 3.09804049e+02] [ 1.40215402e-01 9.90108867e-01 -4.90637887e-03 2.45765805e+01] [ 5.55437695e-02 -2.91817226e-03 9.98451989e-01 1.45314152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.83, Y:24.58, Z:14.53 [[ 9.88730644e-01 -1.39509736e-01 -5.43023744e-02 3.09833580e+02] [ 1.39454679e-01 9.90216722e-01 -4.82039113e-03 2.45843155e+01] [ 5.44436107e-02 -2.80665179e-03 9.98512902e-01 1.45343656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.86, Y:24.59, Z:14.54 [[ 9.88871454e-01 -1.38618090e-01 -5.40210390e-02 3.09862288e+02] [ 1.38562255e-01 9.90342114e-01 -4.79578707e-03 2.45858815e+01] [ 5.41640928e-02 -2.74286007e-03 9.98528281e-01 1.45354073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.89, Y:24.59, Z:14.54 [[ 9.88933262e-01 -1.37970609e-01 -5.45446100e-02 3.09892039e+02] [ 1.37912547e-01 9.90432559e-01 -4.84517703e-03 2.45896874e+01] [ 5.46912497e-02 -2.73082936e-03 9.98499579e-01 1.45362812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.92, Y:24.59, Z:14.54 [[ 9.89060956e-01 -1.36852958e-01 -5.50426447e-02 3.09921878e+02] [ 1.36792002e-01 9.90587716e-01 -4.89131510e-03 2.45943319e+01] [ 5.51939587e-02 -2.69158477e-03 9.98472024e-01 1.45374555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.95, Y:24.60, Z:14.54 [[ 9.89255456e-01 -1.35212532e-01 -5.55986929e-02 3.09950672e+02] [ 1.35147689e-01 9.90813141e-01 -4.94192058e-03 2.45980982e+01] [ 5.57561251e-02 -2.62521298e-03 9.98440966e-01 1.45380970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.98, Y:24.60, Z:14.54 [[ 9.89317661e-01 -1.34671680e-01 -5.58041561e-02 3.09980219e+02] [ 1.34605385e-01 9.90886859e-01 -4.96224482e-03 2.46015903e+01] [ 5.59638788e-02 -2.60230346e-03 9.98429403e-01 1.45392731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.01, Y:24.61, Z:14.54 [[ 9.89379715e-01 -1.34162669e-01 -5.59299274e-02 3.10009772e+02] [ 1.34095148e-01 9.90955971e-01 -4.97548564e-03 2.46051784e+01] [ 5.60916199e-02 -2.57728735e-03 9.98422299e-01 1.45404304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.04, Y:24.61, Z:14.54 [[ 9.89506016e-01 -1.33034193e-01 -5.63892447e-02 3.10038528e+02] [ 1.32963605e-01 9.91108215e-01 -5.01860082e-03 2.46058937e+01] [ 5.65554892e-02 -2.53178154e-03 9.98396247e-01 1.45410390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.07, Y:24.61, Z:14.54 [[ 9.89624029e-01 -1.32203375e-01 -5.62720906e-02 3.10067175e+02] [ 1.32131464e-01 9.91219524e-01 -5.01303375e-03 2.46116573e+01] [ 5.64407348e-02 -2.47429507e-03 9.98402885e-01 1.45432638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.10, Y:24.62, Z:14.55 [[ 9.89867447e-01 -1.30717858e-01 -5.54552009e-02 3.10096108e+02] [ 1.30645017e-01 9.91416841e-01 -4.95239691e-03 2.46167035e+01] [ 5.56265868e-02 -2.34272916e-03 9.98448894e-01 1.45452140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.13, Y:24.62, Z:14.55 [[ 9.90158876e-01 -1.28655162e-01 -5.50749413e-02 3.10125039e+02] [ 1.28580022e-01 9.91686930e-01 -4.92043974e-03 2.46217334e+01] [ 5.52501394e-02 -2.20952005e-03 9.98470100e-01 1.45468869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.15, Y:24.63, Z:14.55 [[ 9.90852499e-01 -1.23370047e-01 -5.46914604e-02 3.10153498e+02] [ 1.23287801e-01 9.92358919e-01 -4.88816800e-03 2.46288696e+01] [ 5.48766121e-02 -1.89933639e-03 9.98491337e-01 1.45483703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.18, Y:24.64, Z:14.55 [[ 9.91264030e-01 -1.20110839e-01 -5.44886141e-02 3.10183131e+02] [ 1.20024184e-01 9.92759014e-01 -4.87188077e-03 2.46355180e+01] [ 5.46792285e-02 -1.71063129e-03 9.98502507e-01 1.45500797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.21, Y:24.64, Z:14.55 [[ 9.91684923e-01 -1.16558567e-01 -5.45446039e-02 3.10212137e+02] [ 1.16466305e-01 9.93182664e-01 -4.87802274e-03 2.46394767e+01] [ 5.47413303e-02 -1.51514687e-03 9.98499420e-01 1.45510691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.24, Y:24.65, Z:14.55 [[ 9.92585657e-01 -1.08410497e-01 -5.49625123e-02 3.10241029e+02] [ 1.08304217e-01 9.94105636e-01 -4.91741829e-03 2.46493671e+01] [ 5.51716431e-02 -1.07171301e-03 9.98476310e-01 1.45523337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.27, Y:24.66, Z:14.55 [[ 9.92966048e-01 -1.04400144e-01 -5.58483459e-02 3.10269692e+02] [ 1.04283850e-01 9.94535003e-01 -5.00060511e-03 2.46552079e+01] [ 5.60651988e-02 -8.58649427e-04 9.98426741e-01 1.45535164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.30, Y:24.66, Z:14.55 [[ 9.93375045e-01 -1.00299298e-01 -5.60898547e-02 3.10297190e+02] [ 1.00174734e-01 9.94957120e-01 -5.03512801e-03 2.46607803e+01] [ 5.63120200e-02 -6.17015773e-04 9.98413029e-01 1.45546503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.32, Y:24.66, Z:14.56 [[ 9.93346484e-01 -1.00582095e-01 -5.60892509e-02 3.10324450e+02] [ 1.00457603e-01 9.94928565e-01 -5.04184423e-03 2.46632949e+01] [ 5.63119172e-02 -6.26293454e-04 9.98413029e-01 1.45559539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.35, Y:24.67, Z:14.56 [[ 9.93731711e-01 -9.67508255e-02 -5.60050452e-02 3.10353205e+02] [ 9.66197463e-02 9.95308557e-01 -5.04987963e-03 2.46689726e+01] [ 5.62308808e-02 -3.92967740e-04 9.98417715e-01 1.45575138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.38, Y:24.68, Z:14.56 [[ 9.94383757e-01 -9.01674209e-02 -5.54146218e-02 3.10381872e+02] [ 9.00281505e-02 9.95926622e-01 -5.00958792e-03 2.46763108e+01] [ 5.56405987e-02 -7.42305020e-06 9.98450862e-01 1.45596508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.41, Y:24.68, Z:14.56 [[ 9.94627304e-01 -8.77430285e-02 -5.49334717e-02 3.10408979e+02] [ 8.76018025e-02 9.96143133e-01 -4.97821382e-03 2.46800114e+01] [ 5.51584042e-02 1.39196249e-04 9.98477607e-01 1.45610603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.44, Y:24.68, Z:14.56 [[ 9.94764161e-01 -8.64675251e-02 -5.44759762e-02 3.10436401e+02] [ 8.63262922e-02 9.96254646e-01 -4.94478656e-03 2.46828093e+01] [ 5.46995079e-02 2.16187409e-04 9.98502838e-01 1.45625180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.46, Y:24.68, Z:14.56 [[ 9.94853312e-01 -8.60402860e-02 -5.35159509e-02 3.10463994e+02] [ 8.59025464e-02 9.96291627e-01 -4.87300926e-03 2.46849861e+01] [ 5.37367689e-02 2.50772947e-04 9.98555105e-01 1.45641539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.49, Y:24.69, Z:14.57 [[ 9.94815717e-01 -8.71652454e-02 -5.23823404e-02 3.10492267e+02] [ 8.70340913e-02 9.96193847e-01 -4.78403825e-03 2.46852230e+01] [ 5.25999671e-02 2.00187046e-04 9.98615643e-01 1.45650989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.52, Y:24.69, Z:14.57 [[ 9.94645162e-01 -8.91715030e-02 -5.22440888e-02 3.10520416e+02] [ 8.90433975e-02 9.96016281e-01 -4.77918811e-03 2.46854739e+01] [ 5.24621304e-02 1.01605167e-04 9.98622909e-01 1.45660494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.55, Y:24.68, Z:14.57 [[ 9.94443586e-01 -9.15533875e-02 -5.19608720e-02 3.10547184e+02] [ 9.14291487e-02 9.95800169e-01 -4.76797723e-03 2.46849689e+01] [ 5.21791696e-02 -9.25391569e-06 9.98637739e-01 1.45663374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.58, Y:24.68, Z:14.57 [[ 9.93949748e-01 -9.72987430e-02 -5.09593309e-02 3.10576850e+02] [ 9.71862674e-02 9.95255177e-01 -4.68631951e-03 2.46810665e+01] [ 5.11735109e-02 -2.94581059e-04 9.98689734e-01 1.45664566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.61, Y:24.68, Z:14.57 [[ 9.93631481e-01 -1.00790872e-01 -5.03753891e-02 3.10605778e+02] [ 1.00684810e-01 9.94907529e-01 -4.64513221e-03 2.46801177e+01] [ 5.05870408e-02 -4.56486899e-04 9.98719552e-01 1.45674217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.63, Y:24.68, Z:14.57 [[ 9.93228865e-01 -1.04802806e-01 -5.01277679e-02 3.10634297e+02] [ 1.04702272e-01 9.94492813e-01 -4.63451950e-03 2.46787776e+01] [ 5.03374156e-02 -6.45352647e-04 9.98732060e-01 1.45680267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.66, Y:24.68, Z:14.57 [[ 9.92830750e-01 -1.08720569e-01 -4.96682960e-02 3.10662250e+02] [ 1.08626438e-01 9.94072004e-01 -4.59861228e-03 2.46766760e+01] [ 4.98738263e-02 -8.29646427e-04 9.98755182e-01 1.45688648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.69, Y:24.67, Z:14.57 [[ 9.91942706e-01 -1.16913517e-01 -4.87944457e-02 3.10693252e+02] [ 1.16832362e-01 9.93141356e-01 -4.52181966e-03 2.46729199e+01] [ 4.89884438e-02 -1.21538431e-03 9.98798606e-01 1.45699292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.72, Y:24.67, Z:14.57 [[ 9.91545893e-01 -1.20461926e-01 -4.82251693e-02 3.10722376e+02] [ 1.20386844e-01 9.92716997e-01 -4.46904826e-03 2.46715580e+01] [ 4.84122954e-02 -1.37440949e-03 9.98826492e-01 1.45711419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.75, Y:24.67, Z:14.57 [[ 9.91216637e-01 -1.23558958e-01 -4.71461920e-02 3.10753109e+02] [ 1.23490734e-01 9.92336111e-01 -4.36823638e-03 2.46714174e+01] [ 4.73246036e-02 -1.49224929e-03 9.98878449e-01 1.45726795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.78, Y:24.67, Z:14.57 [[ 9.90935606e-01 -1.26033858e-01 -4.64982855e-02 3.10782670e+02] [ 1.25970217e-01 9.92024669e-01 -4.30819081e-03 2.46693773e+01] [ 4.66704242e-02 -1.58825943e-03 9.98909079e-01 1.45741621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.81, Y:24.67, Z:14.58 [[ 9.90626485e-01 -1.28980937e-01 -4.49787170e-02 3.10813376e+02] [ 1.28924380e-01 9.91645668e-01 -4.16823883e-03 2.46693729e+01] [ 4.51405732e-02 -1.66968543e-03 9.98979249e-01 1.45757867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.84, Y:24.67, Z:14.58 [[ 9.90608038e-01 -1.29468838e-01 -4.39719864e-02 3.10844220e+02] [ 1.29415259e-01 9.91582112e-01 -4.07506823e-03 2.46726343e+01] [ 4.41294295e-02 -1.65385065e-03 9.99024453e-01 1.45769960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.87, Y:24.67, Z:14.58 [[ 9.90740525e-01 -1.28675458e-01 -4.33109473e-02 3.10874422e+02] [ 1.28622793e-01 9.91685474e-01 -4.01214754e-03 2.46718707e+01] [ 4.34671023e-02 -1.59577784e-03 9.99053584e-01 1.45776344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.91, Y:24.67, Z:14.58 [[ 9.90873737e-01 -1.27685592e-01 -4.31929147e-02 3.10906003e+02] [ 1.27632305e-01 9.91813486e-01 -4.00048997e-03 2.46742219e+01] [ 4.33501202e-02 -1.54883083e-03 9.99058741e-01 1.45786566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.94, Y:24.68, Z:14.58 [[ 9.91034693e-01 -1.26286667e-01 -4.36109403e-02 3.10936685e+02] [ 1.26231060e-01 9.91992650e-01 -4.03763689e-03 2.46785136e+01] [ 4.37716319e-02 -1.50361700e-03 9.99040431e-01 1.45790859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:310.97, Y:24.68, Z:14.58 [[ 9.91238704e-01 -1.24626649e-01 -4.37496261e-02 3.10966859e+02] [ 1.24569138e-01 9.92202669e-01 -4.04901430e-03 2.46810767e+01] [ 4.39131109e-02 -1.43631351e-03 9.99034322e-01 1.45798773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.00, Y:24.68, Z:14.58 [[ 9.91604466e-01 -1.21423404e-01 -4.44627954e-02 3.10996542e+02] [ 1.21360944e-01 9.92599928e-01 -4.11147167e-03 2.46844990e+01] [ 4.46329964e-02 -1.31909316e-03 9.99002580e-01 1.45796036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.03, Y:24.69, Z:14.58 [[ 9.91776846e-01 -1.19923079e-01 -4.46893974e-02 3.11026875e+02] [ 1.19858459e-01 9.92782389e-01 -4.13242555e-03 2.46883777e+01] [ 4.48624200e-02 -1.25795835e-03 9.98992383e-01 1.45805021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.06, Y:24.69, Z:14.58 [[ 9.91981471e-01 -1.18191373e-01 -4.47611598e-02 3.11057519e+02] [ 1.18124782e-01 9.92990133e-01 -4.13910805e-03 2.46928025e+01] [ 4.49365968e-02 -1.18148377e-03 9.98989142e-01 1.45813522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.09, Y:24.70, Z:14.58 [[ 9.92381406e-01 -1.14883147e-01 -4.45085051e-02 3.11086815e+02] [ 1.14814022e-01 9.93378482e-01 -4.11483635e-03 2.46963196e+01] [ 4.46865166e-02 -1.02671343e-03 9.99000531e-01 1.45816880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.12, Y:24.70, Z:14.58 [[ 9.92560661e-01 -1.12897563e-01 -4.55793136e-02 3.11115778e+02] [ 1.12822941e-01 9.93606170e-01 -4.21467887e-03 2.46988933e+01] [ 4.57637142e-02 -9.59067754e-04 9.98951832e-01 1.45825650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.15, Y:24.71, Z:14.58 [[ 9.93050370e-01 -1.08288870e-01 -4.60921222e-02 3.11145067e+02] [ 1.08207559e-01 9.94119184e-01 -4.26290905e-03 2.47059982e+01] [ 4.62826885e-02 -7.54232634e-04 9.98928097e-01 1.45831851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.17, Y:24.71, Z:14.58 [[ 9.93294735e-01 -1.05777112e-01 -4.66558913e-02 3.11173488e+02] [ 1.05690950e-01 9.94389656e-01 -4.31675090e-03 2.47097393e+01] [ 4.68507491e-02 -6.43299541e-04 9.98901694e-01 1.45843320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.20, Y:24.71, Z:14.59 [[ 9.93558124e-01 -1.03300465e-01 -4.65968675e-02 3.11202254e+02] [ 1.03211688e-01 9.94650059e-01 -4.31365545e-03 2.47148487e+01] [ 4.67931797e-02 -5.23473934e-04 9.98904462e-01 1.45855691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.23, Y:24.72, Z:14.59 [[ 9.93819634e-01 -1.00764718e-01 -4.65725916e-02 3.11231045e+02] [ 1.00672700e-01 9.94910206e-01 -4.32314336e-03 2.47194512e+01] [ 4.67711670e-02 -3.92163806e-04 9.98905553e-01 1.45870379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.26, Y:24.73, Z:14.59 [[ 9.94325351e-01 -9.55815194e-02 -4.67040673e-02 3.11259596e+02] [ 9.54827004e-02 9.95421596e-01 -4.34735322e-03 2.47253266e+01] [ 4.69057638e-02 -1.36746944e-04 9.98899310e-01 1.45887854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.29, Y:24.73, Z:14.59 [[ 9.94503285e-01 -9.35641037e-02 -4.69997317e-02 3.11286716e+02] [ 9.34616601e-02 9.95613257e-01 -4.37734374e-03 2.47293024e+01] [ 4.72031182e-02 -3.93902231e-05 9.98885311e-01 1.45905002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.31, Y:24.73, Z:14.59 [[ 9.94715851e-01 -9.17643518e-02 -4.60399781e-02 3.11314709e+02] [ 9.16635181e-02 9.95780749e-01 -4.30105640e-03 2.47333512e+01] [ 4.62404075e-02 5.81426081e-05 9.98930339e-01 1.45923574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.34, Y:24.74, Z:14.59 [[ 9.94973434e-01 -8.93679422e-02 -4.51800388e-02 3.11342155e+02] [ 8.92677697e-02 9.95998664e-01 -4.23398660e-03 2.47375628e+01] [ 4.53776409e-02 1.79582890e-04 9.98969888e-01 1.45941614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.37, Y:24.74, Z:14.60 [[ 9.94999432e-01 -8.90850527e-02 -4.51661876e-02 3.11370106e+02] [ 8.89844709e-02 9.96024003e-01 -4.23663898e-03 2.47406149e+01] [ 4.53640282e-02 1.96364069e-04 9.98970503e-01 1.45962672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.40, Y:24.74, Z:14.60 [[ 9.94973715e-01 -8.97843780e-02 -4.43404053e-02 3.11399063e+02] [ 8.96878922e-02 9.95961213e-01 -4.16466001e-03 2.47424897e+01] [ 4.45352452e-02 1.66929754e-04 9.99007800e-01 1.45979952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.43, Y:24.74, Z:14.60 [[ 9.94879007e-01 -9.10068401e-02 -4.39717670e-02 3.11427722e+02] [ 9.09126682e-02 9.95850260e-01 -4.14084577e-03 2.47439303e+01] [ 4.41661408e-02 1.22049863e-04 9.99024192e-01 1.45994891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.46, Y:24.74, Z:14.60 [[ 9.94543656e-01 -9.47031958e-02 -4.37518191e-02 3.11456955e+02] [ 9.46130659e-02 9.95505552e-01 -4.13086305e-03 2.47423283e+01] [ 4.39463848e-02 -3.11701097e-05 9.99033890e-01 1.46009905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.49, Y:24.74, Z:14.60 [[ 9.94280474e-01 -9.74959715e-02 -4.35990236e-02 3.11486135e+02] [ 9.74086768e-02 9.95235909e-01 -4.12730622e-03 2.47428661e+01] [ 4.37937096e-02 -1.43223220e-04 9.99040585e-01 1.46020867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.52, Y:24.74, Z:14.60 [[ 9.94008674e-01 -1.00183197e-01 -4.37045010e-02 3.11515084e+02] [ 1.00097552e-01 9.94968977e-01 -4.14918987e-03 2.47431562e+01] [ 4.39003018e-02 -2.50382845e-04 9.99035886e-01 1.46039683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.55, Y:24.74, Z:14.61 [[ 9.93726310e-01 -1.02969417e-01 -4.36499645e-02 3.11545150e+02] [ 1.02886565e-01 9.94684453e-01 -4.14643582e-03 2.47441639e+01] [ 4.38448972e-02 -3.70572545e-04 9.99038281e-01 1.46053315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.57, Y:24.74, Z:14.61 [[ 9.93012975e-01 -1.09227761e-01 -4.46601427e-02 3.11574923e+02] [ 1.09147273e-01 9.94016529e-01 -4.24407679e-03 2.47422386e+01] [ 4.48564910e-02 -6.60109466e-04 9.98993223e-01 1.46063386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.60, Y:24.74, Z:14.61 [[ 9.92629389e-01 -1.12455452e-01 -4.51737422e-02 3.11604136e+02] [ 1.12376358e-01 9.93656434e-01 -4.29470795e-03 2.47419808e+01] [ 4.53701430e-02 -8.13407301e-04 9.98969914e-01 1.46075023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.63, Y:24.74, Z:14.61 [[ 9.92198630e-01 -1.15938248e-01 -4.58279584e-02 3.11633970e+02] [ 1.15860630e-01 9.93255932e-01 -4.35528854e-03 2.47421312e+01] [ 4.60238360e-02 -9.88344820e-04 9.98939853e-01 1.46088489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.66, Y:24.74, Z:14.61 [[ 9.91394284e-01 -1.22397059e-01 -4.64363451e-02 3.11662469e+02] [ 1.22324360e-01 9.92480358e-01 -4.41478290e-03 2.47383375e+01] [ 4.66275169e-02 -1.30350565e-03 9.98911495e-01 1.46099815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.69, Y:24.74, Z:14.61 [[ 9.91023818e-01 -1.25293359e-01 -4.66193850e-02 3.11692172e+02] [ 1.25223125e-01 9.92118690e-01 -4.43557625e-03 2.47396563e+01] [ 4.68077114e-02 -1.44206338e-03 9.98902877e-01 1.46112829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.72, Y:24.74, Z:14.61 [[ 9.90698733e-01 -1.27534211e-01 -4.74451913e-02 3.11721113e+02] [ 1.27463950e-01 9.91832924e-01 -4.51586695e-03 2.47396364e+01] [ 4.76336303e-02 -1.57368783e-03 9.98863635e-01 1.46125173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.75, Y:24.74, Z:14.61 [[ 9.90159118e-01 -1.31463603e-01 -4.79816830e-02 3.11750872e+02] [ 1.31396224e-01 9.91319400e-01 -4.56947685e-03 2.47439938e+01] [ 4.81658931e-02 -1.78010278e-03 9.98837764e-01 1.46137424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.78, Y:24.75, Z:14.61 [[ 9.90023723e-01 -1.32347884e-01 -4.83432072e-02 3.11780229e+02] [ 1.32280494e-01 9.91201628e-01 -4.60480779e-03 2.47456717e+01] [ 4.85273022e-02 -1.83599437e-03 9.98820169e-01 1.46149373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.81, Y:24.75, Z:14.62 [[ 9.89896421e-01 -1.33076923e-01 -4.89449565e-02 3.11809741e+02] [ 1.33008688e-01 9.91103902e-01 -4.66306644e-03 2.47487580e+01] [ 4.91300839e-02 -1.89415166e-03 9.98790592e-01 1.46158902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.84, Y:24.75, Z:14.62 [[ 9.89833700e-01 -1.33330997e-01 -4.95185995e-02 3.11838474e+02] [ 1.33261378e-01 9.91069690e-01 -4.71958833e-03 2.47504876e+01] [ 4.97056505e-02 -1.92730923e-03 9.98762051e-01 1.46166585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.87, Y:24.76, Z:14.62 [[ 9.89828142e-01 -1.33149887e-01 -5.01134418e-02 3.11866621e+02] [ 1.33078187e-01 9.91094018e-01 -4.77959377e-03 2.47560355e+01] [ 5.03035347e-02 -1.93802956e-03 9.98732095e-01 1.46179079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.90, Y:24.76, Z:14.62 [[ 9.89793309e-01 -1.33342789e-01 -5.02882223e-02 3.11896142e+02] [ 1.33270225e-01 9.91068074e-01 -4.80834655e-03 2.47620727e+01] [ 5.04802100e-02 -1.94265348e-03 9.98723172e-01 1.46197681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.92, Y:24.76, Z:14.62 [[ 9.89789875e-01 -1.33297146e-01 -5.04764794e-02 3.11924842e+02] [ 1.33223881e-01 9.91074208e-01 -4.82827647e-03 2.47639206e+01] [ 5.06695323e-02 -1.94569333e-03 9.98713579e-01 1.46213740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.95, Y:24.77, Z:14.62 [[ 9.89856611e-01 -1.32743217e-01 -5.06273528e-02 3.11953467e+02] [ 1.32668615e-01 9.91148603e-01 -4.84615963e-03 2.47694391e+01] [ 5.08225248e-02 -1.91965764e-03 9.98705856e-01 1.46230473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:311.98, Y:24.77, Z:14.62 [[ 9.89876150e-01 -1.32537544e-01 -5.07839298e-02 3.11983153e+02] [ 1.32461589e-01 9.91176159e-01 -4.87330791e-03 2.47738869e+01] [ 5.09817167e-02 -1.90294876e-03 9.98697774e-01 1.46244239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.01, Y:24.78, Z:14.63 [[ 9.89858032e-01 -1.32589469e-01 -5.10010795e-02 3.12011274e+02] [ 1.32512833e-01 9.91169197e-01 -4.89607133e-03 2.47764289e+01] [ 5.11998665e-02 -1.91188202e-03 9.98686597e-01 1.46259538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.04, Y:24.78, Z:14.63 [[ 9.89767557e-01 -1.32820877e-01 -5.21420828e-02 3.12040614e+02] [ 1.32740949e-01 9.91138112e-01 -5.00839564e-03 2.47823015e+01] [ 5.23452250e-02 -1.96424206e-03 9.98627117e-01 1.46269868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.07, Y:24.79, Z:14.63 [[ 9.89722346e-01 -1.32971090e-01 -5.26152702e-02 3.12070373e+02] [ 1.32889815e-01 9.91117922e-01 -5.05576605e-03 2.47868499e+01] [ 5.28202080e-02 -1.98822891e-03 9.98602059e-01 1.46281828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.10, Y:24.79, Z:14.63 [[ 9.89651123e-01 -1.33239207e-01 -5.32725872e-02 3.12099488e+02] [ 1.33156167e-01 9.91081839e-01 -5.12099241e-03 2.47882250e+01] [ 5.34798106e-02 -2.02557760e-03 9.98566877e-01 1.46291766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.13, Y:24.80, Z:14.63 [[ 9.89717600e-01 -1.32341303e-01 -5.42664804e-02 3.12128187e+02] [ 1.32253633e-01 9.91202166e-01 -5.21939550e-03 2.47969632e+01] [ 5.44797945e-02 -2.01121157e-03 9.98512848e-01 1.46308264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.16, Y:24.80, Z:14.63 [[ 9.89712793e-01 -1.32377328e-01 -5.42662907e-02 3.12157194e+02] [ 1.32289604e-01 9.91197356e-01 -5.22136706e-03 2.47997834e+01] [ 5.44797944e-02 -2.01121231e-03 9.98512848e-01 1.46322133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.19, Y:24.81, Z:14.63 [[ 9.89838480e-01 -1.31237802e-01 -5.47395870e-02 3.12186083e+02] [ 1.31146691e-01 9.91348972e-01 -5.26893258e-03 2.48054872e+01] [ 5.49575164e-02 -1.96352347e-03 9.98486763e-01 1.46336886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.21, Y:24.81, Z:14.63 [[ 9.90011062e-01 -1.29607159e-01 -5.54984861e-02 3.12214943e+02] [ 1.29510830e-01 9.91563607e-01 -5.34406018e-03 2.48092264e+01] [ 5.57229075e-02 -1.89697631e-03 9.98444470e-01 1.46348402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.24, Y:24.82, Z:14.64 [[ 9.90550916e-01 -1.25299253e-01 -5.57582362e-02 3.12243856e+02] [ 1.25195089e-01 9.92117604e-01 -5.37113008e-03 2.48188920e+01] [ 5.59917263e-02 -1.66027952e-03 9.98429852e-01 1.46376511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.27, Y:24.82, Z:14.64 [[ 9.90926761e-01 -1.22614000e-01 -5.50450888e-02 3.12273009e+02] [ 1.22508234e-01 9.92453322e-01 -5.30443901e-03 2.48248688e+01] [ 5.52800797e-02 -1.48716608e-03 9.98469780e-01 1.46401237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.30, Y:24.83, Z:14.64 [[ 9.91247297e-01 -1.20167997e-01 -5.46667095e-02 3.12302681e+02] [ 1.20059863e-01 9.92752667e-01 -5.26984055e-03 2.48312658e+01] [ 5.49037878e-02 -1.33956243e-03 9.98490751e-01 1.46423842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.33, Y:24.84, Z:14.64 [[ 9.91578643e-01 -1.17601133e-01 -5.42380733e-02 3.12330665e+02] [ 1.17490784e-01 9.93060202e-01 -5.22977162e-03 2.48358070e+01] [ 5.44766991e-02 -1.18674391e-03 9.98514337e-01 1.46437919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.36, Y:24.84, Z:14.64 [[ 9.92039734e-01 -1.13664402e-01 -5.41993558e-02 3.12359406e+02] [ 1.13548184e-01 9.93518731e-01 -5.22889301e-03 2.48413396e+01] [ 5.44424142e-02 -9.66968799e-04 9.98516444e-01 1.46446816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.39, Y:24.85, Z:14.65 [[ 9.92133361e-01 -1.12579281e-01 -5.47475950e-02 3.12387355e+02] [ 1.12458850e-01 9.93642326e-01 -5.28537852e-03 2.48470331e+01] [ 5.49945517e-02 -9.13051216e-04 9.98486237e-01 1.46464966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.42, Y:24.85, Z:14.65 [[ 9.92220109e-01 -1.11667650e-01 -5.50417211e-02 3.12416124e+02] [ 1.11543750e-01 9.93745243e-01 -5.32766135e-03 2.48509113e+01] [ 5.52923759e-02 -8.53347265e-04 9.98469842e-01 1.46474988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.44, Y:24.85, Z:14.65 [[ 9.92214827e-01 -1.11340292e-01 -5.57949537e-02 3.12444221e+02] [ 1.11211664e-01 9.93781991e-01 -5.41474831e-03 2.48547879e+01] [ 5.60508999e-02 -8.32456081e-04 9.98427566e-01 1.46488142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.47, Y:24.86, Z:14.65 [[ 9.92199935e-01 -1.11157269e-01 -5.64211870e-02 3.12471448e+02] [ 1.11024641e-01 9.93802492e-01 -5.48959787e-03 2.48573875e+01] [ 5.66817249e-02 -8.17363377e-04 9.98391964e-01 1.46491662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.50, Y:24.86, Z:14.65 [[ 9.92185594e-01 -1.11448000e-01 -5.60989339e-02 3.12498987e+02] [ 1.11316655e-01 9.93769931e-01 -5.47051961e-03 2.48602758e+01] [ 5.63591122e-02 -8.16974921e-04 9.98410228e-01 1.46508683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.53, Y:24.86, Z:14.65 [[ 9.92037715e-01 -1.12867485e-01 -5.58757772e-02 3.12527311e+02] [ 1.12738566e-01 9.93609661e-01 -5.46415070e-03 2.48627220e+01] [ 5.61354370e-02 -8.78711444e-04 9.98422776e-01 1.46528739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.56, Y:24.87, Z:14.65 [[ 9.91868059e-01 -1.13983173e-01 -5.66179323e-02 3.12555823e+02] [ 1.13851808e-01 9.93482236e-01 -5.55098873e-03 2.48654939e+01] [ 5.68816292e-02 -9.40205532e-04 9.98380487e-01 1.46543466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.58, Y:24.87, Z:14.66 [[ 9.91751938e-01 -1.14955442e-01 -5.66863342e-02 3.12583448e+02] [ 1.14824616e-01 9.93370161e-01 -5.57048834e-03 2.48674224e+01] [ 5.69508709e-02 -9.84443923e-04 9.98376497e-01 1.46555670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.61, Y:24.87, Z:14.66 [[ 9.91473448e-01 -1.17038668e-01 -5.72918102e-02 3.12611997e+02] [ 1.16908111e-01 9.93126739e-01 -5.63679549e-03 2.48694680e+01] [ 5.75577517e-02 -1.10914426e-03 9.98341562e-01 1.46574474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.64, Y:24.87, Z:14.66 [[ 9.91398476e-01 -1.17718146e-01 -5.71970214e-02 3.12640198e+02] [ 1.17588411e-01 9.93046400e-01 -5.64032730e-03 2.48702864e+01] [ 5.74632650e-02 -1.13389498e-03 9.98346977e-01 1.46580876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.67, Y:24.87, Z:14.66 [[ 9.91342564e-01 -1.18154435e-01 -5.72664873e-02 3.12668191e+02] [ 1.18024705e-01 9.92994561e-01 -5.65422972e-03 2.48727239e+01] [ 5.75333827e-02 -1.15358168e-03 9.98342917e-01 1.46592998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.70, Y:24.88, Z:14.66 [[ 9.91276114e-01 -1.18725338e-01 -5.72360031e-02 3.12696063e+02] [ 1.18595767e-01 9.92926445e-01 -5.66736867e-03 2.48759582e+01] [ 5.75040014e-02 -1.17002049e-03 9.98344590e-01 1.46612955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.72, Y:24.88, Z:14.66 [[ 9.91269649e-01 -1.18863054e-01 -5.70618654e-02 3.12723842e+02] [ 1.18733666e-01 9.92909980e-01 -5.66461771e-03 2.48775305e+01] [ 5.73306094e-02 -1.16000084e-03 9.98354574e-01 1.46621339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.75, Y:24.88, Z:14.66 [[ 9.91241423e-01 -1.19344516e-01 -5.65449130e-02 3.12751983e+02] [ 1.19217873e-01 9.92852213e-01 -5.61983483e-03 2.48814971e+01] [ 5.68114385e-02 -1.17055118e-03 9.98384240e-01 1.46643020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.78, Y:24.88, Z:14.67 [[ 9.91103644e-01 -1.20480364e-01 -5.65512926e-02 3.12780457e+02] [ 1.20354721e-01 9.92714959e-01 -5.63483200e-03 2.48842052e+01] [ 5.68182007e-02 -1.22151253e-03 9.98383794e-01 1.46653516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.81, Y:24.89, Z:14.67 [[ 9.90993216e-01 -1.21177034e-01 -5.69962435e-02 3.12808807e+02] [ 1.21049719e-01 9.92630116e-01 -5.69375906e-03 2.48865750e+01] [ 5.72661406e-02 -1.25690264e-03 9.98358157e-01 1.46663913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.84, Y:24.89, Z:14.67 [[ 9.90862343e-01 -1.22254197e-01 -5.69712981e-02 3.12837457e+02] [ 1.22127944e-01 9.92497965e-01 -5.70568769e-03 2.48889078e+01] [ 5.72414417e-02 -1.30423644e-03 9.98359513e-01 1.46676775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.87, Y:24.89, Z:14.67 [[ 9.90779772e-01 -1.23102571e-01 -5.65791544e-02 3.12865719e+02] [ 1.22978686e-01 9.92393060e-01 -5.67953319e-03 2.48895975e+01] [ 5.68479253e-02 -1.33086344e-03 9.98381962e-01 1.46685819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.89, Y:24.89, Z:14.67 [[ 9.90697271e-01 -1.23675466e-01 -5.67740728e-02 3.12893076e+02] [ 1.23551251e-01 9.92321786e-01 -5.70634991e-03 2.48912687e+01] [ 5.70438848e-02 -1.36124241e-03 9.98370744e-01 1.46691043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.92, Y:24.89, Z:14.67 [[ 9.90565423e-01 -1.24705126e-01 -5.68223136e-02 3.12921702e+02] [ 1.24582021e-01 9.92192838e-01 -5.71764843e-03 2.48943382e+01] [ 5.70917127e-02 -1.41533387e-03 9.98367935e-01 1.46712091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.95, Y:24.90, Z:14.67 [[ 9.90526316e-01 -1.25078853e-01 -5.66824333e-02 3.12950164e+02] [ 1.24956170e-01 9.92145788e-01 -5.71750620e-03 2.48974450e+01] [ 5.69523766e-02 -1.41947944e-03 9.98375887e-01 1.46732726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:312.98, Y:24.90, Z:14.67 [[ 9.90474812e-01 -1.25655719e-01 -5.63053030e-02 3.12978005e+02] [ 1.25534893e-01 9.92072877e-01 -5.69184850e-03 2.48999622e+01] [ 5.65741773e-02 -1.43064759e-03 9.98397374e-01 1.46749812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.01, Y:24.90, Z:14.68 [[ 9.90304537e-01 -1.26863068e-01 -5.65922742e-02 3.13007003e+02] [ 1.26742609e-01 9.91919104e-01 -5.72728310e-03 2.49021774e+01] [ 5.68615387e-02 -1.50089807e-03 9.98380946e-01 1.46763562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.04, Y:24.90, Z:14.68 [[ 9.90163935e-01 -1.27767294e-01 -5.70166733e-02 3.13035861e+02] [ 1.27645716e-01 9.91802961e-01 -5.78421444e-03 2.49043447e+01] [ 5.72883389e-02 -1.55061354e-03 9.98356470e-01 1.46773364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.06, Y:24.91, Z:14.68 [[ 9.89958314e-01 -1.29022939e-01 -5.77548133e-02 3.13063158e+02] [ 1.28899587e-01 9.91640267e-01 -5.87178392e-03 2.49059029e+01] [ 5.80295933e-02 -1.63175026e-03 9.98313530e-01 1.46780326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.09, Y:24.91, Z:14.68 [[ 9.89620369e-01 -1.31064490e-01 -5.89374706e-02 3.13092356e+02] [ 1.30939327e-01 9.91372243e-01 -5.99742130e-03 2.49113932e+01] [ 5.92150214e-02 -1.78206246e-03 9.98243660e-01 1.46803448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.12, Y:24.91, Z:14.68 [[ 9.89380330e-01 -1.32456395e-01 -5.98486946e-02 3.13120193e+02] [ 1.32329645e-01 9.91187030e-01 -6.09391386e-03 2.49087472e+01] [ 6.01284277e-02 -1.89055802e-03 9.98188859e-01 1.46797034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.15, Y:24.91, Z:14.68 [[ 9.89234365e-01 -1.33418208e-01 -6.01244741e-02 3.13148188e+02] [ 1.33291407e-01 9.91057914e-01 -6.13279077e-03 2.49147592e+01] [ 6.04050618e-02 -1.94730836e-03 9.98172048e-01 1.46825337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.18, Y:24.91, Z:14.68 [[ 9.89135633e-01 -1.34023983e-01 -6.04009225e-02 3.13176088e+02] [ 1.33896340e-01 9.90976110e-01 -6.17414002e-03 2.49128102e+01] [ 6.06833540e-02 -1.98040056e-03 9.98155102e-01 1.46821586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.20, Y:24.92, Z:14.69 [[ 9.89005885e-01 -1.35086764e-01 -6.01575150e-02 3.13204351e+02] [ 1.34961654e-01 9.90831694e-01 -6.15678453e-03 2.49215674e+01] [ 6.04376726e-02 -2.02986160e-03 9.98169909e-01 1.46870289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.23, Y:24.92, Z:14.69 [[ 9.89022359e-01 -1.35302144e-01 -5.93978381e-02 3.13232378e+02] [ 1.35179803e-01 9.90802357e-01 -6.09173466e-03 2.49240992e+01] [ 5.96757428e-02 -2.00452628e-03 9.98215802e-01 1.46887404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.26, Y:24.93, Z:14.69 [[ 9.88994979e-01 -1.35463492e-01 -5.94859090e-02 3.13261475e+02] [ 1.35340897e-01 9.90780291e-01 -6.10380094e-03 2.49275784e+01] [ 5.97643084e-02 -2.01424781e-03 9.98210484e-01 1.46907317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.29, Y:24.93, Z:14.69 [[ 9.88944786e-01 -1.36001653e-01 -5.90911161e-02 3.13290254e+02] [ 1.35881498e-01 9.90706529e-01 -6.06565633e-03 2.49297406e+01] [ 5.93668938e-02 -2.03079019e-03 9.98234165e-01 1.46929962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.32, Y:24.93, Z:14.69 [[ 9.88954294e-01 -1.36032998e-01 -5.88593899e-02 3.13318067e+02] [ 1.35913625e-01 9.90702245e-01 -6.04547944e-03 2.49320920e+01] [ 5.91345145e-02 -2.02109018e-03 9.98247977e-01 1.46945236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.35, Y:24.94, Z:14.70 [[ 9.88864258e-01 -1.36488231e-01 -5.93164554e-02 3.13346618e+02] [ 1.36367378e-01 9.90639557e-01 -6.09972709e-03 2.49355509e+01] [ 5.95937681e-02 -2.05702740e-03 9.98220593e-01 1.46960107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.37, Y:24.94, Z:14.70 [[ 9.88789640e-01 -1.36829432e-01 -5.97725154e-02 3.13374087e+02] [ 1.36706519e-01 9.90592439e-01 -6.16021769e-03 2.49388713e+01] [ 6.00531009e-02 -2.08013306e-03 9.98193016e-01 1.46972324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.40, Y:24.94, Z:14.70 [[ 9.88699523e-01 -1.37215179e-01 -6.03758820e-02 3.13403214e+02] [ 1.37090081e-01 9.90538999e-01 -6.22911266e-03 2.49444867e+01] [ 6.06593945e-02 -2.11821383e-03 9.98156276e-01 1.46995190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.43, Y:24.95, Z:14.70 [[ 9.88596548e-01 -1.37830065e-01 -6.06608451e-02 3.13432182e+02] [ 1.37704802e-01 9.90453528e-01 -6.26074431e-03 2.49485348e+01] [ 6.09446668e-02 -2.16393947e-03 9.98138800e-01 1.47015044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.46, Y:24.95, Z:14.70 [[ 9.88483451e-01 -1.38689379e-01 -6.05452108e-02 3.13460939e+02] [ 1.38566051e-01 9.90333465e-01 -6.25128411e-03 2.49470776e+01] [ 6.08269351e-02 -2.21021988e-03 9.98145881e-01 1.47015263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.49, Y:24.95, Z:14.70 [[ 9.88077239e-01 -1.41603612e-01 -6.04300089e-02 3.13490280e+02] [ 1.41486001e-01 9.89920574e-01 -6.24246201e-03 2.49524387e+01] [ 6.07048643e-02 -2.38196568e-03 9.98152917e-01 1.47043253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.52, Y:24.95, Z:14.71 [[ 9.87766009e-01 -1.43710977e-01 -6.05430945e-02 3.13519114e+02] [ 1.43596725e-01 9.89616510e-01 -6.25656772e-03 2.49527746e+01] [ 6.08135833e-02 -2.51376516e-03 9.98145976e-01 1.47054817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.55, Y:24.96, Z:14.71 [[ 9.87411301e-01 -1.46073058e-01 -6.06760610e-02 3.13549144e+02] [ 1.45962593e-01 9.89270222e-01 -6.27285531e-03 2.49589747e+01] [ 6.09413156e-02 -2.66254698e-03 9.98137800e-01 1.47081103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.58, Y:24.96, Z:14.71 [[ 9.86611500e-01 -1.51062048e-01 -6.14654790e-02 3.13578717e+02] [ 1.50958308e-01 9.88519704e-01 -6.35491374e-03 2.49602959e+01] [ 6.17198234e-02 -3.00889374e-03 9.98088979e-01 1.47091712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.61, Y:24.96, Z:14.71 [[ 9.86239664e-01 -1.53312087e-01 -6.18605699e-02 3.13608140e+02] [ 1.53211293e-01 9.88172742e-01 -6.39778915e-03 2.49600273e+01] [ 6.21097874e-02 -3.16798451e-03 9.98064296e-01 1.47094743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.64, Y:24.97, Z:14.71 [[ 9.85846357e-01 -1.55505635e-01 -6.26494861e-02 3.13638145e+02] [ 1.55406558e-01 9.87829336e-01 -6.48112576e-03 2.49659926e+01] [ 6.28948518e-02 -3.34674677e-03 9.98014547e-01 1.47118562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.67, Y:24.97, Z:14.71 [[ 9.85536923e-01 -1.57234659e-01 -6.31999679e-02 3.13667203e+02] [ 1.57137383e-01 9.87555111e-01 -6.53794855e-03 2.49682237e+01] [ 6.34414435e-02 -3.48768786e-03 9.97979468e-01 1.47132280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.70, Y:24.97, Z:14.72 [[ 9.85176388e-01 -1.59397372e-01 -6.34031783e-02 3.13696872e+02] [ 1.59303933e-01 9.87207799e-01 -6.55889731e-03 2.49737504e+01] [ 6.36375831e-02 -3.63870494e-03 9.97966441e-01 1.47158882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.73, Y:24.97, Z:14.72 [[ 9.85115787e-01 -1.59861698e-01 -6.31753502e-02 3.13726071e+02] [ 1.59769805e-01 9.87132658e-01 -6.53649165e-03 2.49745833e+01] [ 6.34073860e-02 -3.65431227e-03 9.97981037e-01 1.47166302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.76, Y:24.98, Z:14.72 [[ 9.85087868e-01 -1.60061258e-01 -6.31053515e-02 3.13756342e+02] [ 1.59969959e-01 9.87100287e-01 -6.52952004e-03 2.49832568e+01] [ 6.33364338e-02 -3.66280951e-03 9.97985511e-01 1.47201996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.79, Y:24.98, Z:14.72 [[ 9.85235984e-01 -1.59728439e-01 -6.16188342e-02 3.13786430e+02] [ 1.59640860e-01 9.87154583e-01 -6.37371080e-03 2.49835780e+01] [ 6.18453775e-02 -3.55727447e-03 9.98079403e-01 1.47222867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.82, Y:24.99, Z:14.73 [[ 9.85327263e-01 -1.59213807e-01 -6.14910368e-02 3.13816872e+02] [ 1.59125679e-01 9.87237854e-01 -6.35909004e-03 2.49920356e+01] [ 6.17187342e-02 -3.51901822e-03 9.98087378e-01 1.47251049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.85, Y:25.00, Z:14.73 [[ 9.85579072e-01 -1.57436258e-01 -6.20299684e-02 3.13846765e+02] [ 1.57343183e-01 9.87523162e-01 -6.41307354e-03 2.49982539e+01] [ 6.22656808e-02 -3.43940159e-03 9.98053684e-01 1.47265680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.88, Y:25.00, Z:14.73 [[ 9.85768505e-01 -1.56251410e-01 -6.20157436e-02 3.13876857e+02] [ 1.56156058e-01 9.87711588e-01 -6.41133621e-03 2.50024703e+01] [ 6.22554489e-02 -3.36404077e-03 9.98054579e-01 1.47277437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.91, Y:25.01, Z:14.73 [[ 9.85978049e-01 -1.54832304e-01 -6.22434245e-02 3.13907419e+02] [ 1.54733505e-01 9.87935296e-01 -6.43374809e-03 2.50074029e+01] [ 6.24886280e-02 -3.28760884e-03 9.98040261e-01 1.47290096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.94, Y:25.02, Z:14.73 [[ 9.86533364e-01 -1.51152571e-01 -6.24885760e-02 3.13936827e+02] [ 1.51045687e-01 9.88505686e-01 -6.45823694e-03 2.50174515e+01] [ 6.27464918e-02 -3.06736369e-03 9.98024784e-01 1.47312580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.97, Y:25.02, Z:14.73 [[ 9.86866514e-01 -1.48824039e-01 -6.28163056e-02 3.13967867e+02] [ 1.48711365e-01 9.88859338e-01 -6.49153873e-03 2.50240721e+01] [ 6.30825874e-02 -2.93521634e-03 9.98003994e-01 1.47331640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.00, Y:25.03, Z:14.73 [[ 9.86871857e-01 -1.48788509e-01 -6.28165402e-02 3.13998555e+02] [ 1.48675908e-01 9.88864684e-01 -6.48926805e-03 2.50272124e+01] [ 6.30825867e-02 -2.93523010e-03 9.98003994e-01 1.47346312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.03, Y:25.03, Z:14.74 [[ 9.87262938e-01 -1.46145328e-01 -6.28763469e-02 3.14029350e+02] [ 1.46027311e-01 9.89259250e-01 -6.49315189e-03 2.50347441e+01] [ 6.31499516e-02 -2.77121564e-03 9.98000202e-01 1.47367687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.06, Y:25.04, Z:14.74 [[ 9.87644168e-01 -1.43398751e-01 -6.32123126e-02 3.14059012e+02] [ 1.43273988e-01 9.89661547e-01 -6.52579764e-03 2.50396819e+01] [ 6.34945863e-02 -2.61151413e-03 9.97978766e-01 1.47379433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.09, Y:25.05, Z:14.74 [[ 9.88477736e-01 -1.37294287e-01 -6.37341606e-02 3.14088622e+02] [ 1.37154862e-01 9.90527772e-01 -6.57852733e-03 2.50499551e+01] [ 6.40336503e-02 -2.23872221e-03 9.97945229e-01 1.47392733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.12, Y:25.06, Z:14.74 [[ 9.88909276e-01 -1.33944821e-01 -6.41656426e-02 3.14118790e+02] [ 1.33796531e-01 9.90986699e-01 -6.62199687e-03 2.50573597e+01] [ 6.44742805e-02 -2.03658629e-03 9.97917291e-01 1.47408450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.15, Y:25.06, Z:14.74 [[ 9.89321995e-01 -1.30612238e-01 -6.46717322e-02 3.14148023e+02] [ 1.30454571e-01 9.91431831e-01 -6.67298819e-03 2.50617598e+01] [ 6.49891878e-02 -1.83498912e-03 9.97884281e-01 1.47410023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.18, Y:25.08, Z:14.75 [[ 9.90131824e-01 -1.24368260e-01 -6.45872000e-02 3.14177583e+02] [ 1.24197822e-01 9.92235107e-01 -6.66289028e-03 2.50763040e+01] [ 6.49143393e-02 -1.42444986e-03 9.97889823e-01 1.47455777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.21, Y:25.08, Z:14.75 [[ 9.90483189e-01 -1.21462322e-01 -6.47298796e-02 3.14207140e+02] [ 1.21285009e-01 9.92595271e-01 -6.67642295e-03 2.50822842e+01] [ 6.50615063e-02 -1.23787933e-03 9.97880488e-01 1.47468313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.24, Y:25.09, Z:14.75 [[ 9.90763043e-01 -1.19041294e-01 -6.49442999e-02 3.14236802e+02] [ 1.18857664e-01 9.92888713e-01 -6.69767758e-03 2.50887040e+01] [ 6.52797626e-02 -1.08331635e-03 9.97866413e-01 1.47487088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.27, Y:25.09, Z:14.75 [[ 9.91064661e-01 -1.16827126e-01 -6.43603944e-02 3.14265653e+02] [ 1.16642102e-01 9.93151831e-01 -6.63776614e-03 2.50938656e+01] [ 6.46951147e-02 -9.28676226e-04 9.97904645e-01 1.47500298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.29, Y:25.10, Z:14.75 [[ 9.91427460e-01 -1.14060370e-01 -6.37324346e-02 3.14294920e+02] [ 1.13873175e-01 9.93473545e-01 -6.57384100e-03 2.51019614e+01] [ 6.40663025e-02 -7.39928215e-04 9.97945370e-01 1.47542466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.33, Y:25.11, Z:14.75 [[ 9.91500179e-01 -1.13531226e-01 -6.35457066e-02 3.14325254e+02] [ 1.13344061e-01 9.93534179e-01 -6.55428424e-03 2.51055175e+01] [ 6.38789474e-02 -7.03954427e-04 9.97957406e-01 1.47549625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.36, Y:25.11, Z:14.76 [[ 9.91447543e-01 -1.13864584e-01 -6.37700985e-02 3.14355704e+02] [ 1.13676838e-01 9.93496012e-01 -6.57656562e-03 2.51093405e+01] [ 6.41041764e-02 -7.28863298e-04 9.97942946e-01 1.47570882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.39, Y:25.11, Z:14.76 [[ 9.91110409e-01 -1.16203727e-01 -6.47831058e-02 3.14385967e+02] [ 1.16014954e-01 9.93224997e-01 -6.68103636e-03 2.51136590e+01] [ 6.51205614e-02 -8.94164348e-04 9.97877003e-01 1.47612681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.42, Y:25.12, Z:14.76 [[ 9.90869689e-01 -1.18378920e-01 -6.45266739e-02 3.14416737e+02] [ 1.18196265e-01 9.92967957e-01 -6.65427835e-03 2.51150883e+01] [ 6.48606459e-02 -1.03328910e-03 9.97893796e-01 1.47621792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.45, Y:25.12, Z:14.76 [[ 9.90537655e-01 -1.21006946e-01 -6.47493046e-02 3.14447028e+02] [ 1.20828688e-01 9.92650923e-01 -6.67637878e-03 2.51172489e+01] [ 6.50813451e-02 -1.21036894e-03 9.97879228e-01 1.47646540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.48, Y:25.12, Z:14.77 [[ 9.89806191e-01 -1.26618096e-01 -6.52040042e-02 3.14477914e+02] [ 1.26449493e-01 9.91950265e-01 -6.72294517e-03 2.51157084e+01] [ 6.55303758e-02 -1.59060053e-03 9.97849307e-01 1.47659663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.51, Y:25.12, Z:14.77 [[ 9.89358711e-01 -1.29649853e-01 -6.60322401e-02 3.14508778e+02] [ 1.29483782e-01 9.91558177e-01 -6.80674348e-03 2.51177190e+01] [ 6.63573009e-02 -1.81579321e-03 9.97794273e-01 1.47683837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.54, Y:25.12, Z:14.77 [[ 9.88927714e-01 -1.32656954e-01 -6.65139808e-02 3.14539065e+02] [ 1.32495470e-01 9.91159921e-01 -6.85289298e-03 2.51169961e+01] [ 6.68350758e-02 -2.03578538e-03 9.97761960e-01 1.47690098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.57, Y:25.12, Z:14.77 [[ 9.88545082e-01 -1.35390261e-01 -6.66940646e-02 3.14568704e+02] [ 1.35234356e-01 9.90789838e-01 -6.86773453e-03 2.51172051e+01] [ 6.70096258e-02 -2.23026367e-03 9.97749836e-01 1.47701297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.60, Y:25.12, Z:14.77 [[ 9.87810673e-01 -1.39993979e-01 -6.80570383e-02 3.14600017e+02] [ 1.39842538e-01 9.90148955e-01 -7.00794095e-03 2.51199523e+01] [ 6.83676749e-02 -2.59475012e-03 9.97656819e-01 1.47734049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.63, Y:25.12, Z:14.77 [[ 9.87549661e-01 -1.41846674e-01 -6.80087349e-02 3.14631009e+02] [ 1.41699974e-01 9.89884895e-01 -7.00084940e-03 2.51212410e+01] [ 6.83138666e-02 -2.72314954e-03 9.97660163e-01 1.47747056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.66, Y:25.12, Z:14.78 [[ 9.87345175e-01 -1.43121453e-01 -6.83063283e-02 3.14661173e+02] [ 1.42976595e-01 9.89701101e-01 -7.03023006e-03 2.51220005e+01] [ 6.86090251e-02 -2.82494248e-03 9.97639625e-01 1.47756452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.69, Y:25.12, Z:14.78 [[ 9.87211997e-01 -1.44381368e-01 -6.75758412e-02 3.14692429e+02] [ 1.44242639e-01 9.89517918e-01 -6.95346868e-03 2.51231552e+01] [ 6.78714570e-02 -2.88276998e-03 9.97689909e-01 1.47771646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.72, Y:25.13, Z:14.78 [[ 9.87319197e-01 -1.43893060e-01 -6.70491612e-02 3.14724338e+02] [ 1.43755574e-01 9.89589197e-01 -6.89613728e-03 2.51282034e+01] [ 6.73434319e-02 -2.83000191e-03 9.97725841e-01 1.47799381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.76, Y:25.13, Z:14.78 [[ 9.87505348e-01 -1.43027917e-01 -6.61528738e-02 3.14756579e+02] [ 1.42892466e-01 9.89714866e-01 -6.79912080e-03 2.51317984e+01] [ 6.64449467e-02 -2.73857912e-03 9.97786334e-01 1.47820812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.79, Y:25.13, Z:14.78 [[ 9.87699352e-01 -1.41997813e-01 -6.54722240e-02 3.14787568e+02] [ 1.41863147e-01 9.89863436e-01 -6.72505449e-03 2.51322258e+01] [ 6.57635036e-02 -2.64576380e-03 9.97831730e-01 1.47829746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.82, Y:25.14, Z:14.79 [[ 9.88082023e-01 -1.39818556e-01 -6.43792475e-02 3.14818447e+02] [ 1.39683903e-01 9.90174082e-01 -6.61015158e-03 2.51401373e+01] [ 6.46708842e-02 -2.46137262e-03 9.97903612e-01 1.47871980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.85, Y:25.14, Z:14.79 [[ 9.88260900e-01 -1.38801142e-01 -6.38328834e-02 3.14849643e+02] [ 1.38666948e-01 9.90317415e-01 -6.54937411e-03 2.51422091e+01] [ 6.41238767e-02 -2.37902078e-03 9.97939111e-01 1.47880762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.88, Y:25.15, Z:14.79 [[ 9.88402833e-01 -1.37915559e-01 -6.35542229e-02 3.14881667e+02] [ 1.37781162e-01 9.90441277e-01 -6.51366995e-03 2.51470870e+01] [ 6.38450622e-02 -2.31844489e-03 9.97957130e-01 1.47903884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.91, Y:25.15, Z:14.79 [[ 9.88569671e-01 -1.36614300e-01 -6.37694177e-02 3.14912535e+02] [ 1.36476571e-01 9.90621768e-01 -6.53135835e-03 2.51506337e+01] [ 6.40636502e-02 -2.24632866e-03 9.97943286e-01 1.47913899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.94, Y:25.15, Z:14.79 [[ 9.88623632e-01 -1.36038831e-01 -6.41619068e-02 3.14943478e+02] [ 1.35898418e-01 9.90701005e-01 -6.56805725e-03 2.51525771e+01] [ 6.44587763e-02 -2.22616502e-03 9.97917888e-01 1.47918202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.97, Y:25.16, Z:14.79 [[ 9.88600513e-01 -1.35989211e-01 -6.46216723e-02 3.14974097e+02] [ 1.35846904e-01 9.90707780e-01 -6.61156798e-03 2.51560818e+01] [ 6.49202954e-02 -2.24245463e-03 9.97887933e-01 1.47931035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.01, Y:25.16, Z:14.79 [[ 9.88584892e-01 -1.35997168e-01 -6.48435126e-02 3.15005085e+02] [ 1.35854115e-01 9.90706662e-01 -6.63095554e-03 2.51592203e+01] [ 6.51426910e-02 -2.25399557e-03 9.97873413e-01 1.47939996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.04, Y:25.17, Z:14.80 [[ 9.88500784e-01 -1.36595966e-01 -6.48671116e-02 3.15036594e+02] [ 1.36454287e-01 9.90624179e-01 -6.63044409e-03 2.51658371e+01] [ 6.51646211e-02 -2.29719627e-03 9.97871883e-01 1.47963680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.07, Y:25.17, Z:14.80 [[ 9.88432268e-01 -1.37012539e-01 -6.50324224e-02 3.15068374e+02] [ 1.36871347e-01 9.90566560e-01 -6.64258763e-03 2.51694028e+01] [ 6.53290608e-02 -2.33532733e-03 9.97861042e-01 1.47975169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.10, Y:25.17, Z:14.80 [[ 9.88387212e-01 -1.37300884e-01 -6.51090371e-02 3.15100138e+02] [ 1.37160296e-01 9.90526571e-01 -6.64564255e-03 2.51731733e+01] [ 6.54046839e-02 -2.36190670e-03 9.97856026e-01 1.47985584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.13, Y:25.17, Z:14.80 [[ 9.88316051e-01 -1.37625453e-01 -6.55028120e-02 3.15131324e+02] [ 1.37484166e-01 9.90481430e-01 -6.68135096e-03 2.51742608e+01] [ 6.57988428e-02 -2.40231309e-03 9.97830016e-01 1.47985048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.16, Y:25.18, Z:14.80 [[ 9.88406452e-01 -1.37362934e-01 -6.46847047e-02 3.15162112e+02] [ 1.37224799e-01 9.90517978e-01 -6.59473521e-03 2.51800832e+01] [ 6.49772351e-02 -2.35806678e-03 9.97883960e-01 1.48000192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.19, Y:25.19, Z:14.80 [[ 9.88513827e-01 -1.36769825e-01 -6.42995302e-02 3.15194195e+02] [ 1.36632266e-01 9.90600165e-01 -6.55256555e-03 2.51854835e+01] [ 6.45913185e-02 -2.30808886e-03 9.97909131e-01 1.48018843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.23, Y:25.19, Z:14.80 [[ 9.88684296e-01 -1.35914361e-01 -6.34874014e-02 3.15225484e+02] [ 1.35778786e-01 9.90718084e-01 -6.46525047e-03 2.51913027e+01] [ 6.37768371e-02 -2.22815070e-03 9.97961698e-01 1.48041225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.26, Y:25.20, Z:14.81 [[ 9.88909990e-01 -1.34610537e-01 -6.27457901e-02 3.15256209e+02] [ 1.34475761e-01 9.90896309e-01 -6.38546945e-03 2.51955476e+01] [ 6.30341233e-02 -2.12313332e-03 9.98009114e-01 1.48054182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.29, Y:25.20, Z:14.81 [[ 9.89495645e-01 -1.31395831e-01 -6.02785485e-02 3.15287329e+02] [ 1.31265682e-01 9.91328265e-01 -6.13120626e-03 2.52028532e+01] [ 6.05614438e-02 -1.84570288e-03 9.98162765e-01 1.48082712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.32, Y:25.21, Z:14.81 [[ 9.89829516e-01 -1.29218869e-01 -5.94980109e-02 3.15318536e+02] [ 1.29088347e-01 9.91614651e-01 -6.04840424e-03 2.52075595e+01] [ 5.97806673e-02 -1.69361084e-03 9.98210100e-01 1.48098999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.35, Y:25.21, Z:14.81 [[ 9.90201512e-01 -1.26874980e-01 -5.83412838e-02 3.15350150e+02] [ 1.26745664e-01 9.91917542e-01 -5.92668935e-03 2.52141583e+01] [ 5.86216914e-02 -1.52588799e-03 9.98279104e-01 1.48125202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.38, Y:25.22, Z:14.82 [[ 9.90830895e-01 -1.22666156e-01 -5.66317285e-02 3.15380840e+02] [ 1.22537649e-01 9.92447212e-01 -5.74935279e-03 2.52220214e+01] [ 5.69092521e-02 -1.24288251e-03 9.98378582e-01 1.48152693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.41, Y:25.23, Z:14.82 [[ 9.91124221e-01 -1.20761506e-01 -5.55827101e-02 3.15412831e+02] [ 1.20634854e-01 9.92680924e-01 -5.64057086e-03 2.52273118e+01] [ 5.58570598e-02 -1.11470569e-03 9.98438153e-01 1.48173511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.44, Y:25.23, Z:14.82 [[ 9.91340531e-01 -1.19371282e-01 -5.47215598e-02 3.15443839e+02] [ 1.19246617e-01 9.92849157e-01 -5.54941063e-03 2.52310138e+01] [ 5.49926948e-02 -1.02400520e-03 9.98486232e-01 1.48186790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.48, Y:25.24, Z:14.82 [[ 9.91444834e-01 -1.18627247e-01 -5.44492197e-02 3.15475683e+02] [ 1.18502866e-01 9.92938374e-01 -5.51873309e-03 2.52363981e+01] [ 5.47193917e-02 -9.80869199e-04 9.98501290e-01 1.48206468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.51, Y:25.24, Z:14.82 [[ 9.91480330e-01 -1.17830125e-01 -5.55231121e-02 3.15507946e+02] [ 1.17699770e-01 9.93033303e-01 -5.62344871e-03 2.52399901e+01] [ 5.57989111e-02 -9.59518735e-04 9.98441566e-01 1.48199874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.54, Y:25.24, Z:14.82 [[ 9.91432906e-01 -1.17908534e-01 -5.61993740e-02 3.15539633e+02] [ 1.17775342e-01 9.93023976e-01 -5.68780763e-03 2.52426767e+01] [ 5.64779669e-02 -9.79820856e-04 9.98403365e-01 1.48203146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.57, Y:25.25, Z:14.82 [[ 9.91400019e-01 -1.18175967e-01 -5.62178179e-02 3.15571651e+02] [ 1.18043348e-01 9.92992166e-01 -5.68559907e-03 2.52463340e+01] [ 5.64957539e-02 -9.99436408e-04 9.98402339e-01 1.48215471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.60, Y:25.25, Z:14.82 [[ 9.91188301e-01 -1.19527538e-01 -5.70869446e-02 3.15602259e+02] [ 1.19393247e-01 9.92830280e-01 -5.76959530e-03 2.52485230e+01] [ 5.73672727e-02 -1.09704034e-03 9.98352539e-01 1.48215095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.63, Y:25.25, Z:14.82 [[ 9.91109900e-01 -1.20055797e-01 -5.73390884e-02 3.15633692e+02] [ 1.19921333e-01 9.92766497e-01 -5.79278839e-03 2.52508673e+01] [ 5.76197838e-02 -1.13488997e-03 9.98337955e-01 1.48224995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.67, Y:25.25, Z:14.82 [[ 9.91068189e-01 -1.20711856e-01 -5.66788635e-02 3.15665476e+02] [ 1.20581726e-01 9.92686907e-01 -5.72287815e-03 2.52537248e+01] [ 5.69551849e-02 -1.16267269e-03 9.98376059e-01 1.48241134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.70, Y:25.26, Z:14.83 [[ 9.90946420e-01 -1.22037460e-01 -5.59647340e-02 3.15696492e+02] [ 1.21912915e-01 9.92524737e-01 -5.64695375e-03 2.52554845e+01] [ 5.62355228e-02 -1.22699528e-03 9.98416777e-01 1.48251369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.73, Y:25.26, Z:14.83 [[ 9.90872755e-01 -1.22659667e-01 -5.59087573e-02 3.15728356e+02] [ 1.22536538e-01 9.92447988e-01 -5.63816209e-03 2.52577766e+01] [ 5.61781088e-02 -1.26416435e-03 9.98419963e-01 1.48266103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.76, Y:25.26, Z:14.83 [[ 9.90838829e-01 -1.23640722e-01 -5.43266668e-02 3.15760800e+02] [ 1.23526143e-01 9.92326215e-01 -5.47485002e-03 2.52604710e+01] [ 5.45866901e-02 -1.28606965e-03 9.98508207e-01 1.48288240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.79, Y:25.26, Z:14.83 [[ 9.90777302e-01 -1.24588060e-01 -5.32743132e-02 3.15791850e+02] [ 1.24479461e-01 9.92207681e-01 -5.36479700e-03 2.52607458e+01] [ 5.35275725e-02 -1.31623870e-03 9.98565504e-01 1.48305571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.82, Y:25.26, Z:14.83 [[ 9.90722069e-01 -1.25911469e-01 -5.11476657e-02 3.15824329e+02] [ 1.25813403e-01 9.92040580e-01 -5.14532259e-03 2.52629108e+01] [ 5.13884151e-02 -1.33747725e-03 9.98677847e-01 1.48330783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.86, Y:25.26, Z:14.84 [[ 9.90440754e-01 -1.28833709e-01 -4.92847634e-02 3.15856421e+02] [ 1.28746435e-01 9.91665169e-01 -4.95458839e-03 2.52634494e+01] [ 4.95123012e-02 -1.43801135e-03 9.98772479e-01 1.48355151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.89, Y:25.27, Z:14.84 [[ 9.90284439e-01 -1.30455208e-01 -4.81473543e-02 3.15888022e+02] [ 1.30373992e-01 9.91453089e-01 -4.83687487e-03 2.52664001e+01] [ 4.83668387e-02 -1.48728088e-03 9.98828532e-01 1.48372282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.92, Y:25.27, Z:14.84 [[ 9.90009753e-01 -1.32413608e-01 -4.84491971e-02 3.15919017e+02] [ 1.32334019e-01 9.91193260e-01 -4.86090837e-03 2.52650784e+01] [ 4.86661681e-02 -1.59913026e-03 9.98813820e-01 1.48382578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.95, Y:25.27, Z:14.84 [[ 9.90023438e-01 -1.32311187e-01 -4.84493786e-02 3.15951385e+02] [ 1.32231563e-01 9.91206943e-01 -4.85909870e-03 2.52682311e+01] [ 4.86662736e-02 -1.59591545e-03 9.98813820e-01 1.48398045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.98, Y:25.27, Z:14.84 [[ 9.89352965e-01 -1.37439267e-01 -4.78660423e-02 3.15981505e+02] [ 1.37367770e-01 9.90508504e-01 -4.79571161e-03 2.52657930e+01] [ 4.80708410e-02 -1.83059999e-03 9.98842251e-01 1.48403656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.01, Y:25.27, Z:14.84 [[ 9.88938219e-01 -1.40236892e-01 -4.83198945e-02 3.16013504e+02] [ 1.40167368e-01 9.90115989e-01 -4.84110824e-03 2.52703562e+01] [ 4.85212021e-02 -1.98531548e-03 9.98820180e-01 1.48414304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.05, Y:25.27, Z:14.84 [[ 9.88479327e-01 -1.43531363e-01 -4.80350755e-02 3.16045046e+02] [ 1.43466700e-01 9.89643460e-01 -4.80913911e-03 2.52704461e+01] [ 4.82278606e-02 -2.13769918e-03 9.98834072e-01 1.48424172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.08, Y:25.27, Z:14.84 [[ 9.87964919e-01 -1.46779611e-01 -4.87961446e-02 3.16076621e+02] [ 1.46716921e-01 9.89166465e-01 -4.88354250e-03 2.52710142e+01] [ 4.89843144e-02 -2.33445141e-03 9.98796820e-01 1.48433595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.11, Y:25.27, Z:14.84 [[ 9.87029267e-01 -1.52709928e-01 -4.95267961e-02 3.16106578e+02] [ 1.52652867e-01 9.88267449e-01 -4.95495573e-03 2.52660606e+01] [ 4.97023914e-02 -2.66972111e-03 9.98760504e-01 1.48440309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.14, Y:25.27, Z:14.85 [[ 9.86653358e-01 -1.55249575e-01 -4.91194571e-02 3.16137460e+02] [ 1.55196549e-01 9.87871386e-01 -4.91488691e-03 2.52685063e+01] [ 4.92867403e-02 -2.77388058e-03 9.98780818e-01 1.48452781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.17, Y:25.27, Z:14.85 [[ 9.86300954e-01 -1.57607955e-01 -4.86843058e-02 3.16168547e+02] [ 1.57558767e-01 9.87497602e-01 -4.87045356e-03 2.52708070e+01] [ 4.88432574e-02 -2.86690622e-03 9.98802341e-01 1.48468887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.20, Y:25.27, Z:14.85 [[ 9.86089834e-01 -1.58823831e-01 -4.90084657e-02 3.16200522e+02] [ 1.58775574e-01 9.87302536e-01 -4.90102922e-03 2.52718704e+01] [ 4.91645827e-02 -2.94849219e-03 9.98786339e-01 1.48479469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.23, Y:25.27, Z:14.85 [[ 9.85838543e-01 -1.60090476e-01 -4.99340294e-02 3.16232157e+02] [ 1.60042190e-01 9.87097563e-01 -4.98977652e-03 2.52723623e+01] [ 5.00885744e-02 -3.07243739e-03 9.98740054e-01 1.48483741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.26, Y:25.28, Z:14.85 [[ 9.85846634e-01 -1.60062263e-01 -4.98646869e-02 3.16264939e+02] [ 1.60014376e-01 9.87102138e-01 -4.97683774e-03 2.52750134e+01] [ 5.00181429e-02 -3.07266802e-03 9.98743583e-01 1.48495423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.30, Y:25.28, Z:14.85 [[ 9.86024156e-01 -1.58957884e-01 -4.98874140e-02 3.16297526e+02] [ 1.58908813e-01 9.87280736e-01 -4.97377933e-03 2.52775785e+01] [ 5.00435042e-02 -3.02328317e-03 9.98742463e-01 1.48510552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.33, Y:25.28, Z:14.85 [[ 9.86197439e-01 -1.57954402e-01 -4.96489506e-02 3.16329959e+02] [ 1.57904750e-01 9.87441963e-01 -4.94561965e-03 2.52819087e+01] [ 4.98066397e-02 -2.96244769e-03 9.98754486e-01 1.48529799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.36, Y:25.29, Z:14.85 [[ 9.86383095e-01 -1.56718108e-01 -4.98781045e-02 3.16362268e+02] [ 1.56666646e-01 9.87639064e-01 -4.96398892e-03 2.52875641e+01] [ 5.00395114e-02 -2.91784058e-03 9.98742977e-01 1.48547967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.39, Y:25.29, Z:14.86 [[ 9.86620342e-01 -1.55230266e-01 -4.98383847e-02 3.16394698e+02] [ 1.55177217e-01 9.87874219e-01 -4.95558493e-03 2.52915915e+01] [ 5.00033122e-02 -2.84450096e-03 9.98745001e-01 1.48565138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.42, Y:25.29, Z:14.86 [[ 9.87100733e-01 -1.52026118e-01 -5.02016201e-02 3.16424103e+02] [ 1.51968374e-01 9.88372773e-01 -4.98754110e-03 2.52930353e+01] [ 5.03761510e-02 -2.70585312e-03 9.98726650e-01 1.48572733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.45, Y:25.30, Z:14.86 [[ 9.87354232e-01 -1.50356112e-01 -5.02459933e-02 3.16454469e+02] [ 1.50296073e-01 9.88628425e-01 -4.99267888e-03 2.53009309e+01] [ 5.04252970e-02 -2.62223285e-03 9.98724393e-01 1.48589606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.48, Y:25.30, Z:14.86 [[ 9.87584485e-01 -1.48735822e-01 -5.05424685e-02 3.16484508e+02] [ 1.48673047e-01 9.88873663e-01 -5.02037847e-03 2.53040361e+01] [ 5.07268261e-02 -2.55625491e-03 9.98709294e-01 1.48602673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.52, Y:25.31, Z:14.86 [[ 9.87938107e-01 -1.46402072e-01 -5.04453126e-02 3.16515917e+02] [ 1.46336555e-01 9.89222177e-01 -5.00973050e-03 2.53096704e+01] [ 5.06350569e-02 -2.43268961e-03 9.98714260e-01 1.48618941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.55, Y:25.32, Z:14.86 [[ 9.88697709e-01 -1.40986772e-01 -5.09859902e-02 3.16546174e+02] [ 1.40912787e-01 9.90009078e-01 -5.06088543e-03 2.53167739e+01] [ 5.11901110e-02 -2.18089215e-03 9.98686546e-01 1.48629756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.58, Y:25.33, Z:14.86 [[ 9.89616156e-01 -1.34487609e-01 -5.07242204e-02 3.16575831e+02] [ 1.34405874e-01 9.90913576e-01 -5.03455088e-03 2.53283012e+01] [ 5.09404033e-02 -1.83536028e-03 9.98700008e-01 1.48648185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.61, Y:25.33, Z:14.87 [[ 9.90084553e-01 -1.30962129e-01 -5.08084402e-02 3.16605633e+02] [ 1.30875505e-01 9.91385987e-01 -5.04255165e-03 2.53328257e+01] [ 5.10311590e-02 -1.65702777e-03 9.98695687e-01 1.48661593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.64, Y:25.34, Z:14.87 [[ 9.90548931e-01 -1.27391979e-01 -5.08340289e-02 3.16636076e+02] [ 1.27300622e-01 9.91851354e-01 -5.04410787e-03 2.53400376e+01] [ 5.10623793e-02 -1.47476783e-03 9.98694377e-01 1.48680216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.67, Y:25.35, Z:14.87 [[ 9.90993816e-01 -1.23809182e-01 -5.10151344e-02 3.16666977e+02] [ 1.23712524e-01 9.92305198e-01 -5.06024199e-03 2.53459125e+01] [ 5.12490874e-02 -1.29654253e-03 9.98685060e-01 1.48695881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.70, Y:25.35, Z:14.87 [[ 9.91611549e-01 -1.18492697e-01 -5.16334917e-02 3.16696955e+02] [ 1.18386570e-01 9.92954384e-01 -5.11979340e-03 2.53509531e+01] [ 5.18763600e-02 -1.03586572e-03 9.98652978e-01 1.48704004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.73, Y:25.36, Z:14.87 [[ 9.91851851e-01 -1.16335893e-01 -5.19217299e-02 3.16728758e+02] [ 1.16225685e-01 9.93209493e-01 -5.14720388e-03 2.53571073e+01] [ 5.21679596e-02 -9.29374948e-04 9.98637892e-01 1.48720117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.76, Y:25.36, Z:14.87 [[ 9.92095968e-01 -1.14099840e-01 -5.22189363e-02 3.16760936e+02] [ 1.13985465e-01 9.93468950e-01 -5.17300182e-03 2.53612069e+01] [ 5.24681305e-02 -8.20085479e-04 9.98622262e-01 1.48732663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.79, Y:25.37, Z:14.87 [[ 9.92562567e-01 -1.09682125e-01 -5.28146002e-02 3.16792977e+02] [ 1.09559070e-01 9.93966536e-01 -5.22829196e-03 2.53670155e+01] [ 5.30693954e-02 -5.96911602e-04 9.98590648e-01 1.48741018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.83, Y:25.37, Z:14.88 [[ 9.92783932e-01 -1.07614956e-01 -5.29063772e-02 3.16825125e+02] [ 1.07488742e-01 9.94192527e-01 -5.23356777e-03 2.53714173e+01] [ 5.31623350e-02 -4.91037923e-04 9.98585762e-01 1.48759607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.86, Y:25.38, Z:14.88 [[ 9.93028394e-01 -1.05328454e-01 -5.29199976e-02 3.16857247e+02] [ 1.05199137e-01 9.94437418e-01 -5.23102212e-03 2.53754394e+01] [ 5.31766012e-02 -3.72584562e-04 9.98585054e-01 1.48778000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.89, Y:25.38, Z:14.88 [[ 9.93292000e-01 -1.02969810e-01 -5.26138776e-02 3.16888687e+02] [ 1.02838898e-01 9.94684451e-01 -5.19662093e-03 2.53790929e+01] [ 5.28693010e-02 -2.48991178e-04 9.98601409e-01 1.48790203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.92, Y:25.38, Z:14.88 [[ 9.93530867e-01 -1.00573315e-01 -5.27392198e-02 3.16920206e+02] [ 1.00438743e-01 9.94929642e-01 -5.20259944e-03 2.53833475e+01] [ 5.29950557e-02 -1.28117826e-04 9.98594766e-01 1.48811817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.95, Y:25.39, Z:14.88 [[ 9.93988526e-01 -9.59042570e-02 -5.28127208e-02 3.16951613e+02] [ 9.57629259e-02 9.95390556e-01 -5.20598397e-03 2.53877746e+01] [ 5.30685596e-02 1.17187661e-04 9.98590864e-01 1.48826657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.98, Y:25.39, Z:14.88 [[ 9.94232630e-01 -9.34080951e-02 -5.26916068e-02 3.16983324e+02] [ 9.32641121e-02 9.95627876e-01 -5.19019824e-03 2.53911122e+01] [ 5.29460391e-02 2.46028526e-04 9.98597344e-01 1.48842141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.01, Y:25.39, Z:14.89 [[ 9.94410186e-01 -9.15161491e-02 -5.26609585e-02 3.17014663e+02] [ 9.13698799e-02 9.95803533e-01 -5.18344798e-03 2.53942506e+01] [ 5.29143377e-02 3.42848022e-04 9.98598996e-01 1.48852393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.05, Y:25.40, Z:14.89 [[ 9.94569197e-01 -8.93695379e-02 -5.33403904e-02 3.17046348e+02] [ 8.92165449e-02 9.95998431e-01 -5.24728302e-03 2.53961803e+01] [ 5.35958924e-02 4.59940726e-04 9.98562601e-01 1.48864454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.08, Y:25.40, Z:14.89 [[ 9.94582364e-01 -8.93374217e-02 -5.31483503e-02 3.17077517e+02] [ 8.91856783e-02 9.96001314e-01 -5.22474788e-03 2.53980390e+01] [ 5.34025922e-02 4.56370422e-04 9.98572959e-01 1.48875435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.11, Y:25.40, Z:14.89 [[ 9.94552014e-01 -8.98447532e-02 -5.28603010e-02 3.17109397e+02] [ 8.96954740e-02 9.95955692e-01 -5.19442609e-03 2.53989757e+01] [ 5.31132096e-02 4.24797174e-04 9.98588407e-01 1.48890426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.14, Y:25.40, Z:14.89 [[ 9.94314076e-01 -9.26648785e-02 -5.24665451e-02 3.17140373e+02] [ 9.25218814e-02 9.95697317e-01 -5.15303553e-03 2.53969537e+01] [ 5.27183036e-02 2.69432293e-04 9.98609387e-01 1.48893375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.17, Y:25.40, Z:14.89 [[ 9.94175819e-01 -9.43187622e-02 -5.21383933e-02 3.17171625e+02] [ 9.41798763e-02 9.95542033e-01 -5.11977061e-03 2.53963961e+01] [ 5.23888525e-02 1.79564709e-04 9.98626745e-01 1.48906251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.20, Y:25.40, Z:14.89 [[ 9.94020789e-01 -9.62359607e-02 -5.15878944e-02 3.17203146e+02] [ 9.61026688e-02 9.95358546e-01 -5.06388595e-03 2.53959331e+01] [ 5.18357795e-02 7.58735762e-05 9.98655619e-01 1.48919478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.23, Y:25.39, Z:14.89 [[ 9.93680864e-01 -1.00409503e-01 -5.01624628e-02 3.17234082e+02] [ 1.00288880e-01 9.94946186e-01 -4.92223814e-03 2.53921245e+01] [ 5.04031905e-02 -1.39603349e-04 9.98728942e-01 1.48934684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.27, Y:25.39, Z:14.90 [[ 9.93463783e-01 -1.02775726e-01 -4.96675162e-02 3.17266514e+02] [ 1.02660477e-01 9.94704521e-01 -4.87265602e-03 2.53917072e+01] [ 4.99052936e-02 -2.58083636e-04 9.98753921e-01 1.48951937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.30, Y:25.39, Z:14.90 [[ 9.93271665e-01 -1.04957894e-01 -4.89411921e-02 3.17298898e+02] [ 1.04848809e-01 9.94476599e-01 -4.79796610e-03 2.53910924e+01] [ 4.91744547e-02 -3.65741933e-04 9.98790138e-01 1.48965658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.33, Y:25.39, Z:14.90 [[ 9.93030079e-01 -1.07461615e-01 -4.84072753e-02 3.17330567e+02] [ 1.07358035e-01 9.94209115e-01 -4.74224294e-03 2.53898641e+01] [ 4.86365634e-02 -4.87720079e-04 9.98816423e-01 1.48977387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.36, Y:25.38, Z:14.90 [[ 9.92416348e-01 -1.13203191e-01 -4.79043909e-02 3.17361644e+02] [ 1.13108553e-01 9.93571565e-01 -4.69048967e-03 2.53838167e+01] [ 4.81274191e-02 -7.63477702e-04 9.98840913e-01 1.48980613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.39, Y:25.38, Z:14.90 [[ 9.92059242e-01 -1.16263119e-01 -4.79723618e-02 3.17393619e+02] [ 1.16171826e-01 9.93218028e-01 -4.69628466e-03 2.53821054e+01] [ 4.81930193e-02 -9.14044254e-04 9.98837623e-01 1.48987712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.43, Y:25.38, Z:14.90 [[ 9.91658029e-01 -1.19638797e-01 -4.79678149e-02 3.17425971e+02] [ 1.19551587e-01 9.92816897e-01 -4.69332064e-03 2.53825397e+01] [ 4.81847604e-02 -1.08045929e-03 9.98837855e-01 1.48994794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.46, Y:25.38, Z:14.90 [[ 9.91270793e-01 -1.22660213e-01 -4.83392822e-02 3.17458747e+02] [ 1.22575406e-01 9.92447950e-01 -4.72611145e-03 2.53811493e+01] [ 4.85539274e-02 -1.24035091e-03 9.98819792e-01 1.49000431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.49, Y:25.38, Z:14.90 [[ 9.90463173e-01 -1.28856050e-01 -4.87731626e-02 3.17490814e+02] [ 1.28777381e-01 9.91662080e-01 -4.76501180e-03 2.53771275e+01] [ 4.89804965e-02 -1.56131144e-03 9.98798515e-01 1.48999426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.52, Y:25.38, Z:14.90 [[ 9.90024269e-01 -1.31767799e-01 -4.98918157e-02 3.17523072e+02] [ 1.31689268e-01 9.91279071e-01 -4.87234125e-03 2.53765171e+01] [ 5.00987304e-02 -1.74648061e-03 9.98742743e-01 1.49002781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.55, Y:25.37, Z:14.90 [[ 9.89588419e-01 -1.34592492e-01 -5.09864927e-02 3.17554396e+02] [ 1.34514402e-01 9.90899147e-01 -4.97564544e-03 2.53698515e+01] [ 5.11921566e-02 -1.93457649e-03 9.98686948e-01 1.49001709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.58, Y:25.37, Z:14.90 [[ 9.88746558e-01 -1.40291740e-01 -5.19468141e-02 3.17584817e+02] [ 1.40218570e-01 9.90107602e-01 -5.06846262e-03 2.53732693e+01] [ 5.21439989e-02 -2.27248300e-03 9.98636991e-01 1.49008979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.61, Y:25.37, Z:14.90 [[ 9.88377266e-01 -1.42604387e-01 -5.26722792e-02 3.17614978e+02] [ 1.42532471e-01 9.89776788e-01 -5.13852865e-03 2.53723232e+01] [ 5.28665760e-02 -2.42870520e-03 9.98598631e-01 1.49016180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.65, Y:25.37, Z:14.90 [[ 9.88071764e-01 -1.44810574e-01 -5.23840351e-02 3.17645333e+02] [ 1.44742741e-01 9.89456145e-01 -5.10645612e-03 2.53718215e+01] [ 5.25711743e-02 -2.53666371e-03 9.98613958e-01 1.49026523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.68, Y:25.38, Z:14.90 [[ 9.87561986e-01 -1.48405739e-01 -5.19332404e-02 3.17676270e+02] [ 1.48344068e-01 9.88922857e-01 -5.06159849e-03 2.53752611e+01] [ 5.21091388e-02 -2.70534587e-03 9.98637731e-01 1.49045353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.71, Y:25.38, Z:14.91 [[ 9.87379924e-01 -1.49766002e-01 -5.14881639e-02 3.17708200e+02] [ 1.49707286e-01 9.88717633e-01 -5.01705133e-03 2.53774968e+01] [ 5.16586393e-02 -2.75441752e-03 9.98661003e-01 1.49064547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.74, Y:25.38, Z:14.91 [[ 9.87212564e-01 -1.50986542e-01 -5.11313790e-02 3.17739196e+02] [ 1.50930455e-01 9.88531846e-01 -4.97861478e-03 2.53788730e+01] [ 5.12967003e-02 -2.80233125e-03 9.98679526e-01 1.49081285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.77, Y:25.38, Z:14.91 [[ 9.86936142e-01 -1.52826655e-01 -5.10006317e-02 3.17769834e+02] [ 1.52773441e-01 9.88248776e-01 -4.96315736e-03 2.53796831e+01] [ 5.11598146e-02 -2.89322261e-03 9.98686288e-01 1.49099420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.80, Y:25.39, Z:14.91 [[ 9.86818769e-01 -1.53528468e-01 -5.11637326e-02 3.17801611e+02] [ 1.53475957e-01 9.88139848e-01 -4.97702122e-03 2.53860101e+01] [ 5.13210374e-02 -2.94098485e-03 9.98677877e-01 1.49117704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.83, Y:25.39, Z:14.91 [[ 9.86744872e-01 -1.53927556e-01 -5.13893385e-02 3.17832481e+02] [ 1.53875309e-01 9.88077647e-01 -4.99530702e-03 2.53857293e+01] [ 5.15455721e-02 -2.97845674e-03 9.98666202e-01 1.49130007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.86, Y:25.39, Z:14.91 [[ 9.86648927e-01 -1.54450986e-01 -5.16603165e-02 3.17864614e+02] [ 1.54399008e-01 9.87995825e-01 -5.01958361e-03 2.53888504e+01] [ 5.18154567e-02 -3.02373485e-03 9.98652099e-01 1.49146733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.90, Y:25.39, Z:14.92 [[ 9.86604476e-01 -1.54746619e-01 -5.16245329e-02 3.17896660e+02] [ 1.54695309e-01 9.87949512e-01 -5.01239062e-03 2.53945296e+01] [ 5.17780826e-02 -3.04082605e-03 9.98653986e-01 1.49163599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.93, Y:25.40, Z:14.92 [[ 9.86433062e-01 -1.55645536e-01 -5.21946468e-02 3.17928389e+02] [ 1.55594545e-01 9.87808025e-01 -5.06385122e-03 2.53983446e+01] [ 5.23464569e-02 -3.12605204e-03 9.98624092e-01 1.49183544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.96, Y:25.40, Z:14.92 [[ 9.86444585e-01 -1.55572362e-01 -5.21950213e-02 3.17959958e+02] [ 1.55521473e-01 9.87819552e-01 -5.05998822e-03 2.54013468e+01] [ 5.23464569e-02 -3.12604860e-03 9.98624092e-01 1.49198622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.99, Y:25.40, Z:14.92 [[ 9.86434195e-01 -1.55580542e-01 -5.23667236e-02 3.17991069e+02] [ 1.55529531e-01 9.87818218e-01 -5.07280307e-03 2.54017667e+01] [ 5.25180331e-02 -3.14058557e-03 9.98615037e-01 1.49213618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.02, Y:25.40, Z:14.92 [[ 9.86405065e-01 -1.55561839e-01 -5.29675519e-02 3.18022133e+02] [ 1.55509783e-01 9.87821042e-01 -5.12803345e-03 2.54033121e+01] [ 5.31201887e-02 -3.17865436e-03 9.98583067e-01 1.49223235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.05, Y:25.41, Z:14.92 [[ 9.86650572e-01 -1.53440712e-01 -5.45582020e-02 3.18052828e+02] [ 1.53382418e-01 9.88152804e-01 -5.27912584e-03 2.54121157e+01] [ 5.47218731e-02 -3.15961642e-03 9.98496637e-01 1.49237280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.08, Y:25.42, Z:14.93 [[ 9.86935433e-01 -1.51415878e-01 -5.50607169e-02 3.18083373e+02] [ 1.51353481e-01 9.88465356e-01 -5.32569584e-03 2.54185860e+01] [ 5.52320061e-02 -3.07751321e-03 9.98468805e-01 1.49254287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.11, Y:25.42, Z:14.93 [[ 9.87295898e-01 -1.48917599e-01 -5.54108115e-02 3.18113369e+02] [ 1.48850594e-01 9.88845183e-01 -5.35762107e-03 2.54218004e+01] [ 5.55905581e-02 -2.95837488e-03 9.98449267e-01 1.49267968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.14, Y:25.43, Z:14.93 [[ 9.87808612e-01 -1.45413642e-01 -5.55789502e-02 3.18142674e+02] [ 1.45340741e-01 9.89367070e-01 -5.37313867e-03 2.54256245e+01] [ 5.57693107e-02 -2.77025314e-03 9.98439838e-01 1.49283613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.17, Y:25.44, Z:14.93 [[ 9.89060737e-01 -1.36459155e-01 -5.60156840e-02 3.18172283e+02] [ 1.36370723e-01 9.90643070e-01 -5.41612030e-03 2.54387554e+01] [ 5.62306284e-02 -2.28202742e-03 9.98415199e-01 1.49309284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.20, Y:25.45, Z:14.93 [[ 9.89730711e-01 -1.31247316e-01 -5.66326856e-02 3.18201838e+02] [ 1.31148439e-01 9.91347623e-01 -5.47522886e-03 2.54462845e+01] [ 5.68612873e-02 -2.00828614e-03 9.98380068e-01 1.49328100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.23, Y:25.46, Z:14.94 [[ 9.90461022e-01 -1.25739481e-01 -5.63608644e-02 3.18232080e+02] [ 1.25632654e-01 9.92061867e-01 -5.44878527e-03 2.54569076e+01] [ 5.65985918e-02 -1.68395553e-03 9.98395595e-01 1.49356656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.26, Y:25.47, Z:14.94 [[ 9.91827607e-01 -1.14695770e-01 -5.58827142e-02 3.18261664e+02] [ 1.14573268e-01 9.93400115e-01 -5.40168019e-03 2.54695264e+01] [ 5.61334446e-02 -1.04512965e-03 9.98422728e-01 1.49379908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.29, Y:25.48, Z:14.94 [[ 9.92396499e-01 -1.09471269e-01 -5.62603753e-02 3.18291730e+02] [ 1.09338741e-01 9.93989674e-01 -5.43769494e-03 2.54768075e+01] [ 5.65175035e-02 -7.55089186e-04 9.98401323e-01 1.49397303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.32, Y:25.48, Z:14.94 [[ 9.92893005e-01 -1.04686707e-01 -5.66054196e-02 3.18322520e+02] [ 1.04544892e-01 9.94505131e-01 -5.46898710e-03 2.54848107e+01] [ 5.68669105e-02 -4.87688462e-04 9.98381649e-01 1.49421913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.35, Y:25.49, Z:14.94 [[ 9.93342572e-01 -1.00240923e-01 -5.67652314e-02 3.18352562e+02] [ 1.00091160e-01 9.94963166e-01 -5.48250891e-03 2.54911986e+01] [ 5.70288861e-02 -2.35688351e-04 9.98372501e-01 1.49430233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.38, Y:25.50, Z:14.94 [[ 9.93929435e-01 -9.34978798e-02 -5.79864180e-02 3.18381793e+02] [ 9.33301553e-02 9.95619467e-01 -5.59994519e-03 2.55008653e+01] [ 5.82559896e-02 1.54068965e-04 9.98301666e-01 1.49438059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.41, Y:25.51, Z:14.95 [[ 9.94120123e-01 -9.11419114e-02 -5.84665167e-02 3.18410006e+02] [ 9.09670593e-02 9.95837870e-01 -5.65080187e-03 2.55060438e+01] [ 5.87381963e-02 2.99048759e-04 9.98273377e-01 1.49460716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.44, Y:25.51, Z:14.95 [[ 9.94271479e-01 -8.93388047e-02 -5.86754203e-02 3.18438573e+02] [ 8.91586804e-02 9.96001205e-01 -5.68592665e-03 2.55106422e+01] [ 5.89487632e-02 4.21931652e-04 9.98260920e-01 1.49478078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.47, Y:25.52, Z:14.95 [[ 9.94469447e-01 -8.71517743e-02 -5.86096188e-02 3.18465886e+02] [ 8.69674545e-02 9.96194885e-01 -5.69318495e-03 2.55162138e+01] [ 5.88827737e-02 5.64569130e-04 9.98264745e-01 1.49483050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.49, Y:25.52, Z:14.95 [[ 9.94469895e-01 -8.70417796e-02 -5.87652727e-02 3.18493750e+02] [ 8.68557094e-02 9.96204492e-01 -5.71806395e-03 2.55187785e+01] [ 5.90399391e-02 5.82342998e-04 9.98255452e-01 1.49498373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.52, Y:25.52, Z:14.95 [[ 9.94374705e-01 -8.79650691e-02 -5.90007848e-02 3.18520529e+02] [ 8.77781871e-02 9.96123411e-01 -5.75680069e-03 2.55221254e+01] [ 5.92784603e-02 5.45435062e-04 9.98241337e-01 1.49498549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.55, Y:25.52, Z:14.95 [[ 9.94265554e-01 -8.92853140e-02 -5.88569448e-02 3.18549420e+02] [ 8.91009332e-02 9.96005976e-01 -5.75492889e-03 2.55234540e+01] [ 5.91356994e-02 4.77718860e-04 9.98249839e-01 1.49525265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.58, Y:25.52, Z:14.95 [[ 9.93946263e-01 -9.32206666e-02 -5.81440688e-02 3.18576958e+02] [ 9.30467068e-02 9.95645440e-01 -5.69800242e-03 2.55239443e+01] [ 5.84220485e-02 2.53394091e-04 9.98291941e-01 1.49536484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.61, Y:25.52, Z:14.96 [[ 9.93678578e-01 -9.63034895e-02 -5.76933359e-02 3.18606008e+02] [ 9.61370128e-02 9.95352014e-01 -5.66065424e-03 2.55246392e+01] [ 5.79703188e-02 7.84058908e-05 9.98318304e-01 1.49555697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.64, Y:25.53, Z:14.96 [[ 9.93401235e-01 -9.93499159e-02 -5.73025407e-02 3.18635502e+02] [ 9.91900455e-02 9.95052555e-01 -5.63454912e-03 2.55251233e+01] [ 5.75788315e-02 -8.64735701e-05 9.98340959e-01 1.49576089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.67, Y:25.53, Z:14.96 [[ 9.93069315e-01 -1.02860966e-01 -5.68590919e-02 3.18665423e+02] [ 1.02709202e-01 9.94695702e-01 -5.59285088e-03 2.55254173e+01] [ 5.71327804e-02 -2.85863352e-04 9.98366548e-01 1.49588852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.70, Y:25.52, Z:14.96 [[ 9.92408870e-01 -1.09347412e-01 -5.62830211e-02 3.18696021e+02] [ 1.09209076e-01 9.94003380e-01 -5.53704363e-03 2.55226977e+01] [ 5.65509746e-02 -6.51605504e-04 9.98399501e-01 1.49609491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.73, Y:25.52, Z:14.96 [[ 9.92085347e-01 -1.12373433e-01 -5.60256697e-02 3.18727427e+02] [ 1.12241197e-01 9.93665707e-01 -5.51140046e-03 2.55239204e+01] [ 5.62901217e-02 -8.20608588e-04 9.98414117e-01 1.49632048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.76, Y:25.52, Z:14.97 [[ 9.91467682e-01 -1.17708718e-01 -5.60044083e-02 3.18757511e+02] [ 1.17585179e-01 9.93047528e-01 -5.50754808e-03 2.55209587e+01] [ 5.62633256e-02 -1.12473242e-03 9.98415331e-01 1.49651580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.79, Y:25.52, Z:14.97 [[ 9.91158352e-01 -1.20217876e-01 -5.61496535e-02 3.18788383e+02] [ 1.20097741e-01 9.92746719e-01 -5.52137307e-03 2.55222278e+01] [ 5.64061520e-02 -1.27089150e-03 9.98407097e-01 1.49674112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.145099893 meters Centerline goodness [0,1] 0.9998725925296753 Centerline is valid? [True, True] Translation: X:318.82, Y:25.52, Z:14.97 [[ 9.90900755e-01 -1.22479821e-01 -5.58066898e-02 3.18818762e+02] [ 1.22364876e-01 9.92470025e-01 -5.48505762e-03 2.55212504e+01] [ 5.60582757e-02 -1.39363095e-03 9.98426526e-01 1.49686437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17509989300004 meters Centerline goodness [0,1] 0.9998937887671 Centerline is valid? [True, True] Translation: X:318.85, Y:25.52, Z:14.97 [[ 9.90630203e-01 -1.24711050e-01 -5.56682554e-02 3.18850035e+02] [ 1.24600258e-01 9.92191943e-01 -5.47027310e-03 2.55228850e+01] [ 5.59157980e-02 -1.51726121e-03 9.98434335e-01 1.49709580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.88, Y:25.52, Z:14.97 [[ 9.90223536e-01 -1.27709900e-01 -5.61028610e-02 3.18880795e+02] [ 1.27602295e-01 9.91810105e-01 -5.51084134e-03 2.55198133e+01] [ 5.63471734e-02 -1.70188900e-03 9.98409785e-01 1.49719910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.91, Y:25.52, Z:14.97 [[ 9.90045341e-01 -1.28585406e-01 -5.72364882e-02 3.18911328e+02] [ 1.28475019e-01 9.91696824e-01 -5.61956768e-03 2.55197558e+01] [ 5.74838380e-02 -1.78983211e-03 9.98344833e-01 1.49720657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.94, Y:25.52, Z:14.97 [[ 9.89822855e-01 -1.29488290e-01 -5.90211658e-02 3.18942256e+02] [ 1.29372671e-01 9.91579126e-01 -5.79214942e-03 2.55199047e+01] [ 5.92741715e-02 -1.90252396e-03 9.98239928e-01 1.49720346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.97, Y:25.52, Z:14.97 [[ 9.89832977e-01 -1.29400605e-01 -5.90437225e-02 3.18972705e+02] [ 1.29284742e-01 9.91590581e-01 -5.79436307e-03 2.55221879e+01] [ 5.92969932e-02 -1.89800076e-03 9.98238581e-01 1.49734755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.00, Y:25.53, Z:14.98 [[ 9.89858596e-01 -1.29166763e-01 -5.91261889e-02 3.19003194e+02] [ 1.29050159e-01 9.91621091e-01 -5.80245605e-03 2.55258478e+01] [ 5.93802604e-02 -1.88663309e-03 9.98233653e-01 1.49753596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.03, Y:25.53, Z:14.98 [[ 9.89919605e-01 -1.28540338e-01 -5.94689626e-02 3.19032957e+02] [ 1.28421237e-01 9.91702538e-01 -5.83631217e-03 2.55276303e+01] [ 5.97257227e-02 -1.85959792e-03 9.98213093e-01 1.49761269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.06, Y:25.53, Z:14.98 [[ 9.90053634e-01 -1.26824691e-01 -6.09040210e-02 3.19061729e+02] [ 1.26696434e-01 9.91923519e-01 -5.97872785e-03 2.55306673e+01] [ 6.11703812e-02 -1.79706107e-03 9.98125721e-01 1.49763962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.09, Y:25.53, Z:14.98 [[ 9.90100304e-01 -1.26306189e-01 -6.12220048e-02 3.19091072e+02] [ 1.26175416e-01 9.91989722e-01 -6.01292702e-03 2.55346704e+01] [ 6.14910694e-02 -1.77131107e-03 9.98106062e-01 1.49779395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.12, Y:25.54, Z:14.98 [[ 9.90121951e-01 -1.26113919e-01 -6.12682729e-02 3.19120284e+02] [ 1.25982447e-01 9.92014207e-01 -6.01963737e-03 2.55385224e+01] [ 6.15381572e-02 -1.75855185e-03 9.98103182e-01 1.49797327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.15, Y:25.54, Z:14.98 [[ 9.90118244e-01 -1.26337569e-01 -6.08660942e-02 3.19150456e+02] [ 1.26208138e-01 9.91985748e-01 -5.98179223e-03 2.55430922e+01] [ 6.11340231e-02 -1.75911478e-03 9.98128016e-01 1.49823339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.18, Y:25.55, Z:14.98 [[ 9.90097977e-01 -1.26839125e-01 -6.01484115e-02 3.19181079e+02] [ 1.26713652e-01 9.91921724e-01 -5.91125987e-03 2.55467024e+01] [ 6.04122950e-02 -1.76889845e-03 9.98171942e-01 1.49846299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.21, Y:25.55, Z:14.99 [[ 9.89924646e-01 -1.28532399e-01 -5.94021735e-02 3.19210640e+02] [ 1.28413059e-01 9.91703587e-01 -5.83799444e-03 2.55475552e+01] [ 5.96597200e-02 -1.84884021e-03 9.98217060e-01 1.49862064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.24, Y:25.55, Z:14.99 [[ 9.89754392e-01 -1.29834523e-01 -5.94074001e-02 3.19240491e+02] [ 1.29717481e-01 9.91533803e-01 -5.83887493e-03 2.55498113e+01] [ 5.96625329e-02 -1.92712616e-03 9.98216744e-01 1.49875958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.27, Y:25.55, Z:14.99 [[ 9.89582191e-01 -1.31275283e-01 -5.91091120e-02 3.19270609e+02] [ 1.31161959e-01 9.91343929e-01 -5.80987094e-03 2.55521659e+01] [ 5.93601518e-02 -2.00352209e-03 9.98234621e-01 1.49892867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.30, Y:25.55, Z:14.99 [[ 9.89055828e-01 -1.35406282e-01 -5.85978510e-02 3.19301430e+02] [ 1.35302152e-01 9.90787645e-01 -5.75941502e-03 2.55540584e+01] [ 5.88378877e-02 -2.23203235e-03 9.98265055e-01 1.49918569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.33, Y:25.56, Z:14.99 [[ 9.88719471e-01 -1.37788865e-01 -5.87199782e-02 3.19332100e+02] [ 1.37688554e-01 9.90458765e-01 -5.77035746e-03 2.55566863e+01] [ 5.89548081e-02 -2.37980411e-03 9.98257816e-01 1.49944116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.36, Y:25.56, Z:15.00 [[ 9.88397735e-01 -1.40198667e-01 -5.84316008e-02 3.19362636e+02] [ 1.40103598e-01 9.90120206e-01 -5.74096607e-03 2.55576677e+01] [ 5.86591845e-02 -2.51211968e-03 9.98274907e-01 1.49965859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.39, Y:25.56, Z:15.00 [[ 9.87654993e-01 -1.45332434e-01 -5.84473942e-02 3.19392984e+02] [ 1.45246324e-01 9.89378865e-01 -5.74160992e-03 2.55582837e+01] [ 5.86610588e-02 -2.81853944e-03 9.98273978e-01 1.49988264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.42, Y:25.56, Z:15.00 [[ 9.87334377e-01 -1.47396253e-01 -5.86955991e-02 3.19423903e+02] [ 1.47313070e-01 9.89073110e-01 -5.76554406e-03 2.55597103e+01] [ 5.89040584e-02 -2.95410906e-03 9.98259278e-01 1.50003472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.46, Y:25.56, Z:15.00 [[ 9.86992661e-01 -1.49625624e-01 -5.88018641e-02 3.19455399e+02] [ 1.49546155e-01 9.88737882e-01 -5.77473455e-03 2.55618500e+01] [ 5.90036789e-02 -3.09397208e-03 9.98252971e-01 1.50017665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.49, Y:25.56, Z:15.00 [[ 9.86693536e-01 -1.51674225e-01 -5.85729869e-02 3.19486090e+02] [ 1.51599077e-01 9.88425340e-01 -5.75039373e-03 2.55623955e+01] [ 5.87672110e-02 -3.20573444e-03 9.98266567e-01 1.50034970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.52, Y:25.57, Z:15.01 [[ 9.86326517e-01 -1.54677572e-01 -5.68757476e-02 3.19516086e+02] [ 1.54611754e-01 9.87959534e-01 -5.58250304e-03 2.55732284e+01] [ 5.70544251e-02 -3.28748830e-03 9.98365657e-01 1.50076313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.55, Y:25.57, Z:15.01 [[ 9.86195143e-01 -1.55713767e-01 -5.63237271e-02 3.19547727e+02] [ 1.55651082e-01 9.87796646e-01 -5.52511733e-03 2.55704638e+01] [ 5.64967255e-02 -3.31800520e-03 9.98397271e-01 1.50087923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.58, Y:25.57, Z:15.01 [[ 9.86140713e-01 -1.56503431e-01 -5.50742213e-02 3.19578714e+02] [ 1.56445014e-01 9.87671923e-01 -5.39720003e-03 2.55714517e+01] [ 5.52399423e-02 -3.29368865e-03 9.98467676e-01 1.50106520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.61, Y:25.58, Z:15.01 [[ 9.85970742e-01 -1.58063510e-01 -5.36434817e-02 3.19609544e+02] [ 1.58010539e-01 9.87423447e-01 -5.25409637e-03 2.55831669e+01] [ 5.37993126e-02 -3.29585017e-03 9.98546329e-01 1.50140031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.64, Y:25.59, Z:15.02 [[ 9.85875595e-01 -1.58662939e-01 -5.36225995e-02 3.19641120e+02] [ 1.58611105e-01 9.87327187e-01 -5.24808604e-03 2.55878805e+01] [ 5.37757271e-02 -3.33117981e-03 9.98547482e-01 1.50156021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.67, Y:25.59, Z:15.02 [[ 9.85788795e-01 -1.59240856e-01 -5.35051514e-02 3.19672637e+02] [ 1.59190304e-01 9.87234048e-01 -5.23272195e-03 2.55912866e+01] [ 5.36553703e-02 -3.35914263e-03 9.98553863e-01 1.50168560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.70, Y:25.59, Z:15.02 [[ 9.85492030e-01 -1.60339024e-01 -5.56494110e-02 3.19703966e+02] [ 1.60286259e-01 9.87055585e-01 -5.43936902e-03 2.55887426e+01] [ 5.58012050e-02 -3.55938111e-03 9.98435554e-01 1.50154754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.74, Y:25.60, Z:15.02 [[ 9.85349385e-01 -1.61049287e-01 -5.61223311e-02 3.19735692e+02] [ 1.60996907e-01 9.86939679e-01 -5.48317693e-03 2.55980247e+01] [ 5.62724172e-02 -3.63267670e-03 9.98408843e-01 1.50167092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.77, Y:25.60, Z:15.02 [[ 9.85060569e-01 -1.62443830e-01 -5.71636088e-02 3.19767355e+02] [ 1.62392064e-01 9.86710531e-01 -5.58081352e-03 2.56016770e+01] [ 5.73105035e-02 -3.78547706e-03 9.98349226e-01 1.50168383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.80, Y:25.61, Z:15.02 [[ 9.84993439e-01 -1.62785309e-01 -5.73486482e-02 3.19799044e+02] [ 1.62733978e-01 9.86654115e-01 -5.59549191e-03 2.56070168e+01] [ 5.74941437e-02 -3.82105087e-03 9.98338531e-01 1.50183134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.83, Y:25.61, Z:15.02 [[ 9.84945326e-01 -1.63083730e-01 -5.73271487e-02 3.19830693e+02] [ 1.63033177e-01 9.86604755e-01 -5.58929397e-03 2.56066289e+01] [ 5.74707604e-02 -3.84107821e-03 9.98339801e-01 1.50193749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.86, Y:25.61, Z:15.02 [[ 9.84956950e-01 -1.63013397e-01 -5.73274732e-02 3.19862277e+02] [ 1.62962918e-01 9.86616382e-01 -5.58596429e-03 2.56096450e+01] [ 5.74708112e-02 -3.84031798e-03 9.98339801e-01 1.50208836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.89, Y:25.62, Z:15.02 [[ 9.85098268e-01 -1.62215252e-01 -5.71630553e-02 3.19893697e+02] [ 1.62163960e-01 9.86748130e-01 -5.56583682e-03 2.56157840e+01] [ 5.73084015e-02 -3.78689121e-03 9.98349341e-01 1.50228644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.93, Y:25.62, Z:15.02 [[ 9.85278376e-01 -1.61290361e-01 -5.66739951e-02 3.19925603e+02] [ 1.61238649e-01 9.86900042e-01 -5.51416480e-03 2.56203351e+01] [ 5.68209497e-02 -3.70505108e-03 9.98377510e-01 1.50248555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.96, Y:25.63, Z:15.03 [[ 9.85620077e-01 -1.59727456e-01 -5.51380333e-02 3.19956573e+02] [ 1.59676276e-01 9.87154875e-01 -5.36097932e-03 2.56303350e+01] [ 5.52860740e-02 -3.52034697e-03 9.98464349e-01 1.50274955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.99, Y:25.63, Z:15.03 [[ 9.85637637e-01 -1.59618946e-01 -5.51383698e-02 3.19988998e+02] [ 1.59567789e-01 9.87172436e-01 -5.35751637e-03 2.56333982e+01] [ 5.52862399e-02 -3.51773801e-03 9.98464349e-01 1.50290443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.02, Y:25.64, Z:15.03 [[ 9.85833372e-01 -1.58625584e-01 -5.45021730e-02 3.20019886e+02] [ 1.58574393e-01 9.87332860e-01 -5.29011070e-03 2.56365244e+01] [ 5.46509333e-02 -3.42748133e-03 9.98499638e-01 1.50309711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.05, Y:25.64, Z:15.03 [[ 9.86038725e-01 -1.57744807e-01 -5.33311302e-02 3.20051676e+02] [ 1.57694666e-01 9.87474368e-01 -5.17346027e-03 2.56417070e+01] [ 5.34792106e-02 -3.30880260e-03 9.98563481e-01 1.50334451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.08, Y:25.65, Z:15.04 [[ 9.86246563e-01 -1.56665186e-01 -5.26662720e-02 3.20083999e+02] [ 1.56614959e-01 9.87646543e-01 -5.10505851e-03 2.56473284e+01] [ 5.28154464e-02 -3.21347960e-03 9.98599120e-01 1.50357871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.11, Y:25.65, Z:15.04 [[ 9.86502997e-01 -1.55319834e-01 -5.18419266e-02 3.20114198e+02] [ 1.55269541e-01 9.87859383e-01 -5.02079913e-03 2.56515650e+01] [ 5.19923633e-02 -3.09643877e-03 9.98642682e-01 1.50377541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.15, Y:25.66, Z:15.04 [[ 9.86597755e-01 -1.54648873e-01 -5.20441836e-02 3.20146246e+02] [ 1.54597320e-01 9.87964714e-01 -5.03917839e-03 2.56568504e+01] [ 5.21971202e-02 -3.07424924e-03 9.98632069e-01 1.50393840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.18, Y:25.66, Z:15.04 [[ 9.86716873e-01 -1.54134577e-01 -5.13063749e-02 3.20178231e+02] [ 1.54083972e-01 9.88045286e-01 -4.96404035e-03 2.56618947e+01] [ 5.14581522e-02 -3.00738767e-03 9.98670623e-01 1.50412646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.21, Y:25.66, Z:15.04 [[ 9.86752367e-01 -1.53970585e-01 -5.11157971e-02 3.20209875e+02] [ 1.53920324e-01 9.88070904e-01 -4.94193956e-03 2.56629740e+01] [ 5.12669452e-02 -2.99128949e-03 9.98680506e-01 1.50421772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.24, Y:25.67, Z:15.04 [[ 9.86754280e-01 -1.53859186e-01 -5.14134414e-02 3.20242992e+02] [ 1.53808345e-01 9.88088212e-01 -4.96767334e-03 2.56662488e+01] [ 5.15653375e-02 -3.00594339e-03 9.98665099e-01 1.50432046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.28, Y:25.67, Z:15.04 [[ 9.86735467e-01 -1.53646877e-01 -5.23999629e-02 3.20275987e+02] [ 1.53594073e-01 9.88121088e-01 -5.05726259e-03 2.56692241e+01] [ 5.25545409e-02 -3.05814335e-03 9.98613373e-01 1.50434848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.31, Y:25.67, Z:15.04 [[ 9.86832514e-01 -1.52042660e-01 -5.51780575e-02 3.20307443e+02] [ 1.51981945e-01 9.88368955e-01 -5.31950563e-03 2.56726898e+01] [ 5.53450708e-02 -3.13660738e-03 9.98462360e-01 1.50421385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.34, Y:25.68, Z:15.04 [[ 9.86972870e-01 -1.50719700e-01 -5.62861156e-02 3.20339039e+02] [ 1.50654610e-01 9.88571589e-01 -5.42230772e-03 2.56775453e+01] [ 5.64601033e-02 -3.12809216e-03 9.98399956e-01 1.50429099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.37, Y:25.69, Z:15.04 [[ 9.87290579e-01 -1.48471755e-01 -5.66873032e-02 3.20370008e+02] [ 1.48402260e-01 9.88912023e-01 -5.45713631e-03 2.56875627e+01] [ 5.68689863e-02 -3.02474465e-03 9.98377068e-01 1.50448858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.40, Y:25.69, Z:15.05 [[ 9.88214655e-01 -1.42752762e-01 -5.52579895e-02 3.20398683e+02] [ 1.42677936e-01 9.89754886e-01 -5.31716535e-03 2.56945025e+01] [ 5.54509051e-02 -2.62959518e-03 9.98457952e-01 1.50478669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.43, Y:25.70, Z:15.05 [[ 9.88791598e-01 -1.39033458e-01 -5.44139082e-02 3.20428556e+02] [ 1.38955236e-01 9.90284817e-01 -5.23676545e-03 2.57006842e+01] [ 5.46133528e-02 -2.38302776e-03 9.98504734e-01 1.50508113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.46, Y:25.71, Z:15.06 [[ 9.89987986e-01 -1.31123611e-01 -5.22531007e-02 3.20457820e+02] [ 1.31040471e-01 9.91364265e-01 -5.02881183e-03 2.57132243e+01] [ 5.24612527e-02 -1.86880761e-03 9.98621212e-01 1.50551126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.49, Y:25.72, Z:15.06 [[ 9.90594368e-01 -1.26886786e-01 -5.12107536e-02 3.20487917e+02] [ 1.26801281e-01 9.91915897e-01 -4.92836835e-03 2.57188450e+01] [ 5.14221054e-02 -1.61157520e-03 9.98675708e-01 1.50571982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.52, Y:25.73, Z:15.06 [[ 9.91143212e-01 -1.22678807e-01 -5.08433308e-02 3.20519051e+02] [ 1.22589090e-01 9.92445461e-01 -4.89112105e-03 2.57253332e+01] [ 5.10592698e-02 -1.38503620e-03 9.98694664e-01 1.50591057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.55, Y:25.73, Z:15.06 [[ 9.91637090e-01 -1.18543555e-01 -5.10226192e-02 3.20549867e+02] [ 1.18447872e-01 9.92948154e-01 -4.90568225e-03 2.57316541e+01] [ 5.12443526e-02 -1.17886419e-03 9.98685449e-01 1.50609139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.58, Y:25.74, Z:15.06 [[ 9.92432795e-01 -1.11370903e-01 -5.17075442e-02 3.20580470e+02] [ 1.11262998e-01 9.93778571e-01 -4.96965644e-03 2.57395498e+01] [ 5.19393245e-02 -8.21086332e-04 9.98649905e-01 1.50618529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.61, Y:25.74, Z:15.06 [[ 9.92745091e-01 -1.08286905e-01 -5.22602284e-02 3.20611912e+02] [ 1.08172518e-01 9.94119459e-01 -5.02070804e-03 2.57442646e+01] [ 5.24965870e-02 -6.68837224e-04 9.98620880e-01 1.50630468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.64, Y:25.75, Z:15.06 [[ 9.92999004e-01 -1.05627395e-01 -5.28756283e-02 3.20643431e+02] [ 1.05506732e-01 9.94405633e-01 -5.07600995e-03 2.57485013e+01] [ 5.31159883e-02 -5.38261912e-04 9.98588204e-01 1.50640779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.67, Y:25.75, Z:15.06 [[ 9.93424254e-01 -1.00791679e-01 -5.43073526e-02 3.20674270e+02] [ 1.00657376e-01 9.94907510e-01 -5.20960201e-03 2.57533687e+01] [ 5.45558775e-02 -2.91090592e-04 9.98510677e-01 1.50647468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.71, Y:25.76, Z:15.07 [[ 9.93674633e-01 -9.79885016e-02 -5.48541419e-02 3.20705794e+02] [ 9.78473807e-02 9.95187537e-01 -5.25895408e-03 2.57578470e+01] [ 5.51054754e-02 -1.41644842e-04 9.98480529e-01 1.50667403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.74, Y:25.76, Z:15.07 [[ 9.93894511e-01 -9.55188540e-02 -5.52254453e-02 3.20737493e+02] [ 9.53722291e-02 9.95427621e-01 -5.29050574e-03 2.57620077e+01] [ 5.54782767e-02 -8.76920115e-06 9.98459894e-01 1.50683116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.77, Y:25.77, Z:15.07 [[ 9.94350750e-01 -8.99956025e-02 -5.62794546e-02 3.20769360e+02] [ 8.98347146e-02 9.95942117e-01 -5.38731245e-03 2.57671250e+01] [ 5.65359136e-02 3.01029432e-04 9.98400521e-01 1.50698263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.80, Y:25.77, Z:15.07 [[ 9.94531774e-01 -8.75665767e-02 -5.69090940e-02 3.20799917e+02] [ 8.73983210e-02 9.96158572e-01 -5.44357187e-03 2.57713574e+01] [ 5.71671568e-02 4.40045923e-04 9.98364524e-01 1.50702492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.83, Y:25.77, Z:15.07 [[ 9.94762077e-01 -8.50069055e-02 -5.67647498e-02 3.20831345e+02] [ 8.48355072e-02 9.96380192e-01 -5.42680994e-03 2.57735818e+01] [ 5.70205886e-02 5.82718385e-04 9.98372833e-01 1.50727775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.86, Y:25.78, Z:15.07 [[ 9.95100158e-01 -8.14272493e-02 -5.60827925e-02 3.20860642e+02] [ 8.12543538e-02 9.96678985e-01 -5.36007470e-03 2.57757891e+01] [ 5.63329968e-02 7.76840121e-04 9.98411734e-01 1.50744086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.89, Y:25.78, Z:15.08 [[ 9.95239611e-01 -8.02367518e-02 -5.53189021e-02 3.20889542e+02] [ 8.00666307e-02 9.96775485e-01 -5.28833447e-03 2.57781595e+01] [ 5.55648443e-02 8.33961831e-04 9.98454732e-01 1.50762645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.92, Y:25.78, Z:15.08 [[ 9.95341238e-01 -7.93499174e-02 -5.47668762e-02 3.20918610e+02] [ 7.91816845e-02 9.96846438e-01 -5.23832381e-03 2.57800753e+01] [ 5.50098260e-02 8.77386190e-04 9.98485428e-01 1.50781725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.95, Y:25.78, Z:15.08 [[ 9.95418629e-01 -7.90234711e-02 -5.38241887e-02 3.20947495e+02] [ 7.88604011e-02 9.96872366e-01 -5.15014123e-03 2.57804571e+01] [ 5.40628284e-02 8.81949407e-04 9.98537146e-01 1.50801545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.98, Y:25.78, Z:15.08 [[ 9.95327830e-01 -7.98003078e-02 -5.43546014e-02 3.20976905e+02] [ 7.96350107e-02 9.96810507e-01 -5.20366106e-03 2.57793091e+01] [ 5.45964916e-02 8.50819403e-04 9.98508137e-01 1.50821317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.01, Y:25.78, Z:15.08 [[ 9.95153503e-01 -8.15297229e-02 -5.49764534e-02 3.21007242e+02] [ 8.13631498e-02 9.96670616e-01 -5.26508289e-03 2.57789897e+01] [ 5.52226764e-02 7.66508261e-04 9.98473770e-01 1.50829260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.04, Y:25.78, Z:15.08 [[ 9.94890868e-01 -8.39721324e-02 -5.60432074e-02 3.21037300e+02] [ 8.38028284e-02 9.96467895e-01 -5.36845269e-03 2.57781393e+01] [ 5.62960573e-02 6.44445269e-04 9.98413911e-01 1.50836109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.07, Y:25.77, Z:15.08 [[ 9.94255238e-01 -9.07973287e-02 -5.66777384e-02 3.21066673e+02] [ 9.06350018e-02 9.95869356e-01 -5.43338547e-03 2.57715004e+01] [ 5.69369598e-02 2.65185045e-04 9.98377740e-01 1.50833824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.10, Y:25.77, Z:15.08 [[ 9.93853144e-01 -9.49553583e-02 -5.69157947e-02 3.21095948e+02] [ 9.47977478e-02 9.95481531e-01 -5.46888167e-03 2.57690547e+01] [ 5.71779221e-02 3.97760815e-05 9.98364004e-01 1.50826370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.13, Y:25.77, Z:15.09 [[ 9.93394374e-01 -9.93338075e-02 -5.74492136e-02 3.21125511e+02] [ 9.91803674e-02 9.95054144e-01 -5.52310129e-03 2.57661657e+01] [ 5.77137088e-02 -2.11216355e-04 9.98333152e-01 1.50851218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.16, Y:25.76, Z:15.09 [[ 9.92426563e-01 -1.08274452e-01 -5.80186122e-02 3.21155451e+02] [ 1.08133078e-01 9.94120768e-01 -5.57996587e-03 2.57577037e+01] [ 5.82816751e-02 -7.36024775e-04 9.98299907e-01 1.50854731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.19, Y:25.75, Z:15.09 [[ 9.91966513e-01 -1.12293421e-01 -5.82462353e-02 3.21185341e+02] [ 1.12157748e-01 9.93674614e-01 -5.60364764e-03 2.57548261e+01] [ 5.85070582e-02 -9.74135784e-04 9.98286520e-01 1.50861306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.22, Y:25.75, Z:15.09 [[ 9.91574431e-01 -1.15730992e-01 -5.81935130e-02 3.21215966e+02] [ 1.15601455e-01 9.93279898e-01 -5.59891279e-03 2.57532619e+01] [ 5.84504144e-02 -1.17551602e-03 9.98289621e-01 1.50872750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.25, Y:25.75, Z:15.09 [[ 9.90891615e-01 -1.21119411e-01 -5.88548698e-02 3.21246269e+02] [ 1.20996385e-01 9.92636796e-01 -5.66274889e-03 2.57478226e+01] [ 5.91073782e-02 -1.51005611e-03 9.98250488e-01 1.50876193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.28, Y:25.75, Z:15.09 [[ 9.90653364e-01 -1.23121845e-01 -5.87104993e-02 3.21276319e+02] [ 1.23002871e-01 9.92390232e-01 -5.64990031e-03 2.57476081e+01] [ 5.89593521e-02 -1.62446721e-03 9.98259063e-01 1.50889971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.31, Y:25.75, Z:15.09 [[ 9.90179871e-01 -1.26910951e-01 -5.86296312e-02 3.21306936e+02] [ 1.26798883e-01 9.91912396e-01 -5.64295541e-03 2.57454117e+01] [ 5.88716108e-02 -1.84663086e-03 9.98263855e-01 1.50904798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.34, Y:25.75, Z:15.09 [[ 9.90179871e-01 -1.26910951e-01 -5.86296312e-02 3.21336781e+02] [ 1.26798883e-01 9.91912396e-01 -5.64295541e-03 2.57482842e+01] [ 5.88716108e-02 -1.84663086e-03 9.98263855e-01 1.50919063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.37, Y:25.75, Z:15.09 [[ 9.89711302e-01 -1.30732101e-01 -5.81434212e-02 3.21367919e+02] [ 1.30628473e-01 9.91415598e-01 -5.59596120e-03 2.57473727e+01] [ 5.83758665e-02 -2.05680028e-03 9.98292556e-01 1.50941309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.40, Y:25.74, Z:15.09 [[ 9.89428163e-01 -1.33019899e-01 -5.77721172e-02 3.21397594e+02] [ 1.32921519e-01 9.91110973e-01 -5.55955771e-03 2.57441959e+01] [ 5.79981111e-02 -2.17837459e-03 9.98314316e-01 1.50946570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.43, Y:25.75, Z:15.10 [[ 9.89146947e-01 -1.35321912e-01 -5.72389448e-02 3.21428222e+02] [ 1.35229134e-01 9.90799037e-01 -5.50909694e-03 2.57460961e+01] [ 5.74577929e-02 -2.29106653e-03 9.98345308e-01 1.50966858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.46, Y:25.74, Z:15.10 [[ 9.88545648e-01 -1.40244077e-01 -5.57593140e-02 3.21458467e+02] [ 1.40163828e-01 9.90113780e-01 -5.36683570e-03 2.57434501e+01] [ 5.59607321e-02 -2.51007684e-03 9.98429815e-01 1.50983626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.49, Y:25.74, Z:15.10 [[ 9.88208207e-01 -1.42558614e-01 -5.58711087e-02 3.21490048e+02] [ 1.42481701e-01 9.89782825e-01 -5.37812798e-03 2.57448829e+01] [ 5.60669622e-02 -2.64590037e-03 9.98423505e-01 1.50999826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.52, Y:25.74, Z:15.10 [[ 9.87572296e-01 -1.46745634e-01 -5.62732469e-02 3.21520535e+02] [ 1.46674481e-01 9.89169992e-01 -5.41507169e-03 2.57421533e+01] [ 5.64584454e-02 -2.90607453e-03 9.98400720e-01 1.51002901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.55, Y:25.75, Z:15.10 [[ 9.87319290e-01 -1.48224542e-01 -5.68340091e-02 3.21551237e+02] [ 1.48154453e-01 9.88949117e-01 -5.46822143e-03 2.57457665e+01] [ 5.70164678e-02 -3.02133102e-03 9.98368666e-01 1.51013707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.58, Y:25.75, Z:15.10 [[ 9.87034498e-01 -1.49774208e-01 -5.77112392e-02 3.21582150e+02] [ 1.49704716e-01 9.88715173e-01 -5.55026645e-03 2.57484619e+01] [ 5.78912646e-02 -3.16134020e-03 9.98317889e-01 1.51023453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.61, Y:25.75, Z:15.10 [[ 9.86878499e-01 -1.50588096e-01 -5.82585139e-02 3.21613140e+02] [ 1.50518756e-01 9.88591282e-01 -5.60183844e-03 2.57473851e+01] [ 5.84374292e-02 -3.24066514e-03 9.98285813e-01 1.51024079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.64, Y:25.75, Z:15.10 [[ 9.86744126e-01 -1.51430275e-01 -5.83515392e-02 3.21642961e+02] [ 1.51362224e-01 9.88462445e-01 -5.61002392e-03 2.57505195e+01] [ 5.85278326e-02 -3.29656063e-03 9.98280334e-01 1.51037870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.67, Y:25.76, Z:15.11 [[ 9.86794524e-01 -1.51232439e-01 -5.80113569e-02 3.21673556e+02] [ 1.51164838e-01 9.88492835e-01 -5.57731763e-03 2.57559481e+01] [ 5.81872820e-02 -3.26561089e-03 9.98300344e-01 1.51057597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.70, Y:25.76, Z:15.11 [[ 9.86915288e-01 -1.50492214e-01 -5.78818350e-02 3.21704719e+02] [ 1.50423768e-01 9.88605961e-01 -5.56277318e-03 2.57599087e+01] [ 5.80594811e-02 -3.21681783e-03 9.98307943e-01 1.51075533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.74, Y:25.77, Z:15.11 [[ 9.87402630e-01 -1.47434651e-01 -5.74375375e-02 3.21735045e+02] [ 1.47362203e-01 9.89067202e-01 -5.51818556e-03 2.57674252e+01] [ 5.76231563e-02 -3.01545115e-03 9.98333851e-01 1.51093645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.77, Y:25.77, Z:15.11 [[ 9.87785827e-01 -1.44843927e-01 -5.74403705e-02 3.21765588e+02] [ 1.44767176e-01 9.89450365e-01 -5.51721754e-03 2.57721933e+01] [ 5.76335310e-02 -2.86565095e-03 9.98333694e-01 1.51105814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.80, Y:25.77, Z:15.11 [[ 9.88239129e-01 -1.41820082e-01 -5.71881798e-02 3.21795339e+02] [ 1.41739054e-01 9.89888825e-01 -5.49126714e-03 2.57731099e+01] [ 5.73887121e-02 -2.67911344e-03 9.98348315e-01 1.51109871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.83, Y:25.78, Z:15.11 [[ 9.88239129e-01 -1.41820082e-01 -5.71881798e-02 3.21825202e+02] [ 1.41739054e-01 9.89888825e-01 -5.49126714e-03 2.57759774e+01] [ 5.73887121e-02 -2.67911344e-03 9.98348315e-01 1.51124144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.85, Y:25.79, Z:15.12 [[ 9.89404614e-01 -1.34012836e-01 -5.58486299e-02 3.21854623e+02] [ 1.33923138e-01 9.90977212e-01 -5.36264799e-03 2.57907396e+01] [ 5.60633832e-02 -2.17359508e-03 9.98424846e-01 1.51154714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.88, Y:25.80, Z:15.12 [[ 9.90694288e-01 -1.24472848e-01 -5.50575788e-02 3.21883696e+02] [ 1.24370948e-01 9.92221708e-01 -5.28672344e-03 2.58034460e+01] [ 5.52873784e-02 -1.61003653e-03 9.98469185e-01 1.51181982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.91, Y:25.81, Z:15.12 [[ 9.91331399e-01 -1.19528022e-01 -5.45445616e-02 3.21913914e+02] [ 1.19420546e-01 9.92829947e-01 -5.23723614e-03 2.58101650e+01] [ 5.47794707e-02 -1.32190470e-03 9.98497602e-01 1.51199302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.94, Y:25.82, Z:15.12 [[ 9.91956349e-01 -1.14572558e-01 -5.38120000e-02 3.21944378e+02] [ 1.14460758e-01 9.93414343e-01 -5.16514572e-03 2.58188862e+01] [ 5.40493966e-02 -1.03576323e-03 9.98537726e-01 1.51221057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.98, Y:25.83, Z:15.12 [[ 9.93019545e-01 -1.05617760e-01 -5.25078230e-02 3.21975024e+02] [ 1.05498900e-01 9.94406658e-01 -5.03799855e-03 2.58298402e+01] [ 5.27462309e-02 -5.36686533e-04 9.98607804e-01 1.51241218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.01, Y:25.84, Z:15.13 [[ 9.93460830e-01 -1.01781371e-01 -5.17313371e-02 3.22005716e+02] [ 1.01660944e-01 9.94806737e-01 -4.96077965e-03 2.58359594e+01] [ 5.19675976e-02 -3.30716276e-04 9.98648717e-01 1.51259049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.04, Y:25.84, Z:15.13 [[ 9.94111476e-01 -9.54286501e-02 -5.13395218e-02 3.22035673e+02] [ 9.53016616e-02 9.95436273e-01 -4.92143807e-03 2.58444013e+01] [ 5.15748684e-02 -2.83670891e-07 9.98669131e-01 1.51277909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.07, Y:25.85, Z:15.13 [[ 9.94320001e-01 -9.30300457e-02 -5.17024759e-02 3.22065654e+02] [ 9.28980573e-02 9.95663294e-01 -4.95537804e-03 2.58492930e+01] [ 5.19392566e-02 1.24171927e-04 9.98650238e-01 1.51287673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.10, Y:25.85, Z:15.13 [[ 9.94323263e-01 -9.29951657e-02 -5.17024907e-02 3.22096328e+02] [ 9.28631382e-02 9.95666552e-01 -4.95522365e-03 2.58522039e+01] [ 5.19392525e-02 1.25838602e-04 9.98650238e-01 1.51302332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.13, Y:25.86, Z:15.13 [[ 9.94459308e-01 -9.12000175e-02 -5.22804169e-02 3.22127472e+02] [ 9.10626388e-02 9.95832570e-01 -5.00874213e-03 2.58565801e+01] [ 5.25193393e-02 2.20197509e-04 9.98619883e-01 1.51307649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.16, Y:25.86, Z:15.13 [[ 9.94636098e-01 -8.90025571e-02 -5.27027341e-02 3.22157566e+02] [ 8.88599544e-02 9.96031340e-01 -5.04751855e-03 2.58607204e+01] [ 5.29428169e-02 3.37281603e-04 9.98597489e-01 1.51316826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.19, Y:25.86, Z:15.13 [[ 9.94671703e-01 -8.87532466e-02 -5.24505884e-02 3.22186447e+02] [ 8.86116549e-02 9.96053583e-01 -5.02346257e-03 2.58636130e+01] [ 5.26894451e-02 3.48962630e-04 9.98610885e-01 1.51325440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.22, Y:25.86, Z:15.13 [[ 9.94656088e-01 -8.94988484e-02 -5.14705967e-02 3.22216439e+02] [ 8.93634484e-02 9.95986879e-01 -4.93059438e-03 2.58649155e+01] [ 5.17053215e-02 3.04655703e-04 9.98662339e-01 1.51347406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.25, Y:25.87, Z:15.14 [[ 9.94638310e-01 -9.03350708e-02 -5.03409070e-02 3.22246228e+02] [ 9.02065349e-02 9.95911396e-01 -4.82412943e-03 2.58671618e+01] [ 5.05708710e-02 2.57185166e-04 9.98720442e-01 1.51363762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.28, Y:25.87, Z:15.14 [[ 9.94533861e-01 -9.16592247e-02 -5.00098552e-02 3.22276278e+02] [ 9.15340048e-02 9.95790415e-01 -4.79326053e-03 2.58688582e+01] [ 5.02386810e-02 1.89457584e-04 9.98737222e-01 1.51384044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.31, Y:25.87, Z:15.14 [[ 9.94385431e-01 -9.35397591e-02 -4.94765338e-02 3.22306616e+02] [ 9.34195298e-02 9.95615541e-01 -4.74201278e-03 2.58701276e+01] [ 4.97031727e-02 9.33139036e-05 9.98764029e-01 1.51398041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.34, Y:25.87, Z:15.14 [[ 9.93879496e-01 -9.87803555e-02 -4.94569297e-02 3.22337982e+02] [ 9.86668481e-02 9.95109246e-01 -4.73720681e-03 2.58680151e+01] [ 4.96829910e-02 -1.71546656e-04 9.98765023e-01 1.51407225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.37, Y:25.87, Z:15.14 [[ 9.93560970e-01 -1.01882767e-01 -4.95631023e-02 3.22369415e+02] [ 1.01772717e-01 9.94796358e-01 -4.74560187e-03 2.58678463e+01] [ 4.97886887e-02 -3.29126769e-04 9.98759720e-01 1.51419586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.40, Y:25.86, Z:15.14 [[ 9.92822032e-01 -1.09177720e-01 -4.88327553e-02 3.22400103e+02] [ 1.09079791e-01 9.94022009e-01 -4.67385871e-03 2.58618987e+01] [ 4.90511148e-02 -6.86356827e-04 9.98796034e-01 1.51430940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.43, Y:25.86, Z:15.14 [[ 9.92393192e-01 -1.12910571e-01 -4.90607390e-02 3.22431268e+02] [ 1.12816493e-01 9.93604766e-01 -4.69137135e-03 2.58623759e+01] [ 4.92766895e-02 -8.79175506e-04 9.98784779e-01 1.51446996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.46, Y:25.86, Z:15.15 [[ 9.91963477e-01 -1.16592692e-01 -4.91386210e-02 3.22463144e+02] [ 1.16502914e-01 9.93179243e-01 -4.69703895e-03 2.58615515e+01] [ 4.93510988e-02 -1.06550147e-03 9.98780924e-01 1.51461462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.49, Y:25.86, Z:15.15 [[ 9.91537410e-01 -1.20194423e-01 -4.90598099e-02 3.22494441e+02] [ 1.20109424e-01 9.92749592e-01 -4.68769558e-03 2.58589235e+01] [ 4.92675411e-02 -1.24451998e-03 9.98784842e-01 1.51474431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.53, Y:25.86, Z:15.15 [[ 9.90653978e-01 -1.27064582e-01 -4.95912011e-02 3.22525422e+02] [ 1.26986451e-01 9.91893146e-01 -4.73583164e-03 2.58564495e+01] [ 4.97909289e-02 -1.60584015e-03 9.98758372e-01 1.51490967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.56, Y:25.86, Z:15.15 [[ 9.90286200e-01 -1.29787074e-01 -4.98854433e-02 3.22558111e+02] [ 1.29711513e-01 9.91540336e-01 -4.76286751e-03 2.58558507e+01] [ 5.00815879e-02 -1.75411434e-03 9.98743590e-01 1.51502372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.59, Y:25.86, Z:15.15 [[ 9.89957957e-01 -1.32203475e-01 -5.00548105e-02 3.22590507e+02] [ 1.32130667e-01 9.91220804e-01 -4.77534417e-03 2.58551645e+01] [ 5.02466866e-02 -1.88638555e-03 9.98735056e-01 1.51509842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.62, Y:25.85, Z:15.15 [[ 9.89339411e-01 -1.36228226e-01 -5.14723261e-02 3.22621935e+02] [ 1.36156858e-01 9.90675139e-01 -4.90693644e-03 2.58522531e+01] [ 5.16608171e-02 -2.15368459e-03 9.98662366e-01 1.51518581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.65, Y:25.85, Z:15.15 [[ 9.89142160e-01 -1.37607423e-01 -5.15944242e-02 3.22653690e+02] [ 1.37537644e-01 9.90484334e-01 -4.91747509e-03 2.58518015e+01] [ 5.17801500e-02 -2.23209361e-03 9.98656014e-01 1.51529753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.69, Y:25.85, Z:15.15 [[ 9.88935654e-01 -1.39069027e-01 -5.16340833e-02 3.22685155e+02] [ 1.39001269e-01 9.90279988e-01 -4.91851280e-03 2.58527765e+01] [ 5.18162122e-02 -2.31311044e-03 9.98653959e-01 1.51544911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.72, Y:25.85, Z:15.16 [[ 9.88585809e-01 -1.41369708e-01 -5.20836181e-02 3.22716078e+02] [ 1.41304044e-01 9.89953822e-01 -4.95952623e-03 2.58507886e+01] [ 5.22615036e-02 -2.45670861e-03 9.98630412e-01 1.51565833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.75, Y:25.85, Z:15.16 [[ 9.88466631e-01 -1.41778618e-01 -5.32216416e-02 3.22747512e+02] [ 1.41710704e-01 9.89895148e-01 -5.06680892e-03 2.58549961e+01] [ 5.34022100e-02 -2.53370477e-03 9.98569870e-01 1.51574486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.78, Y:25.86, Z:15.16 [[ 9.88318674e-01 -1.42352359e-01 -5.44242984e-02 3.22778368e+02] [ 1.42282321e-01 9.89812566e-01 -5.17928082e-03 2.58573427e+01] [ 5.46071373e-02 -2.62483554e-03 9.98504467e-01 1.51581796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.81, Y:25.86, Z:15.16 [[ 9.88222531e-01 -1.42692163e-01 -5.52736392e-02 3.22809125e+02] [ 1.42620559e-01 9.89763470e-01 -5.25820368e-03 2.58585794e+01] [ 5.54581334e-02 -2.68688199e-03 9.98457398e-01 1.51595923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.84, Y:25.86, Z:15.16 [[ 9.88161708e-01 -1.43048458e-01 -5.54398540e-02 3.22839918e+02] [ 1.42977047e-01 9.89711959e-01 -5.27285698e-03 2.58621082e+01] [ 5.56237606e-02 -2.71619125e-03 9.98448106e-01 1.51611615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.87, Y:25.86, Z:15.16 [[ 9.88090338e-01 -1.43268479e-01 -5.61393537e-02 3.22869859e+02] [ 1.43195708e-01 9.89679998e-01 -5.33764214e-03 2.58648295e+01] [ 5.63247113e-02 -2.76484190e-03 9.98408675e-01 1.51625811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.90, Y:25.87, Z:15.16 [[ 9.87995430e-01 -1.43510438e-01 -5.71820307e-02 3.22899747e+02] [ 1.43435336e-01 9.89644756e-01 -5.43695572e-03 2.58663742e+01] [ 5.73701567e-02 -2.83023637e-03 9.98348964e-01 1.51630675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.93, Y:25.87, Z:15.16 [[ 9.87674982e-01 -1.44979385e-01 -5.89839627e-02 3.22928166e+02] [ 1.44901984e-01 9.89430110e-01 -5.61006796e-03 2.58674502e+01] [ 5.91738529e-02 -3.00596944e-03 9.98243166e-01 1.51629338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.96, Y:25.87, Z:15.17 [[ 9.87533234e-01 -1.45688540e-01 -5.96067182e-02 3.22958311e+02] [ 1.45610563e-01 9.89325720e-01 -5.67300301e-03 2.58732308e+01] [ 5.97969509e-02 -3.07708880e-03 9.98205819e-01 1.51652479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.99, Y:25.88, Z:15.17 [[ 9.87406300e-01 -1.46499917e-01 -5.97207977e-02 3.22988416e+02] [ 1.46423121e-01 9.89205724e-01 -5.68386039e-03 2.58765745e+01] [ 5.99088399e-02 -3.13222600e-03 9.98198938e-01 1.51671250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.02, Y:25.88, Z:15.17 [[ 9.87326261e-01 -1.47503804e-01 -5.85617748e-02 3.23018613e+02] [ 1.47431715e-01 9.89056533e-01 -5.57355169e-03 2.58810625e+01] [ 5.87430260e-02 -3.13094895e-03 9.98268228e-01 1.51703728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.05, Y:25.88, Z:15.17 [[ 9.87326266e-01 -1.47766841e-01 -5.78947777e-02 3.23049000e+02] [ 1.47696833e-01 9.89017333e-01 -5.51007098e-03 2.58845887e+01] [ 5.80731444e-02 -3.11063752e-03 9.98307485e-01 1.51730671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.08, Y:25.89, Z:15.18 [[ 9.87498750e-01 -1.46847111e-01 -5.72899999e-02 3.23079428e+02] [ 1.46777034e-01 9.89154577e-01 -5.45215028e-03 2.58894974e+01] [ 5.74692981e-02 -3.02486470e-03 9.98342692e-01 1.51757470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.11, Y:25.89, Z:15.18 [[ 9.87711051e-01 -1.45622231e-01 -5.67542565e-02 3.23110083e+02] [ 1.45551558e-01 9.89335936e-01 -5.39912766e-03 2.58919924e+01] [ 5.69352585e-02 -2.92789240e-03 9.98373579e-01 1.51772502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.14, Y:25.90, Z:15.18 [[ 9.87966277e-01 -1.44075984e-01 -5.62560720e-02 3.23141046e+02] [ 1.44004170e-01 9.89562621e-01 -5.34954992e-03 2.59011704e+01] [ 5.64396477e-02 -2.81593403e-03 9.98402042e-01 1.51803511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.17, Y:25.90, Z:15.18 [[ 9.88285821e-01 -1.42214622e-01 -5.53727086e-02 3.23171563e+02] [ 1.42142283e-01 9.89832246e-01 -5.26280415e-03 2.59027030e+01] [ 5.55581402e-02 -2.66964849e-03 9.98451885e-01 1.51816817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.20, Y:25.91, Z:15.18 [[ 9.88633496e-01 -1.40196663e-01 -5.43019904e-02 3.23202028e+02] [ 1.40124117e-01 9.90120501e-01 -5.15993464e-03 2.59095807e+01] [ 5.44889196e-02 -2.50773424e-03 9.98511226e-01 1.51844314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.23, Y:25.92, Z:15.19 [[ 9.89299183e-01 -1.35442243e-01 -5.42450413e-02 3.23231551e+02] [ 1.35362810e-01 9.90782700e-01 -5.15280460e-03 2.59194000e+01] [ 5.44429559e-02 -2.24509581e-03 9.98514358e-01 1.51868009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.26, Y:25.92, Z:15.19 [[ 9.89691482e-01 -1.32626316e-01 -5.40465584e-02 3.23261782e+02] [ 1.32543305e-01 9.91163922e-01 -5.13333716e-03 2.59225843e+01] [ 5.42498144e-02 -2.08308942e-03 9.98525222e-01 1.51879056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.29, Y:25.93, Z:15.19 [[ 9.90012757e-01 -1.29997814e-01 -5.45463965e-02 3.23292512e+02] [ 1.29909532e-01 9.91512340e-01 -5.17620264e-03 2.59292503e+01] [ 5.47563203e-02 -1.96159021e-03 9.98497821e-01 1.51895251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.32, Y:25.94, Z:15.19 [[ 9.90656529e-01 -1.25050502e-01 -5.44243917e-02 3.23323134e+02] [ 1.24955258e-01 9.92148945e-01 -5.16278009e-03 2.59369553e+01] [ 5.46427110e-02 -1.68607210e-03 9.98504547e-01 1.51907806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.35, Y:25.94, Z:15.19 [[ 9.90953574e-01 -1.22564172e-01 -5.46721024e-02 3.23354434e+02] [ 1.22464349e-01 9.92459369e-01 -5.18501759e-03 2.59435574e+01] [ 5.48953376e-02 -1.55727175e-03 9.98490900e-01 1.51924486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.38, Y:25.95, Z:15.19 [[ 9.91506834e-01 -1.18075300e-01 -5.45199265e-02 3.23384129e+02] [ 1.17969403e-01 9.93003783e-01 -5.16783621e-03 2.59492261e+01] [ 5.47486871e-02 -1.30773827e-03 9.98499310e-01 1.51935796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.42, Y:25.95, Z:15.20 [[ 9.91796591e-01 -1.15632993e-01 -5.44842524e-02 3.23415434e+02] [ 1.15523616e-01 9.93291314e-01 -5.16332148e-03 2.59544458e+01] [ 5.47157850e-02 -1.17325320e-03 9.98501280e-01 1.51950776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.45, Y:25.96, Z:15.20 [[ 9.92063235e-01 -1.13538385e-01 -5.40330687e-02 3.23446222e+02] [ 1.13427812e-01 9.93533055e-01 -5.11863510e-03 2.59597910e+01] [ 5.42648014e-02 -1.05084308e-03 9.98526027e-01 1.51969517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.48, Y:25.96, Z:15.20 [[ 9.92342007e-01 -1.11454046e-01 -5.32478876e-02 3.23475986e+02] [ 1.11343763e-01 9.93769158e-01 -5.04245429e-03 2.59632453e+01] [ 5.34781104e-02 -9.24980995e-04 9.98568594e-01 1.51981108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.51, Y:25.97, Z:15.20 [[ 9.92803324e-01 -1.07789516e-01 -5.21821899e-02 3.23506250e+02] [ 1.07678598e-01 9.94173481e-01 -4.94053213e-03 2.59692133e+01] [ 5.24106870e-02 -7.13928343e-04 9.98625360e-01 1.51998319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.54, Y:25.97, Z:15.20 [[ 9.93007874e-01 -1.06183769e-01 -5.15787630e-02 3.23537271e+02] [ 1.06073331e-01 9.94346327e-01 -4.88161938e-03 2.59748023e+01] [ 5.18055023e-02 -6.23644723e-04 9.98656999e-01 1.52020300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.57, Y:25.98, Z:15.20 [[ 9.93224781e-01 -1.04600033e-01 -5.06297125e-02 3.23567865e+02] [ 1.04491660e-01 9.94514228e-01 -4.78997555e-03 2.59783391e+01] [ 5.08530011e-02 -5.32860291e-04 9.98706007e-01 1.52031394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.60, Y:25.98, Z:15.20 [[ 9.93251771e-01 -1.04771505e-01 -4.97378256e-02 3.23598074e+02] [ 1.04667224e-01 9.94496177e-01 -4.70376989e-03 2.59804166e+01] [ 4.99568985e-02 -5.33892378e-04 9.98751232e-01 1.52041753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.63, Y:25.98, Z:15.21 [[ 9.93180770e-01 -1.05584721e-01 -4.94350550e-02 3.23629295e+02] [ 1.05482850e-01 9.94410145e-01 -4.67236988e-03 2.59829155e+01] [ 4.96520511e-02 -5.74042589e-04 9.98766411e-01 1.52054796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.66, Y:25.98, Z:15.21 [[ 9.92815071e-01 -1.09311511e-01 -4.86747267e-02 3.23660731e+02] [ 1.09217309e-01 9.94007259e-01 -4.59879428e-03 2.59824927e+01] [ 4.88857328e-02 -7.50370382e-04 9.98804096e-01 1.52056968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.69, Y:25.98, Z:15.21 [[ 9.92197831e-01 -1.14947642e-01 -4.82752920e-02 3.23693327e+02] [ 1.14861726e-01 9.93371027e-01 -4.55931582e-03 2.59818659e+01] [ 4.84793590e-02 -1.02124007e-03 9.98823663e-01 1.52062441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.72, Y:25.98, Z:15.21 [[ 9.91791051e-01 -1.18291612e-01 -4.85551733e-02 3.23724985e+02] [ 1.18208871e-01 9.92978180e-01 -4.58218857e-03 2.59815636e+01] [ 4.87562621e-02 -1.19507860e-03 9.98809991e-01 1.52067767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.76, Y:25.98, Z:15.21 [[ 9.91799491e-01 -1.18220730e-01 -4.85554240e-02 3.23756517e+02] [ 1.18138035e-01 9.92986623e-01 -4.57953055e-03 2.59844784e+01] [ 4.87562819e-02 -1.19426630e-03 9.98809991e-01 1.52082824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.79, Y:25.98, Z:15.21 [[ 9.91034846e-01 -1.24269471e-01 -4.90615174e-02 3.23787667e+02] [ 1.24192609e-01 9.92247356e-01 -4.62378708e-03 2.59817849e+01] [ 4.92557565e-02 -1.51074375e-03 9.98785056e-01 1.52077627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.82, Y:25.98, Z:15.21 [[ 9.91043674e-01 -1.24199011e-01 -4.90616080e-02 3.23819203e+02] [ 1.24122111e-01 9.92256182e-01 -4.62282470e-03 2.59846974e+01] [ 4.92558341e-02 -1.50820921e-03 9.98785056e-01 1.52092692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.85, Y:25.99, Z:15.21 [[ 9.90708218e-01 -1.26858091e-01 -4.90331754e-02 3.23851051e+02] [ 1.26784704e-01 9.91919516e-01 -4.61662424e-03 2.59873090e+01] [ 4.92226198e-02 -1.64292907e-03 9.98786481e-01 1.52100944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.88, Y:25.99, Z:15.21 [[ 9.90367851e-01 -1.29502705e-01 -4.89956102e-02 3.23882261e+02] [ 1.29432838e-01 9.91577477e-01 -4.60947273e-03 2.59857671e+01] [ 4.91798827e-02 -1.77656729e-03 9.98788357e-01 1.52111569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.91, Y:25.98, Z:15.21 [[ 9.89790192e-01 -1.34349350e-01 -4.75986049e-02 3.23912920e+02] [ 1.34289121e-01 9.90932087e-01 -4.47548717e-03 2.59839500e+01] [ 4.77682637e-02 -1.96218151e-03 9.98856518e-01 1.52123170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.94, Y:25.98, Z:15.21 [[ 9.89561418e-01 -1.36208182e-01 -4.70694206e-02 3.23943676e+02] [ 1.36151421e-01 9.90678157e-01 -4.42490447e-03 2.59844174e+01] [ 4.72333551e-02 -2.02985374e-03 9.98881820e-01 1.52135693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:323.98, Y:25.99, Z:15.21 [[ 9.89356749e-01 -1.37668996e-01 -4.71218616e-02 3.23975611e+02] [ 1.37613840e-01 9.90476058e-01 -4.42816140e-03 2.59889337e+01] [ 4.72826963e-02 -2.10358896e-03 9.98879333e-01 1.52145992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.01, Y:25.99, Z:15.22 [[ 9.89222460e-01 -1.38587627e-01 -4.72482184e-02 3.24007119e+02] [ 1.38533385e-01 9.90347827e-01 -4.43655442e-03 2.59899106e+01] [ 4.74070220e-02 -2.15671637e-03 9.98873327e-01 1.52151983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.04, Y:25.99, Z:15.22 [[ 9.89078204e-01 -1.39652526e-01 -4.71325666e-02 3.24038989e+02] [ 1.39599877e-01 9.90198117e-01 -4.42312243e-03 2.59918959e+01] [ 4.72882789e-02 -2.20488650e-03 9.98878850e-01 1.52155417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.07, Y:26.00, Z:15.22 [[ 9.89055997e-01 -1.39780919e-01 -4.72178976e-02 3.24070604e+02] [ 1.39728388e-01 9.90179970e-01 -4.42769263e-03 2.59956140e+01] [ 4.73731233e-02 -2.21844475e-03 9.98874800e-01 1.52165054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.10, Y:26.00, Z:15.22 [[ 9.89040553e-01 -1.39901558e-01 -4.71840877e-02 3.24101516e+02] [ 1.39849404e-01 9.90162915e-01 -4.42103764e-03 2.59971186e+01] [ 4.73384439e-02 -2.22608101e-03 9.98876427e-01 1.52172490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.13, Y:26.00, Z:15.22 [[ 9.88990351e-01 -1.40114863e-01 -4.76015786e-02 3.24133860e+02] [ 1.40062155e-01 9.90132680e-01 -4.45750902e-03 2.59994138e+01] [ 4.77564418e-02 -2.25874629e-03 9.98856456e-01 1.52176965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.17, Y:26.00, Z:15.22 [[ 9.88966271e-01 -1.40119065e-01 -4.80870345e-02 3.24166403e+02] [ 1.40065453e-01 9.90132023e-01 -4.49944222e-03 2.60014528e+01] [ 4.82429704e-02 -2.28553567e-03 9.98833015e-01 1.52184409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.20, Y:26.00, Z:15.22 [[ 9.88750194e-01 -1.41282322e-01 -4.91157851e-02 3.24198166e+02] [ 1.41228000e-01 9.89966446e-01 -4.59211924e-03 2.60004024e+01] [ 4.92717645e-02 -2.39606533e-03 9.98782535e-01 1.52183776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.23, Y:26.00, Z:15.22 [[ 9.88626799e-01 -1.41707893e-01 -5.03579806e-02 3.24230284e+02] [ 1.41651484e-01 9.89905408e-01 -4.70543761e-03 2.60023974e+01] [ 5.05164350e-02 -2.48136094e-03 9.98720147e-01 1.52189806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.26, Y:26.01, Z:15.22 [[ 9.88572502e-01 -1.41706022e-01 -5.14180036e-02 3.24261994e+02] [ 1.41647405e-01 9.89905534e-01 -4.80077716e-03 2.60081563e+01] [ 5.15792653e-02 -2.53731046e-03 9.98665681e-01 1.52196498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.29, Y:26.01, Z:15.22 [[ 9.88723779e-01 -1.40837610e-01 -5.08925991e-02 3.24293516e+02] [ 1.40779224e-01 9.90029629e-01 -4.74803595e-03 2.60127613e+01] [ 5.10538830e-02 -2.47012457e-03 9.98692845e-01 1.52213159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.32, Y:26.01, Z:15.22 [[ 9.88961811e-01 -1.39141226e-01 -5.09338339e-02 3.24323807e+02] [ 1.39080685e-01 9.90269669e-01 -4.74830961e-03 2.60143867e+01] [ 5.10989165e-02 -2.38801562e-03 9.98690742e-01 1.52225950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.35, Y:26.02, Z:15.22 [[ 9.89316254e-01 -1.36628018e-01 -5.08540575e-02 3.24354403e+02] [ 1.36564404e-01 9.90619855e-01 -4.73988110e-03 2.60180292e+01] [ 5.10246396e-02 -2.25561266e-03 9.98694847e-01 1.52242399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.38, Y:26.03, Z:15.23 [[ 9.90378281e-01 -1.29255452e-01 -4.94357080e-02 3.24384128e+02] [ 1.29186245e-01 9.91609650e-01 -4.60603575e-03 2.60267429e+01] [ 4.96162804e-02 -1.82469570e-03 9.98766687e-01 1.52262332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.41, Y:26.03, Z:15.23 [[ 9.91000074e-01 -1.24508730e-01 -4.91571914e-02 3.24414720e+02] [ 1.24434469e-01 9.92217257e-01 -4.58004739e-03 2.60329248e+01] [ 4.93448695e-02 -1.57802172e-03 9.98780553e-01 1.52278165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.45, Y:26.04, Z:15.23 [[ 9.91644929e-01 -1.19476380e-01 -4.86387744e-02 3.24445546e+02] [ 1.19397672e-01 9.92836173e-01 -4.53087031e-03 2.60404956e+01] [ 4.88316666e-02 -1.31434186e-03 9.98806158e-01 1.52294563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.48, Y:26.05, Z:15.23 [[ 9.92250814e-01 -1.14274083e-01 -4.87827436e-02 3.24475582e+02] [ 1.14188710e-01 9.93448692e-01 -4.54253547e-03 2.60469023e+01] [ 4.89822469e-02 -1.06310406e-03 9.98799084e-01 1.52310796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.50, Y:26.06, Z:15.23 [[ 9.93364483e-01 -1.04266045e-01 -4.85344855e-02 3.24503941e+02] [ 1.04169632e-01 9.94549280e-01 -4.51858715e-03 2.60578604e+01] [ 4.87410728e-02 -5.67215491e-04 9.98811287e-01 1.52331028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.53, Y:26.06, Z:15.23 [[ 9.93800159e-01 -9.99239064e-02 -4.87489257e-02 3.24533761e+02] [ 9.98213804e-02 9.94995019e-01 -4.53928939e-03 2.60633864e+01] [ 4.89585217e-02 -3.55038535e-04 9.98800749e-01 1.52337874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.56, Y:26.07, Z:15.24 [[ 9.94162553e-01 -9.60104788e-02 -4.92220128e-02 3.24563496e+02] [ 9.59013186e-02 9.95380309e-01 -4.58007218e-03 2.60689121e+01] [ 4.94343573e-02 -1.67119680e-04 9.98777361e-01 1.52350934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.59, Y:26.08, Z:15.24 [[ 9.94648363e-01 -9.11008797e-02 -4.87366865e-02 3.24593829e+02] [ 9.09879698e-02 9.95841666e-01 -4.53491292e-03 2.60750517e+01] [ 4.89471576e-02 7.61915552e-05 9.98801367e-01 1.52371833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.62, Y:26.08, Z:15.24 [[ 9.94761005e-01 -8.98022902e-02 -4.88476332e-02 3.24623867e+02] [ 8.96873018e-02 9.95959602e-01 -4.54520881e-03 2.60787873e+01] [ 4.90584395e-02 1.40384058e-04 9.98795900e-01 1.52387738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.65, Y:26.08, Z:15.24 [[ 9.94759627e-01 -8.97725944e-02 -4.89302170e-02 3.24654595e+02] [ 8.96572229e-02 9.95962279e-01 -4.55203710e-03 2.60813062e+01] [ 4.91412986e-02 1.41235359e-04 9.98791827e-01 1.52409229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.68, Y:26.08, Z:15.24 [[ 9.94667529e-01 -9.07106590e-02 -4.90722224e-02 3.24684115e+02] [ 9.05957576e-02 9.95877285e-01 -4.56524029e-03 2.60832976e+01] [ 4.92840276e-02 9.51611162e-05 9.98784799e-01 1.52424559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.71, Y:26.08, Z:15.24 [[ 9.94510089e-01 -9.21651318e-02 -4.95506931e-02 3.24714481e+02] [ 9.20497918e-02 9.95743736e-01 -4.60954199e-03 2.60848892e+01] [ 4.97646313e-02 2.31050326e-05 9.98760973e-01 1.52441221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.74, Y:26.08, Z:15.25 [[ 9.94049841e-01 -9.68377953e-02 -4.98733891e-02 3.24744399e+02] [ 9.67268173e-02 9.95300154e-01 -4.63965186e-03 2.60839104e+01] [ 5.00882855e-02 -2.12049002e-04 9.98744772e-01 1.52452142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.77, Y:26.08, Z:15.25 [[ 9.93729405e-01 -9.99116132e-02 -5.01950197e-02 3.24773988e+02] [ 9.98030283e-02 9.94996248e-01 -4.67130976e-03 2.60840672e+01] [ 5.04105744e-02 -3.67597095e-04 9.98728511e-01 1.52464789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.80, Y:26.08, Z:15.25 [[ 9.93345614e-01 -1.03301407e-01 -5.09245549e-02 3.24804525e+02] [ 1.03194047e-01 9.94649949e-01 -4.74004674e-03 2.60847233e+01] [ 5.11417594e-02 -5.46606279e-04 9.98691254e-01 1.52479908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.83, Y:26.08, Z:15.25 [[ 9.92538372e-01 -1.10583443e-01 -5.13700485e-02 3.24834532e+02] [ 1.10483929e-01 9.93866408e-01 -4.78158573e-03 2.60819157e+01] [ 5.15837298e-02 -9.29657471e-04 9.98668240e-01 1.52494010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.87, Y:26.08, Z:15.25 [[ 9.92099269e-01 -1.14277435e-01 -5.17659065e-02 3.24865407e+02] [ 1.14181368e-01 9.93448233e-01 -4.81908272e-03 2.60824987e+01] [ 5.19774607e-02 -1.12969357e-03 9.98647619e-01 1.52512830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.90, Y:26.08, Z:15.25 [[ 9.91683151e-01 -1.17991348e-01 -5.14059326e-02 3.24896117e+02] [ 1.17901709e-01 9.93013749e-01 -4.78334920e-03 2.60813595e+01] [ 5.16111917e-02 -1.31728049e-03 9.98666386e-01 1.52527767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.93, Y:26.08, Z:15.25 [[ 9.91214339e-01 -1.21750285e-01 -5.16817353e-02 3.24927062e+02] [ 1.21664829e-01 9.92559596e-01 -4.80808317e-03 2.60810385e+01] [ 5.18825878e-02 -1.52200853e-03 9.98652032e-01 1.52545037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.96, Y:26.08, Z:15.26 [[ 9.90314335e-01 -1.28709215e-01 -5.20716499e-02 3.24958402e+02] [ 1.28632108e-01 9.91680554e-01 -4.84343201e-03 2.60798588e+01] [ 5.22618370e-02 -1.90156593e-03 9.98631606e-01 1.52564784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.99, Y:26.08, Z:15.26 [[ 9.89830693e-01 -1.32042015e-01 -5.29160166e-02 3.24989954e+02] [ 1.31967193e-01 9.91241870e-01 -4.92091723e-03 2.60807135e+01] [ 5.31023391e-02 -2.11230326e-03 9.98586841e-01 1.52577435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.02, Y:26.08, Z:15.26 [[ 9.89423552e-01 -1.34983673e-01 -5.31078471e-02 3.25020449e+02] [ 1.34912628e-01 9.90845199e-01 -4.93699916e-03 2.60750860e+01] [ 5.32880696e-02 -2.28013596e-03 9.98576578e-01 1.52581095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.05, Y:26.08, Z:15.26 [[ 9.88987717e-01 -1.37896841e-01 -5.37378505e-02 3.25050566e+02] [ 1.37828394e-01 9.90443527e-01 -4.99544723e-03 2.60814078e+01] [ 5.39131626e-02 -2.46616570e-03 9.98542582e-01 1.52604147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.08, Y:26.08, Z:15.26 [[ 9.88273369e-01 -1.42657490e-01 -5.44480337e-02 3.25080616e+02] [ 1.42594465e-01 9.89768260e-01 -5.06066303e-03 2.60801853e+01] [ 5.46128771e-02 -2.76266973e-03 9.98503781e-01 1.52625469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.11, Y:26.08, Z:15.26 [[ 9.88024095e-01 -1.44346096e-01 -5.45214784e-02 3.25112139e+02] [ 1.44285456e-01 9.89523131e-01 -5.06761682e-03 2.60838406e+01] [ 5.46817547e-02 -2.85972884e-03 9.98499738e-01 1.52648116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.14, Y:26.08, Z:15.27 [[ 9.87764866e-01 -1.45748043e-01 -5.54804276e-02 3.25143008e+02] [ 1.45687666e-01 9.89317214e-01 -5.15300206e-03 2.60818991e+01] [ 5.56387820e-02 -2.99285959e-03 9.98446478e-01 1.52661955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.17, Y:26.08, Z:15.27 [[ 9.87490477e-01 -1.47248126e-01 -5.63963462e-02 3.25172648e+02] [ 1.47188511e-01 9.89094620e-01 -5.23218681e-03 2.60758746e+01] [ 5.65517523e-02 -3.13415955e-03 9.98394750e-01 1.52666757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.20, Y:26.09, Z:15.27 [[ 9.87455197e-01 -1.47355549e-01 -5.67324903e-02 3.25202681e+02] [ 1.47295323e-01 9.89078546e-01 -5.26470636e-03 2.60913737e+01] [ 5.68886727e-02 -3.15776881e-03 9.98375534e-01 1.52705266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.23, Y:26.10, Z:15.27 [[ 9.87440228e-01 -1.47318699e-01 -5.70876189e-02 3.25233238e+02] [ 1.47257778e-01 9.89083972e-01 -5.29554914e-03 2.60958136e+01] [ 5.72445823e-02 -3.17755765e-03 9.98355128e-01 1.52734332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.26, Y:26.10, Z:15.28 [[ 9.87435850e-01 -1.47050175e-01 -5.78505752e-02 3.25264453e+02] [ 1.46987283e-01 9.89123837e-01 -5.36417563e-03 2.60992509e+01] [ 5.80101859e-02 -3.20651957e-03 9.98310842e-01 1.52751224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.29, Y:26.10, Z:15.28 [[ 9.87491265e-01 -1.46399072e-01 -5.85518006e-02 3.25294534e+02] [ 1.46333655e-01 9.89220406e-01 -5.42670768e-03 2.61012248e+01] [ 5.87151010e-02 -3.20927254e-03 9.98269622e-01 1.52759812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.33, Y:26.11, Z:15.28 [[ 9.87502676e-01 -1.45534371e-01 -6.04831598e-02 3.25325413e+02] [ 1.45463183e-01 9.89347805e-01 -5.60202223e-03 2.61063867e+01] [ 6.06541682e-02 -3.26606103e-03 9.98153498e-01 1.52767363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.36, Y:26.11, Z:15.28 [[ 9.87517695e-01 -1.45028674e-01 -6.14449843e-02 3.25355894e+02] [ 1.44954372e-01 9.89421986e-01 -5.68885183e-03 2.61136280e+01] [ 6.16200651e-02 -3.28887729e-03 9.98094260e-01 1.52787121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.39, Y:26.12, Z:15.28 [[ 9.87514634e-01 -1.44418661e-01 -6.29134168e-02 3.25386027e+02] [ 1.44339670e-01 9.89511069e-01 -5.82271595e-03 2.61172537e+01] [ 6.30944312e-02 -3.33088462e-03 9.98002003e-01 1.52800397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.42, Y:26.12, Z:15.28 [[ 9.87594782e-01 -1.43746920e-01 -6.31931092e-02 3.25415534e+02] [ 1.43665893e-01 9.89608969e-01 -5.84801434e-03 2.61198946e+01] [ 6.33771017e-02 -3.30322605e-03 9.97984184e-01 1.52810789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.44, Y:26.12, Z:15.28 [[ 9.87678188e-01 -1.42921833e-01 -6.37585018e-02 3.25444520e+02] [ 1.42837528e-01 9.89728552e-01 -5.90208639e-03 2.61221449e+01] [ 6.39471467e-02 -3.27774479e-03 9.97947904e-01 1.52816520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.47, Y:26.13, Z:15.28 [[ 9.87988450e-01 -1.40270406e-01 -6.48308216e-02 3.25473189e+02] [ 1.40177347e-01 9.90108205e-01 -6.00456294e-03 2.61311775e+01] [ 6.50317908e-02 -3.15537371e-03 9.97878204e-01 1.52837931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.50, Y:26.14, Z:15.29 [[ 9.88230208e-01 -1.38355197e-01 -6.52602169e-02 3.25502926e+02] [ 1.38256606e-01 9.90377985e-01 -6.04636447e-03 2.61361180e+01] [ 6.54688281e-02 -3.04745608e-03 9.97849961e-01 1.52852774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.53, Y:26.15, Z:15.29 [[ 9.88979332e-01 -1.33548927e-01 -6.39106073e-02 3.25532764e+02] [ 1.33444294e-01 9.91038620e-01 -5.92227211e-03 2.61456946e+01] [ 6.41287932e-02 -2.67150115e-03 9.97938055e-01 1.52887112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.56, Y:26.15, Z:15.29 [[ 9.88979331e-01 -1.33548944e-01 -6.39105754e-02 3.25562633e+02] [ 1.33444288e-01 9.91038619e-01 -5.92261660e-03 2.61484627e+01] [ 6.41288076e-02 -2.67115584e-03 9.97938055e-01 1.52901384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.59, Y:26.15, Z:15.29 [[ 9.89758128e-01 -1.28168993e-01 -6.28614069e-02 3.25591517e+02] [ 1.28056893e-01 9.91749713e-01 -5.82569862e-03 2.61539949e+01] [ 6.30894562e-02 -2.28380387e-03 9.98005263e-01 1.52916758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.62, Y:26.16, Z:15.29 [[ 9.90138987e-01 -1.25268504e-01 -6.27103461e-02 3.25621171e+02] [ 1.25151018e-01 9.92120671e-01 -5.81355423e-03 2.61593214e+01] [ 6.29444858e-02 -2.09203693e-03 9.98014837e-01 1.52934424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.65, Y:26.17, Z:15.30 [[ 9.90544466e-01 -1.22184451e-01 -6.23908726e-02 3.25650710e+02] [ 1.22061875e-01 9.92505623e-01 -5.78674291e-03 2.61685279e+01] [ 6.26303419e-02 -1.88352071e-03 9.98035016e-01 1.52971786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.68, Y:26.18, Z:15.30 [[ 9.91288488e-01 -1.16321538e-01 -6.17772834e-02 3.25681150e+02] [ 1.16190004e-01 9.93210479e-01 -5.72956887e-03 2.61760134e+01] [ 6.20243175e-02 -1.49824713e-03 9.98073514e-01 1.52994367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.71, Y:26.18, Z:15.30 [[ 9.91288488e-01 -1.16321497e-01 -6.17773628e-02 3.25711000e+02] [ 1.16190016e-01 9.93210482e-01 -5.72871337e-03 2.61787810e+01] [ 6.20242968e-02 -1.49910517e-03 9.98073514e-01 1.53008627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.74, Y:26.18, Z:15.30 [[ 9.91618009e-01 -1.13420368e-01 -6.18833071e-02 3.25739837e+02] [ 1.13282808e-01 9.93546213e-01 -5.73829480e-03 2.61832307e+01] [ 6.21347649e-02 -1.32011832e-03 9.98066896e-01 1.53023372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.77, Y:26.19, Z:15.30 [[ 9.92241890e-01 -1.08302928e-01 -6.10451220e-02 3.25768663e+02] [ 1.08159410e-01 9.94117449e-01 -5.66028304e-03 2.61891389e+01] [ 6.12990462e-02 -9.86234440e-04 9.98118958e-01 1.53043041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.80, Y:26.19, Z:15.31 [[ 9.92458606e-01 -1.05969122e-01 -6.16154266e-02 3.25798342e+02] [ 1.05818309e-01 9.94369059e-01 -5.71486605e-03 2.61941691e+01] [ 6.18740731e-02 -8.48272281e-04 9.98083603e-01 1.53064744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.83, Y:26.20, Z:15.31 [[ 9.92646918e-01 -1.04093139e-01 -6.17795617e-02 3.25826958e+02] [ 1.03937843e-01 9.94567284e-01 -5.73086367e-03 2.61972940e+01] [ 6.20404745e-02 -7.32510252e-04 9.98073366e-01 1.53069338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.86, Y:26.20, Z:15.31 [[ 9.92930091e-01 -1.01313168e-01 -6.18504295e-02 3.25855495e+02] [ 1.01151742e-01 9.94854430e-01 -5.74361748e-03 2.62026549e+01] [ 6.21140779e-02 -5.53268070e-04 9.98068903e-01 1.53095672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.88, Y:26.21, Z:15.31 [[ 9.93020956e-01 -1.00466797e-01 -6.17721958e-02 3.25883627e+02] [ 1.00303179e-01 9.94940294e-01 -5.75186426e-03 2.62057822e+01] [ 6.20375180e-02 -4.84225888e-04 9.98073701e-01 1.53113445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.91, Y:26.21, Z:15.31 [[ 9.93106385e-01 -9.98977446e-02 -6.13200595e-02 3.25912495e+02] [ 9.97344790e-02 9.94997616e-01 -5.72520399e-03 2.62085136e+01] [ 6.15852480e-02 -4.29987549e-04 9.98101734e-01 1.53123572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.94, Y:26.21, Z:15.31 [[ 9.93297760e-01 -9.84658568e-02 -6.05312809e-02 3.25940445e+02] [ 9.83033189e-02 9.95140377e-01 -5.66456647e-03 2.62099234e+01] [ 6.07948881e-02 -3.23824623e-04 9.98150228e-01 1.53121734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.97, Y:26.21, Z:15.31 [[ 9.93362559e-01 -9.80710662e-02 -6.01073446e-02 3.25968777e+02] [ 9.79096263e-02 9.95179372e-01 -5.63234154e-03 2.62126100e+01] [ 6.03699592e-02 -2.90130447e-04 9.98176028e-01 1.53149348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.00, Y:26.21, Z:15.32 [[ 9.93420377e-01 -9.73270947e-02 -6.03605114e-02 3.25997431e+02] [ 9.71619863e-02 9.95252422e-01 -5.67141857e-03 2.62143164e+01] [ 6.06259278e-02 -2.30644397e-04 9.98160530e-01 1.53159552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.03, Y:26.22, Z:15.32 [[ 9.93395738e-01 -9.75791485e-02 -6.03590705e-02 3.26025514e+02] [ 9.74135754e-02 9.95227741e-01 -5.68671615e-03 2.62169933e+01] [ 6.06259263e-02 -2.30633283e-04 9.98160530e-01 1.53173011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.05, Y:26.22, Z:15.32 [[ 9.93477367e-01 -9.71362221e-02 -5.97266762e-02 3.26053555e+02] [ 9.69724830e-02 9.95271078e-01 -5.64078648e-03 2.62181691e+01] [ 5.99921581e-02 -1.87850390e-04 9.98198831e-01 1.53176378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.08, Y:26.22, Z:15.32 [[ 9.93441317e-01 -9.73876499e-02 -5.99165654e-02 3.26082059e+02] [ 9.72227437e-02 9.95246506e-01 -5.66834587e-03 2.62196713e+01] [ 6.01837792e-02 -1.94083887e-04 9.98187295e-01 1.53192063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.11, Y:26.22, Z:15.32 [[ 9.93395388e-01 -9.81291758e-02 -5.94665289e-02 3.26111244e+02] [ 9.79671757e-02 9.95173661e-01 -5.64066287e-03 2.62208365e+01] [ 5.97330368e-02 -2.22359403e-04 9.98214363e-01 1.53208073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.14, Y:26.22, Z:15.32 [[ 9.93290998e-01 -9.97280560e-02 -5.85432195e-02 3.26139042e+02] [ 9.95730669e-02 9.95014686e-01 -5.56596153e-03 2.62190037e+01] [ 5.88064457e-02 -3.00708438e-04 9.98269358e-01 1.53213088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.17, Y:26.22, Z:15.32 [[ 9.93234591e-01 -1.00735804e-01 -5.77697671e-02 3.26167480e+02] [ 1.00586173e-01 9.94913150e-01 -5.49958854e-03 2.62194785e+01] [ 5.80299064e-02 -3.48458219e-04 9.98314784e-01 1.53226180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.20, Y:26.22, Z:15.32 [[ 9.93185519e-01 -1.01491556e-01 -5.72886458e-02 3.26196730e+02] [ 1.01344760e-01 9.94836330e-01 -5.46948380e-03 2.62202779e+01] [ 5.75479326e-02 -3.73691969e-04 9.98342675e-01 1.53242519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.23, Y:26.22, Z:15.33 [[ 9.93138933e-01 -1.02008222e-01 -5.71785211e-02 3.26225613e+02] [ 1.01862039e-01 9.94783480e-01 -5.47300067e-03 2.62198755e+01] [ 5.74385392e-02 -3.88870688e-04 9.98348969e-01 1.53255193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.25, Y:26.22, Z:15.33 [[ 9.93178663e-01 -1.01873890e-01 -5.67261224e-02 3.26253991e+02] [ 1.01728994e-01 9.94797255e-01 -5.44369151e-03 2.62217021e+01] [ 5.69855609e-02 -3.64133138e-04 9.98374936e-01 1.53273785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.28, Y:26.22, Z:15.33 [[ 9.93360551e-01 -1.00285528e-01 -5.63704533e-02 3.26282908e+02] [ 1.00139178e-01 9.94958665e-01 -5.42209859e-03 2.62219184e+01] [ 5.66300290e-02 -2.58792025e-04 9.98395199e-01 1.53278546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.31, Y:26.22, Z:15.33 [[ 9.93459762e-01 -9.92868491e-02 -5.63899179e-02 3.26310270e+02] [ 9.91385984e-02 9.95058834e-01 -5.42735152e-03 2.62234934e+01] [ 5.66501506e-02 -1.98562072e-04 9.98394071e-01 1.53290210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.34, Y:26.23, Z:15.33 [[ 9.93584741e-01 -9.81195685e-02 -5.62308937e-02 3.26338230e+02] [ 9.79699056e-02 9.95174625e-01 -5.41875698e-03 2.62255549e+01] [ 5.64912447e-02 -1.24941098e-04 9.98403087e-01 1.53301891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.37, Y:26.23, Z:15.33 [[ 9.93677866e-01 -9.68748000e-02 -5.67412760e-02 3.26365999e+02] [ 9.67194536e-02 9.95296575e-01 -5.48412764e-03 2.62273924e+01] [ 5.70056714e-02 -3.85289586e-05 9.98373854e-01 1.53308177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.39, Y:26.23, Z:15.33 [[ 9.93994119e-01 -9.38240811e-02 -5.63270142e-02 3.26394041e+02] [ 9.36652046e-02 9.95588780e-01 -5.45990013e-03 2.62286213e+01] [ 5.65908135e-02 1.51227307e-04 9.98397444e-01 1.53325347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.42, Y:26.23, Z:15.33 [[ 9.94121959e-01 -9.27223437e-02 -5.58936246e-02 3.26421373e+02] [ 9.25632735e-02 9.95691978e-01 -5.43373230e-03 2.62304674e+01] [ 5.61566620e-02 2.28095745e-04 9.98421944e-01 1.53339451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.45, Y:26.23, Z:15.34 [[ 9.94280518e-01 -9.14863122e-02 -5.51045081e-02 3.26449603e+02] [ 9.13289469e-02 9.95806286e-01 -5.37255836e-03 2.62322431e+01] [ 5.53649311e-02 3.09193417e-04 9.98466138e-01 1.53358568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.48, Y:26.23, Z:15.34 [[ 9.94422246e-01 -9.03977640e-02 -5.43382049e-02 3.26477272e+02] [ 9.02422769e-02 9.95905668e-01 -5.31334929e-03 2.62334879e+01] [ 5.45960411e-02 3.80109403e-04 9.98508452e-01 1.53374708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.51, Y:26.23, Z:15.34 [[ 9.94550321e-01 -8.86721627e-02 -5.48352602e-02 3.26505505e+02] [ 8.85103817e-02 9.96060743e-01 -5.37668010e-03 2.62338932e+01] [ 5.50960119e-02 4.93889113e-04 9.98480939e-01 1.53379895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.53, Y:26.23, Z:15.34 [[ 9.94555865e-01 -8.84606510e-02 -5.50757999e-02 3.26533201e+02] [ 8.82967564e-02 9.96079539e-01 -5.40686771e-03 2.62344564e+01] [ 5.53381724e-02 5.14417509e-04 9.98467537e-01 1.53394878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.56, Y:26.23, Z:15.34 [[ 9.94555055e-01 -8.82898415e-02 -5.53637596e-02 3.26561551e+02] [ 8.81230540e-02 9.96094679e-01 -5.45144476e-03 2.62333309e+01] [ 5.56288535e-02 5.42938365e-04 9.98451369e-01 1.53401171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.59, Y:26.23, Z:15.34 [[ 9.94490062e-01 -8.87579084e-02 -5.57812644e-02 3.26588054e+02] [ 8.85884852e-02 9.96053084e-01 -5.50758718e-03 2.62342915e+01] [ 5.60499424e-02 5.35663002e-04 9.98427823e-01 1.53409283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.62, Y:26.23, Z:15.34 [[ 9.94409582e-01 -8.97923677e-02 -5.55600102e-02 3.26616266e+02] [ 8.96254306e-02 9.95960389e-01 -5.49414134e-03 2.62340729e+01] [ 5.58289013e-02 4.83836956e-04 9.98440233e-01 1.53430976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.64, Y:26.23, Z:15.34 [[ 9.94310673e-01 -9.10794992e-02 -5.52341376e-02 3.26644034e+02] [ 9.09156025e-02 9.95843534e-01 -5.47806877e-03 2.62343634e+01] [ 5.55034985e-02 4.25257348e-04 9.98458402e-01 1.53447002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.67, Y:26.23, Z:15.35 [[ 9.94014423e-01 -9.43522826e-02 -5.50724362e-02 3.26672634e+02] [ 9.41934861e-02 9.95538839e-01 -5.47784225e-03 2.62315528e+01] [ 5.53435961e-02 2.57589455e-04 9.98467335e-01 1.53467416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.70, Y:26.23, Z:15.35 [[ 9.93557428e-01 -9.91278764e-02 -5.49299661e-02 3.26701468e+02] [ 9.89764191e-02 9.95074703e-01 -5.47762353e-03 2.62277522e+01] [ 5.52024049e-02 5.56219611e-06 9.98475185e-01 1.53480824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.73, Y:26.23, Z:15.35 [[ 9.93286129e-01 -1.02100517e-01 -5.43888753e-02 3.26729879e+02] [ 1.01955718e-01 9.94774077e-01 -5.43762769e-03 2.62272006e+01] [ 5.46598278e-02 -1.44136700e-04 9.98505024e-01 1.53493872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.76, Y:26.23, Z:15.35 [[ 9.92997652e-01 -1.04788081e-01 -5.45446807e-02 3.26757693e+02] [ 1.04645700e-01 9.94494535e-01 -5.46779717e-03 2.62265436e+01] [ 5.48173469e-02 -2.78356561e-04 9.98496360e-01 1.53505621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.79, Y:26.23, Z:15.35 [[ 9.92691706e-01 -1.07783466e-01 -5.42761568e-02 3.26786921e+02] [ 1.07646626e-01 9.94174298e-01 -5.44694505e-03 2.62259825e+01] [ 5.45470507e-02 -4.35507971e-04 9.98511106e-01 1.53515547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.82, Y:26.23, Z:15.35 [[ 9.92356273e-01 -1.10792687e-01 -5.43507793e-02 3.26815715e+02] [ 1.10659217e-01 9.93843365e-01 -5.46834800e-03 2.62251857e+01] [ 5.46220144e-02 -5.87865252e-04 9.98506930e-01 1.53526677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.84, Y:26.22, Z:15.35 [[ 9.91806958e-01 -1.16022313e-01 -5.34582128e-02 3.26844145e+02] [ 1.15900110e-01 9.93246244e-01 -5.39095635e-03 2.62206963e+01] [ 5.37226403e-02 -8.49024726e-04 9.98555535e-01 1.53539236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.87, Y:26.22, Z:15.36 [[ 9.91529856e-01 -1.18680166e-01 -5.27594910e-02 3.26872836e+02] [ 1.18564599e-01 9.92932056e-01 -5.32608766e-03 2.62201507e+01] [ 5.30186908e-02 -9.74432959e-04 9.98593045e-01 1.53553927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.90, Y:26.22, Z:15.36 [[ 9.91002602e-01 -1.23511197e-01 -5.15638177e-02 3.26902395e+02] [ 1.23406723e-01 9.92342462e-01 -5.21727316e-03 2.62166731e+01] [ 5.18133574e-02 -1.19299047e-03 9.98656073e-01 1.53577264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.93, Y:26.22, Z:15.36 [[ 9.90713249e-01 -1.25930965e-01 -5.12703740e-02 3.26930818e+02] [ 1.25830762e-01 9.92038144e-01 -5.19046473e-03 2.62164560e+01] [ 5.15158069e-02 -1.30912808e-03 9.98671321e-01 1.53590704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.96, Y:26.22, Z:15.36 [[ 9.90405290e-01 -1.28382591e-01 -5.11397339e-02 3.26959523e+02] [ 1.28285895e-01 9.91723687e-01 -5.18241845e-03 2.62162270e+01] [ 5.13818178e-02 -1.42781190e-03 9.98678061e-01 1.53601354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.99, Y:26.21, Z:15.36 [[ 9.89799775e-01 -1.33264490e-01 -5.03684548e-02 3.26988869e+02] [ 1.33176396e-01 9.91079146e-01 -5.11609516e-03 2.62149253e+01] [ 5.06009189e-02 -1.64397945e-03 9.98717600e-01 1.53622864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.02, Y:26.21, Z:15.36 [[ 9.89528076e-01 -1.35370422e-01 -5.00902685e-02 3.27016739e+02] [ 1.35285849e-01 9.90793533e-01 -5.09066554e-03 2.62144324e+01] [ 5.03182396e-02 -1.73914804e-03 9.98731721e-01 1.53637951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.05, Y:26.21, Z:15.37 [[ 9.89203766e-01 -1.37665943e-01 -5.02394065e-02 3.27045853e+02] [ 1.37583565e-01 9.90476977e-01 -5.11086402e-03 2.62145149e+01] [ 5.04645674e-02 -1.85643072e-03 9.98724127e-01 1.53651435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.08, Y:26.21, Z:15.37 [[ 9.88565000e-01 -1.41758595e-01 -5.14173207e-02 3.27075170e+02] [ 1.41677186e-01 9.89899027e-01 -5.24313553e-03 2.62131741e+01] [ 5.16412153e-02 -2.10148103e-03 9.98663491e-01 1.53655546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.10, Y:26.22, Z:15.37 [[ 9.88269962e-01 -1.43520931e-01 -5.21941026e-02 3.27103478e+02] [ 1.43439294e-01 9.89644785e-01 -5.32616618e-03 2.62159790e+01] [ 5.24180378e-02 -2.22299520e-03 9.98622755e-01 1.53665839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.13, Y:26.22, Z:15.37 [[ 9.87998700e-01 -1.45152076e-01 -5.28151815e-02 3.27132334e+02] [ 1.45070082e-01 9.89406628e-01 -5.40323676e-03 2.62184769e+01] [ 5.30399817e-02 -2.32351183e-03 9.98589686e-01 1.53679181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.16, Y:26.22, Z:15.37 [[ 9.87686720e-01 -1.46848855e-01 -5.39477303e-02 3.27160641e+02] [ 1.46765125e-01 9.89155899e-01 -5.53215378e-03 2.62178871e+01] [ 5.41751062e-02 -2.45361055e-03 9.98528436e-01 1.53680172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.19, Y:26.22, Z:15.37 [[ 9.87552914e-01 -1.47541332e-01 -5.45050141e-02 3.27188707e+02] [ 1.47456575e-01 9.89052703e-01 -5.59549469e-03 2.62223251e+01] [ 5.47338983e-02 -2.51127563e-03 9.98497819e-01 1.53691494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.22, Y:26.23, Z:15.37 [[ 9.87464720e-01 -1.47998361e-01 -5.48626571e-02 3.27217237e+02] [ 1.47912417e-01 9.88984346e-01 -5.64626077e-03 2.62263192e+01] [ 5.50939463e-02 -2.53938490e-03 9.98477946e-01 1.53703460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.24, Y:26.23, Z:15.37 [[ 9.87557484e-01 -1.47262603e-01 -5.51719374e-02 3.27244517e+02] [ 1.47173827e-01 9.89094271e-01 -5.69098553e-03 2.62287450e+01] [ 5.54083166e-02 -2.49968981e-03 9.98460650e-01 1.53708711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.27, Y:26.23, Z:15.37 [[ 9.87676288e-01 -1.46604236e-01 -5.47973335e-02 3.27272974e+02] [ 1.46515310e-01 9.89192218e-01 -5.65852702e-03 2.62345482e+01] [ 5.50346599e-02 -2.43985534e-03 9.98481464e-01 1.53730902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.30, Y:26.24, Z:15.38 [[ 9.88106035e-01 -1.44300560e-01 -5.31395572e-02 3.27301418e+02] [ 1.44212958e-01 9.89531393e-01 -5.49948898e-03 2.62407786e+01] [ 5.33768394e-02 -2.22933446e-03 9.98571952e-01 1.53754144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.33, Y:26.24, Z:15.38 [[ 9.88064596e-01 -1.44584222e-01 -5.31390331e-02 3.27328683e+02] [ 1.44496758e-01 9.89489963e-01 -5.50454711e-03 2.62436702e+01] [ 5.33764106e-02 -2.23956987e-03 9.98571952e-01 1.53767195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.36, Y:26.25, Z:15.38 [[ 9.88530706e-01 -1.41648051e-01 -5.23724443e-02 3.27357582e+02] [ 1.41558256e-01 9.89914986e-01 -5.43884298e-03 2.62488698e+01] [ 5.26146689e-02 -2.03728861e-03 9.98612811e-01 1.53781821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.39, Y:26.25, Z:15.38 [[ 9.88737122e-01 -1.40490012e-01 -5.15893388e-02 3.27386066e+02] [ 1.40401166e-01 9.90080189e-01 -5.36027008e-03 2.62536798e+01] [ 5.18306467e-02 -1.94330533e-03 9.98653998e-01 1.53797619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.41, Y:26.26, Z:15.38 [[ 9.89114819e-01 -1.38191516e-01 -5.05468026e-02 3.27413967e+02] [ 1.38102628e-01 9.90403936e-01 -5.26375586e-03 2.62594816e+01] [ 5.07891587e-02 -1.77418734e-03 9.98707822e-01 1.53816271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.44, Y:26.27, Z:15.38 [[ 9.89300124e-01 -1.37008697e-01 -5.01386280e-02 3.27442739e+02] [ 1.36919549e-01 9.90568392e-01 -5.22466879e-03 2.62675266e+01] [ 5.03815652e-02 -1.69619287e-03 9.98728602e-01 1.53837054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.47, Y:26.27, Z:15.38 [[ 9.89506072e-01 -1.35432894e-01 -5.03553811e-02 3.27471494e+02] [ 1.35340840e-01 9.90785195e-01 -5.24916544e-03 2.62695008e+01] [ 5.06022758e-02 -1.62105849e-03 9.98717569e-01 1.53846227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.50, Y:26.27, Z:15.39 [[ 9.89468894e-01 -1.35704378e-01 -5.03550268e-02 3.27498744e+02] [ 1.35612502e-01 9.90748031e-01 -5.25256198e-03 2.62724258e+01] [ 5.06019392e-02 -1.63152445e-03 9.98717569e-01 1.53859272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.53, Y:26.28, Z:15.39 [[ 9.89850757e-01 -1.32581177e-01 -5.11635645e-02 3.27527834e+02] [ 1.32481470e-01 9.91171042e-01 -5.35029864e-03 2.62826931e+01] [ 5.14211924e-02 -1.48222707e-03 9.98675955e-01 1.53871933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.56, Y:26.29, Z:15.39 [[ 9.90030923e-01 -1.31236466e-01 -5.11445205e-02 3.27556901e+02] [ 1.31134990e-01 9.91350089e-01 -5.34930133e-03 2.62882241e+01] [ 5.14041484e-02 -1.41086245e-03 9.98676936e-01 1.53885304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.59, Y:26.29, Z:15.39 [[ 9.90258874e-01 -1.29856040e-01 -5.02471005e-02 3.27585703e+02] [ 1.29756229e-01 9.91531988e-01 -5.25723586e-03 2.62934757e+01] [ 5.05042913e-02 -1.31384981e-03 9.98722980e-01 1.53904553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.61, Y:26.30, Z:15.39 [[ 9.90633059e-01 -1.26928624e-01 -5.03514281e-02 3.27614943e+02] [ 1.26824526e-01 9.91911169e-01 -5.26999804e-03 2.63005674e+01] [ 5.06130575e-02 -1.16516171e-03 9.98717658e-01 1.53922081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.64, Y:26.31, Z:15.39 [[ 9.90812723e-01 -1.25283887e-01 -5.09322606e-02 3.27644092e+02] [ 1.25175106e-01 9.92120333e-01 -5.33265970e-03 2.63054511e+01] [ 5.11990277e-02 -1.09178403e-03 9.98687873e-01 1.53930981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.67, Y:26.31, Z:15.39 [[ 9.91123567e-01 -1.22798598e-01 -5.09370177e-02 3.27672188e+02] [ 1.22686418e-01 9.92431146e-01 -5.33509812e-03 2.63113884e+01] [ 5.12066255e-02 -9.61538751e-04 9.98687617e-01 1.53940141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.70, Y:26.31, Z:15.39 [[ 9.91215081e-01 -1.21938011e-01 -5.12228821e-02 3.27701139e+02] [ 1.21823254e-01 9.92537292e-01 -5.36825216e-03 2.63130656e+01] [ 5.14952147e-02 -9.19045655e-04 9.98672818e-01 1.53945886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.73, Y:26.32, Z:15.40 [[ 9.91324266e-01 -1.21037961e-01 -5.12446342e-02 3.27730874e+02] [ 1.20921776e-01 9.92647498e-01 -5.37302941e-03 2.63210563e+01] [ 5.15181984e-02 -8.70177717e-04 9.98671677e-01 1.53967958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.76, Y:26.33, Z:15.40 [[ 9.91380334e-01 -1.20408469e-01 -5.16413944e-02 3.27760544e+02] [ 1.20289615e-01 9.92724075e-01 -5.41478791e-03 2.63250152e+01] [ 5.19176418e-02 -8.43809227e-04 9.98651013e-01 1.53975705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.79, Y:26.33, Z:15.40 [[ 9.91332350e-01 -1.20370376e-01 -5.26416609e-02 3.27789535e+02] [ 1.20246715e-01 9.92728684e-01 -5.52160545e-03 2.63292369e+01] [ 5.29235245e-02 -8.56240702e-04 9.98598201e-01 1.53978197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.82, Y:26.33, Z:15.40 [[ 9.91219707e-01 -1.21251097e-01 -5.27414802e-02 3.27818106e+02] [ 1.21128103e-01 9.92621457e-01 -5.53411810e-03 2.63314033e+01] [ 5.30233428e-02 -9.02948526e-04 9.98592865e-01 1.53982839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.85, Y:26.33, Z:15.40 [[ 9.90790271e-01 -1.24665608e-01 -5.28500198e-02 3.27846058e+02] [ 1.24546778e-01 9.92198221e-01 -5.54887727e-03 2.63325776e+01] [ 5.31294498e-02 -1.08452609e-03 9.98587044e-01 1.53989747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.87, Y:26.33, Z:15.40 [[ 9.90500260e-01 -1.27117380e-01 -5.24443116e-02 3.27874539e+02] [ 1.27003388e-01 9.91886956e-01 -5.51407776e-03 2.63341472e+01] [ 5.27197638e-02 -1.19890982e-03 9.98608627e-01 1.54008694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.90, Y:26.34, Z:15.40 [[ 9.90149193e-01 -1.30201066e-01 -5.15000744e-02 3.27903940e+02] [ 1.30094701e-01 9.91486723e-01 -5.42649518e-03 2.63354052e+01] [ 5.17681754e-02 -1.32684696e-03 9.98658248e-01 1.54029418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.93, Y:26.34, Z:15.40 [[ 9.89312880e-01 -1.35944133e-01 -5.27182986e-02 3.27934652e+02] [ 1.35840718e-01 9.90715107e-01 -5.55659166e-03 2.63365378e+01] [ 5.29842009e-02 -1.66408383e-03 9.98593964e-01 1.54029839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.96, Y:26.33, Z:15.40 [[ 9.88833037e-01 -1.38997942e-01 -5.37475373e-02 3.27964219e+02] [ 1.38894938e-01 9.90290917e-01 -5.66531337e-03 2.63337868e+01] [ 5.40131650e-02 -1.86321184e-03 9.98538485e-01 1.54027267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.99, Y:26.34, Z:15.40 [[ 9.88080752e-01 -1.44284781e-01 -5.36500670e-02 3.27993830e+02] [ 1.44189820e-01 9.89533878e-01 -5.65689128e-03 2.63386738e+01] [ 5.39047621e-02 -2.14632811e-03 9.98543775e-01 1.54046492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.02, Y:26.34, Z:15.41 [[ 9.87725482e-01 -1.46802720e-01 -5.33604110e-02 3.28024257e+02] [ 1.46712399e-01 9.89163185e-01 -5.62722562e-03 2.63404727e+01] [ 5.36082462e-02 -2.27047977e-03 9.98559463e-01 1.54062643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.05, Y:26.34, Z:15.41 [[ 9.87509836e-01 -1.48540377e-01 -5.25364555e-02 3.28053809e+02] [ 1.48455273e-01 9.88903603e-01 -5.54038911e-03 2.63422506e+01] [ 5.27764616e-02 -2.32812508e-03 9.98603638e-01 1.54080503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.08, Y:26.35, Z:15.41 [[ 9.87383605e-01 -1.49492437e-01 -5.22075481e-02 3.28083694e+02] [ 1.49409696e-01 9.88760044e-01 -5.50619556e-03 2.63475705e+01] [ 5.24438722e-02 -2.36358667e-03 9.98621076e-01 1.54097073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.11, Y:26.35, Z:15.41 [[ 9.87423810e-01 -1.48982260e-01 -5.29009112e-02 3.28113809e+02] [ 1.48896582e-01 9.88837034e-01 -5.57921912e-03 2.63505304e+01] [ 5.31415848e-02 -2.36771104e-03 9.98584181e-01 1.54109747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.14, Y:26.36, Z:15.41 [[ 9.87767438e-01 -1.46641791e-01 -5.30252222e-02 3.28143937e+02] [ 1.46552391e-01 9.89187107e-01 -5.59145932e-03 2.63575951e+01] [ 5.32718078e-02 -2.24791168e-03 9.98577519e-01 1.54121602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.17, Y:26.36, Z:15.41 [[ 9.88055120e-01 -1.44940453e-01 -5.23387432e-02 3.28173647e+02] [ 1.44850967e-01 9.89438091e-01 -5.51916269e-03 2.63620631e+01] [ 5.25858961e-02 -2.12808059e-03 9.98614137e-01 1.54138193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.20, Y:26.37, Z:15.42 [[ 9.88374305e-01 -1.43004234e-01 -5.16335478e-02 3.28203933e+02] [ 1.42914461e-01 9.89720062e-01 -5.44564320e-03 2.63673915e+01] [ 5.18815082e-02 -1.99684686e-03 9.98651251e-01 1.54159085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.23, Y:26.38, Z:15.42 [[ 9.89025402e-01 -1.38844867e-01 -5.05060159e-02 3.28234110e+02] [ 1.38753558e-01 9.90312616e-01 -5.32668033e-03 2.63777118e+01] [ 5.07563269e-02 -1.73966727e-03 9.98709552e-01 1.54187895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.26, Y:26.38, Z:15.42 [[ 9.89315168e-01 -1.36804677e-01 -5.03982002e-02 3.28263744e+02] [ 1.36711161e-01 9.90596697e-01 -5.31440498e-03 2.63819726e+01] [ 5.06513261e-02 -1.63237499e-03 9.98715064e-01 1.54204695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.30, Y:26.39, Z:15.42 [[ 9.89600123e-01 -1.34625223e-01 -5.06719362e-02 3.28295042e+02] [ 1.34528034e-01 9.90895403e-01 -5.33935039e-03 2.63879073e+01] [ 5.09293999e-02 -1.53297417e-03 9.98701080e-01 1.54219809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.32, Y:26.39, Z:15.42 [[ 9.89964313e-01 -1.31734827e-01 -5.11526578e-02 3.28324794e+02] [ 1.31632070e-01 9.91284003e-01 -5.38729549e-03 2.63931917e+01] [ 5.14165058e-02 -1.40009998e-03 9.98676315e-01 1.54226639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.35, Y:26.40, Z:15.42 [[ 9.89964314e-01 -1.31734787e-01 -5.11527473e-02 3.28354606e+02] [ 1.31632074e-01 9.91284007e-01 -5.38644543e-03 2.63963306e+01] [ 5.14164826e-02 -1.40095346e-03 9.98676315e-01 1.54240899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.39, Y:26.40, Z:15.42 [[ 9.90128976e-01 -1.30154637e-01 -5.20036701e-02 3.28385559e+02] [ 1.30046310e-01 9.91492800e-01 -5.47587841e-03 2.64018434e+01] [ 5.22739754e-02 -1.34105951e-03 9.98631881e-01 1.54248766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.42, Y:26.41, Z:15.43 [[ 9.90023559e-01 -1.30476893e-01 -5.31895997e-02 3.28415317e+02] [ 1.30364119e-01 9.91450375e-01 -5.59912516e-03 2.64053715e+01] [ 5.34654050e-02 -1.39074951e-03 9.98568734e-01 1.54255066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.44, Y:26.41, Z:15.43 [[ 9.89904828e-01 -1.31317950e-01 -5.33294221e-02 3.28444180e+02] [ 1.31205744e-01 9.91339259e-01 -5.61490067e-03 2.64076201e+01] [ 5.36048871e-02 -1.43890923e-03 9.98561188e-01 1.54266384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.47, Y:26.41, Z:15.43 [[ 9.89755452e-01 -1.32128883e-01 -5.40934735e-02 3.28474489e+02] [ 1.32014556e-01 9.91231406e-01 -5.69703662e-03 2.64135737e+01] [ 5.43718928e-02 -1.50245281e-03 9.98519624e-01 1.54286238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.50, Y:26.42, Z:15.43 [[ 9.89521356e-01 -1.33543699e-01 -5.48959577e-02 3.28503979e+02] [ 1.33428119e-01 9.91041628e-01 -5.78169129e-03 2.64162135e+01] [ 5.51762878e-02 -1.60355740e-03 9.98475341e-01 1.54292786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.53, Y:26.42, Z:15.43 [[ 9.89452547e-01 -1.33974034e-01 -5.50873474e-02 3.28533753e+02] [ 1.33858265e-01 9.90983498e-01 -5.80270770e-03 2.64202985e+01] [ 5.53680644e-02 -1.63239283e-03 9.98464678e-01 1.54310635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.56, Y:26.43, Z:15.43 [[ 9.89496078e-01 -1.33975753e-01 -5.42955749e-02 3.28563898e+02] [ 1.33863291e-01 9.90983304e-01 -5.71930517e-03 2.64257680e+01] [ 5.45722564e-02 -1.60895432e-03 9.98508528e-01 1.54338609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.59, Y:26.43, Z:15.44 [[ 9.89633755e-01 -1.33229450e-01 -5.36185071e-02 3.28594481e+02] [ 1.33118705e-01 9.91084010e-01 -5.64755544e-03 2.64288731e+01] [ 5.38928657e-02 -1.54861473e-03 9.98545523e-01 1.54357870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.63, Y:26.43, Z:15.44 [[ 9.89787193e-01 -1.32127242e-01 -5.35135875e-02 3.28625539e+02] [ 1.32015505e-01 9.91231645e-01 -5.63308833e-03 2.64349998e+01] [ 5.37886458e-02 -1.48906461e-03 9.98551233e-01 1.54380439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.66, Y:26.44, Z:15.44 [[ 9.89994152e-01 -1.30651990e-01 -5.33070049e-02 3.28656805e+02] [ 1.30539082e-01 9.91427296e-01 -5.60940596e-03 2.64402918e+01] [ 5.35828997e-02 -1.40536839e-03 9.98562416e-01 1.54402293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.69, Y:26.45, Z:15.44 [[ 9.90531929e-01 -1.27106187e-01 -5.18701711e-02 3.28687923e+02] [ 1.26994528e-01 9.91888410e-01 -5.45628879e-03 2.64487624e+01] [ 5.21429496e-02 -1.18259965e-03 9.98638931e-01 1.54436196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.72, Y:26.45, Z:15.45 [[ 9.91044600e-01 -1.23354687e-01 -5.11294575e-02 3.28718309e+02] [ 1.23241343e-01 9.92362168e-01 -5.37571749e-03 2.64539482e+01] [ 5.14020593e-02 -9.73687208e-04 9.98677566e-01 1.54452283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.75, Y:26.46, Z:15.45 [[ 9.91262226e-01 -1.21705196e-01 -5.08630075e-02 3.28749604e+02] [ 1.21590956e-01 9.92565898e-01 -5.34584087e-03 2.64591549e+01] [ 5.11355033e-02 -8.85351568e-04 9.98691332e-01 1.54473919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.78, Y:26.46, Z:15.45 [[ 9.91601043e-01 -1.19283530e-01 -4.99881022e-02 3.28779282e+02] [ 1.19170200e-01 9.92859949e-01 -5.25215007e-03 2.64643198e+01] [ 5.02576796e-02 -7.49054665e-04 9.98736003e-01 1.54504822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.81, Y:26.47, Z:15.45 [[ 9.91714229e-01 -1.18437697e-01 -4.97533970e-02 3.28810469e+02] [ 1.18324412e-01 9.92961236e-01 -5.22655194e-03 2.64686227e+01] [ 5.00222154e-02 -7.03795531e-04 9.98747857e-01 1.54524820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.84, Y:26.47, Z:15.45 [[ 9.91692929e-01 -1.18296546e-01 -5.05080380e-02 3.28841508e+02] [ 1.18179712e-01 9.92978058e-01 -5.30390017e-03 2.64713663e+01] [ 5.07808065e-02 -7.09185091e-04 9.98709571e-01 1.54533306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.87, Y:26.47, Z:15.45 [[ 9.91452351e-01 -1.19524833e-01 -5.23072748e-02 3.28872455e+02] [ 1.19401380e-01 9.92830887e-01 -5.48998727e-03 2.64733086e+01] [ 5.25884679e-02 -8.02500040e-04 9.98615947e-01 1.54536610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.90, Y:26.48, Z:15.45 [[ 9.91297925e-01 -1.20296344e-01 -5.34529147e-02 3.28903185e+02] [ 1.20168645e-01 9.92737651e-01 -5.60833364e-03 2.64756906e+01] [ 5.37393830e-02 -8.63834846e-04 9.98554622e-01 1.54545825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.93, Y:26.48, Z:15.46 [[ 9.91302345e-01 -1.20259866e-01 -5.34530299e-02 3.28933834e+02] [ 1.20132173e-01 9.92742071e-01 -5.60723550e-03 2.64788781e+01] [ 5.37393970e-02 -8.62962937e-04 9.98554622e-01 1.54560483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.96, Y:26.48, Z:15.46 [[ 9.91144258e-01 -1.21205082e-01 -5.42437891e-02 3.28964182e+02] [ 1.21075114e-01 9.92627051e-01 -5.68802055e-03 2.64795101e+01] [ 5.45332695e-02 -9.29924033e-04 9.98511521e-01 1.54561118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.99, Y:26.48, Z:15.46 [[ 9.90935364e-01 -1.22393048e-01 -5.53809177e-02 3.28994884e+02] [ 1.22259571e-01 9.92481186e-01 -5.80461990e-03 2.64822389e+01] [ 5.56749639e-02 -1.01884410e-03 9.98448426e-01 1.54571140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.02, Y:26.48, Z:15.46 [[ 9.90584138e-01 -1.24673964e-01 -5.65638413e-02 3.29024882e+02] [ 1.24538424e-01 9.92197072e-01 -5.92877799e-03 2.64831495e+01] [ 5.68616420e-02 -1.17141824e-03 9.98381381e-01 1.54578583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.05, Y:26.48, Z:15.46 [[ 9.90400064e-01 -1.25921456e-01 -5.70219321e-02 3.29054155e+02] [ 1.25785714e-01 9.92039424e-01 -5.97785767e-03 2.64834285e+01] [ 5.73207453e-02 -1.25207385e-03 9.98355029e-01 1.54581457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.08, Y:26.49, Z:15.46 [[ 9.90291993e-01 -1.26701095e-01 -5.71716754e-02 3.29084547e+02] [ 1.26565887e-01 9.91940090e-01 -5.99442889e-03 2.64867134e+01] [ 5.74703776e-02 -1.29974887e-03 9.98346366e-01 1.54600512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.12, Y:26.49, Z:15.46 [[ 9.90108615e-01 -1.28413906e-01 -5.65225538e-02 3.29115149e+02] [ 1.28284538e-01 9.91719696e-01 -5.92636873e-03 2.64882911e+01] [ 5.68155581e-02 -1.38322098e-03 9.98383733e-01 1.54627029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.15, Y:26.49, Z:15.46 [[ 9.90026070e-01 -1.29341286e-01 -5.58499187e-02 3.29145779e+02] [ 1.29216462e-01 9.91599121e-01 -5.85568364e-03 2.64914599e+01] [ 5.61381120e-02 -1.41944944e-03 9.98422004e-01 1.54649547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.17, Y:26.49, Z:15.47 [[ 9.89923108e-01 -1.30285318e-01 -5.54795050e-02 3.29174996e+02] [ 1.30163673e-01 9.91475462e-01 -5.81600219e-03 2.64924496e+01] [ 5.57643075e-02 -1.46402116e-03 9.98442887e-01 1.54666531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.21, Y:26.49, Z:15.47 [[ 9.89551869e-01 -1.33571924e-01 -5.42737519e-02 3.29205371e+02] [ 1.33460434e-01 9.91037809e-01 -5.68975517e-03 2.64947107e+01] [ 5.45473317e-02 -1.61309065e-03 9.98509883e-01 1.54697061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.24, Y:26.50, Z:15.47 [[ 9.89280431e-01 -1.35706396e-01 -5.39259121e-02 3.29236369e+02] [ 1.35599509e-01 9.90747605e-01 -5.65304463e-03 2.64961988e+01] [ 5.41941226e-02 -1.71988079e-03 9.98528938e-01 1.54714713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.27, Y:26.50, Z:15.47 [[ 9.88921409e-01 -1.38326473e-01 -5.38538215e-02 3.29266911e+02] [ 1.38223849e-01 9.90384934e-01 -5.64363200e-03 2.64967017e+01] [ 5.41166772e-02 -1.86277397e-03 9.98532881e-01 1.54730130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.30, Y:26.49, Z:15.48 [[ 9.88134506e-01 -1.44161807e-01 -5.29865217e-02 3.29296716e+02] [ 1.44070881e-01 9.89551797e-01 -5.55171439e-03 2.64946998e+01] [ 5.32332530e-02 -2.14797431e-03 9.98579795e-01 1.54750967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.33, Y:26.50, Z:15.48 [[ 9.87630597e-01 -1.47449592e-01 -5.33331217e-02 3.29327756e+02] [ 1.47362345e-01 9.89066799e-01 -5.58630750e-03 2.64976312e+01] [ 5.35737187e-02 -2.34208569e-03 9.98561151e-01 1.54770394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.36, Y:26.50, Z:15.48 [[ 9.86700961e-01 -1.53346815e-01 -5.39070241e-02 3.29358897e+02] [ 1.53266545e-01 9.88168763e-01 -5.64462086e-03 2.64968803e+01] [ 5.41348219e-02 -2.69259052e-03 9.98530005e-01 1.54783005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.39, Y:26.50, Z:15.48 [[ 9.86249817e-01 -1.56012153e-01 -5.45115184e-02 3.29389243e+02] [ 1.55934154e-01 9.87750963e-01 -5.70749350e-03 2.64973170e+01] [ 5.47342431e-02 -2.87119307e-03 9.98496830e-01 1.54794573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.42, Y:26.50, Z:15.48 [[ 9.86255431e-01 -1.55976622e-01 -5.45116354e-02 3.29419931e+02] [ 1.55898629e-01 9.87756577e-01 -5.70637648e-03 2.65004999e+01] [ 5.47342876e-02 -2.87034445e-03 9.98496830e-01 1.54809249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.45, Y:26.50, Z:15.48 [[ 9.85924292e-01 -1.57805279e-01 -5.52339020e-02 3.29451343e+02] [ 1.57728179e-01 9.87465652e-01 -5.77995158e-03 2.65027474e+01] [ 5.54536879e-02 -3.01334811e-03 9.98456713e-01 1.54823757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.48, Y:26.51, Z:15.48 [[ 9.85572956e-01 -1.59677402e-01 -5.61166336e-02 3.29481916e+02] [ 1.59600961e-01 9.87164157e-01 -5.87021417e-03 2.65053088e+01] [ 5.63336699e-02 -3.17074435e-03 9.98406963e-01 1.54837412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.51, Y:26.51, Z:15.49 [[ 9.85535673e-01 -1.59784394e-01 -5.64657768e-02 3.29513411e+02] [ 1.59707306e-01 9.87146754e-01 -5.90443460e-03 2.65094023e+01] [ 5.66834448e-02 -3.19896616e-03 9.98387076e-01 1.54852943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.54, Y:26.52, Z:15.49 [[ 9.85634409e-01 -1.59246921e-01 -5.62603713e-02 3.29544583e+02] [ 1.59169635e-01 9.87233732e-01 -5.88091532e-03 2.65158976e+01] [ 5.64786540e-02 -3.15851028e-03 9.98398811e-01 1.54871047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.58, Y:26.52, Z:15.49 [[ 9.85783464e-01 -1.58215280e-01 -5.65587069e-02 3.29575290e+02] [ 1.58135591e-01 9.87399719e-01 -5.91017474e-03 2.65170339e+01] [ 5.67811313e-02 -3.11779203e-03 9.98381782e-01 1.54878694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.61, Y:26.53, Z:15.49 [[ 9.86269709e-01 -1.54658786e-01 -5.79026835e-02 3.29605093e+02] [ 1.54569218e-01 9.87963440e-01 -6.04960547e-03 2.65267647e+01] [ 5.81413590e-02 -2.98342990e-03 9.98303902e-01 1.54883464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.64, Y:26.53, Z:15.49 [[ 9.86583982e-01 -1.52313148e-01 -5.87601225e-02 3.29636049e+02] [ 1.52216833e-01 9.88328063e-01 -6.13799154e-03 2.65346843e+01] [ 5.90091749e-02 -2.88863563e-03 9.98253261e-01 1.54896964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.67, Y:26.55, Z:15.49 [[ 9.87501181e-01 -1.45981496e-01 -5.94207106e-02 3.29665961e+02] [ 1.45871728e-01 9.89284057e-01 -6.20427851e-03 2.65451953e+01] [ 5.96896715e-02 -2.54106939e-03 9.98213748e-01 1.54909426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.70, Y:26.55, Z:15.49 [[ 9.88017948e-01 -1.42455057e-01 -5.93893120e-02 3.29696321e+02] [ 1.42339069e-01 9.89798536e-01 -6.20065108e-03 2.65517317e+01] [ 5.96667681e-02 -2.32706479e-03 9.98215639e-01 1.54925836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.73, Y:26.56, Z:15.49 [[ 9.89074916e-01 -1.35186575e-01 -5.87826581e-02 3.29725596e+02] [ 1.35060148e-01 9.90818397e-01 -6.13685844e-03 2.65630277e+01] [ 5.90725599e-02 -1.86938175e-03 9.98251941e-01 1.54949123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.75, Y:26.57, Z:15.50 [[ 9.89597938e-01 -1.31471564e-01 -5.84050428e-02 3.29754953e+02] [ 1.31340319e-01 9.91318590e-01 -6.09703255e-03 2.65687439e+01] [ 5.86995911e-02 -1.63732609e-03 9.98274350e-01 1.54962830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.79, Y:26.58, Z:15.50 [[ 9.90079702e-01 -1.27843001e-01 -5.82953762e-02 3.29785779e+02] [ 1.27705988e-01 9.91793401e-01 -6.08517362e-03 2.65770753e+01] [ 5.85949163e-02 -1.41986176e-03 9.98280832e-01 1.54989828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.81, Y:26.59, Z:15.50 [[ 9.91037174e-01 -1.20576706e-01 -5.75028486e-02 3.29814512e+02] [ 1.20431257e-01 9.92703532e-01 -6.00089808e-03 2.65867883e+01] [ 5.78068494e-02 -9.78027283e-04 9.98327307e-01 1.55009665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.84, Y:26.59, Z:15.50 [[ 9.91472068e-01 -1.17048194e-01 -5.72962426e-02 3.29844375e+02] [ 1.16897862e-01 9.93125938e-01 -5.98001898e-03 2.65926356e+01] [ 5.76023351e-02 -7.68786450e-04 9.98339311e-01 1.55019921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.87, Y:26.60, Z:15.50 [[ 9.91788753e-01 -1.14343925e-01 -5.72759639e-02 3.29873919e+02] [ 1.14189242e-01 9.93441036e-01 -5.97705081e-03 2.65989417e+01] [ 5.75837324e-02 -6.12327144e-04 9.98340492e-01 1.55040191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.90, Y:26.60, Z:15.51 [[ 9.92110097e-01 -1.11553703e-01 -5.72129887e-02 3.29903070e+02] [ 1.11394728e-01 9.93758305e-01 -5.97039021e-03 2.66038115e+01] [ 5.75219019e-02 -4.49940919e-04 9.98344143e-01 1.55052168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.93, Y:26.61, Z:15.51 [[ 9.92517656e-01 -1.07897283e-01 -5.71566213e-02 3.29933338e+02] [ 1.07732586e-01 9.94162019e-01 -5.96408661e-03 2.66098060e+01] [ 5.74664507e-02 -2.38169359e-04 9.98347410e-01 1.55069904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.96, Y:26.61, Z:15.51 [[ 9.92571757e-01 -1.06917424e-01 -5.80514522e-02 3.29964013e+02] [ 1.06745874e-01 9.94267887e-01 -6.05706564e-03 2.66134134e+01] [ 5.83663005e-02 -1.84680722e-04 9.98295217e-01 1.55083266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.99, Y:26.62, Z:15.51 [[ 9.92491608e-01 -1.07034896e-01 -5.91940783e-02 3.29993441e+02] [ 1.06856821e-01 9.94255245e-01 -6.17474565e-03 2.66161121e+01] [ 5.95149361e-02 -1.96907804e-04 9.98227396e-01 1.55079590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.02, Y:26.62, Z:15.51 [[ 9.92413656e-01 -1.07686361e-01 -5.93193337e-02 3.30022051e+02] [ 1.07508604e-01 9.94184889e-01 -6.18930988e-03 2.66185187e+01] [ 5.96408894e-02 -2.34983112e-04 9.98219870e-01 1.55088393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.05, Y:26.62, Z:15.51 [[ 9.92321875e-01 -1.08926211e-01 -5.85864974e-02 3.30051527e+02] [ 1.08754810e-01 9.94049792e-01 -6.11573688e-03 2.66208915e+01] [ 5.89040596e-02 -3.02783924e-04 9.98263603e-01 1.55110574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.08, Y:26.62, Z:15.51 [[ 9.92063505e-01 -1.11998413e-01 -5.71520604e-02 3.30081362e+02] [ 1.11840296e-01 9.93708274e-01 -5.96783389e-03 2.66207428e+01] [ 5.74608632e-02 -4.71433137e-04 9.98347648e-01 1.55126856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.11, Y:26.62, Z:15.51 [[ 9.91868373e-01 -1.13846984e-01 -5.68858074e-02 3.30112117e+02] [ 1.13693326e-01 9.93498130e-01 -5.94087221e-03 2.66222083e+01] [ 5.71922936e-02 -5.74973406e-04 9.98363016e-01 1.55144771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.14, Y:26.62, Z:15.52 [[ 9.91539291e-01 -1.17201392e-01 -5.58002539e-02 3.30142063e+02] [ 1.17058842e-01 9.93107882e-01 -5.82765280e-03 2.66211622e+01] [ 5.60986810e-02 -7.53566397e-04 9.98424945e-01 1.55155153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.17, Y:26.62, Z:15.52 [[ 9.91320017e-01 -1.19039402e-01 -5.58054130e-02 3.30172661e+02] [ 1.18899688e-01 9.92889161e-01 -5.82902457e-03 2.66226375e+01] [ 5.61024733e-02 -8.56817474e-04 9.98424648e-01 1.55168418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.20, Y:26.63, Z:15.52 [[ 9.91119312e-01 -1.20853081e-01 -5.54711013e-02 3.30203654e+02] [ 1.20717890e-01 9.92669947e-01 -5.79380765e-03 2.66252901e+01] [ 5.57646947e-02 -9.53999671e-04 9.98443483e-01 1.55187868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.24, Y:26.63, Z:15.52 [[ 9.90810593e-01 -1.24051525e-01 -5.39035131e-02 3.30235199e+02] [ 1.23928700e-01 9.92275164e-01 -5.62817255e-03 2.66260810e+01] [ 5.41853007e-02 -1.10373933e-03 9.98530287e-01 1.55214875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.27, Y:26.63, Z:15.52 [[ 9.90705173e-01 -1.25171317e-01 -5.32484952e-02 3.30267467e+02] [ 1.25053190e-01 9.92134473e-01 -5.55764403e-03 2.66278889e+01] [ 5.35253253e-02 -1.15290750e-03 9.98565827e-01 1.55235759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.30, Y:26.63, Z:15.53 [[ 9.90611234e-01 -1.26137255e-01 -5.27140953e-02 3.30299260e+02] [ 1.26023056e-01 9.92012077e-01 -5.49806325e-03 2.66295439e+01] [ 5.29865298e-02 -1.19674814e-03 9.98594510e-01 1.55252472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.33, Y:26.63, Z:15.53 [[ 9.90449994e-01 -1.27564932e-01 -5.23067625e-02 3.30330201e+02] [ 1.27454672e-01 9.91829412e-01 -5.45191461e-03 2.66296182e+01] [ 5.25748586e-02 -1.26689248e-03 9.98616182e-01 1.55268921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.36, Y:26.63, Z:15.53 [[ 9.90466949e-01 -1.27614043e-01 -5.18640359e-02 3.30362440e+02] [ 1.27505859e-01 9.91823101e-01 -5.40290216e-03 2.66331251e+01] [ 5.21294351e-02 -1.26157244e-03 9.98639540e-01 1.55285988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.39, Y:26.63, Z:15.53 [[ 9.90534055e-01 -1.27100058e-01 -5.18445869e-02 3.30393333e+02] [ 1.26991448e-01 9.91889128e-01 -5.39713017e-03 2.66347611e+01] [ 5.21100577e-02 -1.23777793e-03 9.98640581e-01 1.55297748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.42, Y:26.64, Z:15.53 [[ 9.90630719e-01 -1.26202505e-01 -5.21891478e-02 3.30424884e+02] [ 1.26091354e-01 9.92003772e-01 -5.43010786e-03 2.66365858e+01] [ 5.24571247e-02 -1.20136866e-03 9.98622455e-01 1.55306933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.46, Y:26.64, Z:15.53 [[ 9.90736443e-01 -1.25121492e-01 -5.27817484e-02 3.30456316e+02] [ 1.25006429e-01 9.92140749e-01 -5.48875154e-03 2.66409355e+01] [ 5.30536842e-02 -1.16015173e-03 9.98590988e-01 1.55320505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.49, Y:26.64, Z:15.53 [[ 9.91087712e-01 -1.21898673e-01 -5.37202155e-02 3.30487478e+02] [ 1.21774953e-01 9.92542037e-01 -5.58258918e-03 2.66447397e+01] [ 5.40000824e-02 -1.00894119e-03 9.98540421e-01 1.55327227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.52, Y:26.65, Z:15.53 [[ 9.91350581e-01 -1.19440632e-01 -5.43871330e-02 3.30518159e+02] [ 1.19310232e-01 9.92840947e-01 -5.64990698e-03 2.66480530e+01] [ 5.46726011e-02 -8.87902909e-04 9.98503940e-01 1.55333875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.55, Y:26.65, Z:15.53 [[ 9.91665733e-01 -1.16788976e-01 -5.44004473e-02 3.30548409e+02] [ 1.16654618e-01 9.93156474e-01 -5.64959386e-03 2.66530856e+01] [ 5.46879667e-02 -7.43554769e-04 9.98503217e-01 1.55348085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.58, Y:26.66, Z:15.54 [[ 9.92387943e-01 -1.10481369e-01 -5.44062330e-02 3.30578023e+02] [ 1.10337504e-01 9.93878117e-01 -5.65019472e-03 2.66587050e+01] [ 5.46974056e-02 -3.95862841e-04 9.98502898e-01 1.55359419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.61, Y:26.66, Z:15.54 [[ 9.92753815e-01 -1.07200488e-01 -5.42947367e-02 3.30607976e+02] [ 1.07052309e-01 9.94237401e-01 -5.63861561e-03 2.66637288e+01] [ 5.45863203e-02 -2.14619760e-04 9.98509032e-01 1.55378289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.64, Y:26.67, Z:15.54 [[ 9.93345753e-01 -1.01422149e-01 -5.45688801e-02 3.30638210e+02] [ 1.01263751e-01 9.94843474e-01 -5.66708594e-03 2.66691686e+01] [ 5.48622622e-02 1.03526266e-04 9.98493927e-01 1.55392019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.67, Y:26.67, Z:15.54 [[ 9.93537718e-01 -9.96621842e-02 -5.43162187e-02 3.30667035e+02] [ 9.95026009e-02 9.95021311e-01 -5.64122554e-03 2.66725888e+01] [ 5.46080119e-02 2.00165319e-04 9.98507849e-01 1.55401111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.70, Y:26.68, Z:15.54 [[ 9.93625579e-01 -9.86782761e-02 -5.45051127e-02 3.30696862e+02] [ 9.85159464e-02 9.95119355e-01 -5.66365752e-03 2.66753213e+01] [ 5.47979725e-02 2.57932219e-04 9.98497429e-01 1.55416699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.73, Y:26.68, Z:15.54 [[ 9.93666468e-01 -9.82427507e-02 -5.45464300e-02 3.30725347e+02] [ 9.80794026e-02 9.95162440e-01 -5.67006816e-03 2.66777423e+01] [ 5.48396015e-02 2.84275330e-04 9.98495136e-01 1.55421559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.75, Y:26.68, Z:15.54 [[ 9.93434726e-01 -1.00060501e-01 -5.54557669e-02 3.30754533e+02] [ 9.98942242e-02 9.94981336e-01 -5.76928331e-03 2.66769203e+01] [ 5.57547305e-02 1.91695567e-04 9.98444477e-01 1.55427153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.78, Y:26.67, Z:15.54 [[ 9.92850875e-01 -1.04944072e-01 -5.68672227e-02 3.30783708e+02] [ 1.04776366e-01 9.94478123e-01 -5.93094823e-03 2.66744895e+01] [ 5.71756267e-02 -6.97938033e-05 9.98364133e-01 1.55431749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.81, Y:26.67, Z:15.54 [[ 9.92505386e-01 -1.08108971e-01 -5.69693789e-02 3.30812859e+02] [ 1.07945021e-01 9.94139021e-01 -5.95638261e-03 2.66745932e+01] [ 5.72794210e-02 -2.37819003e-04 9.98358158e-01 1.55447579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.84, Y:26.67, Z:15.55 [[ 9.92120431e-01 -1.11834632e-01 -5.64806668e-02 3.30841897e+02] [ 1.11678685e-01 9.93726736e-01 -5.91987095e-03 2.66744100e+01] [ 5.67883953e-02 -4.34461681e-04 9.98386142e-01 1.55466156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.87, Y:26.67, Z:15.55 [[ 9.91736829e-01 -1.15398695e-01 -5.60464438e-02 3.30869855e+02] [ 1.15250066e-01 9.93319061e-01 -5.88776921e-03 2.66734672e+01] [ 5.63514418e-02 -6.20238784e-04 9.98410802e-01 1.55482736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.90, Y:26.67, Z:15.55 [[ 9.90858269e-01 -1.22984373e-01 -5.54502970e-02 3.30900252e+02] [ 1.22850364e-01 9.92408069e-01 -5.83198318e-03 2.66696836e+01] [ 5.57465650e-02 -1.03342041e-03 9.98444416e-01 1.55513329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.93, Y:26.66, Z:15.55 [[ 9.89897383e-01 -1.30787045e-01 -5.47532647e-02 3.30929859e+02] [ 1.30668184e-01 9.91409421e-01 -5.76067778e-03 2.66645247e+01] [ 5.50363245e-02 -1.45202980e-03 9.98483297e-01 1.55536835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.96, Y:26.66, Z:15.56 [[ 9.89414529e-01 -1.34571092e-01 -5.43093921e-02 3.30959678e+02] [ 1.34459739e-01 9.90902572e-01 -5.71580141e-03 2.66631743e+01] [ 5.45844980e-02 -1.64712975e-03 9.98507796e-01 1.55552765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.99, Y:26.66, Z:15.56 [[ 9.88928838e-01 -1.38109537e-01 -5.42725471e-02 3.30990452e+02] [ 1.38003615e-01 9.90415251e-01 -5.71258837e-03 2.66632615e+01] [ 5.45413212e-02 -1.84046433e-03 9.98509818e-01 1.55572773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.02, Y:26.66, Z:15.56 [[ 9.88432829e-01 -1.41746161e-01 -5.39311378e-02 3.31020477e+02] [ 1.41646961e-01 9.89900961e-01 -5.67677363e-03 2.66625664e+01] [ 5.41911460e-02 -2.02807234e-03 9.98528521e-01 1.55587162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.05, Y:26.66, Z:15.56 [[ 9.87971930e-01 -1.45001442e-01 -5.37219480e-02 3.31050354e+02] [ 1.44907757e-01 9.89429004e-01 -5.65571864e-03 2.66632096e+01] [ 5.39741409e-02 -2.19703570e-03 9.98539917e-01 1.55604327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.08, Y:26.66, Z:15.56 [[ 9.87161960e-01 -1.50617272e-01 -5.31573277e-02 3.31080852e+02] [ 1.50533613e-01 9.88589047e-01 -5.59713280e-03 2.66621449e+01] [ 5.33937768e-02 -2.47668802e-03 9.98570464e-01 1.55623251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.11, Y:26.66, Z:15.56 [[ 9.86858908e-01 -1.52770853e-01 -5.26361280e-02 3.31111646e+02] [ 1.52691852e-01 9.88258304e-01 -5.54275780e-03 2.66634957e+01] [ 5.28648624e-02 -2.56718796e-03 9.98598376e-01 1.55639826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.14, Y:26.66, Z:15.57 [[ 9.86348357e-01 -1.56196915e-01 -5.21482807e-02 3.31142332e+02] [ 1.56124146e-01 9.87722176e-01 -5.49129595e-03 2.66638978e+01] [ 5.23657368e-02 -2.72527505e-03 9.98624255e-01 1.55652070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.17, Y:26.67, Z:15.57 [[ 9.86146496e-01 -1.57505568e-01 -5.20296469e-02 3.31172922e+02] [ 1.57434994e-01 9.87514160e-01 -5.47784907e-03 2.66654408e+01] [ 5.22428048e-02 -2.78932550e-03 9.98630517e-01 1.55664550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.20, Y:26.67, Z:15.57 [[ 9.85836904e-01 -1.59311481e-01 -5.23970493e-02 3.31204255e+02] [ 1.59242504e-01 9.87224090e-01 -5.51547196e-03 2.66692249e+01] [ 5.26063073e-02 -2.90648153e-03 9.98611100e-01 1.55681426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.24, Y:26.67, Z:15.57 [[ 9.85680112e-01 -1.60178083e-01 -5.27038699e-02 3.31235098e+02] [ 1.60109639e-01 9.87083658e-01 -5.54573362e-03 2.66688161e+01] [ 5.29114337e-02 -2.97207823e-03 9.98594786e-01 1.55686670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.27, Y:26.67, Z:15.57 [[ 9.85355388e-01 -1.61642954e-01 -5.42799661e-02 3.31265671e+02] [ 1.61572716e-01 9.86844296e-01 -5.70894572e-03 2.66736290e+01] [ 5.44886858e-02 -3.14482111e-03 9.98509436e-01 1.55684233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.30, Y:26.68, Z:15.57 [[ 9.85317770e-01 -1.61728020e-01 -5.47077717e-02 3.31296012e+02] [ 1.61656849e-01 9.86830262e-01 -5.75307269e-03 2.66769659e+01] [ 5.49177177e-02 -3.17528125e-03 9.98485835e-01 1.55694144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.33, Y:26.68, Z:15.57 [[ 9.85317770e-01 -1.61728020e-01 -5.47077717e-02 3.31325864e+02] [ 1.61656849e-01 9.86830262e-01 -5.75307269e-03 2.66801052e+01] [ 5.49177177e-02 -3.17528125e-03 9.98485835e-01 1.55708425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.36, Y:26.69, Z:15.57 [[ 9.85418171e-01 -1.61220295e-01 -5.43971034e-02 3.31355651e+02] [ 1.61149159e-01 9.86913484e-01 -5.72040279e-03 2.66861677e+01] [ 5.46074799e-02 -3.12905862e-03 9.98502996e-01 1.55719720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.39, Y:26.69, Z:15.57 [[ 9.85907836e-01 -1.58194111e-01 -5.44092075e-02 3.31385677e+02] [ 1.58118358e-01 9.87403590e-01 -5.72154492e-03 2.66934963e+01] [ 5.46289615e-02 -2.96217859e-03 9.98502330e-01 1.55737710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.42, Y:26.70, Z:15.58 [[ 9.86756013e-01 -1.53004560e-01 -5.38718465e-02 3.31415195e+02] [ 1.52922629e-01 9.88221932e-01 -5.66415878e-03 2.67036763e+01] [ 5.41039824e-02 -2.64908164e-03 9.98531793e-01 1.55759915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.45, Y:26.71, Z:15.58 [[ 9.87264226e-01 -1.49640544e-01 -5.40097822e-02 3.31445036e+02] [ 1.49553180e-01 9.88737377e-01 -5.67849874e-03 2.67116108e+01] [ 5.42512240e-02 -2.47115601e-03 9.98524260e-01 1.55777912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.48, Y:26.72, Z:15.58 [[ 9.87759205e-01 -1.46181628e-01 -5.44305411e-02 3.31475779e+02] [ 1.46087682e-01 9.89255096e-01 -5.72230065e-03 2.67206239e+01] [ 5.46821854e-02 -2.29937645e-03 9.98501162e-01 1.55799113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.51, Y:26.73, Z:15.58 [[ 9.88850156e-01 -1.38561118e-01 -5.45544231e-02 3.31505109e+02] [ 1.38455319e-01 9.90352091e-01 -5.73242721e-03 2.67323336e+01] [ 5.48223785e-02 -1.88483850e-03 9.98494344e-01 1.55814365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.54, Y:26.74, Z:15.58 [[ 9.89382024e-01 -1.34622016e-01 -5.47733768e-02 3.31535911e+02] [ 1.34509359e-01 9.90895611e-01 -5.75504341e-03 2.67395138e+01] [ 5.50494542e-02 -1.67359531e-03 9.98482227e-01 1.55828319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.57, Y:26.75, Z:15.58 [[ 9.90413405e-01 -1.27025537e-01 -5.42752241e-02 3.31565420e+02] [ 1.26903614e-01 9.91898670e-01 -5.70095028e-03 2.67498742e+01] [ 5.45596888e-02 -1.24142451e-03 9.98509739e-01 1.55842329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.60, Y:26.76, Z:15.59 [[ 9.90869500e-01 -1.23537758e-01 -5.40005184e-02 3.31595620e+02] [ 1.23411898e-01 9.92339323e-01 -5.67197239e-03 2.67556986e+01] [ 5.42875406e-02 -1.04412204e-03 9.98524798e-01 1.55854222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.63, Y:26.76, Z:15.59 [[ 9.91314339e-01 -1.20062825e-01 -5.36730752e-02 3.31626089e+02] [ 1.19933456e-01 9.92765932e-01 -5.63648129e-03 2.67623479e+01] [ 5.39615324e-02 -8.49672687e-04 9.98542654e-01 1.55870001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.66, Y:26.77, Z:15.59 [[ 9.92033664e-01 -1.13900076e-01 -5.38143381e-02 3.31657135e+02] [ 1.13761073e-01 9.93492076e-01 -5.64922216e-03 2.67704764e+01] [ 5.41075653e-02 -5.17758287e-04 9.98534979e-01 1.55882258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.69, Y:26.78, Z:15.59 [[ 9.92356038e-01 -1.11100906e-01 -5.37222766e-02 3.31686805e+02] [ 1.10958416e-01 9.93809063e-01 -5.63701800e-03 2.67755171e+01] [ 5.40159632e-02 -3.67009884e-04 9.98540005e-01 1.55891193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.72, Y:26.78, Z:15.59 [[ 9.92798335e-01 -1.07028904e-01 -5.38170873e-02 3.31717222e+02] [ 1.06879976e-01 9.94255899e-01 -5.64610387e-03 2.67818120e+01] [ 5.41122528e-02 -1.46526491e-04 9.98534848e-01 1.55896823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.75, Y:26.79, Z:15.59 [[ 9.92978684e-01 -1.05497849e-01 -5.35120213e-02 3.31748286e+02] [ 1.05348396e-01 9.94419529e-01 -5.61386800e-03 2.67858871e+01] [ 5.38056500e-02 -6.29543700e-05 9.98551425e-01 1.55911358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.78, Y:26.79, Z:15.59 [[ 9.93091370e-01 -1.04610499e-01 -5.31617717e-02 3.31778539e+02] [ 1.04461825e-01 9.94513270e-01 -5.57528402e-03 2.67892736e+01] [ 5.34533206e-02 -1.66092509e-05 9.98570349e-01 1.55916744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.81, Y:26.79, Z:15.59 [[ 9.93164608e-01 -1.04037026e-01 -5.29184159e-02 3.31808512e+02] [ 1.03888944e-01 9.94573425e-01 -5.54890129e-03 2.67924582e+01] [ 5.32085413e-02 1.33340485e-05 9.98583422e-01 1.55930380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.84, Y:26.79, Z:15.59 [[ 9.93160482e-01 -1.04427571e-01 -5.22220111e-02 3.31838833e+02] [ 1.04283903e-01 9.94532494e-01 -5.47587792e-03 2.67939663e+01] [ 5.25083196e-02 -7.48960934e-06 9.98620487e-01 1.55938722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.87, Y:26.80, Z:15.60 [[ 9.93112389e-01 -1.05093924e-01 -5.17981626e-02 3.31868840e+02] [ 1.04953485e-01 9.94462300e-01 -5.43143415e-03 2.67955979e+01] [ 5.20821306e-02 -4.23731563e-05 9.98642804e-01 1.55951814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.90, Y:26.80, Z:15.60 [[ 9.92884921e-01 -1.07824244e-01 -5.05318357e-02 3.31899167e+02] [ 1.07694126e-01 9.94169955e-01 -5.29865008e-03 2.67950137e+01] [ 5.08085558e-02 -1.81032112e-04 9.98708395e-01 1.55972821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.93, Y:26.80, Z:15.60 [[ 9.92745642e-01 -1.09627915e-01 -4.93741873e-02 3.31929858e+02] [ 1.09505929e-01 9.93972660e-01 -5.17713619e-03 2.67952101e+01] [ 4.96441509e-02 -2.67186838e-04 9.98766933e-01 1.55988896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.96, Y:26.79, Z:15.60 [[ 9.92341592e-01 -1.14061324e-01 -4.74149623e-02 3.31961718e+02] [ 1.13954015e-01 9.93473599e-01 -4.96899589e-03 2.67923597e+01] [ 4.76722835e-02 -4.72184055e-04 9.98862919e-01 1.56012891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.99, Y:26.79, Z:15.60 [[ 9.92108571e-01 -1.16364148e-01 -4.66901227e-02 3.31992854e+02] [ 1.16262723e-01 9.93206451e-01 -4.89136884e-03 2.67921488e+01] [ 4.69421110e-02 -5.75551834e-04 9.98897446e-01 1.56028272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.02, Y:26.79, Z:15.60 [[ 9.91755657e-01 -1.19294898e-01 -4.67914877e-02 3.32023838e+02] [ 1.19196370e-01 9.92858607e-01 -4.90027608e-03 2.67909788e+01] [ 4.70419092e-02 -7.17498976e-04 9.98892659e-01 1.56038597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.06, Y:26.79, Z:15.60 [[ 9.91075716e-01 -1.25061766e-01 -4.61354500e-02 3.32055302e+02] [ 1.24972260e-01 9.92148476e-01 -4.83075219e-03 2.67852800e+01] [ 4.63773588e-02 -9.78010254e-04 9.98923513e-01 1.56039962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.09, Y:26.78, Z:15.61 [[ 9.90722815e-01 -1.27974599e-01 -4.57253239e-02 3.32087140e+02] [ 1.27889810e-01 9.91776830e-01 -4.78703497e-03 2.67842564e+01] [ 4.59619356e-02 -1.10517824e-03 9.98942580e-01 1.56053456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.12, Y:26.78, Z:15.61 [[ 9.90012881e-01 -1.33477196e-01 -4.53688555e-02 3.32117646e+02] [ 1.33399562e-01 9.91050963e-01 -4.74816694e-03 2.67785808e+01] [ 4.55966200e-02 -1.35143902e-03 9.98959019e-01 1.56065783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.15, Y:26.78, Z:15.61 [[ 9.89649964e-01 -1.36219059e-01 -4.51366438e-02 3.32148848e+02] [ 1.36145179e-01 9.90677646e-01 -4.72134080e-03 2.67778731e+01] [ 4.53590006e-02 -1.47266170e-03 9.98969665e-01 1.56078873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.18, Y:26.77, Z:15.61 [[ 9.88945208e-01 -1.41186426e-01 -4.53185167e-02 3.32180182e+02] [ 1.41117189e-01 9.89981553e-01 -4.73954223e-03 2.67732241e+01] [ 4.55336546e-02 -1.70807413e-03 9.98961345e-01 1.56083142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.21, Y:26.78, Z:15.61 [[ 9.88641287e-01 -1.43079231e-01 -4.60080416e-02 3.32212126e+02] [ 1.43009912e-01 9.89709560e-01 -4.81174866e-03 2.67783945e+01] [ 4.62230599e-02 -1.82251259e-03 9.98929481e-01 1.56084125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.24, Y:26.78, Z:15.61 [[ 9.88357390e-01 -1.44713147e-01 -4.69869659e-02 3.32243044e+02] [ 1.44642860e-01 9.89471743e-01 -4.91052683e-03 2.67766020e+01] [ 4.72028928e-02 -1.94297363e-03 9.98883433e-01 1.56088319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.27, Y:26.78, Z:15.61 [[ 9.88135654e-01 -1.46080332e-01 -4.74179947e-02 3.32274428e+02] [ 1.46010362e-01 9.89270653e-01 -4.95468539e-03 2.67802827e+01] [ 4.76330126e-02 -2.02761726e-03 9.98862846e-01 1.56095276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.31, Y:26.78, Z:15.61 [[ 9.87939202e-01 -1.47430065e-01 -4.73340211e-02 3.32305736e+02] [ 1.47361971e-01 9.89070273e-01 -4.94415371e-03 2.67812419e+01] [ 4.75455900e-02 -2.09071136e-03 9.98866881e-01 1.56104900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.34, Y:26.78, Z:15.61 [[ 9.87594241e-01 -1.49606173e-01 -4.77033404e-02 3.32336527e+02] [ 1.49539628e-01 9.88743187e-01 -4.98096198e-03 2.67790189e+01] [ 4.79115355e-02 -2.21437041e-03 9.98849128e-01 1.56114148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.37, Y:26.78, Z:15.61 [[ 9.87484414e-01 -1.50267219e-01 -4.78987977e-02 3.32367840e+02] [ 1.50200946e-01 9.88642843e-01 -5.00047763e-03 2.67831840e+01] [ 4.81062114e-02 -2.25655100e-03 9.98839677e-01 1.56124307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.40, Y:26.78, Z:15.61 [[ 9.87356172e-01 -1.50953477e-01 -4.83821978e-02 3.32397927e+02] [ 1.50886769e-01 9.88538158e-01 -5.04916105e-03 2.67837484e+01] [ 4.85898371e-02 -2.31491315e-03 9.98816134e-01 1.56131124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.43, Y:26.79, Z:15.61 [[ 9.87125696e-01 -1.52301846e-01 -4.88570138e-02 3.32428595e+02] [ 1.52235513e-01 9.88331099e-01 -5.09781003e-03 2.67874708e+01] [ 4.90633120e-02 -2.40559331e-03 9.98792774e-01 1.56133599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.46, Y:26.79, Z:15.61 [[ 9.87017330e-01 -1.52957129e-01 -4.89990598e-02 3.32457947e+02] [ 1.52891256e-01 9.88229798e-01 -5.11178991e-03 2.67893634e+01] [ 4.92042156e-02 -2.44610256e-03 9.98785744e-01 1.56146311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.49, Y:26.79, Z:15.62 [[ 9.86867103e-01 -1.53747097e-01 -4.95494795e-02 3.32488453e+02] [ 1.53680686e-01 9.88107037e-01 -5.17008522e-03 2.67944424e+01] [ 4.97550750e-02 -2.51261099e-03 9.98758289e-01 1.56157829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.52, Y:26.80, Z:15.62 [[ 9.86771577e-01 -1.54128146e-01 -5.02629977e-02 3.32518557e+02] [ 1.54060302e-01 9.88047528e-01 -5.24453503e-03 2.67986511e+01] [ 5.04705611e-02 -2.56837451e-03 9.98722247e-01 1.56167296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.55, Y:26.80, Z:15.62 [[ 9.86706023e-01 -1.54449810e-01 -5.05616468e-02 3.32549133e+02] [ 1.54381582e-01 9.87997214e-01 -5.27563550e-03 2.68030104e+01] [ 5.07695871e-02 -2.60028571e-03 9.98707008e-01 1.56176230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.58, Y:26.81, Z:15.62 [[ 9.86483410e-01 -1.55340504e-01 -5.21517974e-02 3.32579799e+02] [ 1.55269208e-01 9.87857213e-01 -5.44064858e-03 2.68066734e+01] [ 5.23636823e-02 -2.73045868e-03 9.98624348e-01 1.56178200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.61, Y:26.81, Z:15.62 [[ 9.86340686e-01 -1.56152452e-01 -5.24257893e-02 3.32608282e+02] [ 1.56081533e-01 9.87729031e-01 -5.46951780e-03 2.68071933e+01] [ 5.26365527e-02 -2.78788965e-03 9.98609844e-01 1.56187706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.64, Y:26.81, Z:15.62 [[ 9.86200520e-01 -1.57001439e-01 -5.25269713e-02 3.32636850e+02] [ 1.56931293e-01 9.87594302e-01 -5.48297540e-03 2.68084539e+01] [ 5.27361727e-02 -2.83581236e-03 9.98604453e-01 1.56198823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.66, Y:26.81, Z:15.62 [[ 9.85945144e-01 -1.58497685e-01 -5.28266611e-02 3.32664915e+02] [ 1.58428668e-01 9.87355006e-01 -5.51818207e-03 2.68126953e+01] [ 5.30332873e-02 -2.92863272e-03 9.98588451e-01 1.56219216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.69, Y:26.82, Z:15.62 [[ 9.85870028e-01 -1.59089085e-01 -5.24495086e-02 3.32693715e+02] [ 1.59021259e-01 9.87259891e-01 -5.49059778e-03 2.68178360e+01] [ 5.26547903e-02 -2.92757113e-03 9.98608483e-01 1.56236924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.72, Y:26.82, Z:15.63 [[ 9.85832328e-01 -1.59234532e-01 -5.27160710e-02 3.32722578e+02] [ 1.59166122e-01 9.87236380e-01 -5.52039954e-03 2.68223906e+01] [ 5.29222614e-02 -2.94842428e-03 9.98594283e-01 1.56253990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.75, Y:26.83, Z:15.63 [[ 9.85989234e-01 -1.58444380e-01 -5.21594603e-02 3.32752599e+02] [ 1.58376217e-01 9.87363723e-01 -5.46379640e-03 2.68288556e+01] [ 5.23660667e-02 -2.87357356e-03 9.98623822e-01 1.56277775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.78, Y:26.83, Z:15.63 [[ 9.86195030e-01 -1.57238398e-01 -5.19177152e-02 3.32781879e+02] [ 1.57169195e-01 9.87556716e-01 -5.43855649e-03 2.68320991e+01] [ 5.21268382e-02 -2.79638810e-03 9.98636557e-01 1.56293438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.81, Y:26.84, Z:15.63 [[ 9.86478988e-01 -1.55579276e-01 -5.15198572e-02 3.32811655e+02] [ 1.55508826e-01 9.87819755e-01 -5.39779376e-03 2.68373888e+01] [ 5.17321176e-02 -2.68698236e-03 9.98657383e-01 1.56311990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.84, Y:26.85, Z:15.63 [[ 9.87200126e-01 -1.51345249e-01 -5.03043425e-02 3.32841144e+02] [ 1.51272560e-01 9.88478036e-01 -5.27119720e-03 2.68495712e+01] [ 5.05225083e-02 -2.40594011e-03 9.98720025e-01 1.56346818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.87, Y:26.85, Z:15.64 [[ 9.87643147e-01 -1.48689926e-01 -4.95209095e-02 3.32871237e+02] [ 1.48616197e-01 9.88881342e-01 -5.18822455e-03 2.68547728e+01] [ 4.97417402e-02 -2.23549480e-03 9.98759612e-01 1.56368601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.90, Y:26.86, Z:15.64 [[ 9.88508409e-01 -1.42951236e-01 -4.91535211e-02 3.32900598e+02] [ 1.42871555e-01 9.89727845e-01 -5.14886459e-03 2.68646942e+01] [ 4.93846451e-02 -1.93294405e-03 9.98777964e-01 1.56389490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.93, Y:26.87, Z:15.64 [[ 9.88951965e-01 -1.39783110e-01 -4.93426037e-02 3.32930887e+02] [ 1.39698906e-01 9.90180542e-01 -5.16810552e-03 2.68741119e+01] [ 4.95804999e-02 -1.78209963e-03 9.98768541e-01 1.56402760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.96, Y:26.88, Z:15.64 [[ 9.89413719e-01 -1.36480070e-01 -4.93323648e-02 3.32961931e+02] [ 1.36391894e-01 9.90641495e-01 -5.16515595e-03 2.68808962e+01] [ 4.95756285e-02 -1.61805854e-03 9.98769062e-01 1.56417882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.99, Y:26.89, Z:15.64 [[ 9.90272436e-01 -1.30075243e-01 -4.94058138e-02 3.32990700e+02] [ 1.29978968e-01 9.91503271e-01 -5.17023161e-03 2.68885692e+01] [ 4.96585451e-02 -1.30177886e-03 9.98765405e-01 1.56432455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.02, Y:26.90, Z:15.64 [[ 9.90648122e-01 -1.26955877e-01 -4.99850419e-02 3.33021837e+02] [ 1.26853327e-01 9.91907689e-01 -5.23157967e-03 2.68968766e+01] [ 5.02447272e-02 -1.15811429e-03 9.98736265e-01 1.56447306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.05, Y:26.91, Z:15.64 [[ 9.91163977e-01 -1.22145972e-01 -5.17139369e-02 3.33052920e+02] [ 1.22029813e-01 9.92511693e-01 -5.40959311e-03 2.69054657e+01] [ 5.19874470e-02 -9.48848200e-04 9.98647288e-01 1.56448011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.08, Y:26.91, Z:15.65 [[ 9.91321194e-01 -1.20578329e-01 -5.23751554e-02 3.33083500e+02] [ 1.20457137e-01 9.92703426e-01 -5.47601597e-03 2.69083439e+01] [ 5.26532850e-02 -8.80470576e-04 9.98612466e-01 1.56451020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.11, Y:26.91, Z:15.65 [[ 9.91434940e-01 -1.19474451e-01 -5.27504945e-02 3.33113277e+02] [ 1.19350000e-01 9.92836930e-01 -5.51439111e-03 2.69146280e+01] [ 5.30314679e-02 -8.28611492e-04 9.98592498e-01 1.56467087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.14, Y:26.92, Z:15.65 [[ 9.91448617e-01 -1.19150757e-01 -5.32234661e-02 3.33144108e+02] [ 1.19023609e-01 9.92875836e-01 -5.56361567e-03 2.69200434e+01] [ 5.35072024e-02 -8.18809962e-04 9.98567128e-01 1.56476940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.17, Y:26.92, Z:15.65 [[ 9.91364850e-01 -1.19805215e-01 -5.33145851e-02 3.33174350e+02] [ 1.19678676e-01 9.92797046e-01 -5.57129391e-03 2.69238211e+01] [ 5.35980326e-02 -8.57433978e-04 9.98562224e-01 1.56490282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.21, Y:26.93, Z:15.65 [[ 9.91311164e-01 -1.20208221e-01 -5.34056124e-02 3.33205382e+02] [ 1.20081891e-01 9.92748310e-01 -5.57971951e-03 2.69275921e+01] [ 5.36890595e-02 -8.81808704e-04 9.98557313e-01 1.56506950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.24, Y:26.93, Z:15.65 [[ 9.91315502e-01 -1.20172351e-01 -5.34058138e-02 3.33236034e+02] [ 1.20046074e-01 9.92752652e-01 -5.57779079e-03 2.69307646e+01] [ 5.36890595e-02 -8.81807799e-04 9.98557313e-01 1.56521606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.27, Y:26.93, Z:15.65 [[ 9.91223015e-01 -1.20829193e-01 -5.36399155e-02 3.33266842e+02] [ 1.20702872e-01 9.92672883e-01 -5.60027138e-03 2.69344414e+01] [ 5.39235658e-02 -9.23373982e-04 9.98544639e-01 1.56537739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.30, Y:26.94, Z:15.66 [[ 9.91164812e-01 -1.21285863e-01 -5.36847791e-02 3.33298078e+02] [ 1.21160107e-01 9.92617164e-01 -5.60297276e-03 2.69377009e+01] [ 5.39679946e-02 -9.50984150e-04 9.98542213e-01 1.56551181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.33, Y:26.94, Z:15.66 [[ 9.91029300e-01 -1.22315452e-01 -5.38503160e-02 3.33327777e+02] [ 1.22190564e-01 9.92490758e-01 -5.61791033e-03 2.69405302e+01] [ 5.41330982e-02 -1.01248676e-03 9.98533216e-01 1.56565960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.36, Y:26.94, Z:15.66 [[ 9.90987192e-01 -1.22517050e-01 -5.41660307e-02 3.33357525e+02] [ 1.22391223e-01 9.92465870e-01 -5.64664260e-03 2.69425305e+01] [ 5.44497468e-02 -1.03369623e-03 9.98515977e-01 1.56573482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.39, Y:26.95, Z:15.66 [[ 9.90829929e-01 -1.23442919e-01 -5.49353908e-02 3.33387241e+02] [ 1.23314864e-01 9.92351066e-01 -5.72770758e-03 2.69480774e+01] [ 5.52222385e-02 -1.09916616e-03 9.98473483e-01 1.56587640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.42, Y:26.95, Z:15.66 [[ 9.90816945e-01 -1.23552220e-01 -5.49238657e-02 3.33416685e+02] [ 1.23424388e-01 9.92337457e-01 -5.72647685e-03 2.69509372e+01] [ 5.52105282e-02 -1.10505424e-03 9.98474124e-01 1.56599675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.45, Y:26.95, Z:15.66 [[ 9.90747937e-01 -1.24090426e-01 -5.49553618e-02 3.33446468e+02] [ 1.23963285e-01 9.92270264e-01 -5.72958104e-03 2.69549682e+01] [ 5.52415575e-02 -1.13587657e-03 9.98472373e-01 1.56615637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.48, Y:26.96, Z:15.66 [[ 9.90753706e-01 -1.24091293e-01 -5.48492875e-02 3.33477099e+02] [ 1.23964659e-01 9.92270157e-01 -5.71824136e-03 2.69607050e+01] [ 5.51348951e-02 -1.13400441e-03 9.98478271e-01 1.56640823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.51, Y:26.96, Z:15.67 [[ 9.90789497e-01 -1.24011726e-01 -5.43807424e-02 3.33507983e+02] [ 1.23887236e-01 9.92280118e-01 -5.66739847e-03 2.69647268e+01] [ 5.46637534e-02 -1.12188101e-03 9.98504189e-01 1.56656058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.54, Y:26.97, Z:15.67 [[ 9.90894867e-01 -1.23208032e-01 -5.42875898e-02 3.33537541e+02] [ 1.23082867e-01 9.92380280e-01 -5.65582274e-03 2.69694466e+01] [ 5.45707763e-02 -1.07754644e-03 9.98509324e-01 1.56673931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.57, Y:26.97, Z:15.67 [[ 9.90962418e-01 -1.22439465e-01 -5.47910925e-02 3.33568111e+02] [ 1.22310847e-01 9.92475432e-01 -5.70727178e-03 2.69725631e+01] [ 5.50776085e-02 -1.04585310e-03 9.98481529e-01 1.56679920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.60, Y:26.98, Z:15.67 [[ 9.91050378e-01 -1.21558451e-01 -5.51606013e-02 3.33599179e+02] [ 1.21426809e-01 9.92583766e-01 -5.74432110e-03 2.69799722e+01] [ 5.54497882e-02 -1.00506422e-03 9.98460971e-01 1.56704640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.63, Y:26.99, Z:15.67 [[ 9.91453467e-01 -1.18425387e-01 -5.47307077e-02 3.33629102e+02] [ 1.18291220e-01 9.92962609e-01 -5.69591850e-03 2.69858517e+01] [ 5.50200877e-02 -8.26924033e-04 9.98484905e-01 1.56718614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.66, Y:26.99, Z:15.67 [[ 9.91687483e-01 -1.16512635e-01 -5.45961746e-02 3.33660317e+02] [ 1.16376293e-01 9.93188948e-01 -5.68078360e-03 2.69918653e+01] [ 5.48862003e-02 -7.20138413e-04 9.98492357e-01 1.56739526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.69, Y:27.00, Z:15.68 [[ 9.91953539e-01 -1.14299805e-01 -5.44401645e-02 3.33690254e+02] [ 1.14161011e-01 9.93446122e-01 -5.66271520e-03 2.69970204e+01] [ 5.47306175e-02 -5.97793837e-04 9.98500978e-01 1.56758214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.72, Y:27.00, Z:15.68 [[ 9.92514679e-01 -1.09485667e-01 -5.41063807e-02 3.33720091e+02] [ 1.09341491e-01 9.93988319e-01 -5.62666945e-03 2.70044556e+01] [ 5.43971501e-02 -3.31520327e-04 9.98519324e-01 1.56780123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.75, Y:27.01, Z:15.68 [[ 9.92771549e-01 -1.07095073e-01 -5.41783869e-02 3.33751286e+02] [ 1.06947151e-01 9.94248763e-01 -5.63057735e-03 2.70099683e+01] [ 5.44698013e-02 -2.04347120e-04 9.98515397e-01 1.56803207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.78, Y:27.02, Z:15.68 [[ 9.92986890e-01 -1.05000618e-01 -5.43314429e-02 3.33782554e+02] [ 1.04848832e-01 9.94472152e-01 -5.64451304e-03 2.70151746e+01] [ 5.46237843e-02 -9.16608883e-05 9.98507002e-01 1.56819796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.81, Y:27.02, Z:15.68 [[ 9.93305168e-01 -1.01957463e-01 -5.43094711e-02 3.33812563e+02] [ 1.01801353e-01 9.94788757e-01 -5.64040489e-03 2.70213444e+01] [ 5.46015326e-02 7.38656887e-05 9.98508221e-01 1.56841432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.84, Y:27.03, Z:15.69 [[ 9.93409149e-01 -1.00956842e-01 -5.42768714e-02 3.33843710e+02] [ 1.00799488e-01 9.94890798e-01 -5.63591846e-03 2.70251560e+01] [ 5.45685444e-02 1.27692135e-04 9.98510019e-01 1.56863466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.87, Y:27.03, Z:15.69 [[ 9.93460367e-01 -1.00396788e-01 -5.43781511e-02 3.33874880e+02] [ 1.00238117e-01 9.94947466e-01 -5.64443265e-03 2.70281174e+01] [ 5.46700865e-02 1.56756671e-04 9.98504460e-01 1.56876835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.91, Y:27.03, Z:15.69 [[ 9.93384464e-01 -1.01110290e-01 -5.44427751e-02 3.33905053e+02] [ 1.00952415e-01 9.94875216e-01 -5.64925111e-03 2.70305013e+01] [ 5.47349650e-02 1.15748663e-04 9.98500911e-01 1.56889089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.94, Y:27.03, Z:15.69 [[ 9.93241371e-01 -1.02277619e-01 -5.48713686e-02 3.33935769e+02] [ 1.02119075e-01 9.94755893e-01 -5.69284557e-03 2.70326640e+01] [ 5.51658679e-02 5.09563307e-05 9.98477203e-01 1.56906797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.97, Y:27.03, Z:15.69 [[ 9.92923842e-01 -1.05272595e-01 -5.49538353e-02 3.33966658e+02] [ 1.05118163e-01 9.94443396e-01 -5.70126223e-03 2.70331787e+01] [ 5.52486653e-02 -1.15727025e-04 9.98472619e-01 1.56920189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.00, Y:27.03, Z:15.69 [[ 9.92676639e-01 -1.07342415e-01 -5.54138715e-02 3.33998290e+02] [ 1.07188671e-01 9.94222083e-01 -5.74783261e-03 2.70344559e+01] [ 5.57106810e-02 -2.34000104e-04 9.98446927e-01 1.56932033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.03, Y:27.04, Z:15.69 [[ 9.92399353e-01 -1.09730243e-01 -5.57027570e-02 3.34028563e+02] [ 1.09578770e-01 9.93961335e-01 -5.77561876e-03 2.70350969e+01] [ 5.60001467e-02 -3.72119295e-04 9.98430691e-01 1.56944259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.06, Y:27.03, Z:15.70 [[ 9.91747670e-01 -1.15852120e-01 -5.49076066e-02 3.34059509e+02] [ 1.15714454e-01 9.93266219e-01 -5.69060167e-03 2.70325997e+01] [ 5.51971391e-02 -7.09962747e-04 9.98475223e-01 1.56965271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.09, Y:27.03, Z:15.70 [[ 9.91396104e-01 -1.19027433e-01 -5.44631561e-02 3.34090689e+02] [ 1.18896787e-01 9.92890576e-01 -5.64428020e-03 2.70324594e+01] [ 5.47477787e-02 -8.79776866e-04 9.98499828e-01 1.56982139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.12, Y:27.03, Z:15.70 [[ 9.91016742e-01 -1.22428075e-01 -5.38254985e-02 3.34122217e+02] [ 1.22305583e-01 9.92476826e-01 -5.57628090e-03 2.70321452e+01] [ 5.41032533e-02 -1.05697128e-03 9.98534787e-01 1.57003208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.15, Y:27.03, Z:15.70 [[ 9.90237789e-01 -1.29249163e-01 -5.21898008e-02 3.34152658e+02] [ 1.29143562e-01 9.91611178e-01 -5.40486593e-03 2.70270486e+01] [ 5.24505643e-02 -1.38787431e-03 9.98622557e-01 1.57028701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.18, Y:27.03, Z:15.70 [[ 9.89835023e-01 -1.32601508e-01 -5.14146581e-02 3.34184637e+02] [ 1.32503704e-01 9.91168226e-01 -5.32133067e-03 2.70288964e+01] [ 5.16661919e-02 -1.54539316e-03 9.98663215e-01 1.57049366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.22, Y:27.03, Z:15.71 [[ 9.88930677e-01 -1.39591141e-01 -5.03033795e-02 3.34215978e+02] [ 1.39506713e-01 9.90207457e-01 -5.20285889e-03 2.70261489e+01] [ 5.05370545e-02 -1.87239235e-03 9.98720431e-01 1.57074403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.25, Y:27.03, Z:15.71 [[ 9.88465470e-01 -1.42991977e-01 -4.98929819e-02 3.34246216e+02] [ 1.42913295e-01 9.89721765e-01 -5.15933162e-03 2.70250251e+01] [ 5.01179132e-02 -2.03054929e-03 9.98741244e-01 1.57090775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.28, Y:27.02, Z:15.71 [[ 9.88012511e-01 -1.46263691e-01 -4.93782492e-02 3.34277866e+02] [ 1.46190914e-01 9.89243240e-01 -5.10176343e-03 2.70244971e+01] [ 4.95933020e-02 -2.17804528e-03 9.98767120e-01 1.57106370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.31, Y:27.02, Z:15.71 [[ 9.87252089e-01 -1.51457117e-01 -4.89290752e-02 3.34308716e+02] [ 1.51392097e-01 9.88460871e-01 -5.05364504e-03 2.70239085e+01] [ 4.91298868e-02 -2.41825367e-03 9.98789470e-01 1.57121951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.34, Y:27.02, Z:15.71 [[ 9.86956345e-01 -1.53256337e-01 -4.92916723e-02 3.34340074e+02] [ 1.53192604e-01 9.88183237e-01 -5.09073219e-03 2.70249159e+01] [ 4.94893913e-02 -2.52678919e-03 9.98771453e-01 1.57135927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.37, Y:27.02, Z:15.72 [[ 9.86643773e-01 -1.55261946e-01 -4.92726341e-02 3.34371087e+02] [ 1.55200887e-01 9.87869838e-01 -5.08608873e-03 2.70243517e+01] [ 4.94646251e-02 -2.62899873e-03 9.98772416e-01 1.57150345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.40, Y:27.03, Z:15.72 [[ 9.86593829e-01 -1.55503622e-01 -4.95100098e-02 3.34402351e+02] [ 1.55442371e-01 9.87831752e-01 -5.10869009e-03 2.70309157e+01] [ 4.97019796e-02 -2.65575119e-03 9.98760562e-01 1.57163771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.43, Y:27.03, Z:15.72 [[ 9.86614692e-01 -1.55243607e-01 -4.99086447e-02 3.34433457e+02] [ 1.55181221e-01 9.87872616e-01 -5.14612595e-03 2.70297140e+01] [ 5.01022865e-02 -2.66764093e-03 9.98740529e-01 1.57171299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.47, Y:27.04, Z:15.72 [[ 9.86679187e-01 -1.54768945e-01 -5.01074472e-02 3.34465501e+02] [ 1.54705598e-01 9.87947121e-01 -5.16369026e-03 2.70377998e+01] [ 5.03026871e-02 -2.65699690e-03 9.98730484e-01 1.57184374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.50, Y:27.04, Z:15.72 [[ 9.86826334e-01 -1.53465856e-01 -5.12056394e-02 3.34496778e+02] [ 1.53398230e-01 9.88150390e-01 -5.27154408e-03 2.70405029e+01] [ 5.14078746e-02 -2.65275592e-03 9.98674218e-01 1.57188954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.53, Y:27.04, Z:15.72 [[ 9.86917558e-01 -1.52748840e-01 -5.15899689e-02 3.34528814e+02] [ 1.52679374e-01 9.88261520e-01 -5.30813030e-03 2.70448710e+01] [ 5.17951919e-02 -2.63803715e-03 9.98654244e-01 1.57200545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.56, Y:27.05, Z:15.72 [[ 9.87063670e-01 -1.51473598e-01 -5.25457910e-02 3.34559665e+02] [ 1.51399937e-01 9.88457824e-01 -5.40263922e-03 2.70499054e+01] [ 5.27576555e-02 -2.62268055e-03 9.98603901e-01 1.57204533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.59, Y:27.05, Z:15.72 [[ 9.87092811e-01 -1.51051138e-01 -5.32103045e-02 3.34590706e+02] [ 1.50975149e-01 9.88522435e-01 -5.46801773e-03 2.70531409e+01] [ 5.34255301e-02 -2.63599265e-03 9.98568357e-01 1.57214650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.62, Y:27.06, Z:15.72 [[ 9.87160871e-01 -1.50642675e-01 -5.31055413e-02 3.34622170e+02] [ 1.50566555e-01 9.88584829e-01 -5.45426771e-03 2.70603244e+01] [ 5.33209779e-02 -2.61167872e-03 9.98574010e-01 1.57232907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.65, Y:27.07, Z:15.73 [[ 9.87255808e-01 -1.50120106e-01 -5.28197273e-02 3.34653626e+02] [ 1.50044262e-01 9.88664418e-01 -5.42104506e-03 2.70665128e+01] [ 5.30347929e-02 -2.57333879e-03 9.98589349e-01 1.57250209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.69, Y:27.07, Z:15.73 [[ 9.87381568e-01 -1.49444174e-01 -5.23839404e-02 3.34685052e+02] [ 1.49368828e-01 9.88766954e-01 -5.37249462e-03 2.70704510e+01] [ 5.25983972e-02 -2.51982564e-03 9.98612567e-01 1.57268279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.72, Y:27.08, Z:15.73 [[ 9.87775067e-01 -1.47388663e-01 -5.07641581e-02 3.34715653e+02] [ 1.47315373e-01 9.89075887e-01 -5.20289553e-03 2.70776021e+01] [ 5.09764525e-02 -2.33905038e-03 9.98697116e-01 1.57296315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.75, Y:27.08, Z:15.73 [[ 9.88051857e-01 -1.45891456e-01 -4.96911583e-02 3.34747406e+02] [ 1.45819435e-01 9.89298122e-01 -5.09105838e-03 2.70837018e+01] [ 4.99021115e-02 -2.21570693e-03 9.98751656e-01 1.57320420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.78, Y:27.09, Z:15.73 [[ 9.88684026e-01 -1.42169321e-01 -4.78725576e-02 3.34777372e+02] [ 1.42098279e-01 9.89840419e-01 -4.90138957e-03 2.70907856e+01] [ 4.80830197e-02 -1.95668248e-03 9.98841426e-01 1.57348845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.81, Y:27.10, Z:15.74 [[ 9.88945411e-01 -1.40236599e-01 -4.81733292e-02 3.34809373e+02] [ 1.40162459e-01 9.90116244e-01 -4.93040698e-03 2.70984939e+01] [ 4.83886193e-02 -1.87618891e-03 9.98826823e-01 1.57360761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.84, Y:27.10, Z:15.74 [[ 9.89263274e-01 -1.37932839e-01 -4.82981037e-02 3.34840145e+02] [ 1.37855787e-01 9.90439998e-01 -4.93877726e-03 2.71017624e+01] [ 4.85175934e-02 -1.77242214e-03 9.98820756e-01 1.57373604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.87, Y:27.11, Z:15.74 [[ 9.89791147e-01 -1.33622143e-01 -4.95843611e-02 3.34870657e+02] [ 1.33535623e-01 9.91031053e-01 -5.06844031e-03 2.71116200e+01] [ 4.98168975e-02 -1.60458121e-03 9.98757079e-01 1.57380569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.90, Y:27.12, Z:15.74 [[ 9.90074947e-01 -1.31174439e-01 -5.04466730e-02 3.34902834e+02] [ 1.31081815e-01 9.91358154e-01 -5.15451519e-03 2.71179109e+01] [ 5.06868612e-02 -1.50928512e-03 9.98713454e-01 1.57391846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.93, Y:27.12, Z:15.74 [[ 9.90362030e-01 -1.28733020e-01 -5.10965576e-02 3.34933707e+02] [ 1.28634989e-01 9.91678290e-01 -5.21624997e-03 2.71228139e+01] [ 5.13428505e-02 -1.40682920e-03 9.98680095e-01 1.57402804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.96, Y:27.13, Z:15.74 [[ 9.90690190e-01 -1.25892611e-01 -5.18073209e-02 3.34964271e+02] [ 1.25788125e-01 9.92043049e-01 -5.28551830e-03 2.71277283e+01] [ 5.20605002e-02 -1.28043461e-03 9.98643112e-01 1.57415084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.99, Y:27.14, Z:15.74 [[ 9.91433453e-01 -1.19877340e-01 -5.18568345e-02 3.34994856e+02] [ 1.19764782e-01 9.92788234e-01 -5.28380709e-03 2.71369917e+01] [ 5.21162639e-02 -9.72079382e-04 9.98640551e-01 1.57431565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.03, Y:27.14, Z:15.74 [[ 9.92155943e-01 -1.14070433e-01 -5.11323844e-02 3.35025113e+02] [ 1.13953387e-01 9.93472446e-01 -5.20808422e-03 2.71438518e+01] [ 5.13927035e-02 -6.59476702e-04 9.98678304e-01 1.57446539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.06, Y:27.15, Z:15.75 [[ 9.92491859e-01 -1.11428652e-01 -5.04337771e-02 3.35056519e+02] [ 1.11311475e-01 9.93772302e-01 -5.13495040e-03 2.71480773e+01] [ 5.06918714e-02 -5.17461671e-04 9.98714207e-01 1.57463459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.09, Y:27.15, Z:15.75 [[ 9.92817084e-01 -1.09194628e-01 -4.88955041e-02 3.35088872e+02] [ 1.09081958e-01 9.94020310e-01 -4.97482585e-03 2.71525188e+01] [ 4.91463484e-02 -3.94525249e-04 9.98791510e-01 1.57486064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.12, Y:27.16, Z:15.75 [[ 9.93007629e-01 -1.07735878e-01 -4.82579465e-02 3.35120508e+02] [ 1.07624611e-01 9.94179499e-01 -4.90574753e-03 2.71572311e+01] [ 4.85055861e-02 -3.22297993e-04 9.98822859e-01 1.57510749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.15, Y:27.16, Z:15.75 [[ 9.93162526e-01 -1.06711503e-01 -4.73376316e-02 3.35151322e+02] [ 1.06603440e-01 9.94289989e-01 -4.80879246e-03 2.71607223e+01] [ 4.75804866e-02 -2.70441910e-04 9.98867371e-01 1.57533151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.18, Y:27.16, Z:15.75 [[ 9.92921670e-01 -1.08576718e-01 -4.81420050e-02 3.35183945e+02] [ 1.08467270e-01 9.94088004e-01 -4.88782485e-03 2.71625827e+01] [ 4.83880937e-02 -3.68604657e-04 9.98828542e-01 1.57539383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.22, Y:27.17, Z:15.76 [[ 9.92929404e-01 -1.08505815e-01 -4.81423534e-02 3.35215448e+02] [ 1.08396451e-01 9.94095746e-01 -4.88439114e-03 2.71657200e+01] [ 4.83880936e-02 -3.68604657e-04 9.98828542e-01 1.57554434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.25, Y:27.17, Z:15.76 [[ 9.92937133e-01 -1.08434912e-01 -4.81427015e-02 3.35246951e+02] [ 1.08325631e-01 9.94103483e-01 -4.88095740e-03 2.71688551e+01] [ 4.83880934e-02 -3.68604656e-04 9.98828542e-01 1.57569486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.28, Y:27.17, Z:15.76 [[ 9.92471047e-01 -1.12563776e-01 -4.82764566e-02 3.35278967e+02] [ 1.12458935e-01 9.93644336e-01 -4.89102885e-03 2.71693022e+01] [ 4.85201803e-02 -5.74914367e-04 9.98822037e-01 1.57579242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.31, Y:27.17, Z:15.76 [[ 9.92083109e-01 -1.15781854e-01 -4.86381296e-02 3.35311492e+02] [ 1.15679474e-01 9.93274389e-01 -4.92407959e-03 2.71701320e+01] [ 4.88811275e-02 -7.41337087e-04 9.98804328e-01 1.57591652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.34, Y:27.17, Z:15.76 [[ 9.91686846e-01 -1.19220813e-01 -4.84107203e-02 3.35344225e+02] [ 1.19123652e-01 9.92867347e-01 -4.89753837e-03 2.71701122e+01] [ 4.86493120e-02 -9.10037433e-04 9.98815507e-01 1.57603400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.38, Y:27.17, Z:15.76 [[ 9.91196318e-01 -1.23187716e-01 -4.85246945e-02 3.35376375e+02] [ 1.23095017e-01 9.92382765e-01 -4.90552441e-03 2.71696879e+01] [ 4.87593709e-02 -1.11081035e-03 9.98809937e-01 1.57615525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.41, Y:27.16, Z:15.76 [[ 9.90113358e-01 -1.31571789e-01 -4.86251150e-02 3.35406817e+02] [ 1.31488964e-01 9.91305464e-01 -4.91215327e-03 2.71643026e+01] [ 4.88486430e-02 -1.53007743e-03 9.98805020e-01 1.57614563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.44, Y:27.16, Z:15.76 [[ 9.89051484e-01 -1.39102042e-01 -4.92725515e-02 3.35438079e+02] [ 1.39026447e-01 9.90276172e-01 -4.97487257e-03 2.71619646e+01] [ 4.94854486e-02 -1.92978267e-03 9.98772980e-01 1.57615211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.47, Y:27.16, Z:15.76 [[ 9.88696880e-01 -1.41630170e-01 -4.91871308e-02 3.35470484e+02] [ 1.41557980e-01 9.89917511e-01 -4.96577719e-03 2.71624642e+01] [ 4.93945060e-02 -2.05318247e-03 9.98777236e-01 1.57623916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.50, Y:27.16, Z:15.76 [[ 9.88364999e-01 -1.43865126e-01 -4.93705884e-02 3.35501975e+02] [ 1.43795355e-01 9.89594911e-01 -4.98069669e-03 2.71607405e+01] [ 4.95734316e-02 -2.17651503e-03 9.98768110e-01 1.57632678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.53, Y:27.16, Z:15.76 [[ 9.88179136e-01 -1.45206508e-01 -4.91636604e-02 3.35534018e+02] [ 1.45139111e-01 9.89398840e-01 -4.95710473e-03 2.71635539e+01] [ 4.93622725e-02 -2.23706252e-03 9.98778435e-01 1.57646714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.57, Y:27.17, Z:15.77 [[ 9.88041428e-01 -1.46444179e-01 -4.82518251e-02 3.35565292e+02] [ 1.46380893e-01 9.89216355e-01 -4.86179358e-03 2.71692627e+01] [ 4.84434759e-02 -2.25949177e-03 9.98823370e-01 1.57665544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.60, Y:27.17, Z:15.77 [[ 9.88196372e-01 -1.45452591e-01 -4.80777832e-02 3.35596941e+02] [ 1.45388720e-01 9.89362764e-01 -4.84155861e-03 2.71733485e+01] [ 4.82705857e-02 -2.20555672e-03 9.98831861e-01 1.57682855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.63, Y:27.17, Z:15.77 [[ 9.88315558e-01 -1.44636756e-01 -4.80891557e-02 3.35628121e+02] [ 1.44572065e-01 9.89482441e-01 -4.83912355e-03 2.71737174e+01] [ 4.82832903e-02 -2.16976746e-03 9.98831325e-01 1.57696048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.66, Y:27.18, Z:15.77 [[ 9.88485366e-01 -1.43504608e-01 -4.79907152e-02 3.35659585e+02] [ 1.43438980e-01 9.89647394e-01 -4.82653905e-03 2.71790658e+01] [ 4.81865169e-02 -2.11277600e-03 9.98836121e-01 1.57710729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.69, Y:27.18, Z:15.77 [[ 9.88903532e-01 -1.40743878e-01 -4.75495991e-02 3.35689917e+02] [ 1.40676429e-01 9.90044093e-01 -4.77875621e-03 2.71839709e+01] [ 4.77487804e-02 -1.96337891e-03 9.98857447e-01 1.57723754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.72, Y:27.19, Z:15.77 [[ 9.89344386e-01 -1.37544269e-01 -4.77415980e-02 3.35720995e+02] [ 1.37472639e-01 9.90493952e-01 -4.79630751e-03 2.71916638e+01] [ 4.79474687e-02 -1.81796355e-03 9.98848204e-01 1.57729699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.75, Y:27.20, Z:15.77 [[ 9.89566336e-01 -1.35654632e-01 -4.85416133e-02 3.35753138e+02] [ 1.35578446e-01 9.90754626e-01 -4.87394476e-03 2.71970794e+01] [ 4.87540011e-02 -1.75810481e-03 9.98809269e-01 1.57738039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.78, Y:27.20, Z:15.77 [[ 9.89829285e-01 -1.33416482e-01 -4.93764082e-02 3.35784832e+02] [ 1.33335056e-01 9.91058636e-01 -4.95406041e-03 2.72018890e+01] [ 4.95958691e-02 -1.67993208e-03 9.98767955e-01 1.57744340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.82, Y:27.21, Z:15.77 [[ 9.90421582e-01 -1.28423032e-01 -5.07209572e-02 3.35815230e+02] [ 1.28330759e-01 9.91718386e-01 -5.08526304e-03 2.72080754e+01] [ 5.09539707e-02 -1.47250466e-03 9.98699917e-01 1.57736901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.85, Y:27.21, Z:15.77 [[ 9.90733674e-01 -1.25629721e-01 -5.16135721e-02 3.35845752e+02] [ 1.25530488e-01 9.92076277e-01 -5.17276345e-03 2.72128408e+01] [ 5.18544533e-02 -1.35424594e-03 9.98653735e-01 1.57743545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.88, Y:27.22, Z:15.78 [[ 9.91045346e-01 -1.22880507e-01 -5.22446491e-02 3.35876305e+02] [ 1.22775159e-01 9.92420714e-01 -5.23326672e-03 2.72190621e+01] [ 5.24917384e-02 -1.22794047e-03 9.98620603e-01 1.57752920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.91, Y:27.23, Z:15.78 [[ 9.91399884e-01 -1.19883978e-01 -5.24795306e-02 3.35907551e+02] [ 1.19773589e-01 9.92787326e-01 -5.25484122e-03 2.72251339e+01] [ 5.27309841e-02 -1.07601273e-03 9.98608174e-01 1.57764342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.94, Y:27.23, Z:15.78 [[ 9.92078910e-01 -1.14211527e-01 -5.22987856e-02 3.35938284e+02] [ 1.14094160e-01 9.93456153e-01 -5.23405761e-03 2.72344590e+01] [ 5.25543400e-02 -7.74387826e-04 9.98617766e-01 1.57778751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.97, Y:27.24, Z:15.78 [[ 9.92408081e-01 -1.11568605e-01 -5.17556574e-02 3.35969412e+02] [ 1.11450172e-01 9.93756535e-01 -5.17777265e-03 2.72396777e+01] [ 5.20101996e-02 -6.29713488e-04 9.98646355e-01 1.57792615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.00, Y:27.25, Z:15.78 [[ 9.92709780e-01 -1.08858380e-01 -5.17411473e-02 3.36000053e+02] [ 1.08736478e-01 9.94057148e-01 -5.17355764e-03 2.72452133e+01] [ 5.19968424e-02 -4.90308834e-04 9.98647129e-01 1.57804449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.03, Y:27.25, Z:15.78 [[ 9.93217394e-01 -1.04155670e-01 -5.16798254e-02 3.36031227e+02] [ 1.04027833e-01 9.94560976e-01 -5.16472706e-03 2.72534931e+01] [ 5.19366732e-02 -2.46443470e-04 9.98650350e-01 1.57813031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.06, Y:27.26, Z:15.78 [[ 9.93491232e-01 -1.01807560e-01 -5.10919987e-02 3.36061724e+02] [ 1.01679649e-01 9.94804104e-01 -5.10331707e-03 2.72587007e+01] [ 5.13460863e-02 -1.24915727e-04 9.98680912e-01 1.57829149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.09, Y:27.26, Z:15.78 [[ 9.93745041e-01 -9.97684946e-02 -5.01701294e-02 3.36092668e+02] [ 9.96426550e-02 9.95010677e-01 -5.00941732e-03 2.72638353e+01] [ 5.04195965e-02 -2.10012846e-05 9.98728123e-01 1.57844320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.12, Y:27.27, Z:15.79 [[ 9.94081818e-01 -9.68675180e-02 -4.91734060e-02 3.36123516e+02] [ 9.67432114e-02 9.95297277e-01 -4.90731493e-03 2.72705494e+01] [ 4.94175165e-02 1.21079341e-04 9.98778201e-01 1.57864686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.16, Y:27.28, Z:15.79 [[ 9.94162017e-01 -9.63434749e-02 -4.85779626e-02 3.36155064e+02] [ 9.62216620e-02 9.95348137e-01 -4.84533778e-03 2.72753136e+01] [ 4.88188013e-02 1.42798479e-04 9.98807641e-01 1.57881175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.19, Y:27.28, Z:15.79 [[ 9.94080183e-01 -9.71510770e-02 -4.86442028e-02 3.36185877e+02] [ 9.70300682e-02 9.95269641e-01 -4.84846419e-03 2.72785007e+01] [ 4.88851318e-02 9.98118507e-05 9.98804402e-01 1.57892409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.22, Y:27.28, Z:15.79 [[ 9.93738809e-01 -1.00747180e-01 -4.83030547e-02 3.36218299e+02] [ 1.00632234e-01 9.94912056e-01 -4.81186453e-03 2.72804039e+01] [ 4.85420733e-02 -7.91077647e-05 9.98821136e-01 1.57905065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.25, Y:27.28, Z:15.79 [[ 9.93745923e-01 -1.00676822e-01 -4.83033947e-02 3.36249808e+02] [ 1.00561959e-01 9.94919178e-01 -4.80844900e-03 2.72834812e+01] [ 4.85420731e-02 -7.91074063e-05 9.98821136e-01 1.57920116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.28, Y:27.28, Z:15.79 [[ 9.93207999e-01 -1.06226334e-01 -4.74745827e-02 3.36281964e+02] [ 1.06121872e-01 9.94341916e-01 -4.72261051e-03 2.72841796e+01] [ 4.77076331e-02 -3.47557080e-04 9.98861282e-01 1.57941950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.31, Y:27.28, Z:15.80 [[ 9.92875413e-01 -1.09433170e-01 -4.71465395e-02 3.36312948e+02] [ 1.09333922e-01 9.93994029e-01 -4.68654065e-03 2.72848647e+01] [ 4.73762418e-02 -5.01565097e-04 9.98876990e-01 1.57958789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.35, Y:27.29, Z:15.80 [[ 9.92526896e-01 -1.12711070e-01 -4.67608240e-02 3.36345385e+02] [ 1.12617193e-01 9.93627589e-01 -4.64567147e-03 2.72862010e+01] [ 4.69864634e-02 -6.55118871e-04 9.98895311e-01 1.57975584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.38, Y:27.28, Z:15.80 [[ 9.91838877e-01 -1.18846398e-01 -4.61646594e-02 3.36377102e+02] [ 1.18761692e-01 9.92912210e-01 -4.58307953e-03 2.72845016e+01] [ 4.63821365e-02 -9.36916605e-04 9.98923330e-01 1.57991314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.41, Y:27.29, Z:15.80 [[ 9.91554138e-01 -1.21310903e-01 -4.58699876e-02 3.36408805e+02] [ 1.21230024e-01 9.92614007e-01 -4.55133220e-03 2.72856912e+01] [ 4.60833184e-02 -1.04792739e-03 9.98937050e-01 1.58005553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.44, Y:27.29, Z:15.80 [[ 9.91332460e-01 -1.23216891e-01 -4.55801714e-02 3.36440685e+02] [ 1.23139153e-01 9.92379120e-01 -4.52016074e-03 2.72875717e+01] [ 4.57897705e-02 -1.13172165e-03 9.98950457e-01 1.58019855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.47, Y:27.29, Z:15.80 [[ 9.90967521e-01 -1.26397433e-01 -4.48002497e-02 3.36472513e+02] [ 1.26325723e-01 9.91978882e-01 -4.43960558e-03 2.72889945e+01] [ 4.50020563e-02 -1.25991899e-03 9.98986100e-01 1.58034448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.50, Y:27.29, Z:15.81 [[ 9.90861877e-01 -1.27453285e-01 -4.41406894e-02 3.36504610e+02] [ 1.27384821e-01 9.91843734e-01 -4.37191601e-03 2.72907901e+01] [ 4.43378813e-02 -1.29088893e-03 9.99015759e-01 1.58050071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.54, Y:27.29, Z:15.80 [[ 9.90690672e-01 -1.28336943e-01 -4.54050745e-02 3.36535766e+02] [ 1.28265584e-01 9.91729674e-01 -4.49371377e-03 2.72923620e+01] [ 4.56062692e-02 -1.37202807e-03 9.98958551e-01 1.58047210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.57, Y:27.29, Z:15.81 [[ 9.90688638e-01 -1.28184394e-01 -4.58779237e-02 3.36568366e+02] [ 1.28111489e-01 9.91749390e-01 -4.53807644e-03 2.72949620e+01] [ 4.60811134e-02 -1.38166837e-03 9.98936746e-01 1.58052317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.60, Y:27.30, Z:15.81 [[ 9.90780288e-01 -1.27424075e-01 -4.60165925e-02 3.36600682e+02] [ 1.27350142e-01 9.91847402e-01 -4.54678358e-03 2.72996796e+01] [ 4.62208074e-02 -1.35535606e-03 9.98930328e-01 1.58057925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.63, Y:27.30, Z:15.81 [[ 9.90839347e-01 -1.26837094e-01 -4.63652994e-02 3.36631916e+02] [ 1.26761553e-01 9.91922654e-01 -4.57783783e-03 2.73025196e+01] [ 4.65714305e-02 -1.34143550e-03 9.98914062e-01 1.58072184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.66, Y:27.31, Z:15.81 [[ 9.90967144e-01 -1.25799793e-01 -4.64599962e-02 3.36663531e+02] [ 1.25722920e-01 9.92054801e-01 -4.58469470e-03 2.73073535e+01] [ 4.66676159e-02 -1.29780459e-03 9.98909630e-01 1.58083225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.69, Y:27.31, Z:15.81 [[ 9.91094687e-01 -1.24637896e-01 -4.68691464e-02 3.36694253e+02] [ 1.24558530e-01 9.92201498e-01 -4.62159557e-03 2.73105471e+01] [ 4.70796632e-02 -1.25751317e-03 9.98890346e-01 1.58092393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.73, Y:27.31, Z:15.81 [[ 9.91268524e-01 -1.23039563e-01 -4.74128548e-02 3.36725616e+02] [ 1.22956642e-01 9.92401043e-01 -4.67258949e-03 2.73138187e+01] [ 4.76274799e-02 -1.19793454e-03 9.98864449e-01 1.58103680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.76, Y:27.32, Z:15.81 [[ 9.91652096e-01 -1.19167927e-01 -4.92455600e-02 3.36756660e+02] [ 1.19073836e-01 9.92873554e-01 -4.85047661e-03 2.73205489e+01] [ 4.94726354e-02 -1.05387242e-03 9.98774923e-01 1.58101967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.79, Y:27.33, Z:15.81 [[ 9.91883016e-01 -1.17016597e-01 -4.97513666e-02 3.36788801e+02] [ 1.16917953e-01 9.93129497e-01 -4.89840731e-03 2.73263633e+01] [ 4.99827447e-02 -9.58180942e-04 9.98749622e-01 1.58115354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.82, Y:27.33, Z:15.81 [[ 9.92390174e-01 -1.12678401e-01 -4.96519908e-02 3.36820418e+02] [ 1.12574901e-01 9.93631233e-01 -4.88505021e-03 2.73336533e+01] [ 4.98862085e-02 -7.41692145e-04 9.98754633e-01 1.58129564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.85, Y:27.34, Z:15.81 [[ 9.92609881e-01 -1.10828234e-01 -4.94239429e-02 3.36851370e+02] [ 1.10723572e-01 9.93839364e-01 -4.85897680e-03 2.73381590e+01] [ 4.96579718e-02 -6.49327137e-04 9.98766071e-01 1.58143854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.88, Y:27.34, Z:15.82 [[ 9.92795581e-01 -1.09177199e-01 -4.93687436e-02 3.36883364e+02] [ 1.09071026e-01 9.94022139e-01 -4.84761863e-03 2.73430105e+01] [ 4.96028735e-02 -5.72005148e-04 9.98768856e-01 1.58158606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.92, Y:27.35, Z:15.82 [[ 9.92952199e-01 -1.07394159e-01 -5.01241011e-02 3.36915508e+02] [ 1.07282623e-01 9.94216400e-01 -4.91814385e-03 2.73480931e+01] [ 5.03623833e-02 -4.93963306e-04 9.98730888e-01 1.58167230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.95, Y:27.35, Z:15.82 [[ 9.92949884e-01 -1.07367368e-01 -5.02272467e-02 3.36947819e+02] [ 1.07255519e-01 9.94219292e-01 -4.92467560e-03 2.73519506e+01] [ 5.04656471e-02 -4.97193363e-04 9.98725674e-01 1.58181900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.98, Y:27.35, Z:15.82 [[ 9.92705656e-01 -1.09544615e-01 -5.03533376e-02 3.36978760e+02] [ 1.09435186e-01 9.93981691e-01 -4.93340777e-03 2.73543801e+01] [ 5.05907239e-02 -6.13005079e-04 9.98719281e-01 1.58196201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.01, Y:27.36, Z:15.82 [[ 9.92516025e-01 -1.11207776e-01 -5.04457109e-02 3.37010938e+02] [ 1.11100234e-01 9.93796930e-01 -4.93964870e-03 2.73568917e+01] [ 5.06821200e-02 -7.01849772e-04 9.98714589e-01 1.58212627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.04, Y:27.36, Z:15.82 [[ 9.92272017e-01 -1.13374694e-01 -5.04224564e-02 3.37042365e+02] [ 1.13270228e-01 9.93551968e-01 -4.93375738e-03 2.73580113e+01] [ 5.06566940e-02 -8.15733756e-04 9.98715792e-01 1.58224544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.07, Y:27.36, Z:15.82 [[ 9.91998406e-01 -1.15628198e-01 -5.06880868e-02 3.37074874e+02] [ 1.15525711e-01 9.93292122e-01 -4.95692397e-03 2.73600137e+01] [ 5.09212375e-02 -9.38516577e-04 9.98702231e-01 1.58239085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.11, Y:27.36, Z:15.82 [[ 9.91353092e-01 -1.20666268e-01 -5.15625798e-02 3.37105939e+02] [ 1.20567202e-01 9.92692379e-01 -5.03884479e-03 2.73596602e+01] [ 5.17937986e-02 -1.22148162e-03 9.98657053e-01 1.58247479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.14, Y:27.36, Z:15.83 [[ 9.91361560e-01 -1.20596595e-01 -5.15627712e-02 3.37137461e+02] [ 1.20497537e-01 9.92700848e-01 -5.03688521e-03 2.73626792e+01] [ 5.17938379e-02 -1.21981257e-03 9.98657053e-01 1.58262539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.17, Y:27.37, Z:15.83 [[ 9.90783684e-01 -1.25193343e-01 -5.17138050e-02 3.37168379e+02] [ 1.25100140e-01 9.92131278e-01 -5.04803714e-03 2.73651574e+01] [ 5.19388641e-02 -1.46789143e-03 9.98649188e-01 1.58277676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.20, Y:27.37, Z:15.83 [[ 9.90792760e-01 -1.25121380e-01 -5.17140815e-02 3.37199906e+02] [ 1.25028227e-01 9.92140357e-01 -5.04520348e-03 2.73681754e+01] [ 5.19388901e-02 -1.46696884e-03 9.98649188e-01 1.58292736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.23, Y:27.37, Z:15.83 [[ 9.90514634e-01 -1.27367404e-01 -5.15587542e-02 3.37230559e+02] [ 1.27278035e-01 9.91854343e-01 -5.02643927e-03 2.73693781e+01] [ 5.17789787e-02 -1.58353526e-03 9.98657313e-01 1.58312251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.26, Y:27.37, Z:15.83 [[ 9.90328914e-01 -1.29071651e-01 -5.08836994e-02 3.37262722e+02] [ 1.28986953e-01 9.91633893e-01 -4.95866153e-03 2.73733420e+01] [ 5.10980235e-02 -1.65262743e-03 9.98692275e-01 1.58336554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.29, Y:27.37, Z:15.84 [[ 9.90006655e-01 -1.31639590e-01 -5.05750964e-02 3.37294264e+02] [ 1.31559444e-01 9.91296049e-01 -4.92496529e-03 2.73733918e+01] [ 5.07832136e-02 -1.77788315e-03 9.98708118e-01 1.58354971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.33, Y:27.38, Z:15.84 [[ 9.89962197e-01 -1.32116525e-01 -5.02003191e-02 3.37326550e+02] [ 1.32038314e-01 9.91232573e-01 -4.88570636e-03 2.73763396e+01] [ 5.04056740e-02 -1.79170088e-03 9.98727219e-01 1.58372067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.36, Y:27.38, Z:15.84 [[ 9.89980670e-01 -1.32115939e-01 -4.98362455e-02 3.37357996e+02] [ 1.32039031e-01 9.91232668e-01 -4.84679540e-03 2.73799304e+01] [ 5.00396535e-02 -1.78209581e-03 9.98745642e-01 1.58391716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.39, Y:27.39, Z:15.84 [[ 9.90204821e-01 -1.30238565e-01 -5.03222394e-02 3.37389937e+02] [ 1.30157918e-01 9.91481216e-01 -4.89033879e-03 2.73887451e+01] [ 5.05304658e-02 -1.70740084e-03 9.98721061e-01 1.58412910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.42, Y:27.39, Z:15.84 [[ 9.90395854e-01 -1.28745569e-01 -5.04046638e-02 3.37420736e+02] [ 1.28663033e-01 9.91676303e-01 -4.89231562e-03 2.73930803e+01] [ 5.06149746e-02 -1.63988783e-03 9.98716894e-01 1.58431178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.45, Y:27.40, Z:15.84 [[ 9.90876585e-01 -1.24772985e-01 -5.09440330e-02 3.37450983e+02] [ 1.24683569e-01 9.92184250e-01 -4.94191685e-03 2.73993829e+01] [ 5.11624848e-02 -1.45505418e-03 9.98689282e-01 1.58448553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.48, Y:27.40, Z:15.85 [[ 9.91130748e-01 -1.22614167e-01 -5.12406742e-02 3.37482557e+02] [ 1.22520928e-01 9.92453492e-01 -4.96868295e-03 2.74045635e+01] [ 5.14632170e-02 -1.35344053e-03 9.98673974e-01 1.58465391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.51, Y:27.41, Z:15.85 [[ 9.91412136e-01 -1.20124748e-01 -5.16915919e-02 3.37513852e+02] [ 1.20026677e-01 9.92758032e-01 -5.00863090e-03 2.74092183e+01] [ 5.19189036e-02 -1.23875254e-03 9.98650536e-01 1.58478832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.55, Y:27.42, Z:15.85 [[ 9.91806094e-01 -1.16193958e-01 -5.31002502e-02 3.37545379e+02] [ 1.16085047e-01 9.93225971e-01 -5.14120498e-03 2.74162204e+01] [ 5.33379245e-02 -1.06506661e-03 9.98575952e-01 1.58488440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.58, Y:27.42, Z:15.85 [[ 9.91983985e-01 -1.14345779e-01 -5.37849124e-02 3.37576355e+02] [ 1.14231532e-01 9.93440526e-01 -5.20368431e-03 2.74203290e+01] [ 5.40271310e-02 -9.81961460e-04 9.98538985e-01 1.58499537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.61, Y:27.43, Z:15.85 [[ 9.92107164e-01 -1.12224172e-01 -5.59384452e-02 3.37607657e+02] [ 1.12097395e-01 9.93682503e-01 -5.40893290e-03 2.74256444e+01] [ 5.61920673e-02 -9.04312929e-04 9.98419568e-01 1.58501553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.64, Y:27.43, Z:15.85 [[ 9.92143483e-01 -1.11446041e-01 -5.68426701e-02 3.37639327e+02] [ 1.11314040e-01 9.93770099e-01 -5.49313502e-03 2.74292091e+01] [ 5.71007341e-02 -8.77409136e-04 9.98368037e-01 1.58511514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.67, Y:27.43, Z:15.85 [[ 9.92153228e-01 -1.11002368e-01 -5.75364790e-02 3.37671597e+02] [ 1.10866614e-01 9.93819764e-01 -5.55610002e-03 2.74325017e+01] [ 5.77976302e-02 -8.66372051e-04 9.98327944e-01 1.58521150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.70, Y:27.44, Z:15.85 [[ 9.92140357e-01 -1.10758810e-01 -5.82236958e-02 3.37702871e+02] [ 1.10619591e-01 9.93846938e-01 -5.61872890e-03 2.74355347e+01] [ 5.84877655e-02 -8.66113734e-04 9.98287750e-01 1.58530764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.73, Y:27.44, Z:15.85 [[ 9.92113027e-01 -1.10872389e-01 -5.84726827e-02 3.37733878e+02] [ 1.10732293e-01 9.93834263e-01 -5.64072105e-03 2.74386263e+01] [ 5.87375557e-02 -8.78581401e-04 9.98273073e-01 1.58543133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.77, Y:27.44, Z:15.86 [[ 9.91922056e-01 -1.12348260e-01 -5.88939991e-02 3.37765686e+02] [ 1.12208884e-01 9.93668414e-01 -5.67885480e-03 2.74434327e+01] [ 5.91591162e-02 -9.75448596e-04 9.98248089e-01 1.58575769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.80, Y:27.45, Z:15.86 [[ 9.91739887e-01 -1.13824774e-01 -5.91262777e-02 3.37797183e+02] [ 1.13687165e-01 9.93500263e-01 -5.69707518e-03 2.74455632e+01] [ 5.93904407e-02 -1.07188219e-03 9.98234254e-01 1.58589752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.83, Y:27.45, Z:15.86 [[ 9.91506724e-01 -1.15679582e-01 -5.94360984e-02 3.37827978e+02] [ 1.15544051e-01 9.93285866e-01 -5.72363723e-03 2.74470149e+01] [ 5.96991444e-02 -1.19246278e-03 9.98215703e-01 1.58597874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.86, Y:27.45, Z:15.86 [[ 9.91209448e-01 -1.18148546e-01 -5.95378137e-02 3.37859368e+02] [ 1.18017179e-01 9.92995019e-01 -5.73039365e-03 2.74499440e+01] [ 5.97977901e-02 -1.34646449e-03 9.98209603e-01 1.58615038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.89, Y:27.45, Z:15.86 [[ 9.90841787e-01 -1.20971025e-01 -5.99880423e-02 3.37890650e+02] [ 1.20843030e-01 9.92654857e-01 -5.77034525e-03 2.74473564e+01] [ 6.02454661e-02 -1.53163760e-03 9.98182417e-01 1.58603996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.92, Y:27.45, Z:15.86 [[ 9.89980925e-01 -1.27903322e-01 -5.98206289e-02 3.37921446e+02] [ 1.27789040e-01 9.91784716e-01 -5.74797870e-03 2.74489479e+01] [ 6.00643709e-02 -1.95403148e-03 9.98192593e-01 1.58629083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.95, Y:27.45, Z:15.87 [[ 9.89548728e-01 -1.31371994e-01 -5.94534631e-02 3.37952465e+02] [ 1.31265431e-01 9.91330806e-01 -5.71142123e-03 2.74519046e+01] [ 5.96883703e-02 -2.15245488e-03 9.98214739e-01 1.58650135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.98, Y:27.45, Z:15.87 [[ 9.88802648e-01 -1.37408488e-01 -5.82085064e-02 3.37982873e+02] [ 1.37316877e-01 9.90511397e-01 -5.58994070e-03 2.74518502e+01] [ 5.84242943e-02 -2.46566214e-03 9.98288797e-01 1.58676389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.01, Y:27.45, Z:15.87 [[ 9.88578736e-01 -1.39333671e-01 -5.74300455e-02 3.38014343e+02] [ 1.39247811e-01 9.90242215e-01 -5.51380501e-03 2.74508583e+01] [ 5.76379142e-02 -2.54617772e-03 9.98334307e-01 1.58687956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.05, Y:27.46, Z:15.87 [[ 9.88359838e-01 -1.41147856e-01 -5.67636686e-02 3.38045645e+02] [ 1.41067132e-01 9.89985049e-01 -5.44678167e-03 2.74559026e+01] [ 5.69639848e-02 -2.62410767e-03 9.98372785e-01 1.58714446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.08, Y:27.46, Z:15.87 [[ 9.88284321e-01 -1.41889626e-01 -5.62266337e-02 3.38077281e+02] [ 1.41811789e-01 9.89878952e-01 -5.39222544e-03 2.74567634e+01] [ 5.64226621e-02 -2.64454767e-03 9.98403470e-01 1.58724100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.11, Y:27.46, Z:15.87 [[ 9.88294349e-01 -1.41819642e-01 -5.62269355e-02 3.38108836e+02] [ 1.41741871e-01 9.89888984e-01 -5.38907731e-03 2.74597264e+01] [ 5.64227010e-02 -2.64371638e-03 9.98403470e-01 1.58739170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.14, Y:27.46, Z:15.88 [[ 9.88547853e-01 -1.40442304e-01 -5.52186727e-02 3.38140344e+02] [ 1.40365368e-01 9.90085650e-01 -5.28855085e-03 2.74635950e+01] [ 5.54139517e-02 -2.52280371e-03 9.98460279e-01 1.58761539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.17, Y:27.47, Z:15.88 [[ 9.88638890e-01 -1.39768675e-01 -5.52979389e-02 3.38172588e+02] [ 1.39690690e-01 9.90181046e-01 -5.29213554e-03 2.74667783e+01] [ 5.54946458e-02 -2.49259624e-03 9.98455873e-01 1.58777307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.20, Y:27.47, Z:15.88 [[ 9.88672901e-01 -1.39347411e-01 -5.57511704e-02 3.38204652e+02] [ 1.39267703e-01 9.90240417e-01 -5.33144053e-03 2.74723869e+01] [ 5.59499846e-02 -2.49328668e-03 9.98430460e-01 1.58794578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.24, Y:27.47, Z:15.88 [[ 9.88712770e-01 -1.38914800e-01 -5.61225161e-02 3.38235720e+02] [ 1.38833559e-01 9.90301208e-01 -5.36293106e-03 2.74733732e+01] [ 5.63231860e-02 -2.48929023e-03 9.98409486e-01 1.58803192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.27, Y:27.47, Z:15.88 [[ 9.88683542e-01 -1.38832787e-01 -5.68358222e-02 3.38266923e+02] [ 1.38749515e-01 9.90312632e-01 -5.42792859e-03 2.74745383e+01] [ 5.70388072e-02 -2.51943910e-03 9.98368783e-01 1.58809692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.30, Y:27.48, Z:15.88 [[ 9.88834043e-01 -1.37137520e-01 -5.83141161e-02 3.38298663e+02] [ 1.37047123e-01 9.90548893e-01 -5.56568050e-03 2.74800099e+01] [ 5.85262468e-02 -2.48824748e-03 9.98282769e-01 1.58814134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.33, Y:27.48, Z:15.88 [[ 9.88938148e-01 -1.36137199e-01 -5.88897411e-02 3.38329922e+02] [ 1.36043486e-01 9.90686946e-01 -5.61648172e-03 2.74807570e+01] [ 5.91059099e-02 -2.45721264e-03 9.98248693e-01 1.58818459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.36, Y:27.49, Z:15.88 [[ 9.89213263e-01 -1.33944594e-01 -5.92955841e-02 3.38361731e+02] [ 1.33845861e-01 9.90986046e-01 -5.65173298e-03 2.74863440e+01] [ 5.95181156e-02 -2.34569929e-03 9.98224470e-01 1.58835527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.39, Y:27.49, Z:15.89 [[ 9.89376827e-01 -1.32913757e-01 -5.88848738e-02 3.38393507e+02] [ 1.32814812e-01 9.91125003e-01 -5.60841096e-03 2.74910773e+01] [ 5.91077057e-02 -2.27195160e-03 9.98249026e-01 1.58859168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.43, Y:27.50, Z:15.89 [[ 9.89516916e-01 -1.32041957e-01 -5.84909731e-02 3.38425235e+02] [ 1.31943059e-01 9.91241666e-01 -5.56668167e-03 2.74954530e+01] [ 5.87137251e-02 -2.20915220e-03 9.98272417e-01 1.58880834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.46, Y:27.50, Z:15.89 [[ 9.89570519e-01 -1.31703023e-01 -5.83481139e-02 3.38456310e+02] [ 1.31604256e-01 9.91286804e-01 -5.54905112e-03 2.74971356e+01] [ 5.85705422e-02 -2.18768271e-03 9.98280875e-01 1.58893209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.49, Y:27.50, Z:15.89 [[ 9.89550471e-01 -1.31750723e-01 -5.85799726e-02 3.38488012e+02] [ 1.31651453e-01 9.91280432e-01 -5.56771670e-03 2.74998551e+01] [ 5.88027313e-02 -2.20260182e-03 9.98267192e-01 1.58904027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.52, Y:27.50, Z:15.89 [[ 9.89479680e-01 -1.32186497e-01 -5.87936502e-02 3.38519006e+02] [ 1.32087543e-01 9.91222330e-01 -5.58339527e-03 2.75009600e+01] [ 5.90156284e-02 -2.24125263e-03 9.98254543e-01 1.58911822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.55, Y:27.50, Z:15.89 [[ 9.89379319e-01 -1.32908280e-01 -5.88553446e-02 3.38550972e+02] [ 1.32810740e-01 9.91125690e-01 -5.58336336e-03 2.75033001e+01] [ 5.90751193e-02 -2.29255763e-03 9.98250908e-01 1.58925785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.58, Y:27.51, Z:15.89 [[ 9.88962653e-01 -1.35758535e-01 -5.93505773e-02 3.38581563e+02] [ 1.35664703e-01 9.90738832e-01 -5.62636299e-03 2.75056977e+01] [ 5.95647484e-02 -2.48751555e-03 9.98221345e-01 1.58940067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.61, Y:27.51, Z:15.90 [[ 9.88742347e-01 -1.37259748e-01 -5.95678756e-02 3.38612558e+02] [ 1.37168132e-01 9.90531701e-01 -5.64383979e-03 2.75069860e+01] [ 5.97785412e-02 -2.59051081e-03 9.98208303e-01 1.58953873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.64, Y:27.51, Z:15.90 [[ 9.88555453e-01 -1.38604935e-01 -5.95549167e-02 3.38644001e+02] [ 1.38515983e-01 9.90344142e-01 -5.63942061e-03 2.75095210e+01] [ 5.97615144e-02 -2.67442780e-03 9.98209101e-01 1.58973761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.68, Y:27.51, Z:15.90 [[ 9.88438826e-01 -1.39465621e-01 -5.94813267e-02 3.38676127e+02] [ 1.39378645e-01 9.90223160e-01 -5.62904808e-03 2.75114691e+01] [ 5.96848460e-02 -2.72645706e-03 9.98213547e-01 1.58990775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.71, Y:27.51, Z:15.90 [[ 9.88468807e-01 -1.39567220e-01 -5.87401889e-02 3.38707607e+02] [ 1.39482807e-01 9.90208912e-01 -5.55498387e-03 2.75116835e+01] [ 5.89403522e-02 -2.70231816e-03 9.98257849e-01 1.59007682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.74, Y:27.51, Z:15.90 [[ 9.88590954e-01 -1.38994172e-01 -5.80391743e-02 3.38739188e+02] [ 1.38910964e-01 9.90289682e-01 -5.48546557e-03 2.75149535e+01] [ 5.82380432e-02 -2.63939599e-03 9.98299236e-01 1.59030330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.77, Y:27.52, Z:15.91 [[ 9.88754416e-01 -1.38103707e-01 -5.73765760e-02 3.38771475e+02] [ 1.38021121e-01 9.90414462e-01 -5.41885840e-03 2.75188685e+01] [ 5.75749551e-02 -2.56125919e-03 9.98337901e-01 1.59054087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.80, Y:27.52, Z:15.91 [[ 9.88970743e-01 -1.37103796e-01 -5.60305093e-02 3.38803827e+02] [ 1.37023665e-01 9.90553661e-01 -5.28769399e-03 2.75225068e+01] [ 5.62261891e-02 -2.44813105e-03 9.98415055e-01 1.59082604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.84, Y:27.53, Z:15.91 [[ 9.88997133e-01 -1.37075380e-01 -5.56328210e-02 3.38835724e+02] [ 1.36996602e-01 9.90557629e-01 -5.24539198e-03 2.75260450e+01] [ 5.58265294e-02 -2.43382983e-03 9.98437517e-01 1.59105419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.87, Y:27.53, Z:15.91 [[ 9.89017789e-01 -1.37299208e-01 -5.47059428e-02 3.38867816e+02] [ 1.37223589e-01 9.90526689e-01 -5.15410164e-03 2.75303567e+01] [ 5.48953505e-02 -2.40944758e-03 9.98489206e-01 1.59128946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.90, Y:27.53, Z:15.91 [[ 9.88977820e-01 -1.38246915e-01 -5.30156826e-02 3.38899165e+02] [ 1.38177449e-01 9.90394912e-01 -4.99114943e-03 2.75292532e+01] [ 5.31964733e-02 -2.38943568e-03 9.98581206e-01 1.59144936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.93, Y:27.53, Z:15.92 [[ 9.88895606e-01 -1.38986495e-01 -5.26140205e-02 3.38930961e+02] [ 1.38919278e-01 9.90291335e-01 -4.95036550e-03 2.75308197e+01] [ 5.27912426e-02 -2.41370704e-03 9.98602653e-01 1.59161381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.96, Y:27.53, Z:15.92 [[ 9.88864970e-01 -1.39396105e-01 -5.21037177e-02 3.38963345e+02] [ 1.39330948e-01 9.90233756e-01 -4.89858757e-03 2.75326632e+01] [ 5.22777041e-02 -2.41561874e-03 9.98629664e-01 1.59178584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.99, Y:27.53, Z:15.92 [[ 9.88825180e-01 -1.39766055e-01 -5.18672599e-02 3.38994221e+02] [ 1.39702206e-01 9.90181576e-01 -4.87232571e-03 2.75327132e+01] [ 5.20389909e-02 -2.42809227e-03 9.98642102e-01 1.59189131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.03, Y:27.54, Z:15.92 [[ 9.88799034e-01 -1.39843529e-01 -5.21560897e-02 3.39026756e+02] [ 1.39779409e-01 9.90170579e-01 -4.89306512e-03 2.75352326e+01] [ 5.23276890e-02 -2.45208934e-03 9.98626957e-01 1.59202643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.06, Y:27.54, Z:15.92 [[ 9.88795114e-01 -1.39996343e-01 -5.18193662e-02 3.39059355e+02] [ 1.39933453e-01 9.90148995e-01 -4.85772689e-03 2.75365381e+01] [ 5.19889574e-02 -2.44796622e-03 9.98644659e-01 1.59218864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.09, Y:27.54, Z:15.92 [[ 9.88719111e-01 -1.40733634e-01 -5.12695224e-02 3.39091685e+02] [ 1.40673247e-01 9.90044430e-01 -4.80251751e-03 2.75362090e+01] [ 5.14349809e-02 -2.46390934e-03 9.98673306e-01 1.59235558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.12, Y:27.54, Z:15.93 [[ 9.88666467e-01 -1.41058495e-01 -5.13918062e-02 3.39123910e+02] [ 1.40998449e-01 9.89998131e-01 -4.81027145e-03 2.75398350e+01] [ 5.15563217e-02 -2.49041087e-03 9.98666983e-01 1.59250706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.16, Y:27.54, Z:15.93 [[ 9.88615580e-01 -1.41159271e-01 -5.20893014e-02 3.39155081e+02] [ 1.41097923e-01 9.89983658e-01 -4.87175678e-03 2.75397072e+01] [ 5.22552507e-02 -2.53339758e-03 9.98630548e-01 1.59257343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.19, Y:27.54, Z:15.93 [[ 9.88653477e-01 -1.40364664e-01 -5.34982646e-02 3.39186577e+02] [ 1.40298964e-01 9.90096559e-01 -5.00039377e-03 2.75441080e+01] [ 5.36703263e-02 -2.56209439e-03 9.98555422e-01 1.59261586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.22, Y:27.55, Z:15.93 [[ 9.88663847e-01 -1.40291464e-01 -5.34986339e-02 3.39218139e+02] [ 1.40225870e-01 9.90106934e-01 -4.99644004e-03 2.75469983e+01] [ 5.36703263e-02 -2.56209287e-03 9.98555422e-01 1.59276654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.25, Y:27.54, Z:15.93 [[ 9.88755045e-01 -1.39386626e-01 -5.41740603e-02 3.39249794e+02] [ 1.39318254e-01 9.90234755e-01 -5.05509350e-03 2.75436809e+01] [ 5.43496498e-02 -2.54918629e-03 9.98518712e-01 1.59276753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.28, Y:27.55, Z:15.93 [[ 9.88905486e-01 -1.38307983e-01 -5.41926344e-02 3.39281295e+02] [ 1.38238297e-01 9.90386120e-01 -5.05044889e-03 2.75480700e+01] [ 5.43701504e-02 -2.49708086e-03 9.98517727e-01 1.59292229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.31, Y:27.56, Z:15.93 [[ 9.89089562e-01 -1.36826060e-01 -5.45936681e-02 3.39312973e+02] [ 1.36753300e-01 9.90592090e-01 -5.08393420e-03 2.75550585e+01] [ 5.47756704e-02 -2.43739802e-03 9.98495711e-01 1.59310344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.34, Y:27.56, Z:15.93 [[ 9.89504108e-01 -1.33802964e-01 -5.45746067e-02 3.39343794e+02] [ 1.33725872e-01 9.91005348e-01 -5.07843082e-03 2.75581646e+01] [ 5.47632362e-02 -2.27290871e-03 9.98496781e-01 1.59319524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.37, Y:27.56, Z:15.93 [[ 9.89752904e-01 -1.31849016e-01 -5.48181100e-02 3.39374363e+02] [ 1.31768347e-01 9.91267421e-01 -5.09922356e-03 2.75584165e+01] [ 5.50117342e-02 -2.17632042e-03 9.98483336e-01 1.59325984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.41, Y:27.56, Z:15.93 [[ 9.90005903e-01 -1.30197824e-01 -5.41926047e-02 3.39405847e+02] [ 1.30116589e-01 9.91485892e-01 -5.03971534e-03 2.75647393e+01] [ 5.43873630e-02 -2.06200891e-03 9.98517783e-01 1.59349911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.44, Y:27.57, Z:15.94 [[ 9.90388048e-01 -1.27662364e-01 -5.32337740e-02 3.39436451e+02] [ 1.27580508e-01 9.91815881e-01 -4.94703242e-03 2.75710466e+01] [ 5.34296523e-02 -1.89211016e-03 9.98569823e-01 1.59368287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.47, Y:27.57, Z:15.94 [[ 9.90444024e-01 -1.27175925e-01 -5.33565269e-02 3.39467829e+02] [ 1.27093098e-01 9.91878409e-01 -4.95637872e-03 2.75728141e+01] [ 5.35535191e-02 -1.87223059e-03 9.98563226e-01 1.59378794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.50, Y:27.58, Z:15.94 [[ 9.90432066e-01 -1.27168893e-01 -5.35947312e-02 3.39499433e+02] [ 1.27085477e-01 9.91879290e-01 -4.97547395e-03 2.75763303e+01] [ 5.37922295e-02 -1.88324305e-03 9.98550374e-01 1.59389683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.53, Y:27.58, Z:15.94 [[ 9.90285723e-01 -1.27755858e-01 -5.48874032e-02 3.39531090e+02] [ 1.27669487e-01 9.91803699e-01 -5.09157205e-03 2.75774068e+01] [ 5.50880077e-02 -1.96533547e-03 9.98479569e-01 1.59381860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.56, Y:27.58, Z:15.94 [[ 9.90206605e-01 -1.28257276e-01 -5.51448136e-02 3.39562919e+02] [ 1.28171041e-01 9.91738901e-01 -5.11233711e-03 2.75791407e+01] [ 5.53449513e-02 -2.00569818e-03 9.98465279e-01 1.59387203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.59, Y:27.58, Z:15.94 [[ 9.90148923e-01 -1.28745479e-01 -5.50428179e-02 3.39594645e+02] [ 1.28660531e-01 9.91675586e-01 -5.09898215e-03 2.75812991e+01] [ 5.52410896e-02 -2.03308648e-03 9.98470975e-01 1.59401991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.63, Y:27.59, Z:15.94 [[ 9.90163149e-01 -1.28793722e-01 -5.46728069e-02 3.39626269e+02] [ 1.28710198e-01 9.91669337e-01 -5.06083467e-03 2.75872231e+01] [ 5.48691498e-02 -2.02589578e-03 9.98491498e-01 1.59429353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.66, Y:27.59, Z:15.94 [[ 9.90231011e-01 -1.28447696e-01 -5.42561927e-02 3.39657710e+02] [ 1.28365130e-01 9.91714278e-01 -5.01843275e-03 2.75883611e+01] [ 5.44512471e-02 -1.99519550e-03 9.98514437e-01 1.59447755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.69, Y:27.59, Z:15.95 [[ 9.90401131e-01 -1.27202974e-01 -5.40833060e-02 3.39689736e+02] [ 1.27119248e-01 9.91874842e-01 -4.99937446e-03 2.75940528e+01] [ 5.42798059e-02 -1.92364309e-03 9.98523912e-01 1.59480538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.72, Y:27.60, Z:15.95 [[ 9.90518718e-01 -1.26467505e-01 -5.36529534e-02 3.39721879e+02] [ 1.26384235e-01 9.91968984e-01 -4.95578305e-03 2.75991768e+01] [ 5.38488112e-02 -1.87209160e-03 9.98547345e-01 1.59501252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.75, Y:27.60, Z:15.95 [[ 9.90658846e-01 -1.25659630e-01 -5.29594971e-02 3.39752641e+02] [ 1.25577543e-01 9.92071766e-01 -4.88801414e-03 2.76006172e+01] [ 5.31538478e-02 -1.80816908e-03 9.98584698e-01 1.59519664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.79, Y:27.60, Z:15.95 [[ 9.90691412e-01 -1.25301906e-01 -5.31973568e-02 3.39785024e+02] [ 1.25218726e-01 9.92117026e-01 -4.90695929e-03 2.76046778e+01] [ 5.33928548e-02 -1.80002282e-03 9.98571962e-01 1.59533379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.82, Y:27.61, Z:15.96 [[ 9.90659504e-01 -1.25175936e-01 -5.40807936e-02 3.39816475e+02] [ 1.25090000e-01 9.92132878e-01 -4.98447802e-03 2.76101161e+01] [ 5.42792700e-02 -1.82704596e-03 9.98524122e-01 1.59550610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.85, Y:27.61, Z:15.96 [[ 9.90601567e-01 -1.25145733e-01 -5.52003724e-02 3.39847079e+02] [ 1.25056412e-01 9.92136612e-01 -5.08303739e-03 2.76126464e+01] [ 5.54024308e-02 -1.86789570e-03 9.98462359e-01 1.59556589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.88, Y:27.62, Z:15.96 [[ 9.90537101e-01 -1.25322159e-01 -5.59518397e-02 3.39879146e+02] [ 1.25231056e-01 9.92114261e-01 -5.14538543e-03 2.76163550e+01] [ 5.61554490e-02 -1.91021283e-03 9.98420210e-01 1.59569344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.91, Y:27.62, Z:15.96 [[ 9.90413163e-01 -1.25993671e-01 -5.66335749e-02 3.39910174e+02] [ 1.25901660e-01 9.92029077e-01 -5.20403928e-03 2.76188184e+01] [ 5.68378291e-02 -1.97611210e-03 9.98381468e-01 1.59579715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.94, Y:27.62, Z:15.96 [[ 9.90265275e-01 -1.26891757e-01 -5.72116047e-02 3.39941587e+02] [ 1.26799537e-01 9.91914448e-01 -5.25399316e-03 2.76209842e+01] [ 5.74157058e-02 -2.05155800e-03 9.98348250e-01 1.59592629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.97, Y:27.62, Z:15.96 [[ 9.89906461e-01 -1.29201715e-01 -5.82418759e-02 3.39973234e+02] [ 1.29110320e-01 9.91615829e-01 -5.34539488e-03 2.76232281e+01] [ 5.84442002e-02 -2.22818629e-03 9.98288190e-01 1.59610169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.01, Y:27.63, Z:15.96 [[ 9.89711848e-01 -1.30355090e-01 -5.89746453e-02 3.40005032e+02] [ 1.30263628e-01 9.91464638e-01 -5.40920637e-03 2.76264010e+01] [ 5.91763929e-02 -2.32869562e-03 9.98244826e-01 1.59620766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.04, Y:27.63, Z:15.96 [[ 9.89483268e-01 -1.31608404e-01 -6.00174238e-02 3.40036899e+02] [ 1.31516246e-01 9.91298755e-01 -5.50042539e-03 2.76292113e+01] [ 6.02190997e-02 -2.45068741e-03 9.98182175e-01 1.59631339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.07, Y:27.63, Z:15.96 [[ 9.89313958e-01 -1.32757324e-01 -6.02775678e-02 3.40069095e+02] [ 1.32666761e-01 9.91145328e-01 -5.51985246e-03 2.76330894e+01] [ 6.04766306e-02 -2.53596258e-03 9.98166392e-01 1.59645535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.10, Y:27.64, Z:15.97 [[ 9.89112359e-01 -1.34242303e-01 -6.02971471e-02 3.40100398e+02] [ 1.34154686e-01 9.90945043e-01 -5.51744284e-03 2.76358455e+01] [ 6.04918333e-02 -2.63177397e-03 9.98165223e-01 1.59666510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.13, Y:27.64, Z:15.97 [[ 9.89107585e-01 -1.34316518e-01 -6.02101215e-02 3.40131564e+02] [ 1.34229491e-01 9.90934976e-01 -5.50619259e-03 2.76382625e+01] [ 6.04038879e-02 -2.63575708e-03 9.98170538e-01 1.59682284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.16, Y:27.64, Z:15.97 [[ 9.89216208e-01 -1.33626704e-01 -5.99599643e-02 3.40163349e+02] [ 1.33539341e-01 9.91028363e-01 -5.47987728e-03 2.76436478e+01] [ 6.01542832e-02 -2.58623072e-03 9.98185741e-01 1.59705825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.19, Y:27.65, Z:15.97 [[ 9.89299388e-01 -1.32984494e-01 -6.00153829e-02 3.40194743e+02] [ 1.32896050e-01 9.91114828e-01 -5.48063294e-03 2.76476569e+01] [ 6.02109751e-02 -2.55382053e-03 9.98182406e-01 1.59724554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.23, Y:27.65, Z:15.97 [[ 9.89554694e-01 -1.30837278e-01 -6.05236644e-02 3.40225543e+02] [ 1.30743561e-01 9.91400835e-01 -5.52317470e-03 2.76534886e+01] [ 6.07258485e-02 -2.44759593e-03 9.98151482e-01 1.59735878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.26, Y:27.66, Z:15.97 [[ 9.89663946e-01 -1.29788419e-01 -6.09937700e-02 3.40256711e+02] [ 1.29691387e-01 9.91538798e-01 -5.56390051e-03 2.76578252e+01] [ 6.11998192e-02 -2.40397491e-03 9.98122639e-01 1.59748301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.29, Y:27.66, Z:15.98 [[ 9.89815590e-01 -1.28705208e-01 -6.08281778e-02 3.40288074e+02] [ 1.28606822e-01 9.91680153e-01 -5.54615634e-03 2.76646901e+01] [ 6.10359159e-02 -2.33324664e-03 9.98132843e-01 1.59772341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.32, Y:27.67, Z:15.98 [[ 9.89973168e-01 -1.27689269e-01 -6.04034563e-02 3.40319268e+02] [ 1.27590615e-01 9.91811650e-01 -5.50331106e-03 2.76674996e+01] [ 6.06115654e-02 -2.25878389e-03 9.98158873e-01 1.59785777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.35, Y:27.67, Z:15.98 [[ 9.90006867e-01 -1.27487649e-01 -6.02768814e-02 3.40351007e+02] [ 1.27389247e-01 9.91837617e-01 -5.48829296e-03 2.76748705e+01] [ 6.04845679e-02 -2.24517879e-03 9.98166607e-01 1.59817514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.38, Y:27.68, Z:15.98 [[ 9.90098838e-01 -1.26830756e-01 -6.01518976e-02 3.40383113e+02] [ 1.26731813e-01 9.91921921e-01 -5.47258462e-03 2.76788668e+01] [ 6.03600779e-02 -2.20475938e-03 9.98174233e-01 1.59836648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.42, Y:27.68, Z:15.99 [[ 9.90188016e-01 -1.26059555e-01 -6.03049107e-02 3.40415354e+02] [ 1.25958945e-01 9.92020307e-01 -5.48214816e-03 2.76833759e+01] [ 6.05147732e-02 -2.16758552e-03 9.98164948e-01 1.59850328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.45, Y:27.68, Z:15.99 [[ 9.90422085e-01 -1.24238646e-01 -6.02399543e-02 3.40446273e+02] [ 1.24135127e-01 9.92250232e-01 -5.47234070e-03 2.76842388e+01] [ 6.04529849e-02 -2.05796732e-03 9.98168924e-01 1.59851842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.48, Y:27.69, Z:15.99 [[ 9.90543084e-01 -1.23194467e-01 -6.03947226e-02 3.40478253e+02] [ 1.23088640e-01 9.92380529e-01 -5.48375128e-03 2.76902668e+01] [ 6.06101146e-02 -2.00201236e-03 9.98159509e-01 1.59876813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.51, Y:27.69, Z:15.99 [[ 9.90725678e-01 -1.21516482e-01 -6.07978272e-02 3.40509707e+02] [ 1.21406353e-01 9.92587564e-01 -5.51594755e-03 2.76936910e+01] [ 6.10174457e-02 -1.91645161e-03 9.98134860e-01 1.59887645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.54, Y:27.70, Z:15.99 [[ 9.90787340e-01 -1.20853237e-01 -6.11141710e-02 3.40541285e+02] [ 1.20740970e-01 9.92668587e-01 -5.54025423e-03 2.76974471e+01] [ 6.13356755e-02 -1.88977052e-03 9.98115406e-01 1.59904967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.57, Y:27.70, Z:15.99 [[ 9.90807110e-01 -1.20492467e-01 -6.15047592e-02 3.40572609e+02] [ 1.20378343e-01 9.92712454e-01 -5.57118518e-03 2.77023310e+01] [ 6.17278263e-02 -1.88387111e-03 9.98091242e-01 1.59928506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.60, Y:27.70, Z:15.99 [[ 9.90746957e-01 -1.20729616e-01 -6.20066698e-02 3.40603929e+02] [ 1.20614357e-01 9.92683574e-01 -5.61229594e-03 2.77040327e+01] [ 6.22305730e-02 -1.91852949e-03 9.98059956e-01 1.59933921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.64, Y:27.71, Z:15.99 [[ 9.90697177e-01 -1.21179917e-01 -6.19235881e-02 3.40636363e+02] [ 1.21066072e-01 9.92628648e-01 -5.60110607e-03 2.77065398e+01] [ 6.21458691e-02 -1.94784563e-03 9.98065177e-01 1.59946796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.67, Y:27.71, Z:16.00 [[ 9.90503091e-01 -1.23017329e-01 -6.14032790e-02 3.40667745e+02] [ 1.22909153e-01 9.92402406e-01 -5.55013604e-03 2.77085747e+01] [ 6.16195248e-02 -2.04959813e-03 9.98097607e-01 1.59969907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.70, Y:27.71, Z:16.00 [[ 9.90416731e-01 -1.23759347e-01 -6.13051670e-02 3.40699355e+02] [ 1.23653102e-01 9.92310050e-01 -5.53856611e-03 2.77113484e+01] [ 6.15191827e-02 -2.09508555e-03 9.98103702e-01 1.59991150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.73, Y:27.71, Z:16.00 [[ 9.90349533e-01 -1.24459197e-01 -6.09730321e-02 3.40731563e+02] [ 1.24355691e-01 9.92222438e-01 -5.50418778e-03 2.77139599e+01] [ 6.11838574e-02 -2.13127377e-03 9.98124237e-01 1.60006290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.76, Y:27.72, Z:16.00 [[ 9.90291690e-01 -1.25084611e-01 -6.06317498e-02 3.40763181e+02] [ 1.24983730e-01 9.92143721e-01 -5.46845619e-03 2.77160747e+01] [ 6.08394295e-02 -2.16261553e-03 9.98145223e-01 1.60024427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.79, Y:27.72, Z:16.00 [[ 9.90359073e-01 -1.24915354e-01 -5.98753701e-02 3.40794903e+02] [ 1.24817045e-01 9.92165113e-01 -5.39392106e-03 2.77177597e+01] [ 6.00800369e-02 -2.13154812e-03 9.98191287e-01 1.60039032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.83, Y:27.72, Z:16.01 [[ 9.90456091e-01 -1.24831182e-01 -5.84286588e-02 3.40825994e+02] [ 1.24737651e-01 9.92175818e-01 -5.25964538e-03 2.77175452e+01] [ 5.86280701e-02 -2.07880583e-03 9.98277731e-01 1.60064198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.86, Y:27.72, Z:16.01 [[ 9.90576956e-01 -1.24246709e-01 -5.76198721e-02 3.40857748e+02] [ 1.24154951e-01 9.92249303e-01 -5.18357160e-03 2.77228778e+01] [ 5.78173196e-02 -2.01906580e-03 9.98325138e-01 1.60089375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.89, Y:27.73, Z:16.01 [[ 9.90664738e-01 -1.23670927e-01 -5.73487505e-02 3.40890105e+02] [ 1.23579308e-01 9.92321309e-01 -5.15502261e-03 2.77262792e+01] [ 5.75459136e-02 -1.98021976e-03 9.98340897e-01 1.60107249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.92, Y:27.73, Z:16.01 [[ 9.90758400e-01 -1.23045224e-01 -5.70759623e-02 3.40921322e+02] [ 1.22953667e-01 9.92399171e-01 -5.12650879e-03 2.77269453e+01] [ 5.72729301e-02 -1.93856720e-03 9.98356676e-01 1.60114275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.95, Y:27.73, Z:16.01 [[ 9.90952074e-01 -1.22085576e-01 -5.57593048e-02 3.40953679e+02] [ 1.21996852e-01 9.92517867e-01 -5.00512682e-03 2.77295751e+01] [ 5.59531601e-02 -1.84261886e-03 9.98431695e-01 1.60136936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.99, Y:27.73, Z:16.02 [[ 9.91042215e-01 -1.21611538e-01 -5.51902313e-02 3.40985674e+02] [ 1.21524096e-01 9.92576138e-01 -4.95018886e-03 2.77329564e+01] [ 5.53825067e-02 -1.80109681e-03 9.98463587e-01 1.60157460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.02, Y:27.74, Z:16.02 [[ 9.91143146e-01 -1.20871105e-01 -5.50039944e-02 3.41017928e+02] [ 1.20783329e-01 9.92666654e-01 -4.92957366e-03 2.77355498e+01] [ 5.51964741e-02 -1.75765241e-03 9.98473966e-01 1.60169239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.05, Y:27.74, Z:16.02 [[ 9.91188904e-01 -1.20300667e-01 -5.54283968e-02 3.41049498e+02] [ 1.20210865e-01 9.92735972e-01 -4.96358629e-03 2.77388200e+01] [ 5.56228862e-02 -1.74324389e-03 9.98450327e-01 1.60180674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.08, Y:27.74, Z:16.02 [[ 9.91234399e-01 -1.19634400e-01 -5.60533466e-02 3.41081179e+02] [ 1.19541732e-01 9.92816509e-01 -5.01541226e-03 2.77411736e+01] [ 5.62507037e-02 -1.72926496e-03 9.98415178e-01 1.60189664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.11, Y:27.74, Z:16.02 [[ 9.91303668e-01 -1.18985720e-01 -5.62088559e-02 3.41112358e+02] [ 1.18891718e-01 9.92894508e-01 -5.02538980e-03 2.77423344e+01] [ 5.64074139e-02 -1.70108011e-03 9.98406385e-01 1.60196774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.14, Y:27.75, Z:16.02 [[ 9.91400584e-01 -1.17970742e-01 -5.66373205e-02 3.41144400e+02] [ 1.17873834e-01 9.93015685e-01 -5.06043647e-03 2.77471601e+01] [ 5.68387311e-02 -1.65913846e-03 9.98381994e-01 1.60214934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.18, Y:27.75, Z:16.02 [[ 9.91691642e-01 -1.15186913e-01 -5.72683311e-02 3.41175483e+02] [ 1.15083429e-01 9.93342672e-01 -5.11278881e-03 2.77504992e+01] [ 5.74760034e-02 -1.52032598e-03 9.98345731e-01 1.60229691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.21, Y:27.75, Z:16.02 [[ 9.91699785e-01 -1.15116646e-01 -5.72686213e-02 3.41207034e+02] [ 1.15013233e-01 9.93350819e-01 -5.10953635e-03 2.77532546e+01] [ 5.74760245e-02 -1.51952317e-03 9.98345731e-01 1.60244751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.24, Y:27.76, Z:16.03 [[ 9.91936672e-01 -1.13145316e-01 -5.70944414e-02 3.41239053e+02] [ 1.13039503e-01 9.93577457e-01 -5.08993848e-03 2.77566670e+01] [ 5.73036526e-02 -1.40503064e-03 9.98355807e-01 1.60260887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.27, Y:27.76, Z:16.03 [[ 9.92380872e-01 -1.09196253e-01 -5.70647278e-02 3.41269824e+02] [ 1.09084238e-01 9.94019510e-01 -5.08359363e-03 2.77611382e+01] [ 5.72785621e-02 -1.18000129e-03 9.98357538e-01 1.60277752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.30, Y:27.76, Z:16.03 [[ 9.92650047e-01 -1.06952872e-01 -5.66300950e-02 3.41301285e+02] [ 1.06839025e-01 9.94263543e-01 -5.04287205e-03 2.77646405e+01] [ 5.68445886e-02 -1.04449695e-03 9.98382493e-01 1.60297751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.33, Y:27.77, Z:16.03 [[ 9.92876359e-01 -1.04938495e-01 -5.64309103e-02 3.41331890e+02] [ 1.04822310e-01 9.94478281e-01 -5.02313636e-03 2.77689951e+01] [ 5.66464351e-02 -9.27865043e-04 9.98393870e-01 1.60322731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.36, Y:27.77, Z:16.03 [[ 9.93068297e-01 -1.03173244e-01 -5.63084241e-02 3.41362626e+02] [ 1.03054844e-01 9.94663057e-01 -5.01018848e-03 2.77711348e+01] [ 5.65248267e-02 -8.27396541e-04 9.98400851e-01 1.60332691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.39, Y:27.78, Z:16.04 [[ 9.93183164e-01 -1.01838044e-01 -5.67116863e-02 3.41393566e+02] [ 1.01715884e-01 9.94800702e-01 -5.04401395e-03 2.77750491e+01] [ 5.69304979e-02 -7.58849564e-04 9.98377856e-01 1.60356299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.42, Y:27.78, Z:16.04 [[ 9.93332722e-01 -1.00256267e-01 -5.69103228e-02 3.41424519e+02] [ 1.00130772e-01 9.94961421e-01 -5.05965011e-03 2.77775332e+01] [ 5.71308373e-02 -6.72558525e-04 9.98366473e-01 1.60378346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.46, Y:27.78, Z:16.04 [[ 9.93392977e-01 -9.99462516e-02 -5.64016002e-02 3.41455994e+02] [ 9.98226044e-02 9.94992625e-01 -5.01242978e-03 2.77796654e+01] [ 5.66201498e-02 -6.50842084e-04 9.98395580e-01 1.60402792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.49, Y:27.78, Z:16.04 [[ 9.93386159e-01 -1.00329883e-01 -5.58377472e-02 3.41485897e+02] [ 1.00209407e-01 9.94954003e-01 -4.96045987e-03 2.77799466e+01] [ 5.60536725e-02 -6.67815356e-04 9.98427534e-01 1.60417728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.52, Y:27.78, Z:16.04 [[ 9.93244751e-01 -1.01746772e-01 -5.57894195e-02 3.41517684e+02] [ 1.01628802e-01 9.94810049e-01 -4.95501559e-03 2.77782810e+01] [ 5.60040321e-02 -7.48268629e-04 9.98430262e-01 1.60432430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.55, Y:27.78, Z:16.05 [[ 9.93077751e-01 -1.03019959e-01 -5.64222257e-02 3.41548811e+02] [ 1.02901462e-01 9.94678942e-01 -5.00921461e-03 2.77790163e+01] [ 5.66380489e-02 -8.31389958e-04 9.98394431e-01 1.60450236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.58, Y:27.78, Z:16.05 [[ 9.92912884e-01 -1.04201047e-01 -5.71502092e-02 3.41580614e+02] [ 1.04081544e-01 9.94555835e-01 -5.07177639e-03 2.77799994e+01] [ 5.73675585e-02 -9.12449895e-04 9.98352709e-01 1.60464524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.61, Y:27.78, Z:16.05 [[ 9.92437316e-01 -1.08051883e-01 -5.82491588e-02 3.41611977e+02] [ 1.07934486e-01 9.94144581e-01 -5.16715446e-03 2.77785220e+01] [ 5.84664063e-02 -1.15901611e-03 9.98288704e-01 1.60474974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.64, Y:27.78, Z:16.05 [[ 9.92103106e-01 -1.10465755e-01 -5.94032288e-02 3.41641979e+02] [ 1.10348070e-01 9.93879043e-01 -5.26799348e-03 2.77762033e+01] [ 5.96215571e-02 -1.32863898e-03 9.98220168e-01 1.60470893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.67, Y:27.78, Z:16.05 [[ 9.91800977e-01 -1.12872679e-01 -5.99214557e-02 3.41672412e+02] [ 1.12757265e-01 9.93608349e-01 -5.31481218e-03 2.77790138e+01] [ 6.01383558e-02 -1.48534354e-03 9.98188946e-01 1.60492301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.70, Y:27.77, Z:16.05 [[ 9.91071139e-01 -1.18074650e-01 -6.19384666e-02 3.41702194e+02] [ 1.17961454e-01 9.93002977e-01 -5.49393721e-03 2.77745075e+01] [ 6.21537764e-02 -1.86146899e-03 9.98064849e-01 1.60482500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.73, Y:27.78, Z:16.05 [[ 9.90680244e-01 -1.20870955e-01 -6.27922486e-02 3.41732963e+02] [ 1.20760175e-01 9.92666082e-01 -5.57040213e-03 2.77750889e+01] [ 6.30050352e-02 -2.06431557e-03 9.98011074e-01 1.60496373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.76, Y:27.77, Z:16.05 [[ 9.90337796e-01 -1.23624793e-01 -6.28327995e-02 3.41763920e+02] [ 1.23519398e-01 9.92326503e-01 -5.57399947e-03 2.77747624e+01] [ 6.30397368e-02 -2.24092721e-03 9.98008502e-01 1.60509899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.79, Y:27.77, Z:16.05 [[ 9.89745179e-01 -1.28511602e-01 -6.23638501e-02 3.41794450e+02] [ 1.28417429e-01 9.91704771e-01 -5.53266268e-03 2.77733703e+01] [ 6.25575391e-02 -2.53267906e-03 9.98038145e-01 1.60531099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.82, Y:27.78, Z:16.06 [[ 9.89458662e-01 -1.30814427e-01 -6.21219988e-02 3.41824668e+02] [ 1.30725455e-01 9.91403285e-01 -5.51203607e-03 2.77753423e+01] [ 6.23090075e-02 -2.66699475e-03 9.98053343e-01 1.60557476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.85, Y:27.78, Z:16.06 [[ 9.89282513e-01 -1.32425202e-01 -6.15115836e-02 3.41854503e+02] [ 1.32341073e-01 9.91189211e-01 -5.45787442e-03 2.77758625e+01] [ 6.16923782e-02 -2.74112926e-03 9.98091447e-01 1.60577500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.89, Y:27.78, Z:16.06 [[ 9.88959258e-01 -1.34891266e-01 -6.13509006e-02 3.41885256e+02] [ 1.34812320e-01 9.90856200e-01 -5.44336358e-03 2.77787040e+01] [ 6.15241824e-02 -2.88759241e-03 9.98101416e-01 1.60600399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.92, Y:27.78, Z:16.06 [[ 9.88829374e-01 -1.35866429e-01 -6.12926049e-02 3.41915406e+02] [ 1.35789568e-01 9.90722782e-01 -5.43708562e-03 2.77798976e+01] [ 6.14626975e-02 -2.94654639e-03 9.98105032e-01 1.60613282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.95, Y:27.78, Z:16.06 [[ 9.88656999e-01 -1.37449760e-01 -6.05384385e-02 3.41946214e+02] [ 1.37377799e-01 9.90504171e-01 -5.36910923e-03 2.77816363e+01] [ 6.07015586e-02 -3.00843004e-03 9.98151426e-01 1.60634879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.98, Y:27.78, Z:16.07 [[ 9.88555479e-01 -1.38384037e-01 -6.00659953e-02 3.41976656e+02] [ 1.38314978e-01 9.90373969e-01 -5.32613540e-03 2.77825870e+01] [ 6.02248503e-02 -3.04284646e-03 9.98180198e-01 1.60652455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.01, Y:27.79, Z:16.07 [[ 9.88560371e-01 -1.38349037e-01 -6.00661095e-02 3.42007391e+02] [ 1.38279991e-01 9.90378862e-01 -5.32484689e-03 2.77852814e+01] [ 6.02248926e-02 -3.04200844e-03 9.98180198e-01 1.60667131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.04, Y:27.79, Z:16.07 [[ 9.88281669e-01 -1.40688590e-01 -5.92120278e-02 3.42038612e+02] [ 1.40625798e-01 9.90048915e-01 -5.24703255e-03 2.77887999e+01] [ 5.93610015e-02 -3.14119260e-03 9.98231639e-01 1.60694762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.07, Y:27.79, Z:16.07 [[ 9.88077950e-01 -1.42230750e-01 -5.89268881e-02 3.42069749e+02] [ 1.42171420e-01 9.89828290e-01 -5.21960824e-03 2.77854791e+01] [ 5.90698897e-02 -3.22033953e-03 9.98248655e-01 1.60699764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.10, Y:27.79, Z:16.07 [[ 9.87535766e-01 -1.45895599e-01 -5.90557739e-02 3.42100967e+02] [ 1.45842661e-01 9.89293979e-01 -5.22884979e-03 2.77893833e+01] [ 5.91863877e-02 -3.44917502e-03 9.98240990e-01 1.60723010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.13, Y:27.79, Z:16.07 [[ 9.87285702e-01 -1.47136195e-01 -6.01488328e-02 3.42132158e+02] [ 1.47083723e-01 9.89109722e-01 -5.32319376e-03 2.77891987e+01] [ 6.02770297e-02 -3.59140116e-03 9.98175226e-01 1.60721435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.16, Y:27.79, Z:16.07 [[ 9.86973474e-01 -1.48648292e-01 -6.15389928e-02 3.42163630e+02] [ 1.48596487e-01 9.88882933e-01 -5.44317647e-03 2.77923576e+01] [ 6.16639785e-02 -3.77220736e-03 9.98089838e-01 1.60725634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.19, Y:27.79, Z:16.07 [[ 9.86485402e-01 -1.51123958e-01 -6.33095650e-02 3.42193556e+02] [ 1.51074325e-01 9.88506556e-01 -5.59800230e-03 2.77919083e+01] [ 6.34279123e-02 -4.04210223e-03 9.97978237e-01 1.60724109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.22, Y:27.79, Z:16.07 [[ 9.86333744e-01 -1.52010981e-01 -6.35484584e-02 3.42224838e+02] [ 1.51962843e-01 9.88370238e-01 -5.61853917e-03 2.77939945e+01] [ 6.36634846e-02 -4.11524961e-03 9.97962938e-01 1.60737448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.26, Y:27.79, Z:16.07 [[ 9.86202272e-01 -1.52627090e-01 -6.41096674e-02 3.42255306e+02] [ 1.52579527e-01 9.88274953e-01 -5.66612905e-03 2.77928674e+01] [ 6.42227834e-02 -4.19387339e-03 9.97926774e-01 1.60743937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.29, Y:27.80, Z:16.08 [[ 9.86277792e-01 -1.52254873e-01 -6.38323706e-02 3.42286488e+02] [ 1.52207036e-01 9.88332539e-01 -5.64018132e-03 2.77986081e+01] [ 6.39463539e-02 -4.15295032e-03 9.97944696e-01 1.60768653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.32, Y:27.80, Z:16.08 [[ 9.86424478e-01 -1.51562341e-01 -6.32108116e-02 3.42317300e+02] [ 1.51514155e-01 9.88439321e-01 -5.58299134e-03 2.78039102e+01] [ 6.33262229e-02 -4.07013341e-03 9.97984581e-01 1.60794987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.35, Y:27.81, Z:16.08 [[ 9.86601026e-01 -1.50703175e-01 -6.25057508e-02 3.42347431e+02] [ 1.50654463e-01 9.88571078e-01 -5.51872821e-03 2.78061132e+01] [ 6.26230673e-02 -3.97198739e-03 9.98029346e-01 1.60815640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.38, Y:27.81, Z:16.08 [[ 9.87124408e-01 -1.47448664e-01 -6.20023754e-02 3.42378073e+02] [ 1.47394408e-01 9.89062654e-01 -5.47316475e-03 2.78121606e+01] [ 6.21312448e-02 -3.73610889e-03 9.98060995e-01 1.60838038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.41, Y:27.82, Z:16.09 [[ 9.87346487e-01 -1.45923610e-01 -6.20742676e-02 3.42409354e+02] [ 1.45866332e-01 9.89289142e-01 -5.47784284e-03 2.78174888e+01] [ 6.22087455e-02 -3.64601683e-03 9.98056501e-01 1.60859335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.44, Y:27.82, Z:16.09 [[ 9.87603331e-01 -1.44189885e-01 -6.20398059e-02 3.42439648e+02] [ 1.44129442e-01 9.89543714e-01 -5.47193407e-03 2.78182991e+01] [ 6.21800975e-02 -3.53766229e-03 9.98058676e-01 1.60869687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.47, Y:27.83, Z:16.09 [[ 9.87991944e-01 -1.41527695e-01 -6.19824988e-02 3.42470805e+02] [ 1.41462247e-01 9.89928565e-01 -5.46521412e-03 2.78262096e+01] [ 6.21317252e-02 -3.36859600e-03 9.98062273e-01 1.60892947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.50, Y:27.82, Z:16.09 [[ 9.88156371e-01 -1.40481469e-01 -6.17409352e-02 3.42501218e+02] [ 1.40414672e-01 9.90077833e-01 -5.44104940e-03 2.78232378e+01] [ 6.18926979e-02 -3.29272554e-03 9.98077378e-01 1.60890434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.53, Y:27.83, Z:16.09 [[ 9.88381515e-01 -1.38727427e-01 -6.21021902e-02 3.42531823e+02] [ 1.38656451e-01 9.90325424e-01 -5.47203173e-03 2.78287684e+01] [ 6.22604987e-02 -3.20241427e-03 9.98054796e-01 1.60908790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.56, Y:27.83, Z:16.09 [[ 9.88475673e-01 -1.37863405e-01 -6.25261969e-02 3.42562760e+02] [ 1.37789768e-01 9.90446178e-01 -5.50888298e-03 2.78328208e+01] [ 6.26883061e-02 -3.17007334e-03 9.98028119e-01 1.60929068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.59, Y:27.84, Z:16.09 [[ 9.88574643e-01 -1.37184565e-01 -6.24545520e-02 3.42593606e+02] [ 1.37109869e-01 9.90540573e-01 -5.50061404e-03 2.78359179e+01] [ 6.26183671e-02 -3.12536787e-03 9.98032651e-01 1.60945081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.62, Y:27.84, Z:16.10 [[ 9.88626461e-01 -1.36641319e-01 -6.28241289e-02 3.42623719e+02] [ 1.36564715e-01 9.90615705e-01 -5.53204203e-03 2.78380130e+01] [ 6.29904742e-02 -3.11043611e-03 9.98009281e-01 1.60958663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.65, Y:27.84, Z:16.10 [[ 9.88590536e-01 -1.36502749e-01 -6.36847827e-02 3.42653919e+02] [ 1.36423803e-01 9.90634699e-01 -5.60697902e-03 2.78399774e+01] [ 6.38537236e-02 -3.14511384e-03 9.97954313e-01 1.60972575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.68, Y:27.84, Z:16.10 [[ 9.88545193e-01 -1.36866806e-01 -6.36072157e-02 3.42684684e+02] [ 1.36788841e-01 9.90584402e-01 -5.59955831e-03 2.78449623e+01] [ 6.37747094e-02 -3.16534085e-03 9.97959301e-01 1.60998301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.72, Y:27.85, Z:16.10 [[ 9.88499730e-01 -1.37092475e-01 -6.38273936e-02 3.42715812e+02] [ 1.37014589e-01 9.90553106e-01 -5.61660630e-03 2.78489052e+01] [ 6.39944174e-02 -3.19327025e-03 9.97945148e-01 1.61016024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.75, Y:27.85, Z:16.10 [[ 9.88453983e-01 -1.37372851e-01 -6.39329605e-02 3.42746483e+02] [ 1.37295466e-01 9.90514177e-01 -5.62317395e-03 2.78486196e+01] [ 6.40989752e-02 -3.21945690e-03 9.97938353e-01 1.61023006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.78, Y:27.85, Z:16.10 [[ 9.88447368e-01 -1.37439254e-01 -6.38925029e-02 3.42777209e+02] [ 1.37362322e-01 9.90504947e-01 -5.61623825e-03 2.78537066e+01] [ 6.40577318e-02 -3.22506662e-03 9.97940983e-01 1.61048217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.81, Y:27.85, Z:16.11 [[ 9.88487750e-01 -1.37337773e-01 -6.34846814e-02 3.42807608e+02] [ 1.37261738e-01 9.90519105e-01 -5.57837308e-03 2.78524076e+01] [ 6.36489111e-02 -3.19986423e-03 9.97967222e-01 1.61052535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.84, Y:27.86, Z:16.11 [[ 9.88673040e-01 -1.36526168e-01 -6.23396017e-02 3.42838120e+02] [ 1.36451325e-01 9.90631640e-01 -5.47637367e-03 2.78580368e+01] [ 6.25032501e-02 -3.09197826e-03 9.98039971e-01 1.61085211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.87, Y:27.86, Z:16.11 [[ 9.88793129e-01 -1.35925188e-01 -6.17453790e-02 3.42869247e+02] [ 1.35850731e-01 9.90714480e-01 -5.42197779e-03 2.78622526e+01] [ 6.19090244e-02 -3.02694049e-03 9.98077207e-01 1.61111265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.90, Y:27.87, Z:16.11 [[ 9.89070317e-01 -1.34464551e-01 -6.04912632e-02 3.42899951e+02] [ 1.34390491e-01 9.90914226e-01 -5.30970328e-03 2.78663964e+01] [ 6.06556201e-02 -2.87778066e-03 9.98154604e-01 1.61139341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.93, Y:27.87, Z:16.12 [[ 9.89075137e-01 -1.34429007e-01 -6.04914547e-02 3.42930684e+02] [ 1.34355015e-01 9.90919048e-01 -5.30752073e-03 2.78690632e+01] [ 6.06556194e-02 -2.87779348e-03 9.98154604e-01 1.61154013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.96, Y:27.87, Z:16.12 [[ 9.89233314e-01 -1.33314788e-01 -6.03706719e-02 3.42961606e+02] [ 1.33239154e-01 9.91069772e-01 -5.29474656e-03 2.78723405e+01] [ 6.05374160e-02 -2.80599754e-03 9.98161985e-01 1.61170485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.99, Y:27.88, Z:16.12 [[ 9.89261782e-01 -1.33130256e-01 -6.03113801e-02 3.42993450e+02] [ 1.33054589e-01 9.91094610e-01 -5.28688972e-03 2.78771425e+01] [ 6.04781287e-02 -2.79458793e-03 9.98165611e-01 1.61192895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.03, Y:27.88, Z:16.12 [[ 9.89282686e-01 -1.33025283e-01 -6.02000087e-02 3.43025138e+02] [ 1.32949954e-01 9.91108726e-01 -5.27294568e-03 2.78754980e+01] [ 6.03661890e-02 -2.78715451e-03 9.98172407e-01 1.61199438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.06, Y:27.88, Z:16.12 [[ 9.89302430e-01 -1.33118650e-01 -5.96667959e-02 3.43056633e+02] [ 1.33044997e-01 9.91096235e-01 -5.22323393e-03 2.78786609e+01] [ 5.98308466e-02 -2.77101069e-03 9.98204684e-01 1.61221739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.09, Y:27.88, Z:16.12 [[ 9.89266924e-01 -1.33090481e-01 -6.03148174e-02 3.43087243e+02] [ 1.33015286e-01 9.91099932e-01 -5.27804094e-03 2.78793366e+01] [ 6.04804684e-02 -2.80140137e-03 9.98165450e-01 1.61226308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.12, Y:27.88, Z:16.12 [[ 9.89244713e-01 -1.32964953e-01 -6.09525965e-02 3.43118576e+02] [ 1.32888004e-01 9.91116715e-01 -5.33254062e-03 2.78821069e+01] [ 6.11201782e-02 -2.82468128e-03 9.98126417e-01 1.61234736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.15, Y:27.89, Z:16.12 [[ 9.89225354e-01 -1.32791383e-01 -6.16412849e-02 3.43149359e+02] [ 1.32712486e-01 9.91139918e-01 -5.39062879e-03 2.78871885e+01] [ 6.18109671e-02 -2.84802147e-03 9.98083811e-01 1.61246391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.18, Y:27.89, Z:16.13 [[ 9.89230013e-01 -1.32756583e-01 -6.16414739e-02 3.43180092e+02] [ 1.32677753e-01 9.91144580e-01 -5.38846671e-03 2.78898440e+01] [ 6.18109672e-02 -2.84801924e-03 9.98083811e-01 1.61261061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.21, Y:27.89, Z:16.13 [[ 9.89234671e-01 -1.32721783e-01 -6.16416631e-02 3.43210824e+02] [ 1.32643020e-01 9.91149241e-01 -5.38630241e-03 2.78924985e+01] [ 6.18109672e-02 -2.84801924e-03 9.98083811e-01 1.61275732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.24, Y:27.90, Z:16.13 [[ 9.89212870e-01 -1.32458556e-01 -6.25510082e-02 3.43241358e+02] [ 1.32377071e-01 9.91184373e-01 -5.46351250e-03 2.78978898e+01] [ 6.27232708e-02 -2.87574238e-03 9.98026814e-01 1.61290443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.27, Y:27.90, Z:16.13 [[ 9.89220359e-01 -1.32180091e-01 -6.30198816e-02 3.43272873e+02] [ 1.32096964e-01 9.91221528e-01 -5.50217407e-03 2.79011705e+01] [ 6.31939412e-02 -2.88187240e-03 9.97997105e-01 1.61300614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.30, Y:27.90, Z:16.13 [[ 9.89222994e-01 -1.31916404e-01 -6.35289773e-02 3.43303532e+02] [ 1.31831517e-01 9.91256631e-01 -5.54460128e-03 2.79033910e+01] [ 6.37049439e-02 -2.89027436e-03 9.97964592e-01 1.61308902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.33, Y:27.91, Z:16.13 [[ 9.89387973e-01 -1.30496894e-01 -6.38905307e-02 3.43333516e+02] [ 1.30408162e-01 9.91444719e-01 -5.57500586e-03 2.79064225e+01] [ 6.40714502e-02 -2.81600292e-03 9.97941341e-01 1.61313836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.36, Y:27.91, Z:16.13 [[ 9.89514501e-01 -1.29479147e-01 -6.40015844e-02 3.43363260e+02] [ 1.29387959e-01 9.91578319e-01 -5.58506869e-03 2.79108606e+01] [ 6.41857334e-02 -2.75452790e-03 9.97934168e-01 1.61329233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.39, Y:27.92, Z:16.13 [[ 9.89885824e-01 -1.26895350e-01 -6.34320497e-02 3.43392746e+02] [ 1.26800266e-01 9.91912806e-01 -5.53879466e-03 2.79152958e+01] [ 6.36219097e-02 -2.56042645e-03 9.97970790e-01 1.61346769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.42, Y:27.92, Z:16.14 [[ 9.90107455e-01 -1.25334280e-01 -6.30757078e-02 3.43422433e+02] [ 1.25237083e-01 9.92111554e-01 -5.50795762e-03 2.79208482e+01] [ 6.32684744e-02 -2.44594772e-03 9.97993546e-01 1.61370379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.45, Y:27.92, Z:16.14 [[ 9.90409742e-01 -1.23260572e-01 -6.24129359e-02 3.43451933e+02] [ 1.23161227e-01 9.92371703e-01 -5.45117458e-03 2.79232216e+01] [ 6.26087464e-02 -2.28795739e-03 9.98035525e-01 1.61381536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.48, Y:27.93, Z:16.14 [[ 9.90680648e-01 -1.21460412e-01 -6.16378281e-02 3.43482016e+02] [ 1.21359991e-01 9.92593956e-01 -5.38429560e-03 2.79303132e+01] [ 6.18353144e-02 -2.14624878e-03 9.98084058e-01 1.61410862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.51, Y:27.93, Z:16.14 [[ 9.90959363e-01 -1.19345452e-01 -6.12878831e-02 3.43512247e+02] [ 1.19242145e-01 9.92850770e-01 -5.35348039e-03 2.79333545e+01] [ 6.14886355e-02 -2.00301715e-03 9.98105774e-01 1.61422390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.54, Y:27.94, Z:16.14 [[ 9.91215765e-01 -1.17535264e-01 -6.06363672e-02 3.43542781e+02] [ 1.17430840e-01 9.93066945e-01 -5.29526632e-03 2.79392595e+01] [ 6.08383524e-02 -1.87182810e-03 9.98145877e-01 1.61447077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.57, Y:27.94, Z:16.15 [[ 9.91510526e-01 -1.15107844e-01 -6.04736377e-02 3.43573060e+02] [ 1.14999589e-01 9.93351511e-01 -5.27912501e-03 2.79416870e+01] [ 6.06792481e-02 -1.72013548e-03 9.98155835e-01 1.61455590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.60, Y:27.95, Z:16.15 [[ 9.91624966e-01 -1.14659791e-01 -5.94395379e-02 3.43603640e+02] [ 1.14554453e-01 9.93403423e-01 -5.18802197e-03 2.79457492e+01] [ 5.96422979e-02 -1.66449162e-03 9.98218426e-01 1.61478513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.63, Y:27.95, Z:16.15 [[ 9.91643253e-01 -1.14678421e-01 -5.90975291e-02 3.43634099e+02] [ 1.14574325e-01 9.93401287e-01 -5.15817064e-03 2.79491355e+01] [ 5.92990924e-02 -1.65599437e-03 9.98238887e-01 1.61498234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.66, Y:27.95, Z:16.15 [[ 9.91539224e-01 -1.15676307e-01 -5.88978799e-02 3.43663983e+02] [ 1.15574670e-01 9.93285492e-01 -5.14074479e-03 2.79494551e+01] [ 5.90970719e-02 -1.70985293e-03 9.98250776e-01 1.61507525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.70, Y:27.95, Z:16.15 [[ 9.91487653e-01 -1.16175449e-01 -5.87834949e-02 3.43695011e+02] [ 1.16075106e-01 9.93227189e-01 -5.13035152e-03 2.79531866e+01] [ 5.89813863e-02 -1.73662021e-03 9.98257572e-01 1.61526011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.73, Y:27.96, Z:16.15 [[ 9.91411969e-01 -1.16722526e-01 -5.89759179e-02 3.43726512e+02] [ 1.16622673e-01 9.93162973e-01 -5.14409034e-03 2.79560163e+01] [ 5.91731291e-02 -1.77801645e-03 9.98246152e-01 1.61547282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.76, Y:27.96, Z:16.16 [[ 9.91374092e-01 -1.17132320e-01 -5.87999103e-02 3.43757697e+02] [ 1.17034131e-01 9.93114681e-01 -5.12282626e-03 2.79579900e+01] [ 5.89951026e-02 -1.80295915e-03 9.98256644e-01 1.61561552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.79, Y:27.96, Z:16.16 [[ 9.91402669e-01 -1.16796878e-01 -5.89850605e-02 3.43787914e+02] [ 1.16697590e-01 9.93154209e-01 -5.13703386e-03 2.79582118e+01] [ 5.91812506e-02 -1.79054534e-03 9.98245648e-01 1.61563281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.82, Y:27.96, Z:16.16 [[ 9.91438868e-01 -1.16281949e-01 -5.93925933e-02 3.43819017e+02] [ 1.16180439e-01 9.93214661e-01 -5.17124186e-03 2.79632114e+01] [ 5.95909166e-02 -1.77328742e-03 9.98221307e-01 1.61582274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.85, Y:27.96, Z:16.16 [[ 9.91524174e-01 -1.15496723e-01 -5.95005848e-02 3.43849129e+02] [ 1.15393547e-01 9.93306353e-01 -5.17873531e-03 2.79647113e+01] [ 5.97004359e-02 -1.73114225e-03 9.98214837e-01 1.61589775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.88, Y:27.97, Z:16.16 [[ 9.91802887e-01 -1.13869104e-01 -5.79729367e-02 3.43879716e+02] [ 1.13768440e-01 9.93494485e-01 -5.04476571e-03 2.79696004e+01] [ 5.81702358e-02 -1.59207737e-03 9.98305409e-01 1.61619429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.91, Y:27.97, Z:16.16 [[ 9.92000571e-01 -1.12822641e-01 -5.66208300e-02 3.43911216e+02] [ 1.12724992e-01 9.93614016e-01 -4.92577118e-03 2.79736172e+01] [ 5.68149888e-02 -1.49621477e-03 9.98383603e-01 1.61643681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.94, Y:27.98, Z:16.17 [[ 9.92191232e-01 -1.11563700e-01 -5.57682628e-02 3.43942538e+02] [ 1.11467143e-01 9.93756291e-01 -4.84875085e-03 2.79768684e+01] [ 5.59610066e-02 -1.40544086e-03 9.98431966e-01 1.61665383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.97, Y:27.98, Z:16.17 [[ 9.92658595e-01 -1.08160719e-01 -5.41310725e-02 3.43973130e+02] [ 1.08064798e-01 9.94132721e-01 -4.70449681e-03 2.79810460e+01] [ 5.43223122e-02 -1.17970421e-03 9.98522756e-01 1.61698183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.00, Y:27.98, Z:16.17 [[ 9.92910375e-01 -1.06331818e-01 -5.31275091e-02 3.44004120e+02] [ 1.06236912e-01 9.94330135e-01 -4.61528881e-03 2.79844187e+01] [ 5.33170354e-02 -1.06153437e-03 9.98577071e-01 1.61722425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.04, Y:27.99, Z:16.17 [[ 9.93131040e-01 -1.04644094e-01 -5.23483586e-02 3.44035446e+02] [ 1.04549750e-01 9.94509273e-01 -4.54493484e-03 2.79878418e+01] [ 5.25365286e-02 -9.59291933e-04 9.98618542e-01 1.61744418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.07, Y:27.99, Z:16.18 [[ 9.93315963e-01 -1.03097874e-01 -5.19059281e-02 3.44066939e+02] [ 1.03003104e-01 9.94670834e-01 -4.50470078e-03 2.79910507e+01] [ 5.20937378e-02 -8.71880541e-04 9.98641819e-01 1.61763670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.10, Y:27.99, Z:16.18 [[ 9.93489498e-01 -1.01300781e-01 -5.21226385e-02 3.44098574e+02] [ 1.01202844e-01 9.94855537e-01 -4.52165457e-03 2.79936176e+01] [ 5.23125427e-02 -7.82742899e-04 9.98630455e-01 1.61777058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.13, Y:28.00, Z:16.18 [[ 9.93467777e-01 -1.01062532e-01 -5.29918960e-02 3.44131062e+02] [ 1.00961073e-01 9.94879766e-01 -4.59495410e-03 2.79955678e+01] [ 5.31849428e-02 -7.85179838e-04 9.98584371e-01 1.61784828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.16, Y:28.00, Z:16.18 [[ 9.93356044e-01 -1.01870811e-01 -5.35360494e-02 3.44163214e+02] [ 1.01768640e-01 9.94797281e-01 -4.63821525e-03 2.79968982e+01] [ 5.37300151e-02 -8.40891790e-04 9.98555145e-01 1.61794616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.19, Y:28.00, Z:16.18 [[ 9.93190882e-01 -1.03297065e-01 -5.38663952e-02 3.44194984e+02] [ 1.03195926e-01 9.94650117e-01 -4.66311757e-03 2.79971669e+01] [ 5.40599027e-02 -9.27426694e-04 9.98537264e-01 1.61804311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.23, Y:28.00, Z:16.18 [[ 9.93000613e-01 -1.04950659e-01 -5.41769514e-02 3.44225862e+02] [ 1.04850949e-01 9.94476901e-01 -4.68741215e-03 2.79968249e+01] [ 5.43696737e-02 -1.02590161e-03 9.98520348e-01 1.61814841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.26, Y:28.00, Z:16.18 [[ 9.92771898e-01 -1.07010663e-01 -5.43385296e-02 3.44257189e+02] [ 1.06913780e-01 9.94257210e-01 -4.69514226e-03 2.79977268e+01] [ 5.45289051e-02 -1.14833228e-03 9.98511532e-01 1.61832807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.29, Y:28.00, Z:16.18 [[ 9.92346495e-01 -1.10624371e-01 -5.48696897e-02 3.44288895e+02] [ 1.10531209e-01 9.93861355e-01 -4.73903000e-03 2.79954892e+01] [ 5.50571163e-02 -1.36205333e-03 9.98482278e-01 1.61844641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.32, Y:28.00, Z:16.19 [[ 9.92127605e-01 -1.12436695e-01 -5.51434905e-02 3.44320098e+02] [ 1.12345507e-01 9.93657800e-01 -4.76067006e-03 2.79963023e+01] [ 5.53290334e-02 -1.47193123e-03 9.98467091e-01 1.61859508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.35, Y:27.99, Z:16.19 [[ 9.91932039e-01 -1.14050209e-01 -5.53478153e-02 3.44350857e+02] [ 1.13960956e-01 9.93473747e-01 -4.77643605e-03 2.79942308e+01] [ 5.55313550e-02 -1.56959000e-03 9.98455710e-01 1.61863556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.38, Y:28.00, Z:16.19 [[ 9.91530995e-01 -1.17095428e-01 -5.61689096e-02 3.44381764e+02] [ 1.17008441e-01 9.93119096e-01 -4.84626987e-03 2.79954965e+01] [ 5.63498928e-02 -1.76700979e-03 9.98409519e-01 1.61880272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.41, Y:28.00, Z:16.19 [[ 9.91366628e-01 -1.18463702e-01 -5.62010615e-02 3.44413258e+02] [ 1.18378876e-01 9.92956666e-01 -4.84787117e-03 2.79962257e+01] [ 5.63795154e-02 -1.84700079e-03 9.98407702e-01 1.61891251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.44, Y:28.00, Z:16.19 [[ 9.91199536e-01 -1.19888095e-01 -5.61277587e-02 3.44444519e+02] [ 1.19805883e-01 9.92785540e-01 -4.83952898e-03 2.79981246e+01] [ 5.63030291e-02 -1.92749681e-03 9.98411866e-01 1.61910529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.48, Y:28.00, Z:16.19 [[ 9.90965667e-01 -1.22096369e-01 -5.54934470e-02 3.44475478e+02] [ 1.22019573e-01 9.92516171e-01 -4.78277550e-03 2.79961740e+01] [ 5.56621031e-02 -2.03172042e-03 9.98447596e-01 1.61922330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.51, Y:28.00, Z:16.19 [[ 9.90899712e-01 -1.22752222e-01 -5.52236589e-02 3.44506754e+02] [ 1.22677317e-01 9.92435209e-01 -4.75718524e-03 2.79981781e+01] [ 5.53898585e-02 -2.06079683e-03 9.98462677e-01 1.61941631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.54, Y:28.00, Z:16.20 [[ 9.90906830e-01 -1.23012613e-01 -5.45119388e-02 3.44538426e+02] [ 1.22940132e-01 9.92402989e-01 -4.69381191e-03 2.79986006e+01] [ 5.46752091e-02 -2.05057467e-03 9.98502086e-01 1.61958185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.57, Y:28.00, Z:16.20 [[ 9.90975976e-01 -1.23117515e-01 -5.29970960e-02 3.44570056e+02] [ 1.23049308e-01 9.92390079e-01 -4.56048745e-03 2.80026988e+01] [ 5.31552682e-02 -2.00192248e-03 9.98584253e-01 1.61990316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.60, Y:28.00, Z:16.20 [[ 9.91020163e-01 -1.22872180e-01 -5.27395950e-02 3.44601294e+02] [ 1.22804485e-01 9.92420524e-01 -4.53458756e-03 2.80042954e+01] [ 5.28970312e-02 -1.98279112e-03 9.98598004e-01 1.62007252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.63, Y:28.01, Z:16.20 [[ 9.91079752e-01 -1.22422288e-01 -5.26660098e-02 3.44633805e+02] [ 1.22354305e-01 9.92476169e-01 -4.52530394e-03 2.80066995e+01] [ 5.28237577e-02 -1.95897590e-03 9.98601929e-01 1.62027364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.66, Y:28.01, Z:16.20 [[ 9.91112298e-01 -1.22074010e-01 -5.28616040e-02 3.44664649e+02] [ 1.22005218e-01 9.92519082e-01 -4.53850229e-03 2.80079707e+01] [ 5.30201838e-02 -1.95122607e-03 9.98591535e-01 1.62039326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.70, Y:28.01, Z:16.21 [[ 9.91059694e-01 -1.22269885e-01 -5.33925001e-02 3.44695917e+02] [ 1.22200091e-01 9.92494908e-01 -4.58217610e-03 2.80102182e+01] [ 5.35520466e-02 -1.98335830e-03 9.98563090e-01 1.62053291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.73, Y:28.01, Z:16.21 [[ 9.90956253e-01 -1.22836689e-01 -5.40078910e-02 3.44727622e+02] [ 1.22766222e-01 9.92424803e-01 -4.63305968e-03 2.80117299e+01] [ 5.41678803e-02 -2.03918527e-03 9.98529760e-01 1.62063132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.76, Y:28.01, Z:16.21 [[ 9.90909202e-01 -1.23168932e-01 -5.41143894e-02 3.44759011e+02] [ 1.23098786e-01 9.92383573e-01 -4.64027371e-03 2.80133571e+01] [ 5.42737687e-02 -2.06332571e-03 9.98523961e-01 1.62077154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.79, Y:28.02, Z:16.21 [[ 9.90863591e-01 -1.23292233e-01 -5.46659716e-02 3.44791416e+02] [ 1.23220959e-01 9.92368199e-01 -4.68534637e-03 2.80173134e+01] [ 5.48264386e-02 -2.09345434e-03 9.98493705e-01 1.62093301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.82, Y:28.02, Z:16.21 [[ 9.90714788e-01 -1.23786901e-01 -5.62228815e-02 3.44822397e+02] [ 1.23712524e-01 9.92306418e-01 -4.81492395e-03 2.80192897e+01] [ 5.63863507e-02 -2.18525823e-03 9.98406633e-01 1.62101957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.85, Y:28.02, Z:16.21 [[ 9.90644882e-01 -1.23960996e-01 -5.70647749e-02 3.44853191e+02] [ 1.23884784e-01 9.92284585e-01 -4.88494214e-03 2.80222133e+01] [ 5.72300388e-02 -2.23021438e-03 9.98358527e-01 1.62112401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.88, Y:28.02, Z:16.21 [[ 9.90579742e-01 -1.24359165e-01 -5.73286368e-02 3.44883815e+02] [ 1.24283045e-01 9.92234682e-01 -4.90522975e-03 2.80242053e+01] [ 5.74934719e-02 -2.26595632e-03 9.98343311e-01 1.62122754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.91, Y:28.03, Z:16.21 [[ 9.90490010e-01 -1.24814116e-01 -5.78876208e-02 3.44914699e+02] [ 1.24737464e-01 9.92177436e-01 -4.94989926e-03 2.80289179e+01] [ 5.80526085e-02 -2.31792926e-03 9.98310834e-01 1.62139476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.95, Y:28.03, Z:16.21 [[ 9.90289113e-01 -1.25489631e-01 -5.98316360e-02 3.44945453e+02] [ 1.25409121e-01 9.92091932e-01 -5.11374094e-03 2.80292362e+01] [ 6.00002049e-02 -2.43935091e-03 9.98195384e-01 1.62132975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.98, Y:28.03, Z:16.21 [[ 9.90265344e-01 -1.25558891e-01 -6.00792211e-02 3.44976169e+02] [ 1.25477975e-01 9.92083128e-01 -5.13268303e-03 2.80317235e+01] [ 6.02480356e-02 -2.45590085e-03 9.98180416e-01 1.62142157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.01, Y:28.03, Z:16.22 [[ 9.90292760e-01 -1.25718213e-01 -5.92889572e-02 3.45005569e+02] [ 1.25639683e-01 9.92063008e-01 -5.06537850e-03 2.80341406e+01] [ 5.94551915e-02 -2.43283810e-03 9.98228011e-01 1.62157974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.04, Y:28.04, Z:16.22 [[ 9.90318431e-01 -1.25947505e-01 -5.83663468e-02 3.45035638e+02] [ 1.25871747e-01 9.92033986e-01 -4.98737146e-03 2.80391954e+01] [ 5.85295466e-02 -2.40758814e-03 9.98282773e-01 1.62186026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.07, Y:28.04, Z:16.22 [[ 9.90305504e-01 -1.27070103e-01 -5.61088058e-02 3.45065680e+02] [ 1.27001894e-01 9.91890888e-01 -4.79431034e-03 2.80419369e+01] [ 5.62630268e-02 -2.37809268e-03 9.98413149e-01 1.62218396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.10, Y:28.04, Z:16.22 [[ 9.90156011e-01 -1.28978944e-01 -5.43645582e-02 3.45096851e+02] [ 1.28917833e-01 9.91644404e-01 -4.64420930e-03 2.80445594e+01] [ 5.45093151e-02 -2.41006928e-03 9.98510354e-01 1.62248144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.13, Y:28.05, Z:16.23 [[ 9.90165050e-01 -1.28909459e-01 -5.43647412e-02 3.45128429e+02] [ 1.28848362e-01 9.91653443e-01 -4.64206573e-03 2.80471939e+01] [ 5.45093890e-02 -2.40839660e-03 9.98510354e-01 1.62263215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.16, Y:28.05, Z:16.23 [[ 9.90027666e-01 -1.30007717e-01 -5.42513911e-02 3.45159975e+02] [ 1.29948719e-01 9.91509912e-01 -4.62868466e-03 2.80494399e+01] [ 5.43925567e-02 -2.46737291e-03 9.98516581e-01 1.62275875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.19, Y:28.05, Z:16.23 [[ 9.89828342e-01 -1.31494043e-01 -5.43062623e-02 3.45191769e+02] [ 1.31437320e-01 9.91313669e-01 -4.63036869e-03 2.80542922e+01] [ 5.44434060e-02 -2.55459939e-03 9.98513590e-01 1.62293157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.22, Y:28.06, Z:16.23 [[ 9.89607964e-01 -1.33244006e-01 -5.40565693e-02 3.45223491e+02] [ 1.33190615e-01 9.91079741e-01 -4.60520378e-03 2.80576400e+01] [ 5.41879865e-02 -2.64248139e-03 9.98527255e-01 1.62311048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.25, Y:28.06, Z:16.23 [[ 9.89320923e-01 -1.35387127e-01 -5.39855307e-02 3.45254592e+02] [ 1.35337260e-01 9.90788932e-01 -4.59537720e-03 2.80577973e+01] [ 5.41104212e-02 -2.75995100e-03 9.98531144e-01 1.62325708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.29, Y:28.06, Z:16.23 [[ 9.89052385e-01 -1.37490612e-01 -5.35883555e-02 3.45285599e+02] [ 1.37444689e-01 9.90498951e-01 -4.55900392e-03 2.80588247e+01] [ 5.37060301e-02 -2.85634117e-03 9.98552704e-01 1.62341295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.32, Y:28.06, Z:16.24 [[ 9.88431104e-01 -1.41838308e-01 -5.37200762e-02 3.45316307e+02] [ 1.41798599e-01 9.89884982e-01 -4.56934486e-03 2.80602101e+01] [ 5.38248048e-02 -3.10094894e-03 9.98545580e-01 1.62355167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.35, Y:28.06, Z:16.24 [[ 9.88160226e-01 -1.43625639e-01 -5.39540850e-02 3.45347774e+02] [ 1.43588267e-01 9.89626876e-01 -4.58867456e-03 2.80607889e+01] [ 5.40534639e-02 -3.21282788e-03 9.98532874e-01 1.62363544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.38, Y:28.06, Z:16.24 [[ 9.87950472e-01 -1.44927479e-01 -5.43128882e-02 3.45380026e+02] [ 1.44891734e-01 9.89436747e-01 -4.61614410e-03 2.80633594e+01] [ 5.44081736e-02 -3.30896682e-03 9.98513296e-01 1.62376128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.41, Y:28.07, Z:16.24 [[ 9.87735005e-01 -1.46281687e-01 -5.46006179e-02 3.45411695e+02] [ 1.46247837e-01 9.89237116e-01 -4.63669054e-03 2.80695852e+01] [ 5.46912206e-02 -3.40540068e-03 9.98497508e-01 1.62388720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.44, Y:28.07, Z:16.24 [[ 9.87755196e-01 -1.46271788e-01 -5.42608285e-02 3.45443208e+02] [ 1.46238555e-01 9.89238641e-01 -4.60391722e-03 2.80728369e+01] [ 5.43503314e-02 -3.38748198e-03 9.98516182e-01 1.62405232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.48, Y:28.08, Z:16.24 [[ 9.87846452e-01 -1.45814408e-01 -5.38288610e-02 3.45475639e+02] [ 1.45781243e-01 9.89306326e-01 -4.56320969e-03 2.80771153e+01] [ 5.39186144e-02 -3.33948779e-03 9.98539749e-01 1.62423780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.51, Y:28.08, Z:16.24 [[ 9.88062563e-01 -1.44499431e-01 -5.34068060e-02 3.45507542e+02] [ 1.44465150e-01 9.89499555e-01 -4.52219772e-03 2.80812270e+01] [ 5.34994658e-02 -3.24720796e-03 9.98562598e-01 1.62440260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.54, Y:28.09, Z:16.25 [[ 9.88207677e-01 -1.43645793e-01 -5.30233365e-02 3.45539106e+02] [ 1.43610979e-01 9.89624051e-01 -4.48594549e-03 2.80850219e+01] [ 5.31175563e-02 -3.18168748e-03 9.98583197e-01 1.62455638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.57, Y:28.09, Z:16.25 [[ 9.88266878e-01 -1.43023765e-01 -5.35983328e-02 3.45570982e+02] [ 1.42987491e-01 9.89714125e-01 -4.53070937e-03 2.80890067e+01] [ 5.36950261e-02 -3.18634113e-03 9.98552298e-01 1.62470291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.60, Y:28.09, Z:16.25 [[ 9.88392294e-01 -1.41986445e-01 -5.40418529e-02 3.45601735e+02] [ 1.41948230e-01 9.89863559e-01 -4.56443511e-03 2.80917070e+01] [ 5.41421487e-02 -3.15969289e-03 9.98528239e-01 1.62477175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.63, Y:28.10, Z:16.25 [[ 9.88572587e-01 -1.40317747e-01 -5.50923751e-02 3.45633789e+02] [ 1.40275636e-01 9.90101573e-01 -4.64989660e-03 2.81016847e+01] [ 5.51995103e-02 -3.13135763e-03 9.98470435e-01 1.62487340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.66, Y:28.10, Z:16.25 [[ 9.88687700e-01 -1.39463382e-01 -5.51959826e-02 3.45664985e+02] [ 1.39420079e-01 9.90222393e-01 -4.65336444e-03 2.81009828e+01] [ 5.53052719e-02 -3.09470407e-03 9.98464696e-01 1.62496331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.70, Y:28.11, Z:16.25 [[ 9.88792102e-01 -1.38878906e-01 -5.47980626e-02 3.45696052e+02] [ 1.38835684e-01 9.90304685e-01 -4.61335463e-03 2.81100283e+01] [ 5.49074758e-02 -3.04627789e-03 9.98486800e-01 1.62520297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.73, Y:28.11, Z:16.25 [[ 9.88918937e-01 -1.38042744e-01 -5.46217596e-02 3.45727257e+02] [ 1.37998739e-01 9.90421747e-01 -4.59467383e-03 2.81127477e+01] [ 5.47328399e-02 -2.99397397e-03 9.98496546e-01 1.62534231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.76, Y:28.12, Z:16.25 [[ 9.88986487e-01 -1.37350864e-01 -5.51404487e-02 3.45759229e+02] [ 1.37305124e-01 9.90517955e-01 -4.63514859e-03 2.81167662e+01] [ 5.52542462e-02 -2.98696684e-03 9.98467849e-01 1.62544567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.79, Y:28.12, Z:16.25 [[ 9.89120061e-01 -1.35784270e-01 -5.66050996e-02 3.45791080e+02] [ 1.35733744e-01 9.90733944e-01 -4.75427742e-03 2.81151187e+01] [ 5.67261497e-02 -2.98067090e-03 9.98385326e-01 1.62536325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.82, Y:28.12, Z:16.25 [[ 9.89224363e-01 -1.35032601e-01 -5.65805354e-02 3.45822587e+02] [ 1.34981055e-01 9.90836797e-01 -4.74937549e-03 2.81187255e+01] [ 5.67033970e-02 -2.93910242e-03 9.98386742e-01 1.62549809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.85, Y:28.13, Z:16.26 [[ 9.89357821e-01 -1.34225418e-01 -5.61661704e-02 3.45854044e+02] [ 1.34173450e-01 9.90946658e-01 -4.71238753e-03 2.81307664e+01] [ 5.62902010e-02 -2.87377139e-03 9.98410314e-01 1.62584390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.89, Y:28.13, Z:16.26 [[ 9.89441981e-01 -1.33938787e-01 -5.53621537e-02 3.45886092e+02] [ 1.33888060e-01 9.90985594e-01 -4.64110348e-03 2.81258180e+01] [ 5.54847205e-02 -2.82022872e-03 9.98455553e-01 1.62593275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.92, Y:28.14, Z:16.26 [[ 9.89545336e-01 -1.33856170e-01 -5.36894243e-02 3.45916973e+02] [ 1.33808495e-01 9.90997001e-01 -4.49792829e-03 2.81389352e+01] [ 5.38081339e-02 -2.73319710e-03 9.98547552e-01 1.62636618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.95, Y:28.14, Z:16.27 [[ 9.89610412e-01 -1.33483477e-01 -5.34171768e-02 3.45948415e+02] [ 1.33435964e-01 9.91047352e-01 -4.47098947e-03 2.81404595e+01] [ 5.35357548e-02 -2.70323472e-03 9.98562274e-01 1.62650114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.98, Y:28.14, Z:16.27 [[ 9.89704217e-01 -1.32848508e-01 -5.32619649e-02 3.45979514e+02] [ 1.32800665e-01 9.91132767e-01 -4.45216711e-03 2.81417823e+01] [ 5.33811424e-02 -2.66689578e-03 9.98570649e-01 1.62654124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.01, Y:28.15, Z:16.27 [[ 9.89761877e-01 -1.32399123e-01 -5.33094690e-02 3.46011345e+02] [ 1.32350703e-01 9.91192948e-01 -4.45318477e-03 2.81468619e+01] [ 5.34295675e-02 -2.64795320e-03 9.98568110e-01 1.62667041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.04, Y:28.15, Z:16.27 [[ 9.89827277e-01 -1.31794861e-01 -5.35917625e-02 3.46043285e+02] [ 1.31745250e-01 9.91273515e-01 -4.47294716e-03 2.81515928e+01] [ 5.37136063e-02 -2.63301502e-03 9.98552911e-01 1.62681381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.07, Y:28.15, Z:16.27 [[ 9.89872243e-01 -1.31244466e-01 -5.41094603e-02 3.46074247e+02] [ 1.31193278e-01 9.91346540e-01 -4.51237955e-03 2.81540229e+01] [ 5.42334511e-02 -2.63211822e-03 9.98524814e-01 1.62693173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.11, Y:28.16, Z:16.27 [[ 9.89876475e-01 -1.30826359e-01 -5.50366011e-02 3.46106346e+02] [ 1.30772933e-01 9.91401737e-01 -4.58658711e-03 2.81584779e+01] [ 5.51634284e-02 -2.65714304e-03 9.98473803e-01 1.62696386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.14, Y:28.16, Z:16.27 [[ 9.89796049e-01 -1.31061886e-01 -5.59156804e-02 3.46137995e+02] [ 1.31007342e-01 9.91370465e-01 -4.65582109e-03 2.81615947e+01] [ 5.60433548e-02 -2.71705132e-03 9.98424639e-01 1.62707488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.17, Y:28.17, Z:16.27 [[ 9.89673805e-01 -1.31672960e-01 -5.66391348e-02 3.46169826e+02] [ 1.31618227e-01 9.91289281e-01 -4.71197979e-03 2.81654137e+01] [ 5.67662076e-02 -2.79141955e-03 9.98383596e-01 1.62720632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.20, Y:28.17, Z:16.27 [[ 9.89612081e-01 -1.32034032e-01 -5.68765671e-02 3.46200643e+02] [ 1.31979660e-01 9.91241150e-01 -4.72777398e-03 2.81666213e+01] [ 5.70026208e-02 -2.82788774e-03 9.98370024e-01 1.62726401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.23, Y:28.17, Z:16.27 [[ 9.89430232e-01 -1.32890174e-01 -5.80346179e-02 3.46231502e+02] [ 1.32835267e-01 9.91126409e-01 -4.82008749e-03 2.81669955e+01] [ 5.81601847e-02 -2.93990367e-03 9.98302935e-01 1.62732281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.26, Y:28.17, Z:16.27 [[ 9.89530098e-01 -1.32147916e-01 -5.80268272e-02 3.46263611e+02] [ 1.32092140e-01 9.91225758e-01 -4.81277643e-03 2.81700510e+01] [ 5.81536842e-02 -2.90250063e-03 9.98303423e-01 1.62746254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.29, Y:28.18, Z:16.28 [[ 9.89849071e-01 -1.30263898e-01 -5.68342603e-02 3.46294938e+02] [ 1.30207507e-01 9.91475577e-01 -4.71008073e-03 2.81757903e+01] [ 5.69633345e-02 -2.73797829e-03 9.98372517e-01 1.62777194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.33, Y:28.18, Z:16.28 [[ 9.90119959e-01 -1.28738804e-01 -5.55768613e-02 3.46327228e+02] [ 1.28682661e-01 9.91675143e-01 -4.60263736e-03 2.81811277e+01] [ 5.57067299e-02 -2.59461531e-03 9.98443803e-01 1.62806533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.36, Y:28.18, Z:16.28 [[ 9.90365869e-01 -1.27273699e-01 -5.45605354e-02 3.46358750e+02] [ 1.27217633e-01 9.91864558e-01 -4.51370395e-03 2.81838628e+01] [ 5.46911371e-02 -2.47084382e-03 9.98500263e-01 1.62827346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.39, Y:28.18, Z:16.29 [[ 9.90708007e-01 -1.25383132e-01 -5.26945514e-02 3.46389407e+02] [ 1.25328350e-01 9.92105756e-01 -4.35581837e-03 2.81843436e+01] [ 5.28247139e-02 -2.28877703e-03 9.98601177e-01 1.62852185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.42, Y:28.19, Z:16.29 [[ 9.90817174e-01 -1.24780802e-01 -5.20680165e-02 3.46421392e+02] [ 1.24726589e-01 9.92181823e-01 -4.30201477e-03 2.81902711e+01] [ 5.21977484e-02 -2.23175598e-03 9.98634275e-01 1.62874973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.45, Y:28.19, Z:16.29 [[ 9.90869493e-01 -1.24531601e-01 -5.16674752e-02 3.46452338e+02] [ 1.24478068e-01 9.92213192e-01 -4.26529792e-03 2.81913201e+01] [ 5.17963149e-02 -2.20511391e-03 9.98655235e-01 1.62887206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.48, Y:28.19, Z:16.29 [[ 9.90871708e-01 -1.24614508e-01 -5.14245255e-02 3.46483918e+02] [ 1.24561742e-01 9.92202790e-01 -4.24225858e-03 2.81921997e+01] [ 5.15522046e-02 -2.20199448e-03 9.98667873e-01 1.62900862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.52, Y:28.19, Z:16.29 [[ 9.90687749e-01 -1.25641110e-01 -5.24604086e-02 3.46515848e+02] [ 1.25587935e-01 9.92073077e-01 -4.32200296e-03 2.81929886e+01] [ 5.25875802e-02 -2.30663901e-03 9.98613652e-01 1.62904719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.55, Y:28.19, Z:16.29 [[ 9.90237741e-01 -1.28083384e-01 -5.49896706e-02 3.46546036e+02] [ 1.28028910e-01 9.91760105e-01 -4.52688049e-03 2.81894710e+01] [ 5.51163796e-02 -2.55757967e-03 9.98476661e-01 1.62888449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.58, Y:28.19, Z:16.29 [[ 9.90007956e-01 -1.29260895e-01 -5.63548494e-02 3.46578032e+02] [ 1.29205624e-01 9.91606974e-01 -4.63862053e-03 2.81937546e+01] [ 5.64814539e-02 -2.68909227e-03 9.98400027e-01 1.62892868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.61, Y:28.19, Z:16.29 [[ 9.89503536e-01 -1.31896561e-01 -5.90427736e-02 3.46608730e+02] [ 1.31840799e-01 9.91259009e-01 -4.85610230e-03 2.81913636e+01] [ 5.91671844e-02 -2.97911605e-03 9.98243642e-01 1.62879454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.64, Y:28.20, Z:16.29 [[ 9.89328281e-01 -1.32819942e-01 -5.99033766e-02 3.46640289e+02] [ 1.32764339e-01 9.91135396e-01 -4.92511101e-03 2.81961329e+01] [ 6.00265099e-02 -3.08048059e-03 9.98192030e-01 1.62895753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.67, Y:28.19, Z:16.29 [[ 9.89197883e-01 -1.33570928e-01 -6.03850616e-02 3.46671937e+02] [ 1.33516079e-01 9.91034233e-01 -4.96049448e-03 2.81948740e+01] [ 6.05062411e-02 -3.15546602e-03 9.98162831e-01 1.62905005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.70, Y:28.20, Z:16.29 [[ 9.89202561e-01 -1.33536164e-01 -6.03853102e-02 3.46702692e+02] [ 1.33481434e-01 9.91038915e-01 -4.95746741e-03 2.81973673e+01] [ 6.05061934e-02 -3.15637835e-03 9.98162831e-01 1.62919677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.73, Y:28.20, Z:16.30 [[ 9.89286243e-01 -1.33442756e-01 -5.92094586e-02 3.46734322e+02] [ 1.33390115e-01 9.91051700e-01 -4.85842107e-03 2.82038562e+01] [ 5.93279557e-02 -3.09158736e-03 9.98233758e-01 1.62956798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.76, Y:28.21, Z:16.30 [[ 9.89564835e-01 -1.32272213e-01 -5.71445383e-02 3.46764769e+02] [ 1.32221430e-01 9.91209130e-01 -4.68543347e-03 2.82056314e+01] [ 5.72619408e-02 -2.91919238e-03 9.98354921e-01 1.62989235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.80, Y:28.21, Z:16.30 [[ 9.89776501e-01 -1.30988957e-01 -5.64302370e-02 3.46795521e+02] [ 1.30937432e-01 9.91379843e-01 -4.62551867e-03 2.82072666e+01] [ 5.65496913e-02 -2.81060061e-03 9.98395830e-01 1.63007400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.83, Y:28.21, Z:16.30 [[ 9.90060456e-01 -1.28945765e-01 -5.61541073e-02 3.46826812e+02] [ 1.28891627e-01 9.91648016e-01 -4.60000253e-03 2.82109723e+01] [ 5.62782600e-02 -2.68351368e-03 9.98411516e-01 1.63026423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.86, Y:28.22, Z:16.30 [[ 9.90417540e-01 -1.26544464e-01 -5.53136041e-02 3.46857494e+02] [ 1.26488306e-01 9.91957759e-01 -4.52917944e-03 2.82174936e+01] [ 5.54419013e-02 -2.51074534e-03 9.98458758e-01 1.63045727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.89, Y:28.22, Z:16.31 [[ 9.91006329e-01 -1.22006831e-01 -5.49617014e-02 3.46887225e+02] [ 1.21944517e-01 9.92526724e-01 -4.49862086e-03 2.82212149e+01] [ 5.50998199e-02 -2.24411638e-03 9.98478329e-01 1.63055223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.92, Y:28.23, Z:16.31 [[ 9.91294617e-01 -1.19649526e-01 -5.49451774e-02 3.46918542e+02] [ 1.19583652e-01 9.92813944e-01 -4.49699062e-03 2.82255104e+01] [ 5.50884011e-02 -2.11270236e-03 9.98479246e-01 1.63069036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.95, Y:28.23, Z:16.31 [[ 9.91570820e-01 -1.17520452e-01 -5.45550447e-02 3.46949300e+02] [ 1.17452401e-01 9.93068484e-01 -4.46307649e-03 2.82262657e+01] [ 5.47013983e-02 -1.98216458e-03 9.98500790e-01 1.63078059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.98, Y:28.23, Z:16.31 [[ 9.91820053e-01 -1.15335947e-01 -5.46863942e-02 3.46980941e+02] [ 1.15264378e-01 9.93324785e-01 -4.47156053e-03 2.82325500e+01] [ 5.48370824e-02 -1.86840980e-03 9.98493567e-01 1.63098097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.01, Y:28.23, Z:16.31 [[ 9.91918949e-01 -1.14238282e-01 -5.51943306e-02 3.47012281e+02] [ 1.14163899e-01 9.93451696e-01 -4.50915695e-03 2.82319228e+01] [ 5.53480197e-02 -1.82848177e-03 9.98465449e-01 1.63100913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.04, Y:28.24, Z:16.31 [[ 9.92014040e-01 -1.13190282e-01 -5.56426510e-02 3.47044222e+02] [ 1.13113220e-01 9.93571721e-01 -4.54257144e-03 2.82374202e+01] [ 5.57991395e-02 -1.78762479e-03 9.98440414e-01 1.63116493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.08, Y:28.24, Z:16.31 [[ 9.92141806e-01 -1.11840640e-01 -5.60919548e-02 3.47075301e+02] [ 1.11760399e-01 9.93724650e-01 -4.57528806e-03 2.82379596e+01] [ 5.62516613e-02 -1.72952471e-03 9.98415124e-01 1.63121715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.11, Y:28.24, Z:16.31 [[ 9.92220573e-01 -1.11314452e-01 -5.57442978e-02 3.47106204e+02] [ 1.11234534e-01 9.93783794e-01 -4.54406695e-03 2.82408917e+01] [ 5.59036001e-02 -1.69197425e-03 9.98434737e-01 1.63137983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.14, Y:28.24, Z:16.32 [[ 9.92228499e-01 -1.11243689e-01 -5.57444836e-02 3.47137778e+02] [ 1.11163787e-01 9.93791721e-01 -4.54178676e-03 2.82434053e+01] [ 5.59036514e-02 -1.69027763e-03 9.98434737e-01 1.63153046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.17, Y:28.25, Z:16.32 [[ 9.92278439e-01 -1.10745506e-01 -5.58474062e-02 3.47169748e+02] [ 1.10664746e-01 9.93847396e-01 -4.54615237e-03 2.82464805e+01] [ 5.60072652e-02 -1.66929006e-03 9.98428966e-01 1.63169299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.20, Y:28.25, Z:16.32 [[ 9.92382999e-01 -1.09884674e-01 -5.56897007e-02 3.47200765e+02] [ 1.09803225e-01 9.93943024e-01 -4.52958873e-03 2.82493285e+01] [ 5.58501219e-02 -1.61982187e-03 9.98437850e-01 1.63181184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.23, Y:28.25, Z:16.32 [[ 9.92613590e-01 -1.07878639e-01 -5.55019018e-02 3.47231260e+02] [ 1.07794738e-01 9.94162933e-01 -4.51196375e-03 2.82520403e+01] [ 5.56646780e-02 -1.50417642e-03 9.98448387e-01 1.63193235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.26, Y:28.26, Z:16.32 [[ 9.92930871e-01 -1.05399111e-01 -5.45830766e-02 3.47261964e+02] [ 1.05314437e-01 9.94429090e-01 -4.43337333e-03 2.82550365e+01] [ 5.47462727e-02 -1.34635271e-03 9.98499391e-01 1.63212341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.29, Y:28.26, Z:16.32 [[ 9.93095360e-01 -1.04325349e-01 -5.36453897e-02 3.47293642e+02] [ 1.04242101e-01 9.94542416e-01 -4.35523103e-03 2.82576623e+01] [ 5.38069765e-02 -1.26694839e-03 9.98550552e-01 1.63229526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.32, Y:28.26, Z:16.33 [[ 9.93390221e-01 -1.02752168e-01 -5.11650288e-02 3.47324912e+02] [ 1.02674486e-01 9.94706347e-01 -4.15134364e-03 2.82629298e+01] [ 5.13207385e-02 -1.12943884e-03 9.98681584e-01 1.63266488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.36, Y:28.27, Z:16.33 [[ 9.93397780e-01 -1.02678981e-01 -5.11651925e-02 3.47356480e+02] [ 1.02601305e-01 9.94713906e-01 -4.14932607e-03 2.82654343e+01] [ 5.13207770e-02 -1.12768423e-03 9.98681584e-01 1.63281548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.39, Y:28.27, Z:16.33 [[ 9.93459769e-01 -1.02273903e-01 -5.07714208e-02 3.47387984e+02] [ 1.02197077e-01 9.94755666e-01 -4.11371948e-03 2.82672878e+01] [ 5.09258847e-02 -1.10187601e-03 9.98701827e-01 1.63297063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.42, Y:28.27, Z:16.33 [[ 9.93365204e-01 -1.02891396e-01 -5.13705409e-02 3.47419705e+02] [ 1.02813723e-01 9.94691931e-01 -4.15932080e-03 2.82698401e+01] [ 5.15258208e-02 -1.14987203e-03 9.98671001e-01 1.63307107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.45, Y:28.27, Z:16.33 [[ 9.93144658e-01 -1.04566952e-01 -5.22440482e-02 3.47451690e+02] [ 1.04489134e-01 9.94517049e-01 -4.22614481e-03 2.82703426e+01] [ 5.23995117e-02 -1.26176223e-03 9.98625405e-01 1.63307662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.48, Y:28.27, Z:16.33 [[ 9.92972891e-01 -1.05957323e-01 -5.27056263e-02 3.47483326e+02] [ 1.05880300e-01 9.94369760e-01 -4.25933066e-03 2.82704677e+01] [ 5.28601883e-02 -1.35108764e-03 9.98601009e-01 1.63311356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.51, Y:28.27, Z:16.33 [[ 9.92781655e-01 -1.07314422e-01 -5.35555844e-02 3.47514466e+02] [ 1.07237199e-01 9.94224072e-01 -4.32181470e-03 2.82698860e+01] [ 5.37100442e-02 -1.45253253e-03 9.98555517e-01 1.63317387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.55, Y:28.27, Z:16.33 [[ 9.92603450e-01 -1.08856864e-01 -5.37454502e-02 3.47546274e+02] [ 1.08781677e-01 9.94056230e-01 -4.33106849e-03 2.82708090e+01] [ 5.38974662e-02 -1.54748669e-03 9.98545276e-01 1.63326032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.58, Y:28.27, Z:16.33 [[ 9.92189068e-01 -1.12028267e-01 -5.48682051e-02 3.47577140e+02] [ 1.11955064e-01 9.93703459e-01 -4.41576867e-03 2.82677514e+01] [ 5.50174161e-02 -1.76149603e-03 9.98483841e-01 1.63325271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.61, Y:28.27, Z:16.33 [[ 9.92043387e-01 -1.13177186e-01 -5.51438404e-02 3.47607864e+02] [ 1.13105136e-01 9.93573124e-01 -4.43580084e-03 2.82699540e+01] [ 5.52914692e-02 -1.83654471e-03 9.98468568e-01 1.63337581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.64, Y:28.27, Z:16.33 [[ 9.91943612e-01 -1.13851308e-01 -5.55495236e-02 3.47638352e+02] [ 1.13779306e-01 9.93496005e-01 -4.46743131e-03 2.82682898e+01] [ 5.56968526e-02 -1.88894629e-03 9.98445939e-01 1.63341617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.67, Y:28.27, Z:16.34 [[ 9.91809884e-01 -1.15145824e-01 -5.52683672e-02 3.47668878e+02] [ 1.15076609e-01 9.93346680e-01 -4.44383651e-03 2.82732649e+01] [ 5.54123383e-02 -1.95265532e-03 9.98461647e-01 1.63365701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.70, Y:28.27, Z:16.34 [[ 9.91824816e-01 -1.15182527e-01 -5.49228455e-02 3.47700149e+02] [ 1.15114293e-01 9.93342442e-01 -4.41492376e-03 2.82748834e+01] [ 5.50657155e-02 -1.94357357e-03 9.98480841e-01 1.63382661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.73, Y:28.28, Z:16.34 [[ 9.91875810e-01 -1.14924819e-01 -5.45404771e-02 3.47731566e+02] [ 1.14857284e-01 9.93372340e-01 -4.38160882e-03 2.82756778e+01] [ 5.46825569e-02 -1.91835926e-03 9.98501947e-01 1.63396287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.76, Y:28.28, Z:16.34 [[ 9.91963521e-01 -1.14417375e-01 -5.40096007e-02 3.47762637e+02] [ 1.14350718e-01 9.93430993e-01 -4.33304381e-03 2.82775794e+01] [ 5.41505868e-02 -1.87781520e-03 9.98531015e-01 1.63416019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.79, Y:28.28, Z:16.34 [[ 9.92049107e-01 -1.13702560e-01 -5.39471754e-02 3.47792741e+02] [ 1.13635099e-01 9.93513134e-01 -4.32622658e-03 2.82785778e+01] [ 5.40891304e-02 -1.83846343e-03 9.98534419e-01 1.63430748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.82, Y:28.29, Z:16.35 [[ 9.92394469e-01 -1.11003940e-01 -5.32103650e-02 3.47823992e+02] [ 1.10934497e-01 9.93818564e-01 -4.26598773e-03 2.82858431e+01] [ 5.33549900e-02 -1.66932247e-03 9.98574213e-01 1.63457160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.85, Y:28.29, Z:16.35 [[ 9.92619755e-01 -1.09071592e-01 -5.30038593e-02 3.47854533e+02] [ 1.09000080e-01 9.94032669e-01 -4.24672378e-03 2.82885785e+01] [ 5.31507647e-02 -1.56204301e-03 9.98585277e-01 1.63471907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.89, Y:28.29, Z:16.35 [[ 9.92866526e-01 -1.06872200e-01 -5.28620405e-02 3.47886102e+02] [ 1.06798018e-01 9.94271721e-01 -4.23420568e-03 2.82921387e+01] [ 5.30117508e-02 -1.44156007e-03 9.98592848e-01 1.63486450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.92, Y:28.30, Z:16.35 [[ 9.93075545e-01 -1.04753214e-01 -5.31763678e-02 3.47917025e+02] [ 1.04675262e-01 9.94497346e-01 -4.25659284e-03 2.82970365e+01] [ 5.33296485e-02 -1.33913199e-03 9.98576064e-01 1.63503895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.95, Y:28.30, Z:16.35 [[ 9.93537316e-01 -9.96872295e-02 -5.42776102e-02 3.47946998e+02] [ 9.95985649e-02 9.95018224e-01 -4.34284365e-03 2.83014349e+01] [ 5.44401373e-02 -1.09119486e-03 9.98516440e-01 1.63513598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.98, Y:28.31, Z:16.35 [[ 9.93762035e-01 -9.73229203e-02 -5.44542669e-02 3.47977155e+02] [ 9.72301790e-02 9.95252388e-01 -4.35610208e-03 2.83063397e+01] [ 5.46196878e-02 -9.65669247e-04 9.98506764e-01 1.63530346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.01, Y:28.31, Z:16.35 [[ 9.94178780e-01 -9.23883710e-02 -5.54341229e-02 3.48006042e+02] [ 9.22845860e-02 9.95722797e-01 -4.43463375e-03 2.83108225e+01] [ 5.56067285e-02 -7.06896315e-04 9.98452499e-01 1.63541446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.04, Y:28.31, Z:16.36 [[ 9.94361391e-01 -9.00362291e-02 -5.60258940e-02 3.48035752e+02] [ 8.99264176e-02 9.95938322e-01 -4.48316341e-03 2.83147732e+01] [ 5.62019820e-02 -5.80323337e-04 9.98419251e-01 1.63551387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.06, Y:28.32, Z:16.36 [[ 9.94489722e-01 -8.76342223e-02 -5.75363948e-02 3.48063799e+02] [ 8.75141392e-02 9.96152618e-01 -4.60835357e-03 2.83183531e+01] [ 5.77188798e-02 -4.52287809e-04 9.98332773e-01 1.63553707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.09, Y:28.32, Z:16.36 [[ 9.94655842e-01 -8.51518061e-02 -5.83860129e-02 3.48090940e+02] [ 8.50230378e-02 9.96367944e-01 -4.69065644e-03 2.83221232e+01] [ 5.85733695e-02 -2.98567358e-04 9.98283062e-01 1.63551228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.12, Y:28.33, Z:16.36 [[ 9.94840789e-01 -8.24231535e-02 -5.91458261e-02 3.48118893e+02] [ 8.22854325e-02 9.96597415e-01 -4.76444612e-03 2.83266009e+01] [ 5.93372781e-02 -1.26974549e-04 9.98237983e-01 1.63567236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.15, Y:28.33, Z:16.36 [[ 9.95088145e-01 -7.94344049e-02 -5.90741843e-02 3.48146242e+02] [ 7.92907492e-02 9.96840093e-01 -4.77560436e-03 2.83308836e+01] [ 5.92668626e-02 6.81109478e-05 9.98242172e-01 1.63583660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.17, Y:28.34, Z:16.36 [[ 9.95626341e-01 -7.32937346e-02 -5.79328708e-02 3.48173411e+02] [ 7.31443466e-02 9.97310300e-01 -4.69782155e-03 2.83373384e+01] [ 5.81213697e-02 4.39812899e-04 9.98309427e-01 1.63603122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.20, Y:28.34, Z:16.36 [[ 9.95861387e-01 -7.05155498e-02 -5.73380712e-02 3.48202053e+02] [ 7.03642270e-02 9.97510498e-01 -4.65632158e-03 2.83411114e+01] [ 5.75236711e-02 6.02501811e-04 9.98343961e-01 1.63628081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.23, Y:28.35, Z:16.36 [[ 9.96166594e-01 -6.68484570e-02 -5.64216320e-02 3.48229928e+02] [ 6.66953487e-02 9.97762808e-01 -4.59444128e-03 2.83461255e+01] [ 5.66025374e-02 8.13768500e-04 9.98396460e-01 1.63642015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.26, Y:28.35, Z:16.37 [[ 9.96215198e-01 -6.62804454e-02 -5.62332854e-02 3.48258326e+02] [ 6.61270939e-02 9.97800672e-01 -4.58548730e-03 2.83490139e+01] [ 5.64135381e-02 8.49588386e-04 9.98407127e-01 1.63656164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.29, Y:28.35, Z:16.37 [[ 9.96217680e-01 -6.65143076e-02 -5.59122591e-02 3.48285924e+02] [ 6.63622846e-02 9.97785113e-01 -4.57332158e-03 2.83507807e+01] [ 5.60926111e-02 8.45558565e-04 9.98425212e-01 1.63674259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.31, Y:28.35, Z:16.37 [[ 9.96192499e-01 -6.73028306e-02 -5.54151022e-02 3.48314698e+02] [ 6.71538632e-02 9.97732266e-01 -4.54805324e-03 2.83517691e+01] [ 5.55955323e-02 8.09398334e-04 9.98453044e-01 1.63695101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.34, Y:28.35, Z:16.37 [[ 9.96125506e-01 -6.84855420e-02 -5.51697920e-02 3.48342044e+02] [ 6.83389971e-02 9.97651825e-01 -4.54067107e-03 2.83530954e+01] [ 5.53512140e-02 7.52830009e-04 9.98466663e-01 1.63706987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.37, Y:28.35, Z:16.37 [[ 9.95849135e-01 -7.26619476e-02 -5.48155272e-02 3.48370203e+02] [ 7.25233127e-02 9.97356490e-01 -4.51672613e-03 2.83514562e+01] [ 5.49988159e-02 5.22574189e-04 9.98486283e-01 1.63723556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.40, Y:28.35, Z:16.37 [[ 9.95650152e-01 -7.56167535e-02 -5.44323631e-02 3.48398941e+02] [ 7.54840357e-02 9.97136888e-01 -4.49296437e-03 2.83510573e+01] [ 5.46162605e-02 3.64646220e-04 9.98507352e-01 1.63741033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.43, Y:28.35, Z:16.38 [[ 9.95401385e-01 -7.89407900e-02 -5.42626508e-02 3.48428116e+02] [ 7.88130875e-02 9.96879287e-01 -4.49262958e-03 2.83505767e+01] [ 5.44479644e-02 1.95362657e-04 9.98516590e-01 1.63754546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.46, Y:28.35, Z:16.38 [[ 9.94804658e-01 -8.59003296e-02 -5.46335554e-02 3.48455542e+02] [ 8.57806435e-02 9.96303720e-01 -4.53630062e-03 2.83462841e+01] [ 5.48212842e-02 -1.73768548e-04 9.98496168e-01 1.63761191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.48, Y:28.35, Z:16.38 [[ 9.94517164e-01 -8.95237972e-02 -5.40471984e-02 3.48484559e+02] [ 8.94116015e-02 9.95984618e-01 -4.49519199e-03 2.83456786e+01] [ 5.42326049e-02 -3.61900975e-04 9.98528264e-01 1.63782690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.51, Y:28.34, Z:16.38 [[ 9.94236372e-01 -9.27642781e-02 -5.37477917e-02 3.48513229e+02] [ 9.26573840e-02 9.95687961e-01 -4.48266894e-03 2.83444323e+01] [ 5.39318606e-02 -5.23297268e-04 9.98544481e-01 1.63797689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.54, Y:28.34, Z:16.38 [[ 9.93950689e-01 -9.60409490e-02 -5.32744162e-02 3.48542766e+02] [ 9.59404840e-02 9.95377143e-01 -4.44594717e-03 2.83437057e+01] [ 5.34551292e-02 -6.92121028e-04 9.98570013e-01 1.63818071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.57, Y:28.34, Z:16.38 [[ 9.93483277e-01 -1.01231368e-01 -5.23754571e-02 3.48573137e+02] [ 1.01141377e-01 9.94862454e-01 -4.37267813e-03 2.83408747e+01] [ 5.25490280e-02 -9.53143235e-04 9.98617890e-01 1.63837403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.60, Y:28.34, Z:16.39 [[ 9.93252417e-01 -1.03318579e-01 -5.26773911e-02 3.48604663e+02] [ 1.03230443e-01 9.94647741e-01 -4.39855387e-03 2.83409783e+01] [ 5.28499004e-02 -1.06903615e-03 9.98601895e-01 1.63850428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.64, Y:28.34, Z:16.39 [[ 9.92886055e-01 -1.06923345e-01 -5.23896934e-02 3.48635010e+02] [ 1.06841269e-01 9.94266474e-01 -4.37282536e-03 2.83381416e+01] [ 5.25568729e-02 -1.25566399e-03 9.98617143e-01 1.63855527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.66, Y:28.34, Z:16.39 [[ 9.92886055e-01 -1.06923345e-01 -5.23896934e-02 3.48664881e+02] [ 1.06841269e-01 9.94266474e-01 -4.37282536e-03 2.83406349e+01] [ 5.25568729e-02 -1.25566399e-03 9.98617143e-01 1.63869788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.69, Y:28.34, Z:16.39 [[ 9.92616703e-01 -1.09714961e-01 -5.17175755e-02 3.48694709e+02] [ 1.09638757e-01 9.93962126e-01 -4.31680259e-03 2.83382218e+01] [ 5.18789292e-02 -1.38532034e-03 9.98652421e-01 1.63882269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.73, Y:28.34, Z:16.39 [[ 9.92524139e-01 -1.10711459e-01 -5.13693061e-02 3.48725533e+02] [ 1.10637567e-01 9.93851567e-01 -4.28856453e-03 2.83402589e+01] [ 5.15282586e-02 -1.42687124e-03 9.98670518e-01 1.63897014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.76, Y:28.34, Z:16.39 [[ 9.92400020e-01 -1.11859718e-01 -5.12796668e-02 3.48756413e+02] [ 1.11787622e-01 9.93722900e-01 -4.28093889e-03 2.83425390e+01] [ 5.14366438e-02 -1.48402815e-03 9.98675157e-01 1.63913057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.79, Y:28.34, Z:16.39 [[ 9.92362601e-01 -1.11919461e-01 -5.18700518e-02 3.48787111e+02] [ 1.11845872e-01 9.93716139e-01 -4.32840890e-03 2.83435884e+01] [ 5.20285408e-02 -1.50610005e-03 9.98644463e-01 1.63924473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.82, Y:28.35, Z:16.39 [[ 9.92414845e-01 -1.11503637e-01 -5.17659579e-02 3.48817864e+02] [ 1.11429830e-01 9.93762920e-01 -4.31871264e-03 2.83479616e+01] [ 5.19246417e-02 -1.48231737e-03 9.98649906e-01 1.63939671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.85, Y:28.35, Z:16.40 [[ 9.92539827e-01 -1.10402124e-01 -5.17306779e-02 3.48849452e+02] [ 1.10327025e-01 9.93885979e-01 -4.31381243e-03 2.83513666e+01] [ 5.18906495e-02 -1.42566114e-03 9.98651755e-01 1.63955252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.88, Y:28.36, Z:16.40 [[ 9.92675595e-01 -1.09023541e-01 -5.20483558e-02 3.48881068e+02] [ 1.08945773e-01 9.94038231e-01 -4.33745031e-03 2.83554609e+01] [ 5.22109398e-02 -1.36476730e-03 9.98635146e-01 1.63970000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.91, Y:28.36, Z:16.40 [[ 9.93178006e-01 -1.04488225e-01 -5.17654156e-02 3.48911015e+02] [ 1.04405285e-01 9.94525490e-01 -4.31119801e-03 2.83590019e+01] [ 5.19324947e-02 -1.12279592e-03 9.98649966e-01 1.63982648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.94, Y:28.36, Z:16.40 [[ 9.93488260e-01 -1.01629772e-01 -5.15020989e-02 3.48941483e+02] [ 1.01543884e-01 9.94821818e-01 -4.28833734e-03 2.83647226e+01] [ 5.16712344e-02 -9.69310345e-04 9.98663679e-01 1.63999938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.97, Y:28.37, Z:16.40 [[ 9.93820707e-01 -9.84978572e-02 -5.11720173e-02 3.48971973e+02] [ 9.84089607e-02 9.95136940e-01 -4.26000990e-03 2.83693673e+01] [ 5.13427666e-02 -8.02098990e-04 9.98680768e-01 1.64021580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.00, Y:28.38, Z:16.40 [[ 9.94478804e-01 -9.20983268e-02 -5.02971838e-02 3.49000874e+02] [ 9.20042645e-02 9.95749810e-01 -4.18712070e-03 2.83764907e+01] [ 5.04690380e-02 -4.63552615e-04 9.98725519e-01 1.64047702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.03, Y:28.38, Z:16.41 [[ 9.94475587e-01 -9.21330219e-02 -5.02972556e-02 3.49029894e+02] [ 9.20390476e-02 9.95746599e-01 -4.18625775e-03 2.83789349e+01] [ 5.04690138e-02 -4.66180368e-04 9.98725519e-01 1.64061554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.06, Y:28.38, Z:16.41 [[ 9.94763103e-01 -8.89446047e-02 -5.03510273e-02 3.49060474e+02] [ 8.88462622e-02 9.96036528e-01 -4.19240250e-03 2.83838329e+01] [ 5.05243540e-02 -3.03053259e-04 9.98722783e-01 1.64078792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.09, Y:28.39, Z:16.41 [[ 9.95161431e-01 -8.40069471e-02 -5.09564522e-02 3.49090352e+02] [ 8.38997527e-02 9.96465168e-01 -4.24281229e-03 2.83900364e+01] [ 5.11327554e-02 -5.29505937e-05 9.98691864e-01 1.64094422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.12, Y:28.39, Z:16.41 [[ 9.95246711e-01 -8.26058133e-02 -5.15777527e-02 3.49119384e+02] [ 8.24940506e-02 9.96582299e-01 -4.29562805e-03 2.83932351e+01] [ 5.17563192e-02 2.03519509e-05 9.98659743e-01 1.64106799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.15, Y:28.40, Z:16.41 [[ 9.95291043e-01 -8.16946515e-02 -5.21701384e-02 3.49146997e+02] [ 8.15783860e-02 9.96657402e-01 -4.35770823e-03 2.83956356e+01] [ 5.23517561e-02 8.12322830e-05 9.98628703e-01 1.64113688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.17, Y:28.40, Z:16.41 [[ 9.95297181e-01 -8.14329616e-02 -5.24613539e-02 3.49174929e+02] [ 8.13147782e-02 9.96678816e-01 -4.38681512e-03 2.83977625e+01] [ 5.26443515e-02 1.00301362e-04 9.98613320e-01 1.64123482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.20, Y:28.40, Z:16.41 [[ 9.95238283e-01 -8.19913970e-02 -5.27083541e-02 3.49203069e+02] [ 8.18725736e-02 9.96633034e-01 -4.41325186e-03 2.83991938e+01] [ 5.28927356e-02 7.68686013e-05 9.98600197e-01 1.64137480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.23, Y:28.40, Z:16.42 [[ 9.95165954e-01 -8.28383735e-02 -5.27496762e-02 3.49230061e+02] [ 8.27198088e-02 9.96562994e-01 -4.43073970e-03 2.84003703e+01] [ 5.29354106e-02 4.58781618e-05 9.98597937e-01 1.64152609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.26, Y:28.40, Z:16.42 [[ 9.94899789e-01 -8.58326262e-02 -5.29827429e-02 3.49258116e+02] [ 8.57168550e-02 9.96309565e-01 -4.45778280e-03 2.83996630e+01] [ 5.31698367e-02 -1.06466923e-04 9.98585478e-01 1.64173776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.29, Y:28.40, Z:16.42 [[ 9.94762985e-01 -8.73497202e-02 -5.30719298e-02 3.49285476e+02] [ 8.72349445e-02 9.96177693e-01 -4.47975038e-03 2.84001872e+01] [ 5.32603775e-02 -1.73436989e-04 9.98580644e-01 1.64186041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.31, Y:28.40, Z:16.42 [[ 9.94550306e-01 -8.95451284e-02 -5.33981080e-02 3.49313521e+02] [ 8.94318361e-02 9.95982724e-01 -4.51216229e-03 2.84006581e+01] [ 5.35876352e-02 -2.87918451e-04 9.98563109e-01 1.64198810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.34, Y:28.40, Z:16.42 [[ 9.94331217e-01 -9.19733551e-02 -5.33510376e-02 3.49342149e+02] [ 9.18634437e-02 9.95761383e-01 -4.51398033e-03 2.84011185e+01] [ 5.35400689e-02 -4.12618479e-04 9.98565617e-01 1.64213252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.37, Y:28.40, Z:16.42 [[ 9.93802704e-01 -9.73773173e-02 -5.36082410e-02 3.49371287e+02] [ 9.72734568e-02 9.95247295e-01 -4.54943451e-03 2.83984283e+01] [ 5.37964685e-02 -6.93418595e-04 9.98551681e-01 1.64220648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.40, Y:28.40, Z:16.42 [[ 9.93488056e-01 -1.00330401e-01 -5.39934475e-02 3.49399553e+02] [ 1.00228722e-01 9.94953815e-01 -4.59458029e-03 2.83979304e+01] [ 5.41819627e-02 -8.47033606e-04 9.98530719e-01 1.64228212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.43, Y:28.40, Z:16.42 [[ 9.93172514e-01 -1.03511524e-01 -5.37933344e-02 3.49428473e+02] [ 1.03415014e-01 9.94627739e-01 -4.58204461e-03 2.83977667e+01] [ 5.39786370e-02 -1.01227766e-03 9.98541578e-01 1.64239881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.46, Y:28.40, Z:16.43 [[ 9.92674666e-01 -1.08539181e-01 -5.30683880e-02 3.49458480e+02] [ 1.08451795e-01 9.94091378e-01 -4.53215333e-03 2.83966261e+01] [ 5.32467431e-02 -1.25640816e-03 9.98580596e-01 1.64261784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.49, Y:28.40, Z:16.43 [[ 9.92415974e-01 -1.11026797e-01 -5.27596850e-02 3.49488006e+02] [ 1.10943842e-01 9.93816455e-01 -4.50753901e-03 2.83961101e+01] [ 5.29339008e-02 -1.38000846e-03 9.98597065e-01 1.64276391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.52, Y:28.39, Z:16.43 [[ 9.92170234e-01 -1.13533409e-01 -5.20422102e-02 3.49517727e+02] [ 1.13456118e-01 9.93533058e-01 -4.44661852e-03 2.83949625e+01] [ 5.22104960e-02 -1.49270458e-03 9.98634986e-01 1.64291025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.55, Y:28.40, Z:16.43 [[ 9.91888549e-01 -1.16202623e-01 -5.15175330e-02 3.49548250e+02] [ 1.16130455e-01 9.93224213e-01 -4.40219614e-03 2.83973763e+01] [ 5.16800079e-02 -1.61626662e-03 9.98662388e-01 1.64309717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.58, Y:28.40, Z:16.43 [[ 9.91601590e-01 -1.18920433e-01 -5.08351947e-02 3.49579061e+02] [ 1.18853735e-01 9.92902272e-01 -4.34374196e-03 2.83961551e+01] [ 5.09909400e-02 -1.73469134e-03 9.98697609e-01 1.64328420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.61, Y:28.39, Z:16.43 [[ 9.90891323e-01 -1.25157402e-01 -4.96991963e-02 3.49610176e+02] [ 1.25101574e-01 9.92134859e-01 -4.24468017e-03 2.83944135e+01] [ 4.98395583e-02 -2.01143095e-03 9.98755212e-01 1.64346487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.64, Y:28.40, Z:16.44 [[ 9.90480675e-01 -1.28341029e-01 -4.97655853e-02 3.49640771e+02] [ 1.28289089e-01 9.91727709e-01 -4.24975547e-03 2.83969761e+01] [ 4.98993279e-02 -2.17508094e-03 9.98751884e-01 1.64360566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.67, Y:28.39, Z:16.44 [[ 9.90076022e-01 -1.31385745e-01 -4.98724067e-02 3.49670935e+02] [ 1.31337486e-01 9.91328571e-01 -4.25781965e-03 2.83929223e+01] [ 4.99993585e-02 -2.33455135e-03 9.98746521e-01 1.64368351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.70, Y:28.40, Z:16.44 [[ 9.89685458e-01 -1.33981822e-01 -5.07106007e-02 3.49701900e+02] [ 1.33935504e-01 9.90980609e-01 -4.32585056e-03 2.83978179e+01] [ 5.08328073e-02 -2.51071849e-03 9.98704021e-01 1.64380080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.73, Y:28.40, Z:16.44 [[ 9.89050720e-01 -1.38317280e-01 -5.14490365e-02 3.49733110e+02] [ 1.38275543e-01 9.90384081e-01 -4.38698992e-03 2.83969274e+01] [ 5.15611032e-02 -2.77518792e-03 9.98665986e-01 1.64383919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.76, Y:28.40, Z:16.44 [[ 9.88792617e-01 -1.40040152e-01 -5.17485841e-02 3.49763857e+02] [ 1.40000332e-01 9.90141629e-01 -4.41150828e-03 2.83972204e+01] [ 5.18562156e-02 -2.88275214e-03 9.98650401e-01 1.64395811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.80, Y:28.40, Z:16.44 [[ 9.88636247e-01 -1.40961012e-01 -5.22337480e-02 3.49795581e+02] [ 1.40921843e-01 9.90010720e-01 -4.45059407e-03 2.83992271e+01] [ 5.23393307e-02 -2.96085739e-03 9.98624969e-01 1.64409102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.83, Y:28.40, Z:16.44 [[ 9.88427178e-01 -1.42183503e-01 -5.28731077e-02 3.49827839e+02] [ 1.42145399e-01 9.89835561e-01 -4.49966993e-03 2.84035594e+01] [ 5.29754611e-02 -3.06807296e-03 9.98591101e-01 1.64420235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.86, Y:28.41, Z:16.44 [[ 9.88370041e-01 -1.42358042e-01 -5.34682220e-02 3.49859304e+02] [ 1.42319542e-01 9.89810324e-01 -4.54640874e-03 2.84053476e+01] [ 5.35706160e-02 -3.11603865e-03 9.98559202e-01 1.64429222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.89, Y:28.41, Z:16.44 [[ 9.88336621e-01 -1.42292271e-01 -5.42552598e-02 3.49890102e+02] [ 1.42252692e-01 9.89819638e-01 -4.61041094e-03 2.84075975e+01] [ 5.43589475e-02 -3.16131881e-03 9.98516455e-01 1.64433336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.92, Y:28.41, Z:16.44 [[ 9.88346170e-01 -1.41957362e-01 -5.49541210e-02 3.49920592e+02] [ 1.41916367e-01 9.89867647e-01 -4.66756446e-03 2.84096319e+01] [ 5.50599016e-02 -3.18571974e-03 9.98477971e-01 1.64440462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.95, Y:28.41, Z:16.45 [[ 9.88405066e-01 -1.41421387e-01 -5.52758274e-02 3.49951405e+02] [ 1.41379260e-01 9.89944389e-01 -4.69159052e-03 2.84142120e+01] [ 5.53834864e-02 -3.17766376e-03 9.98460100e-01 1.64453445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.98, Y:28.42, Z:16.45 [[ 9.88649212e-01 -1.39402880e-01 -5.60318909e-02 3.49981065e+02] [ 1.39356464e-01 9.90230870e-01 -4.75402098e-03 2.84193039e+01] [ 5.61472323e-02 -3.10834709e-03 9.98417661e-01 1.64465906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.01, Y:28.42, Z:16.45 [[ 9.88862238e-01 -1.37944689e-01 -5.58814485e-02 3.50012098e+02] [ 1.37896219e-01 9.90435337e-01 -4.74094634e-03 2.84247832e+01] [ 5.60009496e-02 -3.01769765e-03 9.98426155e-01 1.64485036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.04, Y:28.43, Z:16.45 [[ 9.89447659e-01 -1.34141496e-01 -5.47666753e-02 3.50042313e+02] [ 1.34089228e-01 9.90958378e-01 -4.64454779e-03 2.84325840e+01] [ 5.48945223e-02 -2.74808428e-03 9.98488377e-01 1.64511722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.07, Y:28.44, Z:16.45 [[ 9.89804154e-01 -1.31736441e-01 -5.41594548e-02 3.50073384e+02] [ 1.31681801e-01 9.91281402e-01 -4.59182822e-03 2.84406288e+01] [ 5.42921714e-02 -2.58680389e-03 9.98521742e-01 1.64541304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.10, Y:28.44, Z:16.46 [[ 9.90148984e-01 -1.29403596e-01 -5.34761521e-02 3.50103731e+02] [ 1.29347077e-01 9.91589029e-01 -4.53117600e-03 2.84430968e+01] [ 5.36127162e-02 -2.43044463e-03 9.98558846e-01 1.64557661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.13, Y:28.45, Z:16.46 [[ 9.90557640e-01 -1.26570615e-01 -5.26824630e-02 3.50135000e+02] [ 1.26511823e-01 9.91955061e-01 -4.46276713e-03 2.84500811e+01] [ 5.28234910e-02 -2.24432635e-03 9.98601343e-01 1.64581535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.16, Y:28.46, Z:16.46 [[ 9.91350421e-01 -1.20350573e-01 -5.23457960e-02 3.50164972e+02] [ 1.20284011e-01 9.92729630e-01 -4.43157306e-03 2.84603025e+01] [ 5.24985650e-02 -1.90312049e-03 9.98619186e-01 1.64603335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.19, Y:28.47, Z:16.46 [[ 9.91765617e-01 -1.17056727e-01 -5.19488481e-02 3.50194747e+02] [ 1.16986739e-01 9.93123746e-01 -4.39644380e-03 2.84654231e+01] [ 5.21062679e-02 -1.71708453e-03 9.98640070e-01 1.64616790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.23, Y:28.47, Z:16.46 [[ 9.92145987e-01 -1.13691428e-01 -5.21593626e-02 3.50225095e+02] [ 1.13616482e-01 9.93514898e-01 -4.40939484e-03 2.84697110e+01] [ 5.23224142e-02 -1.55139987e-03 9.98629039e-01 1.64628853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.26, Y:28.47, Z:16.46 [[ 9.92527450e-01 -1.10285588e-01 -5.22144605e-02 3.50255271e+02] [ 1.10205997e-01 9.93898985e-01 -4.40983095e-03 2.84749267e+01] [ 5.23822401e-02 -1.37746841e-03 9.98626158e-01 1.64641413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.29, Y:28.48, Z:16.47 [[ 9.92874128e-01 -1.06898757e-01 -5.26651867e-02 3.50285715e+02] [ 1.06813075e-01 9.94269175e-01 -4.44697132e-03 2.84807882e+01] [ 5.28387474e-02 -1.21004775e-03 9.98602325e-01 1.64653950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.32, Y:28.49, Z:16.47 [[ 9.93556006e-01 -9.97924290e-02 -5.37394941e-02 3.50315630e+02] [ 9.96928691e-02 9.95007914e-01 -4.53684491e-03 2.84913118e+01] [ 5.39239647e-02 -8.49834842e-04 9.98544683e-01 1.64663890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.35, Y:28.50, Z:16.47 [[ 9.93889226e-01 -9.59032325e-02 -5.46514046e-02 3.50346307e+02] [ 9.57943945e-02 9.95390450e-01 -4.61369888e-03 2.84966247e+01] [ 5.48419549e-02 -6.49792600e-04 9.98494836e-01 1.64672058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.38, Y:28.50, Z:16.47 [[ 9.94542620e-01 -8.78624489e-02 -5.62598096e-02 3.50376117e+02] [ 8.77342932e-02 9.96132594e-01 -4.74859853e-03 2.85045675e+01] [ 5.64594535e-02 -2.13231007e-04 9.98404870e-01 1.64676619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.40, Y:28.51, Z:16.47 [[ 9.94845232e-01 -8.41500242e-02 -5.65839027e-02 3.50404753e+02] [ 8.40142500e-02 9.96453096e-01 -4.77832363e-03 2.85097161e+01] [ 5.67853011e-02 -1.61669703e-07 9.98386413e-01 1.64694127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.43, Y:28.51, Z:16.47 [[ 9.95175355e-01 -8.05141607e-02 -5.60667677e-02 3.50431986e+02] [ 8.03742670e-02 9.96753441e-01 -4.74928368e-03 2.85146005e+01] [ 5.62671282e-02 2.20044715e-04 9.98415726e-01 1.64709071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.46, Y:28.52, Z:16.47 [[ 9.95462295e-01 -7.68883598e-02 -5.60624664e-02 3.50459328e+02] [ 7.67419043e-02 9.97039611e-01 -4.76376168e-03 2.85195038e+01] [ 5.62627775e-02 4.39804703e-04 9.98415899e-01 1.64721696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.49, Y:28.53, Z:16.47 [[ 9.95943794e-01 -7.05340827e-02 -5.58650431e-02 3.50487083e+02] [ 7.03783554e-02 9.97509048e-01 -4.75251443e-03 2.85250623e+01] [ 5.60611002e-02 8.01547389e-04 9.98427018e-01 1.64740773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.51, Y:28.53, Z:16.48 [[ 9.96134027e-01 -6.79727189e-02 -5.56480816e-02 3.50514976e+02] [ 6.78137914e-02 9.97686728e-01 -4.74148134e-03 2.85294844e+01] [ 5.58416439e-02 9.49443497e-04 9.98439187e-01 1.64751430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.54, Y:28.53, Z:16.48 [[ 9.96281199e-01 -6.61904779e-02 -5.51596995e-02 3.50543420e+02] [ 6.60312544e-02 9.97806457e-01 -4.70613369e-03 2.85325979e+01] [ 5.53502056e-02 1.04636837e-03 9.98466454e-01 1.64770292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.57, Y:28.54, Z:16.48 [[ 9.96346283e-01 -6.49931420e-02 -5.54073566e-02 3.50571273e+02] [ 6.48299226e-02 9.97885070e-01 -4.74005027e-03 2.85366105e+01] [ 5.55982447e-02 1.13067683e-03 9.98452581e-01 1.64782565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.60, Y:28.54, Z:16.48 [[ 9.96314727e-01 -6.50434979e-02 -5.59134051e-02 3.50599740e+02] [ 6.48769980e-02 9.97881773e-01 -4.78977119e-03 2.85368333e+01] [ 5.61065113e-02 1.14462570e-03 9.98424133e-01 1.64802717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.63, Y:28.54, Z:16.48 [[ 9.96216283e-01 -6.63726963e-02 -5.61050962e-02 3.50627237e+02] [ 6.62064431e-02 9.97794310e-01 -4.81885038e-03 2.85377192e+01] [ 5.63011859e-02 1.08609836e-03 9.98413240e-01 1.64815680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.66, Y:28.54, Z:16.48 [[ 9.96025349e-01 -6.90098401e-02 -5.63129251e-02 3.50656171e+02] [ 6.88461971e-02 9.97615530e-01 -4.84312742e-03 2.85376967e+01] [ 5.65128721e-02 9.46946937e-04 9.98401422e-01 1.64834524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.69, Y:28.53, Z:16.49 [[ 9.95491730e-01 -7.60619540e-02 -5.66638727e-02 3.50685926e+02] [ 7.59068706e-02 9.97102934e-01 -4.88734029e-03 2.85324481e+01] [ 5.68714544e-02 5.64129584e-04 9.98381350e-01 1.64866921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.72, Y:28.53, Z:16.49 [[ 9.95105210e-01 -8.09347541e-02 -5.67026226e-02 3.50715034e+02] [ 8.07865747e-02 9.96719357e-01 -4.90444082e-03 2.85309797e+01] [ 5.69135413e-02 2.99623947e-04 9.98379066e-01 1.64884518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.74, Y:28.53, Z:16.49 [[ 9.94631509e-01 -8.62537766e-02 -5.71703316e-02 3.50743386e+02] [ 8.61110445e-02 9.96273198e-01 -4.96005144e-03 2.85290160e+01] [ 5.73850923e-02 1.04264820e-05 9.98352118e-01 1.64902470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.77, Y:28.53, Z:16.49 [[ 9.94111774e-01 -9.16932561e-02 -5.77419035e-02 3.50771963e+02] [ 9.15559438e-02 9.95787257e-01 -5.02467401e-03 2.85263435e+01] [ 5.79593805e-02 -2.91526884e-04 9.98318900e-01 1.64910368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.80, Y:28.52, Z:16.49 [[ 9.92982942e-01 -1.02759579e-01 -5.85264577e-02 3.50802009e+02] [ 1.02637396e-01 9.94705774e-01 -5.09792639e-03 2.85181787e+01] [ 5.87404662e-02 -9.44849270e-04 9.98272841e-01 1.64926301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.83, Y:28.51, Z:16.49 [[ 9.92390968e-01 -1.08207290e-01 -5.87481808e-02 3.50830649e+02] [ 1.08093506e-01 9.94127544e-01 -5.12063121e-03 2.85149290e+01] [ 5.89572743e-02 -1.26862869e-03 9.98259701e-01 1.64936432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.86, Y:28.51, Z:16.50 [[ 9.91794375e-01 -1.13595343e-01 -5.86516525e-02 3.50860584e+02] [ 1.13491111e-01 9.93525840e-01 -5.11602381e-03 2.85132417e+01] [ 5.88530887e-02 -1.58239754e-03 9.98265401e-01 1.64954122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.89, Y:28.50, Z:16.50 [[ 9.90619579e-01 -1.23512012e-01 -5.84605276e-02 3.50890827e+02] [ 1.23425572e-01 9.92340721e-01 -5.10106738e-03 2.85038026e+01] [ 5.86428053e-02 -2.16230682e-03 9.98276688e-01 1.64963467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.92, Y:28.51, Z:16.50 [[ 9.90615244e-01 -1.23546790e-01 -5.84604948e-02 3.50919857e+02] [ 1.23460388e-01 9.92336388e-01 -5.10144363e-03 2.85063658e+01] [ 5.86427433e-02 -2.16398754e-03 9.98276688e-01 1.64977332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.95, Y:28.51, Z:16.50 [[ 9.90008067e-01 -1.28365515e-01 -5.83637030e-02 3.50950729e+02] [ 1.28287649e-01 9.91723915e-01 -5.09467005e-03 2.85050305e+01] [ 5.85346599e-02 -2.44357777e-03 9.98282386e-01 1.64994148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.98, Y:28.51, Z:16.50 [[ 9.89441837e-01 -1.32677666e-01 -5.83222744e-02 3.50980909e+02] [ 1.32607364e-01 9.91155571e-01 -5.09125593e-03 2.85053352e+01] [ 5.84819431e-02 -2.69646147e-03 9.98284825e-01 1.65012369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.01, Y:28.50, Z:16.50 [[ 9.88829234e-01 -1.37022119e-01 -5.86658712e-02 3.51011514e+02] [ 1.36958540e-01 9.90563537e-01 -5.12233545e-03 2.85042529e+01] [ 5.88141461e-02 -2.96967704e-03 9.98264533e-01 1.65026769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.04, Y:28.50, Z:16.50 [[ 9.87794993e-01 -1.43943906e-01 -5.95080227e-02 3.51041797e+02] [ 1.43890932e-01 9.89579907e-01 -5.19686008e-03 2.84986899e+01] [ 5.96359999e-02 -3.42923249e-03 9.98214300e-01 1.65025572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.07, Y:28.50, Z:16.50 [[ 9.87357395e-01 -1.46664670e-01 -6.01236100e-02 3.51071608e+02] [ 1.46615577e-01 9.89179608e-01 -5.25128247e-03 2.84963961e+01] [ 6.02432266e-02 -3.63016521e-03 9.98177126e-01 1.65029673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.10, Y:28.50, Z:16.50 [[ 9.87029709e-01 -1.48585089e-01 -6.07850693e-02 3.51100789e+02] [ 1.48538456e-01 9.88892374e-01 -5.31039942e-03 2.85001130e+01] [ 6.08989376e-02 -3.78739834e-03 9.98136752e-01 1.65043367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.13, Y:28.50, Z:16.51 [[ 9.86732603e-01 -1.50377822e-01 -6.11987056e-02 3.51129101e+02] [ 1.50333807e-01 9.88620822e-01 -5.34940731e-03 2.84996446e+01] [ 6.13067468e-02 -3.92179982e-03 9.98111267e-01 1.65051567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.16, Y:28.50, Z:16.51 [[ 9.86723458e-01 -1.50426065e-01 -6.12275736e-02 3.51157377e+02] [ 1.50381649e-01 9.88613493e-01 -5.35930432e-03 2.85016817e+01] [ 6.13365845e-02 -3.91935218e-03 9.98109444e-01 1.65063322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.19, Y:28.50, Z:16.51 [[ 9.86753843e-01 -1.50188134e-01 -6.13219170e-02 3.51185768e+02] [ 1.50142192e-01 9.88649760e-01 -5.38270021e-03 2.85042659e+01] [ 6.14343162e-02 -3.89560695e-03 9.98103526e-01 1.65078636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.22, Y:28.51, Z:16.51 [[ 9.87059493e-01 -1.47885993e-01 -6.19942835e-02 3.51215487e+02] [ 1.47833776e-01 9.88997185e-01 -5.45371724e-03 2.85096135e+01] [ 6.21187003e-02 -3.78170562e-03 9.98061604e-01 1.65089817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.24, Y:28.52, Z:16.51 [[ 9.87258705e-01 -1.46322275e-01 -6.25303269e-02 3.51243930e+02] [ 1.46265911e-01 9.89230005e-01 -5.50278007e-03 2.85163034e+01] [ 6.26620549e-02 -3.71338771e-03 9.98027894e-01 1.65108928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.27, Y:28.52, Z:16.51 [[ 9.87466520e-01 -1.44613724e-01 -6.32197904e-02 3.51272184e+02] [ 1.44552342e-01 9.89481490e-01 -5.56795596e-03 2.85208581e+01] [ 6.33600152e-02 -3.64039864e-03 9.97984096e-01 1.65118248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.30, Y:28.52, Z:16.51 [[ 9.87719155e-01 -1.42758576e-01 -6.34890519e-02 3.51300301e+02] [ 1.42692569e-01 9.89751238e-01 -5.59613172e-03 2.85248255e+01] [ 6.36372635e-02 -3.53200944e-03 9.97966845e-01 1.65125357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.33, Y:28.53, Z:16.51 [[ 9.87947397e-01 -1.40905286e-01 -6.40752822e-02 3.51328108e+02] [ 1.40833883e-01 9.90017105e-01 -5.65233362e-03 2.85342393e+01] [ 6.42320691e-02 -3.43976253e-03 9.97929060e-01 1.65149758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.36, Y:28.54, Z:16.52 [[ 9.88592564e-01 -1.36347082e-01 -6.39860580e-02 3.51357270e+02] [ 1.36266114e-01 9.90656168e-01 -5.64826692e-03 2.85387061e+01] [ 6.41583077e-02 -3.13529681e-03 9.97934808e-01 1.65152718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.39, Y:28.55, Z:16.52 [[ 9.88961785e-01 -1.33629624e-01 -6.40133680e-02 3.51386100e+02] [ 1.33542801e-01 9.91026927e-01 -5.65239677e-03 2.85472682e+01] [ 6.41942990e-02 -2.95852005e-03 9.97933033e-01 1.65182769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.42, Y:28.55, Z:16.52 [[ 9.89403176e-01 -1.30608810e-01 -6.34247127e-02 3.51415517e+02] [ 1.30517259e-01 9.91430209e-01 -5.60236522e-03 2.85535877e+01] [ 6.36128944e-02 -2.73502173e-03 9.97970901e-01 1.65203189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.44, Y:28.56, Z:16.52 [[ 9.90200390e-01 -1.24763904e-01 -6.27467546e-02 3.51443953e+02] [ 1.24662512e-01 9.92183716e-01 -5.54364529e-03 2.85624434e+01] [ 6.29479550e-02 -2.33284832e-03 9.98014084e-01 1.65223086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.47, Y:28.57, Z:16.53 [[ 9.90623342e-01 -1.21800549e-01 -6.18871529e-02 3.51473386e+02] [ 1.21696027e-01 9.92552347e-01 -5.46957005e-03 2.85723971e+01] [ 6.20924354e-02 -2.11313686e-03 9.98068166e-01 1.65258192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.50, Y:28.57, Z:16.53 [[ 9.90983857e-01 -1.18884634e-01 -6.17854200e-02 3.51501800e+02] [ 1.18774575e-01 9.92906211e-01 -5.46414714e-03 2.85749312e+01] [ 6.19967304e-02 -1.92365542e-03 9.98074499e-01 1.65263147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.53, Y:28.59, Z:16.53 [[ 9.91700433e-01 -1.13226522e-01 -6.09098259e-02 3.51530564e+02] [ 1.13108714e-01 9.93567999e-01 -5.38974556e-03 2.85856785e+01] [ 6.11283160e-02 -1.54441906e-03 9.98128721e-01 1.65289068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.56, Y:28.59, Z:16.53 [[ 9.91976484e-01 -1.10833762e-01 -6.08155535e-02 3.51559997e+02] [ 1.10711695e-01 9.93837984e-01 -5.38356435e-03 2.85916457e+01] [ 6.10374878e-02 -1.39262381e-03 9.98134503e-01 1.65307697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.59, Y:28.60, Z:16.53 [[ 9.92225004e-01 -1.08522498e-01 -6.09295402e-02 3.51589629e+02] [ 1.08395486e-01 9.94093207e-01 -5.39584786e-03 2.85970265e+01] [ 6.11552129e-02 -1.25059199e-03 9.98127485e-01 1.65321299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.62, Y:28.60, Z:16.53 [[ 9.92457009e-01 -1.06272865e-01 -6.11159809e-02 3.51618473e+02] [ 1.06140508e-01 9.94336384e-01 -5.41731688e-03 2.86019847e+01] [ 6.13455573e-02 -1.11042716e-03 9.98115970e-01 1.65329759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.65, Y:28.61, Z:16.53 [[ 9.92659729e-01 -1.04355333e-01 -6.11279562e-02 3.51647194e+02] [ 1.04218395e-01 9.94539596e-01 -5.43298969e-03 2.86069527e+01] [ 6.13611343e-02 -9.77547378e-04 9.98115151e-01 1.65340179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.68, Y:28.61, Z:16.54 [[ 9.93066782e-01 -1.00401772e-01 -6.11379643e-02 3.51675294e+02] [ 1.00256354e-01 9.94946717e-01 -5.44927873e-03 2.86144276e+01] [ 6.13761341e-02 -7.17971716e-04 9.98114450e-01 1.65356629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.70, Y:28.62, Z:16.54 [[ 9.93243295e-01 -9.87257347e-02 -6.09998796e-02 3.51703264e+02] [ 9.85768783e-02 9.95114502e-01 -5.45225404e-03 2.86189524e+01] [ 6.12401426e-02 -5.97762936e-04 9.98122882e-01 1.65371267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.73, Y:28.63, Z:16.54 [[ 9.93588624e-01 -9.59429453e-02 -5.98046655e-02 3.51731134e+02] [ 9.57939440e-02 9.95386753e-01 -5.36018028e-03 2.86251119e+01] [ 6.00430433e-02 -4.03110630e-04 9.98195707e-01 1.65397248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.76, Y:28.63, Z:16.54 [[ 9.93735010e-01 -9.47711731e-02 -5.92381103e-02 3.51758320e+02] [ 9.46221259e-02 9.95499033e-01 -5.32245084e-03 2.86285916e+01] [ 5.94758965e-02 -3.16130191e-04 9.98229692e-01 1.65413165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.79, Y:28.63, Z:16.54 [[ 9.93851518e-01 -9.39837717e-02 -5.85338397e-02 3.51786002e+02] [ 9.38365491e-02 9.95573695e-01 -5.26488838e-03 2.86316680e+01] [ 5.87695652e-02 -2.60096208e-04 9.98271541e-01 1.65426792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.81, Y:28.64, Z:16.54 [[ 9.93975069e-01 -9.33215131e-02 -5.74861550e-02 3.51814310e+02] [ 9.31779036e-02 9.95636004e-01 -5.17942540e-03 2.86351016e+01] [ 5.77186375e-02 -2.08219693e-04 9.98332868e-01 1.65447139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.84, Y:28.64, Z:16.55 [[ 9.94111931e-01 -9.22296408e-02 -5.68784867e-02 3.51843316e+02] [ 9.20864684e-02 9.95737755e-01 -5.13864963e-03 2.86386249e+01] [ 5.71099925e-02 -1.29346067e-04 9.98367884e-01 1.65463130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.87, Y:28.64, Z:16.55 [[ 9.94189082e-01 -9.17952968e-02 -5.62289282e-02 3.51871535e+02] [ 9.16540336e-02 9.95777894e-01 -5.09146861e-03 2.86410063e+01] [ 5.64588966e-02 -9.17255681e-05 9.98404920e-01 1.65471251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.90, Y:28.64, Z:16.55 [[ 9.94289167e-01 -9.14411347e-02 -5.50233674e-02 3.51900298e+02] [ 9.13050811e-02 9.95810481e-01 -4.98674168e-03 2.86432838e+01] [ 5.52488393e-02 -6.56497964e-05 9.98472614e-01 1.65498127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.93, Y:28.65, Z:16.55 [[ 9.94322500e-01 -9.15513328e-02 -5.42320906e-02 3.51929363e+02] [ 9.14186760e-02 9.95800357e-01 -4.92703516e-03 2.86452293e+01] [ 5.44554118e-02 -5.87640097e-05 9.98516202e-01 1.65516255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.96, Y:28.64, Z:16.55 [[ 9.94277489e-01 -9.23991739e-02 -5.36159228e-02 3.51958201e+02] [ 9.22706318e-02 9.95722041e-01 -4.87321421e-03 2.86448253e+01] [ 5.38368370e-02 -1.01847881e-04 9.98549741e-01 1.65524719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.99, Y:28.65, Z:16.55 [[ 9.94175364e-01 -9.35576992e-02 -5.35004889e-02 3.51987977e+02] [ 9.34311937e-02 9.95613846e-01 -4.86630615e-03 2.86457900e+01] [ 5.37211079e-02 -1.60652852e-04 9.98555966e-01 1.65537784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.02, Y:28.65, Z:16.55 [[ 9.94031334e-01 -9.49153975e-02 -5.37845210e-02 3.52018098e+02] [ 9.47894255e-02 9.95485315e-01 -4.89407345e-03 2.86465939e+01] [ 5.40062237e-02 -2.33341478e-04 9.98540572e-01 1.65548851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.05, Y:28.64, Z:16.56 [[ 9.93619717e-01 -9.89092364e-02 -5.41924370e-02 3.52048185e+02] [ 9.87871716e-02 9.95096357e-01 -4.93314613e-03 2.86441082e+01] [ 5.44146304e-02 -4.51846319e-04 9.98518324e-01 1.65555149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.08, Y:28.64, Z:16.56 [[ 9.93321261e-01 -1.01728471e-01 -5.44443892e-02 3.52078479e+02] [ 1.01609404e-01 9.94812017e-01 -4.95779520e-03 2.86440730e+01] [ 5.46662815e-02 -6.07378564e-04 9.98504496e-01 1.65563963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.11, Y:28.64, Z:16.56 [[ 9.92980611e-01 -1.04776974e-01 -5.48752394e-02 3.52108257e+02] [ 1.04660655e-01 9.94495438e-01 -4.99716709e-03 2.86430224e+01] [ 5.50967633e-02 -7.81188489e-04 9.98480714e-01 1.65572490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.14, Y:28.64, Z:16.56 [[ 9.92656583e-01 -1.07884733e-01 -5.47155654e-02 3.52138150e+02] [ 1.07773756e-01 9.94162955e-01 -4.98352395e-03 2.86417633e+01] [ 5.49338344e-02 -9.49974150e-04 9.98489545e-01 1.65582114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.17, Y:28.64, Z:16.56 [[ 9.92112250e-01 -1.13238315e-01 -5.37621418e-02 3.52168384e+02] [ 1.13139003e-01 9.93567102e-01 -4.89701161e-03 2.86384433e+01] [ 5.39708248e-02 -1.22420990e-03 9.98541762e-01 1.65600520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.20, Y:28.64, Z:16.56 [[ 9.91943663e-01 -1.15064063e-01 -5.29908552e-02 3.52199485e+02] [ 1.14970153e-01 9.93357217e-01 -4.82730825e-03 2.86391283e+01] [ 5.31942982e-02 -1.30394888e-03 9.98583330e-01 1.65620915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.23, Y:28.64, Z:16.56 [[ 9.91755458e-01 -1.16862784e-01 -5.25756694e-02 3.52229443e+02] [ 1.16772953e-01 9.93147096e-01 -4.78777799e-03 2.86385776e+01] [ 5.27748864e-02 -1.39111124e-03 9.98605466e-01 1.65635354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.26, Y:28.64, Z:16.56 [[ 9.91556979e-01 -1.18582398e-01 -5.24687805e-02 3.52260343e+02] [ 1.18495346e-01 9.92943113e-01 -4.77785694e-03 2.86402869e+01] [ 5.26650840e-02 -1.47978889e-03 9.98611135e-01 1.65649291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.29, Y:28.64, Z:16.57 [[ 9.91166334e-01 -1.21822152e-01 -5.24276870e-02 3.52290961e+02] [ 1.21739855e-01 9.92550569e-01 -4.77230084e-03 2.86385148e+01] [ 5.26185026e-02 -1.65239508e-03 9.98613320e-01 1.65656493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.32, Y:28.64, Z:16.57 [[ 9.90940265e-01 -1.23623143e-01 -5.24853242e-02 3.52322015e+02] [ 1.23543241e-01 9.92327694e-01 -4.77650193e-03 2.86402941e+01] [ 5.26731269e-02 -1.75097895e-03 9.98610272e-01 1.65671658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.35, Y:28.64, Z:16.57 [[ 9.90713362e-01 -1.25543249e-01 -5.22104160e-02 3.52352759e+02] [ 1.25466938e-01 9.92086432e-01 -4.74967111e-03 2.86395170e+01] [ 5.23935344e-02 -1.84511839e-03 9.98624811e-01 1.65684113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.38, Y:28.64, Z:16.57 [[ 9.90154647e-01 -1.30091352e-01 -5.16721981e-02 3.52384347e+02] [ 1.30022835e-01 9.91499861e-01 -4.69969775e-03 2.86392084e+01] [ 5.18443673e-02 -2.06513811e-03 9.98653041e-01 1.65699667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.42, Y:28.64, Z:16.57 [[ 9.89825015e-01 -1.32630669e-01 -5.15319749e-02 3.52415152e+02] [ 1.32566049e-01 9.91163101e-01 -4.68513189e-03 2.86380660e+01] [ 5.16979842e-02 -2.19392953e-03 9.98660355e-01 1.65711207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.45, Y:28.64, Z:16.57 [[ 9.89440894e-01 -1.35577773e-01 -5.12385144e-02 3.52445844e+02] [ 1.35517873e-01 9.90763954e-01 -4.65751916e-03 2.86399660e+01] [ 5.13967292e-02 -2.33539459e-03 9.98675584e-01 1.65727835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.48, Y:28.64, Z:16.57 [[ 9.89083208e-01 -1.38157811e-01 -5.12525709e-02 3.52475893e+02] [ 1.38101377e-01 9.90407145e-01 -4.65791909e-03 2.86384891e+01] [ 5.14044404e-02 -2.47098108e-03 9.98674861e-01 1.65739430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.51, Y:28.64, Z:16.58 [[ 9.88270560e-01 -1.43503576e-01 -5.22304873e-02 3.52506587e+02] [ 1.43452406e-01 9.89645833e-01 -4.74677545e-03 2.86383843e+01] [ 5.23708634e-02 -2.80149063e-03 9.98623775e-01 1.65750832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.54, Y:28.64, Z:16.58 [[ 9.87901696e-01 -1.45741949e-01 -5.30049463e-02 3.52537054e+02] [ 1.45692483e-01 9.89318199e-01 -4.81675000e-03 2.86382315e+01] [ 5.31407606e-02 -2.96394674e-03 9.98582633e-01 1.65754826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.57, Y:28.64, Z:16.58 [[ 9.87601027e-01 -1.47484429e-01 -5.37824851e-02 3.52567796e+02] [ 1.47436199e-01 9.89059504e-01 -4.88513214e-03 2.86403127e+01] [ 5.39145589e-02 -3.10492365e-03 9.98540725e-01 1.65762394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.60, Y:28.64, Z:16.58 [[ 9.87240922e-01 -1.49165098e-01 -5.57237371e-02 3.52598208e+02] [ 1.49116156e-01 9.88806747e-01 -5.05859582e-03 2.86395338e+01] [ 5.58545732e-02 -3.31525665e-03 9.98433411e-01 1.65760237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.63, Y:28.64, Z:16.58 [[ 9.87205665e-01 -1.49263489e-01 -5.60837444e-02 3.52627885e+02] [ 1.49214175e-01 9.88791802e-01 -5.08945922e-03 2.86396722e+01] [ 5.62148171e-02 -3.34414667e-03 9.98413096e-01 1.65768963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.66, Y:28.65, Z:16.58 [[ 9.87290734e-01 -1.48856840e-01 -5.56654918e-02 3.52658205e+02] [ 1.48807584e-01 9.88853265e-01 -5.05202939e-03 2.86496014e+01] [ 5.57970324e-02 -3.29562554e-03 9.98436693e-01 1.65795170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.69, Y:28.65, Z:16.58 [[ 9.87429266e-01 -1.48049609e-01 -5.53602487e-02 3.52689361e+02] [ 1.47999739e-01 9.88974648e-01 -5.02229981e-03 2.86530296e+01] [ 5.54934319e-02 -3.23413656e-03 9.98453814e-01 1.65812059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.72, Y:28.66, Z:16.58 [[ 9.87758328e-01 -1.45986680e-01 -5.49670352e-02 3.52720047e+02] [ 1.45934443e-01 9.89281705e-01 -4.98462503e-03 2.86599089e+01] [ 5.51055712e-02 -3.09797878e-03 9.98475728e-01 1.65838039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.75, Y:28.67, Z:16.59 [[ 9.87930987e-01 -1.44851507e-01 -5.48671667e-02 3.52750716e+02] [ 1.44797827e-01 9.89448762e-01 -4.97353563e-03 2.86654413e+01] [ 5.50086744e-02 -3.03113658e-03 9.98481276e-01 1.65859389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.78, Y:28.67, Z:16.59 [[ 9.87941702e-01 -1.44778327e-01 -5.48673755e-02 3.52782296e+02] [ 1.44724662e-01 9.89459478e-01 -4.97123140e-03 2.86682453e+01] [ 5.50087713e-02 -3.02937559e-03 9.98481276e-01 1.65874468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.81, Y:28.67, Z:16.59 [[ 9.88157164e-01 -1.43425775e-01 -5.45386678e-02 3.52812861e+02] [ 1.43370898e-01 9.89656710e-01 -4.93780402e-03 2.86676724e+01] [ 5.46827669e-02 -2.93993133e-03 9.98499450e-01 1.65884276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.84, Y:28.67, Z:16.59 [[ 9.88579323e-01 -1.40531429e-01 -5.44227948e-02 3.52842305e+02] [ 1.40472459e-01 9.90072330e-01 -4.92644156e-03 2.86739997e+01] [ 5.45748232e-02 -2.77472555e-03 9.98505829e-01 1.65903229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.87, Y:28.68, Z:16.59 [[ 9.88824666e-01 -1.38865231e-01 -5.42422972e-02 3.52872194e+02] [ 1.38804152e-01 9.90307679e-01 -4.91010262e-03 2.86808693e+01] [ 5.43984060e-02 -2.67382550e-03 9.98515731e-01 1.65923398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.90, Y:28.69, Z:16.59 [[ 9.89072337e-01 -1.36971765e-01 -5.45403319e-02 3.52903416e+02] [ 1.36907165e-01 9.90571581e-01 -4.93668750e-03 2.86892392e+01] [ 5.47022896e-02 -2.58422117e-03 9.98499365e-01 1.65945275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.93, Y:28.69, Z:16.60 [[ 9.89596531e-01 -1.33550233e-01 -5.35073954e-02 3.52932810e+02] [ 1.33483201e-01 9.91039254e-01 -4.84065742e-03 2.86949389e+01] [ 5.36744002e-02 -2.35204061e-03 9.98555720e-01 1.65966081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.96, Y:28.70, Z:16.60 [[ 9.89879086e-01 -1.31672725e-01 -5.29309742e-02 3.52963435e+02] [ 1.31604461e-01 9.91290743e-01 -4.78831286e-03 2.87005415e+01] [ 5.31004749e-02 -2.22610156e-03 9.98586693e-01 1.65985811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.99, Y:28.71, Z:16.60 [[ 9.90102958e-01 -1.30137351e-01 -5.25395301e-02 3.52994033e+02] [ 1.30068032e-01 9.91493689e-01 -4.75105738e-03 2.87085894e+01] [ 5.27109026e-02 -2.12967733e-03 9.98607543e-01 1.66006449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.02, Y:28.71, Z:16.60 [[ 9.90334413e-01 -1.28511834e-01 -5.21771794e-02 3.53023863e+02] [ 1.28441311e-01 9.91705896e-01 -4.71650006e-03 2.87117649e+01] [ 5.23505425e-02 -2.03079300e-03 9.98626705e-01 1.66019985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.06, Y:28.72, Z:16.60 [[ 9.90598462e-01 -1.26238163e-01 -5.27125567e-02 3.53055131e+02] [ 1.26163033e-01 9.91998083e-01 -4.76374775e-03 2.87187862e+01] [ 5.28921219e-02 -1.93141482e-03 9.98598364e-01 1.66028617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.09, Y:28.72, Z:16.60 [[ 9.90679652e-01 -1.25485291e-01 -5.29836676e-02 3.53086691e+02] [ 1.25408468e-01 9.92093653e-01 -4.78530447e-03 2.87229492e+01] [ 5.31652457e-02 -1.90389683e-03 9.98583913e-01 1.66040068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.12, Y:28.73, Z:16.61 [[ 9.90737725e-01 -1.24888937e-01 -5.33058609e-02 3.53118772e+02] [ 1.24810519e-01 9.92168933e-01 -4.81059523e-03 2.87299181e+01] [ 5.34892093e-02 -1.88709402e-03 9.98566644e-01 1.66052805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.15, Y:28.73, Z:16.61 [[ 9.90741383e-01 -1.24466315e-01 -5.42185206e-02 3.53149968e+02] [ 1.24384772e-01 9.92222014e-01 -4.88903892e-03 2.87321166e+01] [ 5.44053304e-02 -1.90018514e-03 9.98517125e-01 1.66057814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.18, Y:28.74, Z:16.61 [[ 9.90742516e-01 -1.24213913e-01 -5.47738230e-02 3.53181574e+02] [ 1.24130481e-01 9.92253627e-01 -4.93594761e-03 2.87372278e+01] [ 5.49626379e-02 -1.90884785e-03 9.98486587e-01 1.66070846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.21, Y:28.74, Z:16.61 [[ 9.90822903e-01 -1.23279602e-01 -5.54266653e-02 3.53212807e+02] [ 1.23192930e-01 9.92370190e-01 -4.99083477e-03 2.87416697e+01] [ 5.56190385e-02 -1.88313993e-03 9.98450287e-01 1.66079505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.24, Y:28.75, Z:16.61 [[ 9.90983262e-01 -1.22034005e-01 -5.53161494e-02 3.53244283e+02] [ 1.21945908e-01 9.92524265e-01 -4.97787821e-03 2.87462895e+01] [ 5.55100910e-02 -1.81258410e-03 9.98456481e-01 1.66098336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.28, Y:28.75, Z:16.61 [[ 9.91184524e-01 -1.20462008e-01 -5.51556400e-02 3.53275711e+02] [ 1.20372157e-01 9.92716444e-01 -4.96046520e-03 2.87520881e+01] [ 5.53514584e-02 -1.72246701e-03 9.98465447e-01 1.66117511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.31, Y:28.76, Z:16.61 [[ 9.91763868e-01 -1.15956041e-01 -5.43932637e-02 3.53306284e+02] [ 1.15862040e-01 9.93253283e-01 -4.88909289e-03 2.87603472e+01] [ 5.45932076e-02 -1.45328881e-03 9.98507621e-01 1.66140015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.34, Y:28.77, Z:16.62 [[ 9.92146996e-01 -1.13001284e-01 -5.36194717e-02 3.53337566e+02] [ 1.12905739e-01 9.93594025e-01 -4.81748744e-03 2.87660001e+01] [ 5.38203690e-02 -1.27429037e-03 9.98549821e-01 1.66160228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.37, Y:28.77, Z:16.62 [[ 9.92508025e-01 -1.10149054e-01 -5.28678183e-02 3.53368741e+02] [ 1.10052272e-01 9.93914464e-01 -4.74721095e-03 2.87722990e+01] [ 5.30689901e-02 -1.10657855e-03 9.98590235e-01 1.66183313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.40, Y:28.78, Z:16.62 [[ 9.92864745e-01 -1.07129451e-01 -5.23724956e-02 3.53399784e+02] [ 1.07030377e-01 9.94244638e-01 -4.70083534e-03 2.87776233e+01] [ 5.25746709e-02 -9.38154271e-04 9.98616555e-01 1.66200058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.43, Y:28.78, Z:16.62 [[ 9.93187537e-01 -1.04346045e-01 -5.18692425e-02 3.53430687e+02] [ 1.04245175e-01 9.94540742e-01 -4.65370646e-03 2.87822845e+01] [ 5.20716708e-02 -7.85115005e-04 9.98643042e-01 1.66216908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.46, Y:28.79, Z:16.62 [[ 9.93682617e-01 -9.99038294e-02 -5.11280961e-02 3.53460825e+02] [ 9.98000789e-02 9.94996948e-01 -4.58459698e-03 2.87882890e+01] [ 5.13303184e-02 -5.46953707e-04 9.98681581e-01 1.66234787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.49, Y:28.79, Z:16.63 [[ 9.93864272e-01 -9.82863325e-02 -5.07307206e-02 3.53492489e+02] [ 9.81821386e-02 9.95158070e-01 -4.54788161e-03 2.87928633e+01] [ 5.09320806e-02 -4.60873599e-04 9.98702013e-01 1.66251913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.52, Y:28.80, Z:16.63 [[ 9.93947364e-01 -9.71706026e-02 -5.12495097e-02 3.53524394e+02] [ 9.70629730e-02 9.95267655e-01 -4.59070919e-03 2.87974075e+01] [ 5.14530613e-02 -4.11506484e-04 9.98675329e-01 1.66268046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.56, Y:28.80, Z:16.63 [[ 9.94061053e-01 -9.59762545e-02 -5.12950447e-02 3.53556035e+02] [ 9.58670341e-02 9.95383561e-01 -4.59110785e-03 2.88016621e+01] [ 5.14988816e-02 -3.53662290e-04 9.98672990e-01 1.66285480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.59, Y:28.81, Z:16.63 [[ 9.94200326e-01 -9.42570837e-02 -5.17814038e-02 3.53587365e+02] [ 9.41436471e-02 9.95547854e-01 -4.63086587e-03 2.88053314e+01] [ 5.19873573e-02 -2.70881845e-04 9.98647706e-01 1.66292089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.62, Y:28.81, Z:16.63 [[ 9.94253355e-01 -9.34226147e-02 -5.22731438e-02 3.53618528e+02] [ 9.33060072e-02 9.95626517e-01 -4.67203103e-03 2.88083050e+01] [ 5.24810015e-02 -2.32215817e-04 9.98621896e-01 1.66300256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.65, Y:28.81, Z:16.63 [[ 9.94253477e-01 -9.30293733e-02 -5.29675257e-02 3.53649331e+02] [ 9.29091912e-02 9.95663341e-01 -4.73214988e-03 2.88110172e+01] [ 5.31780526e-02 -2.16213495e-04 9.98585023e-01 1.66311341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.68, Y:28.81, Z:16.63 [[ 9.94300902e-01 -9.24414301e-02 -5.31064840e-02 3.53680615e+02] [ 9.23198813e-02 9.95718106e-01 -4.74263146e-03 2.88137501e+01] [ 5.33175033e-02 -1.87181555e-04 9.98577593e-01 1.66328082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.71, Y:28.82, Z:16.63 [[ 9.94301364e-01 -9.26491484e-02 -5.27345525e-02 3.53710616e+02] [ 9.25296862e-02 9.95698798e-01 -4.70758762e-03 2.88158292e+01] [ 5.29438845e-02 -1.98750803e-04 9.98597469e-01 1.66339352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.74, Y:28.82, Z:16.64 [[ 9.94311489e-01 -9.26456606e-02 -5.25494432e-02 3.53741711e+02] [ 9.25270868e-02 9.95699122e-01 -4.69001223e-03 2.88176933e+01] [ 5.27579437e-02 -1.98913841e-04 9.98607310e-01 1.66357247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.77, Y:28.82, Z:16.64 [[ 9.94234860e-01 -9.32966951e-02 -5.28466608e-02 3.53772021e+02] [ 9.31777911e-02 9.95638323e-01 -4.71471594e-03 2.88187358e+01] [ 5.30560281e-02 -2.36600176e-04 9.98591509e-01 1.66370351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.80, Y:28.82, Z:16.64 [[ 9.94056960e-01 -9.54444287e-02 -5.23557185e-02 3.53803285e+02] [ 9.53307550e-02 9.95434699e-01 -4.66989242e-03 2.88183549e+01] [ 5.25624141e-02 -3.48971112e-04 9.98617580e-01 1.66395971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.83, Y:28.82, Z:16.64 [[ 9.93930248e-01 -9.69959316e-02 -5.19081050e-02 3.53834162e+02] [ 9.68864114e-02 9.95284685e-01 -4.62799339e-03 2.88185349e+01] [ 5.21122385e-02 -4.29287391e-04 9.98641142e-01 1.66411250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.87, Y:28.82, Z:16.64 [[ 9.93744254e-01 -9.89464999e-02 -5.17875337e-02 3.53865155e+02] [ 9.88402859e-02 9.95092612e-01 -4.61433240e-03 2.88196255e+01] [ 5.19899642e-02 -5.33228330e-04 9.98647465e-01 1.66428504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.90, Y:28.82, Z:16.64 [[ 9.93310867e-01 -1.02959130e-01 -5.22775296e-02 3.53896123e+02] [ 1.02856568e-01 9.94685303e-01 -4.65565431e-03 2.88177294e+01] [ 5.24790324e-02 -7.52575266e-04 9.98621743e-01 1.66444301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.93, Y:28.82, Z:16.65 [[ 9.93030657e-01 -1.05462260e-01 -5.26101315e-02 3.53926689e+02] [ 1.05362218e-01 9.94422902e-01 -4.67921439e-03 2.88174521e+01] [ 5.28102002e-02 -8.96516806e-04 9.98604165e-01 1.66456623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.96, Y:28.82, Z:16.65 [[ 9.92700227e-01 -1.08373932e-01 -5.29277813e-02 3.53958068e+02] [ 1.08276866e-01 9.94109637e-01 -4.70642979e-03 2.88167868e+01] [ 5.31260717e-02 -1.05878036e-03 9.98587252e-01 1.66465513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.99, Y:28.82, Z:16.65 [[ 9.92276293e-01 -1.11911911e-01 -5.35115183e-02 3.53989189e+02] [ 1.11817931e-01 9.93717327e-01 -4.75642786e-03 2.88170104e+01] [ 5.37076239e-02 -1.26385665e-03 9.98555904e-01 1.66481428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.02, Y:28.81, Z:16.65 [[ 9.91296369e-01 -1.19846301e-01 -5.44827777e-02 3.54020295e+02] [ 1.19760933e-01 9.92790957e-01 -4.84089338e-03 2.88096883e+01] [ 5.46701721e-02 -1.72614826e-03 9.98502976e-01 1.66485012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.05, Y:28.81, Z:16.65 [[ 9.90774453e-01 -1.23840992e-01 -5.50399186e-02 3.54050282e+02] [ 1.23760062e-01 9.92300125e-01 -4.88961155e-03 2.88073557e+01] [ 5.52216525e-02 -1.96724154e-03 9.98472182e-01 1.66492048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.08, Y:28.81, Z:16.65 [[ 9.90210073e-01 -1.27875707e-01 -5.59626249e-02 3.54079983e+02] [ 1.27798459e-01 9.91787697e-01 -4.97172992e-03 2.88050412e+01] [ 5.61388063e-02 -2.22888020e-03 9.98420486e-01 1.66497671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.11, Y:28.81, Z:16.65 [[ 9.89253996e-01 -1.34347717e-01 -5.76820792e-02 3.54110477e+02] [ 1.34276569e-01 9.90930641e-01 -5.12528508e-03 2.88057467e+01] [ 5.78475100e-02 -2.67514291e-03 9.98321847e-01 1.66510429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.14, Y:28.80, Z:16.65 [[ 9.88892241e-01 -1.36894410e-01 -5.78969424e-02 3.54141283e+02] [ 1.36827101e-01 9.90581588e-01 -5.14402674e-03 2.88047515e+01] [ 5.80558337e-02 -2.83498267e-03 9.98309312e-01 1.66518806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.17, Y:28.81, Z:16.65 [[ 9.88428021e-01 -1.40016836e-01 -5.83552380e-02 3.54172679e+02] [ 1.39953953e-01 9.90144445e-01 -5.18349035e-03 2.88061205e+01] [ 5.85058907e-02 -3.04353912e-03 9.98282424e-01 1.66532089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.20, Y:28.81, Z:16.65 [[ 9.88357638e-01 -1.40341656e-01 -5.87656311e-02 3.54203359e+02] [ 1.40278573e-01 9.90098326e-01 -5.21800878e-03 2.88069750e+01] [ 5.89160569e-02 -3.08630007e-03 9.98258170e-01 1.66546275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.23, Y:28.81, Z:16.66 [[ 9.88351479e-01 -1.40449267e-01 -5.86119255e-02 3.54234894e+02] [ 1.40386776e-01 9.90083068e-01 -5.20310586e-03 2.88096502e+01] [ 5.87614474e-02 -3.08584188e-03 9.98267284e-01 1.66564866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.27, Y:28.81, Z:16.66 [[ 9.88497610e-01 -1.39742450e-01 -5.78318530e-02 3.54265705e+02] [ 1.39680522e-01 9.90183325e-01 -5.13180007e-03 2.88143021e+01] [ 5.79812668e-02 -3.00521133e-03 9.98313148e-01 1.66587769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.30, Y:28.82, Z:16.66 [[ 9.88655185e-01 -1.38914191e-01 -5.71294475e-02 3.54295578e+02] [ 1.38852485e-01 9.90300110e-01 -5.06759045e-03 2.88162496e+01] [ 5.72792584e-02 -2.92246619e-03 9.98353918e-01 1.66607512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.33, Y:28.82, Z:16.66 [[ 9.89056033e-01 -1.36571513e-01 -5.58245882e-02 3.54326397e+02] [ 1.36508934e-01 9.90626469e-01 -4.95070308e-03 2.88187544e+01] [ 5.59774397e-02 -2.72403226e-03 9.98428318e-01 1.66633490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.36, Y:28.82, Z:16.67 [[ 9.89295709e-01 -1.35042459e-01 -5.52949777e-02 3.54357704e+02] [ 1.34978796e-01 9.90836363e-01 -4.90162223e-03 2.88238739e+01] [ 5.54502018e-02 -2.61449570e-03 9.98458031e-01 1.66656915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.39, Y:28.83, Z:16.67 [[ 9.89840536e-01 -1.30721925e-01 -5.59239882e-02 3.54388425e+02] [ 1.30650080e-01 9.91416163e-01 -4.95465477e-03 2.88304027e+01] [ 5.60916278e-02 -2.40215540e-03 9.98422736e-01 1.66667583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.42, Y:28.84, Z:16.67 [[ 9.90123407e-01 -1.28226597e-01 -5.66884397e-02 3.54419494e+02] [ 1.28148765e-01 9.91742246e-01 -5.02114999e-03 2.88365960e+01] [ 5.68641655e-02 -2.29299543e-03 9.98379291e-01 1.66680850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.45, Y:28.84, Z:16.67 [[ 9.90515069e-01 -1.24981232e-01 -5.70928119e-02 3.54449313e+02] [ 1.24897005e-01 9.92156834e-01 -5.05523474e-03 2.88388455e+01] [ 5.72768330e-02 -2.12343505e-03 9.98356076e-01 1.66683288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.48, Y:28.85, Z:16.67 [[ 9.91310327e-01 -1.18036704e-01 -5.80618029e-02 3.54479524e+02] [ 1.17937709e-01 9.93007688e-01 -5.14083774e-03 2.88509071e+01] [ 5.82626242e-02 -1.75151045e-03 9.98299754e-01 1.66706907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.51, Y:28.86, Z:16.67 [[ 9.91717357e-01 -1.14442174e-01 -5.83067170e-02 3.54509317e+02] [ 1.14336187e-01 9.93428706e-01 -5.16165642e-03 2.88564597e+01] [ 5.85142776e-02 -1.54766344e-03 9.98285372e-01 1.66721683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.54, Y:28.86, Z:16.67 [[ 9.92117590e-01 -1.10742806e-01 -5.86405954e-02 3.54539432e+02] [ 1.10629146e-01 9.93848199e-01 -5.19121332e-03 2.88621833e+01] [ 5.88547397e-02 -1.33706497e-03 9.98265662e-01 1.66736239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.57, Y:28.87, Z:16.68 [[ 9.92499042e-01 -1.07168134e-01 -5.88272314e-02 3.54569055e+02] [ 1.07047433e-01 9.94240272e-01 -5.20848803e-03 2.88678444e+01] [ 5.90465866e-02 -1.12788471e-03 9.98254591e-01 1.66752093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.60, Y:28.87, Z:16.68 [[ 9.92873230e-01 -1.03409492e-01 -5.92387241e-02 3.54598557e+02] [ 1.03280199e-01 9.94638454e-01 -5.24847089e-03 2.88730454e+01] [ 5.94638547e-02 -9.07120955e-04 9.98230047e-01 1.66762524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.63, Y:28.88, Z:16.68 [[ 9.93420786e-01 -9.69859819e-02 -6.09004240e-02 3.54627207e+02] [ 9.68371269e-02 9.95285604e-01 -5.39794028e-03 2.88814362e+01] [ 6.11368398e-02 -5.34996019e-04 9.98129250e-01 1.66771161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.65, Y:28.89, Z:16.68 [[ 9.93611396e-01 -9.44322567e-02 -6.17975937e-02 3.54654608e+02] [ 9.42738556e-02 9.95531217e-01 -5.48050660e-03 2.88861191e+01] [ 6.20389703e-02 -3.80403621e-04 9.98073655e-01 1.66775317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.68, Y:28.89, Z:16.68 [[ 9.93749228e-01 -9.23464300e-02 -6.27264644e-02 3.54682346e+02] [ 9.21785201e-02 9.95726909e-01 -5.57168567e-03 2.88907514e+01] [ 6.29729538e-02 -2.45174328e-04 9.98015204e-01 1.66789431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.71, Y:28.90, Z:16.68 [[ 9.93957212e-01 -8.96976269e-02 -6.32723919e-02 3.54710120e+02] [ 8.95202385e-02 9.95969042e-01 -5.63867917e-03 2.88957471e+01] [ 6.35231197e-02 -5.95537887e-05 9.97980365e-01 1.66801740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.74, Y:28.90, Z:16.68 [[ 9.94039000e-01 -8.91786418e-02 -6.27187099e-02 3.54737773e+02] [ 8.90021768e-02 9.96015647e-01 -5.60738316e-03 2.88989770e+01] [ 6.29688752e-02 -8.14414874e-06 9.98015491e-01 1.66822420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.77, Y:28.90, Z:16.68 [[ 9.94013202e-01 -8.94668770e-02 -6.27170825e-02 3.54765021e+02] [ 8.92898400e-02 9.95989798e-01 -5.62553305e-03 2.89014804e+01] [ 6.29688732e-02 -8.14414832e-06 9.98015491e-01 1.66835482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.79, Y:28.90, Z:16.69 [[ 9.94062574e-01 -8.92708237e-02 -6.22118806e-02 3.54792194e+02] [ 8.90953054e-02 9.96007389e-01 -5.59525631e-03 2.89043458e+01] [ 6.24629859e-02 1.92483874e-05 9.98047281e-01 1.66851994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.82, Y:28.91, Z:16.69 [[ 9.94059494e-01 -9.00821263e-02 -6.10813687e-02 3.54820769e+02] [ 8.99139898e-02 9.95934340e-01 -5.50131510e-03 2.89069096e+01] [ 6.13286028e-02 -2.34350554e-05 9.98117629e-01 1.66880180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.85, Y:28.91, Z:16.69 [[ 9.93895273e-01 -9.26909608e-02 -5.98378780e-02 3.54848629e+02] [ 9.25335419e-02 9.95694912e-01 -5.40239971e-03 2.89084419e+01] [ 6.00810242e-02 -1.67591247e-04 9.98193489e-01 1.66902666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.88, Y:28.91, Z:16.69 [[ 9.93715382e-01 -9.51584195e-02 -5.89458610e-02 3.54877012e+02] [ 9.50095748e-02 9.95462095e-01 -5.32901985e-03 2.89098337e+01] [ 5.91854714e-02 -3.04892197e-04 9.98246957e-01 1.66926551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.91, Y:28.91, Z:16.69 [[ 9.93411409e-01 -9.82969378e-02 -5.89193070e-02 3.54906737e+02] [ 9.81530128e-02 9.95157014e-01 -5.33890132e-03 2.89110342e+01] [ 5.91587592e-02 -4.79382008e-04 9.98248472e-01 1.66949423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.94, Y:28.91, Z:16.70 [[ 9.93065370e-01 -1.02034980e-01 -5.83955033e-02 3.54935349e+02] [ 1.01899922e-01 9.94780570e-01 -5.29374510e-03 2.89108694e+01] [ 5.86308592e-02 -6.93462326e-04 9.98279491e-01 1.66958815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.97, Y:28.91, Z:16.70 [[ 9.92008281e-01 -1.11549205e-01 -5.89605377e-02 3.54966405e+02] [ 1.11428134e-01 9.93758107e-01 -5.34756024e-03 2.89060060e+01] [ 5.91890284e-02 -1.26503863e-03 9.98245991e-01 1.66967653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.00, Y:28.90, Z:16.70 [[ 9.91419000e-01 -1.16660310e-01 -5.89808263e-02 3.54995636e+02] [ 1.16548183e-01 9.93170633e-01 -5.34938109e-03 2.89036968e+01] [ 5.92020850e-02 -1.57063006e-03 9.98244783e-01 1.66974349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.03, Y:28.90, Z:16.70 [[ 9.90759386e-01 -1.22071828e-01 -5.91126673e-02 3.55026397e+02] [ 1.21968812e-01 9.92519454e-01 -5.36126027e-03 2.89034085e+01] [ 5.93249311e-02 -1.89818289e-03 9.98236921e-01 1.66992829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.06, Y:28.90, Z:16.70 [[ 9.89375129e-01 -1.32734350e-01 -5.93164987e-02 3.55057692e+02] [ 1.32649710e-01 9.91148380e-01 -5.37982527e-03 2.88988930e+01] [ 5.95055392e-02 -2.54565101e-03 9.98224729e-01 1.67007495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.09, Y:28.90, Z:16.70 [[ 9.88703722e-01 -1.37532448e-01 -5.95799897e-02 3.55088108e+02] [ 1.37455747e-01 9.90493170e-01 -5.40351829e-03 2.88963366e+01] [ 5.97567320e-02 -2.84713334e-03 9.98208909e-01 1.67019842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.12, Y:28.90, Z:16.70 [[ 9.88109795e-01 -1.41673549e-01 -5.97297145e-02 3.55119152e+02] [ 1.41604128e-01 9.89908556e-01 -5.41493566e-03 2.88951515e+01] [ 5.98941086e-02 -3.10742316e-03 9.98199900e-01 1.67028974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.15, Y:28.90, Z:16.70 [[ 9.87586099e-01 -1.45098986e-01 -6.01662824e-02 3.55150319e+02] [ 1.45034936e-01 9.89411505e-01 -5.45354810e-03 2.88951874e+01] [ 6.03205163e-02 -3.34036460e-03 9.98173471e-01 1.67041438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.18, Y:28.90, Z:16.71 [[ 9.86819203e-01 -1.50159347e-01 -6.03326710e-02 3.55181298e+02] [ 1.50104428e-01 9.88655030e-01 -5.46738728e-03 2.88952329e+01] [ 6.04691780e-02 -3.66087831e-03 9.98163352e-01 1.67053276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.21, Y:28.89, Z:16.71 [[ 9.86574033e-01 -1.51877345e-01 -6.00412296e-02 3.55212203e+02] [ 1.51826140e-01 9.88392241e-01 -5.44063133e-03 2.88925209e+01] [ 6.01705941e-02 -3.74824251e-03 9.98181071e-01 1.67059497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.24, Y:28.90, Z:16.71 [[ 9.86446552e-01 -1.52749090e-01 -5.99242497e-02 3.55242520e+02] [ 1.52699763e-01 9.88257715e-01 -5.42872628e-03 2.89003720e+01] [ 6.00498351e-02 -3.79527041e-03 9.98188165e-01 1.67091262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.27, Y:28.90, Z:16.71 [[ 9.86383637e-01 -1.53325299e-01 -5.94867510e-02 3.55273410e+02] [ 1.53277870e-01 9.88168446e-01 -5.38672545e-03 2.89017184e+01] [ 5.96088516e-02 -3.80462467e-03 9.98214561e-01 1.67106206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.30, Y:28.90, Z:16.71 [[ 9.86345703e-01 -1.53754808e-01 -5.90051886e-02 3.55304055e+02] [ 1.53709070e-01 9.88101717e-01 -5.34036415e-03 2.89006411e+01] [ 5.91242348e-02 -3.80218745e-03 9.98243391e-01 1.67119778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.34, Y:28.90, Z:16.71 [[ 9.86349060e-01 -1.53702699e-01 -5.90847848e-02 3.55335000e+02] [ 1.53656819e-01 9.88109811e-01 -5.34631298e-03 2.89049229e+01] [ 5.92039983e-02 -3.80544931e-03 9.98238651e-01 1.67136124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.37, Y:28.91, Z:16.72 [[ 9.86338865e-01 -1.53776347e-01 -5.90633426e-02 3.55366308e+02] [ 1.53730781e-01 9.88098331e-01 -5.34185830e-03 2.89108909e+01] [ 5.91818417e-02 -3.81097134e-03 9.98239944e-01 1.67154573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.40, Y:28.91, Z:16.72 [[ 9.86315686e-01 -1.53908008e-01 -5.91074583e-02 3.55397800e+02] [ 1.53862851e-01 9.88077775e-01 -5.34177840e-03 2.89116206e+01] [ 5.92249083e-02 -3.82576222e-03 9.98237333e-01 1.67165215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.43, Y:28.92, Z:16.72 [[ 9.86280596e-01 -1.54280508e-01 -5.87206226e-02 3.55429394e+02] [ 1.54236793e-01 9.88019679e-01 -5.30343851e-03 2.89186784e+01] [ 5.88353479e-02 -3.82620205e-03 9.98260368e-01 1.67186726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.175099893 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:355.46, Y:28.91, Z:16.72 [[ 9.86202717e-01 -1.54717365e-01 -5.88790063e-02 3.55460870e+02] [ 1.54674434e-01 9.87951206e-01 -5.31360496e-03 2.89145873e+01] [ 5.89916922e-02 -3.86678532e-03 9.98250985e-01 1.67189026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.49, Y:28.92, Z:16.72 [[ 9.86192008e-01 -1.54790036e-01 -5.88673803e-02 3.55492133e+02] [ 1.54747455e-01 9.87939795e-01 -5.30910849e-03 2.89227627e+01] [ 5.89792248e-02 -3.87377691e-03 9.98251694e-01 1.67208929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.52, Y:28.92, Z:16.72 [[ 9.85976697e-01 -1.55372671e-01 -6.09039095e-02 3.55523179e+02] [ 1.55328475e-01 9.87847631e-01 -5.48845453e-03 2.89236146e+01] [ 6.10165386e-02 -4.04862311e-03 9.98128544e-01 1.67198882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.55, Y:28.93, Z:16.72 [[ 9.85907472e-01 -1.55609876e-01 -6.14168005e-02 3.55554810e+02] [ 1.55565585e-01 9.87810078e-01 -5.53156630e-03 2.89265791e+01] [ 6.15289009e-02 -4.10072794e-03 9.98096878e-01 1.67206364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.59, Y:28.93, Z:16.72 [[ 9.85889331e-01 -1.55771761e-01 -6.12975233e-02 3.55586174e+02] [ 1.55728121e-01 9.87784543e-01 -5.51808793e-03 2.89324902e+01] [ 6.14083083e-02 -4.10552408e-03 9.98104285e-01 1.67223045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.62, Y:28.93, Z:16.72 [[ 9.85910959e-01 -1.55755064e-01 -6.09913168e-02 3.55617240e+02] [ 1.55712084e-01 9.87787248e-01 -5.48628157e-03 2.89319620e+01] [ 6.11009611e-02 -4.08809995e-03 9.98123219e-01 1.67232014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.65, Y:28.93, Z:16.72 [[ 9.85877164e-01 -1.56077743e-01 -6.07120629e-02 3.55647800e+02] [ 1.56035936e-01 9.87736297e-01 -5.45832460e-03 2.89339223e+01] [ 6.08194312e-02 -4.09202598e-03 9.98140397e-01 1.67248365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.68, Y:28.94, Z:16.73 [[ 9.86082293e-01 -1.55293607e-01 -5.93768148e-02 3.55678911e+02] [ 1.55252298e-01 9.87860438e-01 -5.33656450e-03 2.89432256e+01] [ 5.94847406e-02 -3.95609521e-03 9.98221376e-01 1.67284884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.71, Y:28.95, Z:16.73 [[ 9.86239378e-01 -1.54504972e-01 -5.88226454e-02 3.55709831e+02] [ 1.54463276e-01 9.87984408e-01 -5.28264177e-03 2.89453044e+01] [ 5.89320509e-02 -3.87598915e-03 9.98254472e-01 1.67302772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.74, Y:28.95, Z:16.73 [[ 9.86432139e-01 -1.53186847e-01 -5.90374926e-02 3.55740475e+02] [ 1.53142678e-01 9.88189882e-01 -5.29888057e-03 2.89498398e+01] [ 5.91519716e-02 -3.81417366e-03 9.98241702e-01 1.67322303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.475099893 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:355.77, Y:28.95, Z:16.73 [[ 9.86668835e-01 -1.51910615e-01 -5.83761458e-02 3.55771259e+02] [ 1.51865317e-01 9.88387319e-01 -5.23758789e-03 2.89492388e+01] [ 5.84938875e-02 -3.69754715e-03 9.98280919e-01 1.67333735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.80, Y:28.96, Z:16.74 [[ 9.86947733e-01 -1.50346233e-01 -5.77077332e-02 3.55802758e+02] [ 1.50299383e-01 9.88626978e-01 -5.17620790e-03 2.89550343e+01] [ 5.78296453e-02 -3.56479002e-03 9.98320101e-01 1.67356934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.83, Y:28.96, Z:16.74 [[ 9.87620398e-01 -1.46524121e-01 -5.60056419e-02 3.55832903e+02] [ 1.46474011e-01 9.89201776e-01 -5.02091592e-03 2.89646463e+01] [ 5.61365657e-02 -3.24461204e-03 9.98417828e-01 1.67398039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.86, Y:28.97, Z:16.74 [[ 9.88020501e-01 -1.44325352e-01 -5.46414080e-02 3.55863354e+02] [ 1.44274388e-01 9.89525604e-01 -4.89698482e-03 2.89665524e+01] [ 5.47758313e-02 -3.04503428e-03 9.98494034e-01 1.67419250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.89, Y:28.97, Z:16.74 [[ 9.88807394e-01 -1.39320026e-01 -5.33841510e-02 3.55893164e+02] [ 1.39264377e-01 9.90243704e-01 -4.77919132e-03 2.89726230e+01] [ 5.35291565e-02 -2.70881083e-03 9.98562613e-01 1.67444912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.92, Y:28.97, Z:16.75 [[ 9.89091974e-01 -1.37258870e-01 -5.34515582e-02 3.55923390e+02] [ 1.37200128e-01 9.90531794e-01 -4.78432130e-03 2.89748780e+01] [ 5.36021584e-02 -2.60142681e-03 9.98558982e-01 1.67458538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.95, Y:28.98, Z:16.75 [[ 9.89380819e-01 -1.35258049e-01 -5.32057795e-02 3.55954252e+02] [ 1.35197235e-01 9.90807285e-01 -4.75717832e-03 2.89793240e+01] [ 5.33601206e-02 -2.48661328e-03 9.98572238e-01 1.67474147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.99, Y:28.98, Z:16.75 [[ 9.89590218e-01 -1.33489470e-01 -5.37751021e-02 3.55985316e+02] [ 1.33424858e-01 9.91047279e-01 -4.80598992e-03 2.89819718e+01] [ 5.39352176e-02 -2.41897472e-03 9.98541507e-01 1.67480697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.02, Y:28.99, Z:16.75 [[ 9.90014273e-01 -1.29693257e-01 -5.52394637e-02 3.56016767e+02] [ 1.29619359e-01 9.91551552e-01 -4.93370085e-03 2.89884170e+01] [ 5.54126437e-02 -2.27566961e-03 9.98460946e-01 1.67484015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.05, Y:28.99, Z:16.75 [[ 9.90216407e-01 -1.27613189e-01 -5.64476866e-02 3.56048127e+02] [ 1.27532865e-01 9.91821551e-01 -5.03786433e-03 2.89898779e+01] [ 5.66289300e-02 -2.21035927e-03 9.98392848e-01 1.67485161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.08, Y:28.99, Z:16.75 [[ 9.90495479e-01 -1.25058721e-01 -5.72627408e-02 3.56078950e+02] [ 1.24971974e-01 9.92147125e-01 -5.10760817e-03 2.89925267e+01] [ 5.74518146e-02 -2.09717494e-03 9.98346078e-01 1.67488448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.11, Y:29.00, Z:16.75 [[ 9.91184131e-01 -1.19234228e-01 -5.77686560e-02 3.56109639e+02] [ 1.19136171e-01 9.92864564e-01 -5.15083763e-03 2.89998130e+01] [ 5.79706076e-02 -1.77690798e-03 9.98316709e-01 1.67507900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.14, Y:29.01, Z:16.75 [[ 9.91653429e-01 -1.15559150e-01 -5.71800669e-02 3.56139902e+02] [ 1.15457028e-01 9.93299396e-01 -5.09751502e-03 2.90052454e+01] [ 5.73859904e-02 -1.54687231e-03 9.98350868e-01 1.67529909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.17, Y:29.01, Z:16.76 [[ 9.92072696e-01 -1.12087757e-01 -5.68163797e-02 3.56171107e+02] [ 1.11981273e-01 9.93697411e-01 -5.06456268e-03 2.90114186e+01] [ 5.70259649e-02 -1.33795620e-03 9.98371799e-01 1.67556008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.20, Y:29.01, Z:16.76 [[ 9.92510808e-01 -1.08278624e-01 -5.65511823e-02 3.56201735e+02] [ 1.08167124e-01 9.94119959e-01 -5.03794812e-03 2.90145302e+01] [ 5.67641611e-02 -1.11676078e-03 9.98386991e-01 1.67569143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.23, Y:29.02, Z:16.76 [[ 9.93227779e-01 -1.01813729e-01 -5.59691372e-02 3.56231307e+02] [ 1.01694350e-01 9.94803204e-01 -4.98436085e-03 2.90200833e+01] [ 5.61857534e-02 -7.41139356e-04 9.98420058e-01 1.67583846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.26, Y:29.02, Z:16.76 [[ 9.93462871e-01 -9.95915174e-02 -5.57947465e-02 3.56261330e+02] [ 9.94693796e-02 9.95028217e-01 -4.96883040e-03 2.90244788e+01] [ 5.60122005e-02 -6.13520309e-04 9.98429896e-01 1.67606511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.29, Y:29.03, Z:16.76 [[ 9.93673135e-01 -9.78447102e-02 -5.51372269e-02 3.56291490e+02] [ 9.77227484e-02 9.95201564e-01 -4.91027464e-03 2.90280459e+01] [ 5.53530989e-02 -5.08953355e-04 9.98466712e-01 1.67625420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.32, Y:29.03, Z:16.76 [[ 9.93838903e-01 -9.62535871e-02 -5.49498076e-02 3.56321010e+02] [ 9.61300157e-02 9.95356756e-01 -4.89371864e-03 2.90302091e+01] [ 5.51657002e-02 -4.18757905e-04 9.98477126e-01 1.67636323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.35, Y:29.03, Z:16.77 [[ 9.94021475e-01 -9.50963480e-02 -5.36469216e-02 3.56351770e+02] [ 9.49768420e-02 9.95468013e-01 -4.77850363e-03 2.90324138e+01] [ 5.38582127e-02 -3.45279978e-04 9.98548533e-01 1.67658566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.38, Y:29.03, Z:16.77 [[ 9.93996583e-01 -9.55028598e-02 -5.33853559e-02 3.56382539e+02] [ 9.53851029e-02 9.95429088e-01 -4.75520513e-03 2.90337983e+01] [ 5.35954719e-02 -3.65510014e-04 9.98562663e-01 1.67672745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.41, Y:29.03, Z:16.77 [[ 9.93818062e-01 -9.76369267e-02 -5.28459018e-02 3.56412278e+02] [ 9.75245479e-02 9.95221987e-01 -4.70725335e-03 2.90320135e+01] [ 5.30530052e-02 -4.75619282e-04 9.98591584e-01 1.67679513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.44, Y:29.03, Z:16.77 [[ 9.93659684e-01 -9.96042215e-02 -5.21481666e-02 3.56442711e+02] [ 9.94974547e-02 9.95026970e-01 -4.64594255e-03 2.90321820e+01] [ 5.23515877e-02 -5.72124028e-04 9.98628552e-01 1.67696817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.47, Y:29.03, Z:16.77 [[ 9.93408186e-01 -1.02264155e-01 -5.17901349e-02 3.56473115e+02] [ 1.02162461e-01 9.94757027e-01 -4.61404509e-03 2.90318164e+01] [ 5.19904521e-02 -7.07377459e-04 9.98647331e-01 1.67712190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.50, Y:29.03, Z:16.77 [[ 9.93107732e-01 -1.05441358e-01 -5.11776571e-02 3.56504023e+02] [ 1.05346273e-01 9.94425148e-01 -4.55940972e-03 2.90315096e+01] [ 5.13730996e-02 -8.63390364e-04 9.98679157e-01 1.67725876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.54, Y:29.03, Z:16.77 [[ 9.92309599e-01 -1.12818039e-01 -5.09288775e-02 3.56535300e+02] [ 1.12733620e-01 9.93614891e-01 -4.53633565e-03 2.90268386e+01] [ 5.11154715e-02 -1.23994732e-03 9.98691980e-01 1.67735083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.57, Y:29.02, Z:16.77 [[ 9.91828398e-01 -1.16994371e-01 -5.08797255e-02 3.56565686e+02] [ 1.16915657e-01 9.93131512e-01 -4.53083316e-03 2.90229115e+01] [ 5.10603407e-02 -1.45482753e-03 9.98694510e-01 1.67742693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.60, Y:29.02, Z:16.78 [[ 9.91325997e-01 -1.21131434e-01 -5.09896445e-02 3.56596709e+02] [ 1.21058030e-01 9.92635064e-01 -4.53692620e-03 2.90226269e+01] [ 5.11636734e-02 -1.67513301e-03 9.98688877e-01 1.67750450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.63, Y:29.02, Z:16.78 [[ 9.90814724e-01 -1.25257632e-01 -5.09579095e-02 3.56627911e+02] [ 1.25189813e-01 9.92122453e-01 -4.53313724e-03 2.90236666e+01] [ 5.11242962e-02 -1.88791202e-03 9.98690514e-01 1.67760429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.66, Y:29.03, Z:16.78 [[ 9.90823863e-01 -1.25185245e-01 -5.09580861e-02 3.56659469e+02] [ 1.25117432e-01 9.92131592e-01 -4.53115120e-03 2.90264155e+01] [ 5.11243604e-02 -1.88617215e-03 9.98690514e-01 1.67775495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.69, Y:29.02, Z:16.78 [[ 9.89858424e-01 -1.32519082e-01 -5.11761060e-02 3.56690114e+02] [ 1.32460637e-01 9.91177837e-01 -4.54702435e-03 2.90225389e+01] [ 5.13271895e-02 -2.27790926e-03 9.98679293e-01 1.67775670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.72, Y:29.02, Z:16.78 [[ 9.89433182e-01 -1.35674541e-01 -5.11311808e-02 3.56720835e+02] [ 1.35620411e-01 9.90750456e-01 -4.54279998e-03 2.90179742e+01] [ 5.12745830e-02 -2.43963473e-03 9.98681614e-01 1.67784768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.75, Y:29.02, Z:16.78 [[ 9.89057928e-01 -1.38444606e-01 -5.09657357e-02 3.56751609e+02] [ 1.38394540e-01 9.90366829e-01 -4.52711654e-03 2.90176321e+01] [ 5.11015289e-02 -2.57579906e-03 9.98690142e-01 1.67797316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.78, Y:29.02, Z:16.78 [[ 9.88442255e-01 -1.42766875e-01 -5.09855601e-02 3.56782106e+02] [ 1.42722576e-01 9.89752378e-01 -4.52734377e-03 2.90207213e+01] [ 5.11094341e-02 -2.80177261e-03 9.98689129e-01 1.67813259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.81, Y:29.02, Z:16.78 [[ 9.88183671e-01 -1.44366012e-01 -5.14925933e-02 3.56813783e+02] [ 1.44323048e-01 9.89520066e-01 -4.57128412e-03 2.90155606e+01] [ 5.16128923e-02 -2.91429966e-03 9.98662914e-01 1.67822671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.84, Y:29.02, Z:16.78 [[ 9.87962752e-01 -1.45684767e-01 -5.20148942e-02 3.56844597e+02] [ 1.45642894e-01 9.89326463e-01 -4.61484997e-03 2.90231377e+01] [ 5.21320246e-02 -3.01629986e-03 9.98635646e-01 1.67839221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.87, Y:29.02, Z:16.78 [[ 9.87661689e-01 -1.47293912e-01 -5.31873206e-02 3.56874779e+02] [ 1.47252579e-01 9.89087677e-01 -4.71658736e-03 2.90224124e+01] [ 5.33016479e-02 -3.17357748e-03 9.98573414e-01 1.67843431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.91, Y:29.02, Z:16.79 [[ 9.87548370e-01 -1.47884291e-01 -5.36512255e-02 3.56906304e+02] [ 1.47843339e-01 9.88999370e-01 -4.75333117e-03 2.90241754e+01] [ 5.37639712e-02 -3.23783184e-03 9.98548422e-01 1.67857382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.94, Y:29.03, Z:16.79 [[ 9.87522125e-01 -1.48168294e-01 -5.33498688e-02 3.56937113e+02] [ 1.48128315e-01 9.88956864e-01 -4.72472264e-03 2.90297691e+01] [ 5.34607731e-02 -3.23685804e-03 9.98564704e-01 1.67874553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.97, Y:29.03, Z:16.79 [[ 9.87528754e-01 -1.48076619e-01 -5.34815350e-02 3.56967733e+02] [ 1.48036409e-01 9.88970579e-01 -4.73452132e-03 2.90287403e+01] [ 5.35927366e-02 -3.24173846e-03 9.98557615e-01 1.67889109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.00, Y:29.04, Z:16.79 [[ 9.87653266e-01 -1.47374215e-01 -5.31212489e-02 3.56998996e+02] [ 1.47333595e-01 9.89075684e-01 -4.70145023e-03 2.90361517e+01] [ 5.32338081e-02 -3.18314187e-03 9.98577002e-01 1.67918191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.03, Y:29.04, Z:16.79 [[ 9.87793618e-01 -1.46528774e-01 -5.28496566e-02 3.57031266e+02] [ 1.46487520e-01 9.89201474e-01 -4.67442788e-03 2.90405727e+01] [ 5.29638964e-02 -3.12444507e-03 9.98591540e-01 1.67937909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.06, Y:29.05, Z:16.80 [[ 9.88074938e-01 -1.44463092e-01 -5.32760074e-02 3.57062299e+02] [ 1.44418379e-01 9.89505514e-01 -4.70841078e-03 2.90451006e+01] [ 5.33970946e-02 -3.04177193e-03 9.98568725e-01 1.67956561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.09, Y:29.05, Z:16.80 [[ 9.88203224e-01 -1.43402986e-01 -5.37584506e-02 3.57093279e+02] [ 1.43356006e-01 9.89659791e-01 -4.74906824e-03 2.90483943e+01] [ 5.38836075e-02 -3.01355220e-03 9.98542676e-01 1.67969224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.12, Y:29.05, Z:16.80 [[ 9.88307818e-01 -1.42452179e-01 -5.43602125e-02 3.57124755e+02] [ 1.42402825e-01 9.89797148e-01 -4.80012251e-03 2.90530775e+01] [ 5.44893712e-02 -2.99704922e-03 9.98509853e-01 1.67986932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.16, Y:29.05, Z:16.80 [[ 9.88422795e-01 -1.41461394e-01 -5.48548312e-02 3.57155550e+02] [ 1.41409776e-01 9.89939312e-01 -4.84093607e-03 2.90545654e+01] [ 5.49877594e-02 -2.97211782e-03 9.98482605e-01 1.67995042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.19, Y:29.06, Z:16.80 [[ 9.88620606e-01 -1.39794603e-01 -5.55586730e-02 3.57186697e+02] [ 1.39739153e-01 9.90176222e-01 -4.90087949e-03 2.90628998e+01] [ 5.56979934e-02 -2.91861143e-03 9.98443396e-01 1.68017549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.22, Y:29.07, Z:16.80 [[ 9.88676561e-01 -1.39206563e-01 -5.60374017e-02 3.57216816e+02] [ 1.39149369e-01 9.90259080e-01 -4.94033313e-03 2.90660376e+01] [ 5.61792727e-02 -2.91317752e-03 9.98416448e-01 1.68036118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.25, Y:29.07, Z:16.81 [[ 9.89007620e-01 -1.36570739e-01 -5.66776961e-02 3.57247517e+02] [ 1.36507985e-01 9.90626375e-01 -4.99558175e-03 2.90700161e+01] [ 5.68286709e-02 -2.79628968e-03 9.98380029e-01 1.68050173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.28, Y:29.08, Z:16.81 [[ 9.89250249e-01 -1.34784625e-01 -5.67190469e-02 3.57277411e+02] [ 1.34718950e-01 9.90871248e-01 -4.99752090e-03 2.90758478e+01] [ 5.68748617e-02 -2.69733166e-03 9.98377671e-01 1.68069186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.31, Y:29.08, Z:16.81 [[ 9.89543702e-01 -1.32608418e-01 -5.67297925e-02 3.57307905e+02] [ 1.32539161e-01 9.91165167e-01 -4.99830084e-03 2.90805145e+01] [ 5.68914110e-02 -2.57288201e-03 9.98377057e-01 1.68086191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.34, Y:29.08, Z:16.81 [[ 9.89888238e-01 -1.30143496e-01 -5.64264708e-02 3.57337428e+02] [ 1.30071029e-01 9.91492218e-01 -4.97073967e-03 2.90848582e+01] [ 5.65933162e-02 -2.41897242e-03 9.98394384e-01 1.68105315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.37, Y:29.09, Z:16.81 [[ 9.90697552e-01 -1.23913740e-01 -5.62471820e-02 3.57367469e+02] [ 1.23831712e-01 9.92290863e-01 -4.95488681e-03 2.90935862e+01] [ 5.64275433e-02 -2.05639061e-03 9.98404579e-01 1.68127075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.40, Y:29.10, Z:16.81 [[ 9.91064119e-01 -1.20783142e-01 -5.65981031e-02 3.57396533e+02] [ 1.20694999e-01 9.92677118e-01 -4.98564529e-03 2.90983688e+01] [ 5.67858238e-02 -1.89001386e-03 9.98384594e-01 1.68142363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.43, Y:29.10, Z:16.82 [[ 9.91428072e-01 -1.17593448e-01 -5.69399659e-02 3.57426831e+02] [ 1.17498938e-01 9.93060337e-01 -5.01658328e-03 2.91036249e+01] [ 5.71347391e-02 -1.71680401e-03 9.98365000e-01 1.68156609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.46, Y:29.11, Z:16.82 [[ 9.92130409e-01 -1.11157795e-01 -5.76298164e-02 3.57456246e+02] [ 1.11050133e-01 9.93801836e-01 -5.07736120e-03 2.91140351e+01] [ 5.78370056e-02 -1.36239432e-03 9.98325110e-01 1.68177560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.49, Y:29.12, Z:16.82 [[ 9.92421823e-01 -1.08420981e-01 -5.78257386e-02 3.57486280e+02] [ 1.08307944e-01 9.94104338e-01 -5.09462253e-03 2.91184420e+01] [ 5.80371815e-02 -1.20697229e-03 9.98313693e-01 1.68188349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.52, Y:29.12, Z:16.82 [[ 9.92683318e-01 -1.05544571e-01 -5.86529948e-02 3.57516476e+02] [ 1.05423260e-01 9.94414015e-01 -5.16750631e-03 2.91230784e+01] [ 5.88707622e-02 -1.05369258e-03 9.98265057e-01 1.68204461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.55, Y:29.13, Z:16.82 [[ 9.92989512e-01 -1.02421055e-01 -5.90064115e-02 3.57545668e+02] [ 1.02292754e-01 9.94740752e-01 -5.19885296e-03 2.91275603e+01] [ 5.92285541e-02 -8.73521866e-04 9.98244066e-01 1.68216954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.57, Y:29.13, Z:16.82 [[ 9.93232663e-01 -9.97880595e-02 -5.94240690e-02 3.57574059e+02] [ 9.96529942e-02 9.95008456e-01 -5.23953019e-03 2.91322681e+01] [ 5.96502937e-02 -7.17713876e-04 9.98219078e-01 1.68230474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.60, Y:29.14, Z:16.82 [[ 9.93663166e-01 -9.46034331e-02 -6.06935096e-02 3.57601508e+02] [ 9.44520553e-02 9.95514957e-01 -5.36472926e-03 2.91380191e+01] [ 6.09288183e-02 -4.01892855e-04 9.98142033e-01 1.68240290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.63, Y:29.14, Z:16.83 [[ 9.93821229e-01 -9.24548288e-02 -6.14122968e-02 3.57628361e+02] [ 9.22953745e-02 9.95716844e-01 -5.43421932e-03 2.91418488e+01] [ 6.16516782e-02 -2.67428414e-04 9.98097690e-01 1.68251522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.66, Y:29.15, Z:16.83 [[ 9.94035403e-01 -8.93858822e-02 -6.24802561e-02 3.57655814e+02] [ 8.92141342e-02 9.95997068e-01 -5.53885082e-03 2.91466867e+01] [ 6.27252470e-02 -6.83081435e-05 9.98030831e-01 1.68265800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.68, Y:29.15, Z:16.83 [[ 9.94117578e-01 -8.82855345e-02 -6.27367920e-02 3.57683633e+02] [ 8.81092592e-02 9.96095208e-01 -5.57622543e-03 2.91499586e+01] [ 6.29841179e-02 1.57314610e-05 9.98014529e-01 1.68280078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.71, Y:29.15, Z:16.83 [[ 9.94152527e-01 -8.78338323e-02 -6.28169591e-02 3.57710851e+02] [ 8.76556719e-02 9.96135139e-01 -5.59178532e-03 2.91530691e+01] [ 6.30653282e-02 5.28247490e-05 9.98009400e-01 1.68303359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.74, Y:29.16, Z:16.83 [[ 9.94208584e-01 -8.74057041e-02 -6.25262733e-02 3.57738912e+02] [ 8.72272465e-02 9.96172793e-01 -5.58336733e-03 2.91555093e+01] [ 6.27749905e-02 9.70370660e-05 9.98027701e-01 1.68331202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.77, Y:29.16, Z:16.84 [[ 9.94171870e-01 -8.78881224e-02 -6.24337313e-02 3.57766398e+02] [ 8.77100276e-02 9.96130348e-01 -5.59287036e-03 2.91573051e+01] [ 6.26836814e-02 8.42100856e-05 9.98033441e-01 1.68364121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.79, Y:29.16, Z:16.84 [[ 9.94108850e-01 -8.87016977e-02 -6.22864535e-02 3.57793105e+02] [ 8.85250435e-02 9.96058234e-01 -5.59555258e-03 2.91589668e+01] [ 6.25372700e-02 4.86773367e-05 9.98042628e-01 1.68376013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.82, Y:29.16, Z:16.84 [[ 9.94012192e-01 -8.96825971e-02 -6.24242980e-02 3.57819990e+02] [ 8.95065201e-02 9.95970397e-01 -5.61703592e-03 2.91606333e+01] [ 6.26765033e-02 -3.97950013e-06 9.98033895e-01 1.68380204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.85, Y:29.16, Z:16.84 [[ 9.93749081e-01 -9.26485574e-02 -6.22816841e-02 3.57847749e+02] [ 9.24782346e-02 9.95698857e-01 -5.61805601e-03 2.91604837e+01] [ 6.25343064e-02 -1.76762190e-04 9.98042799e-01 1.68408568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.87, Y:29.16, Z:16.84 [[ 9.93579782e-01 -9.46314279e-02 -6.20008779e-02 3.57874488e+02] [ 9.44655196e-02 9.95512336e-01 -5.60836336e-03 2.91608637e+01] [ 6.22533662e-02 -2.84588693e-04 9.98060338e-01 1.68415773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.90, Y:29.16, Z:16.84 [[ 9.93421865e-01 -9.67659131e-02 -6.12319875e-02 3.57902649e+02] [ 9.66075352e-02 9.95307086e-01 -5.54875262e-03 2.91611578e+01] [ 6.14815612e-02 -4.03219212e-04 9.98108138e-01 1.68431821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.93, Y:29.16, Z:16.85 [[ 9.93045765e-01 -1.01133274e-01 -6.02674891e-02 3.57931455e+02] [ 1.00986867e-01 9.94872677e-01 -5.47809793e-03 2.91586193e+01] [ 6.05124962e-02 -6.46222938e-04 9.98167231e-01 1.68453035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.96, Y:29.16, Z:16.85 [[ 9.92851929e-01 -1.03186333e-01 -5.99802280e-02 3.57959891e+02] [ 1.03044270e-01 9.94661757e-01 -5.46509186e-03 2.91582826e+01] [ 6.02239618e-02 -7.54591799e-04 9.98184605e-01 1.68464319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.99, Y:29.16, Z:16.85 [[ 9.92643043e-01 -1.05209081e-01 -5.99235990e-02 3.57987734e+02] [ 1.05070640e-01 9.94449743e-01 -5.46535075e-03 2.91575935e+01] [ 6.01660121e-02 -8.71068477e-04 9.98188004e-01 1.68469090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.02, Y:29.16, Z:16.85 [[ 9.92415992e-01 -1.07240450e-01 -6.00831453e-02 3.58016727e+02] [ 1.07104539e-01 9.94232622e-01 -5.48735139e-03 2.91575387e+01] [ 6.03250891e-02 -9.89442276e-04 9.98178293e-01 1.68480468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.05, Y:29.16, Z:16.85 [[ 9.92100181e-01 -1.10421029e-01 -5.95350954e-02 3.58045437e+02] [ 1.10292422e-01 9.93884227e-01 -5.45201695e-03 2.91552267e+01] [ 5.97730096e-02 -1.15732289e-03 9.98211324e-01 1.68492376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.07, Y:29.16, Z:16.85 [[ 9.91997333e-01 -1.11543876e-01 -5.91545076e-02 3.58073602e+02] [ 1.11418113e-01 9.93758781e-01 -5.43044279e-03 2.91551662e+01] [ 5.93910439e-02 -1.20389884e-03 9.98234068e-01 1.68504543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.10, Y:29.16, Z:16.85 [[ 9.91940972e-01 -1.12271170e-01 -5.87221636e-02 3.58101572e+02] [ 1.12147953e-01 9.93676846e-01 -5.40021881e-03 2.91553446e+01] [ 5.89571432e-02 -1.22887216e-03 9.98259758e-01 1.68515771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.13, Y:29.16, Z:16.85 [[ 9.91844968e-01 -1.13117079e-01 -5.87204100e-02 3.58130839e+02] [ 1.12994400e-01 9.93580863e-01 -5.41613145e-03 2.91559417e+01] [ 5.89561326e-02 -1.26311477e-03 9.98259775e-01 1.68529070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.16, Y:29.16, Z:16.85 [[ 9.91843620e-01 -1.13279242e-01 -5.84298466e-02 3.58158858e+02] [ 1.13157295e-01 9.93562400e-01 -5.40228618e-03 2.91550925e+01] [ 5.86656655e-02 -1.25354032e-03 9.98276900e-01 1.68540703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.19, Y:29.16, Z:16.86 [[ 9.91849626e-01 -1.13251519e-01 -5.83816059e-02 3.58187272e+02] [ 1.13129194e-01 9.93565575e-01 -5.40687949e-03 2.91590539e+01] [ 5.86182911e-02 -1.24185260e-03 9.98279697e-01 1.68567406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.22, Y:29.16, Z:16.86 [[ 9.92022357e-01 -1.11824056e-01 -5.81981494e-02 3.58215760e+02] [ 1.11699177e-01 9.93727369e-01 -5.40470562e-03 2.91580325e+01] [ 5.84374700e-02 -1.13909659e-03 9.98290421e-01 1.68571223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.24, Y:29.16, Z:16.86 [[ 9.92141259e-01 -1.10752821e-01 -5.82197050e-02 3.58244057e+02] [ 1.10625139e-01 9.93847416e-01 -5.42153527e-03 2.91632911e+01] [ 5.84619536e-02 -1.06163414e-03 9.98289073e-01 1.68603398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.27, Y:29.16, Z:16.86 [[ 9.92321588e-01 -1.09138395e-01 -5.81951545e-02 3.58271586e+02] [ 1.09007240e-01 9.94026108e-01 -5.43304721e-03 2.91647738e+01] [ 5.84404570e-02 -9.52363130e-04 9.98290442e-01 1.68610937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.30, Y:29.17, Z:16.86 [[ 9.92560294e-01 -1.06972869e-01 -5.81452292e-02 3.58299516e+02] [ 1.06837788e-01 9.94261605e-01 -5.43586115e-03 2.91653424e+01] [ 5.83930585e-02 -8.16687746e-04 9.98293336e-01 1.68606774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.33, Y:29.17, Z:16.86 [[ 9.93003555e-01 -1.02704361e-01 -5.82730970e-02 3.58327438e+02] [ 1.02560929e-01 9.94711768e-01 -5.45482270e-03 2.91704605e+01] [ 5.85251694e-02 -5.59884651e-04 9.98285776e-01 1.68637755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.36, Y:29.17, Z:16.86 [[ 9.93236869e-01 -1.00365841e-01 -5.83713899e-02 3.58355597e+02] [ 1.00217124e-01 9.94950516e-01 -5.47703775e-03 2.91727181e+01] [ 5.86263521e-02 -4.09817008e-04 9.98279912e-01 1.68645210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.38, Y:29.18, Z:16.87 [[ 9.93439377e-01 -9.82806371e-02 -5.84732480e-02 3.58383771e+02] [ 9.81273767e-02 9.95158700e-01 -5.49364159e-03 2.91755436e+01] [ 5.87300800e-02 -2.80226550e-04 9.98273860e-01 1.68656438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.41, Y:29.18, Z:16.87 [[ 9.93877700e-01 -9.43946891e-02 -5.74174219e-02 3.58412684e+02] [ 9.42396130e-02 9.95534852e-01 -5.40869086e-03 2.91778338e+01] [ 5.76715963e-02 -3.54183842e-05 9.98335608e-01 1.68676606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.44, Y:29.18, Z:16.87 [[ 9.94007796e-01 -9.30736655e-02 -5.73218411e-02 3.58440135e+02] [ 9.29160380e-02 9.95659224e-01 -5.41481744e-03 2.91795382e+01] [ 5.75769967e-02 5.62523904e-05 9.98341067e-01 1.68693131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.47, Y:29.18, Z:16.87 [[ 9.94126299e-01 -9.20808509e-02 -5.68684353e-02 3.58466983e+02] [ 9.19232284e-02 9.95751526e-01 -5.38697707e-03 2.91811833e+01] [ 5.71228686e-02 1.27805408e-04 9.98367148e-01 1.68703852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.49, Y:29.18, Z:16.87 [[ 9.94211735e-01 -9.15838217e-02 -5.61732072e-02 3.58494779e+02] [ 9.14287577e-02 9.95797357e-01 -5.32965392e-03 2.91824362e+01] [ 5.64252414e-02 1.62957912e-04 9.98406814e-01 1.68724560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.52, Y:29.18, Z:16.87 [[ 9.94174526e-01 -9.20526089e-02 -5.60654050e-02 3.58521658e+02] [ 9.18980423e-02 9.95754134e-01 -5.33436205e-03 2.91816568e+01] [ 5.63184007e-02 1.50985903e-04 9.98412848e-01 1.68742057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.55, Y:29.18, Z:16.88 [[ 9.94148382e-01 -9.23350199e-02 -5.60646015e-02 3.58548907e+02] [ 9.21804265e-02 9.95727987e-01 -5.34279369e-03 2.91843164e+01] [ 5.63184197e-02 1.43470818e-04 9.98412848e-01 1.68755099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.58, Y:29.18, Z:16.88 [[ 9.94080491e-01 -9.32788172e-02 -5.57049339e-02 3.58576099e+02] [ 9.31268698e-02 9.95640021e-01 -5.32303029e-03 2.91847004e+01] [ 5.59585875e-02 1.03894434e-04 9.98433085e-01 1.68768801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.60, Y:29.18, Z:16.88 [[ 9.93961886e-01 -9.48988061e-02 -5.50816331e-02 3.58604572e+02] [ 9.47522911e-02 9.95486924e-01 -5.27135059e-03 2.91848456e+01] [ 5.53332904e-02 2.04106374e-05 9.98467940e-01 1.68789794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.63, Y:29.18, Z:16.88 [[ 9.93798660e-01 -9.70600942e-02 -5.42545982e-02 3.58632727e+02] [ 9.69203783e-02 9.95278519e-01 -5.20665122e-03 2.91847031e+01] [ 5.45037942e-02 -8.40131767e-05 9.98513560e-01 1.68809647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.66, Y:29.18, Z:16.88 [[ 9.93274570e-01 -1.02350692e-01 -5.41291493e-02 3.58661643e+02] [ 1.02218628e-01 9.94748314e-01 -5.21004566e-03 2.91804136e+01] [ 5.43781317e-02 -3.58001491e-04 9.98520351e-01 1.68824960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.69, Y:29.18, Z:16.88 [[ 9.92941161e-01 -1.05666935e-01 -5.38734612e-02 3.58690300e+02] [ 1.05540253e-01 9.94401441e-01 -5.19905062e-03 2.91791693e+01] [ 5.41212151e-02 -5.23467349e-04 9.98534236e-01 1.68838439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.72, Y:29.18, Z:16.88 [[ 9.92620551e-01 -1.08517166e-01 -5.41153070e-02 3.58718503e+02] [ 1.08392888e-01 9.94094350e-01 -5.23499035e-03 2.91770727e+01] [ 5.43638073e-02 -6.69355410e-04 9.98520970e-01 1.68845313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.75, Y:29.17, Z:16.89 [[ 9.91957479e-01 -1.14911816e-01 -5.30625493e-02 3.58748868e+02] [ 1.14801230e-01 9.93375198e-01 -5.13750043e-03 2.91734510e+01] [ 5.33013799e-02 -9.95463975e-04 9.98577975e-01 1.68869916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.78, Y:29.17, Z:16.89 [[ 9.91593351e-01 -1.17910895e-01 -5.32883377e-02 3.58777787e+02] [ 1.17803519e-01 9.93023504e-01 -5.16253999e-03 2.91729464e+01] [ 5.35252915e-02 -1.15841339e-03 9.98565822e-01 1.68884380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.81, Y:29.17, Z:16.89 [[ 9.90878462e-01 -1.23786876e-01 -5.32605181e-02 3.58807479e+02] [ 1.23687428e-01 9.92307749e-01 -5.17209317e-03 2.91703487e+01] [ 5.34910621e-02 -1.46274077e-03 9.98567257e-01 1.68895617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.84, Y:29.17, Z:16.89 [[ 9.90481572e-01 -1.26991936e-01 -5.30971203e-02 3.58835962e+02] [ 1.26897468e-01 9.91902416e-01 -5.16043622e-03 2.91678233e+01] [ 5.33224956e-02 -1.62657315e-03 9.98576019e-01 1.68902910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.87, Y:29.17, Z:16.89 [[ 9.90102758e-01 -1.30089288e-01 -5.26621775e-02 3.58865454e+02] [ 1.30000545e-01 9.91500694e-01 -5.12173146e-03 2.91693437e+01] [ 5.28808679e-02 -1.77507132e-03 9.98599250e-01 1.68920919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.89, Y:29.17, Z:16.89 [[ 9.89700994e-01 -1.33265939e-01 -5.22698034e-02 3.58894735e+02] [ 1.33182829e-01 9.91078439e-01 -5.08553643e-03 2.91710935e+01] [ 5.24812039e-02 -1.92827984e-03 9.98620050e-01 1.68937192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.92, Y:29.17, Z:16.89 [[ 9.89279904e-01 -1.36355870e-01 -5.22718715e-02 3.58923501e+02] [ 1.36276897e-01 9.90657717e-01 -5.08877123e-03 2.91676810e+01] [ 5.24774167e-02 -2.08922933e-03 9.98619926e-01 1.68943627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.95, Y:29.17, Z:16.90 [[ 9.88453172e-01 -1.42293186e-01 -5.20862330e-02 3.58953537e+02] [ 1.42222791e-01 9.89821665e-01 -5.07444427e-03 2.91677163e+01] [ 5.22781407e-02 -2.39199890e-03 9.98629698e-01 1.68954586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.98, Y:29.17, Z:16.90 [[ 9.88028776e-01 -1.45145815e-01 -5.22669081e-02 3.58983319e+02] [ 1.45078874e-01 9.89406986e-01 -5.09273322e-03 2.91697879e+01] [ 5.24524330e-02 -2.55105721e-03 9.98620165e-01 1.68969976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.01, Y:29.17, Z:16.90 [[ 9.87629432e-01 -1.47808022e-01 -5.23535431e-02 3.59011841e+02] [ 1.47744469e-01 9.89012400e-01 -5.10339361e-03 2.91697793e+01] [ 5.25326259e-02 -2.69468471e-03 9.98615573e-01 1.68980217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.04, Y:29.17, Z:16.90 [[ 9.86979899e-01 -1.51949396e-01 -5.27452359e-02 3.59042104e+02] [ 1.51890551e-01 9.88383924e-01 -5.14586699e-03 2.91703765e+01] [ 5.29144546e-02 -2.93263566e-03 9.98594743e-01 1.68996351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.07, Y:29.17, Z:16.90 [[ 9.86648443e-01 -1.54225201e-01 -5.23396389e-02 3.59071049e+02] [ 1.54170384e-01 9.88031076e-01 -5.10743923e-03 2.91741011e+01] [ 5.25008855e-02 -3.02997527e-03 9.98616281e-01 1.69014422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.10, Y:29.17, Z:16.90 [[ 9.86596038e-01 -1.54604878e-01 -5.22071757e-02 3.59098989e+02] [ 1.54550705e-01 9.87971707e-01 -5.09760523e-03 2.91744591e+01] [ 5.23673272e-02 -3.03937869e-03 9.98623265e-01 1.69027826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.13, Y:29.18, Z:16.90 [[ 9.86555960e-01 -1.54975332e-01 -5.18650590e-02 3.59127229e+02] [ 1.54922088e-01 9.87913683e-01 -5.06972373e-03 2.91797088e+01] [ 5.20238836e-02 -3.03347711e-03 9.98641234e-01 1.69045852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.16, Y:29.18, Z:16.91 [[ 9.86625677e-01 -1.54625446e-01 -5.15824157e-02 3.59156071e+02] [ 1.54571662e-01 9.87968650e-01 -5.05446969e-03 2.91818560e+01] [ 5.17433593e-02 -2.98631018e-03 9.98655950e-01 1.69058577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.19, Y:29.19, Z:16.91 [[ 9.86694255e-01 -1.54029018e-01 -5.20529458e-02 3.59185447e+02] [ 1.53973267e-01 9.88061833e-01 -5.10357250e-03 2.91903556e+01] [ 5.22176274e-02 -2.97909648e-03 9.98631286e-01 1.69075110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.21, Y:29.19, Z:16.91 [[ 9.86802341e-01 -1.53303242e-01 -5.21464839e-02 3.59214529e+02] [ 1.53246074e-01 9.88174813e-01 -5.11669793e-03 2.91930290e+01] [ 5.23142484e-02 -2.94207444e-03 9.98626338e-01 1.69081538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.24, Y:29.20, Z:16.91 [[ 9.86990524e-01 -1.51582587e-01 -5.35950012e-02 3.59243639e+02] [ 1.51519566e-01 9.88440258e-01 -5.26086652e-03 2.92013533e+01] [ 5.37729126e-02 -2.92826589e-03 9.98548897e-01 1.69089955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.27, Y:29.21, Z:16.91 [[ 9.87097913e-01 -1.50670441e-01 -5.41860564e-02 3.59272908e+02] [ 1.50604543e-01 9.88579769e-01 -5.32090868e-03 2.92058170e+01] [ 5.43689428e-02 -2.90840842e-03 9.98516679e-01 1.69097195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.30, Y:29.21, Z:16.91 [[ 9.87199445e-01 -1.49980256e-01 -5.42510640e-02 3.59301196e+02] [ 1.49913046e-01 9.88684821e-01 -5.32942192e-03 2.92099535e+01] [ 5.44365116e-02 -2.87173989e-03 9.98513104e-01 1.69108898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.33, Y:29.21, Z:16.91 [[ 9.87333122e-01 -1.49180873e-01 -5.40219776e-02 3.59329336e+02] [ 1.49112803e-01 9.88805928e-01 -5.31121767e-03 2.92123971e+01] [ 5.42095838e-02 -2.81142738e-03 9.98525622e-01 1.69120868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.36, Y:29.22, Z:16.91 [[ 9.87494817e-01 -1.48220013e-01 -5.37104677e-02 3.59358041e+02] [ 1.48150650e-01 9.88950642e-01 -5.29277701e-03 2.92197597e+01] [ 5.39014970e-02 -2.73065085e-03 9.98542524e-01 1.69141434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.39, Y:29.23, Z:16.92 [[ 9.87960188e-01 -1.45435149e-01 -5.27568418e-02 3.59387259e+02] [ 1.45364171e-01 9.89364549e-01 -5.20059297e-03 2.92282012e+01] [ 5.29520980e-02 -2.53097574e-03 9.98593846e-01 1.69162064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.42, Y:29.24, Z:16.92 [[ 9.88223227e-01 -1.43779551e-01 -5.23669165e-02 3.59417387e+02] [ 1.43707260e-01 9.89606774e-01 -5.16291090e-03 2.92367746e+01] [ 5.25649764e-02 -2.42339759e-03 9.98614565e-01 1.69181920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.45, Y:29.24, Z:16.92 [[ 9.88486802e-01 -1.42116033e-01 -5.19314578e-02 3.59447205e+02] [ 1.42042694e-01 9.89847295e-01 -5.11910346e-03 2.92419306e+01] [ 5.21317197e-02 -2.31631795e-03 9.98637531e-01 1.69197535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.48, Y:29.25, Z:16.92 [[ 9.89103801e-01 -1.37945376e-01 -5.14270817e-02 3.59476018e+02] [ 1.37867837e-01 9.90437662e-01 -5.06918884e-03 2.92499374e+01] [ 5.16345897e-02 -2.07618659e-03 9.98663887e-01 1.69214183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.51, Y:29.26, Z:16.92 [[ 9.89439325e-01 -1.35704153e-01 -5.09333494e-02 3.59507405e+02] [ 1.35625256e-01 9.90747500e-01 -5.01809622e-03 2.92564328e+01] [ 5.11430651e-02 -1.94274680e-03 9.98689448e-01 1.69231929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.54, Y:29.26, Z:16.92 [[ 9.89762205e-01 -1.33431204e-01 -5.06645022e-02 3.59538894e+02] [ 1.33350308e-01 9.91056410e-01 -4.98879532e-03 2.92619784e+01] [ 5.08770406e-02 -1.81840591e-03 9.98703269e-01 1.69247451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.57, Y:29.27, Z:16.93 [[ 9.90369003e-01 -1.28647178e-01 -5.11775408e-02 3.59568535e+02] [ 1.28558392e-01 9.91689151e-01 -5.03665745e-03 2.92714383e+01] [ 5.14001637e-02 -1.59115295e-03 9.98676870e-01 1.69263843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.60, Y:29.28, Z:16.93 [[ 9.90695705e-01 -1.26104532e-01 -5.11826851e-02 3.59599078e+02] [ 1.26012347e-01 9.92015885e-01 -5.03702047e-03 2.92768174e+01] [ 5.14092278e-02 -1.45949570e-03 9.98676605e-01 1.69276000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.63, Y:29.28, Z:16.93 [[ 9.90989886e-01 -1.23534400e-01 -5.17522808e-02 3.59630033e+02] [ 1.23436751e-01 9.92339382e-01 -5.09115097e-03 2.92829955e+01] [ 5.19847586e-02 -1.34285429e-03 9.98646975e-01 1.69289386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.66, Y:29.29, Z:16.93 [[ 9.91280147e-01 -1.21025806e-01 -5.21193195e-02 3.59659745e+02] [ 1.20923394e-01 9.92648609e-01 -5.12551137e-03 2.92886718e+01] [ 5.23564891e-02 -1.22162736e-03 9.98627711e-01 1.69303328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.69, Y:29.30, Z:16.93 [[ 9.91717135e-01 -1.17198885e-01 -5.25504114e-02 3.59689890e+02] [ 1.17089402e-01 9.93107932e-01 -5.16790576e-03 2.92954836e+01] [ 5.27939032e-02 -1.02799556e-03 9.98604900e-01 1.69314406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.72, Y:29.30, Z:16.93 [[ 9.91868128e-01 -1.15777265e-01 -5.28511258e-02 3.59719802e+02] [ 1.15664509e-01 9.93274739e-01 -5.19747857e-03 2.93000146e+01] [ 5.30974380e-02 -9.57786180e-04 9.98588877e-01 1.69326614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.75, Y:29.31, Z:16.93 [[ 9.92099126e-01 -1.13705523e-01 -5.30130091e-02 3.59749738e+02] [ 1.13589120e-01 9.93514133e-01 -5.21339847e-03 2.93053697e+01] [ 5.32619659e-02 -8.49492977e-04 9.98580213e-01 1.69336646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.78, Y:29.31, Z:16.93 [[ 9.92168262e-01 -1.13139251e-01 -5.29306058e-02 3.59779682e+02] [ 1.13022404e-01 9.93578805e-01 -5.20529478e-03 2.93095879e+01] [ 5.31796512e-02 -8.17816039e-04 9.98584626e-01 1.69349993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.81, Y:29.31, Z:16.94 [[ 9.92202668e-01 -1.12966223e-01 -5.26545156e-02 3.59810724e+02] [ 1.12850360e-01 9.93598503e-01 -5.17794441e-03 2.93134055e+01] [ 5.29023807e-02 -8.04510760e-04 9.98599365e-01 1.69365862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.84, Y:29.32, Z:16.94 [[ 9.92186112e-01 -1.12989280e-01 -5.29163584e-02 3.59841368e+02] [ 1.12872399e-01 9.93595875e-01 -5.20171976e-03 2.93168583e+01] [ 5.31652141e-02 -8.11722187e-04 9.98585400e-01 1.69377048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.87, Y:29.32, Z:16.94 [[ 9.92127006e-01 -1.13477827e-01 -5.29791139e-02 3.59872221e+02] [ 1.13361469e-01 9.93540173e-01 -5.20592618e-03 2.93195354e+01] [ 5.32276352e-02 -8.40850228e-04 9.98582051e-01 1.69387795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.90, Y:29.32, Z:16.94 [[ 9.91876880e-01 -1.15551436e-01 -5.31800714e-02 3.59902320e+02] [ 1.15437263e-01 9.93301036e-01 -5.22392993e-03 2.93214023e+01] [ 5.34274526e-02 -9.57466587e-04 9.98571275e-01 1.69404595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.93, Y:29.32, Z:16.94 [[ 9.91686313e-01 -1.17134292e-01 -5.32711348e-02 3.59933154e+02] [ 1.17022008e-01 9.93115535e-01 -5.23287517e-03 2.93232703e+01] [ 5.35173407e-02 -1.04452449e-03 9.98566374e-01 1.69415998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.96, Y:29.33, Z:16.94 [[ 9.91491879e-01 -1.18670407e-01 -5.34900861e-02 3.59963721e+02] [ 1.18559430e-01 9.92933056e-01 -5.25438297e-03 2.93256200e+01] [ 5.37356144e-02 -1.13207609e-03 9.98554556e-01 1.69430802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.99, Y:29.33, Z:16.94 [[ 9.91321730e-01 -1.20322497e-01 -5.29502093e-02 3.59993673e+02] [ 1.20216098e-01 9.92734121e-01 -5.20145343e-03 2.93277505e+01] [ 5.31913313e-02 -1.20915374e-03 9.98583607e-01 1.69446787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.02, Y:29.33, Z:16.95 [[ 9.90949776e-01 -1.23579343e-01 -5.24088466e-02 3.60024190e+02] [ 1.23479616e-01 9.92333750e-01 -5.14903438e-03 2.93285670e+01] [ 5.26433815e-02 -1.36898977e-03 9.98612437e-01 1.69471331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.05, Y:29.33, Z:16.95 [[ 9.90795704e-01 -1.25112585e-01 -5.16789508e-02 3.60054818e+02] [ 1.25017748e-01 9.92141519e-01 -5.07640166e-03 2.93314287e+01] [ 5.19079545e-02 -1.43110908e-03 9.98650848e-01 1.69490242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.08, Y:29.33, Z:16.95 [[ 9.90612713e-01 -1.26640939e-01 -5.14638294e-02 3.60084598e+02] [ 1.26548993e-01 9.91947481e-01 -5.05441508e-03 2.93324760e+01] [ 5.16895118e-02 -1.50572794e-03 9.98662069e-01 1.69505744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.12, Y:29.33, Z:16.95 [[ 9.90315457e-01 -1.28983920e-01 -5.13657781e-02 3.60115307e+02] [ 1.28895470e-01 9.91645354e-01 -5.04478517e-03 2.93336721e+01] [ 5.15873314e-02 -1.62488736e-03 9.98667165e-01 1.69517646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.15, Y:29.34, Z:16.95 [[ 9.90216841e-01 -1.29774878e-01 -5.12746443e-02 3.60146710e+02] [ 1.29687807e-01 9.91542089e-01 -5.03569097e-03 2.93376779e+01] [ 5.14944741e-02 -1.66327016e-03 9.98671894e-01 1.69534303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.18, Y:29.34, Z:16.95 [[ 9.90161820e-01 -1.30118753e-01 -5.14653338e-02 3.60177576e+02] [ 1.30031593e-01 9.91496978e-01 -5.05255364e-03 2.93412049e+01] [ 5.16851549e-02 -1.68927363e-03 9.98662000e-01 1.69548436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.21, Y:29.34, Z:16.96 [[ 9.90291751e-01 -1.29165079e-01 -5.13676036e-02 3.60208072e+02] [ 1.29077062e-01 9.91621752e-01 -5.04117170e-03 2.93447932e+01] [ 5.15883764e-02 -1.63814859e-03 9.98667090e-01 1.69562181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.24, Y:29.35, Z:16.96 [[ 9.90397460e-01 -1.28329542e-01 -5.14237374e-02 3.60238810e+02] [ 1.28240259e-01 9.91730295e-01 -5.04567803e-03 2.93494661e+01] [ 5.16459878e-02 -1.59736670e-03 9.98664178e-01 1.69580676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.27, Y:29.36, Z:16.96 [[ 9.90710309e-01 -1.26047728e-01 -5.10397292e-02 3.60270110e+02] [ 1.25956847e-01 9.92023090e-01 -5.00609366e-03 2.93553435e+01] [ 5.12635966e-02 -1.46921475e-03 9.98684077e-01 1.69598878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.30, Y:29.36, Z:16.96 [[ 9.90859072e-01 -1.24841347e-01 -5.11168956e-02 3.60300842e+02] [ 1.24748729e-01 9.92175713e-01 -5.01091083e-03 2.93579901e+01] [ 5.13425112e-02 -1.41166132e-03 9.98680106e-01 1.69611729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.33, Y:29.36, Z:16.96 [[ 9.91031676e-01 -1.23380152e-01 -5.13181786e-02 3.60330815e+02] [ 1.23284939e-01 9.92358572e-01 -5.02884961e-03 2.93612507e+01] [ 5.15464947e-02 -1.34300926e-03 9.98669693e-01 1.69623172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.36, Y:29.37, Z:16.96 [[ 9.91164036e-01 -1.22150834e-01 -5.17013203e-02 3.60361957e+02] [ 1.22052576e-01 9.92510711e-01 -5.06539418e-03 2.93667156e+01] [ 5.19328563e-02 -1.28964278e-03 9.98649746e-01 1.69634954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.39, Y:29.37, Z:16.96 [[ 9.91168405e-01 -1.22115301e-01 -5.17015017e-02 3.60392633e+02] [ 1.22017091e-01 9.92515083e-01 -5.06354178e-03 2.93696905e+01] [ 5.19328562e-02 -1.28964421e-03 9.98649746e-01 1.69649613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.42, Y:29.37, Z:16.96 [[ 9.91322040e-01 -1.20203703e-01 -5.32135608e-02 3.60422468e+02] [ 1.20097012e-01 9.92748491e-01 -5.20976422e-03 2.93728564e+01] [ 5.34539151e-02 -1.22623555e-03 9.98569565e-01 1.69648445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.45, Y:29.38, Z:16.97 [[ 9.91397454e-01 -1.19315653e-01 -5.38039231e-02 3.60452703e+02] [ 1.19205321e-01 9.92855656e-01 -5.26670466e-03 2.93780636e+01] [ 5.40479297e-02 -1.19231634e-03 9.98537631e-01 1.69658943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.48, Y:29.38, Z:16.97 [[ 9.91448297e-01 -1.18466370e-01 -5.47356610e-02 3.60482509e+02] [ 1.18350882e-01 9.92957381e-01 -5.35804440e-03 2.93804062e+01] [ 5.49849266e-02 -1.16578977e-03 9.98486504e-01 1.69663417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.51, Y:29.39, Z:16.97 [[ 9.91525089e-01 -1.17450761e-01 -5.55276269e-02 3.60512205e+02] [ 1.17330267e-01 9.93078070e-01 -5.43643818e-03 2.93854531e+01] [ 5.57817824e-02 -1.12470642e-03 9.98442351e-01 1.69675663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.54, Y:29.39, Z:16.97 [[ 9.91520349e-01 -1.17247090e-01 -5.60403284e-02 3.60542917e+02] [ 1.17124034e-01 9.93102139e-01 -5.48663427e-03 2.93884236e+01] [ 5.62970618e-02 -1.12355980e-03 9.98413431e-01 1.69687128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.57, Y:29.39, Z:16.97 [[ 9.91514483e-01 -1.17067510e-01 -5.65175063e-02 3.60572950e+02] [ 1.16942057e-01 9.93123324e-01 -5.53335242e-03 2.93916213e+01] [ 5.67766295e-02 -1.12287437e-03 9.98386275e-01 1.69700270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.60, Y:29.39, Z:16.97 [[ 9.91548118e-01 -1.16896957e-01 -5.62799324e-02 3.60601940e+02] [ 1.16772285e-01 9.93143430e-01 -5.51004716e-03 2.93940322e+01] [ 5.65381529e-02 -1.10845942e-03 9.98399824e-01 1.69715815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.63, Y:29.40, Z:16.97 [[ 9.91633867e-01 -1.16656947e-01 -5.52578539e-02 3.60632458e+02] [ 1.16536405e-01 9.93171688e-01 -5.40974576e-03 2.93974813e+01] [ 5.55116204e-02 -1.07506454e-03 9.98457462e-01 1.69745645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.66, Y:29.40, Z:16.98 [[ 9.91705908e-01 -1.16437760e-01 -5.44209527e-02 3.60662573e+02] [ 1.16320513e-01 9.93197439e-01 -5.32781311e-03 2.94012813e+01] [ 5.46711094e-02 -1.04664940e-03 9.98503868e-01 1.69771876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.69, Y:29.40, Z:16.98 [[ 9.91711467e-01 -1.16706823e-01 -5.37390372e-02 3.60693281e+02] [ 1.16592892e-01 9.93165857e-01 -5.26105356e-03 2.94044417e+01] [ 5.39857778e-02 -1.04814259e-03 9.98541154e-01 1.69794163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.72, Y:29.41, Z:16.98 [[ 9.91579227e-01 -1.18140534e-01 -5.30419765e-02 3.60724002e+02] [ 1.18031589e-01 9.92996263e-01 -5.19281129e-03 2.94070624e+01] [ 5.32839659e-02 -1.11154495e-03 9.98578782e-01 1.69818583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.75, Y:29.41, Z:16.98 [[ 9.91413059e-01 -1.19546614e-01 -5.29976763e-02 3.60754939e+02] [ 1.19439868e-01 9.92827880e-01 -5.18826377e-03 2.94098210e+01] [ 5.32378100e-02 -1.18632301e-03 9.98581158e-01 1.69839093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.78, Y:29.41, Z:16.99 [[ 9.91191196e-01 -1.21670303e-01 -5.23101312e-02 3.60784854e+02] [ 1.21569354e-01 9.92569738e-01 -5.11923233e-03 2.94107811e+01] [ 5.25443118e-02 -1.28517081e-03 9.98617767e-01 1.69853853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.82, Y:29.41, Z:16.99 [[ 9.90500609e-01 -1.27240199e-01 -5.21390050e-02 3.60815544e+02] [ 1.27147609e-01 9.91870682e-01 -5.10248539e-03 2.94060625e+01] [ 5.23643917e-02 -1.57533495e-03 9.98626802e-01 1.69865644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.85, Y:29.41, Z:16.99 [[ 9.90036845e-01 -1.30637452e-01 -5.25442836e-02 3.60846193e+02] [ 1.30548192e-01 9.91428630e-01 -5.14214722e-03 2.94067707e+01] [ 5.27656641e-02 -1.76864601e-03 9.98605356e-01 1.69875616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.88, Y:29.41, Z:16.99 [[ 9.88959476e-01 -1.38224972e-01 -5.34135955e-02 3.60876801e+02] [ 1.38143766e-01 9.90398393e-01 -5.22719909e-03 2.94083503e+01] [ 5.36232686e-02 -2.20926717e-03 9.98558794e-01 1.69888924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.91, Y:29.41, Z:16.99 [[ 9.88402029e-01 -1.42025449e-01 -5.37605847e-02 3.60906715e+02] [ 1.41948799e-01 9.89860021e-01 -5.26098759e-03 2.94079916e+01] [ 5.39626476e-02 -2.43127959e-03 9.98539995e-01 1.69901274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.94, Y:29.41, Z:16.99 [[ 9.87902137e-01 -1.45181796e-01 -5.45125051e-02 3.60938169e+02] [ 1.45107790e-01 9.89401473e-01 -5.33430620e-03 2.94084297e+01] [ 5.47091970e-02 -2.64041666e-03 9.98498839e-01 1.69910433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.97, Y:29.41, Z:16.99 [[ 9.87540772e-01 -1.47593956e-01 -5.45824810e-02 3.60968435e+02] [ 1.47523541e-01 9.89044134e-01 -5.33917028e-03 2.94088230e+01] [ 5.47725119e-02 -2.77955252e-03 9.98494990e-01 1.69921857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.00, Y:29.41, Z:16.99 [[ 9.87022626e-01 -1.50911612e-01 -5.48818898e-02 3.60998915e+02] [ 1.50845629e-01 9.88542763e-01 -5.36667610e-03 2.94131623e+01] [ 5.50629887e-02 -2.98166243e-03 9.98478431e-01 1.69946250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.03, Y:29.42, Z:17.00 [[ 9.87033878e-01 -1.50837948e-01 -5.48820312e-02 3.61030471e+02] [ 1.50771931e-01 9.88554014e-01 -5.36522974e-03 2.94161916e+01] [ 5.50631325e-02 -2.97900631e-03 9.98478431e-01 1.69961330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.06, Y:29.42, Z:17.00 [[ 9.86965599e-01 -1.51133979e-01 -5.52940047e-02 3.61061451e+02] [ 1.51067656e-01 9.88508668e-01 -5.40146408e-03 2.94174898e+01] [ 5.54749478e-02 -3.02207648e-03 9.98455506e-01 1.69970139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.09, Y:29.42, Z:17.00 [[ 9.87076543e-01 -1.50418892e-01 -5.52634985e-02 3.61092533e+02] [ 1.50351689e-01 9.88617852e-01 -5.39553370e-03 2.94216716e+01] [ 5.54460714e-02 -2.98315561e-03 9.98457227e-01 1.69982852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.12, Y:29.43, Z:17.00 [[ 9.87216678e-01 -1.49363181e-01 -5.56225679e-02 3.61124882e+02] [ 1.49293583e-01 9.88778015e-01 -5.42792413e-03 2.94267575e+01] [ 5.58091043e-02 -2.94555521e-03 9.98437112e-01 1.70001255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.15, Y:29.43, Z:17.00 [[ 9.87709310e-01 -1.46249523e-01 -5.51488604e-02 3.61154880e+02] [ 1.46176552e-01 9.89243908e-01 -5.37650618e-03 2.94312004e+01] [ 5.53419856e-02 -2.75104505e-03 9.98463668e-01 1.70014142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.19, Y:29.44, Z:17.00 [[ 9.88017821e-01 -1.44125038e-01 -5.52155629e-02 3.61186078e+02] [ 1.44048656e-01 9.89555972e-01 -5.38169493e-03 2.94379156e+01] [ 5.54145270e-02 -2.63651711e-03 9.98459954e-01 1.70033570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.22, Y:29.44, Z:17.00 [[ 9.88336590e-01 -1.42054899e-01 -5.48743138e-02 3.61216367e+02] [ 1.41976428e-01 9.89855605e-01 -5.34565368e-03 2.94411438e+01] [ 5.50770233e-02 -2.50755391e-03 9.98478960e-01 1.70048008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.25, Y:29.45, Z:17.01 [[ 9.88653328e-01 -1.39694136e-01 -5.52281197e-02 3.61247532e+02] [ 1.39611049e-01 9.90191811e-01 -5.37880456e-03 2.94486478e+01] [ 5.54378193e-02 -2.39268269e-03 9.98459275e-01 1.70068465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.28, Y:29.46, Z:17.01 [[ 9.89359300e-01 -1.34751344e-01 -5.48657540e-02 3.61277975e+02] [ 1.34661907e-01 9.90877211e-01 -5.34079215e-03 2.94565297e+01] [ 5.50849042e-02 -2.10436466e-03 9.98479456e-01 1.70082142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.31, Y:29.46, Z:17.01 [[ 9.89740461e-01 -1.32044944e-01 -5.45706210e-02 3.61308003e+02] [ 1.31952415e-01 9.91241824e-01 -5.31105688e-03 2.94612433e+01] [ 5.47939801e-02 -1.94415733e-03 9.98495789e-01 1.70098203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.34, Y:29.47, Z:17.01 [[ 9.90044859e-01 -1.29799506e-01 -5.44358821e-02 3.61339193e+02] [ 1.29704106e-01 9.91538597e-01 -5.29681097e-03 2.94669339e+01] [ 5.46628016e-02 -1.81647695e-03 9.98503219e-01 1.70115599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.37, Y:29.47, Z:17.01 [[ 9.90700228e-01 -1.24927835e-01 -5.39081946e-02 3.61368861e+02] [ 1.24827172e-01 9.92164644e-01 -5.24361102e-03 2.94741850e+01] [ 5.41408777e-02 -1.53436085e-03 9.98532128e-01 1.70128137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.40, Y:29.48, Z:17.01 [[ 9.90971996e-01 -1.22720094e-01 -5.39840851e-02 3.61400034e+02] [ 1.22615936e-01 9.92440311e-01 -5.24987494e-03 2.94795791e+01] [ 5.42202474e-02 -1.41683006e-03 9.98527995e-01 1.70144464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.43, Y:29.48, Z:17.02 [[ 9.91232523e-01 -1.20469959e-01 -5.42685438e-02 3.61430330e+02] [ 1.20361454e-01 9.92716118e-01 -5.27529664e-03 2.94832607e+01] [ 5.45087729e-02 -1.30279521e-03 9.98512442e-01 1.70153297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.46, Y:29.49, Z:17.02 [[ 9.91510150e-01 -1.18148762e-01 -5.43000151e-02 3.61460857e+02] [ 1.18036851e-01 9.92995206e-01 -5.27473972e-03 2.94885106e+01] [ 5.45428587e-02 -1.17944484e-03 9.98510734e-01 1.70164498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.49, Y:29.50, Z:17.02 [[ 9.92024945e-01 -1.13440900e-01 -5.49333264e-02 3.61491539e+02] [ 1.13319210e-01 9.93544308e-01 -5.33513730e-03 2.94963655e+01] [ 5.51839166e-02 -9.32411892e-04 9.98475771e-01 1.70178825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.52, Y:29.50, Z:17.02 [[ 9.92297762e-01 -1.10911082e-01 -5.51714036e-02 3.61522417e+02] [ 1.10784540e-01 9.93830014e-01 -5.35623202e-03 2.95016346e+01] [ 5.54250623e-02 -7.97161534e-04 9.98462532e-01 1.70192341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.55, Y:29.51, Z:17.02 [[ 9.92594597e-01 -1.08040229e-01 -5.55272436e-02 3.61553033e+02] [ 1.07907665e-01 9.94146315e-01 -5.38889255e-03 2.95065952e+01] [ 5.57844218e-02 -6.42829569e-04 9.98442630e-01 1.70206097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.58, Y:29.51, Z:17.02 [[ 9.93185296e-01 -1.02639116e-01 -5.52103150e-02 3.61582817e+02] [ 1.02499766e-01 9.94718602e-01 -5.35728465e-03 2.95136685e+01] [ 5.54685943e-02 -3.38268048e-04 9.98460375e-01 1.70222502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.61, Y:29.52, Z:17.02 [[ 9.93462371e-01 -1.00273713e-01 -5.45683104e-02 3.61612540e+02] [ 1.00134021e-01 9.94959869e-01 -5.29498829e-03 2.95182489e+01] [ 5.48242271e-02 -2.03772724e-04 9.98496000e-01 1.70242821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.64, Y:29.52, Z:17.03 [[ 9.93682511e-01 -9.82407259e-02 -5.42570507e-02 3.61641409e+02] [ 9.80995963e-02 9.95162676e-01 -5.26476242e-03 2.95222724e+01] [ 5.45118059e-02 -9.10924296e-05 9.98513122e-01 1.70256622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.67, Y:29.53, Z:17.03 [[ 9.93866535e-01 -9.67788978e-02 -5.35084602e-02 3.61670730e+02] [ 9.66395302e-02 9.95305905e-01 -5.19195345e-03 2.95259281e+01] [ 5.37597580e-02 -1.09236745e-05 9.98553899e-01 1.70273401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.70, Y:29.53, Z:17.03 [[ 9.94037364e-01 -9.55191948e-02 -5.25909008e-02 3.61701423e+02] [ 9.53828136e-02 9.95427587e-01 -5.10280332e-03 2.95288433e+01] [ 5.28378491e-02 5.61090741e-05 9.98603104e-01 1.70289997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.73, Y:29.53, Z:17.03 [[ 9.93984737e-01 -9.61649586e-02 -5.24084270e-02 3.61732003e+02] [ 9.60304197e-02 9.95365410e-01 -5.08509821e-03 2.95306586e+01] [ 5.26545437e-02 2.17067605e-05 9.98612787e-01 1.70304632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.76, Y:29.53, Z:17.03 [[ 9.93688984e-01 -9.96541895e-02 -5.14902565e-02 3.61761434e+02] [ 9.95290023e-02 9.95022119e-01 -4.99608426e-03 2.95299209e+01] [ 5.17318249e-02 -1.60219970e-04 9.98661000e-01 1.70316373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.79, Y:29.53, Z:17.03 [[ 9.93413302e-01 -1.02276651e-01 -5.16671818e-02 3.61792096e+02] [ 1.02154101e-01 9.94755949e-01 -5.01409540e-03 2.95304001e+01] [ 5.19090614e-02 -2.96945420e-04 9.98651772e-01 1.70329832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.82, Y:29.53, Z:17.03 [[ 9.93074781e-01 -1.05500893e-01 -5.16917836e-02 3.61823975e+02] [ 1.05382598e-01 9.94419099e-01 -5.01632799e-03 2.95302540e+01] [ 5.19325240e-02 -4.65825627e-04 9.98650487e-01 1.70341468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.86, Y:29.53, Z:17.03 [[ 9.92172068e-01 -1.13468510e-01 -5.21486812e-02 3.61855493e+02] [ 1.13359192e-01 9.93541192e-01 -5.05889496e-03 2.95266190e+01] [ 5.23858882e-02 -8.92238103e-04 9.98626518e-01 1.70346967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.89, Y:29.52, Z:17.04 [[ 9.91682919e-01 -1.17711001e-01 -5.20491042e-02 3.61886005e+02] [ 1.17607985e-01 9.93047268e-01 -5.04828486e-03 2.95247306e+01] [ 5.22814594e-02 -1.11509238e-03 9.98631767e-01 1.70353922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.92, Y:29.53, Z:17.04 [[ 9.91145496e-01 -1.21978086e-01 -5.24590612e-02 3.61917236e+02] [ 1.21879462e-01 9.92531873e-01 -5.08699091e-03 2.95251186e+01] [ 5.26877917e-02 -1.35173403e-03 9.98610119e-01 1.70367780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.95, Y:29.52, Z:17.04 [[ 9.90632026e-01 -1.26135148e-01 -5.23269807e-02 3.61948019e+02] [ 1.26042903e-01 9.92011823e-01 -5.07236050e-03 2.95215744e+01] [ 5.25487865e-02 -1.57060181e-03 9.98617123e-01 1.70373613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.98, Y:29.52, Z:17.04 [[ 9.90152219e-01 -1.29967173e-01 -5.20299711e-02 3.61978612e+02] [ 1.29881301e-01 9.91516727e-01 -5.04262749e-03 2.95233220e+01] [ 5.22439627e-02 -1.76475152e-03 9.98632792e-01 1.70390859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.01, Y:29.52, Z:17.04 [[ 9.89270207e-01 -1.36777759e-01 -5.13449263e-02 3.62009179e+02] [ 1.36703320e-01 9.90599539e-01 -4.97544029e-03 2.95176365e+01] [ 5.15427899e-02 -2.09696702e-03 9.98668585e-01 1.70403668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.04, Y:29.52, Z:17.04 [[ 9.88920075e-01 -1.39476331e-01 -5.08275411e-02 3.62039782e+02] [ 1.39406908e-01 9.90222929e-01 -4.92590124e-03 2.95206950e+01] [ 5.10176433e-02 -2.21438774e-03 9.98695297e-01 1.70418001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.07, Y:29.52, Z:17.04 [[ 9.88629832e-01 -1.41550064e-01 -5.07408650e-02 3.62070588e+02] [ 1.41483667e-01 9.89928383e-01 -4.91620117e-03 2.95211152e+01] [ 5.09257110e-02 -2.31870052e-03 9.98699752e-01 1.70432643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.10, Y:29.52, Z:17.05 [[ 9.88166159e-01 -1.45250161e-01 -4.92953579e-02 3.62101396e+02] [ 1.45192371e-01 9.89391945e-01 -4.77026808e-03 2.95209445e+01] [ 4.94653122e-02 -2.44349239e-03 9.98772853e-01 1.70452003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.13, Y:29.52, Z:17.05 [[ 9.87964940e-01 -1.46776179e-01 -4.88060424e-02 3.62132054e+02] [ 1.46721430e-01 9.89166581e-01 -4.72201164e-03 2.95216644e+01] [ 4.89703849e-02 -2.49571038e-03 9.98797113e-01 1.70467157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.16, Y:29.52, Z:17.05 [[ 9.87839690e-01 -1.47747855e-01 -4.84078412e-02 3.62163882e+02] [ 1.47695243e-01 9.89021838e-01 -4.68171808e-03 2.95197148e+01] [ 4.85681259e-02 -2.52482096e-03 9.98816681e-01 1.70482862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.20, Y:29.53, Z:17.05 [[ 9.87709642e-01 -1.48776999e-01 -4.79068615e-02 3.62195401e+02] [ 1.48726799e-01 9.88867481e-01 -4.63070827e-03 2.95261263e+01] [ 4.80624803e-02 -2.55123895e-03 9.98841073e-01 1.70496881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.23, Y:29.53, Z:17.05 [[ 9.87515889e-01 -1.49961327e-01 -4.82075642e-02 3.62227916e+02] [ 1.49912073e-01 9.88688368e-01 -4.65624793e-03 2.95264754e+01] [ 4.83605151e-02 -2.62877704e-03 9.98826486e-01 1.70503356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.26, Y:29.53, Z:17.05 [[ 9.87466056e-01 -1.50200645e-01 -4.84825258e-02 3.62259411e+02] [ 1.50151289e-01 9.88651959e-01 -4.67924285e-03 2.95277623e+01] [ 4.86351694e-02 -2.65912024e-03 9.98813070e-01 1.70513768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.29, Y:29.53, Z:17.05 [[ 9.87466820e-01 -1.50111861e-01 -4.87412385e-02 3.62291187e+02] [ 1.50062122e-01 9.88665403e-01 -4.69902804e-03 2.95325575e+01] [ 4.88941560e-02 -2.67407942e-03 9.98800386e-01 1.70524235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.32, Y:29.54, Z:17.05 [[ 9.87499129e-01 -1.49416070e-01 -5.02026791e-02 3.62323490e+02] [ 1.49362602e-01 9.88770663e-01 -4.83615432e-03 2.95363991e+01] [ 5.03615355e-02 -2.72270459e-03 9.98727341e-01 1.70528686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.35, Y:29.54, Z:17.05 [[ 9.87679157e-01 -1.48162726e-01 -5.03754887e-02 3.62354763e+02] [ 1.48107445e-01 9.88959387e-01 -4.84921697e-03 2.95405959e+01] [ 5.05377856e-02 -2.67151441e-03 9.98718577e-01 1.70540874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.39, Y:29.54, Z:17.06 [[ 9.87689930e-01 -1.48090832e-01 -5.03756753e-02 3.62386321e+02] [ 1.48035557e-01 9.88970160e-01 -4.84727788e-03 2.95435738e+01] [ 5.05378771e-02 -2.66978359e-03 9.98718577e-01 1.70555950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.42, Y:29.55, Z:17.06 [[ 9.87841805e-01 -1.46830988e-01 -5.10806253e-02 3.62417769e+02] [ 1.46772673e-01 9.89158057e-01 -4.91130666e-03 2.95485640e+01] [ 5.12479441e-02 -2.64564586e-03 9.98682456e-01 1.70568993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.45, Y:29.55, Z:17.06 [[ 9.88282588e-01 -1.43220329e-01 -5.27774909e-02 3.62447973e+02] [ 1.43153137e-01 9.89687560e-01 -5.07083193e-03 2.95534229e+01] [ 5.29594724e-02 -2.54384847e-03 9.98593422e-01 1.70569491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.48, Y:29.56, Z:17.06 [[ 9.88516115e-01 -1.41267700e-01 -5.36593602e-02 3.62479536e+02] [ 1.41195395e-01 9.89968325e-01 -5.15520632e-03 2.95589394e+01] [ 5.38493311e-02 -2.48045002e-03 9.98545991e-01 1.70582230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.51, Y:29.56, Z:17.06 [[ 9.88783805e-01 -1.39345819e-01 -5.37524933e-02 3.62510260e+02] [ 1.39270586e-01 9.90240913e-01 -5.16126494e-03 2.95638366e+01] [ 5.39471187e-02 -2.38276606e-03 9.98540951e-01 1.70596281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.54, Y:29.57, Z:17.06 [[ 9.89460525e-01 -1.34270443e-01 -5.42154776e-02 3.62540027e+02] [ 1.34186401e-01 9.90942445e-01 -5.20393409e-03 2.95700207e+01] [ 5.44231524e-02 -2.12589246e-03 9.98515699e-01 1.70608520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.57, Y:29.58, Z:17.06 [[ 9.89855443e-01 -1.31328704e-01 -5.42123003e-02 3.62570430e+02] [ 1.31240275e-01 9.91336933e-01 -5.20350253e-03 2.95760443e+01] [ 5.44260247e-02 -1.96412190e-03 9.98515874e-01 1.70626676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.60, Y:29.58, Z:17.06 [[ 9.90280583e-01 -1.28048024e-01 -5.42961455e-02 3.62600195e+02] [ 1.27954452e-01 9.91766358e-01 -5.21055349e-03 2.95813421e+01] [ 5.45162916e-02 -1.78752362e-03 9.98511281e-01 1.70643095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.63, Y:29.59, Z:17.07 [[ 9.90745844e-01 -1.24465308e-01 -5.41392580e-02 3.62629710e+02] [ 1.24366981e-01 9.92222692e-01 -5.19462885e-03 2.95867878e+01] [ 5.43647514e-02 -1.58657913e-03 9.98519883e-01 1.70660300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.66, Y:29.60, Z:17.07 [[ 9.91735320e-01 -1.16660052e-01 -5.33993275e-02 3.62659778e+02] [ 1.16553090e-01 9.93171247e-01 -5.12352380e-03 2.95960424e+01] [ 5.36323872e-02 -1.14267713e-03 9.98560094e-01 1.70681753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.69, Y:29.60, Z:17.07 [[ 9.92194678e-01 -1.12810030e-01 -5.31377253e-02 3.62690017e+02] [ 1.12698642e-01 9.93616139e-01 -5.09758074e-03 2.96025094e+01] [ 5.33735596e-02 -9.30756981e-04 9.98574182e-01 1.70703204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.72, Y:29.61, Z:17.07 [[ 9.92990088e-01 -1.06258025e-01 -5.17679275e-02 3.62720576e+02] [ 1.06143414e-01 9.94338431e-01 -4.96600811e-03 2.96111254e+01] [ 5.20025180e-02 -5.63627725e-04 9.98646795e-01 1.70734072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.75, Y:29.62, Z:17.07 [[ 9.93253262e-01 -1.04001075e-01 -5.13004314e-02 3.62750463e+02] [ 1.03885610e-01 9.94577086e-01 -4.91934651e-03 2.96150629e+01] [ 5.15338509e-02 -4.43219655e-04 9.98671150e-01 1.70749166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.78, Y:29.62, Z:17.08 [[ 9.93455404e-01 -1.02273841e-01 -5.08568706e-02 3.62780532e+02] [ 1.02158148e-01 9.94756220e-01 -4.87595424e-03 2.96190837e+01] [ 5.10888710e-02 -3.51400624e-04 9.98694049e-01 1.70764184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.81, Y:29.62, Z:17.08 [[ 9.93556262e-01 -1.01265683e-01 -5.09039914e-02 3.62811314e+02] [ 1.01148459e-01 9.94859373e-01 -4.88034052e-03 2.96226944e+01] [ 5.11365240e-02 -2.99967420e-04 9.98691627e-01 1.70781214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.84, Y:29.63, Z:17.08 [[ 9.93594269e-01 -1.00997380e-01 -5.06947562e-02 3.62842922e+02] [ 1.00880863e-01 9.94886650e-01 -4.85843582e-03 2.96257027e+01] [ 5.09262255e-02 -2.86816796e-04 9.98702377e-01 1.70794002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.87, Y:29.63, Z:17.08 [[ 9.93511052e-01 -1.01439484e-01 -5.14375500e-02 3.62874001e+02] [ 1.01320216e-01 9.94841661e-01 -4.92772155e-03 2.96278682e+01] [ 5.16720832e-02 -3.15917873e-04 9.98664056e-01 1.70805373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.90, Y:29.63, Z:17.08 [[ 9.93407529e-01 -1.02109472e-01 -5.21069847e-02 3.62904297e+02] [ 1.01988095e-01 9.94773104e-01 -4.99003006e-03 2.96300003e+01] [ 5.23441562e-02 -3.57158659e-04 9.98629041e-01 1.70818031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.93, Y:29.63, Z:17.08 [[ 9.93361177e-01 -1.02429677e-01 -5.23615675e-02 3.62934447e+02] [ 1.02307599e-01 9.94740177e-01 -5.01355512e-03 2.96322587e+01] [ 5.25996918e-02 -3.76715258e-04 9.98615607e-01 1.70829773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.96, Y:29.63, Z:17.08 [[ 9.93218535e-01 -1.03347628e-01 -5.32560764e-02 3.62963856e+02] [ 1.03222654e-01 9.94645203e-01 -5.09931010e-03 2.96330020e+01] [ 5.34979025e-02 -4.32504263e-04 9.98567868e-01 1.70835468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.99, Y:29.64, Z:17.09 [[ 9.93168445e-01 -1.03641161e-01 -5.36185498e-02 3.62993232e+02] [ 1.03514848e-01 9.94614653e-01 -5.13509872e-03 2.96353437e+01] [ 5.38620029e-02 -4.50298031e-04 9.98548287e-01 1.70851012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.02, Y:29.64, Z:17.09 [[ 9.93085794e-01 -1.04255706e-01 -5.39569647e-02 3.63022572e+02] [ 1.04128594e-01 9.94550407e-01 -5.16945233e-03 2.96373463e+01] [ 5.42018661e-02 -4.84753172e-04 9.98529881e-01 1.70866162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.05, Y:29.64, Z:17.09 [[ 9.93009016e-01 -1.05000643e-01 -5.39254910e-02 3.63052323e+02] [ 1.04874672e-01 9.94472016e-01 -5.16836540e-03 2.96395672e+01] [ 5.41700734e-02 -5.23184737e-04 9.98531587e-01 1.70883841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.08, Y:29.64, Z:17.09 [[ 9.92909295e-01 -1.06283354e-01 -5.32445267e-02 3.63082226e+02] [ 1.06162292e-01 9.94335712e-01 -5.10490364e-03 2.96392520e+01] [ 5.34855006e-02 -5.83854707e-04 9.98568456e-01 1.70902653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.11, Y:29.64, Z:17.09 [[ 9.92830290e-01 -1.07153824e-01 -5.29723895e-02 3.63111784e+02] [ 1.07035179e-01 9.94242257e-01 -5.07985581e-03 2.96403745e+01] [ 5.32117141e-02 -6.26474478e-04 9.98583057e-01 1.70920447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.14, Y:29.64, Z:17.09 [[ 9.92723456e-01 -1.08299012e-01 -5.26446894e-02 3.63141778e+02] [ 1.08183344e-01 9.94118131e-01 -5.05023859e-03 2.96413304e+01] [ 5.28819761e-02 -6.81788248e-04 9.98600537e-01 1.70938553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.17, Y:29.64, Z:17.10 [[ 9.92491855e-01 -1.10755289e-01 -5.18958905e-02 3.63171789e+02] [ 1.10646152e-01 9.93847386e-01 -4.98016493e-03 2.96393373e+01] [ 5.21281747e-02 -7.99307453e-04 9.98640083e-01 1.70958434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.20, Y:29.64, Z:17.10 [[ 9.92345887e-01 -1.12421556e-01 -5.10982894e-02 3.63203005e+02] [ 1.12317881e-01 9.93660220e-01 -4.90507713e-03 2.96417067e+01] [ 5.13257740e-02 -8.71718499e-04 9.98681583e-01 1.70984922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.23, Y:29.64, Z:17.10 [[ 9.92158616e-01 -1.14423641e-01 -5.02843120e-02 3.63233476e+02] [ 1.14325897e-01 9.93431581e-01 -4.82525146e-03 2.96420550e+01] [ 5.05061464e-02 -9.61384284e-04 9.98723287e-01 1.71003319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.26, Y:29.64, Z:17.10 [[ 9.91723156e-01 -1.18572040e-01 -4.92529494e-02 3.63264726e+02] [ 1.18483375e-01 9.92944788e-01 -4.72624708e-03 2.96398712e+01] [ 4.94658602e-02 -1.14852703e-03 9.98775155e-01 1.71024980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.30, Y:29.64, Z:17.10 [[ 9.91426652e-01 -1.21033166e-01 -4.92358263e-02 3.63296039e+02] [ 1.20947640e-01 9.92647649e-01 -4.72367301e-03 2.96397147e+01] [ 4.94455483e-02 -1.27178169e-03 9.98776011e-01 1.71038660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.33, Y:29.64, Z:17.11 [[ 9.91049755e-01 -1.23841259e-01 -4.98369842e-02 3.63327069e+02] [ 1.23757267e-01 9.92301010e-01 -4.77951260e-03 2.96409035e+01] [ 5.00451906e-02 -1.43095419e-03 9.98745929e-01 1.71050258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.36, Y:29.64, Z:17.11 [[ 9.90211757e-01 -1.29857196e-01 -5.11642916e-02 3.63358564e+02] [ 1.29776779e-01 9.91531104e-01 -4.90492363e-03 2.96380009e+01] [ 5.13679262e-02 -1.78302390e-03 9.98678205e-01 1.71053434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.39, Y:29.64, Z:17.11 [[ 9.89771903e-01 -1.32831935e-01 -5.20313102e-02 3.63389516e+02] [ 1.32752921e-01 9.91136616e-01 -4.98705870e-03 2.96356213e+01] [ 5.22325774e-02 -1.97125782e-03 9.98633002e-01 1.71059715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.42, Y:29.64, Z:17.11 [[ 9.89333896e-01 -1.35935110e-01 -5.23458446e-02 3.63420951e+02] [ 1.35859526e-01 9.90715412e-01 -5.01614024e-03 2.96376655e+01] [ 5.25417045e-02 -2.14904406e-03 9.98616418e-01 1.71075515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.45, Y:29.64, Z:17.11 [[ 9.88616616e-01 -1.40858482e-01 -5.28779287e-02 3.63451894e+02] [ 1.40788469e-01 9.90026742e-01 -5.06531812e-03 2.96356313e+01] [ 5.30640565e-02 -2.43694499e-03 9.98588137e-01 1.71087582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.48, Y:29.63, Z:17.11 [[ 9.88302849e-01 -1.42834506e-01 -5.34395236e-02 3.63482047e+02] [ 1.42765892e-01 9.89743248e-01 -5.11886922e-03 2.96316568e+01] [ 5.36225588e-02 -2.57034824e-03 9.98557968e-01 1.71091170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.51, Y:29.64, Z:17.11 [[ 9.88069920e-01 -1.44173157e-01 -5.41473298e-02 3.63511753e+02] [ 1.44104670e-01 9.89548853e-01 -5.18755261e-03 2.96372496e+01] [ 5.43293339e-02 -2.67721838e-03 9.98519482e-01 1.71110063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.54, Y:29.64, Z:17.11 [[ 9.87965183e-01 -1.44994029e-01 -5.38658409e-02 3.63541746e+02] [ 1.44927467e-01 9.89428824e-01 -5.16058474e-03 2.96394505e+01] [ 5.40446696e-02 -2.70816185e-03 9.98534846e-01 1.71123780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.57, Y:29.64, Z:17.11 [[ 9.87930325e-01 -1.45180027e-01 -5.40040058e-02 3.63571923e+02] [ 1.45113401e-01 9.89401502e-01 -5.17382155e-03 2.96419080e+01] [ 5.41827800e-02 -2.72532975e-03 9.98527315e-01 1.71142300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.60, Y:29.64, Z:17.12 [[ 9.88115298e-01 -1.44333519e-01 -5.28771556e-02 3.63601016e+02] [ 1.44268438e-01 9.89525621e-01 -5.06579106e-03 2.96447504e+01] [ 5.30544637e-02 -2.62291902e-03 9.98588175e-01 1.71167574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.63, Y:29.65, Z:17.12 [[ 9.88238128e-01 -1.43655898e-01 -5.24250366e-02 3.63630113e+02] [ 1.43591001e-01 9.89624375e-01 -5.02195238e-03 2.96471361e+01] [ 5.26025272e-02 -2.56487868e-03 9.98612235e-01 1.71185866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.66, Y:29.65, Z:17.12 [[ 9.88487402e-01 -1.42124291e-01 -5.18974260e-02 3.63660658e+02] [ 1.42058553e-01 9.89845769e-01 -4.97208774e-03 2.96528207e+01] [ 5.20771020e-02 -2.45762713e-03 9.98640043e-01 1.71209561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.69, Y:29.65, Z:17.12 [[ 9.88599133e-01 -1.41438841e-01 -5.16411582e-02 3.63691078e+02] [ 1.41372922e-01 9.89944058e-01 -4.94551269e-03 2.96528035e+01] [ 5.18213453e-02 -2.41153188e-03 9.98653460e-01 1.71221889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.72, Y:29.66, Z:17.12 [[ 9.88638759e-01 -1.41197572e-01 -5.15426951e-02 3.63720521e+02] [ 1.41131735e-01 9.89978534e-01 -4.93303945e-03 2.96554518e+01] [ 5.17226950e-02 -2.39731599e-03 9.98658608e-01 1.71237280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.75, Y:29.66, Z:17.13 [[ 9.88656553e-01 -1.40935865e-01 -5.19163066e-02 3.63751427e+02] [ 1.40868631e-01 9.90015820e-01 -4.97031490e-03 2.96612156e+01] [ 5.20984605e-02 -2.39944464e-03 9.98639070e-01 1.71253407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.78, Y:29.66, Z:17.13 [[ 9.88609560e-01 -1.41107287e-01 -5.23437708e-02 3.63782892e+02] [ 1.41039284e-01 9.89991327e-01 -5.00930746e-03 2.96643275e+01] [ 5.25267289e-02 -2.43027872e-03 9.98616561e-01 1.71266828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.81, Y:29.67, Z:17.13 [[ 9.88537522e-01 -1.41385769e-01 -5.29493423e-02 3.63813099e+02] [ 1.41316676e-01 9.89951483e-01 -5.06549174e-03 2.96663852e+01] [ 5.31334684e-02 -2.47519642e-03 9.98584352e-01 1.71279408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.84, Y:29.67, Z:17.13 [[ 9.88483360e-01 -1.41582202e-01 -5.34333955e-02 3.63843883e+02] [ 1.41512128e-01 9.89923324e-01 -5.11179953e-03 2.96691845e+01] [ 5.36187043e-02 -2.50854471e-03 9.98558332e-01 1.71291499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.87, Y:29.67, Z:17.13 [[ 9.88498147e-01 -1.40943878e-01 -5.48291573e-02 3.63873654e+02] [ 1.40869110e-01 9.90014333e-01 -5.24546495e-03 2.96702975e+01] [ 5.50209678e-02 -2.53860223e-03 9.98481972e-01 1.71292939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.90, Y:29.67, Z:17.13 [[ 9.88588289e-01 -1.40154670e-01 -5.52255718e-02 3.63903202e+02] [ 1.40077525e-01 9.90126437e-01 -5.28454947e-03 2.96748412e+01] [ 5.54209529e-02 -2.51161772e-03 9.98459919e-01 1.71304995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.93, Y:29.68, Z:17.13 [[ 9.88762964e-01 -1.38768439e-01 -5.55978564e-02 3.63931803e+02] [ 1.38687944e-01 9.90321830e-01 -5.32236670e-03 2.96777235e+01] [ 5.57983474e-02 -2.44819332e-03 9.98439057e-01 1.71316985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.96, Y:29.69, Z:17.13 [[ 9.89405124e-01 -1.34109124e-01 -5.56079421e-02 3.63960684e+02] [ 1.34021094e-01 9.90964166e-01 -5.32620987e-03 2.96851958e+01] [ 5.58197713e-02 -2.18285790e-03 9.98438475e-01 1.71334243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.99, Y:29.69, Z:17.13 [[ 9.89792286e-01 -1.31262027e-01 -5.55113519e-02 3.63989256e+02] [ 1.31169712e-01 9.91345658e-01 -5.31911873e-03 2.96887972e+01] [ 5.57291360e-02 -2.01658534e-03 9.98443888e-01 1.71344927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.02, Y:29.69, Z:17.14 [[ 9.90191731e-01 -1.28329168e-01 -5.52445538e-02 3.64017895e+02] [ 1.28232938e-01 9.91729926e-01 -5.29793804e-03 2.96944331e+01] [ 5.54675572e-02 -1.83819699e-03 9.98458798e-01 1.71363980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.05, Y:29.70, Z:17.14 [[ 9.90625699e-01 -1.25195217e-01 -5.46523787e-02 3.64046751e+02] [ 1.25095585e-01 9.92130784e-01 -5.25370899e-03 2.97003907e+01] [ 5.48800466e-02 -1.63231214e-03 9.98491620e-01 1.71382923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.08, Y:29.71, Z:17.14 [[ 9.91559259e-01 -1.18116030e-01 -5.34681161e-02 3.64075548e+02] [ 1.18009789e-01 9.92999072e-01 -5.15091554e-03 2.97083541e+01] [ 5.37021953e-02 -1.20232308e-03 9.98556272e-01 1.71405911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.11, Y:29.71, Z:17.14 [[ 9.91954099e-01 -1.14941953e-01 -5.30604726e-02 3.64105063e+02] [ 1.14832686e-01 9.93371686e-01 -5.11355623e-03 2.97140500e+01] [ 5.32965332e-02 -1.02066355e-03 9.98578208e-01 1.71424562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.14, Y:29.72, Z:17.14 [[ 9.92272020e-01 -1.12215475e-01 -5.29521100e-02 3.64135117e+02] [ 1.12102683e-01 9.93683516e-01 -5.10484139e-03 2.97189440e+01] [ 5.31904810e-02 -8.70682339e-04 9.98584005e-01 1.71440680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.16, Y:29.72, Z:17.15 [[ 9.92561289e-01 -1.09693150e-01 -5.28157236e-02 3.64164370e+02] [ 1.09577359e-01 9.93965228e-01 -5.09189364e-03 2.97234277e+01] [ 5.30555386e-02 -7.33390997e-04 9.98591294e-01 1.71454346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.19, Y:29.73, Z:17.15 [[ 9.92896029e-01 -1.06516595e-01 -5.30253692e-02 3.64193612e+02] [ 1.06395258e-01 9.94310765e-01 -5.11393577e-03 2.97275030e+01] [ 5.32684144e-02 -5.64041304e-04 9.98580071e-01 1.71466264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.22, Y:29.73, Z:17.15 [[ 9.92920705e-01 -1.06335493e-01 -5.29267122e-02 3.64222262e+02] [ 1.06214230e-01 9.94330156e-01 -5.10667216e-03 2.97299892e+01] [ 5.31696465e-02 -5.51049454e-04 9.98585342e-01 1.71478157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.25, Y:29.73, Z:17.15 [[ 9.92894474e-01 -1.06580767e-01 -5.29254484e-02 3.64250351e+02] [ 1.06459156e-01 9.94303895e-01 -5.11973810e-03 2.97327480e+01] [ 5.31696451e-02 -5.51038902e-04 9.98585342e-01 1.71491616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.28, Y:29.74, Z:17.15 [[ 9.92816335e-01 -1.07274913e-01 -5.29888492e-02 3.64278682e+02] [ 1.07153292e-01 9.94229230e-01 -5.13910644e-03 2.97350039e+01] [ 5.32343600e-02 -5.75740832e-04 9.98581880e-01 1.71507485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.31, Y:29.73, Z:17.15 [[ 9.92540777e-01 -1.09728097e-01 -5.31276802e-02 3.64307929e+02] [ 1.09608626e-01 9.93961398e-01 -5.16607698e-03 2.97347986e+01] [ 5.33737270e-02 -6.95709991e-04 9.98574364e-01 1.71515904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.34, Y:29.74, Z:17.15 [[ 9.92349860e-01 -1.11413849e-01 -5.31856063e-02 3.64336006e+02] [ 1.11295868e-01 9.93773794e-01 -5.18418400e-03 2.97353335e+01] [ 5.34320516e-02 -7.74813960e-04 9.98571187e-01 1.71526728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.37, Y:29.74, Z:17.15 [[ 9.92096469e-01 -1.13523967e-01 -5.34500170e-02 3.64365501e+02] [ 1.13407628e-01 9.93534861e-01 -5.21442661e-03 2.97374379e+01] [ 5.36964176e-02 -8.88425434e-04 9.98556911e-01 1.71541818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.39, Y:29.74, Z:17.15 [[ 9.91717460e-01 -1.16896752e-01 -5.32130590e-02 3.64393812e+02] [ 1.16786177e-01 9.93143503e-01 -5.19345273e-03 2.97363692e+01] [ 5.34553016e-02 -1.06411197e-03 9.98569676e-01 1.71546752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.42, Y:29.74, Z:17.16 [[ 9.91577970e-01 -1.18126989e-01 -5.30956049e-02 3.64422982e+02] [ 1.18018478e-01 9.92997860e-01 -5.18545234e-03 2.97379578e+01] [ 5.33363639e-02 -1.12448217e-03 9.98575970e-01 1.71561611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.45, Y:29.74, Z:17.16 [[ 9.91499193e-01 -1.19056188e-01 -5.24878440e-02 3.64451488e+02] [ 1.18951342e-01 9.92886842e-01 -5.12809848e-03 2.97389277e+01] [ 5.27250216e-02 -1.15899398e-03 9.98608396e-01 1.71572832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.48, Y:29.74, Z:17.16 [[ 9.91306025e-01 -1.20618486e-01 -5.25694268e-02 3.64480722e+02] [ 1.20515360e-01 9.92698162e-01 -5.13885344e-03 2.97405812e+01] [ 5.28054141e-02 -1.24124705e-03 9.98604049e-01 1.71588179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.51, Y:29.74, Z:17.16 [[ 9.91182410e-01 -1.21596712e-01 -5.26466556e-02 3.64509916e+02] [ 1.21494548e-01 9.92578746e-01 -5.14852336e-03 2.97397440e+01] [ 5.28819949e-02 -1.29315584e-03 9.98599931e-01 1.71592658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.54, Y:29.74, Z:17.16 [[ 9.90928206e-01 -1.24030625e-01 -5.17464359e-02 3.64539281e+02] [ 1.23935059e-01 9.92277410e-01 -5.06395396e-03 2.97427305e+01] [ 5.19749047e-02 -1.39518278e-03 9.98647417e-01 1.71613179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.57, Y:29.75, Z:17.16 [[ 9.90928205e-01 -1.24030707e-01 -5.17462672e-02 3.64569115e+02] [ 1.23935051e-01 9.92277402e-01 -5.06567751e-03 2.97456520e+01] [ 5.19749511e-02 -1.39345356e-03 9.98647417e-01 1.71627445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.60, Y:29.75, Z:17.16 [[ 9.90772975e-01 -1.25468200e-01 -5.12507854e-02 3.64599251e+02] [ 1.25376288e-01 9.92096575e-01 -5.01717254e-03 2.97471933e+01] [ 5.14752242e-02 -1.45475426e-03 9.98673212e-01 1.71643096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.63, Y:29.74, Z:17.17 [[ 9.90332035e-01 -1.28932909e-01 -5.11738687e-02 3.64628492e+02] [ 1.28845890e-01 9.91651975e-01 -5.00960599e-03 2.97446263e+01] [ 5.13925711e-02 -1.63236938e-03 9.98677195e-01 1.71651493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.66, Y:29.75, Z:17.17 [[ 9.90133499e-01 -1.30528936e-01 -5.09691189e-02 3.64658787e+02] [ 1.30444746e-01 9.91443028e-01 -4.98911490e-03 2.97463261e+01] [ 5.11842014e-02 -1.70876396e-03 9.98687768e-01 1.71665654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.69, Y:29.75, Z:17.17 [[ 9.89960351e-01 -1.32074715e-01 -5.03465206e-02 3.64689449e+02] [ 1.31994565e-01 9.91238189e-01 -4.92817184e-03 2.97482616e+01] [ 5.05562808e-02 -1.76677234e-03 9.98719651e-01 1.71681168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.72, Y:29.75, Z:17.17 [[ 9.89638378e-01 -1.34661052e-01 -4.98224989e-02 3.64719661e+02] [ 1.34585831e-01 9.90889939e-01 -4.87687795e-03 2.97499432e+01] [ 5.00253384e-02 -1.87905682e-03 9.98746181e-01 1.71694575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.75, Y:29.75, Z:17.17 [[ 9.89516786e-01 -1.35466407e-01 -5.00537983e-02 3.64749748e+02] [ 1.35391512e-01 9.90780063e-01 -4.89956909e-03 2.97495368e+01] [ 5.02560324e-02 -1.92865357e-03 9.98734505e-01 1.71703371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.78, Y:29.75, Z:17.17 [[ 9.89368276e-01 -1.36274070e-01 -5.07916478e-02 3.64778490e+02] [ 1.36197958e-01 9.90669161e-01 -4.97285670e-03 2.97501728e+01] [ 5.09953906e-02 -1.99773205e-03 9.98696891e-01 1.71708739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.81, Y:29.75, Z:17.17 [[ 9.89390608e-01 -1.35999116e-01 -5.10927200e-02 3.64807698e+02] [ 1.35921597e-01 9.90706954e-01 -5.00499448e-03 2.97544183e+01] [ 5.12985878e-02 -1.99270957e-03 9.98681373e-01 1.71720505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.84, Y:29.76, Z:17.17 [[ 9.89486841e-01 -1.35357078e-01 -5.09338193e-02 3.64838040e+02] [ 1.35279104e-01 9.90794960e-01 -4.99112263e-03 2.97596318e+01] [ 5.11405552e-02 -1.95163131e-03 9.98689559e-01 1.71735703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.87, Y:29.76, Z:17.17 [[ 9.89624314e-01 -1.34331198e-01 -5.09788775e-02 3.64867370e+02] [ 1.34251730e-01 9.90934669e-01 -4.99549635e-03 2.97603047e+01] [ 5.11877881e-02 -1.90033786e-03 9.98687238e-01 1.71749444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.90, Y:29.77, Z:17.18 [[ 9.90008887e-01 -1.31534169e-01 -5.08051772e-02 3.64896479e+02] [ 1.31451585e-01 9.91310093e-01 -4.97806935e-03 2.97660147e+01] [ 5.10184711e-02 -1.75008817e-03 9.98696176e-01 1.71768182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.93, Y:29.77, Z:17.18 [[ 9.90242473e-01 -1.29864843e-01 -5.05466921e-02 3.64926866e+02] [ 1.29780840e-01 9.91530326e-01 -4.95444275e-03 2.97712952e+01] [ 5.07619860e-02 -1.65389250e-03 9.98709410e-01 1.71783900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.96, Y:29.78, Z:17.18 [[ 9.90482839e-01 -1.27798735e-01 -5.11001924e-02 3.64955696e+02] [ 1.27710139e-01 9.91798888e-01 -5.00863332e-03 2.97753571e+01] [ 5.13212110e-02 -1.56504732e-03 9.98680972e-01 1.71793818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.99, Y:29.78, Z:17.18 [[ 9.90750603e-01 -1.25505800e-01 -5.15900842e-02 3.64985658e+02] [ 1.25412433e-01 9.92091810e-01 -5.05587312e-03 2.97809639e+01] [ 5.18166414e-02 -1.46092864e-03 9.98655547e-01 1.71805197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.01, Y:29.79, Z:17.18 [[ 9.91397937e-01 -1.20176937e-01 -5.18424061e-02 3.65013753e+02] [ 1.20075360e-01 9.92751778e-01 -5.08084945e-03 2.97878502e+01] [ 5.20772418e-02 -1.18785192e-03 9.98642353e-01 1.71815711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.04, Y:29.79, Z:17.18 [[ 9.91729395e-01 -1.17459645e-01 -5.17304411e-02 3.65042711e+02] [ 1.17354670e-01 9.93077112e-01 -5.07261786e-03 2.97937788e+01] [ 5.19681449e-02 -1.04014462e-03 9.98648201e-01 1.71829545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.07, Y:29.80, Z:17.18 [[ 9.92078294e-01 -1.14532295e-01 -5.16043756e-02 3.65072347e+02] [ 1.14423781e-01 9.93419133e-01 -5.06205802e-03 2.97994260e+01] [ 5.18445432e-02 -8.82809873e-04 9.98654777e-01 1.71843904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.10, Y:29.81, Z:17.19 [[ 9.92682893e-01 -1.09015770e-01 -5.19252887e-02 3.65101011e+02] [ 1.08898302e-01 9.94039841e-01 -5.09457857e-03 2.98069490e+01] [ 5.21711951e-02 -5.97274783e-04 9.98637977e-01 1.71855636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.13, Y:29.81, Z:17.19 [[ 9.92948178e-01 -1.06542998e-01 -5.19856183e-02 3.65129104e+02] [ 1.06421764e-01 9.94307987e-01 -5.10249863e-03 2.98109240e+01] [ 5.22333509e-02 -4.65884499e-04 9.98634798e-01 1.71865180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.16, Y:29.82, Z:17.19 [[ 9.93207798e-01 -1.04351446e-01 -5.14688783e-02 3.65157379e+02] [ 1.04229485e-01 9.94540425e-01 -5.05537420e-03 2.98156515e+01] [ 5.17154157e-02 -3.43537597e-04 9.98661803e-01 1.71880730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.19, Y:29.82, Z:17.19 [[ 9.93666500e-01 -1.00328618e-01 -5.06068681e-02 3.65185388e+02] [ 1.00204867e-01 9.94954348e-01 -4.98303040e-03 2.98217247e+01] [ 5.08514640e-02 -1.19584091e-04 9.98706220e-01 1.71902642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.21, Y:29.83, Z:17.19 [[ 9.93804577e-01 -9.89863803e-02 -5.05386855e-02 3.65213492e+02] [ 9.88605705e-02 9.95088788e-01 -4.98924091e-03 2.98254404e+01] [ 5.07843462e-02 -3.79528313e-05 9.98709642e-01 1.71916658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.24, Y:29.83, Z:17.19 [[ 9.93916667e-01 -9.78930615e-02 -5.04639175e-02 3.65240988e+02] [ 9.77655838e-02 9.95196939e-01 -4.99430010e-03 2.98285670e+01] [ 5.07104436e-02 3.02837599e-05 9.98713397e-01 1.71931352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.27, Y:29.83, Z:17.19 [[ 9.94017637e-01 -9.72478000e-02 -4.97172212e-02 3.65268531e+02] [ 9.71230397e-02 9.95260198e-01 -4.92485785e-03 2.98302579e+01] [ 4.99605030e-02 6.67079191e-05 9.98751192e-01 1.71940745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.30, Y:29.83, Z:17.20 [[ 9.93921622e-01 -9.80915187e-02 -4.99786373e-02 3.65297291e+02] [ 9.79662577e-02 9.95177398e-01 -4.95572949e-03 2.98317553e+01] [ 5.02237252e-02 2.93866327e-05 9.98737992e-01 1.71954319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.33, Y:29.83, Z:17.20 [[ 9.93836229e-01 -9.90114804e-02 -4.98625754e-02 3.65325383e+02] [ 9.88873376e-02 9.95086291e-01 -4.95658595e-03 2.98328644e+01] [ 5.01083241e-02 -4.74263133e-06 9.98743789e-01 1.71962662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.35, Y:29.83, Z:17.20 [[ 9.93675235e-01 -1.00590388e-01 -4.99109300e-02 3.65353759e+02] [ 1.00467745e-01 9.94927921e-01 -4.96635426e-03 2.98336602e+01] [ 5.01573453e-02 -7.94953678e-05 9.98741325e-01 1.71974730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.38, Y:29.83, Z:17.20 [[ 9.93469524e-01 -1.02352136e-01 -5.04216719e-02 3.65382128e+02] [ 1.02228587e-01 9.94748217e-01 -5.02996359e-03 2.98349423e+01] [ 5.06716958e-02 -1.57420721e-04 9.98715352e-01 1.71987245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.41, Y:29.83, Z:17.20 [[ 9.92984074e-01 -1.06604142e-01 -5.11682026e-02 3.65410594e+02] [ 1.06481887e-01 9.94301474e-01 -5.11717978e-03 2.98336176e+01] [ 5.14221319e-02 -3.67208771e-04 9.98676940e-01 1.71995223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.44, Y:29.83, Z:17.20 [[ 9.92708613e-01 -1.09174176e-01 -5.10941254e-02 3.65438953e+02] [ 1.09055437e-01 9.94022512e-01 -5.11443716e-03 2.98337345e+01] [ 5.13470754e-02 -4.94946355e-04 9.98680746e-01 1.72005390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.47, Y:29.83, Z:17.20 [[ 9.92033506e-01 -1.15322706e-01 -5.06971029e-02 3.65467932e+02] [ 1.15213562e-01 9.93327756e-01 -5.07980312e-03 2.98305857e+01] [ 5.09446561e-02 -8.01658914e-04 9.98701156e-01 1.72016386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.50, Y:29.83, Z:17.20 [[ 9.91607631e-01 -1.19097006e-01 -5.03011907e-02 3.65496622e+02] [ 1.18993768e-01 9.92882144e-01 -5.05280811e-03 2.98302242e+01] [ 5.05449284e-02 -9.75125131e-04 9.98721312e-01 1.72032951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.53, Y:29.83, Z:17.20 [[ 9.91178845e-01 -1.22769220e-01 -4.99220919e-02 3.65525092e+02] [ 1.22671572e-01 9.92434590e-01 -5.02690923e-03 2.98289735e+01] [ 5.01615605e-02 -1.14145539e-03 9.98740464e-01 1.72045534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.56, Y:29.83, Z:17.21 [[ 9.90262069e-01 -1.29915702e-01 -5.00294355e-02 3.65556175e+02] [ 1.29826578e-01 9.91523903e-01 -5.04079521e-03 2.98261026e+01] [ 5.02602596e-02 -1.50344210e-03 9.98735023e-01 1.72054465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.59, Y:29.83, Z:17.21 [[ 9.89764700e-01 -1.33677085e-01 -4.99627340e-02 3.65585496e+02] [ 1.33592973e-01 9.91023498e-01 -5.03421892e-03 2.98262923e+01] [ 5.01872031e-02 -1.69197799e-03 9.98738395e-01 1.72064786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.62, Y:29.82, Z:17.21 [[ 9.88707712e-01 -1.41493944e-01 -4.93611546e-02 3.65615177e+02] [ 1.41421432e-01 9.89936976e-01 -4.97611860e-03 2.98221217e+01] [ 4.95685227e-02 -2.06079832e-03 9.98768599e-01 1.72074128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.65, Y:29.82, Z:17.21 [[ 9.88138010e-01 -1.45492498e-01 -4.91447379e-02 3.65645266e+02] [ 1.45425549e-01 9.89356793e-01 -4.95431020e-03 2.98230099e+01] [ 4.93424953e-02 -2.25135829e-03 9.98779380e-01 1.72085011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.67, Y:29.82, Z:17.21 [[ 9.87589283e-01 -1.49249075e-01 -4.89093198e-02 3.65674513e+02] [ 1.49187314e-01 9.88796656e-01 -4.93144634e-03 2.98220012e+01] [ 4.90973856e-02 -2.42640648e-03 9.98791049e-01 1.72092492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.70, Y:29.82, Z:17.21 [[ 9.87062240e-01 -1.52676896e-01 -4.89683483e-02 3.65704950e+02] [ 1.52619159e-01 9.88272740e-01 -4.93800116e-03 2.98219379e+01] [ 4.91480025e-02 -2.59939363e-03 9.98788124e-01 1.72106156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.74, Y:29.82, Z:17.21 [[ 9.86152984e-01 -1.58341216e-01 -4.92985855e-02 3.65735647e+02] [ 1.58289691e-01 9.87380195e-01 -4.97233948e-03 2.98224003e+01] [ 4.94637732e-02 -2.89997047e-03 9.98771708e-01 1.72122085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.76, Y:29.82, Z:17.21 [[ 9.85853746e-01 -1.60185168e-01 -4.93265001e-02 3.65764917e+02] [ 1.60135862e-01 9.87082443e-01 -4.97557844e-03 2.98242346e+01] [ 4.94863361e-02 -2.99374897e-03 9.98770314e-01 1.72135173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.79, Y:29.83, Z:17.22 [[ 9.85630029e-01 -1.61564916e-01 -4.92973090e-02 3.65793007e+02] [ 1.61517193e-01 9.86857351e-01 -4.97652480e-03 2.98250855e+01] [ 4.94534436e-02 -3.05735069e-03 9.98771750e-01 1.72152121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.82, Y:29.83, Z:17.22 [[ 9.85521258e-01 -1.62300399e-01 -4.90553820e-02 3.65821749e+02] [ 1.62253863e-01 9.86736603e-01 -4.95587549e-03 2.98282466e+01] [ 4.92090816e-02 -3.07530461e-03 9.98783765e-01 1.72167170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.85, Y:29.84, Z:17.22 [[ 9.85597796e-01 -1.61815810e-01 -4.91185182e-02 3.65850760e+02] [ 1.61767981e-01 9.86816285e-01 -4.97390535e-03 2.98397379e+01] [ 4.92758102e-02 -3.04353337e-03 9.98780572e-01 1.72183581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.88, Y:29.84, Z:17.22 [[ 9.85705535e-01 -1.60980220e-01 -4.96987585e-02 3.65880333e+02] [ 1.60930194e-01 9.86952959e-01 -5.03275168e-03 2.98364867e+01] [ 4.98605103e-02 -3.03721966e-03 9.98751573e-01 1.72189016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.91, Y:29.85, Z:17.22 [[ 9.86043706e-01 -1.58373964e-01 -5.13371045e-02 3.65909777e+02] [ 1.58316982e-01 9.87374645e-01 -5.20038656e-03 2.98510173e+01] [ 5.15125611e-02 -2.99972699e-03 9.98667842e-01 1.72191517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.94, Y:29.85, Z:17.22 [[ 9.86215626e-01 -1.56965685e-01 -5.23499071e-02 3.65938488e+02] [ 1.56904491e-01 9.87599547e-01 -5.30237245e-03 2.98492595e+01] [ 5.25330350e-02 -2.98465296e-03 9.98614727e-01 1.72192701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.97, Y:29.86, Z:17.22 [[ 9.86472955e-01 -1.55055130e-01 -5.31884891e-02 3.65967932e+02] [ 1.54989060e-01 9.87901483e-01 -5.38983596e-03 2.98648765e+01] [ 5.33807090e-02 -2.92670651e-03 9.98569945e-01 1.72211083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.00, Y:29.87, Z:17.22 [[ 9.86691924e-01 -1.53478231e-01 -5.36980461e-02 3.65997648e+02] [ 1.53408604e-01 9.88147863e-01 -5.44070122e-03 2.98710502e+01] [ 5.38966387e-02 -2.86944634e-03 9.98542397e-01 1.72221257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.03, Y:29.88, Z:17.22 [[ 9.87170562e-01 -1.50234780e-01 -5.40720953e-02 3.66026227e+02] [ 1.50159275e-01 9.88646634e-01 -5.47961047e-03 2.98789788e+01] [ 5.42814231e-02 -2.71011646e-03 9.98521999e-01 1.72232755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.06, Y:29.89, Z:17.22 [[ 9.87389068e-01 -1.48856658e-01 -5.38936333e-02 3.66055919e+02] [ 1.48779549e-01 9.88855301e-01 -5.46251599e-03 2.98854027e+01] [ 5.41061369e-02 -2.62464190e-03 9.98531741e-01 1.72248955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.09, Y:29.89, Z:17.23 [[ 9.87651761e-01 -1.47191175e-01 -5.36540566e-02 3.66086240e+02] [ 1.47112252e-01 9.89104849e-01 -5.43910018e-03 2.98914109e+01] [ 5.38700750e-02 -2.52123224e-03 9.98544770e-01 1.72267300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.12, Y:29.90, Z:17.23 [[ 9.88239170e-01 -1.43210141e-01 -5.36115459e-02 3.66115077e+02] [ 1.43125492e-01 9.89689626e-01 -5.43490587e-03 2.98992975e+01] [ 5.38371244e-02 -2.30219202e-03 9.98547076e-01 1.72276608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.14, Y:29.90, Z:17.23 [[ 9.88234144e-01 -1.43244864e-01 -5.36114370e-02 3.66144076e+02] [ 1.43160208e-01 9.89684599e-01 -5.43597928e-03 2.99022685e+01] [ 5.38370897e-02 -2.30300413e-03 9.98547076e-01 1.72290478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.17, Y:29.91, Z:17.23 [[ 9.88589712e-01 -1.40690023e-01 -5.38209915e-02 3.66173670e+02] [ 1.40600834e-01 9.90051315e-01 -5.45891147e-03 2.99126970e+01] [ 5.40535577e-02 -2.17065256e-03 9.98535678e-01 1.72309709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.20, Y:29.92, Z:17.23 [[ 9.89530474e-01 -1.34213729e-01 -5.30670983e-02 3.66202333e+02] [ 1.34117719e-01 9.90950789e-01 -5.38245051e-03 2.99232562e+01] [ 5.33092817e-02 -1.79113935e-03 9.98576443e-01 1.72328808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.23, Y:29.93, Z:17.23 [[ 9.89535292e-01 -1.34178188e-01 -5.30671159e-02 3.66233006e+02] [ 1.34082136e-01 9.90955605e-01 -5.38227723e-03 2.99263385e+01] [ 5.33093401e-02 -1.78939899e-03 9.98576443e-01 1.72343475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.26, Y:29.94, Z:17.24 [[ 9.90615437e-01 -1.26351608e-01 -5.21183924e-02 3.66262699e+02] [ 1.26248227e-01 9.91984608e-01 -5.28427826e-03 2.99391605e+01] [ 5.23683201e-02 -1.34516701e-03 9.98626932e-01 1.72364029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.29, Y:29.95, Z:17.24 [[ 9.91125820e-01 -1.22391148e-01 -5.18653679e-02 3.66292401e+02] [ 1.22283399e-01 9.92481298e-01 -5.25767201e-03 2.99460121e+01] [ 5.21189002e-02 -1.13125899e-03 9.98640246e-01 1.72379311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.32, Y:29.95, Z:17.24 [[ 9.91552766e-01 -1.18966923e-01 -5.16718852e-02 3.66323508e+02] [ 1.18855383e-01 9.92897765e-01 -5.23703709e-03 2.99528830e+01] [ 5.19279335e-02 -9.48683112e-04 9.98650384e-01 1.72395833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.35, Y:29.96, Z:17.24 [[ 9.91933550e-01 -1.15731129e-01 -5.17120673e-02 3.66354653e+02] [ 1.15615124e-01 9.93280270e-01 -5.23915072e-03 2.99600073e+01] [ 5.19709090e-02 -7.81807681e-04 9.98648293e-01 1.72412788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.38, Y:29.97, Z:17.24 [[ 9.92456495e-01 -1.10979591e-01 -5.20925637e-02 3.66384385e+02] [ 1.10855469e-01 9.93822539e-01 -5.27501974e-03 2.99684659e+01] [ 5.23561834e-02 -5.39517952e-04 9.98628329e-01 1.72423124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.41, Y:29.97, Z:17.24 [[ 9.92526335e-01 -1.10022944e-01 -5.27866073e-02 3.66414328e+02] [ 1.09894189e-01 9.93928924e-01 -5.34433896e-03 2.99725728e+01] [ 5.30541356e-02 -4.96544230e-04 9.98591514e-01 1.72432119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.44, Y:29.98, Z:17.24 [[ 9.92531784e-01 -1.09980070e-01 -5.27734893e-02 3.66444757e+02] [ 1.09851364e-01 9.93933669e-01 -5.34216770e-03 2.99770564e+01] [ 5.30408799e-02 -4.94968522e-04 9.98592219e-01 1.72448510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.48, Y:29.98, Z:17.25 [[ 9.92484097e-01 -1.10270348e-01 -5.30638112e-02 3.66475502e+02] [ 1.10140635e-01 9.93901498e-01 -5.37155648e-03 2.99804760e+01] [ 5.33325248e-02 -5.13297479e-04 9.98576676e-01 1.72464166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.51, Y:29.98, Z:17.25 [[ 9.92191367e-01 -1.12687786e-01 -5.34579758e-02 3.66505549e+02] [ 1.12559660e-01 9.93630234e-01 -5.41113582e-03 2.99828000e+01] [ 5.37272299e-02 -6.48329321e-04 9.98555439e-01 1.72476267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.54, Y:29.99, Z:17.25 [[ 9.92032553e-01 -1.14134687e-01 -5.33356023e-02 3.66536821e+02] [ 1.14009379e-01 9.93465019e-01 -5.39607712e-03 2.99855763e+01] [ 5.36029347e-02 -7.27674752e-04 9.98562064e-01 1.72492148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.57, Y:29.99, Z:17.25 [[ 9.91572938e-01 -1.17949624e-01 -5.35816599e-02 3.66568487e+02] [ 1.17828824e-01 9.93019135e-01 -5.41902245e-03 2.99872666e+01] [ 5.38467852e-02 -9.40107965e-04 9.98548767e-01 1.72508753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.60, Y:29.99, Z:17.25 [[ 9.91376977e-01 -1.19685718e-01 -5.33574552e-02 3.66598975e+02] [ 1.19568537e-01 9.92811293e-01 -5.39451685e-03 2.99890179e+01] [ 5.36195307e-02 -1.03187305e-03 9.98560905e-01 1.72522454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.63, Y:29.99, Z:17.25 [[ 9.91132235e-01 -1.21704383e-01 -5.33379364e-02 3.66629612e+02] [ 1.21590259e-01 9.92565736e-01 -5.39157415e-03 2.99917081e+01] [ 5.35975863e-02 -1.14161054e-03 9.98561964e-01 1.72537146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.66, Y:29.99, Z:17.26 [[ 9.90877656e-01 -1.23688500e-01 -5.35035116e-02 3.66659754e+02] [ 1.23576607e-01 9.92320303e-01 -5.40732574e-03 2.99932584e+01] [ 5.37614449e-02 -1.25378419e-03 9.98553021e-01 1.72553108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.69, Y:29.99, Z:17.26 [[ 9.90338304e-01 -1.27753752e-01 -5.39353570e-02 3.66691363e+02] [ 1.27646123e-01 9.91804803e-01 -5.44985902e-03 2.99944507e+01] [ 5.41895860e-02 -1.48743507e-03 9.98529557e-01 1.72563842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.72, Y:30.00, Z:17.26 [[ 9.90006001e-01 -1.30223023e-01 -5.41302296e-02 3.66722662e+02] [ 1.30118405e-01 9.91483387e-01 -5.46757875e-03 2.99972076e+01] [ 5.43812280e-02 -1.63040339e-03 9.98518915e-01 1.72578904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.75, Y:30.00, Z:17.26 [[ 9.89685878e-01 -1.32458016e-01 -5.45594782e-02 3.66752994e+02] [ 1.32355226e-01 9.91187038e-01 -5.50905281e-03 2.99975244e+01] [ 5.48083658e-02 -1.76900028e-03 9.98495325e-01 1.72587261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.78, Y:30.00, Z:17.26 [[ 9.89074590e-01 -1.37048537e-01 -5.43061227e-02 3.66784288e+02] [ 1.36953661e-01 9.90562284e-01 -5.48236074e-03 2.99984521e+01] [ 5.45449465e-02 -2.01495861e-03 9.98509283e-01 1.72598714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.82, Y:30.00, Z:17.26 [[ 9.88808296e-01 -1.38989196e-01 -5.42232098e-02 3.66815760e+02] [ 1.38897626e-01 9.90291627e-01 -5.47204454e-03 3.00015820e+01] [ 5.44573457e-02 -2.12067207e-03 9.98513846e-01 1.72615329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.85, Y:30.00, Z:17.26 [[ 9.88590041e-01 -1.40560140e-01 -5.41532812e-02 3.66848167e+02] [ 1.40471278e-01 9.90069684e-01 -5.46276659e-03 3.00044118e+01] [ 5.43833692e-02 -2.20654395e-03 9.98517692e-01 1.72631179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.88, Y:30.01, Z:17.26 [[ 9.88368192e-01 -1.42086365e-01 -5.42197639e-02 3.66879078e+02] [ 1.41999785e-01 9.89851599e-01 -5.46562284e-03 3.00063983e+01] [ 5.44461105e-02 -2.29714705e-03 9.98514068e-01 1.72646510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.91, Y:30.01, Z:17.27 [[ 9.88060402e-01 -1.44296340e-01 -5.39926665e-02 3.66910856e+02] [ 1.44213938e-01 9.89531581e-01 -5.43968686e-03 3.00095278e+01] [ 5.42123755e-02 -2.41175589e-03 9.98526515e-01 1.72664636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.94, Y:30.01, Z:17.27 [[ 9.87936494e-01 -1.45231664e-01 -5.37517222e-02 3.66942050e+02] [ 1.45151572e-01 9.89394630e-01 -5.41178145e-03 3.00114291e+01] [ 5.39676273e-02 -2.45565060e-03 9.98539666e-01 1.72677223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:366.97, Y:30.02, Z:17.27 [[ 9.87813391e-01 -1.46022463e-01 -5.38715558e-02 3.66974172e+02] [ 1.45943352e-01 9.89278097e-01 -5.42080548e-03 3.00158945e+01] [ 5.40855096e-02 -2.50745117e-03 9.98533159e-01 1.72693175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.01, Y:30.02, Z:17.27 [[ 9.87547454e-01 -1.47764070e-01 -5.39982082e-02 3.67005486e+02] [ 1.47687382e-01 9.89019188e-01 -5.42986109e-03 3.00188372e+01] [ 5.42076024e-02 -2.61260850e-03 9.98526269e-01 1.72700091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.04, Y:30.02, Z:17.27 [[ 9.87452620e-01 -1.48407413e-01 -5.39681722e-02 3.67037224e+02] [ 1.48331887e-01 9.88922760e-01 -5.42464356e-03 3.00229645e+01] [ 5.41754111e-02 -2.64862232e-03 9.98527921e-01 1.72715238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.07, Y:30.03, Z:17.27 [[ 9.87358717e-01 -1.48890942e-01 -5.43530199e-02 3.67068258e+02] [ 1.48815277e-01 9.88849942e-01 -5.45946424e-03 3.00250841e+01] [ 5.45598454e-02 -2.69811010e-03 9.98506857e-01 1.72728288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.10, Y:30.03, Z:17.27 [[ 9.87202613e-01 -1.49681801e-01 -5.50123563e-02 3.67099892e+02] [ 1.49605689e-01 9.88730317e-01 -5.52252804e-03 3.00303873e+01] [ 5.52190064e-02 -2.77830735e-03 9.98470401e-01 1.72738841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.13, Y:30.04, Z:17.28 [[ 9.87120869e-01 -1.50077024e-01 -5.54010578e-02 3.67131963e+02] [ 1.50000680e-01 9.88670274e-01 -5.55749696e-03 3.00356173e+01] [ 5.56074316e-02 -2.82427511e-03 9.98448715e-01 1.72753256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.16, Y:30.04, Z:17.28 [[ 9.87055403e-01 -1.50399190e-01 -5.56930396e-02 3.67162576e+02] [ 1.50322772e-01 9.88621210e-01 -5.58282352e-03 3.00384356e+01] [ 5.58989723e-02 -2.86137598e-03 9.98432330e-01 1.72761583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.19, Y:30.04, Z:17.28 [[ 9.86911180e-01 -1.50957010e-01 -5.67301014e-02 3.67194882e+02] [ 1.50878831e-01 9.88535926e-01 -5.68345607e-03 3.00419603e+01] [ 5.69377008e-02 -2.95030502e-03 9.98373374e-01 1.72768110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.23, Y:30.05, Z:17.28 [[ 9.86852855e-01 -1.51221353e-01 -5.70398616e-02 3.67226532e+02] [ 1.51142996e-01 9.88495416e-01 -5.71033827e-03 3.00461727e+01] [ 5.72471667e-02 -2.98591195e-03 9.98355571e-01 1.72779442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.26, Y:30.05, Z:17.28 [[ 9.86841913e-01 -1.51098316e-01 -5.75529206e-02 3.67258033e+02] [ 1.51018581e-01 9.88514158e-01 -5.75746124e-03 3.00522441e+01] [ 5.77618195e-02 -3.00985636e-03 9.98325855e-01 1.72795515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.29, Y:30.06, Z:17.28 [[ 9.86878338e-01 -1.50593438e-01 -5.82474193e-02 3.67289472e+02] [ 1.50511138e-01 9.88591166e-01 -5.82275924e-03 3.00555991e+01] [ 5.84597535e-02 -3.02053038e-03 9.98285197e-01 1.72807198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.32, Y:30.06, Z:17.28 [[ 9.87198192e-01 -1.48307219e-01 -5.86915527e-02 3.67319366e+02] [ 1.48219848e-01 9.88937054e-01 -5.86350490e-03 3.00610527e+01] [ 5.89118513e-02 -2.91081157e-03 9.98258945e-01 1.72817967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.35, Y:30.07, Z:17.28 [[ 9.87462312e-01 -1.46469437e-01 -5.88632799e-02 3.67350190e+02] [ 1.46378571e-01 9.89211194e-01 -5.87606145e-03 3.00678861e+01] [ 5.90888788e-02 -2.81393359e-03 9.98248760e-01 1.72839722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.38, Y:30.07, Z:17.29 [[ 9.87800670e-01 -1.44353762e-01 -5.84108539e-02 3.67381032e+02] [ 1.44260725e-01 9.89522546e-01 -5.82873530e-03 3.00736869e+01] [ 5.86402568e-02 -2.66876348e-03 9.98275612e-01 1.72859567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.41, Y:30.08, Z:17.29 [[ 9.88239879e-01 -1.41560868e-01 -5.78140261e-02 3.67410884e+02] [ 1.41465067e-01 9.89926449e-01 -5.76723044e-03 3.00783617e+01] [ 5.80480477e-02 -2.47925799e-03 9.98310712e-01 1.72879214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.44, Y:30.08, Z:17.29 [[ 9.89130434e-01 -1.35814058e-01 -5.63518060e-02 3.67440388e+02] [ 1.35713775e-01 9.90732144e-01 -5.62053436e-03 3.00847206e+01] [ 5.65928931e-02 -2.08827473e-03 9.98395154e-01 1.72903440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.47, Y:30.09, Z:17.29 [[ 9.89622003e-01 -1.32472078e-01 -5.56726083e-02 3.67471601e+02] [ 1.32368935e-01 9.91184965e-01 -5.55249469e-03 3.00908462e+01] [ 5.59174028e-02 -1.87445295e-03 9.98433639e-01 1.72921986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.50, Y:30.10, Z:17.29 [[ 9.90104473e-01 -1.29017896e-01 -5.52043102e-02 3.67502558e+02] [ 1.28911285e-01 9.91640862e-01 -5.50279388e-03 3.00993093e+01] [ 5.54528086e-02 -1.66811770e-03 9.98459916e-01 1.72944345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.53, Y:30.11, Z:17.30 [[ 9.90908731e-01 -1.22945580e-01 -5.46284897e-02 3.67532162e+02] [ 1.22832124e-01 9.92412540e-01 -5.44242658e-03 3.01073699e+01] [ 5.48831205e-02 -1.31718539e-03 9.98491917e-01 1.72959617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.56, Y:30.11, Z:17.30 [[ 9.91302656e-01 -1.19762371e-01 -5.45528944e-02 3.67562552e+02] [ 1.19644427e-01 9.92801932e-01 -5.43463202e-03 3.01127630e+01] [ 5.48110834e-02 -1.13958464e-03 9.98496092e-01 1.72974461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.59, Y:30.12, Z:17.30 [[ 9.91642249e-01 -1.16896986e-01 -5.45962001e-02 3.67594574e+02] [ 1.16774639e-01 9.93143558e-01 -5.43669735e-03 3.01186830e+01] [ 5.48573980e-02 -9.84192752e-04 9.98493714e-01 1.72990260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.63, Y:30.12, Z:17.30 [[ 9.91947997e-01 -1.14256343e-01 -5.46320394e-02 3.67625958e+02] [ 1.14130053e-01 9.93450944e-01 -5.43626683e-03 3.01239895e+01] [ 5.48953791e-02 -8.42663590e-04 9.98491756e-01 1.73007376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.66, Y:30.13, Z:17.30 [[ 9.92462800e-01 -1.09387876e-01 -5.52438568e-02 3.67657363e+02] [ 1.09251430e-01 9.93998970e-01 -5.49302994e-03 3.01301620e+01] [ 5.55132076e-02 -5.83842471e-04 9.98457782e-01 1.73018433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.69, Y:30.13, Z:17.30 [[ 9.92672483e-01 -1.07304971e-01 -5.55606425e-02 3.67689596e+02] [ 1.07163923e-01 9.94226040e-01 -5.52043142e-03 3.01346237e+01] [ 5.58322073e-02 -4.74116047e-04 9.98440053e-01 1.73029482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.72, Y:30.14, Z:17.30 [[ 9.92827534e-01 -1.05619571e-01 -5.60178068e-02 3.67720246e+02] [ 1.05473723e-01 9.94406535e-01 -5.56206546e-03 3.01389584e+01] [ 5.62919361e-02 -3.86234929e-04 9.98414277e-01 1.73039405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.75, Y:30.14, Z:17.30 [[ 9.93072253e-01 -1.02986908e-01 -5.65791201e-02 3.67750087e+02] [ 1.02833960e-01 9.94682682e-01 -5.61588635e-03 3.01433102e+01] [ 5.68566337e-02 -2.41274042e-04 9.98382324e-01 1.73048336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.78, Y:30.15, Z:17.31 [[ 9.93147906e-01 -1.02043935e-01 -5.69585211e-02 3.67780889e+02] [ 1.01887447e-01 9.94779875e-01 -5.65232705e-03 3.01470861e+01] [ 5.72379762e-02 -1.89761514e-04 9.98360545e-01 1.73067554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.81, Y:30.15, Z:17.31 [[ 9.93187236e-01 -1.01720379e-01 -5.68513722e-02 3.67810991e+02] [ 1.01564083e-01 9.94813015e-01 -5.63937748e-03 3.01502169e+01] [ 5.71301246e-02 -1.73099732e-04 9.98366726e-01 1.73078161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.84, Y:30.15, Z:17.31 [[ 9.93169561e-01 -1.02265740e-01 -5.61777715e-02 3.67841924e+02] [ 1.02114179e-01 9.94757094e-01 -5.56939271e-03 3.01518251e+01] [ 5.64527948e-02 -2.05195677e-04 9.98405248e-01 1.73097265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.87, Y:30.15, Z:17.31 [[ 9.93086050e-01 -1.03350172e-01 -5.56672104e-02 3.67872241e+02] [ 1.03203161e-01 9.94644997e-01 -5.51693941e-03 3.01531472e+01] [ 5.59392890e-02 -2.66236501e-04 9.98434137e-01 1.73111078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.90, Y:30.16, Z:17.31 [[ 9.92957399e-01 -1.04928012e-01 -5.50065046e-02 3.67903099e+02] [ 1.04786952e-01 9.94479758e-01 -5.45034318e-03 3.01550128e+01] [ 5.52747491e-02 -3.52005386e-04 9.98471120e-01 1.73138975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.93, Y:30.16, Z:17.32 [[ 9.92795261e-01 -1.06728284e-01 -5.44668976e-02 3.67934353e+02] [ 1.06592794e-01 9.94288123e-01 -5.39490740e-03 3.01560854e+01] [ 5.47315786e-02 -4.49740319e-04 9.98501003e-01 1.73159360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:367.97, Y:30.15, Z:17.32 [[ 9.92231225e-01 -1.12100811e-01 -5.39500091e-02 3.67966120e+02] [ 1.11975918e-01 9.93696563e-01 -5.34175330e-03 3.01542216e+01] [ 5.42087535e-02 -7.40847390e-04 9.98529350e-01 1.73178336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.00, Y:30.15, Z:17.32 [[ 9.91919288e-01 -1.14980243e-01 -5.36252650e-02 3.67998171e+02] [ 1.14861171e-01 9.93367376e-01 -5.30741708e-03 3.01542250e+01] [ 5.38798369e-02 -8.94931347e-04 9.98547026e-01 1.73191715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.03, Y:30.15, Z:17.32 [[ 9.91571202e-01 -1.18165657e-01 -5.31359457e-02 3.68029205e+02] [ 1.18053533e-01 9.92993328e-01 -5.25492996e-03 3.01536425e+01] [ 5.33845918e-02 -1.06224888e-03 9.98573461e-01 1.73206574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.06, Y:30.16, Z:17.32 [[ 9.91579662e-01 -1.18094402e-01 -5.31364898e-02 3.68060722e+02] [ 1.17982470e-01 9.93001803e-01 -5.24942201e-03 3.01566963e+01] [ 5.33845575e-02 -1.06395422e-03 9.98573461e-01 1.73221623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.09, Y:30.15, Z:17.32 [[ 9.90711848e-01 -1.25102586e-01 -5.32858036e-02 3.68092469e+02] [ 1.25000329e-01 9.92142754e-01 -5.26063248e-03 3.01524724e+01] [ 5.35252426e-02 -1.44897204e-03 9.98565445e-01 1.73230518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.12, Y:30.15, Z:17.32 [[ 9.90297736e-01 -1.28307673e-01 -5.33622922e-02 3.68124805e+02] [ 1.28209836e-01 9.91733078e-01 -5.26688670e-03 3.01522911e+01] [ 5.35969323e-02 -1.62578475e-03 9.98561328e-01 1.73238596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.16, Y:30.15, Z:17.32 [[ 9.89903668e-01 -1.31402425e-01 -5.31425476e-02 3.68155984e+02] [ 1.31310038e-01 9.91327494e-01 -5.24154676e-03 3.01503479e+01] [ 5.33704205e-02 -1.78952357e-03 9.98573180e-01 1.73244882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.19, Y:30.15, Z:17.33 [[ 9.89562366e-01 -1.33990223e-01 -5.30371944e-02 3.68188049e+02] [ 1.33902023e-01 9.90980780e-01 -5.22901332e-03 3.01526682e+01] [ 5.32594769e-02 -1.92735285e-03 9.98578847e-01 1.73260186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.22, Y:30.15, Z:17.33 [[ 9.89004329e-01 -1.38255258e-01 -5.24968641e-02 3.68219179e+02] [ 1.38175027e-01 9.90394321e-01 -5.17217511e-03 3.01516169e+01] [ 5.27076764e-02 -2.13845204e-03 9.98607695e-01 1.73273166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.25, Y:30.15, Z:17.33 [[ 9.88863642e-01 -1.39380591e-01 -5.21703817e-02 3.68250420e+02] [ 1.39302977e-01 9.90236473e-01 -5.13885554e-03 3.01498280e+01] [ 5.23772715e-02 -2.18586209e-03 9.98624976e-01 1.73284952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.28, Y:30.15, Z:17.33 [[ 9.88819036e-01 -1.39891219e-01 -5.16465048e-02 3.68282388e+02] [ 1.39816003e-01 9.90164448e-01 -5.08430250e-03 3.01546814e+01] [ 5.18497822e-02 -2.19355280e-03 9.98652486e-01 1.73305313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.31, Y:30.16, Z:17.33 [[ 9.88799953e-01 -1.40030157e-01 -5.16353299e-02 3.68314130e+02] [ 1.39955364e-01 9.90144786e-01 -5.07931837e-03 3.01564657e+01] [ 5.18377104e-02 -2.20421164e-03 9.98653090e-01 1.73319876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.35, Y:30.16, Z:17.33 [[ 9.89080181e-01 -1.38535888e-01 -5.02812353e-02 3.68345292e+02] [ 1.38463221e-01 9.90355243e-01 -4.94249824e-03 3.01554127e+01] [ 5.04809984e-02 -2.07357473e-03 9.98722869e-01 1.73330107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.38, Y:30.16, Z:17.33 [[ 9.89301700e-01 -1.37153826e-01 -4.97088968e-02 3.68377405e+02] [ 1.37081202e-01 9.90547776e-01 -4.88344909e-03 3.01605138e+01] [ 4.99088209e-02 -1.98295083e-03 9.98751810e-01 1.73348039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.41, Y:30.16, Z:17.34 [[ 9.89567138e-01 -1.35451921e-01 -4.90882630e-02 3.68408197e+02] [ 1.35379185e-01 9.90782143e-01 -4.81891125e-03 3.01622777e+01] [ 4.92885052e-02 -1.87689281e-03 9.98782820e-01 1.73364337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.44, Y:30.17, Z:17.34 [[ 9.90267722e-01 -1.30712282e-01 -4.77926614e-02 3.68438448e+02] [ 1.30637943e-01 9.91419053e-01 -4.68916939e-03 3.01680571e+01] [ 4.79954871e-02 -1.60000191e-03 9.98846271e-01 1.73382939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.47, Y:30.17, Z:17.34 [[ 9.90615628e-01 -1.28276477e-01 -4.71786262e-02 3.68469229e+02] [ 1.28201318e-01 9.91737366e-01 -4.62806924e-03 3.01695733e+01] [ 4.73824789e-02 -1.46372435e-03 9.98875747e-01 1.73397371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.50, Y:30.18, Z:17.34 [[ 9.90937605e-01 -1.25871858e-01 -4.68928436e-02 3.68500893e+02] [ 1.25795039e-01 9.92045600e-01 -4.59747302e-03 3.01752097e+01] [ 4.70985317e-02 -1.34307818e-03 9.98889345e-01 1.73410497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.53, Y:30.18, Z:17.34 [[ 9.91206136e-01 -1.23735637e-01 -4.69029590e-02 3.68532913e+02] [ 1.23656559e-01 9.92314437e-01 -4.59499857e-03 3.01784855e+01] [ 4.71110484e-02 -1.24526772e-03 9.98888882e-01 1.73422900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.56, Y:30.18, Z:17.34 [[ 9.91534466e-01 -1.20542295e-01 -4.82592877e-02 3.68562935e+02] [ 1.20454971e-01 9.92707551e-01 -4.72429246e-03 3.01801702e+01] [ 4.84768363e-02 -1.12877229e-03 9.98823669e-01 1.73424411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.59, Y:30.18, Z:17.34 [[ 9.91659685e-01 -1.19457518e-01 -4.83835693e-02 3.68594883e+02] [ 1.19368499e-01 9.92838726e-01 -4.73552145e-03 3.01840506e+01] [ 4.86027749e-02 -1.07944835e-03 9.98817604e-01 1.73432714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.63, Y:30.19, Z:17.34 [[ 9.91664219e-01 -1.19066742e-01 -4.92462025e-02 3.68625892e+02] [ 1.18974217e-01 9.92885662e-01 -4.81636119e-03 3.01851187e+01] [ 4.94693169e-02 -1.08281532e-03 9.98775057e-01 1.73439158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.66, Y:30.19, Z:17.34 [[ 9.91646767e-01 -1.18826966e-01 -5.01681403e-02 3.68657051e+02] [ 1.18730773e-01 9.92914375e-01 -4.90382894e-03 3.01867983e+01] [ 5.03953748e-02 -1.09363596e-03 9.98728747e-01 1.73445730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.69, Y:30.19, Z:17.35 [[ 9.91625229e-01 -1.18954238e-01 -5.02920838e-02 3.68688562e+02] [ 1.18857828e-01 9.92899123e-01 -4.91405847e-03 3.01912436e+01] [ 5.05195140e-02 -1.10470348e-03 9.98722463e-01 1.73461447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.72, Y:30.19, Z:17.35 [[ 9.91567415e-01 -1.19284949e-01 -5.06474242e-02 3.68719527e+02] [ 1.19187793e-01 9.92859414e-01 -4.94502638e-03 3.01924474e+01] [ 5.08756391e-02 -1.13322770e-03 9.98704353e-01 1.73470113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.75, Y:30.19, Z:17.35 [[ 9.91409930e-01 -1.20499232e-01 -5.08555351e-02 3.68750337e+02] [ 1.20403016e-01 9.92712691e-01 -4.96250807e-03 3.01905149e+01] [ 5.10829136e-02 -1.20328004e-03 9.98693691e-01 1.73481362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.78, Y:30.19, Z:17.35 [[ 9.91364468e-01 -1.21301262e-01 -4.98246467e-02 3.68781360e+02] [ 1.21210046e-01 9.92614986e-01 -4.85939471e-03 3.01944321e+01] [ 5.00461417e-02 -1.22181647e-03 9.98746159e-01 1.73503985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.81, Y:30.20, Z:17.35 [[ 9.91249220e-01 -1.23347396e-01 -4.70149358e-02 3.68812250e+02] [ 1.23268554e-01 9.92362763e-01 -4.58375015e-03 3.01959590e+01] [ 4.72212652e-02 -1.25182436e-03 9.98883669e-01 1.73544645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.84, Y:30.20, Z:17.36 [[ 9.91176388e-01 -1.24178219e-01 -4.63587907e-02 3.68843533e+02] [ 1.24102548e-01 9.92259111e-01 -4.51810437e-03 3.01968318e+01] [ 4.65609826e-02 -1.27500570e-03 9.98914636e-01 1.73567805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.88, Y:30.20, Z:17.36 [[ 9.90999633e-01 -1.25227719e-01 -4.73048139e-02 3.68875877e+02] [ 1.25150249e-01 9.92127101e-01 -4.60762979e-03 3.01986323e+01] [ 4.75093908e-02 -1.35404980e-03 9.98869874e-01 1.73575801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.91, Y:30.20, Z:17.36 [[ 9.90597068e-01 -1.27562637e-01 -4.94491895e-02 3.68908069e+02] [ 1.27481075e-01 9.91829327e-01 -4.81272945e-03 3.01994155e+01] [ 4.96590808e-02 -1.53636015e-03 9.98765045e-01 1.73571182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.94, Y:30.20, Z:17.36 [[ 9.90391075e-01 -1.29263671e-01 -4.91571101e-02 3.68939700e+02] [ 1.29185333e-01 9.91608942e-01 -4.78081394e-03 3.02013116e+01] [ 4.93626155e-02 -1.61550221e-03 9.98779617e-01 1.73592558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:368.97, Y:30.20, Z:17.36 [[ 9.90160280e-01 -1.31380368e-01 -4.81852529e-02 3.68971494e+02] [ 1.31307683e-01 9.91330594e-01 -4.68455211e-03 3.02043443e+01] [ 4.83829735e-02 -1.68863646e-03 9.98827431e-01 1.73616327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.00, Y:30.20, Z:17.36 [[ 9.89856485e-01 -1.34027212e-01 -4.71258482e-02 3.69002930e+02] [ 1.33960843e-01 9.90976051e-01 -4.57812529e-03 3.02009253e+01] [ 4.73141803e-02 -1.78133133e-03 9.98878469e-01 1.73638953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.03, Y:30.21, Z:17.37 [[ 9.89449069e-01 -1.37097851e-01 -4.68478357e-02 3.69033764e+02] [ 1.37035818e-01 9.90555650e-01 -4.54852730e-03 3.02050830e+01] [ 4.70289817e-02 -1.91929539e-03 9.98891681e-01 1.73654677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.06, Y:30.20, Z:17.37 [[ 9.88453558e-01 -1.43673680e-01 -4.81397741e-02 3.69064357e+02] [ 1.43616036e-01 9.89622456e-01 -4.67219132e-03 3.01996186e+01] [ 4.83114724e-02 -2.29539940e-03 9.98829682e-01 1.73658285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.10, Y:30.20, Z:17.37 [[ 9.87955377e-01 -1.46793937e-01 -4.89460228e-02 3.69095606e+02] [ 1.46738128e-01 9.89163964e-01 -4.75114255e-03 3.02002785e+01] [ 4.91130809e-02 -2.48833096e-03 9.98790125e-01 1.73666243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.13, Y:30.20, Z:17.37 [[ 9.87414688e-01 -1.49999046e-01 -5.01250373e-02 3.69125707e+02] [ 1.49944676e-01 9.88682421e-01 -4.86473087e-03 3.02004223e+01] [ 5.02874482e-02 -2.71247575e-03 9.98731102e-01 1.73668929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.16, Y:30.20, Z:17.37 [[ 9.86486235e-01 -1.55679649e-01 -5.10759744e-02 3.69156441e+02] [ 1.55630776e-01 9.87802860e-01 -4.95701050e-03 3.01992363e+01] [ 5.12246992e-02 -3.05897089e-03 9.98682469e-01 1.73670343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.19, Y:30.20, Z:17.37 [[ 9.86113436e-01 -1.57951052e-01 -5.13006583e-02 3.69186996e+02] [ 1.57904815e-01 9.87441787e-01 -4.97866518e-03 3.02010754e+01] [ 5.14427991e-02 -3.19109236e-03 9.98670844e-01 1.73683019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.22, Y:30.21, Z:17.37 [[ 9.85809841e-01 -1.59723143e-01 -5.16476013e-02 3.69217586e+02] [ 1.59678720e-01 9.87156313e-01 -5.01196898e-03 3.02081397e+01] [ 5.17847832e-02 -3.30617450e-03 9.98652795e-01 1.73699732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.25, Y:30.21, Z:17.37 [[ 9.85594860e-01 -1.60883289e-01 -5.21472874e-02 3.69248234e+02] [ 1.60839715e-01 9.86967576e-01 -5.05862738e-03 3.02105780e+01] [ 5.22815305e-02 -3.40159770e-03 9.98626592e-01 1.73711194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.28, Y:30.22, Z:17.37 [[ 9.85475424e-01 -1.61570771e-01 -5.22788125e-02 3.69279813e+02] [ 1.61528005e-01 9.86855105e-01 -5.07014771e-03 3.02154344e+01] [ 5.24108006e-02 -3.44798630e-03 9.98619657e-01 1.73722525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.31, Y:30.22, Z:17.37 [[ 9.85400094e-01 -1.62034398e-01 -5.22638402e-02 3.69311134e+02] [ 1.61992505e-01 9.86778990e-01 -5.06488288e-03 3.02162339e+01] [ 5.23935447e-02 -3.47541432e-03 9.98620467e-01 1.73740030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.34, Y:30.22, Z:17.38 [[ 9.85488671e-01 -1.61548401e-01 -5.20979257e-02 3.69342642e+02] [ 1.61506246e-01 9.86858790e-01 -5.04597206e-03 3.02206787e+01] [ 5.22284646e-02 -3.44139208e-03 9.98629233e-01 1.73758866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.37, Y:30.23, Z:17.38 [[ 9.85657586e-01 -1.60587803e-01 -5.18717646e-02 3.69374018e+02] [ 1.60544803e-01 9.87015779e-01 -5.02184653e-03 3.02273008e+01] [ 5.20046975e-02 -3.37792110e-03 9.98641127e-01 1.73780416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.40, Y:30.23, Z:17.38 [[ 9.86131710e-01 -1.57659206e-01 -5.18442468e-02 3.69403328e+02] [ 1.57612358e-01 9.87488318e-01 -5.01655665e-03 3.02330156e+01] [ 5.19864944e-02 -3.22430842e-03 9.98642583e-01 1.73796772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.43, Y:30.24, Z:17.38 [[ 9.86440985e-01 -1.55644541e-01 -5.20476680e-02 3.69433621e+02] [ 1.55594542e-01 9.87808168e-01 -5.03606726e-03 3.02373322e+01] [ 5.21969480e-02 -3.13054993e-03 9.98631903e-01 1.73810096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.46, Y:30.24, Z:17.38 [[ 9.86764764e-01 -1.53446046e-01 -5.24367415e-02 3.69464876e+02] [ 1.53392312e-01 9.88152355e-01 -5.07170089e-03 3.02432066e+01] [ 5.25937221e-02 -3.03881730e-03 9.98611369e-01 1.73821668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.49, Y:30.25, Z:17.38 [[ 9.87508236e-01 -1.48582330e-01 -5.24478374e-02 3.69493966e+02] [ 1.48521864e-01 9.88896126e-01 -5.07029535e-03 3.02512572e+01] [ 5.26188195e-02 -2.78269217e-03 9.98610793e-01 1.73834363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.52, Y:30.26, Z:17.39 [[ 9.87944359e-01 -1.45869390e-01 -5.18465407e-02 3.69524734e+02] [ 1.45806554e-01 9.89300421e-01 -5.01261563e-03 3.02614776e+01] [ 5.20229917e-02 -2.60738009e-03 9.98642484e-01 1.73855530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.56, Y:30.27, Z:17.39 [[ 9.88355226e-01 -1.43122128e-01 -5.16720696e-02 3.69555909e+02] [ 1.43056117e-01 9.89701985e-01 -4.99289868e-03 3.02677980e+01] [ 5.18545442e-02 -2.45724814e-03 9.98651625e-01 1.73874791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.59, Y:30.28, Z:17.39 [[ 9.89164299e-01 -1.37704025e-01 -5.09076660e-02 3.69585806e+02] [ 1.37632924e-01 9.90471104e-01 -4.91640864e-03 3.02773069e+01] [ 5.10995814e-02 -2.14343502e-03 9.98691263e-01 1.73901118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.62, Y:30.28, Z:17.39 [[ 9.89541787e-01 -1.34896029e-01 -5.10892722e-02 3.69616313e+02] [ 1.34820728e-01 9.90857727e-01 -4.93308977e-03 3.02847105e+01] [ 5.12876544e-02 -2.00639443e-03 9.98681907e-01 1.73918213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.65, Y:30.29, Z:17.39 [[ 9.89896441e-01 -1.32096725e-01 -5.15314670e-02 3.69646890e+02] [ 1.32016429e-01 9.91235049e-01 -4.97385173e-03 3.02894628e+01] [ 5.17368257e-02 -1.87940214e-03 9.98658985e-01 1.73932599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.68, Y:30.30, Z:17.39 [[ 9.90593532e-01 -1.26267493e-01 -5.27349388e-02 3.69676962e+02] [ 1.26175253e-01 9.91994918e-01 -5.08812399e-03 3.02997930e+01] [ 5.29552559e-02 -1.61358151e-03 9.98595582e-01 1.73941703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.71, Y:30.31, Z:17.40 [[ 9.90981143e-01 -1.23026856e-01 -5.31108879e-02 3.69707878e+02] [ 1.22928705e-01 9.92402280e-01 -5.12330889e-03 3.03056249e+01] [ 5.33376708e-02 -1.45175019e-03 9.98575478e-01 1.73957424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.74, Y:30.32, Z:17.40 [[ 9.91741105e-01 -1.16572430e-01 -5.34831738e-02 3.69738232e+02] [ 1.16463624e-01 9.93181568e-01 -5.15723968e-03 3.03151191e+01] [ 5.37196944e-02 -1.11419769e-03 9.98555433e-01 1.73969166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.77, Y:30.32, Z:17.40 [[ 9.92481982e-01 -1.09909403e-01 -5.38464295e-02 3.69768456e+02] [ 1.09789419e-01 9.93941319e-01 -5.19024952e-03 3.03230719e+01] [ 5.40906483e-02 -7.60539077e-04 9.98535740e-01 1.73983943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.80, Y:30.33, Z:17.40 [[ 9.93320448e-01 -1.01754894e-01 -5.44098218e-02 3.69798431e+02] [ 1.01620263e-01 9.94809448e-01 -5.24253471e-03 3.03330330e+01] [ 5.46608584e-02 -3.21623465e-04 9.98504926e-01 1.73999946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.83, Y:30.34, Z:17.40 [[ 9.93476229e-01 -9.96143618e-02 -5.55154201e-02 3.69828679e+02] [ 9.94709562e-02 9.95026098e-01 -5.34733041e-03 3.03384187e+01] [ 5.57719628e-02 -2.09726279e-04 9.98443511e-01 1.74019710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.86, Y:30.34, Z:17.40 [[ 9.93475834e-01 -9.95500024e-02 -5.56377896e-02 3.69859801e+02] [ 9.94058797e-02 9.95032539e-01 -5.35881212e-03 3.03416015e+01] [ 5.58948808e-02 -2.06873072e-04 9.98436638e-01 1.74042221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.89, Y:30.34, Z:17.41 [[ 9.93475833e-01 -9.95499209e-02 -5.56379547e-02 3.69889631e+02] [ 9.94058941e-02 9.95032547e-01 -5.35709686e-03 3.03444728e+01] [ 5.58948744e-02 -2.08594363e-04 9.98436638e-01 1.74056473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.92, Y:30.35, Z:17.41 [[ 9.93411414e-01 -1.00112526e-01 -5.57785370e-02 3.69919473e+02] [ 9.99686647e-02 9.94976092e-01 -5.37047887e-03 3.03465945e+01] [ 5.60359630e-02 -2.41010852e-04 9.98428722e-01 1.74064226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.95, Y:30.35, Z:17.41 [[ 9.93306977e-01 -1.00978355e-01 -5.60769201e-02 3.69949357e+02] [ 1.00834368e-01 9.94888580e-01 -5.39849921e-03 3.03488183e+01] [ 5.63354190e-02 -2.92113851e-04 9.98411857e-01 1.74081226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:369.98, Y:30.35, Z:17.41 [[ 9.93306978e-01 -1.00978394e-01 -5.60768404e-02 3.69979186e+02] [ 1.00834360e-01 9.94888576e-01 -5.39932708e-03 3.03516908e+01] [ 5.63354233e-02 -2.91283076e-04 9.98411857e-01 1.74095486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.01, Y:30.35, Z:17.41 [[ 9.93030038e-01 -1.03681860e-01 -5.60483331e-02 3.70009676e+02] [ 1.03542274e-01 9.94610413e-01 -5.39658227e-03 3.03529824e+01] [ 5.63057835e-02 -4.44403541e-04 9.98413472e-01 1.74119843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.04, Y:30.35, Z:17.41 [[ 9.92816617e-01 -1.05541910e-01 -5.63566321e-02 3.70039575e+02] [ 1.05403786e-01 9.94414702e-01 -5.42610355e-03 3.03543755e+01] [ 5.66145448e-02 -5.53076618e-04 9.98395957e-01 1.74138406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.07, Y:30.36, Z:17.42 [[ 9.92816617e-01 -1.05541870e-01 -5.63567133e-02 3.70069406e+02] [ 1.05403794e-01 9.94414706e-01 -5.42525935e-03 3.03572468e+01] [ 5.66145365e-02 -5.53923754e-04 9.98395957e-01 1.74152661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.10, Y:30.36, Z:17.42 [[ 9.92588060e-01 -1.07620273e-01 -5.64519337e-02 3.70100873e+02] [ 1.07485106e-01 9.94191844e-01 -5.43408863e-03 3.03590675e+01] [ 5.67088702e-02 -6.73930586e-04 9.98390530e-01 1.74170469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.13, Y:30.36, Z:17.42 [[ 9.92049029e-01 -1.12683070e-01 -5.60468537e-02 3.70131543e+02] [ 1.12558010e-01 9.93630519e-01 -5.39320443e-03 3.03571767e+01] [ 5.62975871e-02 -9.58199107e-04 9.98413573e-01 1.74183541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.16, Y:30.36, Z:17.42 [[ 9.91692676e-01 -1.15542201e-01 -5.65299581e-02 3.70163167e+02] [ 1.15419682e-01 9.93301928e-01 -5.43848214e-03 3.03582685e+01] [ 5.67796905e-02 -1.13136689e-03 9.98386091e-01 1.74201142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.19, Y:30.36, Z:17.42 [[ 9.91356588e-01 -1.18374538e-01 -5.65648650e-02 3.70193806e+02] [ 1.18256594e-01 9.92968171e-01 -5.43968097e-03 3.03581696e+01] [ 5.68110302e-02 -1.29650472e-03 9.98384107e-01 1.74213497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.22, Y:30.36, Z:17.42 [[ 9.91006436e-01 -1.21312703e-01 -5.64754104e-02 3.70224935e+02] [ 1.21200039e-01 9.92613259e-01 -5.42853234e-03 3.03581273e+01] [ 5.67167911e-02 -1.46511145e-03 9.98389232e-01 1.74227015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.26, Y:30.36, Z:17.42 [[ 9.90606456e-01 -1.24423101e-01 -5.67251342e-02 3.70256507e+02] [ 1.24314644e-01 9.92227878e-01 -5.45050195e-03 3.03583648e+01] [ 5.69624279e-02 -1.65246244e-03 9.98374955e-01 1.74240112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.29, Y:30.36, Z:17.43 [[ 9.89710455e-01 -1.31009096e-01 -5.75311347e-02 3.70288102e+02] [ 1.30908751e-01 9.91379021e-01 -5.52586362e-03 3.03572618e+01] [ 5.77590984e-02 -2.06232402e-03 9.98328420e-01 1.74259147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.32, Y:30.36, Z:17.43 [[ 9.89266717e-01 -1.34047344e-01 -5.81607415e-02 3.70319299e+02] [ 1.33950153e-01 9.90972337e-01 -5.58421607e-03 3.03584237e+01] [ 5.83842353e-02 -2.26636112e-03 9.98291613e-01 1.74274232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.35, Y:30.35, Z:17.43 [[ 9.88344484e-01 -1.40504688e-01 -5.85970503e-02 3.70349565e+02] [ 1.40417435e-01 9.90076416e-01 -5.62452617e-03 3.03548626e+01] [ 5.88058299e-02 -2.66907812e-03 9.98265872e-01 1.74282524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.38, Y:30.35, Z:17.43 [[ 9.87920993e-01 -1.43402648e-01 -5.87179118e-02 3.70380277e+02] [ 1.43320093e-01 9.89660334e-01 -5.63684724e-03 3.03504751e+01] [ 5.89191271e-02 -2.84669686e-03 9.98258700e-01 1.74281030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.41, Y:30.35, Z:17.43 [[ 9.87473481e-01 -1.46369859e-01 -5.89235844e-02 3.70410784e+02] [ 1.46292008e-01 9.89225280e-01 -5.65624945e-03 3.03547049e+01] [ 5.91166037e-02 -3.03465314e-03 9.98246472e-01 1.74304249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.44, Y:30.36, Z:17.43 [[ 9.87114263e-01 -1.48769845e-01 -5.89318752e-02 3.70441730e+02] [ 1.48696338e-01 9.88866734e-01 -5.65525457e-03 3.03570091e+01] [ 5.91171023e-02 -3.18057157e-03 9.98245988e-01 1.74320813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.47, Y:30.36, Z:17.43 [[ 9.86446445e-01 -1.53183643e-01 -5.88063070e-02 3.70471349e+02] [ 1.53118340e-01 9.88191755e-01 -5.64175516e-03 3.03567601e+01] [ 5.89761324e-02 -3.43903480e-03 9.98253469e-01 1.74333011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.50, Y:30.36, Z:17.43 [[ 9.86144724e-01 -1.54880135e-01 -5.94199162e-02 3.70502784e+02] [ 1.54816515e-01 9.87926792e-01 -5.70088394e-03 3.03586682e+01] [ 5.95854809e-02 -3.57728771e-03 9.98216797e-01 1.74343053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.53, Y:30.36, Z:17.44 [[ 9.85839569e-01 -1.56419198e-01 -6.04431813e-02 3.70533679e+02] [ 1.56356369e-01 9.87683694e-01 -5.79711177e-03 3.03610320e+01] [ 6.06055241e-02 -3.73565419e-03 9.98154805e-01 1.74351568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.56, Y:30.36, Z:17.44 [[ 9.85655596e-01 -1.57426676e-01 -6.08267078e-02 3.70564717e+02] [ 1.57365040e-01 9.87523278e-01 -5.83256561e-03 3.03640623e+01] [ 6.09859913e-02 -3.82309635e-03 9.98131300e-01 1.74361829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.60, Y:30.37, Z:17.44 [[ 9.85318861e-01 -1.59161155e-01 -6.17613798e-02 3.70595494e+02] [ 1.59101143e-01 9.87244539e-01 -5.91994605e-03 3.03690265e+01] [ 6.19158104e-02 -3.99327164e-03 9.98073387e-01 1.74374121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.63, Y:30.37, Z:17.44 [[ 9.85206645e-01 -1.59704072e-01 -6.21488226e-02 3.70625890e+02] [ 1.59644539e-01 9.87156606e-01 -5.95456740e-03 3.03698552e+01] [ 6.23015894e-02 -4.05524075e-03 9.98049131e-01 1.74382482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.66, Y:30.37, Z:17.44 [[ 9.85143743e-01 -1.60005050e-01 -6.23713843e-02 3.70656950e+02] [ 1.59945880e-01 9.87107715e-01 -5.97286947e-03 3.03726889e+01] [ 6.25229639e-02 -4.09191097e-03 9.98035137e-01 1.74395718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.69, Y:30.37, Z:17.44 [[ 9.85211159e-01 -1.59512003e-01 -6.25691147e-02 3.70687338e+02] [ 1.59451592e-01 9.87187577e-01 -5.98984971e-03 3.03743517e+01] [ 6.27229056e-02 -4.07547820e-03 9.98022659e-01 1.74405259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.72, Y:30.38, Z:17.44 [[ 9.85365499e-01 -1.58563539e-01 -6.25494778e-02 3.70717747e+02] [ 1.58501317e-01 9.87340613e-01 -5.98713405e-03 3.03795767e+01] [ 6.27069810e-02 -4.01465931e-03 9.98023906e-01 1.74424834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.75, Y:30.39, Z:17.44 [[ 9.85534058e-01 -1.57357511e-01 -6.29383289e-02 3.70747980e+02] [ 1.57292069e-01 9.87533752e-01 -6.02435423e-03 3.03858829e+01] [ 6.31017015e-02 -3.96249368e-03 9.97999235e-01 1.74443020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.78, Y:30.39, Z:17.45 [[ 9.85843826e-01 -1.55397912e-01 -6.29558513e-02 3.70777643e+02] [ 1.55328456e-01 9.87844501e-01 -6.02603145e-03 3.03903497e+01] [ 6.31270242e-02 -3.83810927e-03 9.97998120e-01 1.74452508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.81, Y:30.40, Z:17.45 [[ 9.86506285e-01 -1.51136764e-01 -6.29525846e-02 3.70807026e+02] [ 1.51058677e-01 9.88506433e-01 -6.02563974e-03 3.03998605e+01] [ 6.31397306e-02 -3.56520267e-03 9.97998329e-01 1.74474573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.84, Y:30.41, Z:17.45 [[ 9.86913737e-01 -1.48544122e-01 -6.27369014e-02 3.70836744e+02] [ 1.48461363e-01 9.88899978e-01 -6.00475716e-03 3.04053236e+01] [ 6.29324918e-02 -3.38782859e-03 9.98012036e-01 1.74490646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.87, Y:30.42, Z:17.45 [[ 9.87794423e-01 -1.42690939e-01 -6.24617758e-02 3.70866668e+02] [ 1.42597234e-01 9.89762743e-01 -5.97842297e-03 3.04155183e+01] [ 6.26754054e-02 -3.00142361e-03 9.98029451e-01 1.74510689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.90, Y:30.43, Z:17.46 [[ 9.88250367e-01 -1.39743679e-01 -6.19105461e-02 3.70897119e+02] [ 1.39645902e-01 9.90183780e-01 -5.92485194e-03 3.04285385e+01] [ 6.21307792e-02 -2.79031694e-03 9.98064116e-01 1.74553602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.93, Y:30.43, Z:17.46 [[ 9.88739680e-01 -1.36474628e-01 -6.13882850e-02 3.70927718e+02] [ 1.36372398e-01 9.90640243e-01 -5.87176173e-03 3.04304402e+01] [ 6.16150521e-02 -2.56602383e-03 9.98096689e-01 1.74562395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.96, Y:30.44, Z:17.46 [[ 9.89205044e-01 -1.33294024e-01 -6.08776147e-02 3.70957248e+02] [ 1.33187582e-01 9.91073752e-01 -5.82119779e-03 3.04365234e+01] [ 6.11101369e-02 -2.34978408e-03 9.98128263e-01 1.74579985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:370.99, Y:30.45, Z:17.46 [[ 9.89978834e-01 -1.27552869e-01 -6.05984667e-02 3.70986401e+02] [ 1.27436660e-01 9.91829785e-01 -5.79450529e-03 3.04505056e+01] [ 6.08424699e-02 -1.98602860e-03 9.98145405e-01 1.74613219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.02, Y:30.45, Z:17.46 [[ 9.90329752e-01 -1.24938638e-01 -6.03101865e-02 3.71016701e+02] [ 1.24818706e-01 9.92162807e-01 -5.76671007e-03 3.04545844e+01] [ 6.05580089e-02 -1.81689489e-03 9.98163026e-01 1.74620129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.05, Y:30.46, Z:17.47 [[ 9.90648494e-01 -1.22419448e-01 -6.02415215e-02 3.71047228e+02] [ 1.22295217e-01 9.92477060e-01 -5.75884241e-03 3.04631795e+01] [ 6.04933225e-02 -1.66226140e-03 9.98167218e-01 1.74650349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.08, Y:30.47, Z:17.47 [[ 9.91068763e-01 -1.19090287e-01 -6.00017596e-02 3.71077560e+02] [ 1.18961080e-01 9.92882362e-01 -5.73375799e-03 3.04689366e+01] [ 6.02575237e-02 -1.45532567e-03 9.98181804e-01 1.74662127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.11, Y:30.47, Z:17.47 [[ 9.91212400e-01 -1.17646964e-01 -6.04745374e-02 3.71108642e+02] [ 1.17513175e-01 9.93054523e-01 -5.77652514e-03 3.04730525e+01] [ 6.07341035e-02 -1.38079156e-03 9.98153025e-01 1.74672941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.14, Y:30.48, Z:17.47 [[ 9.91353271e-01 -1.16111550e-01 -6.11293665e-02 3.71140078e+02] [ 1.15972132e-01 9.93235323e-01 -5.83582612e-03 3.04786341e+01] [ 6.13934530e-02 -1.30393763e-03 9.98112791e-01 1.74690759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.17, Y:30.48, Z:17.47 [[ 9.91494131e-01 -1.14868326e-01 -6.11935899e-02 3.71169926e+02] [ 1.14726421e-01 9.93379964e-01 -5.83917706e-03 3.04825826e+01] [ 6.14592226e-02 -1.23101175e-03 9.98108836e-01 1.74699771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.20, Y:30.49, Z:17.47 [[ 9.91763329e-01 -1.12299559e-01 -6.15979569e-02 3.71200715e+02] [ 1.12150906e-01 9.93673811e-01 -5.87641642e-03 3.04884627e+01] [ 6.18681955e-02 -1.08025235e-03 9.98083744e-01 1.74716348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.23, Y:30.49, Z:17.47 [[ 9.91928748e-01 -1.11005811e-01 -6.12786235e-02 3.71230762e+02] [ 1.10856347e-01 9.93819258e-01 -5.84405395e-03 3.04926036e+01] [ 6.15486000e-02 -9.96239205e-04 9.98103590e-01 1.74733214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.26, Y:30.50, Z:17.48 [[ 9.92051942e-01 -1.09895602e-01 -6.12854140e-02 3.71261756e+02] [ 1.09744071e-01 9.93942702e-01 -5.84337049e-03 3.04977715e+01] [ 6.15563507e-02 -9.28783771e-04 9.98103178e-01 1.74762734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.29, Y:30.50, Z:17.48 [[ 9.92341783e-01 -1.08005389e-01 -5.99384840e-02 3.71293339e+02] [ 1.07857146e-01 9.94149990e-01 -5.71259532e-03 3.05017823e+01] [ 6.02048343e-02 -7.95946786e-04 9.98185726e-01 1.74784636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.32, Y:30.50, Z:17.48 [[ 9.92422106e-01 -1.07292453e-01 -5.98889999e-02 3.71324131e+02] [ 1.07143351e-01 9.94227217e-01 -5.70466389e-03 3.05045445e+01] [ 6.01553411e-02 -7.55273588e-04 9.98188742e-01 1.74797302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.36, Y:30.51, Z:17.48 [[ 9.92472352e-01 -1.07155915e-01 -5.92978881e-02 3.71355699e+02] [ 1.07009676e-01 9.94241952e-01 -5.64542018e-03 3.05077742e+01] [ 5.95613882e-02 -7.42524342e-04 9.98224368e-01 1.74819669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.39, Y:30.51, Z:17.48 [[ 9.92364959e-01 -1.08234613e-01 -5.91359186e-02 3.71387321e+02] [ 1.08091211e-01 9.94125051e-01 -5.62789762e-03 3.05099024e+01] [ 5.93976314e-02 -8.07144638e-04 9.98234076e-01 1.74831776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.42, Y:30.51, Z:17.48 [[ 9.92258600e-01 -1.09304142e-01 -5.89531561e-02 3.71417595e+02] [ 1.09163621e-01 9.94007971e-01 -5.60863034e-03 3.05106707e+01] [ 5.92129536e-02 -8.70328317e-04 9.98244994e-01 1.74834518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.45, Y:30.51, Z:17.49 [[ 9.92084451e-01 -1.10904755e-01 -5.88946320e-02 3.71449755e+02] [ 1.10767428e-01 9.93830570e-01 -5.60139388e-03 3.05135494e+01] [ 5.91525069e-02 -9.66551161e-04 9.98248489e-01 1.74857863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.48, Y:30.51, Z:17.49 [[ 9.91597065e-01 -1.15072000e-01 -5.91074907e-02 3.71480406e+02] [ 1.14941305e-01 9.93356400e-01 -5.61766729e-03 3.05120554e+01] [ 5.93612404e-02 -1.22342973e-03 9.98235817e-01 1.74861290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.51, Y:30.51, Z:17.49 [[ 9.91315614e-01 -1.17570969e-01 -5.89102760e-02 3.71512105e+02] [ 1.17445715e-01 9.93063536e-01 -5.59615784e-03 3.05126533e+01] [ 5.91595927e-02 -1.37120082e-03 9.98247596e-01 1.74875696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.54, Y:30.51, Z:17.49 [[ 9.90710355e-01 -1.22925889e-01 -5.81568430e-02 3.71543104e+02] [ 1.22813184e-01 9.92414445e-01 -5.52187582e-03 3.05099005e+01] [ 5.83944725e-02 -1.67184748e-03 9.98292187e-01 1.74895557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.57, Y:30.51, Z:17.49 [[ 9.90719039e-01 -1.22855805e-01 -5.81569949e-02 3.71574641e+02] [ 1.22743074e-01 9.92423128e-01 -5.52027533e-03 3.05128349e+01] [ 5.83945446e-02 -1.66932644e-03 9.98292187e-01 1.74910623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.61, Y:30.51, Z:17.49 [[ 9.90391703e-01 -1.25700040e-01 -5.76521798e-02 3.71605845e+02] [ 1.25594319e-01 9.92066615e-01 -5.46798668e-03 3.05122963e+01] [ 5.78821290e-02 -1.82533763e-03 9.98321755e-01 1.74925698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.64, Y:30.51, Z:17.49 [[ 9.89850605e-01 -1.29904006e-01 -5.76257618e-02 3.71636319e+02] [ 1.29805759e-01 9.91524404e-01 -5.46079941e-03 3.05094823e+01] [ 5.78467289e-02 -2.07478014e-03 9.98323320e-01 1.74923327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.67, Y:30.51, Z:17.49 [[ 9.89666259e-01 -1.31033608e-01 -5.82313370e-02 3.71667183e+02] [ 1.30935314e-01 9.91375563e-01 -5.51685688e-03 3.05095451e+01] [ 5.84520182e-02 -2.16469129e-03 9.98287872e-01 1.74931346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.70, Y:30.51, Z:17.49 [[ 9.89562237e-01 -1.31973437e-01 -5.78756544e-02 3.71698709e+02] [ 1.31878342e-01 9.91250782e-01 -5.47632347e-03 3.05130093e+01] [ 5.80920169e-02 -2.21338244e-03 9.98308779e-01 1.74949306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.73, Y:30.52, Z:17.50 [[ 9.89601102e-01 -1.31966108e-01 -5.72241679e-02 3.71730835e+02] [ 1.31873455e-01 9.91251802e-01 -5.40901606e-03 3.05164175e+01] [ 5.74373663e-02 -2.19358047e-03 9.98346702e-01 1.74977046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.76, Y:30.52, Z:17.50 [[ 9.89716268e-01 -1.31455897e-01 -5.64008515e-02 3.71763000e+02] [ 1.31365293e-01 9.91319717e-01 -5.32713945e-03 3.05205130e+01] [ 5.66115600e-02 -2.13675780e-03 9.98393993e-01 1.74997617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.79, Y:30.52, Z:17.50 [[ 9.89860172e-01 -1.30538100e-01 -5.60057614e-02 3.71794611e+02] [ 1.30447554e-01 9.91441124e-01 -5.28521113e-03 3.05198346e+01] [ 5.62163365e-02 -2.07419457e-03 9.98416457e-01 1.75004064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.83, Y:30.52, Z:17.50 [[ 9.90188028e-01 -1.27772114e-01 -5.65858227e-02 3.71825212e+02] [ 1.27675548e-01 9.91801648e-01 -5.33338916e-03 3.05234273e+01] [ 5.68033706e-02 -1.94356783e-03 9.98383493e-01 1.75015217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.86, Y:30.53, Z:17.50 [[ 9.90478842e-01 -1.25293257e-01 -5.70373941e-02 3.71856961e+02] [ 1.25191176e-01 9.92118085e-01 -5.37358329e-03 3.05308342e+01] [ 5.72611039e-02 -1.81815789e-03 9.98357581e-01 1.75034100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.89, Y:30.54, Z:17.50 [[ 9.90767381e-01 -1.22947698e-01 -5.71301984e-02 3.71888421e+02] [ 1.22841629e-01 9.92411714e-01 -5.37817166e-03 3.05361140e+01] [ 5.73579119e-02 -1.68944960e-03 9.98352250e-01 1.75049924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.92, Y:30.54, Z:17.51 [[ 9.91425378e-01 -1.17004650e-01 -5.81861748e-02 3.71918358e+02] [ 1.16884616e-01 9.93130416e-01 -5.47384593e-03 3.05425724e+01] [ 5.84269254e-02 -1.37415892e-03 9.98290742e-01 1.75061794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.95, Y:30.55, Z:17.51 [[ 9.91737772e-01 -1.13961056e-01 -5.88988060e-02 3.71948868e+02] [ 1.13832777e-01 9.93484480e-01 -5.53959311e-03 3.05471526e+01] [ 5.91463475e-02 -1.21079091e-03 9.98248588e-01 1.75075739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:371.98, Y:30.55, Z:17.51 [[ 9.91741779e-01 -1.13926079e-01 -5.88990014e-02 3.71979556e+02] [ 1.13797862e-01 9.93488491e-01 -5.53751489e-03 3.05500077e+01] [ 5.91463474e-02 -1.21079558e-03 9.98248588e-01 1.75090396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.01, Y:30.56, Z:17.51 [[ 9.92402007e-01 -1.07713411e-01 -5.94649189e-02 3.72010815e+02] [ 1.07571711e-01 9.94181622e-01 -5.58837014e-03 3.05572041e+01] [ 5.97208720e-02 -8.50833335e-04 9.98214753e-01 1.75105590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.04, Y:30.56, Z:17.51 [[ 9.92709162e-01 -1.04614907e-01 -5.98685278e-02 3.72041572e+02] [ 1.04465827e-01 9.94512579e-01 -5.62327857e-03 3.05624051e+01] [ 6.01282827e-02 -6.71935100e-04 9.98190432e-01 1.75125552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.07, Y:30.57, Z:17.51 [[ 9.93037838e-01 -1.01627972e-01 -5.95618022e-02 3.72071973e+02] [ 1.01475163e-01 9.94822353e-01 -5.59253058e-03 3.05666103e+01] [ 5.98217698e-02 -4.90449121e-04 9.98208954e-01 1.75137343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.10, Y:30.57, Z:17.52 [[ 9.93294300e-01 -9.91606226e-02 -5.94441233e-02 3.72102542e+02] [ 9.90040537e-02 9.95071381e-01 -5.58062641e-03 3.05712447e+01] [ 5.97045243e-02 -3.42004778e-04 9.98216035e-01 1.75158794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.13, Y:30.58, Z:17.52 [[ 9.93512212e-01 -9.70458092e-02 -5.92924569e-02 3.72132081e+02] [ 9.68862627e-02 9.95279893e-01 -5.56660042e-03 3.05753803e+01] [ 5.95528053e-02 -2.14139055e-04 9.98225134e-01 1.75176041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.16, Y:30.58, Z:17.52 [[ 9.93875995e-01 -9.37010804e-02 -5.85714434e-02 3.72161844e+02] [ 9.35395398e-02 9.95600375e-01 -5.49973777e-03 3.05800653e+01] [ 5.88290824e-02 -1.26885135e-05 9.98268070e-01 1.75198609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.19, Y:30.58, Z:17.52 [[ 9.93938704e-01 -9.28855418e-02 -5.88058595e-02 3.72191781e+02] [ 9.27212783e-02 9.95676792e-01 -5.52174896e-03 3.05832597e+01] [ 5.90645202e-02 3.57255411e-05 9.98254167e-01 1.75221486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.22, Y:30.59, Z:17.52 [[ 9.93949071e-01 -9.26855005e-02 -5.89460935e-02 3.72221745e+02] [ 9.25200754e-02 9.95695433e-01 -5.53533853e-03 3.05859436e+01] [ 5.92054017e-02 4.81475777e-05 9.98245820e-01 1.75240991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.25, Y:30.59, Z:17.53 [[ 9.93756279e-01 -9.44765235e-02 -5.93518698e-02 3.72251398e+02] [ 9.43118727e-02 9.95527088e-01 -5.57560673e-03 3.05869275e+01] [ 5.96131580e-02 -5.67917852e-05 9.98221553e-01 1.75256999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.28, Y:30.59, Z:17.53 [[ 9.93607152e-01 -9.62375250e-02 -5.90183478e-02 3.72281477e+02] [ 9.60776980e-02 9.95358384e-01 -5.54640326e-03 3.05877387e+01] [ 5.92781794e-02 -1.59401045e-04 9.98241490e-01 1.75273633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.31, Y:30.59, Z:17.53 [[ 9.93422457e-01 -9.82087939e-02 -5.88799989e-02 3.72311258e+02] [ 9.80530489e-02 9.95165794e-01 -5.53552265e-03 3.05881356e+01] [ 5.91389979e-02 -2.74250900e-04 9.98249720e-01 1.75293339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.34, Y:30.59, Z:17.53 [[ 9.93205257e-01 -1.00508773e-01 -5.86626345e-02 3.72342131e+02] [ 1.00358084e-01 9.94936088e-01 -5.51678422e-03 3.05883702e+01] [ 5.89200573e-02 -4.07970483e-04 9.98262621e-01 1.75311941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.37, Y:30.59, Z:17.53 [[ 9.92697135e-01 -1.05473830e-01 -5.85462952e-02 3.72372393e+02] [ 1.05332420e-01 9.94421831e-01 -5.50483765e-03 3.05851657e+01] [ 5.88003304e-02 -7.02186397e-04 9.98269517e-01 1.75327318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.40, Y:30.59, Z:17.54 [[ 9.92449411e-01 -1.07670533e-01 -5.87471172e-02 3.72403491e+02] [ 1.07532270e-01 9.94186276e-01 -5.51904828e-03 3.05868272e+01] [ 5.89998165e-02 -8.39834675e-04 9.98257640e-01 1.75355243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.43, Y:30.58, Z:17.54 [[ 9.91994596e-01 -1.11651156e-01 -5.89978044e-02 3.72433896e+02] [ 1.11518856e-01 9.93746872e-01 -5.54063026e-03 3.05838237e+01] [ 5.92475013e-02 -1.08309236e-03 9.98242736e-01 1.75362191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.47, Y:30.59, Z:17.54 [[ 9.91789985e-01 -1.13342359e-01 -5.92126221e-02 3.72465415e+02] [ 1.13212180e-01 9.93555280e-01 -5.55950446e-03 3.05856034e+01] [ 5.94611407e-02 -1.18972919e-03 9.98229912e-01 1.75382252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.50, Y:30.58, Z:17.54 [[ 9.91536953e-01 -1.15531353e-01 -5.92197426e-02 3.72496486e+02] [ 1.15405155e-01 9.93302953e-01 -5.55824663e-03 3.05843553e+01] [ 5.94652969e-02 -1.32305664e-03 9.98229497e-01 1.75391064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.53, Y:30.59, Z:17.54 [[ 9.91432814e-01 -1.16154099e-01 -5.97427960e-02 3.72528228e+02] [ 1.16026869e-01 9.93230254e-01 -5.60603276e-03 3.05856107e+01] [ 5.99895161e-02 -1.37376471e-03 9.98198062e-01 1.75407050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.56, Y:30.59, Z:17.54 [[ 9.91433938e-01 -1.16260438e-01 -5.95168684e-02 3.72559013e+02] [ 1.16134488e-01 9.93217808e-01 -5.58269349e-03 3.05875153e+01] [ 5.97622600e-02 -1.37708925e-03 9.98211689e-01 1.75423101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.59, Y:30.59, Z:17.54 [[ 9.91488904e-01 -1.15819080e-01 -5.94617092e-02 3.72588309e+02] [ 1.15692677e-01 9.93269407e-01 -5.57574084e-03 3.05889649e+01] [ 5.97072739e-02 -1.35099916e-03 9.98215015e-01 1.75437003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.62, Y:30.59, Z:17.55 [[ 9.91797539e-01 -1.13604857e-01 -5.85796739e-02 3.72618912e+02] [ 1.13478361e-01 9.93525287e-01 -5.49233780e-03 3.05931976e+01] [ 5.88243436e-02 -1.20023825e-03 9.98267627e-01 1.75466741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.65, Y:30.60, Z:17.55 [[ 9.92233815e-01 -1.10083946e-01 -5.79101040e-02 3.72649282e+02] [ 1.09954447e-01 9.93921808e-01 -5.42763548e-03 3.05954377e+01] [ 5.81556108e-02 -9.81989982e-04 9.98307047e-01 1.75483050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.68, Y:30.60, Z:17.55 [[ 9.92440911e-01 -1.08176549e-01 -5.79557836e-02 3.72680786e+02] [ 1.08043668e-01 9.94131316e-01 -5.43065665e-03 3.05985682e+01] [ 5.82031291e-02 -8.72149634e-04 9.98304380e-01 1.75501998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.71, Y:30.60, Z:17.55 [[ 9.92670076e-01 -1.06088634e-01 -5.78905966e-02 3.72711202e+02] [ 1.05952646e-01 9.94356394e-01 -5.42213050e-03 3.06007674e+01] [ 5.81391113e-02 -7.51275179e-04 9.98308209e-01 1.75509139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.74, Y:30.60, Z:17.55 [[ 9.92853798e-01 -1.04190560e-01 -5.81864551e-02 3.72740574e+02] [ 1.04050087e-01 9.94557142e-01 -5.44699558e-03 3.06033869e+01] [ 5.84372800e-02 -6.46235479e-04 9.98290873e-01 1.75517796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.77, Y:30.61, Z:17.55 [[ 9.93013389e-01 -1.02528013e-01 -5.84158891e-02 3.72770404e+02] [ 1.02383494e-01 9.94729966e-01 -5.46952200e-03 3.06058901e+01] [ 5.86688146e-02 -5.49514248e-04 9.98277350e-01 1.75527962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.80, Y:30.61, Z:17.55 [[ 9.93136139e-01 -1.01354919e-01 -5.83762778e-02 3.72799877e+02] [ 1.01208498e-01 9.94850216e-01 -5.46704027e-03 3.06083721e+01] [ 5.86297640e-02 -4.78660164e-04 9.98279681e-01 1.75541763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.83, Y:30.61, Z:17.56 [[ 9.93336032e-01 -9.96640047e-02 -5.78844859e-02 3.72829728e+02] [ 9.95170557e-02 9.95021078e-01 -5.42301075e-03 3.06098265e+01] [ 5.81367626e-02 -3.73621629e-04 9.98308558e-01 1.75564451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.86, Y:30.61, Z:17.56 [[ 9.93373272e-01 -9.94548850e-02 -5.76044132e-02 3.72859307e+02] [ 9.93088859e-02 9.95042008e-01 -5.39881497e-03 3.06118341e+01] [ 5.78557495e-02 -3.57591607e-04 9.98324889e-01 1.75583699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.89, Y:30.61, Z:17.56 [[ 9.93399026e-01 -9.94066779e-02 -5.72423503e-02 3.72888159e+02] [ 9.92623005e-02 9.95046828e-01 -5.36712363e-03 3.06119618e+01] [ 5.74923470e-02 -3.50311991e-04 9.98345886e-01 1.75602284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.92, Y:30.61, Z:17.56 [[ 9.93401523e-01 -9.94440221e-02 -5.71340611e-02 3.72917088e+02] [ 9.93000757e-02 9.95043097e-01 -5.36004770e-03 3.06129460e+01] [ 5.73838778e-02 -3.48737046e-04 9.98352127e-01 1.75611613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.95, Y:30.61, Z:17.56 [[ 9.93371062e-01 -9.98286276e-02 -5.69927855e-02 3.72945800e+02] [ 9.96857429e-02 9.95004579e-01 -5.35171663e-03 3.06140962e+01] [ 5.72423371e-02 -3.65127728e-04 9.98360246e-01 1.75627754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:372.97, Y:30.61, Z:17.56 [[ 9.93312098e-01 -1.00810760e-01 -5.62873637e-02 3.72974544e+02] [ 1.00672185e-01 9.94905537e-01 -5.29930294e-03 3.06134311e+01] [ 5.65348365e-02 -4.02710181e-04 9.98400546e-01 1.75646714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.00, Y:30.61, Z:17.57 [[ 9.93259016e-01 -1.01759909e-01 -5.55107888e-02 3.73004435e+02] [ 1.01625938e-01 9.94808891e-01 -5.23830538e-03 3.06139381e+01] [ 5.57556757e-02 -4.38341948e-04 9.98444346e-01 1.75661870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.03, Y:30.61, Z:17.57 [[ 9.93194522e-01 -1.02866483e-01 -5.46180157e-02 3.73034327e+02] [ 1.02738354e-01 9.94695052e-01 -5.15600790e-03 3.06141134e+01] [ 5.48586504e-02 -4.90446244e-04 9.98494010e-01 1.75682810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.06, Y:30.61, Z:17.57 [[ 9.93087956e-01 -1.04507523e-01 -5.34274152e-02 3.73064295e+02] [ 1.04387199e-01 9.94523935e-01 -5.04540858e-03 3.06136748e+01] [ 5.36621263e-02 -5.66603714e-04 9.98558989e-01 1.75699688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.09, Y:30.61, Z:17.57 [[ 9.92753128e-01 -1.08550940e-01 -5.15550132e-02 3.73094396e+02] [ 1.08444301e-01 9.94090600e-01 -4.86956530e-03 3.06099533e+01] [ 5.17789499e-02 -7.56571165e-04 9.98658284e-01 1.75727477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.13, Y:30.61, Z:17.57 [[ 9.92542914e-01 -1.10627461e-01 -5.11871875e-02 3.73125946e+02] [ 1.10525017e-01 9.93861575e-01 -4.83637071e-03 3.06098831e+01] [ 5.14080142e-02 -8.57159271e-04 9.98677366e-01 1.75741829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.16, Y:30.61, Z:17.58 [[ 9.92267987e-01 -1.13154644e-01 -5.09928327e-02 3.73156376e+02] [ 1.13056401e-01 9.93576899e-01 -4.81622597e-03 3.06086824e+01] [ 5.12102789e-02 -9.86079275e-04 9.98687406e-01 1.75750529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.19, Y:30.61, Z:17.58 [[ 9.91941082e-01 -1.16079510e-01 -5.07783164e-02 3.73186771e+02] [ 1.15985962e-01 9.93239278e-01 -4.79511447e-03 3.06080075e+01] [ 5.09916328e-02 -1.13310086e-03 9.98698438e-01 1.75764146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.22, Y:30.60, Z:17.58 [[ 9.91252675e-01 -1.22069108e-01 -5.01723756e-02 3.73217207e+02] [ 1.21985434e-01 9.92520582e-01 -4.73794553e-03 3.06015998e+01] [ 5.03754722e-02 -1.42379785e-03 9.98729335e-01 1.75771800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.25, Y:30.60, Z:17.58 [[ 9.90824210e-01 -1.25539485e-01 -5.00721810e-02 3.73248936e+02] [ 1.25460531e-01 9.92087340e-01 -4.72923163e-03 3.06014717e+01] [ 5.02696822e-02 -1.59624521e-03 9.98734405e-01 1.75785208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.28, Y:30.60, Z:17.58 [[ 9.90408746e-01 -1.28988324e-01 -4.95230087e-02 3.73279845e+02] [ 1.28915482e-01 9.91644562e-01 -4.67560290e-03 3.05982577e+01] [ 4.97123205e-02 -1.75352452e-03 9.98762039e-01 1.75794870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.31, Y:30.59, Z:17.58 [[ 9.89423124e-01 -1.36369473e-01 -4.94494466e-02 3.73310753e+02] [ 1.36306079e-01 9.90655775e-01 -4.66778478e-03 3.05946417e+01] [ 4.96239232e-02 -2.12184597e-03 9.98765720e-01 1.75812303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.34, Y:30.59, Z:17.58 [[ 9.88944054e-01 -1.39874307e-01 -4.92426361e-02 3.73340774e+02] [ 1.39815791e-01 9.90166623e-01 -4.64791122e-03 3.05923638e+01] [ 4.94085380e-02 -2.28837396e-03 9.98776031e-01 1.75823303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.37, Y:30.59, Z:17.58 [[ 9.88427793e-01 -1.43375061e-01 -4.95387774e-02 3.73371308e+02] [ 1.43320369e-01 9.89665315e-01 -4.67287865e-03 3.05905370e+01] [ 4.96967840e-02 -2.48111273e-03 9.98761270e-01 1.75837206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.40, Y:30.59, Z:17.59 [[ 9.87616941e-01 -1.49049711e-01 -4.89587656e-02 3.73402427e+02] [ 1.49003276e-01 9.88825922e-01 -4.61731360e-03 3.05887713e+01] [ 4.90999058e-02 -2.73487934e-03 9.98790128e-01 1.75854216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.43, Y:30.59, Z:17.59 [[ 9.87239543e-01 -1.51490055e-01 -4.90800154e-02 3.73433325e+02] [ 1.51446402e-01 9.88454634e-01 -4.62856081e-03 3.05894974e+01] [ 4.92145496e-02 -2.86349348e-03 9.98784125e-01 1.75872005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.46, Y:30.59, Z:17.59 [[ 9.86965087e-01 -1.53336892e-01 -4.88642465e-02 3.73464717e+02] [ 1.53295921e-01 9.88169588e-01 -4.60728292e-03 3.05894553e+01] [ 4.89926287e-02 -2.94346225e-03 9.98794803e-01 1.75887260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.49, Y:30.59, Z:17.59 [[ 9.86698648e-01 -1.54932845e-01 -4.92096739e-02 3.73494608e+02] [ 1.54893356e-01 9.87920309e-01 -4.63809880e-03 3.05885253e+01] [ 4.93338300e-02 -3.04584573e-03 9.98777701e-01 1.75899089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.53, Y:30.59, Z:17.59 [[ 9.86414820e-01 -1.56940137e-01 -4.85344919e-02 3.73525272e+02] [ 1.56904140e-01 9.87603243e-01 -4.57446170e-03 3.05887284e+01] [ 4.86507382e-02 -3.10294591e-03 9.98811032e-01 1.75917849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.56, Y:30.59, Z:17.59 [[ 9.86343780e-01 -1.57376343e-01 -4.85657656e-02 3.73556118e+02] [ 1.57340829e-01 9.87533752e-01 -4.57734149e-03 3.05899231e+01] [ 4.86806980e-02 -3.12654551e-03 9.98809499e-01 1.75935500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.59, Y:30.59, Z:17.60 [[ 9.86330872e-01 -1.57605594e-01 -4.80820984e-02 3.73585064e+02] [ 1.57571175e-01 9.87497246e-01 -4.52923474e-03 3.05917341e+01] [ 4.81947725e-02 -3.10902871e-03 9.98833118e-01 1.75952526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.61, Y:30.59, Z:17.60 [[ 9.86444456e-01 -1.57017344e-01 -4.76748363e-02 3.73614446e+02] [ 1.56982781e-01 9.87591125e-01 -4.49170560e-03 3.05938540e+01] [ 4.77885210e-02 -3.05331030e-03 9.98852809e-01 1.75969522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.65, Y:30.60, Z:17.60 [[ 9.86517489e-01 -1.56515040e-01 -4.78151319e-02 3.73645408e+02] [ 1.56479712e-01 9.87670902e-01 -4.50438718e-03 3.06011872e+01] [ 4.79306188e-02 -3.03844134e-03 9.98846046e-01 1.75987021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.68, Y:30.60, Z:17.60 [[ 9.86606181e-01 -1.55907575e-01 -4.79694878e-02 3.73676323e+02] [ 1.55871389e-01 9.87767030e-01 -4.51718536e-03 3.05986964e+01] [ 4.80869419e-02 -3.02038768e-03 9.98838587e-01 1.76001320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.71, Y:30.60, Z:17.60 [[ 9.86685743e-01 -1.55284365e-01 -4.83529769e-02 3.73705454e+02] [ 1.55246894e-01 9.87865212e-01 -4.55247193e-03 3.06024049e+01] [ 4.84731515e-02 -3.01479031e-03 9.98819936e-01 1.76011843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.74, Y:30.62, Z:17.60 [[ 9.86883674e-01 -1.53735327e-01 -4.92550795e-02 3.73735891e+02] [ 1.53694447e-01 9.88107533e-01 -4.63900434e-03 3.06156127e+01] [ 4.93824939e-02 -2.99207456e-03 9.98775459e-01 1.76020127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.77, Y:30.62, Z:17.60 [[ 9.87010893e-01 -1.52787879e-01 -4.96524124e-02 3.73766195e+02] [ 1.52745235e-01 9.88254543e-01 -4.67459758e-03 3.06180369e+01] [ 4.97834440e-02 -2.97029066e-03 9.98755619e-01 1.76032694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.80, Y:30.62, Z:17.60 [[ 9.87176496e-01 -1.51804547e-01 -4.93755471e-02 3.73796103e+02] [ 1.51761197e-01 9.88406262e-01 -4.64762624e-03 3.06208752e+01] [ 4.95086307e-02 -2.90526472e-03 9.98769470e-01 1.76047980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.83, Y:30.62, Z:17.61 [[ 9.87333386e-01 -1.50881643e-01 -4.90664314e-02 3.73825997e+02] [ 1.50837739e-01 9.88547750e-01 -4.61767697e-03 3.06222744e+01] [ 4.92012331e-02 -2.84188293e-03 9.98784843e-01 1.76062909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.86, Y:30.63, Z:17.61 [[ 9.87670456e-01 -1.48526588e-01 -4.94663781e-02 3.73856673e+02] [ 1.48479027e-01 9.88904600e-01 -4.65523700e-03 3.06328209e+01] [ 4.96089553e-02 -2.74687965e-03 9.98764940e-01 1.76075485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.89, Y:30.64, Z:17.61 [[ 9.87822161e-01 -1.47574852e-01 -4.92853074e-02 3.73887574e+02] [ 1.47526547e-01 9.89047229e-01 -4.63639053e-03 3.06368191e+01] [ 4.94297114e-02 -2.69096190e-03 9.98773980e-01 1.76093339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.92, Y:30.64, Z:17.61 [[ 9.88151966e-01 -1.45327003e-01 -4.93533675e-02 3.73918282e+02] [ 1.45275859e-01 9.89380304e-01 -4.64099765e-03 3.06445148e+01] [ 4.95037120e-02 -2.58384191e-03 9.98770597e-01 1.76112269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.95, Y:30.65, Z:17.61 [[ 9.88162620e-01 -1.45254481e-01 -4.93535453e-02 3.73949844e+02] [ 1.45203341e-01 9.89390958e-01 -4.63910611e-03 3.06474237e+01] [ 4.95038024e-02 -2.58210844e-03 9.98770597e-01 1.76127344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:373.98, Y:30.65, Z:17.61 [[ 9.88273726e-01 -1.44323547e-01 -4.98573570e-02 3.73980361e+02] [ 1.44270357e-01 9.89527228e-01 -4.68287816e-03 3.06486726e+01] [ 5.00110618e-02 -2.56497326e-03 9.98745370e-01 1.76137315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.01, Y:30.65, Z:17.62 [[ 9.88421207e-01 -1.43234901e-01 -5.00727625e-02 3.74011578e+02] [ 1.43179907e-01 9.89685508e-01 -4.70214195e-03 3.06540349e+01] [ 5.02297982e-02 -2.52171666e-03 9.98734503e-01 1.76151811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.04, Y:30.66, Z:17.62 [[ 9.88632676e-01 -1.41828786e-01 -4.99001741e-02 3.74042280e+02] [ 1.41772474e-01 9.89888188e-01 -4.68415941e-03 3.06579390e+01] [ 5.00599416e-02 -2.44355807e-03 9.98743226e-01 1.76165751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.07, Y:30.67, Z:17.62 [[ 9.88976831e-01 -1.39574512e-01 -4.94346443e-02 3.74073011e+02] [ 1.39516521e-01 9.90208878e-01 -4.63872046e-03 3.06676549e+01] [ 4.95980708e-02 -2.30936254e-03 9.98766588e-01 1.76186090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.10, Y:30.67, Z:17.62 [[ 9.89116210e-01 -1.38561233e-01 -4.94965426e-02 3.74104336e+02] [ 1.38501926e-01 9.90351282e-01 -4.64264382e-03 3.06693627e+01] [ 4.96622549e-02 -2.26325223e-03 9.98763505e-01 1.76203017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.14, Y:30.67, Z:17.62 [[ 9.89293960e-01 -1.37400626e-01 -4.91785383e-02 3.74135349e+02] [ 1.37340779e-01 9.90513128e-01 -4.61015204e-03 3.06734583e+01] [ 4.93454256e-02 -2.19342320e-03 9.98779364e-01 1.76219179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.17, Y:30.68, Z:17.62 [[ 9.89605097e-01 -1.35457877e-01 -4.83002602e-02 3.74166191e+02] [ 1.35397922e-01 9.90780963e-01 -4.52611980e-03 3.06810615e+01] [ 4.84680769e-02 -2.06068362e-03 9.98822606e-01 1.76242342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.20, Y:30.69, Z:17.63 [[ 9.89702785e-01 -1.34691202e-01 -4.84425216e-02 3.74197646e+02] [ 1.34630066e-01 9.90885541e-01 -4.53761246e-03 3.06862056e+01] [ 4.86121707e-02 -2.03093218e-03 9.98815665e-01 1.76257503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.23, Y:30.69, Z:17.63 [[ 9.89827317e-01 -1.33771790e-01 -4.84457533e-02 3.74228891e+02] [ 1.33709722e-01 9.91010167e-01 -4.53431990e-03 3.06856324e+01] [ 4.86167981e-02 -1.98947449e-03 9.98815523e-01 1.76267302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.26, Y:30.69, Z:17.63 [[ 9.89831894e-01 -1.33737825e-01 -4.84460007e-02 3.74259595e+02] [ 1.33675845e-01 9.91014749e-01 -4.53167439e-03 3.06884719e+01] [ 4.86167575e-02 -1.99046426e-03 9.98815523e-01 1.76281965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.29, Y:30.70, Z:17.63 [[ 9.89782700e-01 -1.33759735e-01 -4.93815709e-02 3.74290559e+02] [ 1.33695457e-01 9.91011708e-01 -4.61736844e-03 3.06987038e+01] [ 4.95553329e-02 -2.03190029e-03 9.98769313e-01 1.76290007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.32, Y:30.70, Z:17.63 [[ 9.89679088e-01 -1.34327194e-01 -4.99150053e-02 3.74321624e+02] [ 1.34262427e-01 9.90934838e-01 -4.66351920e-03 3.07007905e+01] [ 5.00889551e-02 -2.08632235e-03 9.98742581e-01 1.76297348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.35, Y:30.70, Z:17.63 [[ 9.89511258e-01 -1.35241467e-01 -5.07662948e-02 3.74353339e+02] [ 1.35175823e-01 9.90810289e-01 -4.74011527e-03 3.07033263e+01] [ 5.09408274e-02 -2.17197825e-03 9.98699311e-01 1.76306897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.39, Y:30.71, Z:17.63 [[ 9.89345514e-01 -1.36316158e-01 -5.11210227e-02 3.74385154e+02] [ 1.36251219e-01 9.90662838e-01 -4.76945348e-03 3.07070075e+01] [ 5.12938509e-02 -2.24666424e-03 9.98681077e-01 1.76318580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.41, Y:30.71, Z:17.63 [[ 9.88893422e-01 -1.39412965e-01 -5.15152968e-02 3.74414984e+02] [ 1.39351393e-01 9.90231348e-01 -4.80270041e-03 3.07075030e+01] [ 5.16816206e-02 -2.42936955e-03 9.98660657e-01 1.76330522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.45, Y:30.71, Z:17.63 [[ 9.88636056e-01 -1.41270457e-01 -5.13946222e-02 3.74446561e+02] [ 1.41211682e-01 9.89967830e-01 -4.79130307e-03 3.07095647e+01] [ 5.15558921e-02 -2.52066607e-03 9.98666930e-01 1.76349317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.48, Y:30.71, Z:17.64 [[ 9.88354730e-01 -1.43374803e-01 -5.09763990e-02 3.74476830e+02] [ 1.43319859e-01 9.89665019e-01 -4.75055663e-03 3.07103632e+01] [ 5.11306690e-02 -2.61069520e-03 9.98688560e-01 1.76367170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.51, Y:30.72, Z:17.64 [[ 9.88081217e-01 -1.45374656e-01 -5.06134124e-02 3.74508752e+02] [ 1.45323160e-01 9.89373004e-01 -4.71564316e-03 3.07164372e+01] [ 5.07610789e-02 -2.69586262e-03 9.98707187e-01 1.76391202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.54, Y:30.71, Z:17.64 [[ 9.87565904e-01 -1.48944416e-01 -5.02906259e-02 3.74539522e+02] [ 1.48898361e-01 9.88841421e-01 -4.68206806e-03 3.07115708e+01] [ 5.04268219e-02 -2.86434097e-03 9.98723651e-01 1.76410448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.57, Y:30.72, Z:17.64 [[ 9.87310415e-01 -1.50763707e-01 -4.98843659e-02 3.74570695e+02] [ 1.50720708e-01 9.88565476e-01 -4.64415380e-03 3.07163524e+01] [ 5.00141317e-02 -2.93338552e-03 9.98744202e-01 1.76430457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.60, Y:30.72, Z:17.64 [[ 9.87105861e-01 -1.52155789e-01 -4.97054891e-02 3.74601899e+02] [ 1.52114942e-01 9.88351985e-01 -4.62573805e-03 3.07182725e+01] [ 4.98303517e-02 -2.99485448e-03 9.98753206e-01 1.76447365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.63, Y:30.72, Z:17.65 [[ 9.86914890e-01 -1.53559402e-01 -4.91783491e-02 3.74633691e+02] [ 1.53521239e-01 9.88134758e-01 -4.57488799e-03 3.07228890e+01] [ 4.92973532e-02 -3.03489601e-03 9.98779535e-01 1.76468587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.66, Y:30.73, Z:17.65 [[ 9.86489407e-01 -1.56355567e-01 -4.89038559e-02 3.74664212e+02] [ 1.56321416e-01 9.87695778e-01 -4.54591186e-03 3.07296100e+01] [ 4.90129106e-02 -3.16022611e-03 9.98793146e-01 1.76488090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.70, Y:30.73, Z:17.65 [[ 9.86353507e-01 -1.57344729e-01 -4.84705712e-02 3.74695965e+02] [ 1.57312413e-01 9.87538613e-01 -4.50468774e-03 3.07262069e+01] [ 4.85753495e-02 -3.18180796e-03 9.98814453e-01 1.76502976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.73, Y:30.73, Z:17.65 [[ 9.86132172e-01 -1.58609238e-01 -4.88513004e-02 3.74727435e+02] [ 1.58578093e-01 9.87336012e-01 -4.53730404e-03 3.07297157e+01] [ 4.89523065e-02 -3.27236456e-03 9.98795757e-01 1.76516203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.76, Y:30.73, Z:17.65 [[ 9.85673695e-01 -1.61014454e-01 -5.02166509e-02 3.74757596e+02] [ 1.60984785e-01 9.86945880e-01 -4.66147177e-03 3.07286991e+01] [ 5.03116810e-02 -3.48942666e-03 9.98727470e-01 1.76517678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.79, Y:30.73, Z:17.65 [[ 9.85474083e-01 -1.61939270e-01 -5.11517785e-02 3.74789454e+02] [ 1.61909743e-01 9.86794149e-01 -4.74800326e-03 3.07324095e+01] [ 5.12451639e-02 -3.60293715e-03 9.98679604e-01 1.76528744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.82, Y:30.73, Z:17.65 [[ 9.85329751e-01 -1.62648327e-01 -5.16798199e-02 3.74822010e+02] [ 1.62619352e-01 9.86677237e-01 -4.79329266e-03 3.07343428e+01] [ 5.17709230e-02 -3.68116498e-03 9.98652202e-01 1.76537906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.85, Y:30.74, Z:17.66 [[ 9.85185149e-01 -1.63365654e-01 -5.21716822e-02 3.74853563e+02] [ 1.63337323e-01 9.86558432e-01 -4.83516281e-03 3.07411004e+01] [ 5.22603125e-02 -3.75805231e-03 9.98626425e-01 1.76554295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.88, Y:30.74, Z:17.66 [[ 9.85039762e-01 -1.63988774e-01 -5.29561115e-02 3.74884428e+02] [ 1.63960681e-01 9.86454684e-01 -4.90413733e-03 3.07403634e+01] [ 5.30430277e-02 -3.85194985e-03 9.98584798e-01 1.76566199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.92, Y:30.75, Z:17.66 [[ 9.85055822e-01 -1.63801946e-01 -5.32348570e-02 3.74915603e+02] [ 1.63773403e-01 9.86485676e-01 -4.92776899e-03 3.07522257e+01] [ 5.33226020e-02 -3.86432615e-03 9.98569861e-01 1.76587993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.95, Y:30.76, Z:17.66 [[ 9.85182949e-01 -1.63107999e-01 -5.30126244e-02 3.74948132e+02] [ 1.63078910e-01 9.86600846e-01 -4.90312530e-03 3.07551553e+01] [ 5.31020391e-02 -3.81476558e-03 9.98581805e-01 1.76602392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:374.98, Y:30.76, Z:17.66 [[ 9.85267942e-01 -1.62613483e-01 -5.29522271e-02 3.74979628e+02] [ 1.62584007e-01 9.86682574e-01 -4.89271764e-03 3.07598350e+01] [ 5.30426616e-02 -3.78854743e-03 9.98585060e-01 1.76617849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.01, Y:30.76, Z:17.66 [[ 9.85590674e-01 -1.60738783e-01 -5.26694207e-02 3.75010353e+02] [ 1.60707148e-01 9.86990154e-01 -4.86296012e-03 3.07594159e+01] [ 5.27658659e-02 -3.67146427e-03 9.98600162e-01 1.76625269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.04, Y:30.77, Z:17.66 [[ 9.85953501e-01 -1.58652606e-01 -5.22019639e-02 3.75041494e+02] [ 1.58618680e-01 9.87328160e-01 -4.81865568e-03 3.07676216e+01] [ 5.23049612e-02 -3.52923615e-03 9.98624922e-01 1.76642928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.07, Y:30.78, Z:17.67 [[ 9.86143500e-01 -1.57566562e-01 -5.19015945e-02 3.75073302e+02] [ 1.57531677e-01 9.87502327e-01 -4.78803284e-03 3.07763697e+01] [ 5.20073792e-02 -3.45445777e-03 9.98640726e-01 1.76660965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.11, Y:30.78, Z:17.67 [[ 9.86282062e-01 -1.56803257e-01 -5.15793884e-02 3.75105486e+02] [ 1.56767963e-01 9.87624018e-01 -4.75447156e-03 3.07803310e+01] [ 5.16865594e-02 -3.39674564e-03 9.98657580e-01 1.76676476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.14, Y:30.78, Z:17.67 [[ 9.86383522e-01 -1.56037205e-01 -5.19609244e-02 3.75137660e+02] [ 1.56000535e-01 9.87745377e-01 -4.78574260e-03 3.07843557e+01] [ 5.20709167e-02 -3.38535434e-03 9.98637652e-01 1.76690142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.17, Y:30.78, Z:17.67 [[ 9.86463829e-01 -1.55541038e-01 -5.19239838e-02 3.75168487e+02] [ 1.55503932e-01 9.87823715e-01 -4.77856595e-03 3.07849502e+01] [ 5.20350057e-02 -3.36050119e-03 9.98639607e-01 1.76699542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.20, Y:30.79, Z:17.67 [[ 9.86460638e-01 -1.55640383e-01 -5.16863713e-02 3.75200189e+02] [ 1.55603903e-01 9.87808092e-01 -4.75376748e-03 3.07902060e+01] [ 5.17960941e-02 -3.35319660e-03 9.98652052e-01 1.76713197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.23, Y:30.79, Z:17.67 [[ 9.86392053e-01 -1.56003737e-01 -5.18994403e-02 3.75232455e+02] [ 1.55967655e-01 9.87750648e-01 -4.76954291e-03 3.07941057e+01] [ 5.20077723e-02 -3.38999479e-03 9.98640926e-01 1.76726092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.26, Y:30.80, Z:17.67 [[ 9.86358191e-01 -1.56240679e-01 -5.18301910e-02 3.75264029e+02] [ 1.56205218e-01 9.87713156e-01 -4.75936159e-03 3.07972673e+01] [ 5.19369674e-02 -3.40171098e-03 9.98644571e-01 1.76736158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.30, Y:30.80, Z:17.67 [[ 9.86293268e-01 -1.56597243e-01 -5.19893594e-02 3.75295638e+02] [ 1.56562266e-01 9.87656572e-01 -4.76995384e-03 3.07962255e+01] [ 5.20945941e-02 -3.43499856e-03 9.98636247e-01 1.76746168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.33, Y:30.80, Z:17.68 [[ 9.86270780e-01 -1.56520624e-01 -5.26425937e-02 3.75327068e+02] [ 1.56484959e-01 9.87668560e-01 -4.82416394e-03 3.08043536e+01] [ 5.27485159e-02 -3.47984218e-03 9.98601765e-01 1.76757403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.36, Y:30.81, Z:17.68 [[ 9.86295914e-01 -1.56222643e-01 -5.30552100e-02 3.75359084e+02] [ 1.56186201e-01 9.87715683e-01 -4.85800160e-03 3.08070682e+01] [ 5.31623928e-02 -3.49506458e-03 9.98579764e-01 1.76770198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.39, Y:30.81, Z:17.68 [[ 9.86377573e-01 -1.55551334e-01 -5.35076178e-02 3.75390795e+02] [ 1.55513501e-01 9.87821637e-01 -4.89543817e-03 3.08116257e+01] [ 5.36174745e-02 -3.49240656e-03 9.98555441e-01 1.76780964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.42, Y:30.81, Z:17.68 [[ 9.86600952e-01 -1.54039830e-01 -5.37614386e-02 3.75421468e+02] [ 1.53999609e-01 9.88058685e-01 -4.91488926e-03 3.08142053e+01] [ 5.38765450e-02 -3.43020609e-03 9.98541712e-01 1.76791014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.45, Y:30.82, Z:17.68 [[ 9.86825558e-01 -1.52384059e-01 -5.43545397e-02 3.75452750e+02] [ 1.52340557e-01 9.88315578e-01 -4.96708499e-03 3.08185881e+01] [ 5.44763430e-02 -3.37875446e-03 9.98509345e-01 1.76805221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.48, Y:30.83, Z:17.68 [[ 9.87561962e-01 -1.47546129e-01 -5.43278040e-02 3.75482255e+02] [ 1.47495472e-01 9.89050280e-01 -4.96287177e-03 3.08275282e+01] [ 5.44651823e-02 -3.11196172e-03 9.98510821e-01 1.76822933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.51, Y:30.83, Z:17.68 [[ 9.88013051e-01 -1.44530218e-01 -5.42330756e-02 3.75512531e+02] [ 1.44475230e-01 9.89496017e-01 -4.95385443e-03 3.08325460e+01] [ 5.43793939e-02 -2.94086324e-03 9.98516015e-01 1.76841997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.54, Y:30.84, Z:17.69 [[ 9.88473029e-01 -1.41376487e-01 -5.41642025e-02 3.75542632e+02] [ 1.41316964e-01 9.89952042e-01 -4.94670441e-03 3.08379799e+01] [ 5.43193106e-02 -2.76463678e-03 9.98519789e-01 1.76861347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.57, Y:30.84, Z:17.69 [[ 9.89472814e-01 -1.34635395e-01 -5.30741119e-02 3.75571999e+02] [ 1.34568564e-01 9.90892429e-01 -4.84715216e-03 3.08442452e+01] [ 5.32433339e-02 -2.34598174e-03 9.98578812e-01 1.76883703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.60, Y:30.85, Z:17.69 [[ 9.89984344e-01 -1.31048559e-01 -5.25097552e-02 3.75602667e+02] [ 1.30978114e-01 9.91373662e-01 -4.79545056e-03 3.08521071e+01] [ 5.26852252e-02 -2.13020773e-03 9.98608897e-01 1.76906343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.63, Y:30.86, Z:17.69 [[ 9.90504801e-01 -1.27338360e-01 -5.18187318e-02 3.75633947e+02] [ 1.27264789e-01 9.91857498e-01 -4.73039904e-03 3.08590857e+01] [ 5.19991589e-02 -1.90921699e-03 9.98645304e-01 1.76927401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.66, Y:30.86, Z:17.69 [[ 9.90978742e-01 -1.23690790e-01 -5.15918764e-02 3.75664265e+02] [ 1.23613063e-01 9.92319331e-01 -4.70701573e-03 3.08615454e+01] [ 5.17778307e-02 -1.71287736e-03 9.98657160e-01 1.76939555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.70, Y:30.87, Z:17.70 [[ 9.91411225e-01 -1.20370123e-01 -5.11352690e-02 3.75695500e+02] [ 1.20289410e-01 9.92727910e-01 -4.66428428e-03 3.08700250e+01] [ 5.13248492e-02 -1.52680754e-03 9.98680844e-01 1.76960471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.73, Y:30.87, Z:17.70 [[ 9.92146765e-01 -1.14295026e-01 -5.08079010e-02 3.75726180e+02] [ 1.14207522e-01 9.93446118e-01 -4.63169432e-03 3.08726322e+01] [ 5.10042917e-02 -1.20732395e-03 9.98697704e-01 1.76968396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.76, Y:30.88, Z:17.70 [[ 9.92475740e-01 -1.11593153e-01 -5.03872439e-02 3.75758052e+02] [ 1.11503709e-01 9.93753411e-01 -4.59143593e-03 3.08799880e+01] [ 5.05848683e-02 -1.06147583e-03 9.98719202e-01 1.76986239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.79, Y:30.88, Z:17.70 [[ 9.92723259e-01 -1.09154963e-01 -5.08500208e-02 3.75789082e+02] [ 1.09060860e-01 9.94024292e-01 -4.62993757e-03 3.08831212e+01] [ 5.10515366e-02 -9.49500275e-04 9.98695569e-01 1.76996652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.82, Y:30.89, Z:17.70 [[ 9.93138554e-01 -1.05184717e-01 -5.11076110e-02 3.75820595e+02] [ 1.05084545e-01 9.94452417e-01 -4.65063064e-03 3.08875711e+01] [ 5.13132625e-02 -7.51899484e-04 9.98682324e-01 1.77002714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.85, Y:30.89, Z:17.70 [[ 9.93362406e-01 -1.03085588e-01 -5.10342271e-02 3.75851718e+02] [ 1.02983059e-01 9.94672281e-01 -4.64153751e-03 3.08915434e+01] [ 5.12408067e-02 -6.44931966e-04 9.98686119e-01 1.77015429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.88, Y:30.89, Z:17.70 [[ 9.93369957e-01 -1.03012710e-01 -5.10344089e-02 3.75883253e+02] [ 1.02910188e-01 9.94679832e-01 -4.63953724e-03 3.08943547e+01] [ 5.12408286e-02 -6.43183719e-04 9.98686119e-01 1.77030486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.91, Y:30.90, Z:17.70 [[ 9.93609519e-01 -1.00738882e-01 -5.09097407e-02 3.75913482e+02] [ 1.00634059e-01 9.94912759e-01 -4.62464656e-03 3.08973401e+01] [ 5.11166323e-02 -5.28161004e-04 9.98692551e-01 1.77039323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.95, Y:30.90, Z:17.71 [[ 9.93781292e-01 -9.90239954e-02 -5.09214209e-02 3.75945151e+02] [ 9.89169329e-02 9.95084948e-01 -4.62457517e-03 3.09012284e+01] [ 5.11290834e-02 -4.41174487e-04 9.98691956e-01 1.77053402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:375.98, Y:30.90, Z:17.71 [[ 9.94148563e-01 -9.53010664e-02 -5.08560814e-02 3.75976311e+02] [ 9.51895950e-02 9.95448463e-01 -4.61500218e-03 3.09041840e+01] [ 5.10644227e-02 -2.52972007e-04 9.98695329e-01 1.77061420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.01, Y:30.91, Z:17.71 [[ 9.94255432e-01 -9.41427016e-02 -5.09243361e-02 3.76007965e+02] [ 9.40295084e-02 9.95558694e-01 -4.61931529e-03 3.09066004e+01] [ 5.11330404e-02 -1.95610967e-04 9.98691831e-01 1.77074297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.04, Y:30.91, Z:17.71 [[ 9.94345198e-01 -9.31728033e-02 -5.09554237e-02 3.76038060e+02] [ 9.30582919e-02 9.95649942e-01 -4.62032207e-03 3.09082510e+01] [ 5.11642530e-02 -1.47629628e-04 9.98690241e-01 1.77081008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.07, Y:30.91, Z:17.71 [[ 9.94353165e-01 -9.32527207e-02 -5.06528662e-02 3.76069308e+02] [ 9.31397197e-02 9.95642459e-01 -4.59190399e-03 3.09091254e+01] [ 5.08603518e-02 -1.51819494e-04 9.98705763e-01 1.77094818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.10, Y:30.91, Z:17.71 [[ 9.94312474e-01 -9.39599667e-02 -5.01420853e-02 3.76100556e+02] [ 9.38502260e-02 9.95575959e-01 -4.54375693e-03 3.09103435e+01] [ 5.03471859e-02 -1.87931851e-04 9.98731759e-01 1.77109012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.13, Y:30.91, Z:17.71 [[ 9.94216940e-01 -9.53309726e-02 -4.94437246e-02 3.76131115e+02] [ 9.52260516e-02 9.95445599e-01 -4.47869735e-03 3.09110869e+01] [ 4.96454966e-02 -2.55533886e-04 9.98766869e-01 1.77125047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.16, Y:30.91, Z:17.71 [[ 9.94082283e-01 -9.71624440e-02 -4.85785302e-02 3.76162904e+02] [ 9.70633940e-02 9.95268478e-01 -4.39942185e-03 3.09114469e+01] [ 4.87761384e-02 -3.41809699e-04 9.98809677e-01 1.77140360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.19, Y:30.91, Z:17.72 [[ 9.93553860e-01 -1.02547275e-01 -4.83196063e-02 3.76193705e+02] [ 1.02455725e-01 9.94727948e-01 -4.37419808e-03 3.09080548e+01] [ 4.85134250e-02 -6.04618928e-04 9.98822348e-01 1.77155293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.22, Y:30.91, Z:17.72 [[ 9.93203797e-01 -1.05903284e-01 -4.82774521e-02 3.76224917e+02] [ 1.05815972e-01 9.94376137e-01 -4.36793236e-03 3.09072089e+01] [ 4.84685247e-02 -7.70278534e-04 9.98824413e-01 1.77165422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.26, Y:30.91, Z:17.72 [[ 9.92772392e-01 -1.09852302e-01 -4.83264817e-02 3.76256279e+02] [ 1.09769570e-01 9.93947453e-01 -4.37062476e-03 3.09059905e+01] [ 4.85141066e-02 -9.65741538e-04 9.98822031e-01 1.77176512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.29, Y:30.90, Z:17.72 [[ 9.91853291e-01 -1.18056758e-01 -4.78503004e-02 3.76288187e+02] [ 1.17985258e-01 9.93005924e-01 -4.32585930e-03 3.09000777e+01] [ 4.80263287e-02 -1.35501227e-03 9.98845151e-01 1.77187991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.32, Y:30.90, Z:17.72 [[ 9.91345058e-01 -1.22265745e-01 -4.78127868e-02 3.76319485e+02] [ 1.22199300e-01 9.92496175e-01 -4.32126977e-03 3.08995626e+01] [ 4.79823513e-02 -1.55881966e-03 9.98846967e-01 1.77203296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.35, Y:30.90, Z:17.72 [[ 9.90847263e-01 -1.26442237e-01 -4.72658709e-02 3.76349955e+02] [ 1.26382126e-01 9.91972441e-01 -4.27012529e-03 3.08971183e+01] [ 4.74263656e-02 -1.74251929e-03 9.98873217e-01 1.77215693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.38, Y:30.89, Z:17.72 [[ 9.90327536e-01 -1.30287154e-01 -4.77140339e-02 3.76380847e+02] [ 1.30230391e-01 9.91474393e-01 -4.30972802e-03 3.08918873e+01] [ 4.78687450e-02 -1.94577494e-03 9.98851739e-01 1.77230743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.41, Y:30.89, Z:17.72 [[ 9.89451994e-01 -1.36741307e-01 -4.78180577e-02 3.76411285e+02] [ 1.36691895e-01 9.90604203e-01 -4.31730787e-03 3.08904202e+01] [ 4.79591233e-02 -2.26457205e-03 9.98846732e-01 1.77235515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.44, Y:30.89, Z:17.72 [[ 9.89142940e-01 -1.38788622e-01 -4.83111046e-02 3.76442789e+02] [ 1.38740629e-01 9.90319148e-01 -4.36164772e-03 3.08901333e+01] [ 4.84487590e-02 -2.38841998e-03 9.98822814e-01 1.77246276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.47, Y:30.89, Z:17.73 [[ 9.88942510e-01 -1.40467741e-01 -4.75555089e-02 3.76473156e+02] [ 1.40423251e-01 9.90082265e-01 -4.29176468e-03 3.08875892e+01] [ 4.76867205e-02 -2.43359063e-03 9.98859377e-01 1.77262814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.50, Y:30.89, Z:17.73 [[ 9.88720773e-01 -1.42003137e-01 -4.76061096e-02 3.76504405e+02] [ 1.41960427e-01 9.89863019e-01 -4.29421912e-03 3.08931039e+01] [ 4.77333200e-02 -2.51240000e-03 9.98856956e-01 1.77277670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.54, Y:30.89, Z:17.73 [[ 9.88716419e-01 -1.41948309e-01 -4.78593835e-02 3.76536085e+02] [ 1.41905164e-01 9.89870851e-01 -4.31530586e-03 3.08936164e+01] [ 4.79871590e-02 -2.52487990e-03 9.98844761e-01 1.77290966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.57, Y:30.90, Z:17.73 [[ 9.88774615e-01 -1.41324592e-01 -4.84986663e-02 3.76567656e+02] [ 1.41279669e-01 9.89960078e-01 -4.37030161e-03 3.08962458e+01] [ 4.86293745e-02 -2.53063223e-03 9.98813686e-01 1.77300872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.60, Y:30.90, Z:17.73 [[ 9.88922055e-01 -1.40197306e-01 -4.87635556e-02 3.76598990e+02] [ 1.40150611e-01 9.90120454e-01 -4.39242312e-03 3.09016809e+01] [ 4.88975997e-02 -2.49047799e-03 9.98800692e-01 1.77311989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.63, Y:30.91, Z:17.73 [[ 9.89369623e-01 -1.36884603e-01 -4.90953698e-02 3.76629890e+02] [ 1.36833292e-01 9.90584226e-01 -4.42050743e-03 3.09068567e+01] [ 4.92381983e-02 -2.34436529e-03 9.98784313e-01 1.77325784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.66, Y:30.91, Z:17.73 [[ 9.89681787e-01 -1.34424467e-01 -4.95986154e-02 3.76659974e+02] [ 1.34369115e-01 9.90921296e-01 -4.46386901e-03 3.09095830e+01] [ 4.97483775e-02 -2.24671218e-03 9.98759256e-01 1.77338207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.69, Y:30.91, Z:17.74 [[ 9.90010273e-01 -1.31818259e-01 -5.00360416e-02 3.76690323e+02] [ 1.31758834e-01 9.91271593e-01 -4.49867956e-03 3.09132391e+01] [ 5.01923147e-02 -2.13895152e-03 9.98737281e-01 1.77352945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.72, Y:30.92, Z:17.74 [[ 9.90668479e-01 -1.26496281e-01 -5.07410702e-02 3.76720492e+02] [ 1.26428419e-01 9.91965262e-01 -4.55779810e-03 3.09214379e+01] [ 5.09099235e-02 -1.89984636e-03 9.98701442e-01 1.77366707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.75, Y:30.93, Z:17.74 [[ 9.90998370e-01 -1.23613172e-01 -5.14005196e-02 3.76751806e+02] [ 1.23539719e-01 9.92328892e-01 -4.61594720e-03 3.09288499e+01] [ 5.15768125e-02 -1.77560960e-03 9.98667452e-01 1.77382910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.78, Y:30.93, Z:17.74 [[ 9.91361793e-01 -1.20312973e-01 -5.22167009e-02 3.76782196e+02] [ 1.20232740e-01 9.92734670e-01 -4.68651880e-03 3.09313815e+01] [ 5.24011783e-02 -1.63212134e-03 9.98624781e-01 1.77390899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.81, Y:30.94, Z:17.74 [[ 9.91638127e-01 -1.17627749e-01 -5.30804796e-02 3.76812184e+02] [ 1.17541045e-01 9.93056602e-01 -4.76315672e-03 3.09366076e+01] [ 5.32722001e-02 -1.51580725e-03 9.98578878e-01 1.77403367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.84, Y:30.94, Z:17.74 [[ 9.91905975e-01 -1.15336251e-01 -5.31044890e-02 3.76841925e+02] [ 1.15246189e-01 9.93325530e-01 -4.76531120e-03 3.09419637e+01] [ 5.32996578e-02 -1.39334934e-03 9.98577591e-01 1.77419646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.87, Y:30.95, Z:17.74 [[ 9.92402077e-01 -1.10971222e-01 -5.31366744e-02 3.76872235e+02] [ 1.10874799e-01 9.93822944e-01 -4.76819934e-03 3.09477210e+01] [ 5.33375790e-02 -1.15954715e-03 9.98575865e-01 1.77442357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.90, Y:30.95, Z:17.75 [[ 9.92543767e-01 -1.09755353e-01 -5.30154042e-02 3.76902090e+02] [ 1.09657636e-01 9.93958033e-01 -4.75731720e-03 3.09510594e+01] [ 5.32172279e-02 -1.09169837e-03 9.98582363e-01 1.77459288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.93, Y:30.96, Z:17.75 [[ 9.92636502e-01 -1.08933655e-01 -5.29738908e-02 3.76931828e+02] [ 1.08834923e-01 9.94048471e-01 -4.75359201e-03 3.09552619e+01] [ 5.31764413e-02 -1.04682035e-03 9.98584583e-01 1.77480675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.96, Y:30.96, Z:17.75 [[ 9.92662327e-01 -1.08759149e-01 -5.28483897e-02 3.76961759e+02] [ 1.08660637e-01 9.94067591e-01 -4.74233022e-03 3.09583763e+01] [ 5.30506433e-02 -1.03500713e-03 9.98591287e-01 1.77499328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:376.99, Y:30.96, Z:17.75 [[ 9.92611837e-01 -1.09283660e-01 -5.27145383e-02 3.76992304e+02] [ 1.09186386e-01 9.94010039e-01 -4.73031911e-03 3.09609535e+01] [ 5.29157268e-02 -1.06033915e-03 9.98598419e-01 1.77520327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.02, Y:30.96, Z:17.75 [[ 9.92366579e-01 -1.11322723e-01 -5.30643383e-02 3.77021931e+02] [ 1.11227062e-01 9.93783611e-01 -4.76173728e-03 3.09609237e+01] [ 5.32645593e-02 -1.17680153e-03 9.98579742e-01 1.77538052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.05, Y:30.96, Z:17.76 [[ 9.92155659e-01 -1.13227918e-01 -5.29772251e-02 3.77051665e+02] [ 1.13135265e-01 9.93568221e-01 -4.75425859e-03 3.09611447e+01] [ 5.31748021e-02 -1.27662783e-03 9.98584403e-01 1.77550990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.08, Y:30.96, Z:17.76 [[ 9.91871923e-01 -1.15693387e-01 -5.29634653e-02 3.77081644e+02] [ 1.15604247e-01 9.93283977e-01 -4.75385749e-03 3.09644559e+01] [ 5.31577513e-02 -1.40758377e-03 9.98585135e-01 1.77574478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.11, Y:30.96, Z:17.76 [[ 9.91583396e-01 -1.18273505e-01 -5.26663667e-02 3.77111831e+02] [ 1.18188995e-01 9.92979866e-01 -4.72719072e-03 3.09627815e+01] [ 5.28557432e-02 -1.53718110e-03 9.98600975e-01 1.77588626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.14, Y:30.96, Z:17.76 [[ 9.90876932e-01 -1.24220143e-01 -5.22710463e-02 3.77142350e+02] [ 1.24145151e-01 9.92252976e-01 -4.69170783e-03 3.09622294e+01] [ 5.24489059e-02 -1.84029189e-03 9.98621913e-01 1.77614056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.17, Y:30.96, Z:17.76 [[ 9.90462239e-01 -1.27398432e-01 -5.24804113e-02 3.77173575e+02] [ 1.27327294e-01 9.91849571e-01 -4.71040731e-03 3.09617947e+01] [ 5.26527720e-02 -2.01670818e-03 9.98610844e-01 1.77627688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.20, Y:30.96, Z:17.76 [[ 9.89395555e-01 -1.34686296e-01 -5.43694471e-02 3.77204169e+02] [ 1.34620960e-01 9.90885156e-01 -4.87907384e-03 3.09587266e+01] [ 5.45310224e-02 -2.49193317e-03 9.98508967e-01 1.77629601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.23, Y:30.96, Z:17.76 [[ 9.88832740e-01 -1.38556952e-01 -5.48797111e-02 3.77234802e+02] [ 1.38496333e-01 9.90350702e-01 -4.92470259e-03 3.09601002e+01] [ 5.50325122e-02 -2.73093160e-03 9.98480828e-01 1.77641581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.26, Y:30.95, Z:17.77 [[ 9.87722632e-01 -1.45938725e-01 -5.57305269e-02 3.77264429e+02] [ 1.45887942e-01 9.89288484e-01 -5.00045014e-03 3.09548569e+01] [ 5.58633277e-02 -3.19135411e-03 9.98433325e-01 1.77651743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.29, Y:30.96, Z:17.77 [[ 9.87226381e-01 -1.49220178e-01 -5.58337763e-02 3.77294412e+02] [ 1.49174327e-01 9.88798212e-01 -5.01154316e-03 3.09564918e+01] [ 5.59561615e-02 -3.38143840e-03 9.98427501e-01 1.77667573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.32, Y:30.96, Z:17.77 [[ 9.87226379e-01 -1.49220241e-01 -5.58336556e-02 3.77324314e+02] [ 1.49174316e-01 9.88798207e-01 -5.01288769e-03 3.09591771e+01] [ 5.59562428e-02 -3.38009240e-03 9.98427501e-01 1.77681859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.35, Y:30.96, Z:17.77 [[ 9.86448662e-01 -1.54166268e-01 -5.61408925e-02 3.77354492e+02] [ 1.54127802e-01 9.88038063e-01 -5.04047471e-03 3.09587154e+01] [ 5.62464099e-02 -3.68070286e-03 9.98410133e-01 1.77707111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.39, Y:30.96, Z:17.77 [[ 9.86165161e-01 -1.55972535e-01 -5.61323776e-02 3.77385835e+02] [ 1.55937008e-01 9.87754147e-01 -5.03939965e-03 3.09621365e+01] [ 5.62309966e-02 -3.78343465e-03 9.98410617e-01 1.77724624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.42, Y:30.96, Z:17.77 [[ 9.86037778e-01 -1.56694976e-01 -5.63576477e-02 3.77416351e+02] [ 1.56660446e-01 9.87639572e-01 -5.05770961e-03 3.09624476e+01] [ 5.64535607e-02 -3.84192150e-03 9.98397834e-01 1.77734618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.45, Y:30.97, Z:17.78 [[ 9.86032735e-01 -1.56738207e-01 -5.63256607e-02 3.77447509e+02] [ 1.56703854e-01 9.87632706e-01 -5.05364174e-03 3.09689338e+01] [ 5.64211634e-02 -3.84339194e-03 9.98399660e-01 1.77756591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.48, Y:30.97, Z:17.78 [[ 9.86122389e-01 -1.56201223e-01 -5.62477662e-02 3.77478394e+02] [ 1.56166214e-01 9.87717908e-01 -5.04457256e-03 3.09732850e+01] [ 5.63448944e-02 -3.80943473e-03 9.98404097e-01 1.77776237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.51, Y:30.97, Z:17.78 [[ 9.86560636e-01 -1.53633267e-01 -5.56321046e-02 3.77508080e+02] [ 1.53595051e-01 9.88121290e-01 -4.98761624e-03 3.09739362e+01] [ 5.57375308e-02 -3.62423008e-03 9.98438878e-01 1.77792964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.54, Y:30.98, Z:17.78 [[ 9.86837599e-01 -1.51935146e-01 -5.53828967e-02 3.77539065e+02] [ 1.51894633e-01 9.88384222e-01 -4.96482784e-03 3.09830693e+01] [ 5.54939132e-02 -3.51288599e-03 9.98452846e-01 1.77817846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.57, Y:30.99, Z:17.78 [[ 9.87142181e-01 -1.50059117e-01 -5.50688237e-02 3.77570216e+02] [ 1.50016314e-01 9.88671211e-01 -4.93378151e-03 3.09870544e+01] [ 5.51853195e-02 -3.39087812e-03 9.98470371e-01 1.77833034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.60, Y:30.99, Z:17.78 [[ 9.87363122e-01 -1.48460198e-01 -5.54403825e-02 3.77601585e+02] [ 1.48414429e-01 9.88912791e-01 -4.96487668e-03 3.09915369e+01] [ 5.55627899e-02 -3.32601656e-03 9.98449655e-01 1.77848374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.63, Y:31.00, Z:17.79 [[ 9.87759216e-01 -1.45746105e-01 -5.55860039e-02 3.77631920e+02] [ 1.45695964e-01 9.89316902e-01 -4.97524312e-03 3.09979681e+01] [ 5.57172955e-02 -3.18431421e-03 9.98441507e-01 1.77866782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.66, Y:31.00, Z:17.79 [[ 9.87877301e-01 -1.44671902e-01 -5.62892401e-02 3.77663104e+02] [ 1.44618795e-01 9.89474623e-01 -5.03740054e-03 3.10045577e+01] [ 5.64255450e-02 -3.16414841e-03 9.98401796e-01 1.77880791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.69, Y:31.01, Z:17.79 [[ 9.88040925e-01 -1.43339636e-01 -5.68232364e-02 3.77694645e+02] [ 1.43283453e-01 9.89668640e-01 -5.08291086e-03 3.10095417e+01] [ 5.69647577e-02 -3.11970555e-03 9.98371316e-01 1.77893142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.72, Y:31.01, Z:17.79 [[ 9.88341667e-01 -1.40810022e-01 -5.79075648e-02 3.77724496e+02] [ 1.40747518e-01 9.90031987e-01 -5.17703559e-03 3.10147906e+01] [ 5.80593200e-02 -3.03366601e-03 9.98308526e-01 1.77901035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.75, Y:31.02, Z:17.79 [[ 9.88567002e-01 -1.39086981e-01 -5.82245232e-02 3.77753883e+02] [ 1.39020853e-01 9.90275777e-01 -5.20468691e-03 3.10186152e+01] [ 5.83822391e-02 -2.94924117e-03 9.98289946e-01 1.77912364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.78, Y:31.02, Z:17.79 [[ 9.88862872e-01 -1.36970467e-01 -5.82177921e-02 3.77783240e+02] [ 1.36900637e-01 9.90571109e-01 -5.20513034e-03 3.10232059e+01] [ 5.83818120e-02 -2.82289266e-03 9.98290336e-01 1.77927617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.81, Y:31.03, Z:17.79 [[ 9.89198479e-01 -1.34401494e-01 -5.85030508e-02 3.77812735e+02] [ 1.34326447e-01 9.90923326e-01 -5.23148208e-03 3.10281630e+01] [ 5.86751567e-02 -2.68353285e-03 9.98273522e-01 1.77942007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.84, Y:31.04, Z:17.80 [[ 9.90050283e-01 -1.28247665e-01 -5.79048675e-02 3.77842478e+02] [ 1.28163641e-01 9.91739517e-01 -5.17795971e-03 3.10390658e+01] [ 5.80906066e-02 -2.29485816e-03 9.98308677e-01 1.77971747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.87, Y:31.04, Z:17.80 [[ 9.90050283e-01 -1.28247659e-01 -5.79048800e-02 3.77872350e+02] [ 1.28163642e-01 9.91739518e-01 -5.17782027e-03 3.10417369e+01] [ 5.80906011e-02 -2.29499789e-03 9.98308677e-01 1.77986015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.90, Y:31.05, Z:17.80 [[ 9.90494936e-01 -1.24850063e-01 -5.77255917e-02 3.77902657e+02] [ 1.24760817e-01 9.92173421e-01 -5.16159722e-03 3.10506266e+01] [ 5.79182235e-02 -2.08935609e-03 9.98319144e-01 1.78013080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.93, Y:31.05, Z:17.80 [[ 9.90985945e-01 -1.20925996e-01 -5.76520702e-02 3.77932216e+02] [ 1.20830398e-01 9.92659786e-01 -5.15415374e-03 3.10547684e+01] [ 5.78521629e-02 -1.85842865e-03 9.98323431e-01 1.78023180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.96, Y:31.06, Z:17.80 [[ 9.91458240e-01 -1.17157662e-01 -5.73117845e-02 3.77962646e+02] [ 1.17056901e-01 9.93111992e-01 -5.12373210e-03 3.10626355e+01] [ 5.75173050e-02 -1.62877347e-03 9.98343181e-01 1.78048166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:377.99, Y:31.07, Z:17.81 [[ 9.91930172e-01 -1.13198574e-01 -5.71018150e-02 3.77993629e+02] [ 1.13092018e-01 9.93571406e-01 -5.10460044e-03 3.10689147e+01] [ 5.73125641e-02 -1.39435229e-03 9.98355310e-01 1.78067756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.02, Y:31.07, Z:17.81 [[ 9.92350652e-01 -1.09430680e-01 -5.71411442e-02 3.78023386e+02] [ 1.09317847e-01 9.93993730e-01 -5.10618634e-03 3.10738866e+01] [ 5.73567125e-02 -1.17941951e-03 9.98353052e-01 1.78076450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.05, Y:31.08, Z:17.81 [[ 9.93049660e-01 -1.02945485e-01 -5.70490959e-02 3.78052063e+02] [ 1.02822357e-01 9.94686675e-01 -5.09727637e-03 3.10812017e+01] [ 5.72707171e-02 -8.04073962e-04 9.98358362e-01 1.78089257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.08, Y:31.09, Z:17.81 [[ 9.93344468e-01 -1.00414237e-01 -5.64247192e-02 3.78081683e+02] [ 1.00289663e-01 9.94945505e-01 -5.04232679e-03 3.10866004e+01] [ 5.66458422e-02 -6.50048627e-04 9.98394124e-01 1.78113431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.11, Y:31.09, Z:17.81 [[ 9.93818368e-01 -9.64544206e-02 -5.49690477e-02 3.78110533e+02] [ 9.63301327e-02 9.95337317e-01 -4.91237995e-03 3.10910624e+01] [ 5.51865652e-02 -4.13162233e-04 9.98475975e-01 1.78135019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.14, Y:31.09, Z:17.82 [[ 9.93962603e-01 -9.54564741e-02 -5.40962563e-02 3.78140920e+02] [ 9.53345816e-02 9.95433543e-01 -4.83522038e-03 3.10939223e+01] [ 5.43107812e-02 -3.51215723e-04 9.98524019e-01 1.78152402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.17, Y:31.10, Z:17.82 [[ 9.94024115e-01 -9.50400491e-02 -5.36977374e-02 3.78171187e+02] [ 9.49193398e-02 9.95473396e-01 -4.79960005e-03 3.10961647e+01] [ 5.39108233e-02 -3.26035594e-04 9.98545701e-01 1.78166394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.20, Y:31.10, Z:17.82 [[ 9.94041935e-01 -9.49443669e-02 -5.35368905e-02 3.78200224e+02] [ 9.48242422e-02 9.95482529e-01 -4.78520981e-03 3.10979849e+01] [ 5.37493678e-02 -3.19895856e-04 9.98554407e-01 1.78177023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.23, Y:31.10, Z:17.82 [[ 9.93971479e-01 -9.55661786e-02 -5.37382950e-02 3.78229658e+02] [ 9.54460553e-02 9.95423015e-01 -4.80322088e-03 3.10992904e+01] [ 5.39513611e-02 -3.54843711e-04 9.98543502e-01 1.78183446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.26, Y:31.10, Z:17.82 [[ 9.93790375e-01 -9.73523618e-02 -5.38814363e-02 3.78260208e+02] [ 9.72341751e-02 9.95249875e-01 -4.81684679e-03 3.10997640e+01] [ 5.40944241e-02 -4.52181031e-04 9.98535722e-01 1.78191477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.29, Y:31.10, Z:17.82 [[ 9.93653514e-01 -9.86333935e-02 -5.40753933e-02 3.78289579e+02] [ 9.85162423e-02 9.95123701e-01 -4.83430867e-03 3.11006219e+01] [ 5.42885298e-02 -5.23676749e-04 9.98525153e-01 1.78199881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.32, Y:31.10, Z:17.82 [[ 9.93545694e-01 -9.98672903e-02 -5.37910622e-02 3.78319636e+02] [ 9.97531289e-02 9.95000593e-01 -4.80974623e-03 3.11014326e+01] [ 5.40024751e-02 -5.87124102e-04 9.98540629e-01 1.78213837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.35, Y:31.10, Z:17.82 [[ 9.93444161e-01 -1.00967845e-01 -5.36114956e-02 3.78350526e+02] [ 1.00856046e-01 9.94889481e-01 -4.79369023e-03 3.11022964e+01] [ 5.38215216e-02 -6.44779891e-04 9.98550363e-01 1.78230612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.38, Y:31.10, Z:17.82 [[ 9.93346143e-01 -1.01991743e-01 -5.34894760e-02 3.78380650e+02] [ 1.01881936e-01 9.94785000e-01 -4.78277980e-03 3.11029564e+01] [ 5.36983324e-02 -6.98655476e-04 9.98556959e-01 1.78246250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.41, Y:31.10, Z:17.83 [[ 9.93290128e-01 -1.03086525e-01 -5.24203239e-02 3.78411238e+02] [ 1.02982589e-01 9.94672115e-01 -4.68718120e-03 3.11033844e+01] [ 5.26242197e-02 -7.42649841e-04 9.98614110e-01 1.78271061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.44, Y:31.10, Z:17.83 [[ 9.93297395e-01 -1.03063467e-01 -5.23278773e-02 3.78442068e+02] [ 1.02959875e-01 9.94674506e-01 -4.67873380e-03 3.11047887e+01] [ 5.25314120e-02 -7.40297596e-04 9.98618998e-01 1.78288588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.47, Y:31.11, Z:17.83 [[ 9.93329473e-01 -1.02895497e-01 -5.20487661e-02 3.78472431e+02] [ 1.02792870e-01 9.94691905e-01 -4.65198478e-03 3.11063372e+01] [ 5.22511545e-02 -7.29288469e-04 9.98633709e-01 1.78305523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.50, Y:31.11, Z:17.83 [[ 9.93373840e-01 -1.02562757e-01 -5.18584079e-02 3.78501615e+02] [ 1.02460467e-01 9.94726282e-01 -4.63420334e-03 3.11076794e+01] [ 5.20602180e-02 -7.09940325e-04 9.98643695e-01 1.78321075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.53, Y:31.11, Z:17.83 [[ 9.93517628e-01 -1.01266092e-01 -5.16517399e-02 3.78532215e+02] [ 1.01162821e-01 9.94859171e-01 -4.61657634e-03 3.11089412e+01] [ 5.18537098e-02 -6.38585776e-04 9.98654487e-01 1.78337772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.56, Y:31.11, Z:17.84 [[ 9.93631918e-01 -1.00283068e-01 -5.13703914e-02 3.78563452e+02] [ 1.00179614e-01 9.94958776e-01 -4.59127999e-03 3.11110147e+01] [ 5.15718494e-02 -5.84223656e-04 9.98669116e-01 1.78352859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.59, Y:31.11, Z:17.84 [[ 9.93733522e-01 -9.93607238e-02 -5.11970009e-02 3.78593919e+02] [ 9.92568384e-02 9.95051335e-01 -4.57396255e-03 3.11121188e+01] [ 5.13981163e-02 -5.36352523e-04 9.98678099e-01 1.78365681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.62, Y:31.11, Z:17.84 [[ 9.93962457e-01 -9.70011042e-02 -5.12778703e-02 3.78623991e+02] [ 9.68937968e-02 9.95284187e-01 -4.58031515e-03 3.11132889e+01] [ 5.14803491e-02 -4.15846246e-04 9.98673921e-01 1.78383262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.65, Y:31.12, Z:17.84 [[ 9.94047645e-01 -9.57702580e-02 -5.19358885e-02 3.78653609e+02] [ 9.56584941e-02 9.95403401e-01 -4.63917474e-03 3.11151190e+01] [ 5.21414550e-02 -3.56548153e-04 9.98639645e-01 1.78398089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.68, Y:31.12, Z:17.84 [[ 9.94168216e-01 -9.42434517e-02 -5.24187979e-02 3.78682940e+02] [ 9.41274223e-02 9.95549142e-01 -4.68335751e-03 3.11172109e+01] [ 5.26268651e-02 -2.78001144e-04 9.98614208e-01 1.78410932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.71, Y:31.12, Z:17.84 [[ 9.94299248e-01 -9.27819316e-02 -5.25406313e-02 3.78711181e+02] [ 9.26631629e-02 9.95686434e-01 -4.69726604e-03 3.11191665e+01] [ 5.27498152e-02 -1.98092984e-04 9.98607740e-01 1.78424838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.74, Y:31.12, Z:17.84 [[ 9.94364919e-01 -9.14896005e-02 -5.35542856e-02 3.78739350e+02] [ 9.13635895e-02 9.95806025e-01 -4.80161556e-03 3.11213751e+01] [ 5.37689781e-02 -1.18353697e-04 9.98553395e-01 1.78441620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.77, Y:31.12, Z:17.84 [[ 9.94547705e-01 -8.84887204e-02 -5.51779722e-02 3.78768455e+02] [ 8.83495218e-02 9.96077177e-01 -4.96177320e-03 3.11225003e+01] [ 5.54005797e-02 5.97726927e-05 9.98464207e-01 1.78449476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.80, Y:31.12, Z:17.84 [[ 9.94626685e-01 -8.71138181e-02 -5.59369257e-02 3.78796408e+02] [ 8.69678397e-02 9.96198354e-01 -5.04332376e-03 3.11244984e+01] [ 5.61636165e-02 1.51510808e-04 9.98421567e-01 1.78446511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.82, Y:31.13, Z:17.85 [[ 9.94691469e-01 -8.59179951e-02 -5.66302014e-02 3.78824689e+02] [ 8.57660557e-02 9.96302186e-01 -5.11250868e-03 3.11265031e+01] [ 5.68600499e-02 2.28419761e-04 9.98382133e-01 1.78456763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.85, Y:31.13, Z:17.85 [[ 9.94846483e-01 -8.36564973e-02 -5.72893096e-02 3.78853766e+02] [ 8.34964321e-02 9.96494581e-01 -5.18620887e-03 3.11274047e+01] [ 5.75223466e-02 3.76028707e-04 9.98344148e-01 1.78483849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.88, Y:31.13, Z:17.85 [[ 9.94932057e-01 -8.25571294e-02 -5.73979339e-02 3.78881535e+02] [ 8.23938686e-02 9.96586230e-01 -5.20919752e-03 3.11293649e+01] [ 5.76320470e-02 4.53559776e-04 9.98337789e-01 1.78494502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.91, Y:31.13, Z:17.85 [[ 9.94989551e-01 -8.19836413e-02 -5.72230395e-02 3.78907908e+02] [ 8.18200671e-02 9.96633554e-01 -5.19958283e-03 3.11312319e+01] [ 5.74566820e-02 4.91537654e-04 9.98347879e-01 1.78503208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.94, Y:31.13, Z:17.85 [[ 9.95014715e-01 -8.20123140e-02 -5.67423850e-02 3.78935749e+02] [ 8.18508426e-02 9.96631192e-01 -5.16787367e-03 3.11305744e+01] [ 5.69750601e-02 4.97698320e-04 9.98375478e-01 1.78523465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.96, Y:31.13, Z:17.85 [[ 9.94949713e-01 -8.27720681e-02 -5.67789890e-02 3.78963534e+02] [ 8.26106938e-02 9.96568394e-01 -5.18749803e-03 3.11311027e+01] [ 5.70135258e-02 4.70748007e-04 9.98373295e-01 1.78540431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:378.99, Y:31.13, Z:17.86 [[ 9.94888408e-01 -8.39049251e-02 -5.61873634e-02 3.78991500e+02] [ 8.37478926e-02 9.96473678e-01 -5.14780705e-03 3.11317327e+01] [ 5.64211551e-02 4.15920282e-04 9.98406971e-01 1.78551594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.02, Y:31.13, Z:17.86 [[ 9.94763206e-01 -8.55285825e-02 -5.59555639e-02 3.79020838e+02] [ 8.53750580e-02 9.96335663e-01 -5.13283213e-03 3.11316444e+01] [ 5.61895277e-02 3.28743028e-04 9.98420066e-01 1.78568762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.05, Y:31.13, Z:17.86 [[ 9.94426755e-01 -8.99345771e-02 -5.50200001e-02 3.79049822e+02] [ 8.97921678e-02 9.95947671e-01 -5.05995207e-03 3.11278198e+01] [ 5.52521056e-02 9.13866408e-05 9.98472432e-01 1.78579380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.08, Y:31.13, Z:17.86 [[ 9.94205850e-01 -9.24509220e-02 -5.48411814e-02 3.79076810e+02] [ 9.23125477e-02 9.95717242e-01 -5.05645877e-03 3.11266267e+01] [ 5.50737841e-02 -3.53682826e-05 9.98482287e-01 1.78586806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.11, Y:31.13, Z:17.86 [[ 9.93951457e-01 -9.54830572e-02 -5.42539183e-02 3.79105257e+02] [ 9.53517131e-02 9.95431037e-01 -5.01022752e-03 3.11255177e+01] [ 5.44844260e-02 -1.93281113e-04 9.98514602e-01 1.78604621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.13, Y:31.12, Z:17.86 [[ 9.93649460e-01 -9.85646602e-02 -5.42748491e-02 3.79133061e+02] [ 9.84370072e-02 9.95130588e-01 -5.02680862e-03 3.11243019e+01] [ 5.45060282e-02 -3.47768048e-04 9.98513381e-01 1.78616477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.16, Y:31.12, Z:17.86 [[ 9.93391677e-01 -1.01369275e-01 -5.38260785e-02 3.79162042e+02] [ 1.01247403e-01 9.94848748e-01 -4.99326891e-03 3.11232687e+01] [ 5.40549709e-02 -4.89478914e-04 9.98537841e-01 1.78633389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.19, Y:31.12, Z:17.86 [[ 9.92914329e-01 -1.06190335e-01 -5.33361760e-02 3.79190428e+02] [ 1.06076954e-01 9.94345552e-01 -4.96022958e-03 3.11172420e+01] [ 5.35613177e-02 -7.32656057e-04 9.98564294e-01 1.78639409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.22, Y:31.12, Z:17.87 [[ 9.92663594e-01 -1.08531320e-01 -5.32911003e-02 3.79219481e+02] [ 1.08421193e-01 9.94092665e-01 -4.96176960e-03 3.11177401e+01] [ 5.35147993e-02 -8.52516632e-04 9.98566693e-01 1.78658112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.25, Y:31.12, Z:17.87 [[ 9.92440221e-01 -1.10598785e-01 -5.32007116e-02 3.79248650e+02] [ 1.10491285e-01 9.93864683e-01 -4.96667781e-03 3.11181113e+01] [ 5.34236169e-02 -9.49084190e-04 9.98571488e-01 1.78672388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.28, Y:31.12, Z:17.87 [[ 9.92263501e-01 -1.12071162e-01 -5.34153456e-02 3.79276306e+02] [ 1.11964241e-01 9.93699660e-01 -4.99941199e-03 3.11171872e+01] [ 5.36391007e-02 -1.01987458e-03 9.98559866e-01 1.78679028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.31, Y:31.12, Z:17.87 [[ 9.92081156e-01 -1.13568883e-01 -5.36385094e-02 3.79305386e+02] [ 1.13462935e-01 9.93529516e-01 -5.02619697e-03 3.11161929e+01] [ 5.38622618e-02 -1.09958739e-03 9.98547769e-01 1.78690537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.33, Y:31.12, Z:17.87 [[ 9.92106728e-01 -1.13432571e-01 -5.34536473e-02 3.79332854e+02] [ 1.13326483e-01 9.93545114e-01 -5.02137269e-03 3.11164835e+01] [ 5.36781973e-02 -1.07597622e-03 9.98557707e-01 1.78701903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.36, Y:31.12, Z:17.87 [[ 9.92192895e-01 -1.12992495e-01 -5.27821422e-02 3.79361185e+02] [ 1.12888136e-01 9.93595304e-01 -4.96390127e-03 3.11197843e+01] [ 5.30049722e-02 -1.03333010e-03 9.98593714e-01 1.78726733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.39, Y:31.12, Z:17.87 [[ 9.92303028e-01 -1.12432633e-01 -5.18999490e-02 3.79389868e+02] [ 1.12330278e-01 9.93658873e-01 -4.89419196e-03 3.11213981e+01] [ 5.21211118e-02 -9.73414201e-04 9.98640297e-01 1.78748784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.42, Y:31.12, Z:17.88 [[ 9.92429523e-01 -1.11594128e-01 -5.12873461e-02 3.79417815e+02] [ 1.11492415e-01 9.93753455e-01 -4.84888048e-03 3.11199820e+01] [ 5.15080839e-02 -9.05977910e-04 9.98672167e-01 1.78767877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.45, Y:31.12, Z:17.88 [[ 9.92344032e-01 -1.11459200e-01 -5.31993275e-02 3.79445705e+02] [ 1.11349234e-01 9.93768579e-01 -5.03582792e-03 3.11218671e+01] [ 5.34291094e-02 -9.26430584e-04 9.98571215e-01 1.78765043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.47, Y:31.12, Z:17.88 [[ 9.92227545e-01 -1.11528378e-01 -5.51898571e-02 3.79474740e+02] [ 1.11409237e-01 9.93760796e-01 -5.24038238e-03 3.11236043e+01] [ 5.54299677e-02 -9.49008143e-04 9.98462127e-01 1.78759889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.50, Y:31.12, Z:17.88 [[ 9.92182476e-01 -1.11387930e-01 -5.62731180e-02 3.79502139e+02] [ 1.11263089e-01 9.93776551e-01 -5.35647585e-03 3.11243673e+01] [ 5.65195518e-02 -9.46519463e-04 9.98401044e-01 1.78756333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.53, Y:31.13, Z:17.88 [[ 9.92191168e-01 -1.11596222e-01 -5.57043065e-02 3.79530437e+02] [ 1.11473809e-01 9.93753187e-01 -5.30968008e-03 3.11266012e+01] [ 5.59488723e-02 -9.41353570e-04 9.98433191e-01 1.78769768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.56, Y:31.13, Z:17.88 [[ 9.92235219e-01 -1.11886923e-01 -5.43193067e-02 3.79558759e+02] [ 1.11770237e-01 9.93720518e-01 -5.19087764e-03 3.11255619e+01] [ 5.45590010e-02 -9.20710188e-04 9.98510124e-01 1.78791440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.59, Y:31.13, Z:17.88 [[ 9.92217133e-01 -1.12271008e-01 -5.38551934e-02 3.79586056e+02] [ 1.12156600e-01 9.93677190e-01 -5.15156815e-03 3.11256370e+01] [ 5.40930490e-02 -9.28741223e-04 9.98535467e-01 1.78804842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.61, Y:31.13, Z:17.88 [[ 9.92238295e-01 -1.12116075e-01 -5.37880228e-02 3.79613362e+02] [ 1.12001364e-01 9.93694698e-01 -5.15183565e-03 3.11258402e+01] [ 5.40264766e-02 -9.12483281e-04 9.98539086e-01 1.78814818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.64, Y:31.12, Z:17.88 [[ 9.92144829e-01 -1.12464785e-01 -5.47750929e-02 3.79641719e+02] [ 1.12345973e-01 9.93655265e-01 -5.25328634e-03 3.11247333e+01] [ 5.50183691e-02 -9.41740251e-04 9.98484898e-01 1.78820310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.67, Y:31.13, Z:17.88 [[ 9.92158084e-01 -1.12661097e-01 -5.41277473e-02 3.79669554e+02] [ 1.12544920e-01 9.93633034e-01 -5.19946953e-03 3.11269446e+01] [ 5.43688957e-02 -9.33107249e-04 9.98520482e-01 1.78833969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.70, Y:31.13, Z:17.88 [[ 9.92126505e-01 -1.12939558e-01 -5.41262861e-02 3.79696821e+02] [ 1.12822968e-01 9.93601422e-01 -5.21463845e-03 3.11296478e+01] [ 5.43688938e-02 -9.33107217e-04 9.98520482e-01 1.78847032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.72, Y:31.13, Z:17.89 [[ 9.92090485e-01 -1.13444060e-01 -5.37300176e-02 3.79724459e+02] [ 1.13329094e-01 9.93543942e-01 -5.19156106e-03 3.11313734e+01] [ 5.39720852e-02 -9.38675863e-04 9.98542004e-01 1.78864266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.75, Y:31.13, Z:17.89 [[ 9.92060849e-01 -1.13855862e-01 -5.34051937e-02 3.79751897e+02] [ 1.13742068e-01 9.93496834e-01 -5.17526927e-03 3.11341701e+01] [ 5.36471256e-02 -9.40235127e-04 9.98559513e-01 1.78889566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.78, Y:31.13, Z:17.89 [[ 9.92009836e-01 -1.14495288e-01 -5.29841048e-02 3.79779028e+02] [ 1.14383392e-01 9.93423335e-01 -5.14948215e-03 3.11347669e+01] [ 5.32252376e-02 -9.52164680e-04 9.98582078e-01 1.78903655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.81, Y:31.13, Z:17.89 [[ 9.91929555e-01 -1.15326890e-01 -5.26826948e-02 3.79808132e+02] [ 1.15216837e-01 9.93327110e-01 -5.13148219e-03 3.11334106e+01] [ 5.29229469e-02 -9.79864638e-04 9.98598118e-01 1.78912513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.84, Y:31.13, Z:17.89 [[ 9.91836471e-01 -1.16180619e-01 -5.25592883e-02 3.79837345e+02] [ 1.16071580e-01 9.93227589e-01 -5.13266865e-03 3.11341669e+01] [ 5.27996518e-02 -1.00987168e-03 9.98604615e-01 1.78921048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.87, Y:31.13, Z:17.89 [[ 9.91751206e-01 -1.16926390e-01 -5.25144282e-02 3.79865331e+02] [ 1.16817929e-01 9.93140043e-01 -5.14063221e-03 3.11346950e+01] [ 5.27552570e-02 -1.03639856e-03 9.98606934e-01 1.78935607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.89, Y:31.13, Z:17.90 [[ 9.91493808e-01 -1.19355612e-01 -5.19063226e-02 3.79893093e+02] [ 1.19252735e-01 9.92850906e-01 -5.08566874e-03 3.11334039e+01] [ 5.21422425e-02 -1.14756188e-03 9.98639009e-01 1.78957331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.92, Y:31.14, Z:17.90 [[ 9.91334501e-01 -1.20900098e-01 -5.13719146e-02 3.79921658e+02] [ 1.20801135e-01 9.92663941e-01 -5.03844780e-03 3.11355894e+01] [ 5.16041960e-02 -1.21099846e-03 9.98666882e-01 1.78977597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.95, Y:31.14, Z:17.90 [[ 9.91137486e-01 -1.22653349e-01 -5.10160724e-02 3.79950307e+02] [ 1.22557421e-01 9.92448747e-01 -5.01622547e-03 3.11371333e+01] [ 5.12460939e-02 -1.28062916e-03 9.98685235e-01 1.78996048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:379.98, Y:31.14, Z:17.90 [[ 9.90976000e-01 -1.24105180e-01 -5.06406219e-02 3.79978082e+02] [ 1.24011929e-01 9.92268172e-01 -4.99154595e-03 3.11360877e+01] [ 5.08685541e-02 -1.33353899e-03 9.98704467e-01 1.79007239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.01, Y:31.14, Z:17.90 [[ 9.90763302e-01 -1.25901413e-01 -5.03677781e-02 3.80006599e+02] [ 1.25811228e-01 9.92041752e-01 -4.96966572e-03 3.11380350e+01] [ 5.05926268e-02 -1.41306958e-03 9.98718373e-01 1.79023123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.03, Y:31.14, Z:17.90 [[ 9.90612507e-01 -1.27078259e-01 -5.03783491e-02 3.80034017e+02] [ 1.26988929e-01 9.91891618e-01 -4.98306705e-03 3.11383757e+01] [ 5.06031017e-02 -1.46120405e-03 9.98717773e-01 1.79032392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.06, Y:31.14, Z:17.90 [[ 9.90580629e-01 -1.27340296e-01 -5.03434816e-02 3.80062498e+02] [ 1.27251155e-01 9.91858001e-01 -4.98499754e-03 3.11374650e+01] [ 5.05683761e-02 -1.46822419e-03 9.98719522e-01 1.79042379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.09, Y:31.14, Z:17.91 [[ 9.90604844e-01 -1.27171684e-01 -5.02932045e-02 3.80091098e+02] [ 1.27082253e-01 9.91879655e-01 -4.98498508e-03 3.11417559e+01] [ 5.05187553e-02 -1.45322339e-03 9.98722055e-01 1.79055982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.12, Y:31.15, Z:17.91 [[ 9.90736142e-01 -1.26327562e-01 -4.98321528e-02 3.80119998e+02] [ 1.26238077e-01 9.91987615e-01 -4.95166001e-03 3.11460450e+01] [ 5.00584096e-02 -1.38492660e-03 9.98745332e-01 1.79070055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.15, Y:31.15, Z:17.91 [[ 9.91073592e-01 -1.23502594e-01 -5.02020470e-02 3.80147526e+02] [ 1.23407562e-01 9.92343475e-01 -5.00014335e-03 3.11475061e+01] [ 5.04352044e-02 -1.23980220e-03 9.98726566e-01 1.79073754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.18, Y:31.15, Z:17.91 [[ 9.91267624e-01 -1.22090072e-01 -4.98248066e-02 3.80175677e+02] [ 1.21994434e-01 9.92518353e-01 -4.96750094e-03 3.11506397e+01] [ 5.00585176e-02 -1.15422624e-03 9.98745620e-01 1.79082273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.20, Y:31.16, Z:17.91 [[ 9.91469300e-01 -1.20509398e-01 -4.96599590e-02 3.80203862e+02] [ 1.20411798e-01 9.92711622e-01 -4.96333548e-03 3.11554570e+01] [ 4.98961470e-02 -1.05865018e-03 9.98753850e-01 1.79093451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.23, Y:31.16, Z:17.91 [[ 9.91652840e-01 -1.18888695e-01 -4.99011291e-02 3.80232598e+02] [ 1.18787448e-01 9.92907115e-01 -5.00030580e-03 3.11593009e+01] [ 5.01416660e-02 -9.69060346e-04 9.98741645e-01 1.79101630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.26, Y:31.16, Z:17.91 [[ 9.91926758e-01 -1.16298075e-01 -5.05575297e-02 3.80260929e+02] [ 1.16190108e-01 9.93214005e-01 -5.07934326e-03 3.11632699e+01] [ 5.08051644e-02 -8.35948360e-04 9.98708234e-01 1.79109890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.29, Y:31.17, Z:17.91 [[ 9.92156215e-01 -1.14404243e-01 -5.03757225e-02 3.80289046e+02] [ 1.14293957e-01 9.93434017e-01 -5.07399981e-03 3.11673487e+01] [ 5.06254435e-02 -7.23440230e-04 9.98717448e-01 1.79125283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.32, Y:31.17, Z:17.91 [[ 9.92189690e-01 -1.14228808e-01 -5.01138500e-02 3.80315395e+02] [ 1.14118813e-01 9.93454222e-01 -5.06010194e-03 3.11698691e+01] [ 5.03638253e-02 -6.98352121e-04 9.98730693e-01 1.79140567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.34, Y:31.17, Z:17.91 [[ 9.91948160e-01 -1.15186061e-01 -5.26404795e-02 3.80344170e+02] [ 1.15065629e-01 9.93343630e-01 -5.32292082e-03 3.11728283e+01] [ 5.29032113e-02 -7.77048379e-04 9.98599342e-01 1.79142943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.37, Y:31.17, Z:17.92 [[ 9.91722180e-01 -1.17330818e-01 -5.21593481e-02 3.80372375e+02] [ 1.17214894e-01 9.93092503e-01 -5.28660425e-03 3.11740840e+01] [ 5.24193391e-02 -8.71009765e-04 9.98624782e-01 1.79159539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.40, Y:31.18, Z:17.92 [[ 9.91689701e-01 -1.17605265e-01 -5.21587841e-02 3.80399635e+02] [ 1.17489427e-01 9.93060032e-01 -5.29216158e-03 3.11769265e+01] [ 5.24191899e-02 -8.79923553e-04 9.98624782e-01 1.79172586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.43, Y:31.18, Z:17.92 [[ 9.91487727e-01 -1.19496531e-01 -5.16978449e-02 3.80427028e+02] [ 1.19384599e-01 9.92834156e-01 -5.25888027e-03 3.11789044e+01] [ 5.19558042e-02 -9.57811262e-04 9.98648926e-01 1.79189033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.45, Y:31.18, Z:17.92 [[ 9.91454936e-01 -1.19768518e-01 -5.16973091e-02 3.80454288e+02] [ 1.19656682e-01 9.92801374e-01 -5.26414219e-03 3.11817607e+01] [ 5.19556380e-02 -9.66768694e-04 9.98648926e-01 1.79202080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.48, Y:31.18, Z:17.92 [[ 9.91422067e-01 -1.20040921e-01 -5.16958610e-02 3.80481547e+02] [ 1.19928714e-01 9.92768474e-01 -5.27832662e-03 3.11846287e+01] [ 5.19556362e-02 -9.66768661e-04 9.98648926e-01 1.79215143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.51, Y:31.19, Z:17.92 [[ 9.91205029e-01 -1.21968854e-01 -5.13438284e-02 3.80510385e+02] [ 1.21860031e-01 9.92533376e-01 -5.25638727e-03 3.11868754e+01] [ 5.16015789e-02 -1.04660303e-03 9.98667203e-01 1.79235020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.54, Y:31.19, Z:17.93 [[ 9.90938003e-01 -1.24284385e-01 -5.09437474e-02 3.80538808e+02] [ 1.24179678e-01 9.92245977e-01 -5.22770592e-03 3.11896066e+01] [ 5.11984506e-02 -1.14584571e-03 9.98687842e-01 1.79256745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.57, Y:31.19, Z:17.93 [[ 9.90663968e-01 -1.26575761e-01 -5.06308193e-02 3.80567314e+02] [ 1.26474690e-01 9.91956163e-01 -5.20805105e-03 3.11924740e+01] [ 5.08827662e-02 -1.24408867e-03 9.98703858e-01 1.79274203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.60, Y:31.19, Z:17.93 [[ 9.90316113e-01 -1.29263290e-01 -5.06458083e-02 3.80596017e+02] [ 1.29165012e-01 9.91609361e-01 -5.22247328e-03 3.11935992e+01] [ 5.08959318e-02 -1.36976698e-03 9.98703023e-01 1.79286317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.63, Y:31.19, Z:17.93 [[ 9.89689376e-01 -1.34138132e-01 -5.02185309e-02 3.80625525e+02] [ 1.34047161e-01 9.90961361e-01 -5.19041130e-03 3.11937076e+01] [ 5.04608558e-02 -1.59475659e-03 9.98724766e-01 1.79300081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.65, Y:31.20, Z:17.93 [[ 9.89301810e-01 -1.36816270e-01 -5.06284257e-02 3.80654984e+02] [ 1.36727171e-01 9.90594908e-01 -5.23545806e-03 3.11957005e+01] [ 5.08685565e-02 -1.74283327e-03 9.98703836e-01 1.79314239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.68, Y:31.20, Z:17.93 [[ 9.88929076e-01 -1.39462700e-01 -5.06896329e-02 3.80684046e+02] [ 1.39376760e-01 9.90225542e-01 -5.24361537e-03 3.12000432e+01] [ 5.09254579e-02 -1.87939310e-03 9.98700689e-01 1.79330313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.71, Y:31.20, Z:17.93 [[ 9.88609415e-01 -1.41570543e-01 -5.10803897e-02 3.80712025e+02] [ 1.41485971e-01 9.89926147e-01 -5.28616034e-03 3.12010958e+01] [ 5.13141779e-02 -2.00121064e-03 9.98680555e-01 1.79339545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.74, Y:31.20, Z:17.93 [[ 9.88272415e-01 -1.43609638e-01 -5.19028505e-02 3.80739544e+02] [ 1.43524861e-01 9.89632108e-01 -5.37635548e-03 3.12026671e+01] [ 5.21368239e-02 -2.13604559e-03 9.98637666e-01 1.79347540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.77, Y:31.20, Z:17.94 [[ 9.87962101e-01 -1.45662866e-01 -5.20885523e-02 3.80768483e+02] [ 1.45579916e-01 9.89331740e-01 -5.40344306e-03 3.12048104e+01] [ 5.23199391e-02 -2.24465009e-03 9.98627851e-01 1.79358569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.80, Y:31.21, Z:17.94 [[ 9.87472866e-01 -1.48754281e-01 -5.26260686e-02 3.80797345e+02] [ 1.48673328e-01 9.88871227e-01 -5.47162946e-03 3.12079612e+01] [ 5.28543333e-02 -2.42100716e-03 9.98599298e-01 1.79366980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.82, Y:31.21, Z:17.94 [[ 9.87265963e-01 -1.50071422e-01 -5.27682263e-02 3.80824683e+02] [ 1.49991724e-01 9.88672010e-01 -5.48986499e-03 3.12097688e+01] [ 5.29943402e-02 -2.49484041e-03 9.98591696e-01 1.79377171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.85, Y:31.21, Z:17.94 [[ 9.87071539e-01 -1.51346676e-01 -5.27632475e-02 3.80852825e+02] [ 1.51268378e-01 9.88477443e-01 -5.49748146e-03 3.12135260e+01] [ 5.29873055e-02 -2.55500338e-03 9.98591917e-01 1.79390897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.88, Y:31.22, Z:17.94 [[ 9.86654351e-01 -1.54024885e-01 -5.28159734e-02 3.80881744e+02] [ 1.53949887e-01 9.88063294e-01 -5.50987110e-03 3.12204482e+01] [ 5.30341819e-02 -2.69467485e-03 9.98589062e-01 1.79406923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.91, Y:31.22, Z:17.94 [[ 9.86437459e-01 -1.55242363e-01 -5.33005442e-02 3.80908963e+02] [ 1.55167609e-01 9.87872494e-01 -5.56314674e-03 3.12225248e+01] [ 5.35177776e-02 -2.78282167e-03 9.98563019e-01 1.79413933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.94, Y:31.23, Z:17.94 [[ 9.86186054e-01 -1.56829692e-01 -5.33058644e-02 3.80937703e+02] [ 1.56756748e-01 9.87621520e-01 -5.57274568e-03 3.12275588e+01] [ 5.35199908e-02 -2.86028989e-03 9.98562682e-01 1.79427345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.97, Y:31.23, Z:17.94 [[ 9.85963744e-01 -1.58128806e-01 -5.35796293e-02 3.80965980e+02] [ 1.58056268e-01 9.87414140e-01 -5.61535985e-03 3.12327591e+01] [ 5.37932338e-02 -2.93205504e-03 9.98547791e-01 1.79440636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:380.99, Y:31.24, Z:17.95 [[ 9.85740690e-01 -1.59450576e-01 -5.37662131e-02 3.80993055e+02] [ 1.59378777e-01 9.87201349e-01 -5.64812979e-03 3.12354042e+01] [ 5.39786756e-02 -3.00160191e-03 9.98537577e-01 1.79452998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.02, Y:31.23, Z:17.95 [[ 9.85446446e-01 -1.61515280e-01 -5.29916686e-02 3.81022363e+02] [ 1.61448203e-01 9.86865455e-01 -5.57243119e-03 3.12326184e+01] [ 5.31956799e-02 -3.06407715e-03 9.98579406e-01 1.79466000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.05, Y:31.24, Z:17.95 [[ 9.85286515e-01 -1.62497674e-01 -5.29621497e-02 3.81050197e+02] [ 1.62431806e-01 9.86704025e-01 -5.57457877e-03 3.12413676e+01] [ 5.31638223e-02 -3.11018032e-03 9.98580961e-01 1.79490198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.08, Y:31.25, Z:17.95 [[ 9.85109765e-01 -1.63613720e-01 -5.28138334e-02 3.81078317e+02] [ 1.63549107e-01 9.86519457e-01 -5.57232724e-03 3.12468995e+01] [ 5.30135834e-02 -3.14830132e-03 9.98588828e-01 1.79509391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.11, Y:31.25, Z:17.95 [[ 9.84986569e-01 -1.64418751e-01 -5.26111557e-02 3.81106901e+02] [ 1.64355068e-01 9.86385548e-01 -5.56432697e-03 3.12514504e+01] [ 5.28097633e-02 -3.16612273e-03 9.98599572e-01 1.79524854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.14, Y:31.26, Z:17.95 [[ 9.84864741e-01 -1.65148490e-01 -5.26062589e-02 3.81135566e+02] [ 1.65085144e-01 9.86263550e-01 -5.57725507e-03 3.12568774e+01] [ 5.28047109e-02 -3.19166995e-03 9.98599758e-01 1.79541872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.16, Y:31.26, Z:17.96 [[ 9.84796770e-01 -1.65559229e-01 -5.25876712e-02 3.81162595e+02] [ 1.65495782e-01 9.86194661e-01 -5.58906746e-03 3.12645793e+01] [ 5.27870022e-02 -3.19894220e-03 9.98600671e-01 1.79557318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.19, Y:31.27, Z:17.96 [[ 9.84871091e-01 -1.65093381e-01 -5.26603306e-02 3.81190813e+02] [ 1.65028322e-01 9.86272865e-01 -5.61141382e-03 3.12658549e+01] [ 5.28638624e-02 -3.16392673e-03 9.98596716e-01 1.79569892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.22, Y:31.27, Z:17.96 [[ 9.85032684e-01 -1.64213978e-01 -5.23868298e-02 3.81218694e+02] [ 1.64148056e-01 9.86419886e-01 -5.58792419e-03 3.12742101e+01] [ 5.25930259e-02 -3.09490829e-03 9.98611233e-01 1.79590897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.25, Y:31.28, Z:17.96 [[ 9.85167917e-01 -1.63300754e-01 -5.26976188e-02 3.81247258e+02] [ 1.63232028e-01 9.86571617e-01 -5.63463753e-03 3.12819239e+01] [ 5.29101155e-02 -3.05087507e-03 9.98594618e-01 1.79611931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.28, Y:31.29, Z:17.96 [[ 9.85775664e-01 -1.59635402e-01 -5.25630822e-02 3.81275434e+02] [ 1.59561217e-01 9.87171971e-01 -5.63189245e-03 3.12902002e+01] [ 5.27878509e-02 -2.83524687e-03 9.98601725e-01 1.79626727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.30, Y:31.30, Z:17.96 [[ 9.86095518e-01 -1.57497485e-01 -5.30110603e-02 3.81303330e+02] [ 1.57418836e-01 9.87515582e-01 -5.68207050e-03 3.12950424e+01] [ 5.32441599e-02 -2.74187514e-03 9.98577759e-01 1.79639839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.33, Y:31.31, Z:17.97 [[ 9.86847681e-01 -1.52917058e-01 -5.24216288e-02 3.81332689e+02] [ 1.52833517e-01 9.88235956e-01 -5.62237028e-03 3.13050643e+01] [ 5.26646948e-02 -2.46335879e-03 9.98609214e-01 1.79652830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.36, Y:31.31, Z:17.97 [[ 9.87149946e-01 -1.50843689e-01 -5.27367607e-02 3.81360531e+02] [ 1.50756117e-01 9.88554796e-01 -5.65753449e-03 3.13129412e+01] [ 5.29865811e-02 -2.36555438e-03 9.98592423e-01 1.79667017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.39, Y:31.32, Z:17.97 [[ 9.87883086e-01 -1.45963344e-01 -5.27419242e-02 3.81389405e+02] [ 1.45868623e-01 9.89287769e-01 -5.66162628e-03 3.13245003e+01] [ 5.30033304e-02 -2.10036702e-03 9.98592127e-01 1.79672302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.42, Y:31.33, Z:17.97 [[ 9.87877766e-01 -1.45999389e-01 -5.27418101e-02 3.81418383e+02] [ 1.45904663e-01 9.89282449e-01 -5.66268861e-03 3.13276403e+01] [ 5.30032962e-02 -2.10123187e-03 9.98592127e-01 1.79686171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.45, Y:31.34, Z:17.97 [[ 9.88743543e-01 -1.40095600e-01 -5.25302744e-02 3.81446190e+02] [ 1.39993205e-01 9.90136390e-01 -5.64195932e-03 3.13377363e+01] [ 5.28025499e-02 -1.77543065e-03 9.98603394e-01 1.79693083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.48, Y:31.35, Z:17.97 [[ 9.89197521e-01 -1.36746738e-01 -5.28071325e-02 3.81475617e+02] [ 1.36638373e-01 9.90604745e-01 -5.67401070e-03 3.13458624e+01] [ 5.30868985e-02 -1.60276332e-03 9.98588610e-01 1.79706583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.50, Y:31.35, Z:17.97 [[ 9.89192551e-01 -1.36782731e-01 -5.28070184e-02 3.81504584e+02] [ 1.36674360e-01 9.90599774e-01 -5.67507246e-03 3.13490040e+01] [ 5.30868724e-02 -1.60362606e-03 9.98588610e-01 1.79720447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.53, Y:31.36, Z:17.97 [[ 9.89669855e-01 -1.33484292e-01 -5.23022202e-02 3.81534001e+02] [ 1.33373286e-01 9.91049924e-01 -5.62263700e-03 3.13558748e+01] [ 5.25846451e-02 -1.41116465e-03 9.98615473e-01 1.79731311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.56, Y:31.36, Z:17.97 [[ 9.90090735e-01 -1.30305378e-01 -5.23530847e-02 3.81561940e+02] [ 1.30189657e-01 9.91473129e-01 -5.62924627e-03 3.13619909e+01] [ 5.26401978e-02 -1.24236556e-03 9.98612771e-01 1.79742183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.59, Y:31.37, Z:17.98 [[ 9.90516760e-01 -1.27222904e-01 -5.18737095e-02 3.81589832e+02] [ 1.27104922e-01 9.91873579e-01 -5.58049372e-03 3.13681861e+01] [ 5.21621285e-02 -1.06583126e-03 9.98638061e-01 1.79754846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.62, Y:31.37, Z:17.98 [[ 9.90850871e-01 -1.24554207e-01 -5.19692233e-02 3.81618679e+02] [ 1.24431980e-01 9.92212374e-01 -5.59348443e-03 3.13745574e+01] [ 5.22611984e-02 -9.24324442e-04 9.98633022e-01 1.79768494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.65, Y:31.38, Z:17.98 [[ 9.91359069e-01 -1.20549161e-01 -5.17213396e-02 3.81648347e+02] [ 1.20422563e-01 9.92707106e-01 -5.56848151e-03 3.13842153e+01] [ 5.20154172e-02 -7.08051627e-04 9.98646031e-01 1.79786035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.68, Y:31.39, Z:17.98 [[ 9.91483393e-01 -1.19528830e-01 -5.17062812e-02 3.81678524e+02] [ 1.19400919e-01 9.92830515e-01 -5.56686027e-03 3.13892536e+01] [ 5.20009741e-02 -6.54327986e-04 9.98646820e-01 1.79801089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.71, Y:31.39, Z:17.98 [[ 9.91549982e-01 -1.18954390e-01 -5.17540998e-02 3.81707467e+02] [ 1.18825456e-01 9.92899523e-01 -5.57209038e-03 3.13931088e+01] [ 5.20494456e-02 -6.24698403e-04 9.98644314e-01 1.79816197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.74, Y:31.40, Z:17.98 [[ 9.91522133e-01 -1.19421910e-01 -5.12080732e-02 3.81738013e+02] [ 1.19296262e-01 9.92843389e-01 -5.51415147e-03 3.13970795e+01] [ 5.15001074e-02 -6.41528504e-04 9.98672783e-01 1.79832264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.77, Y:31.40, Z:17.98 [[ 9.91150724e-01 -1.22498712e-01 -5.11303058e-02 3.81767794e+02] [ 1.22377532e-01 9.92468350e-01 -5.50584771e-03 3.13978848e+01] [ 5.14196695e-02 -8.00075696e-04 9.98676813e-01 1.79844113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.80, Y:31.40, Z:17.99 [[ 9.90863988e-01 -1.24836732e-01 -5.10328145e-02 3.81797256e+02] [ 1.24719063e-01 9.92176873e-01 -5.49627035e-03 3.13984213e+01] [ 5.13197147e-02 -9.18708427e-04 9.98681853e-01 1.79855962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.83, Y:31.40, Z:17.99 [[ 9.90519163e-01 -1.27545389e-01 -5.10290282e-02 3.81827786e+02] [ 1.27431288e-01 9.91832170e-01 -5.49662127e-03 3.14031179e+01] [ 5.13133005e-02 -1.05818611e-03 9.98682044e-01 1.79878391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.86, Y:31.40, Z:17.99 [[ 9.89616584e-01 -1.34164251e-01 -5.15652148e-02 3.81858476e+02] [ 1.34056755e-01 9.90958095e-01 -5.55340299e-03 3.14020890e+01] [ 5.18440351e-02 -1.41692567e-03 9.98654189e-01 1.79890947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.89, Y:31.40, Z:17.99 [[ 9.89107905e-01 -1.37719057e-01 -5.19520373e-02 3.81889373e+02] [ 1.37614887e-01 9.90470014e-01 -5.59409132e-03 3.14034763e+01] [ 5.22273481e-02 -1.61621379e-03 9.98633913e-01 1.79906002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.92, Y:31.41, Z:17.99 [[ 9.88635587e-01 -1.41174229e-01 -5.16673247e-02 3.81920058e+02] [ 1.41075954e-01 9.89983148e-01 -5.56248434e-03 3.14051263e+01] [ 5.19350602e-02 -1.78974717e-03 9.98648860e-01 1.79923214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.95, Y:31.41, Z:17.99 [[ 9.88141983e-01 -1.44696353e-01 -5.13652306e-02 3.81950534e+02] [ 1.44604024e-01 9.89474157e-01 -5.52893854e-03 3.14050441e+01] [ 5.16245855e-02 -1.96424274e-03 9.98664630e-01 1.79937981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:381.98, Y:31.40, Z:17.99 [[ 9.87653768e-01 -1.47931132e-01 -5.15404221e-02 3.81980714e+02] [ 1.47842652e-01 9.88995344e-01 -5.54610302e-03 3.14031227e+01] [ 5.17936788e-02 -2.14224316e-03 9.98655509e-01 1.79949666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.01, Y:31.41, Z:18.00 [[ 9.87203217e-01 -1.50849057e-01 -5.17143135e-02 3.82011726e+02] [ 1.50763979e-01 9.88554125e-01 -5.56465044e-03 3.14075779e+01] [ 5.19618202e-02 -2.30321488e-03 9.98646416e-01 1.79967475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.04, Y:31.41, Z:18.00 [[ 9.86562290e-01 -1.54932293e-01 -5.18732384e-02 3.82041902e+02] [ 1.54852408e-01 9.87921857e-01 -5.58000560e-03 3.14075231e+01] [ 5.21112291e-02 -2.52767277e-03 9.98638088e-01 1.79975739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.07, Y:31.41, Z:18.00 [[ 9.86349058e-01 -1.56256396e-01 -5.19564630e-02 3.82073365e+02] [ 1.56178094e-01 9.87713100e-01 -5.58878578e-03 3.14105915e+01] [ 5.21913627e-02 -2.60196777e-03 9.98633712e-01 1.79987090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.10, Y:31.41, Z:18.00 [[ 9.86209655e-01 -1.57081359e-01 -5.21149084e-02 3.82103167e+02] [ 1.57003817e-01 9.87582096e-01 -5.60409467e-03 3.14124369e+01] [ 5.23480493e-02 -2.65542730e-03 9.98625370e-01 1.79996403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.13, Y:31.41, Z:18.00 [[ 9.86110012e-01 -1.57775558e-01 -5.19029607e-02 3.82133305e+02] [ 1.57699608e-01 9.87471358e-01 -5.58121956e-03 3.14149539e+01] [ 5.21332672e-02 -2.68138009e-03 9.98636537e-01 1.80007786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.16, Y:31.42, Z:18.00 [[ 9.86153515e-01 -1.57597256e-01 -5.16173357e-02 3.82164112e+02] [ 1.57521949e-01 9.87499893e-01 -5.54950030e-03 3.14219761e+01] [ 5.18466995e-02 -2.65820409e-03 9.98651518e-01 1.80028072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.19, Y:31.43, Z:18.00 [[ 9.86190474e-01 -1.57449707e-01 -5.13608767e-02 3.82194743e+02] [ 1.57375043e-01 9.87523481e-01 -5.52004106e-03 3.14276921e+01] [ 5.15892006e-02 -2.63910829e-03 9.98664904e-01 1.80043448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.23, Y:31.43, Z:18.01 [[ 9.86205673e-01 -1.57287377e-01 -5.15659995e-02 3.82225428e+02] [ 1.57212001e-01 9.87549338e-01 -5.54003683e-03 3.14294741e+01] [ 5.17953465e-02 -2.64317821e-03 9.98654222e-01 1.80052986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.26, Y:31.44, Z:18.01 [[ 9.86171625e-01 -1.57468936e-01 -5.16629448e-02 3.82255839e+02] [ 1.57393688e-01 9.87520356e-01 -5.54730218e-03 3.14358541e+01] [ 5.18917374e-02 -2.66082943e-03 9.98649171e-01 1.80067952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.29, Y:31.44, Z:18.01 [[ 9.86032596e-01 -1.58174520e-01 -5.21587960e-02 3.82286118e+02] [ 1.58098913e-01 9.87407409e-01 -5.59849488e-03 3.14356756e+01] [ 5.23875208e-02 -2.72595053e-03 9.98623111e-01 1.80075239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.32, Y:31.44, Z:18.01 [[ 9.85538157e-01 -1.61016645e-01 -5.28032266e-02 3.82316531e+02] [ 1.60943367e-01 9.86947385e-01 -5.66495622e-03 3.14427117e+01] [ 5.30261586e-02 -2.91529853e-03 9.98588868e-01 1.80084464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.35, Y:31.44, Z:18.01 [[ 9.85240804e-01 -1.62769609e-01 -5.29774655e-02 3.82347250e+02] [ 1.62698422e-01 9.86659481e-01 -5.68266524e-03 3.14427878e+01] [ 5.31956838e-02 -3.02055639e-03 9.98579539e-01 1.80091348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.38, Y:31.45, Z:18.01 [[ 9.84870060e-01 -1.64792316e-01 -5.36139750e-02 3.82377595e+02] [ 1.64722456e-01 9.86323199e-01 -5.74978431e-03 3.14501401e+01] [ 5.38282276e-02 -3.16863525e-03 9.98545183e-01 1.80105472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.41, Y:31.45, Z:18.01 [[ 9.84504679e-01 -1.66838303e-01 -5.39955333e-02 3.82407545e+02] [ 1.66770649e-01 9.85978726e-01 -5.78814235e-03 3.14504951e+01] [ 5.42041310e-02 -3.30641689e-03 9.98524401e-01 1.80111900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.44, Y:31.46, Z:18.01 [[ 9.83764215e-01 -1.71075211e-01 -5.42332115e-02 3.82437919e+02] [ 1.71013559e-01 9.85251545e-01 -5.81002759e-03 3.14567656e+01] [ 5.44273071e-02 -3.55891728e-03 9.98511393e-01 1.80130246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.47, Y:31.46, Z:18.01 [[ 9.83512100e-01 -1.72530184e-01 -5.41967245e-02 3.82469104e+02] [ 1.72470846e-01 9.84997515e-01 -5.80549149e-03 3.14603961e+01] [ 5.43852615e-02 -3.63758378e-03 9.98513401e-01 1.80145231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.50, Y:31.46, Z:18.02 [[ 9.83226154e-01 -1.74101104e-01 -5.43611664e-02 3.82500247e+02] [ 1.74043905e-01 9.84720689e-01 -5.82105105e-03 3.14642670e+01] [ 5.45440167e-02 -3.73782007e-03 9.98504371e-01 1.80159936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.53, Y:31.47, Z:18.02 [[ 9.83109479e-01 -1.74741587e-01 -5.44162679e-02 3.82530939e+02] [ 1.74685397e-01 9.84607074e-01 -5.82423294e-03 3.14663360e+01] [ 5.45963780e-02 -3.77986873e-03 9.98501351e-01 1.80173322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.56, Y:31.47, Z:18.02 [[ 9.83073219e-01 -1.75077472e-01 -5.39900475e-02 3.82562666e+02] [ 1.75023021e-01 9.84547422e-01 -5.77196442e-03 3.14744140e+01] [ 5.41663030e-02 -3.77523758e-03 9.98524791e-01 1.80200717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.59, Y:31.48, Z:18.02 [[ 9.83237155e-01 -1.74284626e-01 -5.35683384e-02 3.82594150e+02] [ 1.74230065e-01 9.84688343e-01 -5.72289378e-03 3.14790824e+01] [ 5.37455308e-02 -3.70625327e-03 9.98547786e-01 1.80222905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.62, Y:31.48, Z:18.02 [[ 9.83501934e-01 -1.73016815e-01 -5.28122003e-02 3.82624097e+02] [ 1.72962173e-01 9.84912330e-01 -5.63814576e-03 3.14837887e+01] [ 5.29908813e-02 -3.58938565e-03 9.98588545e-01 1.80244183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.65, Y:31.49, Z:18.03 [[ 9.83817863e-01 -1.71372937e-01 -5.22850686e-02 3.82654844e+02] [ 1.71317296e-01 9.85200119e-01 -5.57753032e-03 3.14905254e+01] [ 5.24670935e-02 -3.47006261e-03 9.98616625e-01 1.80267318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.68, Y:31.50, Z:18.03 [[ 9.84250167e-01 -1.69027888e-01 -5.17801368e-02 3.82684891e+02] [ 1.68970179e-01 9.85605696e-01 -5.52184413e-03 3.14957965e+01] [ 5.19681434e-02 -3.31442300e-03 9.98643243e-01 1.80287477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.71, Y:31.50, Z:18.03 [[ 9.85355159e-01 -1.62947626e-01 -5.02322709e-02 3.82713375e+02] [ 1.62885477e-01 9.86630445e-01 -5.35598767e-03 3.15049301e+01] [ 5.04334332e-02 -2.90455731e-03 9.98723201e-01 1.80316496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.74, Y:31.51, Z:18.03 [[ 9.86033056e-01 -1.58957021e-01 -4.97139625e-02 3.82743920e+02] [ 1.58891047e-01 9.87281889e-01 -5.30159098e-03 3.15132052e+01] [ 4.99244199e-02 -2.67155958e-03 9.98749426e-01 1.80337124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.77, Y:31.52, Z:18.04 [[ 9.86697301e-01 -1.54829947e-01 -4.95593011e-02 3.82773640e+02] [ 1.54759233e-01 9.87938083e-01 -5.28425486e-03 3.15207881e+01] [ 4.97796818e-02 -2.45579942e-03 9.98757204e-01 1.80350488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.80, Y:31.53, Z:18.04 [[ 9.88032011e-01 -1.45903596e-01 -5.00488415e-02 3.82802234e+02] [ 1.45820041e-01 9.89296739e-01 -5.33645634e-03 3.15331868e+01] [ 5.02917639e-02 -2.02553445e-03 9.98732515e-01 1.80356907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.83, Y:31.54, Z:18.04 [[ 9.88646123e-01 -1.41555429e-01 -5.04073777e-02 3.82831868e+02] [ 1.41465025e-01 9.89928663e-01 -5.37475835e-03 3.15438977e+01] [ 5.06605343e-02 -1.81714697e-03 9.98714278e-01 1.80369078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.86, Y:31.55, Z:18.04 [[ 9.89206323e-01 -1.37449890e-01 -5.07777304e-02 3.82861812e+02] [ 1.37352754e-01 9.90507399e-01 -5.41418305e-03 3.15481052e+01] [ 5.10398966e-02 -1.61871701e-03 9.98695303e-01 1.80377806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.89, Y:31.56, Z:18.04 [[ 9.89717302e-01 -1.33601928e-01 -5.10899971e-02 3.82892864e+02] [ 1.33498528e-01 9.91034046e-01 -5.44639777e-03 3.15579843e+01] [ 5.13595757e-02 -1.43004529e-03 9.98679202e-01 1.80394431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.92, Y:31.57, Z:18.04 [[ 9.90201986e-01 -1.30013921e-01 -5.09549540e-02 3.82923608e+02] [ 1.29906458e-01 9.91511389e-01 -5.42930988e-03 3.15655710e+01] [ 5.12283031e-02 -1.24326418e-03 9.98686195e-01 1.80411655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.95, Y:31.57, Z:18.04 [[ 9.91070812e-01 -1.23163744e-01 -5.10816722e-02 3.82953397e+02] [ 1.23046746e-01 9.92385961e-01 -5.44093436e-03 3.15744232e+01] [ 5.13628602e-02 -8.93082303e-04 9.98679658e-01 1.80428595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:382.98, Y:31.58, Z:18.04 [[ 9.91488271e-01 -1.19860736e-01 -5.08371140e-02 3.82984725e+02] [ 1.19740617e-01 9.92790454e-01 -5.41291167e-03 3.15821276e+01] [ 5.11193970e-02 -7.20428966e-04 9.98692289e-01 1.80447188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.02, Y:31.59, Z:18.05 [[ 9.91817835e-01 -1.17055625e-01 -5.09446954e-02 3.83015512e+02] [ 1.16931488e-01 9.93125190e-01 -5.42066742e-03 3.15875553e+01] [ 5.12289799e-02 -5.80724409e-04 9.98686765e-01 1.80460145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.05, Y:31.59, Z:18.05 [[ 9.92123959e-01 -1.14229826e-01 -5.13964729e-02 3.83046309e+02] [ 1.14099849e-01 9.93454252e-01 -5.46561364e-03 3.15929749e+01] [ 5.16843806e-02 -4.41763532e-04 9.98663372e-01 1.80471069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.08, Y:31.60, Z:18.05 [[ 9.92596091e-01 -1.09935100e-01 -5.16456598e-02 3.83078295e+02] [ 1.09798364e-01 9.93938742e-01 -5.48600510e-03 3.16003053e+01] [ 5.19357267e-02 -2.25221730e-04 9.98650404e-01 1.80488573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.11, Y:31.60, Z:18.05 [[ 9.92780697e-01 -1.08146300e-01 -5.18735465e-02 3.83110187e+02] [ 1.08006112e-01 9.94134980e-01 -5.50640146e-03 3.16048022e+01] [ 5.21648041e-02 -1.36010977e-04 9.98638480e-01 1.80500061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.14, Y:31.61, Z:18.05 [[ 9.92910238e-01 -1.06871130e-01 -5.20367239e-02 3.83142271e+02] [ 1.06728508e-01 9.94272878e-01 -5.51989944e-03 3.16087841e+01] [ 5.23286211e-02 -7.30372237e-05 9.98629916e-01 1.80514047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.17, Y:31.61, Z:18.05 [[ 9.92954945e-01 -1.06244428e-01 -5.24652052e-02 3.83173842e+02] [ 1.06098776e-01 9.94340042e-01 -5.56149630e-03 3.16122451e+01] [ 5.27591323e-02 -4.41787855e-05 9.98607266e-01 1.80527169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.21, Y:31.62, Z:18.05 [[ 9.92964563e-01 -1.05904682e-01 -5.29676844e-02 3.83205731e+02] [ 1.05755948e-01 9.94376286e-01 -5.61089243e-03 3.16154425e+01] [ 5.32640290e-02 -3.02302982e-05 9.98580464e-01 1.80537828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.24, Y:31.62, Z:18.06 [[ 9.92839492e-01 -1.07227623e-01 -5.26495915e-02 3.83238361e+02] [ 1.07082730e-01 9.94234492e-01 -5.57342417e-03 3.16170676e+01] [ 5.29436649e-02 -1.04346352e-04 9.98597495e-01 1.80558636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.27, Y:31.62, Z:18.06 [[ 9.92704892e-01 -1.08715086e-01 -5.21347081e-02 3.83269398e+02] [ 1.08575259e-01 9.94072933e-01 -5.51520620e-03 3.16185550e+01] [ 5.24252883e-02 -1.85567256e-04 9.98624832e-01 1.80574448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.30, Y:31.62, Z:18.06 [[ 9.92494542e-01 -1.10804395e-01 -5.17394530e-02 3.83301569e+02] [ 1.10669669e-01 9.93842190e-01 -5.47049063e-03 3.16201886e+01] [ 5.20270056e-02 -2.96556024e-04 9.98645634e-01 1.80594699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.33, Y:31.62, Z:18.06 [[ 9.92015846e-01 -1.15683746e-01 -5.02178580e-02 3.83334343e+02] [ 1.15563257e-01 9.93285951e-01 -5.30603457e-03 3.16178617e+01] [ 5.04945148e-02 -5.39668839e-04 9.98724193e-01 1.80611504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.37, Y:31.62, Z:18.06 [[ 9.91719239e-01 -1.18345302e-01 -4.98732503e-02 3.83365877e+02] [ 1.18230010e-01 9.92972273e-01 -5.26590276e-03 3.16174406e+01] [ 5.01459496e-02 -6.74217808e-04 9.98741673e-01 1.80627798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.40, Y:31.62, Z:18.06 [[ 9.91400251e-01 -1.21094813e-01 -4.96144067e-02 3.83397217e+02] [ 1.20984435e-01 9.92640611e-01 -5.23294687e-03 3.16168565e+01] [ 4.98829577e-02 -8.14626135e-04 9.98754738e-01 1.80639880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.43, Y:31.62, Z:18.07 [[ 9.91408832e-01 -1.21024309e-01 -4.96149704e-02 3.83428709e+02] [ 1.20914111e-01 9.92649208e-01 -5.22759622e-03 3.16201140e+01] [ 4.98829273e-02 -8.16465002e-04 9.98754738e-01 1.80654928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.46, Y:31.62, Z:18.07 [[ 9.91107090e-01 -1.23568976e-01 -4.93704898e-02 3.83460824e+02] [ 1.23463190e-01 9.92335537e-01 -5.19830786e-03 3.16209805e+01] [ 4.96344411e-02 -9.43358384e-04 9.98767006e-01 1.80668053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.49, Y:31.62, Z:18.07 [[ 9.90556029e-01 -1.27995284e-01 -4.91524227e-02 3.83493388e+02] [ 1.27896051e-01 9.91774094e-01 -5.17172802e-03 3.16182352e+01] [ 4.94100563e-02 -1.16351438e-03 9.98777900e-01 1.80680424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.52, Y:31.62, Z:18.07 [[ 9.90387387e-01 -1.29313539e-01 -4.91002360e-02 3.83524418e+02] [ 1.29216318e-01 9.91602991e-01 -5.16252339e-03 3.16167639e+01] [ 4.93555251e-02 -1.23165365e-03 9.98780514e-01 1.80690668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.56, Y:31.62, Z:18.07 [[ 9.90273950e-01 -1.30170005e-01 -4.91250865e-02 3.83556519e+02] [ 1.30074043e-01 9.91490862e-01 -5.15895088e-03 3.16198048e+01] [ 4.93786150e-02 -1.28112395e-03 9.98779311e-01 1.80706174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.59, Y:31.62, Z:18.07 [[ 9.90203053e-01 -1.30549561e-01 -4.95451973e-02 3.83588101e+02] [ 1.30452606e-01 9.91440913e-01 -5.19943698e-03 3.16203047e+01] [ 4.97999199e-02 -1.31480174e-03 9.98758349e-01 1.80718241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.62, Y:31.62, Z:18.07 [[ 9.90225689e-01 -1.30120019e-01 -5.02181845e-02 3.83620873e+02] [ 1.30020004e-01 9.91497380e-01 -5.26722278e-03 3.16209849e+01] [ 5.04765695e-02 -1.31362926e-03 9.98724382e-01 1.80725950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.65, Y:31.62, Z:18.07 [[ 9.90271340e-01 -1.29572782e-01 -5.07303463e-02 3.83652531e+02] [ 1.29470186e-01 9.91569058e-01 -5.31725325e-03 3.16228005e+01] [ 5.09916130e-02 -1.30254390e-03 9.98698232e-01 1.80737747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.68, Y:31.63, Z:18.08 [[ 9.90427356e-01 -1.28310555e-01 -5.08925678e-02 3.83684191e+02] [ 1.28205825e-01 9.91733256e-01 -5.33060640e-03 3.16264711e+01] [ 5.11558250e-02 -1.24514521e-03 9.98689907e-01 1.80751085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.71, Y:31.63, Z:18.08 [[ 9.90758489e-01 -1.25326851e-01 -5.18728965e-02 3.83714854e+02] [ 1.25214148e-01 9.92114880e-01 -5.42968694e-03 3.16274921e+01] [ 5.21443581e-02 -1.11571212e-03 9.98638934e-01 1.80758156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.75, Y:31.63, Z:18.08 [[ 9.90938535e-01 -1.23766567e-01 -5.21790800e-02 3.83745614e+02] [ 1.23650423e-01 9.92310815e-01 -5.46070743e-03 3.16312147e+01] [ 5.24537184e-02 -1.04073987e-03 9.98622814e-01 1.80771703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.78, Y:31.63, Z:18.08 [[ 9.91118744e-01 -1.22221559e-01 -5.23977694e-02 3.83776859e+02] [ 1.22102378e-01 9.92502373e-01 -5.48177209e-03 3.16347478e+01] [ 5.26749012e-02 -9.64805161e-04 9.98611248e-01 1.80787838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.81, Y:31.64, Z:18.08 [[ 9.91430196e-01 -1.19430749e-01 -5.29382970e-02 3.83808217e+02] [ 1.19305217e-01 9.92842189e-01 -5.53648196e-03 3.16387220e+01] [ 5.32206008e-02 -8.26779614e-04 9.98582437e-01 1.80802139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.84, Y:31.64, Z:18.08 [[ 9.91548875e-01 -1.18343066e-01 -5.31577639e-02 3.83838715e+02] [ 1.18215016e-01 9.92972467e-01 -5.55779827e-03 3.16428554e+01] [ 5.34419229e-02 -7.73217274e-04 9.98570660e-01 1.80819023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.87, Y:31.65, Z:18.08 [[ 9.91684183e-01 -1.17288249e-01 -5.29711971e-02 3.83869303e+02] [ 1.17159604e-01 9.93097657e-01 -5.53808081e-03 3.16468317e+01] [ 5.32551236e-02 -7.14057345e-04 9.98580684e-01 1.80837049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.90, Y:31.65, Z:18.08 [[ 9.91764508e-01 -1.16446630e-01 -5.33230083e-02 3.83899353e+02] [ 1.16315155e-01 9.93196721e-01 -5.57298896e-03 3.16491311e+01] [ 5.36091928e-02 -6.75181328e-04 9.98561765e-01 1.80848032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.93, Y:31.65, Z:18.09 [[ 9.91796377e-01 -1.15967564e-01 -5.37723924e-02 3.83930462e+02] [ 1.15833219e-01 9.93252785e-01 -5.61884331e-03 3.16519157e+01] [ 5.40611821e-02 -6.55880869e-04 9.98537410e-01 1.80861790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.96, Y:31.65, Z:18.09 [[ 9.91828497e-01 -1.15759298e-01 -5.36285195e-02 3.83959624e+02] [ 1.15625460e-01 9.93277086e-01 -5.60209523e-03 3.16532495e+01] [ 5.39164742e-02 -6.44504552e-04 9.98545241e-01 1.80873259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:383.99, Y:31.65, Z:18.09 [[ 9.91761260e-01 -1.16528580e-01 -5.32042574e-02 3.83990375e+02] [ 1.16397960e-01 9.93187105e-01 -5.55774903e-03 3.16543549e+01] [ 5.34894190e-02 -6.80906838e-04 9.98568184e-01 1.80896578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.02, Y:31.65, Z:18.09 [[ 9.91720424e-01 -1.17168082e-01 -5.25570223e-02 3.84019519e+02] [ 1.17041514e-01 9.93111847e-01 -5.49023219e-03 3.16546177e+01] [ 5.28382815e-02 -7.06578062e-04 9.98602832e-01 1.80908897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.05, Y:31.66, Z:18.09 [[ 9.91575806e-01 -1.18276791e-01 -5.28017203e-02 3.84050413e+02] [ 1.18150578e-01 9.92980367e-01 -5.51642841e-03 3.16578800e+01] [ 5.30835371e-02 -7.68596816e-04 9.98589779e-01 1.80929410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.08, Y:31.66, Z:18.09 [[ 9.91425285e-01 -1.19475900e-01 -5.29283787e-02 3.84080514e+02] [ 1.19350909e-01 9.92836748e-01 -5.52737199e-03 3.16574089e+01] [ 5.32096272e-02 -8.37073759e-04 9.98583014e-01 1.80934240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.11, Y:31.66, Z:18.09 [[ 9.90932314e-01 -1.23025924e-01 -5.40163949e-02 3.84111161e+02] [ 1.22901248e-01 9.92402898e-01 -5.63654175e-03 3.16574857e+01] [ 5.42994676e-02 -1.05325098e-03 9.98524140e-01 1.80940615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.14, Y:31.66, Z:18.09 [[ 9.90660649e-01 -1.24934445e-01 -5.46155850e-02 3.84141107e+02] [ 1.24809875e-01 9.92164308e-01 -5.69920004e-03 3.16569223e+01] [ 5.48996604e-02 -1.17059114e-03 9.98491190e-01 1.80943410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.17, Y:31.66, Z:18.10 [[ 9.90398122e-01 -1.26985095e-01 -5.46474657e-02 3.84171610e+02] [ 1.26863449e-01 9.91903794e-01 -5.70338613e-03 3.16594646e+01] [ 5.49292735e-02 -1.28414305e-03 9.98489422e-01 1.80960967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.20, Y:31.66, Z:18.10 [[ 9.90145764e-01 -1.29114131e-01 -5.42301383e-02 3.84201869e+02] [ 1.28997525e-01 9.91628764e-01 -5.65983098e-03 3.16609244e+01] [ 5.45069292e-02 -1.39149595e-03 9.98512423e-01 1.80973640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.23, Y:31.66, Z:18.10 [[ 9.89742247e-01 -1.32564551e-01 -5.32627856e-02 3.84231557e+02] [ 1.32457049e-01 9.91173157e-01 -5.55898127e-03 3.16574351e+01] [ 5.35295673e-02 -1.55307280e-03 9.98565057e-01 1.80986404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.26, Y:31.66, Z:18.10 [[ 9.89553418e-01 -1.34203126e-01 -5.26645408e-02 3.84261429e+02] [ 1.34100297e-01 9.90952516e-01 -5.49739921e-03 3.16608771e+01] [ 5.29258274e-02 -1.62236040e-03 9.98597128e-01 1.81008881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.29, Y:31.66, Z:18.10 [[ 9.89393267e-01 -1.35575540e-01 -5.21558883e-02 3.84292169e+02] [ 1.35476591e-01 9.90765589e-01 -5.44430341e-03 3.16622929e+01] [ 5.24123738e-02 -1.67934481e-03 9.98624115e-01 1.81027605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.32, Y:31.66, Z:18.11 [[ 9.89187570e-01 -1.37767628e-01 -5.02795474e-02 3.84322999e+02] [ 1.37678497e-01 9.90463066e-01 -5.24844117e-03 3.16628082e+01] [ 5.05231000e-02 -1.73071978e-03 9.98721393e-01 1.81051915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.35, Y:31.67, Z:18.11 [[ 9.89088547e-01 -1.38723907e-01 -4.95935945e-02 3.84354442e+02] [ 1.38638396e-01 9.90329539e-01 -5.17675187e-03 3.16665622e+01] [ 4.98321409e-02 -1.75531040e-03 9.98756065e-01 1.81073562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.39, Y:31.67, Z:18.11 [[ 9.89057557e-01 -1.39128849e-01 -4.90745654e-02 3.84385777e+02] [ 1.39045705e-01 9.90272725e-01 -5.12074734e-03 3.16685404e+01] [ 4.93096473e-02 -1.75889370e-03 9.98781991e-01 1.81090498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.42, Y:31.67, Z:18.11 [[ 9.89003142e-01 -1.39646091e-01 -4.87006621e-02 3.84416944e+02] [ 1.39564965e-01 9.90199891e-01 -5.07909003e-03 3.16715460e+01] [ 4.89326653e-02 -1.77367018e-03 9.98800505e-01 1.81109500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.45, Y:31.67, Z:18.11 [[ 9.88981161e-01 -1.40009294e-01 -4.81005349e-02 3.84447769e+02] [ 1.39930668e-01 9.90148605e-01 -5.01476540e-03 3.16741866e+01] [ 4.83287913e-02 -1.77123148e-03 9.98829911e-01 1.81125317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.48, Y:31.68, Z:18.11 [[ 9.88921626e-01 -1.40164710e-01 -4.88658539e-02 3.84478951e+02] [ 1.40083842e-01 9.90126548e-01 -5.09272006e-03 3.16757022e+01] [ 4.90971989e-02 -1.80901555e-03 9.98792367e-01 1.81135830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.51, Y:31.68, Z:18.11 [[ 9.88868079e-01 -1.40428740e-01 -4.91903650e-02 3.84510184e+02] [ 1.40347251e-01 9.90089084e-01 -5.12388178e-03 3.16789401e+01] [ 4.94223837e-02 -1.83688940e-03 9.98776278e-01 1.81144518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.54, Y:31.68, Z:18.12 [[ 9.88777526e-01 -1.40876535e-01 -4.97273184e-02 3.84541780e+02] [ 1.40793913e-01 9.90025385e-01 -5.17800952e-03 3.16824437e+01] [ 4.99607676e-02 -1.88140431e-03 9.98749409e-01 1.81154824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.57, Y:31.68, Z:18.12 [[ 9.88632433e-01 -1.41557078e-01 -5.06705653e-02 3.84572365e+02] [ 1.41472283e-01 9.89928167e-01 -5.27429486e-03 3.16844704e+01] [ 5.09068336e-02 -1.95414161e-03 9.98701495e-01 1.81164794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.60, Y:31.69, Z:18.12 [[ 9.88393858e-01 -1.42999534e-01 -5.12709882e-02 3.84602258e+02] [ 1.42914808e-01 9.89720621e-01 -5.33380861e-03 3.16862076e+01] [ 5.15066865e-02 -2.05547975e-03 9.98670534e-01 1.81174436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.63, Y:31.69, Z:18.12 [[ 9.88202058e-01 -1.44003484e-01 -5.21506400e-02 3.84632614e+02] [ 1.43917449e-01 9.89574849e-01 -5.42095701e-03 3.16880776e+01] [ 5.23875984e-02 -2.14838621e-03 9.98624516e-01 1.81185285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.66, Y:31.69, Z:18.12 [[ 9.88033106e-01 -1.44992123e-01 -5.26105099e-02 3.84663679e+02] [ 1.44906017e-01 9.89430316e-01 -5.46772299e-03 3.16939244e+01] [ 5.28472102e-02 -2.22128812e-03 9.98600139e-01 1.81201061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.69, Y:31.69, Z:18.12 [[ 9.87885639e-01 -1.45852748e-01 -5.29994260e-02 3.84694316e+02] [ 1.45766699e-01 9.89303669e-01 -5.50630019e-03 3.16927648e+01] [ 5.32356357e-02 -2.28595648e-03 9.98579362e-01 1.81205251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.72, Y:31.70, Z:18.12 [[ 9.87525248e-01 -1.47654446e-01 -5.46996191e-02 3.84724782e+02] [ 1.47565608e-01 9.89035949e-01 -5.68178124e-03 3.17003606e+01] [ 5.49388300e-02 -2.46088012e-03 9.98486689e-01 1.81212028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.75, Y:31.70, Z:18.12 [[ 9.87451946e-01 -1.48163457e-01 -5.46465406e-02 3.84754362e+02] [ 1.48075663e-01 9.88959755e-01 -5.67455866e-03 3.16999839e+01] [ 5.48839917e-02 -2.48846874e-03 9.98489637e-01 1.81214777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.79, Y:31.71, Z:18.12 [[ 9.87419455e-01 -1.48199242e-01 -5.51344205e-02 3.84785240e+02] [ 1.48109935e-01 9.88954332e-01 -5.72511455e-03 3.17088220e+01] [ 5.53738816e-02 -2.51286595e-03 9.98462527e-01 1.81238161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.81, Y:31.71, Z:18.13 [[ 9.87461249e-01 -1.48184532e-01 -5.44208171e-02 3.84814981e+02] [ 1.48097619e-01 9.88956615e-01 -5.64882250e-03 3.17132941e+01] [ 5.46568952e-02 -2.48160009e-03 9.98502111e-01 1.81255198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.85, Y:31.71, Z:18.13 [[ 9.87490724e-01 -1.47987611e-01 -5.44218513e-02 3.84845149e+02] [ 1.47900584e-01 9.88986120e-01 -5.64549295e-03 3.17141337e+01] [ 5.46579185e-02 -2.47415169e-03 9.98502073e-01 1.81270776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.88, Y:31.72, Z:18.13 [[ 9.87538536e-01 -1.47912211e-01 -5.37551712e-02 3.84875610e+02] [ 1.47827362e-01 9.88997478e-01 -5.57316809e-03 3.17207785e+01] [ 5.39880683e-02 -2.44276692e-03 9.98538593e-01 1.81294112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.91, Y:31.73, Z:18.13 [[ 9.87581520e-01 -1.47903614e-01 -5.29836095e-02 3.84906514e+02] [ 1.47821271e-01 9.88998846e-01 -5.49127866e-03 3.17252719e+01] [ 5.32129086e-02 -2.40901917e-03 9.98580284e-01 1.81315253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.94, Y:31.73, Z:18.13 [[ 9.87569820e-01 -1.48083252e-01 -5.26991509e-02 3.84936671e+02] [ 1.48002153e-01 9.88971968e-01 -5.45978107e-03 3.17292702e+01] [ 5.29264851e-02 -2.40767277e-03 9.98595509e-01 1.81338216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:384.97, Y:31.73, Z:18.14 [[ 9.87487252e-01 -1.48776551e-01 -5.22921162e-02 3.84967867e+02] [ 1.48697821e-01 9.88867857e-01 -5.41470740e-03 3.17336685e+01] [ 5.25155744e-02 -2.42876921e-03 9.98617152e-01 1.81360563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.00, Y:31.74, Z:18.14 [[ 9.87444037e-01 -1.49265543e-01 -5.17114352e-02 3.84998473e+02] [ 1.49189310e-01 9.88794163e-01 -5.35283450e-03 3.17367776e+01] [ 5.19309590e-02 -2.42916882e-03 9.98647723e-01 1.81375851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.03, Y:31.74, Z:18.14 [[ 9.87380133e-01 -1.49696689e-01 -5.16853470e-02 3.85029069e+02] [ 1.49621174e-01 9.88728927e-01 -5.34914234e-03 3.17412746e+01] [ 5.19035466e-02 -2.45158541e-03 9.98649093e-01 1.81393740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.06, Y:31.74, Z:18.14 [[ 9.87186647e-01 -1.50885128e-01 -5.19249575e-02 3.85059490e+02] [ 1.50810647e-01 9.88548071e-01 -5.37209756e-03 3.17449615e+01] [ 5.21408863e-02 -2.52757344e-03 9.98636540e-01 1.81406194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.09, Y:31.75, Z:18.14 [[ 9.87099877e-01 -1.51433207e-01 -5.19790056e-02 3.85090267e+02] [ 1.51359424e-01 9.88464175e-01 -5.37585108e-03 3.17491463e+01] [ 5.21934673e-02 -2.56101040e-03 9.98633708e-01 1.81420087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.12, Y:31.76, Z:18.14 [[ 9.87015738e-01 -1.51756371e-01 -5.26301978e-02 3.85121352e+02] [ 1.51681296e-01 9.88414477e-01 -5.44113204e-03 3.17569473e+01] [ 5.28461759e-02 -2.61253366e-03 9.98599247e-01 1.81436389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.15, Y:31.76, Z:18.14 [[ 9.86989559e-01 -1.51647983e-01 -5.34275158e-02 3.85152916e+02] [ 1.51570666e-01 9.88431012e-01 -5.51971630e-03 3.17580528e+01] [ 5.36464674e-02 -2.65014179e-03 9.98556475e-01 1.81439743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.18, Y:31.76, Z:18.15 [[ 9.87028013e-01 -1.51250802e-01 -5.38414066e-02 3.85184014e+02] [ 1.51171847e-01 9.88491863e-01 -5.55965149e-03 3.17634176e+01] [ 5.40626940e-02 -2.65177310e-03 9.98534022e-01 1.81450803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.22, Y:31.77, Z:18.15 [[ 9.87129132e-01 -1.50505446e-01 -5.40757623e-02 3.85215613e+02] [ 1.50424804e-01 9.88605696e-01 -5.58170493e-03 3.17734179e+01] [ 5.42996837e-02 -2.62447242e-03 9.98521235e-01 1.81471337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.25, Y:31.78, Z:18.15 [[ 9.87232625e-01 -1.49651849e-01 -5.45533480e-02 3.85246731e+02] [ 1.49568692e-01 9.88735325e-01 -5.62710948e-03 3.17775990e+01] [ 5.47809296e-02 -2.60420684e-03 9.98495001e-01 1.81483298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.28, Y:31.79, Z:18.15 [[ 9.87651735e-01 -1.46909755e-01 -5.44203472e-02 3.85277184e+02] [ 1.46823005e-01 9.89146868e-01 -5.61055935e-03 3.17861290e+01] [ 5.46539619e-02 -2.44888024e-03 9.98502352e-01 1.81502225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.31, Y:31.79, Z:18.15 [[ 9.87907510e-01 -1.45253133e-01 -5.42243420e-02 3.85308521e+02] [ 1.45164631e-01 9.89391733e-01 -5.58827376e-03 3.17919087e+01] [ 5.44608300e-02 -2.35075896e-03 9.98513141e-01 1.81519635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.34, Y:31.80, Z:18.15 [[ 9.88225967e-01 -1.43224413e-01 -5.38164045e-02 3.85339559e+02] [ 1.43134391e-01 9.89687737e-01 -5.54334599e-03 3.17998797e+01] [ 5.40553781e-02 -2.22489985e-03 9.98535461e-01 1.81535787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.37, Y:31.81, Z:18.15 [[ 9.88533157e-01 -1.41023931e-01 -5.39856364e-02 3.85370171e+02] [ 1.40930224e-01 9.90003930e-01 -5.55791582e-03 3.18054289e+01] [ 5.42297914e-02 -2.11402374e-03 9.98526244e-01 1.81549288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.40, Y:31.81, Z:18.16 [[ 9.88543315e-01 -1.40952623e-01 -5.39858624e-02 3.85401691e+02] [ 1.40858929e-01 9.90014089e-01 -5.55572021e-03 3.18086142e+01] [ 5.42298577e-02 -2.11232069e-03 9.98526244e-01 1.81564356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.43, Y:31.81, Z:18.16 [[ 9.88858585e-01 -1.38799383e-01 -5.37906155e-02 3.85431797e+02] [ 1.38703378e-01 9.90318519e-01 -5.53207744e-03 3.18124620e+01] [ 5.40376916e-02 -1.99049779e-03 9.98536913e-01 1.81574930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.46, Y:31.82, Z:18.16 [[ 9.89437162e-01 -1.35076780e-01 -5.26152603e-02 3.85462323e+02] [ 1.34979722e-01 9.90833591e-01 -5.41017596e-03 3.18218132e+01] [ 5.28637564e-02 -1.74896404e-03 9.98600202e-01 1.81592599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.49, Y:31.83, Z:18.16 [[ 9.89738552e-01 -1.33103706e-01 -5.19711722e-02 3.85494212e+02] [ 1.33006403e-01 9.91100783e-01 -5.34185694e-03 3.18307899e+01] [ 5.22196904e-02 -1.62545690e-03 9.98634298e-01 1.81615712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.53, Y:31.83, Z:18.16 [[ 9.89958949e-01 -1.31727974e-01 -5.12739747e-02 3.85525530e+02] [ 1.31631656e-01 9.91284712e-01 -5.26563666e-03 3.18341366e+01] [ 5.15207388e-02 -1.53651408e-03 9.98670743e-01 1.81629737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.56, Y:31.84, Z:18.16 [[ 9.90209143e-01 -1.30178291e-01 -5.03931147e-02 3.85557685e+02] [ 1.30083398e-01 9.91489565e-01 -5.17226451e-03 3.18404257e+01] [ 5.06375639e-02 -1.43368401e-03 9.98716067e-01 1.81648807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.59, Y:31.85, Z:18.17 [[ 9.90604913e-01 -1.27303605e-01 -4.99569724e-02 3.85589417e+02] [ 1.27206960e-01 9.91862970e-01 -5.12224965e-03 3.18474681e+01] [ 5.02025519e-02 -1.28074893e-03 9.98738236e-01 1.81659415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.62, Y:31.85, Z:18.17 [[ 9.90824947e-01 -1.25552697e-01 -5.00244405e-02 3.85621063e+02] [ 1.25453745e-01 9.92086230e-01 -5.12552127e-03 3.18529761e+01] [ 5.02720815e-02 -1.19725906e-03 9.98734842e-01 1.81670801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.65, Y:31.86, Z:18.17 [[ 9.91033673e-01 -1.23810138e-01 -5.02325457e-02 3.85652492e+02] [ 1.23708312e-01 9.92305297e-01 -5.14314392e-03 3.18567173e+01] [ 5.04827945e-02 -1.11715461e-03 9.98724306e-01 1.81677491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.68, Y:31.86, Z:18.17 [[ 9.91497206e-01 -1.19913488e-01 -5.05375756e-02 3.85684097e+02] [ 1.19805551e-01 9.92783911e-01 -5.17067590e-03 3.18645299e+01] [ 5.07929257e-02 -9.27971357e-04 9.98708775e-01 1.81682954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.71, Y:31.87, Z:18.17 [[ 9.91765708e-01 -1.17632488e-01 -5.06298091e-02 3.85714907e+02] [ 1.17521368e-01 9.93056862e-01 -5.17652289e-03 3.18687562e+01] [ 5.08872066e-02 -8.16186553e-04 9.98704073e-01 1.81691733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.75, Y:31.87, Z:18.17 [[ 9.92077947e-01 -1.15072824e-01 -5.03943667e-02 3.85746196e+02] [ 1.14959575e-01 9.93356822e-01 -5.14970918e-03 3.18748293e+01] [ 5.06521796e-02 -6.84402045e-04 9.98716120e-01 1.81704625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.78, Y:31.88, Z:18.17 [[ 9.92403471e-01 -1.12369737e-01 -5.00838626e-02 3.85778016e+02] [ 1.12254617e-01 9.93666314e-01 -5.11443534e-03 3.18805966e+01] [ 5.03413549e-02 -5.46561454e-04 9.98731921e-01 1.81719029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.81, Y:31.89, Z:18.17 [[ 9.93047943e-01 -1.06994035e-01 -4.90719731e-02 3.85809359e+02] [ 1.06877130e-01 9.94259625e-01 -5.00764210e-03 3.18879071e+01] [ 4.93260695e-02 -2.71842966e-04 9.98782692e-01 1.81736897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.84, Y:31.89, Z:18.18 [[ 9.93347934e-01 -1.04439615e-01 -4.84999976e-02 3.85839916e+02] [ 1.04322545e-01 9.94531219e-01 -4.94583147e-03 3.18923178e+01] [ 4.87513025e-02 -1.46711706e-04 9.98810938e-01 1.81751034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.87, Y:31.90, Z:18.18 [[ 9.93601830e-01 -1.02421062e-01 -4.75954765e-02 3.85871566e+02] [ 1.02306126e-01 9.94741134e-01 -4.85107406e-03 3.18966005e+01] [ 4.78420305e-02 -4.92727551e-05 9.98854913e-01 1.81767581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.90, Y:31.90, Z:18.18 [[ 9.93796154e-01 -1.00732992e-01 -4.71388289e-02 3.85902801e+02] [ 1.00618513e-01 9.94913495e-01 -4.80118565e-03 3.19002338e+01] [ 4.73826948e-02 2.83609640e-05 9.98876809e-01 1.81781523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.93, Y:31.90, Z:18.18 [[ 9.93965028e-01 -9.94845025e-02 -4.62207518e-02 3.85934074e+02] [ 9.93732046e-02 9.95039108e-01 -4.70525853e-03 3.19023433e+01] [ 4.64595559e-02 8.37582020e-05 9.98920168e-01 1.81790348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:385.97, Y:31.90, Z:18.18 [[ 9.93934138e-01 -9.97977217e-02 -4.62097795e-02 3.85965941e+02] [ 9.96869256e-02 9.95007744e-01 -4.70176178e-03 3.19038776e+01] [ 4.64483135e-02 6.67306896e-05 9.98920692e-01 1.81798668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.00, Y:31.91, Z:18.18 [[ 9.93836731e-01 -1.00585806e-01 -4.65945083e-02 3.85998212e+02] [ 1.00474183e-01 9.94928387e-01 -4.73747418e-03 3.19051494e+01] [ 4.68347216e-02 2.67306802e-05 9.98902652e-01 1.81808373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.03, Y:31.90, Z:18.18 [[ 9.93456457e-01 -1.04002145e-01 -4.71998065e-02 3.86030243e+02] [ 1.03891618e-01 9.94577063e-01 -4.79554556e-03 3.19031617e+01] [ 4.74425919e-02 -1.39498585e-04 9.98873957e-01 1.81807443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.06, Y:31.90, Z:18.18 [[ 9.93208597e-01 -1.06283799e-01 -4.73332599e-02 3.86062879e+02] [ 1.06175358e-01 9.94335804e-01 -4.80653587e-03 3.19031878e+01] [ 4.75760119e-02 -2.51733046e-04 9.98867589e-01 1.81816369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.09, Y:31.90, Z:18.18 [[ 9.92894245e-01 -1.09140376e-01 -4.74278114e-02 3.86094861e+02] [ 1.09034922e-01 9.94026269e-01 -4.81267564e-03 3.19026599e+01] [ 4.76697477e-02 -3.92809767e-04 9.98863074e-01 1.81825970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.13, Y:31.90, Z:18.18 [[ 9.92543751e-01 -1.12202677e-01 -4.76178822e-02 3.86127646e+02] [ 1.12100061e-01 9.93685193e-01 -4.82850397e-03 3.19022223e+01] [ 4.78589555e-02 -5.45466066e-04 9.98853955e-01 1.81837544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.16, Y:31.90, Z:18.18 [[ 9.91770337e-01 -1.18813023e-01 -4.76976364e-02 3.86159795e+02] [ 1.18717864e-01 9.92916265e-01 -4.83311026e-03 3.18971266e+01] [ 4.79339954e-02 -8.69226105e-04 9.98850127e-01 1.81843927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.19, Y:31.90, Z:18.19 [[ 9.91376850e-01 -1.21975016e-01 -4.78961008e-02 3.86190994e+02] [ 1.21882875e-01 9.92532638e-01 -4.85057262e-03 3.18962079e+01] [ 4.81300919e-02 -1.02896906e-03 9.98840546e-01 1.81854855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.22, Y:31.90, Z:18.19 [[ 9.91013814e-01 -1.24894242e-01 -4.78857866e-02 3.86223484e+02] [ 1.24805783e-01 9.92169364e-01 -4.84456096e-03 3.18961948e+01] [ 4.81158682e-02 -1.17539626e-03 9.98841069e-01 1.81867157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.26, Y:31.90, Z:18.19 [[ 9.90679038e-01 -1.27691957e-01 -4.74321410e-02 3.86256105e+02] [ 1.27608528e-01 9.91813021e-01 -4.79530849e-03 3.18960298e+01] [ 4.76561374e-02 -1.30213409e-03 9.98862952e-01 1.81879288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.29, Y:31.90, Z:18.19 [[ 9.90338007e-01 -1.30495818e-01 -4.69198530e-02 3.86287876e+02] [ 1.30417479e-01 9.91447836e-01 -4.74020338e-03 3.18967054e+01] [ 4.71371635e-02 -1.42476538e-03 9.98887410e-01 1.81892626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.32, Y:31.89, Z:18.19 [[ 9.89727695e-01 -1.35501865e-01 -4.55887631e-02 3.86318909e+02] [ 1.35433320e-01 9.90775770e-01 -4.60326483e-03 3.18946586e+01] [ 4.57919928e-02 -1.61825885e-03 9.98949686e-01 1.81909388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.35, Y:31.89, Z:18.19 [[ 9.89448624e-01 -1.37826838e-01 -4.46674681e-02 3.86350226e+02] [ 1.37763430e-01 9.90454896e-01 -4.50953345e-03 3.18933964e+01] [ 4.48626472e-02 -1.69159197e-03 9.98991732e-01 1.81926815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.38, Y:31.89, Z:18.19 [[ 9.89202522e-01 -1.40002601e-01 -4.33317655e-02 3.86382655e+02] [ 1.39945108e-01 9.90149609e-01 -4.37245693e-03 3.18936596e+01] [ 4.35170860e-02 -1.73882318e-03 9.99051170e-01 1.81949004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.41, Y:31.89, Z:18.20 [[ 9.88962663e-01 -1.41876307e-01 -4.27079058e-02 3.86414487e+02] [ 1.41822334e-01 9.89882761e-01 -4.30640227e-03 3.18913157e+01] [ 4.28867962e-02 -1.79806383e-03 9.99078320e-01 1.81972650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.45, Y:31.89, Z:18.20 [[ 9.88421536e-01 -1.45684125e-01 -4.24146619e-02 3.86445823e+02] [ 1.45634486e-01 9.89329230e-01 -4.27449439e-03 3.18940304e+01] [ 4.25847908e-02 -1.95203518e-03 9.99090949e-01 1.81985463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.48, Y:31.89, Z:18.20 [[ 9.88195664e-01 -1.47201164e-01 -4.24399307e-02 3.86477055e+02] [ 1.47152914e-01 9.89104513e-01 -4.27579243e-03 3.18943963e+01] [ 4.26069286e-02 -2.01983992e-03 9.99089871e-01 1.81999241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.51, Y:31.90, Z:18.20 [[ 9.87989170e-01 -1.48530388e-01 -4.26160122e-02 3.86509208e+02] [ 1.48483148e-01 9.88905636e-01 -4.28936312e-03 3.18956395e+01] [ 4.27803154e-02 -2.08991535e-03 9.99082317e-01 1.82011494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.54, Y:31.90, Z:18.20 [[ 9.87808684e-01 -1.49662063e-01 -4.28400688e-02 3.86541104e+02] [ 1.49615519e-01 9.88734864e-01 -4.30882519e-03 3.18975567e+01] [ 4.30023373e-02 -2.15324419e-03 9.99072651e-01 1.82018378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.57, Y:31.90, Z:18.20 [[ 9.87565515e-01 -1.50966459e-01 -4.38575160e-02 3.86572674e+02] [ 1.50919107e-01 9.88536289e-01 -4.40784713e-03 3.18954573e+01] [ 4.40201832e-02 -2.26589936e-03 9.99028072e-01 1.82023036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.60, Y:31.90, Z:18.20 [[ 9.87505956e-01 -1.51177968e-01 -4.44658152e-02 3.86604764e+02] [ 1.51129615e-01 9.88503864e-01 -4.46660188e-03 3.19002199e+01] [ 4.46298820e-02 -2.30930557e-03 9.99000921e-01 1.82031852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.64, Y:31.90, Z:18.20 [[ 9.87557947e-01 -1.50557239e-01 -4.54072623e-02 3.86635750e+02] [ 1.50506317e-01 9.88598541e-01 -4.55779429e-03 3.19003540e+01] [ 4.55757622e-02 -2.33299385e-03 9.98958161e-01 1.82041395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.67, Y:31.91, Z:18.20 [[ 9.87809856e-01 -1.48465791e-01 -4.67931348e-02 3.86667149e+02] [ 1.48409497e-01 9.88914852e-01 -4.69431706e-03 3.19069823e+01] [ 4.69713715e-02 -2.30745295e-03 9.98893571e-01 1.82044911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.70, Y:31.91, Z:18.21 [[ 9.88081281e-01 -1.46474139e-01 -4.73361177e-02 3.86698295e+02] [ 1.46414374e-01 9.89211961e-01 -4.74622826e-03 3.19146884e+01] [ 4.75206535e-02 -2.24102873e-03 9.98867742e-01 1.82056579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.73, Y:31.92, Z:18.21 [[ 9.88448390e-01 -1.43803515e-01 -4.78573874e-02 3.86728415e+02] [ 1.43739434e-01 9.89603949e-01 -4.79578846e-03 3.19184655e+01] [ 4.80495108e-02 -2.13860443e-03 9.98842666e-01 1.82069023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.76, Y:31.92, Z:18.21 [[ 9.88828582e-01 -1.41100528e-01 -4.80486833e-02 3.86758466e+02] [ 1.41032961e-01 9.89993213e-01 -4.81057340e-03 3.19207924e+01] [ 4.82466448e-02 -2.01961560e-03 9.98833411e-01 1.82082837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.79, Y:31.93, Z:18.21 [[ 9.89745381e-01 -1.34216228e-01 -4.88884852e-02 3.86787347e+02] [ 1.34137933e-01 9.90950587e-01 -4.89380310e-03 3.19295500e+01] [ 4.91029009e-02 -1.71418135e-03 9.98792254e-01 1.82097637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.82, Y:31.94, Z:18.21 [[ 9.90243119e-01 -1.30521691e-01 -4.88124386e-02 3.86817785e+02] [ 1.30439124e-01 9.91444277e-01 -4.88683393e-03 3.19403332e+01] [ 4.90326507e-02 -1.52789807e-03 9.98796008e-01 1.82117666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.85, Y:31.95, Z:18.21 [[ 9.90716648e-01 -1.26825946e-01 -4.89459178e-02 3.86848718e+02] [ 1.26738511e-01 9.91924068e-01 -4.89838836e-03 3.19471881e+01] [ 4.91718766e-02 -1.35041781e-03 9.98789419e-01 1.82140359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.88, Y:31.95, Z:18.22 [[ 9.91168470e-01 -1.23248372e-01 -4.89377480e-02 3.86878393e+02] [ 1.23156697e-01 9.92375161e-01 -4.89577676e-03 3.19529194e+01] [ 4.91680021e-02 -1.17447183e-03 9.98789832e-01 1.82160295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.91, Y:31.96, Z:18.22 [[ 9.91626463e-01 -1.19761399e-01 -4.83132074e-02 3.86908709e+02] [ 1.19667959e-01 9.92802210e-01 -4.83235441e-03 3.19565357e+01] [ 4.85441886e-02 -9.89652402e-04 9.98820546e-01 1.82182671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.94, Y:31.97, Z:18.22 [[ 9.92353301e-01 -1.13946154e-01 -4.74468076e-02 3.86939206e+02] [ 1.13849575e-01 9.93486683e-01 -4.74183545e-03 3.19661643e+01] [ 4.76780854e-02 -6.96222809e-04 9.98862511e-01 1.82211928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:386.97, Y:31.97, Z:18.22 [[ 9.92596040e-01 -1.11646368e-01 -4.78350258e-02 3.86971482e+02] [ 1.11545619e-01 9.93747824e-01 -4.77884620e-03 3.19712297e+01] [ 4.80694936e-02 -5.92323733e-04 9.98843818e-01 1.82229352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.00, Y:31.98, Z:18.22 [[ 9.92775016e-01 -1.09738245e-01 -4.85312709e-02 3.87002791e+02] [ 1.09632480e-01 9.93960389e-01 -4.84393356e-03 3.19753338e+01] [ 4.87697257e-02 -5.11667350e-04 9.98809918e-01 1.82242890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.03, Y:31.98, Z:18.23 [[ 9.92909913e-01 -1.08242637e-01 -4.91267401e-02 3.87034367e+02] [ 1.08132565e-01 9.94124405e-01 -4.90061217e-03 3.19797329e+01] [ 4.93685464e-02 -4.46334037e-04 9.98780530e-01 1.82256625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.07, Y:31.98, Z:18.23 [[ 9.92973237e-01 -1.06871905e-01 -5.08187619e-02 3.87065196e+02] [ 1.06752518e-01 9.94272719e-01 -5.06558577e-03 3.19830372e+01] [ 5.10690774e-02 -3.95039673e-04 9.98695045e-01 1.82264411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.10, Y:31.99, Z:18.23 [[ 9.92918357e-01 -1.06886471e-01 -5.18499660e-02 3.87096397e+02] [ 1.06762354e-01 9.94271149e-01 -5.16555348e-03 3.19860072e+01] [ 5.21050530e-02 -4.06651537e-04 9.98641526e-01 1.82277666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.13, Y:31.99, Z:18.23 [[ 9.92829495e-01 -1.07233610e-01 -5.28256303e-02 3.87127374e+02] [ 1.07105368e-01 9.94233757e-01 -5.26081225e-03 3.19884357e+01] [ 5.30851607e-02 -4.34819021e-04 9.98589894e-01 1.82292349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.16, Y:31.99, Z:18.23 [[ 9.92635146e-01 -1.08515322e-01 -5.38506375e-02 3.87157762e+02] [ 1.08384038e-01 9.94094643e-01 -5.36101833e-03 3.19891962e+01] [ 5.41143829e-02 -5.15014353e-04 9.98534610e-01 1.82300787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.19, Y:31.99, Z:18.23 [[ 9.92508880e-01 -1.09393850e-01 -5.43976868e-02 3.87187572e+02] [ 1.09261243e-01 9.93998321e-01 -5.41474346e-03 3.19906028e+01] [ 5.46635489e-02 -5.69377896e-04 9.98504668e-01 1.82313814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.22, Y:31.99, Z:18.23 [[ 9.92403188e-01 -1.10306985e-01 -5.44819305e-02 3.87217961e+02] [ 1.10175295e-01 9.93897371e-01 -5.42397295e-03 3.19925690e+01] [ 5.47477497e-02 -6.19794728e-04 9.98500025e-01 1.82328407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.25, Y:31.99, Z:18.23 [[ 9.92295553e-01 -1.11289176e-01 -5.44449770e-02 3.87247947e+02] [ 1.11159141e-01 9.93787837e-01 -5.42029403e-03 3.19947125e+01] [ 5.47099760e-02 -6.73523247e-04 9.98502061e-01 1.82346457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.28, Y:32.00, Z:18.24 [[ 9.92211880e-01 -1.12144482e-01 -5.42143927e-02 3.87277721e+02] [ 1.12016823e-01 9.93691652e-01 -5.39733882e-03 3.19957670e+01] [ 5.44776712e-02 -7.17620346e-04 9.98514731e-01 1.82359064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.31, Y:32.00, Z:18.24 [[ 9.92020545e-01 -1.14153260e-01 -5.35188862e-02 3.87307729e+02] [ 1.14031771e-01 9.93462815e-01 -5.32821090e-03 3.19956379e+01] [ 5.37772560e-02 -8.17158684e-04 9.98552622e-01 1.82376715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.34, Y:32.00, Z:18.24 [[ 9.91865972e-01 -1.15298664e-01 -5.39269157e-02 3.87337989e+02] [ 1.15176960e-01 9.93330476e-01 -5.36966477e-03 3.19977206e+01] [ 5.41863640e-02 -8.85150441e-04 9.98530447e-01 1.82396095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.37, Y:32.00, Z:18.24 [[ 9.91865972e-01 -1.15298664e-01 -5.39269157e-02 3.87367812e+02] [ 1.15176960e-01 9.93330476e-01 -5.36966477e-03 3.20006902e+01] [ 5.41863640e-02 -8.85150441e-04 9.98530447e-01 1.82410353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.40, Y:32.00, Z:18.24 [[ 9.91753160e-01 -1.16341030e-01 -5.37627566e-02 3.87398653e+02] [ 1.16221596e-01 9.93208882e-01 -5.35331895e-03 3.20023002e+01] [ 5.40204580e-02 -9.39222402e-04 9.98539387e-01 1.82425747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.43, Y:32.00, Z:18.24 [[ 9.91612524e-01 -1.17355677e-01 -5.41502295e-02 3.87428835e+02] [ 1.17236026e-01 9.93089443e-01 -5.39190079e-03 3.20037756e+01] [ 5.44087914e-02 -1.00168136e-03 9.98518242e-01 1.82441723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.46, Y:32.00, Z:18.24 [[ 9.91453179e-01 -1.18600941e-01 -5.43544943e-02 3.87458830e+02] [ 1.18482247e-01 9.92941420e-01 -5.41236558e-03 3.20030609e+01] [ 5.46127404e-02 -1.07393556e-03 9.98507033e-01 1.82446854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.49, Y:32.00, Z:18.25 [[ 9.91144824e-01 -1.20943632e-01 -5.48140017e-02 3.87488545e+02] [ 1.20826438e-01 9.92658637e-01 -5.45923149e-03 3.20032802e+01] [ 5.50718514e-02 -1.21209155e-03 9.98481658e-01 1.82466776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.52, Y:32.01, Z:18.25 [[ 9.90940443e-01 -1.22443022e-01 -5.51792058e-02 3.87518952e+02] [ 1.22326489e-01 9.92474690e-01 -5.49726904e-03 3.20061843e+01] [ 5.54370674e-02 -1.30241227e-03 9.98461334e-01 1.82485424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.55, Y:32.00, Z:18.25 [[ 9.90731439e-01 -1.24066360e-01 -5.53060019e-02 3.87548613e+02] [ 1.23951808e-01 9.92272941e-01 -5.51004771e-03 3.20049863e+01] [ 5.55622607e-02 -1.39630146e-03 9.98454248e-01 1.82492283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.58, Y:32.00, Z:18.25 [[ 9.90219599e-01 -1.27908744e-01 -5.57180330e-02 3.87579309e+02] [ 1.27798500e-01 9.91784613e-01 -5.55196800e-03 3.20040072e+01] [ 5.59704331e-02 -1.62301352e-03 9.98431108e-01 1.82507432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.61, Y:32.00, Z:18.25 [[ 9.90008991e-01 -1.29517081e-01 -5.57451647e-02 3.87610200e+02] [ 1.29409274e-01 9.91575708e-01 -5.55467151e-03 3.20042423e+01] [ 5.59949761e-02 -1.71476658e-03 9.98429578e-01 1.82520390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.64, Y:32.00, Z:18.25 [[ 9.89827217e-01 -1.30920482e-01 -5.56947742e-02 3.87640865e+02] [ 1.30815087e-01 9.91391252e-01 -5.54965040e-03 3.20049041e+01] [ 5.59418748e-02 -1.79252173e-03 9.98432418e-01 1.82534234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.67, Y:32.00, Z:18.25 [[ 9.89652429e-01 -1.32290153e-01 -5.55642437e-02 3.87670433e+02] [ 1.32187403e-01 9.91209279e-01 -5.53670235e-03 3.20040757e+01] [ 5.58082452e-02 -1.86548217e-03 9.98439763e-01 1.82542337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.70, Y:32.00, Z:18.25 [[ 9.89423750e-01 -1.33750305e-01 -5.61382200e-02 3.87699849e+02] [ 1.33647711e-01 9.91013111e-01 -5.59487431e-03 3.20025421e+01] [ 5.63820282e-02 -1.96704307e-03 9.98407331e-01 1.82549954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.73, Y:32.00, Z:18.26 [[ 9.89338143e-01 -1.34342653e-01 -5.62324737e-02 3.87729765e+02] [ 1.34240457e-01 9.90932919e-01 -5.60801362e-03 3.20038775e+01] [ 5.64760048e-02 -2.00045120e-03 9.98401953e-01 1.82563589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.76, Y:32.01, Z:18.26 [[ 9.89272505e-01 -1.34866985e-01 -5.61320461e-02 3.87758469e+02] [ 1.34765776e-01 9.90861647e-01 -5.60189099e-03 3.20053252e+01] [ 5.63746018e-02 -2.02288203e-03 9.98407638e-01 1.82577642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.79, Y:32.01, Z:18.26 [[ 9.89164897e-01 -1.35496309e-01 -5.65115590e-02 3.87787426e+02] [ 1.35393947e-01 9.90775712e-01 -5.65391493e-03 3.20065821e+01] [ 5.67563648e-02 -2.05866887e-03 9.98385936e-01 1.82591700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.82, Y:32.01, Z:18.26 [[ 9.88912862e-01 -1.37090072e-01 -5.70759421e-02 3.87815217e+02] [ 1.36987577e-01 9.90556233e-01 -5.72305705e-03 3.20062593e+01] [ 5.73215045e-02 -2.15909029e-03 9.98353436e-01 1.82604671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.84, Y:32.01, Z:18.26 [[ 9.88788873e-01 -1.38157338e-01 -5.66490536e-02 3.87844302e+02] [ 1.38057753e-01 9.90407855e-01 -5.68664529e-03 3.20077592e+01] [ 5.68913194e-02 -2.19794948e-03 9.98377958e-01 1.82623054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.87, Y:32.01, Z:18.26 [[ 9.88605753e-01 -1.39607646e-01 -5.62882876e-02 3.87873010e+02] [ 1.39510897e-01 9.90204336e-01 -5.66407059e-03 3.20088184e+01] [ 5.65276541e-02 -2.25329675e-03 9.98398491e-01 1.82643445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.90, Y:32.01, Z:18.27 [[ 9.88424684e-01 -1.41057053e-01 -5.58529545e-02 3.87901989e+02] [ 1.40963346e-01 9.89998786e-01 -5.63372265e-03 3.20111396e+01] [ 5.60890334e-02 -2.30470882e-03 9.98423111e-01 1.82663256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.93, Y:32.01, Z:18.27 [[ 9.88206990e-01 -1.42659035e-01 -5.56358283e-02 3.87930347e+02] [ 1.42567825e-01 9.89769049e-01 -5.62544105e-03 3.20141836e+01] [ 5.58691409e-02 -2.37277888e-03 9.98435280e-01 1.82679125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.96, Y:32.01, Z:18.27 [[ 9.87759600e-01 -1.45628141e-01 -5.58875422e-02 3.87958496e+02] [ 1.45540132e-01 9.89336138e-01 -5.66351297e-03 3.20141621e+01] [ 5.61163320e-02 -2.53969099e-03 9.98421007e-01 1.82691454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:387.99, Y:32.02, Z:18.27 [[ 9.87515757e-01 -1.47210397e-01 -5.60511248e-02 3.87987102e+02] [ 1.47124059e-01 9.89101702e-01 -5.68637933e-03 3.20167911e+01] [ 5.62773571e-02 -2.63107982e-03 9.98411707e-01 1.82704507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.01, Y:32.02, Z:18.27 [[ 9.87261787e-01 -1.48983142e-01 -5.58407281e-02 3.88014982e+02] [ 1.48899571e-01 9.88836024e-01 -5.67760194e-03 3.20163916e+01] [ 5.60631905e-02 -2.70938099e-03 9.98423546e-01 1.82711328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.04, Y:32.01, Z:18.27 [[ 9.86937443e-01 -1.51390082e-01 -5.50956162e-02 3.88043834e+02] [ 1.51312203e-01 9.88470123e-01 -5.60652758e-03 3.20113569e+01] [ 5.53091432e-02 -2.80334705e-03 9.98465342e-01 1.82717325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.07, Y:32.02, Z:18.27 [[ 9.86797466e-01 -1.52534091e-01 -5.44436552e-02 3.88072616e+02] [ 1.52459585e-01 9.88294158e-01 -5.54369355e-03 3.20233561e+01] [ 5.46519486e-02 -2.82995432e-03 9.98501455e-01 1.82749709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.10, Y:32.03, Z:18.28 [[ 9.86643905e-01 -1.53658361e-01 -5.40639677e-02 3.88101785e+02] [ 1.53586464e-01 9.88119867e-01 -5.50699008e-03 3.20254380e+01] [ 5.42678756e-02 -2.87005545e-03 9.98522288e-01 1.82766389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.13, Y:32.03, Z:18.28 [[ 9.86585559e-01 -1.54297682e-01 -5.33025334e-02 3.88132007e+02] [ 1.54228634e-01 9.88020259e-01 -5.43111972e-03 3.20298986e+01] [ 5.35019921e-02 -2.86251264e-03 9.98563640e-01 1.82786930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.16, Y:32.03, Z:18.28 [[ 9.86479267e-01 -1.54997138e-01 -5.32404299e-02 3.88162316e+02] [ 1.54929266e-01 9.87910671e-01 -5.42479184e-03 3.20337346e+01] [ 5.34376160e-02 -2.89705602e-03 9.98566987e-01 1.82803594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.19, Y:32.04, Z:18.28 [[ 9.86276176e-01 -1.56507853e-01 -5.25794304e-02 3.88192014e+02] [ 1.56443787e-01 9.87672334e-01 -5.35753892e-03 3.20354367e+01] [ 5.27697456e-02 -2.94171219e-03 9.98602373e-01 1.82819006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.22, Y:32.04, Z:18.28 [[ 9.86192653e-01 -1.57152203e-01 -5.22229544e-02 3.88223016e+02] [ 1.57089866e-01 9.87569973e-01 -5.32189950e-03 3.20398149e+01] [ 5.24101699e-02 -2.95527870e-03 9.98621270e-01 1.82836392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.25, Y:32.04, Z:18.28 [[ 9.86118492e-01 -1.57681147e-01 -5.20286042e-02 3.88253154e+02] [ 1.57620102e-01 9.87485600e-01 -5.30026218e-03 3.20409146e+01] [ 5.22132489e-02 -2.97406734e-03 9.98631529e-01 1.82844569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.28, Y:32.05, Z:18.29 [[ 9.85910131e-01 -1.59070015e-01 -5.17488517e-02 3.88284008e+02] [ 1.59011582e-01 9.87262648e-01 -5.27073442e-03 3.20457226e+01] [ 5.19281241e-02 -3.03219631e-03 9.98646221e-01 1.82854591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.31, Y:32.05, Z:18.29 [[ 9.85825708e-01 -1.59649517e-01 -5.15723263e-02 3.88314487e+02] [ 1.59592365e-01 9.87169036e-01 -5.25094460e-03 3.20465149e+01] [ 5.17489144e-02 -3.05403334e-03 9.98655457e-01 1.82866040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.35, Y:32.05, Z:18.29 [[ 9.85695439e-01 -1.60376807e-01 -5.18052161e-02 3.88345087e+02] [ 1.60320183e-01 9.87050974e-01 -5.27379014e-03 3.20500673e+01] [ 5.19801826e-02 -3.10707085e-03 9.98643283e-01 1.82879507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.37, Y:32.05, Z:18.29 [[ 9.85512774e-01 -1.61671240e-01 -5.12541053e-02 3.88374575e+02] [ 1.61617552e-01 9.86839674e-01 -5.21775760e-03 3.20535543e+01] [ 5.14231459e-02 -3.14139627e-03 9.98672014e-01 1.82894713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.41, Y:32.06, Z:18.29 [[ 9.85400220e-01 -1.62342520e-01 -5.12963308e-02 3.88405093e+02] [ 1.62289609e-01 9.86729347e-01 -5.22282602e-03 3.20584909e+01] [ 5.14634818e-02 -3.17828758e-03 9.98669820e-01 1.82908314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.44, Y:32.07, Z:18.29 [[ 9.85288146e-01 -1.62851346e-01 -5.18334773e-02 3.88435614e+02] [ 1.62798077e-01 9.86645298e-01 -5.27649663e-03 3.20656506e+01] [ 5.20005412e-02 -3.23952085e-03 9.98641802e-01 1.82923791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.47, Y:32.07, Z:18.29 [[ 9.85143237e-01 -1.63550582e-01 -5.23832909e-02 3.88466261e+02] [ 1.63497260e-01 9.86529387e-01 -5.33062249e-03 3.20660194e+01] [ 5.25494823e-02 -3.31309784e-03 9.98612826e-01 1.82927266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.50, Y:32.07, Z:18.29 [[ 9.84993123e-01 -1.64194121e-01 -5.31868270e-02 3.88496426e+02] [ 1.64140134e-01 9.86422188e-01 -5.41151867e-03 3.20702213e+01] [ 5.33532058e-02 -3.39978422e-03 9.98569916e-01 1.82934423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.53, Y:32.08, Z:18.29 [[ 9.84661574e-01 -1.65776043e-01 -5.44048466e-02 3.88526334e+02] [ 1.65721968e-01 9.86156980e-01 -5.53531536e-03 3.20793160e+01] [ 5.45693419e-02 -3.56566591e-03 9.98503617e-01 1.82940841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.56, Y:32.08, Z:18.30 [[ 9.84564943e-01 -1.66358418e-01 -5.43760130e-02 3.88557361e+02] [ 1.66305345e-01 9.86058790e-01 -5.53124844e-03 3.20843045e+01] [ 5.45381154e-02 -3.59714832e-03 9.98505210e-01 1.82958884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.59, Y:32.09, Z:18.30 [[ 9.84585024e-01 -1.66380412e-01 -5.39433815e-02 3.88587949e+02] [ 1.66328328e-01 9.86055171e-01 -5.48509706e-03 3.20866402e+01] [ 5.41037630e-02 -3.57176800e-03 9.98528931e-01 1.82976007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.62, Y:32.09, Z:18.30 [[ 9.84626099e-01 -1.66273880e-01 -5.35204734e-02 3.88619067e+02] [ 1.66222617e-01 9.86073252e-01 -5.43901542e-03 3.20912769e+01] [ 5.36794735e-02 -3.54091664e-03 9.98551940e-01 1.82998193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.65, Y:32.10, Z:18.30 [[ 9.84725445e-01 -1.65792549e-01 -5.31848620e-02 3.88650959e+02] [ 1.65741342e-01 9.86154459e-01 -5.40276855e-03 3.20981398e+01] [ 5.33442276e-02 -3.49468673e-03 9.98570068e-01 1.83020629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.68, Y:32.10, Z:18.30 [[ 9.84983527e-01 -1.64634279e-01 -5.19904493e-02 3.88680954e+02] [ 1.64583917e-01 9.86348963e-01 -5.27794567e-03 3.21016668e+01] [ 5.21496566e-02 -3.35810227e-03 9.98633635e-01 1.83038937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.71, Y:32.11, Z:18.31 [[ 9.85090128e-01 -1.64030893e-01 -5.18777915e-02 3.88712725e+02] [ 1.63979979e-01 9.86449615e-01 -5.26531277e-03 3.21099388e+01] [ 5.20385014e-02 -3.32011154e-03 9.98639560e-01 1.83056823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.74, Y:32.12, Z:18.31 [[ 9.85125562e-01 -1.63735362e-01 -5.21378788e-02 3.88744082e+02] [ 1.63683726e-01 9.86498695e-01 -5.28787277e-03 3.21155969e+01] [ 5.22997612e-02 -3.32490364e-03 9.98625896e-01 1.83071039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.77, Y:32.12, Z:18.31 [[ 9.85134589e-01 -1.63563301e-01 -5.25060718e-02 3.88774988e+02] [ 1.63510891e-01 9.86527177e-01 -5.32143056e-03 3.21194262e+01] [ 5.26690575e-02 -3.34298927e-03 9.98606426e-01 1.83081680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.81, Y:32.13, Z:18.31 [[ 9.85129313e-01 -1.63513773e-01 -5.27587305e-02 3.88805873e+02] [ 1.63460946e-01 9.86535332e-01 -5.34402928e-03 3.21293926e+01] [ 5.29221741e-02 -3.35943212e-03 9.98592989e-01 1.83092158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.84, Y:32.13, Z:18.31 [[ 9.85070595e-01 -1.63674093e-01 -5.33546175e-02 3.88837320e+02] [ 1.63620513e-01 9.86508572e-01 -5.40046161e-03 3.21310423e+01] [ 5.35187032e-02 -3.41007394e-03 9.98561025e-01 1.83104122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.87, Y:32.14, Z:18.31 [[ 9.85060013e-01 -1.63867508e-01 -5.29547933e-02 3.88869321e+02] [ 1.63815167e-01 9.86476505e-01 -5.35694848e-03 3.21382251e+01] [ 5.31164892e-02 -3.39788256e-03 9.98582542e-01 1.83124842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.90, Y:32.14, Z:18.31 [[ 9.84928097e-01 -1.64783326e-01 -5.25651823e-02 3.88900630e+02] [ 1.64733254e-01 9.86323841e-01 -5.31365105e-03 3.21449154e+01] [ 5.27218936e-02 -3.42566930e-03 9.98603358e-01 1.83141409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.93, Y:32.15, Z:18.32 [[ 9.84904269e-01 -1.65020350e-01 -5.22672361e-02 3.88931681e+02] [ 1.64971374e-01 9.86284224e-01 -5.27974413e-03 3.21476333e+01] [ 5.24216156e-02 -3.42255521e-03 9.98619177e-01 1.83157348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:388.96, Y:32.15, Z:18.32 [[ 9.84896146e-01 -1.65115414e-01 -5.21198834e-02 3.88964002e+02] [ 1.65067001e-01 9.86268319e-01 -5.26188101e-03 3.21522876e+01] [ 5.22730074e-02 -3.42086650e-03 9.98626973e-01 1.83171574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.00, Y:32.16, Z:18.32 [[ 9.84914588e-01 -1.65063533e-01 -5.19353901e-02 3.88996296e+02] [ 1.65015590e-01 9.86277042e-01 -5.23943632e-03 3.21575186e+01] [ 5.20875227e-02 -3.40975174e-03 9.98636702e-01 1.83186377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.03, Y:32.16, Z:18.32 [[ 9.84928280e-01 -1.65099505e-01 -5.15600236e-02 3.89028256e+02] [ 1.65052495e-01 9.86271087e-01 -5.19777946e-03 3.21626529e+01] [ 5.17103114e-02 -3.39067056e-03 9.98656371e-01 1.83200588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.06, Y:32.17, Z:18.32 [[ 9.84956199e-01 -1.64889557e-01 -5.16983485e-02 3.89059687e+02] [ 1.64842207e-01 9.86306202e-01 -5.20788492e-03 3.21666374e+01] [ 5.18491276e-02 -3.39253135e-03 9.98649167e-01 1.83214614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.09, Y:32.17, Z:18.32 [[ 9.85117742e-01 -1.64029049e-01 -5.13566581e-02 3.89090048e+02] [ 1.63981348e-01 9.86449893e-01 -5.16978716e-03 3.21720343e+01] [ 5.15087651e-02 -3.32868497e-03 9.98666995e-01 1.83228162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.12, Y:32.18, Z:18.32 [[ 9.85209213e-01 -1.63533840e-01 -5.11809445e-02 3.89121651e+02] [ 1.63485946e-01 9.86532225e-01 -5.14924275e-03 3.21766772e+01] [ 5.13337265e-02 -3.29428371e-03 9.98676122e-01 1.83244440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.15, Y:32.18, Z:18.33 [[ 9.85284307e-01 -1.63078582e-01 -5.11879985e-02 3.89153255e+02] [ 1.63030252e-01 9.86607649e-01 -5.14626401e-03 3.21816451e+01] [ 5.13417163e-02 -3.27465916e-03 9.98675776e-01 1.83261924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.18, Y:32.19, Z:18.33 [[ 9.85407614e-01 -1.62334475e-01 -5.11796194e-02 3.89184034e+02] [ 1.62285348e-01 9.86730474e-01 -5.14180495e-03 3.21865154e+01] [ 5.13351823e-02 -3.23892859e-03 9.98676228e-01 1.83274628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.21, Y:32.19, Z:18.33 [[ 9.85472748e-01 -1.61942932e-01 -5.11659132e-02 3.89214652e+02] [ 1.61893447e-01 9.86794870e-01 -5.13768272e-03 3.21900325e+01] [ 5.13222721e-02 -3.22037974e-03 9.98676952e-01 1.83288103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.25, Y:32.20, Z:18.33 [[ 9.85544330e-01 -1.61416059e-01 -5.14512402e-02 3.89246077e+02] [ 1.61365453e-01 9.86881213e-01 -5.16350843e-03 3.21977444e+01] [ 5.16097355e-02 -3.21358621e-03 9.98662159e-01 1.83302658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.28, Y:32.20, Z:18.33 [[ 9.85594141e-01 -1.60980293e-01 -5.18607144e-02 3.89278207e+02] [ 1.60928476e-01 9.86952368e-01 -5.20082504e-03 3.22027046e+01] [ 5.20212852e-02 -3.21996302e-03 9.98640785e-01 1.83319172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.31, Y:32.21, Z:18.33 [[ 9.85611492e-01 -1.60873906e-01 -5.18611035e-02 3.89310618e+02] [ 1.60822146e-01 9.86969720e-01 -5.19694215e-03 3.22058613e+01] [ 5.20213912e-02 -3.21824806e-03 9.98640785e-01 1.83334654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.34, Y:32.21, Z:18.33 [[ 9.85723620e-01 -1.60167875e-01 -5.19152783e-02 3.89341694e+02] [ 1.60115314e-01 9.87084636e-01 -5.19696379e-03 3.22091779e+01] [ 5.20771602e-02 -3.18966113e-03 9.98637970e-01 1.83347103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.37, Y:32.22, Z:18.34 [[ 9.85851309e-01 -1.59320830e-01 -5.20967302e-02 3.89372667e+02] [ 1.59266876e-01 9.87221806e-01 -5.21220769e-03 3.22200301e+01] [ 5.22614413e-02 -3.15882170e-03 9.98628441e-01 1.83366317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86509989300004 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:389.40, Y:32.22, Z:18.34 [[ 9.86259416e-01 -1.56662072e-01 -5.24343419e-02 3.89403794e+02] [ 1.56603872e-01 9.87647582e-01 -5.24223084e-03 3.22168109e+01] [ 5.26079097e-02 -3.04122147e-03 9.98610614e-01 1.83371877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.43, Y:32.23, Z:18.34 [[ 9.86517000e-01 -1.55047939e-01 -5.23864951e-02 3.89434066e+02] [ 1.54987680e-01 9.87902530e-01 -5.23550129e-03 3.22296988e+01] [ 5.25645047e-02 -2.95435034e-03 9.98613161e-01 1.83394625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.47, Y:32.24, Z:18.34 [[ 9.86831726e-01 -1.53141097e-01 -5.20667720e-02 3.89465043e+02] [ 1.53079025e-01 9.88200261e-01 -5.20165566e-03 3.22367833e+01] [ 5.22489849e-02 -2.83717185e-03 9.98630059e-01 1.83413175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.50, Y:32.24, Z:18.34 [[ 9.87121008e-01 -1.51153746e-01 -5.23895161e-02 3.89495361e+02] [ 1.51088211e-01 9.88506438e-01 -5.23204088e-03 3.22408070e+01] [ 5.25782165e-02 -2.75078080e-03 9.98613020e-01 1.83425743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.53, Y:32.25, Z:18.34 [[ 9.87668414e-01 -1.47372020e-01 -5.28449862e-02 3.89525349e+02] [ 1.47299996e-01 9.89077787e-01 -5.27654142e-03 3.22487247e+01] [ 5.30454166e-02 -2.57259294e-03 9.98588787e-01 1.83445118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.56, Y:32.25, Z:18.35 [[ 9.87936864e-01 -1.45512944e-01 -5.29786393e-02 3.89555973e+02] [ 1.45437952e-01 9.89353239e-01 -5.28869623e-03 3.22522440e+01] [ 5.31841621e-02 -2.48020683e-03 9.98581641e-01 1.83459490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.59, Y:32.26, Z:18.35 [[ 9.88242026e-01 -1.43444190e-01 -5.29288379e-02 3.89587011e+02] [ 1.43366487e-01 9.89655573e-01 -5.28170479e-03 3.22622538e+01] [ 5.31389493e-02 -2.36861893e-03 9.98584319e-01 1.83484636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.62, Y:32.27, Z:18.35 [[ 9.88458231e-01 -1.41822213e-01 -5.32614807e-02 3.89617673e+02] [ 1.41741343e-01 9.89889476e-01 -5.31190160e-03 3.22668730e+01] [ 5.34763249e-02 -2.29876092e-03 9.98566472e-01 1.83504117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.65, Y:32.27, Z:18.35 [[ 9.88906766e-01 -1.38468974e-01 -5.37564134e-02 3.89647559e+02] [ 1.38381799e-01 9.90364460e-01 -5.35849232e-03 3.22715755e+01] [ 5.39804263e-02 -2.13985990e-03 9.98539701e-01 1.83514073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.68, Y:32.28, Z:18.35 [[ 9.89090303e-01 -1.37024514e-01 -5.40800741e-02 3.89679506e+02] [ 1.36934207e-01 9.90565484e-01 -5.38937833e-03 3.22780286e+01] [ 5.43083318e-02 -2.07483020e-03 9.98522058e-01 1.83530549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.71, Y:32.28, Z:18.35 [[ 9.89244660e-01 -1.35803667e-01 -5.43356830e-02 3.89710984e+02] [ 1.35710884e-01 9.90733707e-01 -5.41086434e-03 3.22828146e+01] [ 5.45670078e-02 -2.02127494e-03 9.98508065e-01 1.83546293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.74, Y:32.29, Z:18.36 [[ 9.89475771e-01 -1.34203988e-01 -5.41016489e-02 3.89742306e+02] [ 1.34109824e-01 9.90951851e-01 -5.38374148e-03 3.22860563e+01] [ 5.43346487e-02 -1.92848086e-03 9.98520920e-01 1.83555939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.77, Y:32.29, Z:18.36 [[ 9.89568753e-01 -1.33588296e-01 -5.39244888e-02 3.89774423e+02] [ 1.33494000e-01 9.91035110e-01 -5.36306828e-03 3.22904459e+01] [ 5.41575048e-02 -1.89147091e-03 9.98530614e-01 1.83570305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.81, Y:32.29, Z:18.36 [[ 9.89609117e-01 -1.33301713e-01 -5.38929470e-02 3.89806827e+02] [ 1.33207329e-01 9.91073722e-01 -5.35577137e-03 3.22947950e+01] [ 5.41258171e-02 -1.87881533e-03 9.98532356e-01 1.83587467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.84, Y:32.30, Z:18.36 [[ 9.89612943e-01 -1.33143857e-01 -5.42119654e-02 3.89839609e+02] [ 1.33048462e-01 9.91094925e-01 -5.38113421e-03 3.22988007e+01] [ 5.44456688e-02 -1.88757853e-03 9.98514950e-01 1.83603134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.87, Y:32.30, Z:18.36 [[ 9.89603126e-01 -1.33234271e-01 -5.41690081e-02 3.89870730e+02] [ 1.33139463e-01 9.91082757e-01 -5.37134991e-03 3.23005466e+01] [ 5.44016178e-02 -1.89652796e-03 9.98517334e-01 1.83612938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.90, Y:32.30, Z:18.36 [[ 9.89454742e-01 -1.34282376e-01 -5.42914024e-02 3.89902914e+02] [ 1.34188879e-01 9.90941167e-01 -5.38043963e-03 3.23031388e+01] [ 5.45220838e-02 -1.96160092e-03 9.98510638e-01 1.83622281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.93, Y:32.31, Z:18.36 [[ 9.89346549e-01 -1.35003936e-01 -5.44733332e-02 3.89934516e+02] [ 1.34911114e-01 9.90843020e-01 -5.39462529e-03 3.23063080e+01] [ 5.47028176e-02 -2.01190414e-03 9.98500653e-01 1.83635359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:389.97, Y:32.31, Z:18.37 [[ 9.89179611e-01 -1.36089927e-01 -5.48017183e-02 3.89965935e+02] [ 1.35997853e-01 9.90694287e-01 -5.42336598e-03 3.23104987e+01] [ 5.50298148e-02 -2.08823299e-03 9.98482528e-01 1.83654067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.00, Y:32.31, Z:18.37 [[ 9.89045454e-01 -1.37158403e-01 -5.45588009e-02 3.89996788e+02] [ 1.37068928e-01 9.90546813e-01 -5.39636259e-03 3.23121200e+01] [ 5.47832028e-02 -2.14106847e-03 9.98495977e-01 1.83665561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.03, Y:32.32, Z:18.37 [[ 9.88741842e-01 -1.39353707e-01 -5.44987564e-02 3.90028738e+02] [ 1.39267924e-01 9.90240083e-01 -5.38734012e-03 3.23150556e+01] [ 5.47175989e-02 -2.26324006e-03 9.98499305e-01 1.83682534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.06, Y:32.32, Z:18.37 [[ 9.88605865e-01 -1.40326522e-01 -5.44693626e-02 3.90060262e+02] [ 1.40242514e-01 9.90102564e-01 -5.38059452e-03 3.23167570e+01] [ 5.46852956e-02 -2.31963303e-03 9.98500945e-01 1.83697611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.09, Y:32.32, Z:18.37 [[ 9.88477113e-01 -1.41403781e-01 -5.40182174e-02 3.90091675e+02] [ 1.41322920e-01 9.89949186e-01 -5.33311693e-03 3.23176815e+01] [ 5.42294133e-02 -2.36234820e-03 9.98525708e-01 1.83712681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.12, Y:32.32, Z:18.37 [[ 9.88373320e-01 -1.42179337e-01 -5.38814945e-02 3.90123365e+02] [ 1.42100198e-01 9.89838001e-01 -5.31660685e-03 3.23214692e+01] [ 5.40898625e-02 -2.40177867e-03 9.98533183e-01 1.83728952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.15, Y:32.32, Z:18.37 [[ 9.88202501e-01 -1.43466869e-01 -5.36010749e-02 3.90154591e+02] [ 1.43390639e-01 9.89652055e-01 -5.28522420e-03 3.23226890e+01] [ 5.38046686e-02 -2.46302064e-03 9.98548442e-01 1.83744021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.19, Y:32.33, Z:18.38 [[ 9.88169148e-01 -1.43675128e-01 -5.36581048e-02 3.90187062e+02] [ 1.43599203e-01 9.89621800e-01 -5.28786808e-03 3.23253054e+01] [ 5.38609654e-02 -2.47995296e-03 9.98545365e-01 1.83760022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.22, Y:32.33, Z:18.38 [[ 9.88155441e-01 -1.43811470e-01 -5.35451743e-02 3.90218598e+02] [ 1.43736284e-01 9.89601981e-01 -5.27263652e-03 3.23274296e+01] [ 5.37466761e-02 -2.48619989e-03 9.98551508e-01 1.83774283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.25, Y:32.33, Z:18.38 [[ 9.88193688e-01 -1.43752623e-01 -5.29945097e-02 3.90251373e+02] [ 1.43679233e-01 9.89610587e-01 -5.21198873e-03 3.23323849e+01] [ 5.31931649e-02 -2.46375612e-03 9.98581202e-01 1.83795114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.28, Y:32.34, Z:18.38 [[ 9.88237563e-01 -1.43493750e-01 -5.28778043e-02 3.90283038e+02] [ 1.43420602e-01 9.89648191e-01 -5.19506615e-03 3.23366621e+01] [ 5.30758829e-02 -2.44980703e-03 9.98587477e-01 1.83811689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.31, Y:32.34, Z:18.38 [[ 9.88304284e-01 -1.43001798e-01 -5.29634533e-02 3.90314079e+02] [ 1.42927929e-01 9.89719442e-01 -5.19933827e-03 3.23353076e+01] [ 5.31624742e-02 -2.43142840e-03 9.98582916e-01 1.83824193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.35, Y:32.34, Z:18.38 [[ 9.88372501e-01 -1.42549392e-01 -5.29100273e-02 3.90346414e+02] [ 1.42475379e-01 9.89784753e-01 -5.18745192e-03 3.23391139e+01] [ 5.31090064e-02 -2.41124138e-03 9.98585810e-01 1.83841135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.38, Y:32.35, Z:18.39 [[ 9.88433932e-01 -1.42089757e-01 -5.29987025e-02 3.90377727e+02] [ 1.42015029e-01 9.89850882e-01 -5.19252915e-03 3.23454785e+01] [ 5.31986177e-02 -2.39414029e-03 9.98581081e-01 1.83856895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.41, Y:32.35, Z:18.39 [[ 9.88486298e-01 -1.41678582e-01 -5.31226786e-02 3.90409245e+02] [ 1.41603130e-01 9.89909848e-01 -5.20060525e-03 3.23476061e+01] [ 5.33234771e-02 -2.38161052e-03 9.98574451e-01 1.83865540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.44, Y:32.35, Z:18.39 [[ 9.88562804e-01 -1.41175366e-01 -5.30386472e-02 3.90441134e+02] [ 1.41099775e-01 9.89981798e-01 -5.18589838e-03 3.23547081e+01] [ 5.32394164e-02 -2.35715496e-03 9.98578995e-01 1.83881825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.47, Y:32.36, Z:18.39 [[ 9.88600419e-01 -1.40896425e-01 -5.30792758e-02 3.90472621e+02] [ 1.40820523e-01 9.90021558e-01 -5.18603308e-03 3.23589657e+01] [ 5.32803208e-02 -2.34773689e-03 9.98576835e-01 1.83896930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.50, Y:32.36, Z:18.39 [[ 9.88595623e-01 -1.40848408e-01 -5.32955851e-02 3.90504475e+02] [ 1.40772031e-01 9.90028364e-01 -5.20315863e-03 3.23610276e+01] [ 5.34969975e-02 -2.35870791e-03 9.98565225e-01 1.83908497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.54, Y:32.36, Z:18.39 [[ 9.88583931e-01 -1.40913009e-01 -5.33416936e-02 3.90536888e+02] [ 1.40836847e-01 9.90019147e-01 -5.20292257e-03 3.23645905e+01] [ 5.35424575e-02 -2.36895031e-03 9.98562764e-01 1.83921872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.57, Y:32.37, Z:18.39 [[ 9.88568486e-01 -1.40734453e-01 -5.40940188e-02 3.90568825e+02] [ 1.40656083e-01 9.90044479e-01 -5.27224738e-03 3.23674745e+01] [ 5.42974715e-02 -2.39667517e-03 9.98521928e-01 1.83934318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.60, Y:32.37, Z:18.40 [[ 9.88541922e-01 -1.40872165e-01 -5.42208570e-02 3.90600496e+02] [ 1.40793893e-01 9.90024850e-01 -5.27985669e-03 3.23725382e+01] [ 5.44237806e-02 -2.41460583e-03 9.98515008e-01 1.83950287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.63, Y:32.37, Z:18.40 [[ 9.88475814e-01 -1.41245842e-01 -5.44534461e-02 3.90631441e+02] [ 1.41167674e-01 9.89971521e-01 -5.29866116e-03 3.23747341e+01] [ 5.46557747e-02 -2.44946790e-03 9.98502252e-01 1.83963118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.66, Y:32.38, Z:18.40 [[ 9.88432536e-01 -1.41420096e-01 -5.47857488e-02 3.90663164e+02] [ 1.41341409e-01 9.89946574e-01 -5.32787334e-03 3.23782475e+01] [ 5.49884327e-02 -2.47725159e-03 9.98483918e-01 1.83977613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.69, Y:32.38, Z:18.40 [[ 9.88406310e-01 -1.41629859e-01 -5.47169980e-02 3.90694786e+02] [ 1.41551900e-01 9.89916555e-01 -5.31738678e-03 3.23795715e+01] [ 5.49183628e-02 -2.48955636e-03 9.98487744e-01 1.83989630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.73, Y:32.39, Z:18.40 [[ 9.88376676e-01 -1.42205129e-01 -5.37517314e-02 3.90726425e+02] [ 1.42130903e-01 9.89834103e-01 -5.22061088e-03 3.23869031e+01] [ 5.39476945e-02 -2.47985207e-03 9.98540683e-01 1.84022168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.76, Y:32.39, Z:18.40 [[ 9.88416533e-01 -1.42217970e-01 -5.29792985e-02 3.90759338e+02] [ 1.42146097e-01 9.89832335e-01 -5.14150091e-03 3.23899730e+01] [ 5.31718366e-02 -2.44885600e-03 9.98582375e-01 1.84042645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.79, Y:32.39, Z:18.41 [[ 9.88386283e-01 -1.42468104e-01 -5.28714981e-02 3.90790324e+02] [ 1.42397200e-01 9.89796328e-01 -5.12499996e-03 3.23918431e+01] [ 5.30621638e-02 -2.46327365e-03 9.98588173e-01 1.84060526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.82, Y:32.39, Z:18.41 [[ 9.88374416e-01 -1.42687611e-01 -5.25000936e-02 3.90821288e+02] [ 1.42618371e-01 9.89764705e-01 -5.08212775e-03 3.23928596e+01] [ 5.26878963e-02 -2.46443279e-03 9.98607987e-01 1.84073416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.85, Y:32.40, Z:18.41 [[ 9.88241463e-01 -1.43551682e-01 -5.26471714e-02 3.90852557e+02] [ 1.43483427e-01 9.89639612e-01 -5.09350238e-03 3.23976738e+01] [ 5.28329071e-02 -2.52038635e-03 9.98600186e-01 1.84090268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.88, Y:32.40, Z:18.41 [[ 9.88188148e-01 -1.43808471e-01 -5.29462711e-02 3.90884437e+02] [ 1.43739969e-01 9.89602250e-01 -5.11939387e-03 3.23994042e+01] [ 5.31319613e-02 -2.55157100e-03 9.98584240e-01 1.84102979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.92, Y:32.40, Z:18.41 [[ 9.88065190e-01 -1.44509257e-01 -5.33315490e-02 3.90915820e+02] [ 1.44441003e-01 9.89500000e-01 -5.15235881e-03 3.23994198e+01] [ 5.35161313e-02 -2.61239603e-03 9.98563568e-01 1.84113045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.95, Y:32.40, Z:18.41 [[ 9.87992346e-01 -1.45149400e-01 -5.29412525e-02 3.90948025e+02] [ 1.45083411e-01 9.89406242e-01 -5.10798822e-03 3.24044209e+01] [ 5.31218271e-02 -2.63424421e-03 9.98584564e-01 1.84132207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:390.98, Y:32.40, Z:18.42 [[ 9.87737983e-01 -1.46874584e-01 -5.29295071e-02 3.90979193e+02] [ 1.46811293e-01 9.89151355e-01 -5.10307017e-03 3.24041124e+01] [ 5.31048050e-02 -2.73015314e-03 9.98585212e-01 1.84150514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.01, Y:32.41, Z:18.42 [[ 9.87614919e-01 -1.47719704e-01 -5.28740033e-02 3.91010089e+02] [ 1.47657929e-01 9.89025370e-01 -5.09439617e-03 3.24051010e+01] [ 5.30462734e-02 -2.77596416e-03 9.98588197e-01 1.84166344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.04, Y:32.41, Z:18.42 [[ 9.87422816e-01 -1.48990251e-01 -5.28969591e-02 3.91042495e+02] [ 1.48930592e-01 9.88834552e-01 -5.08995198e-03 3.24066971e+01] [ 5.30646941e-02 -2.85204073e-03 9.98587004e-01 1.84180036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.07, Y:32.41, Z:18.42 [[ 9.87261514e-01 -1.49785996e-01 -5.36549902e-02 3.91074041e+02] [ 1.49725992e-01 9.88714069e-01 -5.15911492e-03 3.24064365e+01] [ 5.38222069e-02 -2.94015103e-03 9.98546206e-01 1.84186846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.11, Y:32.41, Z:18.42 [[ 9.87093649e-01 -1.50783701e-01 -5.39481639e-02 3.91105585e+02] [ 1.50724682e-01 9.88562184e-01 -5.18440567e-03 3.24102089e+01] [ 5.41128386e-02 -3.01382591e-03 9.98530279e-01 1.84201804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.14, Y:32.41, Z:18.42 [[ 9.86703430e-01 -1.52967870e-01 -5.49287973e-02 3.91136042e+02] [ 1.52910237e-01 9.88226001e-01 -5.27539132e-03 3.24088891e+01] [ 5.50890311e-02 -3.19392873e-03 9.98476338e-01 1.84203658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.17, Y:32.41, Z:18.42 [[ 9.86524150e-01 -1.54078298e-01 -5.50452421e-02 3.91166935e+02] [ 1.54022422e-01 9.88053237e-01 -5.28151883e-03 3.24073837e+01] [ 5.52013971e-02 -3.26785561e-03 9.98469893e-01 1.84209505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.20, Y:32.41, Z:18.42 [[ 9.86360338e-01 -1.55098220e-01 -5.51164752e-02 3.91198375e+02] [ 1.55044128e-01 9.87893424e-01 -5.28214236e-03 3.24124315e+01] [ 5.52684543e-02 -3.33539008e-03 9.98465960e-01 1.84226865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.23, Y:32.41, Z:18.42 [[ 9.86099815e-01 -1.56743020e-01 -5.51251387e-02 3.91230137e+02] [ 1.56691633e-01 9.87633461e-01 -5.28001198e-03 3.24127551e+01] [ 5.52710366e-02 -3.43102915e-03 9.98465493e-01 1.84243317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.26, Y:32.42, Z:18.43 [[ 9.85983984e-01 -1.57397014e-01 -5.53331942e-02 3.91262070e+02] [ 1.57346438e-01 9.87529261e-01 -5.29680826e-03 3.24154083e+01] [ 5.54768502e-02 -3.48391289e-03 9.98453896e-01 1.84262628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.29, Y:32.42, Z:18.43 [[ 9.86000927e-01 -1.57290700e-01 -5.53336001e-02 3.91294499e+02] [ 1.57240194e-01 9.87546207e-01 -5.29256467e-03 3.24184183e+01] [ 5.54769581e-02 -3.48219234e-03 9.98453896e-01 1.84278112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.33, Y:32.42, Z:18.43 [[ 9.85936700e-01 -1.57800808e-01 -5.50247981e-02 3.91325719e+02] [ 1.57751959e-01 9.87464773e-01 -5.25749825e-03 3.24181677e+01] [ 5.51646872e-02 -3.49670923e-03 9.98471146e-01 1.84295791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.36, Y:32.42, Z:18.43 [[ 9.85982494e-01 -1.57746040e-01 -5.43572386e-02 3.91358795e+02] [ 1.57698462e-01 9.87473673e-01 -5.19044185e-03 3.24222414e+01] [ 5.44951136e-02 -3.45436814e-03 9.98508062e-01 1.84318848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.39, Y:32.43, Z:18.43 [[ 9.86051128e-01 -1.57392153e-01 -5.41376327e-02 3.91391201e+02] [ 1.57344729e-01 9.87530238e-01 -5.16393029e-03 3.24253669e+01] [ 5.42753114e-02 -3.42637186e-03 9.98520130e-01 1.84341162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.42, Y:32.43, Z:18.44 [[ 9.86149783e-01 -1.56920406e-01 -5.37083882e-02 3.91422834e+02] [ 1.56873238e-01 9.87605479e-01 -5.11918185e-03 3.24292526e+01] [ 5.38460025e-02 -3.37712866e-03 9.98543541e-01 1.84363432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.45, Y:32.43, Z:18.44 [[ 9.86368033e-01 -1.55722212e-01 -5.31854833e-02 3.91454456e+02] [ 1.55674425e-01 9.87795431e-01 -5.06554372e-03 3.24329091e+01] [ 5.33251951e-02 -3.28312912e-03 9.98571802e-01 1.84384766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.49, Y:32.43, Z:18.44 [[ 9.86545574e-01 -1.54631498e-01 -5.30747549e-02 3.91486099e+02] [ 1.54582536e-01 9.87966965e-01 -5.05125987e-03 3.24326165e+01] [ 5.32171884e-02 -3.22113217e-03 9.98577766e-01 1.84395310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.52, Y:32.43, Z:18.44 [[ 9.86695064e-01 -1.53587151e-01 -5.33276369e-02 3.91516943e+02] [ 1.53536359e-01 9.88129980e-01 -5.07243987e-03 3.24344077e+01] [ 5.34736984e-02 -3.18277980e-03 9.98564186e-01 1.84408868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.55, Y:32.44, Z:18.44 [[ 9.86850407e-01 -1.52575636e-01 -5.33568153e-02 3.91548907e+02] [ 1.52523472e-01 9.88286832e-01 -5.07230427e-03 3.24417015e+01] [ 5.35057480e-02 -3.13256116e-03 9.98562628e-01 1.84428682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.58, Y:32.44, Z:18.44 [[ 9.87089867e-01 -1.50899533e-01 -5.36928754e-02 3.91579589e+02] [ 1.50844438e-01 9.88544354e-01 -5.10059303e-03 3.24426469e+01] [ 5.38474659e-02 -3.06452790e-03 9.98544470e-01 1.84438751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.61, Y:32.45, Z:18.45 [[ 9.87106380e-01 -1.50745607e-01 -5.38215245e-02 3.91611880e+02] [ 1.50690151e-01 9.88567834e-01 -5.11038822e-03 3.24501028e+01] [ 5.39765965e-02 -3.06587686e-03 9.98537494e-01 1.84457380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.64, Y:32.45, Z:18.45 [[ 9.87113743e-01 -1.50611700e-01 -5.40608421e-02 3.91644793e+02] [ 1.50555877e-01 9.88588206e-01 -5.12710021e-03 3.24521036e+01] [ 5.42161122e-02 -3.07814642e-03 9.98524481e-01 1.84471680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.68, Y:32.45, Z:18.45 [[ 9.87011592e-01 -1.50998981e-01 -5.48399902e-02 3.91676036e+02] [ 1.50942450e-01 9.88528900e-01 -5.19528590e-03 3.24508720e+01] [ 5.49953981e-02 -3.14987504e-03 9.98481640e-01 1.84479600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.71, Y:32.45, Z:18.45 [[ 9.86889627e-01 -1.51750239e-01 -5.49611583e-02 3.91708186e+02] [ 1.51694792e-01 9.88413685e-01 -5.20362242e-03 3.24546670e+01] [ 5.51140120e-02 -3.20192046e-03 9.98474934e-01 1.84494818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.74, Y:32.46, Z:18.45 [[ 9.86716390e-01 -1.52666011e-01 -5.55324700e-02 3.91739947e+02] [ 1.52611067e-01 9.88272361e-01 -5.25382653e-03 3.24554881e+01] [ 5.56832860e-02 -3.29083274e-03 9.98443059e-01 1.84507297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.77, Y:32.46, Z:18.45 [[ 9.86370737e-01 -1.54557404e-01 -5.64338362e-02 3.91770558e+02] [ 1.54503903e-01 9.87977767e-01 -5.33634925e-03 3.24600203e+01] [ 5.65801477e-02 -3.45562919e-03 9.98392080e-01 1.84520057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.80, Y:32.45, Z:18.45 [[ 9.86260421e-01 -1.55183068e-01 -5.66444868e-02 3.91802299e+02] [ 1.55130274e-01 9.87879509e-01 -5.35486787e-03 3.24541211e+01] [ 5.67889126e-02 -3.50598054e-03 9.98380052e-01 1.84517205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.83, Y:32.46, Z:18.45 [[ 9.86139750e-01 -1.55853444e-01 -5.69042786e-02 3.91834514e+02] [ 1.55801466e-01 9.87773760e-01 -5.37612222e-03 3.24553742e+01] [ 5.70464404e-02 -3.56416218e-03 9.98365164e-01 1.84525416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.87, Y:32.46, Z:18.45 [[ 9.86017446e-01 -1.56482882e-01 -5.72948866e-02 3.91865726e+02] [ 1.56431479e-01 9.87674003e-01 -5.40898674e-03 3.24630739e+01] [ 5.74350838e-02 -3.62936854e-03 9.98342646e-01 1.84546978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.90, Y:32.46, Z:18.46 [[ 9.85826091e-01 -1.57713595e-01 -5.72131218e-02 3.91897785e+02] [ 1.57664641e-01 9.87477966e-01 -5.39706663e-03 3.24638002e+01] [ 5.73478879e-02 -3.69991722e-03 9.98347400e-01 1.84560921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.93, Y:32.47, Z:18.46 [[ 9.85772790e-01 -1.58133832e-01 -5.69710171e-02 3.91929414e+02] [ 1.58086229e-01 9.87410708e-01 -5.37004096e-03 3.24676290e+01] [ 5.71029775e-02 -3.71269298e-03 9.98361390e-01 1.84582563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.96, Y:32.47, Z:18.46 [[ 9.85660774e-01 -1.58749230e-01 -5.71972118e-02 3.91960728e+02] [ 1.58702514e-01 9.87311749e-01 -5.38728158e-03 3.24669737e+01] [ 5.73267060e-02 -3.76730914e-03 9.98348364e-01 1.84596737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:391.99, Y:32.46, Z:18.46 [[ 9.85569266e-01 -1.59293810e-01 -5.72599713e-02 3.91992406e+02] [ 1.59248117e-01 9.87223881e-01 -5.38951994e-03 3.24619990e+01] [ 5.73869283e-02 -3.80679741e-03 9.98344754e-01 1.84604584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.02, Y:32.47, Z:18.46 [[ 9.85261199e-01 -1.61216252e-01 -5.71812087e-02 3.92022589e+02] [ 1.61174199e-01 9.86911326e-01 -5.37694075e-03 3.24681636e+01] [ 5.72996327e-02 -3.91844443e-03 9.98349337e-01 1.84629438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.05, Y:32.47, Z:18.46 [[ 9.85083638e-01 -1.62093396e-01 -5.77577503e-02 3.92054527e+02] [ 1.62052087e-01 9.86767268e-01 -5.42953550e-03 3.24685330e+01] [ 5.78735493e-02 -4.01121740e-03 9.98315863e-01 1.84642647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.09, Y:32.47, Z:18.47 [[ 9.84982291e-01 -1.62741566e-01 -5.76634029e-02 3.92086336e+02] [ 1.62701737e-01 9.86660431e-01 -5.41651262e-03 3.24698561e+01] [ 5.77756897e-02 -4.04676679e-03 9.98321388e-01 1.84657727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.12, Y:32.47, Z:18.47 [[ 9.84923689e-01 -1.63110484e-01 -5.76220189e-02 3.92118533e+02] [ 1.63071579e-01 9.86599416e-01 -5.40847128e-03 3.24710186e+01] [ 5.77320286e-02 -4.06958214e-03 9.98323821e-01 1.84676167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.15, Y:32.48, Z:18.47 [[ 9.85121635e-01 -1.62009784e-01 -5.73427779e-02 3.92150737e+02] [ 1.61969648e-01 9.86781086e-01 -5.37794825e-03 3.24764965e+01] [ 5.74560488e-02 -3.98985635e-03 9.98340064e-01 1.84700208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.18, Y:32.48, Z:18.47 [[ 9.85227593e-01 -1.61359721e-01 -5.73553033e-02 3.92182397e+02] [ 1.61318755e-01 9.86887723e-01 -5.37419697e-03 3.24761809e+01] [ 5.74704236e-02 -3.95767897e-03 9.98339365e-01 1.84713716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.21, Y:32.48, Z:18.47 [[ 9.85518298e-01 -1.59760477e-01 -5.68354983e-02 3.92213829e+02] [ 1.59717779e-01 9.87148369e-01 -5.32239038e-03 3.24804594e+01] [ 5.69553771e-02 -3.83232646e-03 9.98369370e-01 1.84727295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.24, Y:32.48, Z:18.47 [[ 9.85762034e-01 -1.58196451e-01 -5.69832851e-02 3.92244447e+02] [ 1.58151099e-01 9.87400519e-01 -5.33330118e-03 3.24831358e+01] [ 5.71090346e-02 -3.75460333e-03 9.98360887e-01 1.84741390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.27, Y:32.49, Z:18.48 [[ 9.86289799e-01 -1.54930366e-01 -5.68244088e-02 3.92274296e+02] [ 1.54879966e-01 9.87918989e-01 -5.31673004e-03 3.24894733e+01] [ 5.69616354e-02 -3.55712589e-03 9.98370031e-01 1.84756993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.30, Y:32.49, Z:18.48 [[ 9.86549633e-01 -1.53307809e-01 -5.67145271e-02 3.92304530e+02] [ 1.53254943e-01 9.88172437e-01 -5.30627987e-03 3.24906414e+01] [ 5.68572266e-02 -3.45687317e-03 9.98376335e-01 1.84763976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.34, Y:32.50, Z:18.48 [[ 9.86786598e-01 -1.51714552e-01 -5.68762294e-02 3.92335013e+02] [ 1.51658819e-01 9.88418584e-01 -5.32020008e-03 3.24985434e+01] [ 5.70246739e-02 -3.37587964e-03 9.98367062e-01 1.84783835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.37, Y:32.50, Z:18.48 [[ 9.87019696e-01 -1.50136959e-01 -5.70176654e-02 3.92365912e+02] [ 1.50078449e-01 9.88659717e-01 -5.33131245e-03 3.24992709e+01] [ 5.71714960e-02 -3.29501237e-03 9.98358935e-01 1.84794778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.40, Y:32.50, Z:18.48 [[ 9.87259538e-01 -1.48547791e-01 -5.70276919e-02 3.92397474e+02] [ 1.48486748e-01 9.88900034e-01 -5.32999089e-03 3.25021899e+01] [ 5.71864449e-02 -3.20577220e-03 9.98358369e-01 1.84804879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.43, Y:32.51, Z:18.48 [[ 9.87750543e-01 -1.45685420e-01 -5.58983246e-02 3.92428127e+02] [ 1.45622348e-01 9.89326470e-01 -5.22178446e-03 3.25084978e+01] [ 5.60624301e-02 -2.98222485e-03 9.98422811e-01 1.84826012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.46, Y:32.51, Z:18.48 [[ 9.87963509e-01 -1.44235718e-01 -5.58942160e-02 3.92459301e+02] [ 1.44170461e-01 9.89539103e-01 -5.21929022e-03 3.25109140e+01] [ 5.60623205e-02 -2.90182663e-03 9.98423054e-01 1.84842683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.49, Y:32.51, Z:18.49 [[ 9.88233278e-01 -1.42696363e-01 -5.50702852e-02 3.92490326e+02] [ 1.42630990e-01 9.89762610e-01 -5.13585764e-03 3.25139207e+01] [ 5.52393774e-02 -2.77930388e-03 9.98469272e-01 1.84857186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.52, Y:32.52, Z:18.49 [[ 9.88442048e-01 -1.41488795e-01 -5.44356406e-02 3.92522301e+02] [ 1.41423213e-01 9.89936222e-01 -5.07447972e-03 3.25195239e+01] [ 5.46057945e-02 -2.68263409e-03 9.98504387e-01 1.84878536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.55, Y:32.52, Z:18.49 [[ 9.88599278e-01 -1.40493406e-01 -5.41578226e-02 3.92553195e+02] [ 1.40427210e-01 9.90078153e-01 -5.04476563e-03 3.25203689e+01] [ 5.43292333e-02 -2.61798025e-03 9.98519645e-01 1.84893342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.58, Y:32.52, Z:18.49 [[ 9.89024635e-01 -1.37947847e-01 -5.29212863e-02 3.92584453e+02] [ 1.37881147e-01 9.90436528e-01 -4.92685944e-03 3.25237076e+01] [ 5.30948247e-02 -2.42406230e-03 9.98586533e-01 1.84910255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.62, Y:32.53, Z:18.49 [[ 9.89191194e-01 -1.36625315e-01 -5.32381957e-02 3.92616729e+02] [ 1.36556018e-01 9.90619962e-01 -4.95421749e-03 3.25266014e+01] [ 5.34156909e-02 -2.36932771e-03 9.98569552e-01 1.84927942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.65, Y:32.53, Z:18.49 [[ 9.89357282e-01 -1.35629031e-01 -5.26966277e-02 3.92648578e+02] [ 1.35559925e-01 9.90757032e-01 -4.90006738e-03 3.25310497e+01] [ 5.28741458e-02 -2.29563355e-03 9.98598545e-01 1.84948043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.68, Y:32.53, Z:18.50 [[ 9.89476797e-01 -1.34608147e-01 -5.30689581e-02 3.92680051e+02] [ 1.34536821e-01 9.90896329e-01 -4.93048195e-03 3.25318704e+01] [ 5.32495188e-02 -2.26113145e-03 9.98578678e-01 1.84960358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.71, Y:32.53, Z:18.50 [[ 9.89631180e-01 -1.33429157e-01 -5.31675370e-02 3.92711235e+02] [ 1.33356205e-01 9.91055894e-01 -4.93333751e-03 3.25332630e+01] [ 5.33502520e-02 -2.20803637e-03 9.98573420e-01 1.84975456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.74, Y:32.53, Z:18.50 [[ 9.89635516e-01 -1.33288999e-01 -5.34376970e-02 3.92743729e+02] [ 1.33215258e-01 9.91074739e-01 -4.95547112e-03 3.25349412e+01] [ 5.36212614e-02 -2.21460637e-03 9.98558890e-01 1.84987275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.78, Y:32.54, Z:18.50 [[ 9.89609073e-01 -1.33287552e-01 -5.39287647e-02 3.92775445e+02] [ 1.33212654e-01 9.91074879e-01 -4.99721648e-03 3.25399483e+01] [ 5.41135108e-02 -2.23870311e-03 9.98532281e-01 1.85003499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.81, Y:32.54, Z:18.50 [[ 9.89578023e-01 -1.33503494e-01 -5.39643683e-02 3.92807411e+02] [ 1.33429029e-01 9.91045775e-01 -4.99661494e-03 3.25432474e+01] [ 5.41482248e-02 -2.25587291e-03 9.98530360e-01 1.85015390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.84, Y:32.55, Z:18.50 [[ 9.89474913e-01 -1.34043336e-01 -5.45140418e-02 3.92839024e+02] [ 1.33968378e-01 9.90972772e-01 -5.04361137e-03 3.25455923e+01] [ 5.46979937e-02 -2.31263082e-03 9.98500266e-01 1.85032331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.87, Y:32.55, Z:18.50 [[ 9.89415129e-01 -1.34728851e-01 -5.39058321e-02 3.92870758e+02] [ 1.34656729e-01 9.90879771e-01 -4.98439115e-03 3.25456423e+01] [ 5.40857398e-02 -2.32715102e-03 9.98533583e-01 1.85044574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.90, Y:32.55, Z:18.51 [[ 9.89331669e-01 -1.35426157e-01 -5.36898940e-02 3.92902769e+02] [ 1.35355800e-01 9.90784635e-01 -4.96136330e-03 3.25512620e+01] [ 5.38670204e-02 -2.35880475e-03 9.98545332e-01 1.85065294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.93, Y:32.55, Z:18.51 [[ 9.89301086e-01 -1.35746331e-01 -5.34443197e-02 3.92934066e+02] [ 1.35677311e-01 9.90740793e-01 -4.93441716e-03 3.25524784e+01] [ 5.36192967e-02 -2.36955732e-03 9.98558639e-01 1.85080647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:392.97, Y:32.55, Z:18.51 [[ 9.89258207e-01 -1.36195420e-01 -5.30943247e-02 3.92965662e+02] [ 1.36128262e-01 9.90679123e-01 -4.89616325e-03 3.25538907e+01] [ 5.32662740e-02 -2.38406848e-03 9.98577498e-01 1.85094892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.00, Y:32.55, Z:18.51 [[ 9.89146475e-01 -1.37371678e-01 -5.21370684e-02 3.92996507e+02] [ 1.37308695e-01 9.90516650e-01 -4.80508327e-03 3.25549487e+01] [ 5.23027167e-02 -2.40594162e-03 9.98628378e-01 1.85110251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.03, Y:32.56, Z:18.51 [[ 9.89134963e-01 -1.37579683e-01 -5.18059394e-02 3.93027752e+02] [ 1.37517926e-01 9.90487784e-01 -4.77177095e-03 3.25557601e+01] [ 5.19696488e-02 -2.40431987e-03 9.98645770e-01 1.85124966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.06, Y:32.56, Z:18.51 [[ 9.89111281e-01 -1.37897454e-01 -5.14117214e-02 3.93060037e+02] [ 1.37837206e-01 9.90443591e-01 -4.73265125e-03 3.25579122e+01] [ 5.15730305e-02 -2.40532932e-03 9.98666329e-01 1.85140590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.09, Y:32.56, Z:18.52 [[ 9.89089427e-01 -1.38233585e-01 -5.09272122e-02 3.93091458e+02] [ 1.38175089e-01 9.90396738e-01 -4.68455829e-03 3.25612821e+01] [ 5.10857081e-02 -2.40342502e-03 9.98691381e-01 1.85163214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.12, Y:32.56, Z:18.52 [[ 9.89127270e-01 -1.38128090e-01 -5.04764734e-02 3.93123561e+02] [ 1.38070625e-01 9.90411515e-01 -4.64037450e-03 3.25631816e+01] [ 5.06334465e-02 -2.37939729e-03 9.98714470e-01 1.85178676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.16, Y:32.57, Z:18.52 [[ 9.89155369e-01 -1.38059473e-01 -5.01122630e-02 3.93155377e+02] [ 1.38002924e-01 9.90421124e-01 -4.60337585e-03 3.25671194e+01] [ 5.02677835e-02 -2.36218487e-03 9.98732982e-01 1.85192799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.19, Y:32.57, Z:18.52 [[ 9.89176553e-01 -1.38044092e-01 -4.97350622e-02 3.93187374e+02] [ 1.37988548e-01 9.90423303e-01 -4.56517923e-03 3.25700627e+01] [ 4.98889606e-02 -2.34710076e-03 9.98752013e-01 1.85208024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.22, Y:32.57, Z:18.52 [[ 9.89170609e-01 -1.38023317e-01 -4.99106304e-02 3.93218305e+02] [ 1.37967541e-01 9.90426173e-01 -4.57755926e-03 3.25711772e+01] [ 5.00646046e-02 -2.35805987e-03 9.98743198e-01 1.85218691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.25, Y:32.57, Z:18.52 [[ 9.89152839e-01 -1.38208856e-01 -4.97491088e-02 3.93250469e+02] [ 1.38153952e-01 9.90400282e-01 -4.55719824e-03 3.25730769e+01] [ 4.99013765e-02 -2.36527039e-03 9.98751349e-01 1.85236312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.28, Y:32.58, Z:18.53 [[ 9.89027948e-01 -1.39088967e-01 -4.97792882e-02 3.93282501e+02] [ 1.39035285e-01 9.90276945e-01 -4.55641747e-03 3.25774631e+01] [ 4.99290289e-02 -2.41465330e-03 9.98749849e-01 1.85256536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.31, Y:32.58, Z:18.53 [[ 9.89038026e-01 -1.39017164e-01 -4.97796182e-02 3.93314068e+02] [ 1.38963572e-01 9.90287028e-01 -4.55280950e-03 3.25802907e+01] [ 4.99290288e-02 -2.41465184e-03 9.98749849e-01 1.85271604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.35, Y:32.58, Z:18.53 [[ 9.88986088e-01 -1.39403195e-01 -4.97319494e-02 3.93345016e+02] [ 1.39350371e-01 9.90232709e-01 -4.54486181e-03 3.25816828e+01] [ 4.98797713e-02 -2.43536051e-03 9.98752260e-01 1.85285225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.38, Y:32.58, Z:18.53 [[ 9.88972284e-01 -1.39533595e-01 -4.96406901e-02 3.93376821e+02] [ 1.39481265e-01 9.90214331e-01 -4.53378091e-03 3.25837990e+01] [ 4.97875375e-02 -2.44016262e-03 9.98756851e-01 1.85299927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.41, Y:32.58, Z:18.53 [[ 9.88949161e-01 -1.39643871e-01 -4.97910352e-02 3.93408538e+02] [ 1.39591541e-01 9.90198745e-01 -4.54395210e-03 3.25842067e+01] [ 4.99375556e-02 -2.45666971e-03 9.98749321e-01 1.85315525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.44, Y:32.59, Z:18.53 [[ 9.89062545e-01 -1.38994549e-01 -4.93537933e-02 3.93440206e+02] [ 1.38942460e-01 9.90290225e-01 -4.50137655e-03 3.25902567e+01] [ 4.95002458e-02 -2.40519451e-03 9.98771215e-01 1.85336491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.47, Y:32.59, Z:18.54 [[ 9.89238303e-01 -1.37748001e-01 -4.93261463e-02 3.93471471e+02] [ 1.37694611e-01 9.90464532e-01 -4.49510769e-03 3.25914951e+01] [ 4.94749905e-02 -2.34521181e-03 9.98772609e-01 1.85353630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.50, Y:32.59, Z:18.54 [[ 9.89457765e-01 -1.36401990e-01 -4.86603324e-02 3.93502477e+02] [ 1.36348711e-01 9.90651008e-01 -4.42820739e-03 3.25926831e+01] [ 4.88094236e-02 -2.25324943e-03 9.98805568e-01 1.85371035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.53, Y:32.60, Z:18.54 [[ 9.89989529e-01 -1.32508159e-01 -4.86037018e-02 3.93532801e+02] [ 1.32450445e-01 9.91179771e-01 -4.42050285e-03 3.26007111e+01] [ 4.87607587e-02 -2.06133041e-03 9.98808360e-01 1.85388294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.56, Y:32.60, Z:18.54 [[ 9.90292227e-01 -1.30058914e-01 -4.90508265e-02 3.93563276e+02] [ 1.29997181e-01 9.91504331e-01 -4.46023927e-03 3.26038538e+01] [ 4.92142008e-02 -1.95952892e-03 9.98786325e-01 1.85399438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.59, Y:32.61, Z:18.54 [[ 9.90608165e-01 -1.27358509e-01 -4.97521161e-02 3.93594739e+02] [ 1.27291692e-01 9.91855017e-01 -4.52213730e-03 3.26084824e+01] [ 4.99228186e-02 -1.85336492e-03 9.98751359e-01 1.85409655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.62, Y:32.61, Z:18.54 [[ 9.90895813e-01 -1.24797241e-01 -5.05087764e-02 3.93624957e+02] [ 1.24725191e-01 9.92180717e-01 -4.58825354e-03 3.26109334e+01] [ 5.06864353e-02 -1.75323553e-03 9.98713078e-01 1.85416573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.66, Y:32.62, Z:18.54 [[ 9.91414033e-01 -1.19982132e-01 -5.19856084e-02 3.93656315e+02] [ 1.19899254e-01 9.92774838e-01 -4.72128321e-03 3.26183636e+01] [ 5.21764736e-02 -1.55228922e-03 9.98636674e-01 1.85424538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.69, Y:32.62, Z:18.54 [[ 9.91694545e-01 -1.17348785e-01 -5.26421211e-02 3.93686659e+02] [ 1.17260239e-01 9.93089727e-01 -4.77816273e-03 3.26201806e+01] [ 5.28390613e-02 -1.43434981e-03 9.98602011e-01 1.85430178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.72, Y:32.62, Z:18.54 [[ 9.91944507e-01 -1.15192458e-01 -5.26952789e-02 3.93717469e+02] [ 1.15100751e-01 9.93342313e-01 -4.78193183e-03 3.26249857e+01] [ 5.28952927e-02 -1.32185515e-03 9.98599189e-01 1.85445489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.75, Y:32.63, Z:18.55 [[ 9.92164020e-01 -1.13322369e-01 -5.26174685e-02 3.93748590e+02] [ 1.13228407e-01 9.93557521e-01 -4.77296010e-03 3.26282559e+01] [ 5.28193647e-02 -1.22223285e-03 9.98603335e-01 1.85461211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.78, Y:32.63, Z:18.55 [[ 9.92384080e-01 -1.11438815e-01 -5.24902696e-02 3.93780235e+02] [ 1.11342779e-01 9.93770664e-01 -4.75941886e-03 3.26319063e+01] [ 5.26936740e-02 -1.12124100e-03 9.98610094e-01 1.85479751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.81, Y:32.63, Z:18.55 [[ 9.92599556e-01 -1.09814720e-01 -5.18348194e-02 3.93811803e+02] [ 1.09719000e-01 9.93951547e-01 -4.69723882e-03 3.26343127e+01] [ 5.20371249e-02 -1.02478739e-03 9.98644625e-01 1.85496134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.84, Y:32.64, Z:18.55 [[ 9.92892265e-01 -1.07667110e-01 -5.07222243e-02 3.93842215e+02] [ 1.07572745e-01 9.94186599e-01 -4.59465882e-03 3.26364221e+01] [ 5.09220493e-02 -8.94327719e-04 9.98702230e-01 1.85518811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.87, Y:32.64, Z:18.55 [[ 9.92958574e-01 -1.07335908e-01 -5.01225742e-02 3.93873221e+02] [ 1.07243389e-01 9.94222435e-01 -4.53938885e-03 3.26384491e+01] [ 5.03202271e-02 -8.67889613e-04 9.98732758e-01 1.85536041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.90, Y:32.64, Z:18.56 [[ 9.92991998e-01 -1.07209549e-01 -4.97293211e-02 3.93904341e+02] [ 1.07118406e-01 9.94236078e-01 -4.50198623e-03 3.26398527e+01] [ 4.99253411e-02 -8.56489334e-04 9.98752585e-01 1.85551206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.94, Y:32.64, Z:18.56 [[ 9.92916845e-01 -1.07959196e-01 -4.96079682e-02 3.93935966e+02] [ 1.07869523e-01 9.94154924e-01 -4.48920736e-03 3.26410501e+01] [ 4.98026571e-02 -8.93778245e-04 9.98758678e-01 1.85564460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:393.97, Y:32.64, Z:18.56 [[ 9.92567170e-01 -1.11227630e-01 -4.93844926e-02 3.93967916e+02] [ 1.11142892e-01 9.93794396e-01 -4.46719084e-03 3.26394692e+01] [ 4.95749070e-02 -1.05474833e-03 9.98769851e-01 1.85582832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.00, Y:32.64, Z:18.56 [[ 9.92289725e-01 -1.13642592e-01 -4.94617280e-02 3.93998158e+02] [ 1.13560672e-01 9.93520997e-01 -4.47241130e-03 3.26385576e+01] [ 4.96495217e-02 -1.17897930e-03 9.98766006e-01 1.85598289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.03, Y:32.64, Z:18.56 [[ 9.91945231e-01 -1.16603993e-01 -4.94789649e-02 3.94029404e+02] [ 1.16525741e-01 9.93177599e-01 -4.47303584e-03 3.26381321e+01] [ 4.96629734e-02 -1.32856647e-03 9.98765150e-01 1.85612886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.06, Y:32.64, Z:18.56 [[ 9.91538365e-01 -1.20120425e-01 -4.92214805e-02 3.94061222e+02] [ 1.20047397e-01 9.92758197e-01 -4.44799315e-03 3.26374305e+01] [ 4.93993230e-02 -1.49855475e-03 9.98777984e-01 1.85628820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.09, Y:32.64, Z:18.56 [[ 9.91082441e-01 -1.23746101e-01 -4.94216342e-02 3.94092337e+02] [ 1.23677063e-01 9.92312478e-01 -4.46432599e-03 3.26373799e+01] [ 4.95941472e-02 -1.68780747e-03 9.98768027e-01 1.85645850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.12, Y:32.64, Z:18.57 [[ 9.90627755e-01 -1.27423338e-01 -4.91929265e-02 3.94123670e+02] [ 1.27359507e-01 9.91846671e-01 -4.44272633e-03 3.26359584e+01] [ 4.93579474e-02 -1.86409887e-03 9.98779414e-01 1.85659531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.15, Y:32.63, Z:18.57 [[ 9.89689575e-01 -1.34413785e-01 -4.94720023e-02 3.94154179e+02] [ 1.34358027e-01 9.90922790e-01 -4.46603067e-03 3.26289300e+01] [ 4.96232306e-02 -2.22697663e-03 9.98765526e-01 1.85672251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.18, Y:32.63, Z:18.57 [[ 9.89248602e-01 -1.37497652e-01 -4.98156606e-02 3.94184489e+02] [ 1.37445057e-01 9.90499187e-01 -4.49621387e-03 3.26265456e+01] [ 4.99605902e-02 -2.39904304e-03 9.98748309e-01 1.85681956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.22, Y:32.63, Z:18.57 [[ 9.88571578e-01 -1.41972108e-01 -5.06967098e-02 3.94215352e+02] [ 1.41923661e-01 9.89867045e-01 -4.57256407e-03 3.26261395e+01] [ 5.08321789e-02 -2.67475577e-03 9.98703627e-01 1.85687888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.25, Y:32.63, Z:18.57 [[ 9.88354251e-01 -1.43256122e-01 -5.13182058e-02 3.94246284e+02] [ 1.43208256e-01 9.89681757e-01 -4.62764085e-03 3.26286769e+01] [ 5.14516300e-02 -2.77544226e-03 9.98671631e-01 1.85699855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.28, Y:32.63, Z:18.57 [[ 9.88290895e-01 -1.43594921e-01 -5.15907408e-02 3.94276379e+02] [ 1.43547101e-01 9.89632560e-01 -4.65038128e-03 3.26287494e+01] [ 5.17236480e-02 -2.80977180e-03 9.98657484e-01 1.85711385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.31, Y:32.63, Z:18.57 [[ 9.88349439e-01 -1.43367459e-01 -5.10994926e-02 3.94307678e+02] [ 1.43320292e-01 9.89665644e-01 -4.60510369e-03 3.26301911e+01] [ 5.12316342e-02 -2.77214256e-03 9.98682950e-01 1.85725176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.34, Y:32.63, Z:18.57 [[ 9.88524772e-01 -1.42202517e-01 -5.09629305e-02 3.94339261e+02] [ 1.42154156e-01 9.89833885e-01 -4.59088854e-03 3.26325770e+01] [ 5.10976714e-02 -2.70638532e-03 9.98689994e-01 1.85744765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.37, Y:32.63, Z:18.58 [[ 9.88818554e-01 -1.40342391e-01 -5.04170692e-02 3.94369300e+02] [ 1.40292780e-01 9.90099658e-01 -4.53911539e-03 3.26345125e+01] [ 5.05549533e-02 -2.58478929e-03 9.98717936e-01 1.85764096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.40, Y:32.64, Z:18.58 [[ 9.89579927e-01 -1.35461062e-01 -4.88043997e-02 3.94399271e+02] [ 1.35408690e-01 9.90780090e-01 -4.39307683e-03 3.26436466e+01] [ 4.89495184e-02 -2.26123917e-03 9.98798694e-01 1.85790747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.43, Y:32.65, Z:18.58 [[ 9.89978767e-01 -1.32561991e-01 -4.86760650e-02 3.94429300e+02] [ 1.32506441e-01 9.91172464e-01 -4.38062939e-03 3.26466350e+01] [ 4.88270802e-02 -2.11316205e-03 9.98805011e-01 1.85808040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.46, Y:32.65, Z:18.58 [[ 9.90364360e-01 -1.29676573e-01 -4.86047331e-02 3.94460925e+02] [ 1.29617765e-01 9.91554391e-01 -4.37325776e-03 3.26509953e+01] [ 4.87613456e-02 -1.96891823e-03 9.98808517e-01 1.85822186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.49, Y:32.66, Z:18.58 [[ 9.90706858e-01 -1.27016504e-01 -4.86490477e-02 3.94491783e+02] [ 1.26954516e-01 9.91898893e-01 -4.37460180e-03 3.26553525e+01] [ 4.88105832e-02 -1.84226831e-03 9.98806354e-01 1.85837379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.52, Y:32.66, Z:18.58 [[ 9.91213321e-01 -1.22665786e-01 -4.94899603e-02 3.94520922e+02] [ 1.22596308e-01 9.92446652e-01 -4.44849480e-03 3.26586758e+01] [ 4.96618235e-02 -1.65787909e-03 9.98764714e-01 1.85842291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.55, Y:32.66, Z:18.58 [[ 9.91404353e-01 -1.20939501e-01 -4.99103746e-02 3.94551090e+02] [ 1.20866609e-01 9.92658616e-01 -4.48714505e-03 3.26627976e+01] [ 5.00866365e-02 -1.58392259e-03 9.98743621e-01 1.85849966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.58, Y:32.67, Z:18.59 [[ 9.91543442e-01 -1.19479069e-01 -5.06592100e-02 3.94580165e+02] [ 1.19402067e-01 9.92835537e-01 -4.55452725e-03 3.26654400e+01] [ 5.08404346e-02 -1.53280278e-03 9.98705613e-01 1.85856035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.61, Y:32.67, Z:18.59 [[ 9.91622282e-01 -1.18499516e-01 -5.14112328e-02 3.94608463e+02] [ 1.18418842e-01 9.92952972e-01 -4.62320131e-03 3.26680094e+01] [ 5.15967835e-02 -1.50358922e-03 9.98666867e-01 1.85863345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.64, Y:32.67, Z:18.59 [[ 9.91764527e-01 -1.16820040e-01 -5.24995353e-02 3.94638326e+02] [ 1.16733430e-01 9.93152050e-01 -4.72360244e-03 3.26744678e+01] [ 5.26918325e-02 -1.44374948e-03 9.98609777e-01 1.85873581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.67, Y:32.68, Z:18.59 [[ 9.91834357e-01 -1.16069112e-01 -5.28447761e-02 3.94668739e+02] [ 1.15980295e-01 9.93240134e-01 -4.75466520e-03 3.26780323e+01] [ 5.30394223e-02 -1.41311240e-03 9.98591419e-01 1.85887576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.70, Y:32.68, Z:18.59 [[ 9.91887743e-01 -1.15372895e-01 -5.33647780e-02 3.94698435e+02] [ 1.15281315e-01 9.93321280e-01 -4.80143663e-03 3.26783711e+01] [ 5.35623253e-02 -1.38947566e-03 9.98563542e-01 1.85894471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.73, Y:32.68, Z:18.59 [[ 9.91926514e-01 -1.14852332e-01 -5.37655405e-02 3.94728115e+02] [ 1.14758602e-01 9.93381629e-01 -4.83760648e-03 3.26839818e+01] [ 5.39653106e-02 -1.37150813e-03 9.98541869e-01 1.85914451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.76, Y:32.68, Z:18.59 [[ 9.91997265e-01 -1.14256348e-01 -5.37300075e-02 3.94757258e+02] [ 1.14161758e-01 9.93450402e-01 -4.83646437e-03 3.26845190e+01] [ 5.39306943e-02 -1.33615269e-03 9.98543787e-01 1.85924986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.79, Y:32.69, Z:18.60 [[ 9.92168060e-01 -1.13252264e-01 -5.26921806e-02 3.94786069e+02] [ 1.13159737e-01 9.93565474e-01 -4.74573797e-03 3.26908124e+01] [ 5.28905970e-02 -1.25406364e-03 9.98599525e-01 1.85956662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.82, Y:32.69, Z:18.60 [[ 9.92222976e-01 -1.13096469e-01 -5.19880284e-02 3.94816537e+02] [ 1.13006095e-01 9.93583254e-01 -4.68402452e-03 3.26937209e+01] [ 5.21841811e-02 -1.22736736e-03 9.98636723e-01 1.85977767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.85, Y:32.69, Z:18.60 [[ 9.92271297e-01 -1.13003464e-01 -5.12629427e-02 3.94845662e+02] [ 1.12915467e-01 9.93593863e-01 -4.61876685e-03 3.26933526e+01] [ 5.14564819e-02 -1.20530935e-03 9.98674510e-01 1.85992464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.88, Y:32.70, Z:18.60 [[ 9.92276859e-01 -1.13092162e-01 -5.09587795e-02 3.94875948e+02] [ 1.13005280e-01 9.93583775e-01 -4.59221363e-03 3.26985029e+01] [ 5.11511599e-02 -1.20186380e-03 9.98690199e-01 1.86013990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.91, Y:32.70, Z:18.60 [[ 9.92140836e-01 -1.14366343e-01 -5.07631906e-02 3.94905075e+02] [ 1.14281789e-01 9.93437842e-01 -4.57464902e-03 3.26991581e+01] [ 5.09532604e-02 -1.26261213e-03 9.98700241e-01 1.86025180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.94, Y:32.70, Z:18.60 [[ 9.91989487e-01 -1.15735505e-01 -5.06176844e-02 3.94935623e+02] [ 1.15653172e-01 9.93279180e-01 -4.56237649e-03 3.27012202e+01] [ 5.08055210e-02 -1.32826625e-03 9.98707682e-01 1.86039147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:394.97, Y:32.70, Z:18.60 [[ 9.91808289e-01 -1.17052466e-01 -5.11374497e-02 3.94965786e+02] [ 1.16970181e-01 9.93124731e-01 -4.60922504e-03 3.27025029e+01] [ 5.13253872e-02 -1.41008916e-03 9.98680988e-01 1.86048614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.00, Y:32.70, Z:18.61 [[ 9.91427156e-01 -1.20113946e-01 -5.14279484e-02 3.94995263e+02] [ 1.20034830e-01 9.92758859e-01 -4.63548139e-03 3.27017834e+01] [ 5.16123373e-02 -1.57740293e-03 9.98665949e-01 1.86054238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.03, Y:32.70, Z:18.61 [[ 9.91242880e-01 -1.21593963e-01 -5.15020460e-02 3.95025416e+02] [ 1.21516570e-01 9.92578544e-01 -4.64299909e-03 3.27036133e+01] [ 5.16843865e-02 -1.65601220e-03 9.98662096e-01 1.86066648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.06, Y:32.71, Z:18.61 [[ 9.91101176e-01 -1.22620877e-01 -5.17936227e-02 3.95055694e+02] [ 1.22544005e-01 9.92452097e-01 -4.66928524e-03 3.27072539e+01] [ 5.19752413e-02 -1.71926385e-03 9.98646894e-01 1.86082534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.09, Y:32.71, Z:18.61 [[ 9.90969048e-01 -1.23473276e-01 -5.22943138e-02 3.95085752e+02] [ 1.23396090e-01 9.92346300e-01 -4.71451228e-03 3.27060064e+01] [ 5.24761851e-02 -1.78097811e-03 9.98620588e-01 1.86087272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.12, Y:32.71, Z:18.61 [[ 9.90938085e-01 -1.23846801e-01 -5.19969380e-02 3.95115255e+02] [ 1.23770952e-01 9.92299737e-01 -4.68871018e-03 3.27100180e+01] [ 5.21772296e-02 -1.78948901e-03 9.98636237e-01 1.86103919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.15, Y:32.71, Z:18.61 [[ 9.90928865e-01 -1.23912186e-01 -5.20168653e-02 3.95145656e+02] [ 1.23836280e-01 9.92291570e-01 -4.69218068e-03 3.27140804e+01] [ 5.21973153e-02 -1.79195783e-03 9.98635183e-01 1.86121781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.18, Y:32.72, Z:18.61 [[ 9.91177976e-01 -1.22442889e-01 -5.07341945e-02 3.95175855e+02] [ 1.22368759e-01 9.92474152e-01 -4.57647738e-03 3.27188817e+01] [ 5.09127338e-02 -1.67217684e-03 9.98701706e-01 1.86137249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.20, Y:32.72, Z:18.61 [[ 9.91338588e-01 -1.21201236e-01 -5.05773041e-02 3.95204813e+02] [ 1.21125947e-01 9.92626662e-01 -4.56238425e-03 3.27217130e+01] [ 5.07573471e-02 -1.60335629e-03 9.98709728e-01 1.86149164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.23, Y:32.72, Z:18.62 [[ 9.91338587e-01 -1.21201277e-01 -5.05772269e-02 3.95234673e+02] [ 1.21125944e-01 9.92626658e-01 -4.56323958e-03 3.27244074e+01] [ 5.07573742e-02 -1.60249887e-03 9.98709728e-01 1.86163430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.26, Y:32.73, Z:18.62 [[ 9.91507869e-01 -1.19781895e-01 -5.06403310e-02 3.95264384e+02] [ 1.19704523e-01 9.92799049e-01 -4.56899248e-03 3.27274060e+01] [ 5.08229550e-02 -1.53168465e-03 9.98706504e-01 1.86174354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.29, Y:32.73, Z:18.62 [[ 9.91708083e-01 -1.17978514e-01 -5.09524209e-02 3.95294589e+02] [ 1.17897764e-01 9.93015093e-01 -4.59800569e-03 3.27319649e+01] [ 5.11389888e-02 -1.44729711e-03 9.98690497e-01 1.86183402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.33, Y:32.74, Z:18.62 [[ 9.92094849e-01 -1.14334177e-01 -5.17252955e-02 3.95325086e+02] [ 1.14246010e-01 9.93441524e-01 -4.66776714e-03 3.27386656e+01] [ 5.19197416e-02 -1.27854086e-03 9.98650442e-01 1.86191825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.35, Y:32.74, Z:18.62 [[ 9.92265365e-01 -1.12706710e-01 -5.20254162e-02 3.95354100e+02] [ 1.12615268e-01 9.93627575e-01 -4.69511263e-03 3.27407763e+01] [ 5.22230589e-02 -1.20005854e-03 9.98634724e-01 1.86197627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.38, Y:32.74, Z:18.62 [[ 9.92348638e-01 -1.11873576e-01 -5.22348850e-02 3.95382365e+02] [ 1.11780184e-01 9.93721771e-01 -4.71513659e-03 3.27431792e+01] [ 5.24344416e-02 -1.15976569e-03 9.98623695e-01 1.86207135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.41, Y:32.75, Z:18.62 [[ 9.92427355e-01 -1.11174031e-01 -5.22329437e-02 3.95412029e+02] [ 1.11079538e-01 9.93800322e-01 -4.71763063e-03 3.27474615e+01] [ 5.24335943e-02 -1.12010559e-03 9.98623785e-01 1.86224034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.44, Y:32.75, Z:18.62 [[ 9.92380121e-01 -1.11555960e-01 -5.23159998e-02 3.95440398e+02] [ 1.11461592e-01 9.93757500e-01 -4.72711487e-03 3.27485880e+01] [ 5.25167550e-02 -1.14012979e-03 9.98619392e-01 1.86233608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.47, Y:32.75, Z:18.62 [[ 9.92273773e-01 -1.12392404e-01 -5.25424277e-02 3.95470104e+02] [ 1.12298244e-01 9.93663192e-01 -4.75031780e-03 3.27507626e+01] [ 5.27433761e-02 -1.18680659e-03 9.98607394e-01 1.86245883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.50, Y:32.75, Z:18.63 [[ 9.92112756e-01 -1.13774440e-01 -5.26085158e-02 3.95499495e+02] [ 1.13681882e-01 9.93505807e-01 -4.75819995e-03 3.27523641e+01] [ 5.28082275e-02 -1.25996422e-03 9.98603877e-01 1.86257206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.53, Y:32.75, Z:18.63 [[ 9.91896298e-01 -1.15432765e-01 -5.30755133e-02 3.95528126e+02] [ 1.15340818e-01 9.93314367e-01 -4.80247189e-03 3.27526772e+01] [ 5.32750325e-02 -1.35821900e-03 9.98578953e-01 1.86266231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.56, Y:32.75, Z:18.63 [[ 9.91682474e-01 -1.17281194e-01 -5.30187974e-02 3.95556618e+02] [ 1.17191870e-01 9.93097686e-01 -4.80128939e-03 3.27538805e+01] [ 5.32159460e-02 -1.45201747e-03 9.98581972e-01 1.86278818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.59, Y:32.76, Z:18.63 [[ 9.91466163e-01 -1.18934192e-01 -5.33807583e-02 3.95586151e+02] [ 1.18845392e-01 9.92900946e-01 -4.84606358e-03 3.27578151e+01] [ 5.35781680e-02 -1.53934907e-03 9.98562472e-01 1.86296566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.61, Y:32.76, Z:18.63 [[ 9.91044366e-01 -1.22351510e-01 -5.34899234e-02 3.95614896e+02] [ 1.22267201e-01 9.92485330e-01 -4.85806663e-03 3.27564049e+01] [ 5.36823560e-02 -1.72550366e-03 9.98556572e-01 1.86306291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.64, Y:32.76, Z:18.63 [[ 9.90817320e-01 -1.24100103e-01 -5.36675278e-02 3.95644393e+02] [ 1.24017641e-01 9.92268028e-01 -4.87703392e-03 3.27575371e+01] [ 5.38578124e-02 -1.82347050e-03 9.98546950e-01 1.86319987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.67, Y:32.76, Z:18.63 [[ 9.90457321e-01 -1.27216952e-01 -5.30107697e-02 3.95673703e+02] [ 1.27140843e-01 9.91872966e-01 -4.81932794e-03 3.27587152e+01] [ 5.31930495e-02 -1.96649530e-03 9.98582311e-01 1.86339722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.70, Y:32.76, Z:18.64 [[ 9.90340905e-01 -1.28334931e-01 -5.24884503e-02 3.95703906e+02] [ 1.28261748e-01 9.91728859e-01 -4.77436728e-03 3.27615720e+01] [ 5.26670290e-02 -2.00400914e-03 9.98610118e-01 1.86357617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.73, Y:32.76, Z:18.64 [[ 9.90228151e-01 -1.29234904e-01 -5.24075255e-02 3.95733653e+02] [ 1.29163198e-01 9.91611891e-01 -4.76709957e-03 3.27646992e+01] [ 5.25840011e-02 -2.04860742e-03 9.98614403e-01 1.86375370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.76, Y:32.77, Z:18.64 [[ 9.90133672e-01 -1.30050634e-01 -5.21741700e-02 3.95763101e+02] [ 1.29980646e-01 9.91505169e-01 -4.74682572e-03 3.27663683e+01] [ 5.23482869e-02 -2.08164035e-03 9.98626719e-01 1.86391133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.79, Y:32.77, Z:18.64 [[ 9.90079464e-01 -1.30387281e-01 -5.23623094e-02 3.95792511e+02] [ 1.30317206e-01 9.91460903e-01 -4.76489693e-03 3.27674037e+01] [ 5.25364645e-02 -2.10608328e-03 9.98616786e-01 1.86402347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.82, Y:32.77, Z:18.64 [[ 9.90036342e-01 -1.30459585e-01 -5.29937562e-02 3.95822298e+02] [ 1.30387859e-01 9.91451331e-01 -4.82341690e-03 3.27701998e+01] [ 5.31699911e-02 -2.13438437e-03 9.98583195e-01 1.86416484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.85, Y:32.78, Z:18.64 [[ 9.90048510e-01 -1.30318185e-01 -5.31142029e-02 3.95852044e+02] [ 1.30245828e-01 9.91469936e-01 -4.83626189e-03 3.27751034e+01] [ 5.32913882e-02 -2.12976945e-03 9.98576733e-01 1.86427986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.88, Y:32.78, Z:18.64 [[ 9.90127273e-01 -1.29617889e-01 -5.33590381e-02 3.95881847e+02] [ 1.29543758e-01 9.91561795e-01 -4.86025339e-03 3.27821779e+01] [ 5.35387594e-02 -2.10006091e-03 9.98563564e-01 1.86447564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.91, Y:32.78, Z:18.65 [[ 9.90230341e-01 -1.28761742e-01 -5.35190297e-02 3.95911360e+02] [ 1.28685913e-01 9.91673419e-01 -4.87494082e-03 3.27818080e+01] [ 5.37011050e-02 -2.05983087e-03 9.98554930e-01 1.86457034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.94, Y:32.79, Z:18.65 [[ 9.90350115e-01 -1.27819080e-01 -5.35624219e-02 3.95940743e+02] [ 1.27741692e-01 9.91795466e-01 -4.87999123e-03 3.27873843e+01] [ 5.37467232e-02 -2.00925455e-03 9.98552579e-01 1.86472121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:395.97, Y:32.80, Z:18.65 [[ 9.90720070e-01 -1.25041292e-01 -5.32768113e-02 3.95970698e+02] [ 1.24960628e-01 9.92149819e-01 -4.85565027e-03 3.27951224e+01] [ 5.34657355e-02 -1.84691361e-03 9.98567977e-01 1.86492256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.00, Y:32.80, Z:18.65 [[ 9.90876516e-01 -1.23722103e-01 -5.34469027e-02 3.96000377e+02] [ 1.23639001e-01 9.92315307e-01 -4.87126396e-03 3.27964684e+01] [ 5.36388626e-02 -1.78130060e-03 9.98558811e-01 1.86504312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.03, Y:32.80, Z:18.65 [[ 9.91031449e-01 -1.22640691e-01 -5.30653162e-02 3.96030099e+02] [ 1.22557173e-01 9.92449666e-01 -4.83744310e-03 3.28016618e+01] [ 5.32579227e-02 -1.70947689e-03 9.98579327e-01 1.86520179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.06, Y:32.80, Z:18.65 [[ 9.91152707e-01 -1.21720340e-01 -5.29194664e-02 3.96059146e+02] [ 1.21635915e-01 9.92563057e-01 -4.82517844e-03 3.28043192e+01] [ 5.31132297e-02 -1.65441906e-03 9.98587126e-01 1.86531688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.09, Y:32.81, Z:18.65 [[ 9.91247743e-01 -1.20643840e-01 -5.36001453e-02 3.96088462e+02] [ 1.20555555e-01 9.92694542e-01 -4.88914489e-03 3.28106811e+01] [ 5.37984169e-02 -1.61544145e-03 9.98550510e-01 1.86545492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.12, Y:32.81, Z:18.66 [[ 9.91232507e-01 -1.20487034e-01 -5.42309206e-02 3.96117146e+02] [ 1.20396308e-01 9.92713573e-01 -4.94882483e-03 3.28138414e+01] [ 5.44320402e-02 -1.62376659e-03 9.98516157e-01 1.86553182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.15, Y:32.82, Z:18.66 [[ 9.91225913e-01 -1.20413415e-01 -5.45142010e-02 3.96147049e+02] [ 1.20321456e-01 9.92722503e-01 -4.97782183e-03 3.28199213e+01] [ 5.47168706e-02 -1.62508203e-03 9.98500587e-01 1.86571402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.18, Y:32.82, Z:18.66 [[ 9.91252664e-01 -1.19859971e-01 -5.52425832e-02 3.96176584e+02] [ 1.19764672e-01 9.92789493e-01 -5.04447476e-03 3.28241074e+01] [ 5.54488868e-02 -1.61576082e-03 9.98460220e-01 1.86579642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.21, Y:32.83, Z:18.66 [[ 9.91330696e-01 -1.19370299e-01 -5.49015789e-02 3.96207127e+02] [ 1.19275377e-01 9.92848550e-01 -5.01418294e-03 3.28290511e+01] [ 5.51074975e-02 -1.57769304e-03 9.98479181e-01 1.86596612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.24, Y:32.83, Z:18.66 [[ 9.91425401e-01 -1.18651334e-01 -5.47497518e-02 3.96237568e+02] [ 1.18555841e-01 9.92934796e-01 -5.00031650e-03 3.28329452e+01] [ 5.49562278e-02 -1.53346208e-03 9.98487587e-01 1.86610494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.27, Y:32.84, Z:18.66 [[ 9.91575992e-01 -1.17534430e-01 -5.44307806e-02 3.96268031e+02] [ 1.17438366e-01 9.93067731e-01 -4.97118474e-03 3.28373072e+01] [ 5.46377371e-02 -1.46295448e-03 9.98505171e-01 1.86628059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.30, Y:32.84, Z:18.66 [[ 9.91749097e-01 -1.16165972e-01 -5.42143454e-02 3.96298049e+02] [ 1.16068629e-01 9.93228854e-01 -4.95141763e-03 3.28418040e+01] [ 5.44224384e-02 -1.38202076e-03 9.98517045e-01 1.86643723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.33, Y:32.85, Z:18.67 [[ 9.91957694e-01 -1.14547068e-01 -5.38414519e-02 3.96328378e+02] [ 1.14448678e-01 9.93416992e-01 -4.91736112e-03 3.28462273e+01] [ 5.40502825e-02 -1.28426877e-03 9.98537389e-01 1.86660023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.36, Y:32.85, Z:18.67 [[ 9.92383872e-01 -1.10948245e-01 -5.35232380e-02 3.96357532e+02] [ 1.10845778e-01 9.93825597e-01 -4.88840801e-03 3.28526811e+01] [ 5.37351242e-02 -1.08164770e-03 9.98554639e-01 1.86673297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.39, Y:32.86, Z:18.67 [[ 9.92627711e-01 -1.08931876e-01 -5.31420097e-02 3.96387837e+02] [ 1.08827932e-01 9.94048749e-01 -4.85441949e-03 3.28591755e+01] [ 5.33545493e-02 -9.64703725e-04 9.98575166e-01 1.86694159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.42, Y:32.86, Z:18.67 [[ 9.92876057e-01 -1.06979294e-01 -5.24648966e-02 3.96417286e+02] [ 1.06875254e-01 9.94260887e-01 -4.79265996e-03 3.28630748e+01] [ 5.26765100e-02 -8.48681854e-04 9.98611268e-01 1.86708655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.45, Y:32.87, Z:18.67 [[ 9.93131355e-01 -1.04853322e-01 -5.19219936e-02 3.96446430e+02] [ 1.04748474e-01 9.94487432e-01 -4.74399887e-03 3.28670571e+01] [ 5.21331941e-02 -7.27335544e-04 9.98639876e-01 1.86722338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.48, Y:32.87, Z:18.67 [[ 9.93611690e-01 -1.00914122e-01 -5.05187983e-02 3.96476792e+02] [ 1.00809734e-01 9.94895012e-01 -4.61661151e-03 3.28728786e+01] [ 5.07267818e-02 -5.05667471e-04 9.98712440e-01 1.86741754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.51, Y:32.88, Z:18.68 [[ 9.93789355e-01 -9.91813595e-02 -5.04556901e-02 3.96506260e+02] [ 9.90749982e-02 9.95069286e-01 -4.61089946e-03 3.28765765e+01] [ 5.06642229e-02 -4.16634607e-04 9.98715657e-01 1.86755194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.54, Y:32.88, Z:18.68 [[ 9.93957327e-01 -9.75878178e-02 -5.02538461e-02 3.96536109e+02] [ 9.74802287e-02 9.95226862e-01 -4.59328244e-03 3.28805896e+01] [ 5.04622259e-02 -3.33229664e-04 9.98725915e-01 1.86771271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.57, Y:32.88, Z:18.68 [[ 9.94082933e-01 -9.62635881e-02 -5.03233860e-02 3.96565906e+02] [ 9.61540050e-02 9.95355841e-01 -4.59963850e-03 3.28840063e+01] [ 5.05324539e-02 -2.66372972e-04 9.98722384e-01 1.86781177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.60, Y:32.89, Z:18.68 [[ 9.94185781e-01 -9.48933230e-02 -5.08909688e-02 3.96596099e+02] [ 9.47794584e-02 9.95487427e-01 -4.65151649e-03 3.28869819e+01] [ 5.11027175e-02 -1.98946910e-04 9.98693383e-01 1.86786547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.62, Y:32.89, Z:18.68 [[ 9.94151060e-01 -9.51263512e-02 -5.11336121e-02 3.96624360e+02] [ 9.50116952e-02 9.95465184e-01 -4.67389472e-03 3.28889626e+01] [ 5.13463412e-02 -2.11733781e-04 9.98680884e-01 1.86795544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.65, Y:32.89, Z:18.68 [[ 9.94121058e-01 -9.53498135e-02 -5.13004471e-02 3.96654198e+02] [ 9.52345691e-02 9.95443803e-01 -4.69177797e-03 3.28905291e+01] [ 5.15140723e-02 -2.21380694e-04 9.98672244e-01 1.86804469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.68, Y:32.89, Z:18.68 [[ 9.94035264e-01 -9.61155006e-02 -5.15335318e-02 3.96684247e+02] [ 9.60001410e-02 9.95370154e-01 -4.71489463e-03 3.28923820e+01] [ 5.17481139e-02 -2.60454788e-04 9.98660135e-01 1.86817155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.71, Y:32.89, Z:18.68 [[ 9.93795711e-01 -9.84563235e-02 -5.17342931e-02 3.96713265e+02] [ 9.83430849e-02 9.95141300e-01 -4.73607995e-03 3.28920713e+01] [ 5.19492287e-02 -3.81014029e-04 9.98649655e-01 1.86824580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.74, Y:32.89, Z:18.68 [[ 9.93635546e-01 -9.98981999e-02 -5.20456705e-02 3.96742733e+02] [ 9.97849358e-02 9.94997563e-01 -4.77669555e-03 3.28930999e+01] [ 5.22624986e-02 -4.47079401e-04 9.98633282e-01 1.86835040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.77, Y:32.89, Z:18.69 [[ 9.93495021e-01 -1.01306527e-01 -5.20060729e-02 3.96772754e+02] [ 1.01195266e-01 9.94855124e-01 -4.77491768e-03 3.28942786e+01] [ 5.22222384e-02 -5.18911464e-04 9.98635353e-01 1.86851296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.80, Y:32.90, Z:18.69 [[ 9.93323009e-01 -1.02815896e-01 -5.23286820e-02 3.96801290e+02] [ 1.02705234e-01 9.94700222e-01 -4.80658501e-03 3.28951068e+01] [ 5.25455449e-02 -5.99938042e-04 9.98618348e-01 1.86863524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.83, Y:32.90, Z:18.69 [[ 9.93149681e-01 -1.04664725e-01 -5.19519553e-02 3.96830865e+02] [ 1.04558003e-01 9.94507325e-01 -4.77533640e-03 3.28962708e+01] [ 5.21664094e-02 -6.89368868e-04 9.98638168e-01 1.86879590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.86, Y:32.89, Z:18.69 [[ 9.92826500e-01 -1.07725590e-01 -5.18723327e-02 3.96860222e+02] [ 1.07623272e-01 9.94180305e-01 -4.76986068e-03 3.28941749e+01] [ 5.20842876e-02 -8.47026080e-04 9.98642333e-01 1.86893449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.89, Y:32.90, Z:18.69 [[ 9.92656720e-01 -1.09360510e-01 -5.17002492e-02 3.96890552e+02] [ 1.09260998e-01 9.94001719e-01 -4.75570545e-03 3.28969155e+01] [ 5.19102230e-02 -9.28037845e-04 9.98651324e-01 1.86915027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.92, Y:32.90, Z:18.69 [[ 9.92499084e-01 -1.10788141e-01 -5.16870980e-02 3.96921084e+02] [ 1.10690626e-01 9.93843540e-01 -4.75425744e-03 3.28971684e+01] [ 5.18956038e-02 -1.00268107e-03 9.98652012e-01 1.86928758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.95, Y:32.89, Z:18.69 [[ 9.92181279e-01 -1.13904166e-01 -5.10112728e-02 3.96950961e+02] [ 1.13813425e-01 9.93491073e-01 -4.68961081e-03 3.28936744e+01] [ 5.12134103e-02 -1.15282361e-03 9.98687067e-01 1.86942987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:396.98, Y:32.90, Z:18.70 [[ 9.91943793e-01 -1.16141351e-01 -5.05835739e-02 3.96981487e+02] [ 1.16054987e-01 9.93231900e-01 -4.65113103e-03 3.28953594e+01] [ 5.07814079e-02 -1.25681547e-03 9.98709001e-01 1.86962944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.01, Y:32.90, Z:18.70 [[ 9.91728724e-01 -1.18182516e-01 -5.00702638e-02 3.97012210e+02] [ 1.18100493e-01 9.92990975e-01 -4.60393245e-03 3.28971573e+01] [ 5.02634244e-02 -1.34747080e-03 9.98735086e-01 1.86980136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.04, Y:32.89, Z:18.70 [[ 9.91261013e-01 -1.22263871e-01 -4.95292784e-02 3.97043217e+02] [ 1.22188696e-01 9.92496439e-01 -4.55418916e-03 3.28944414e+01] [ 4.97144453e-02 -1.53752778e-03 9.98762289e-01 1.86998045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.07, Y:32.89, Z:18.70 [[ 9.91021364e-01 -1.24198106e-01 -4.95124885e-02 3.97072994e+02] [ 1.24125390e-01 9.92256096e-01 -4.55268489e-03 3.28911961e+01] [ 4.96945034e-02 -1.63394896e-03 9.98763128e-01 1.87014038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.10, Y:32.90, Z:18.70 [[ 9.90836249e-01 -1.25668370e-01 -4.95074579e-02 3.97103448e+02] [ 1.25597460e-01 9.92070838e-01 -4.55303679e-03 3.28956625e+01] [ 4.96870780e-02 -1.70669705e-03 9.98763376e-01 1.87032378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.13, Y:32.90, Z:18.70 [[ 9.90840816e-01 -1.25632321e-01 -4.95075444e-02 3.97134149e+02] [ 1.25561413e-01 9.92075405e-01 -4.55209668e-03 3.28984567e+01] [ 4.96871076e-02 -1.70583402e-03 9.98763376e-01 1.87047042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.16, Y:32.90, Z:18.71 [[ 9.90690591e-01 -1.26552876e-01 -5.01649496e-02 3.97164318e+02] [ 1.26481339e-01 9.91958271e-01 -4.61078437e-03 3.28992966e+01] [ 5.03450447e-02 -1.77706932e-03 9.98730303e-01 1.87057527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.19, Y:32.90, Z:18.71 [[ 9.90611305e-01 -1.27099904e-01 -5.03473614e-02 3.97194730e+02] [ 1.27028551e-01 9.91888266e-01 -4.62755028e-03 3.29007412e+01] [ 5.05271182e-02 -1.81144875e-03 9.98721047e-01 1.87067520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.22, Y:32.90, Z:18.71 [[ 9.90585551e-01 -1.27147337e-01 -5.07328420e-02 3.97223987e+02] [ 1.27074946e-01 9.91882157e-01 -4.66304284e-03 3.29011312e+01] [ 5.09138942e-02 -1.82773032e-03 9.98701374e-01 1.87080823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.25, Y:32.90, Z:18.71 [[ 9.90724291e-01 -1.26205824e-01 -5.03733017e-02 3.97254693e+02] [ 1.26133197e-01 9.92002506e-01 -4.63085139e-03 3.29034634e+01] [ 5.05548819e-02 -1.76584865e-03 9.98719723e-01 1.87098536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.29, Y:32.91, Z:18.71 [[ 9.90819960e-01 -1.25426038e-01 -5.04392254e-02 3.97285539e+02] [ 1.25352215e-01 9.92101467e-01 -4.63685611e-03 3.29058682e+01] [ 5.06224120e-02 -1.72837904e-03 9.98716368e-01 1.87118889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.32, Y:32.91, Z:18.71 [[ 9.90976973e-01 -1.24121716e-01 -5.05810152e-02 3.97315429e+02] [ 1.24045825e-01 9.92265599e-01 -4.64904304e-03 3.29087139e+01] [ 5.07668486e-02 -1.66726915e-03 9.98709140e-01 1.87135526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.34, Y:32.91, Z:18.71 [[ 9.91104279e-01 -1.22847612e-01 -5.11934773e-02 3.97344401e+02] [ 1.22768167e-01 9.92424222e-01 -4.70547358e-03 3.29114611e+01] [ 5.13837030e-02 -1.62131439e-03 9.98677669e-01 1.87148236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.37, Y:32.91, Z:18.72 [[ 9.91386490e-01 -1.20285339e-01 -5.18098849e-02 3.97373356e+02] [ 1.20200378e-01 9.92738220e-01 -4.76398897e-03 3.29145730e+01] [ 5.20066910e-02 -1.50461347e-03 9.98645603e-01 1.87155337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.40, Y:32.92, Z:18.72 [[ 9.91495951e-01 -1.19239406e-01 -5.21319774e-02 3.97403825e+02] [ 1.19151854e-01 9.92864463e-01 -4.79527979e-03 3.29201705e+01] [ 5.23317740e-02 -1.45712128e-03 9.98628691e-01 1.87172551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.43, Y:32.92, Z:18.72 [[ 9.91589822e-01 -1.18098815e-01 -5.29367055e-02 3.97433292e+02] [ 1.18006911e-01 9.93000835e-01 -4.86940348e-03 3.29205913e+01] [ 5.31412635e-02 -1.41844615e-03 9.98585997e-01 1.87177849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.46, Y:32.93, Z:18.72 [[ 9.91833573e-01 -1.15745514e-01 -5.35643494e-02 3.97462706e+02] [ 1.15647930e-01 9.93278042e-01 -4.92823199e-03 3.29267772e+01] [ 5.37747128e-02 -1.30662019e-03 9.98552239e-01 1.87190267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.49, Y:32.93, Z:18.72 [[ 9.91914184e-01 -1.14857090e-01 -5.39824093e-02 3.97490577e+02] [ 1.14756538e-01 9.93381219e-01 -4.96900504e-03 3.29291397e+01] [ 5.41958370e-02 -1.26600780e-03 9.98529523e-01 1.87199941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.52, Y:32.93, Z:18.72 [[ 9.92031626e-01 -1.13766754e-01 -5.41329695e-02 3.97518886e+02] [ 1.13663694e-01 9.93506757e-01 -4.98881605e-03 3.29335473e+01] [ 5.43490324e-02 -1.20389000e-03 9.98521273e-01 1.87217603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.55, Y:32.94, Z:18.72 [[ 9.92185856e-01 -1.12552995e-01 -5.38428238e-02 3.97546830e+02] [ 1.12448576e-01 9.93645093e-01 -4.97456476e-03 3.29362845e+01] [ 5.40605598e-02 -1.11885607e-03 9.98537032e-01 1.87231898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.58, Y:32.94, Z:18.73 [[ 9.92435151e-01 -1.10933766e-01 -5.25943997e-02 3.97575454e+02] [ 1.10831574e-01 9.93827297e-01 -4.86468716e-03 3.29407494e+01] [ 5.28094082e-02 -1.00123355e-03 9.98604108e-01 1.87260975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.60, Y:32.94, Z:18.73 [[ 9.92527551e-01 -1.10523973e-01 -5.17060235e-02 3.97604460e+02] [ 1.10424033e-01 9.93873003e-01 -4.79435973e-03 3.29446070e+01] [ 5.19191125e-02 -9.51053548e-04 9.98650841e-01 1.87291942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.63, Y:32.95, Z:18.73 [[ 9.92552926e-01 -1.10806313e-01 -5.06028734e-02 3.97632763e+02] [ 1.10710864e-01 9.93841573e-01 -4.69395350e-03 3.29469506e+01] [ 5.08113590e-02 -9.43290573e-04 9.98707823e-01 1.87314085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.66, Y:32.95, Z:18.73 [[ 9.92534441e-01 -1.11312763e-01 -4.98482876e-02 3.97662674e+02] [ 1.11220652e-01 9.93784968e-01 -4.62650536e-03 3.29482141e+01] [ 5.00534679e-02 -9.52193117e-04 9.98746086e-01 1.87334991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.69, Y:32.95, Z:18.74 [[ 9.92436061e-01 -1.12454808e-01 -4.92400264e-02 3.97692903e+02] [ 1.12366336e-01 9.93656340e-01 -4.57004953e-03 3.29513293e+01] [ 4.94415884e-02 -9.97439393e-04 9.98776519e-01 1.87354202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.72, Y:32.95, Z:18.74 [[ 9.92079699e-01 -1.15659738e-01 -4.89969056e-02 3.97723458e+02] [ 1.15576040e-01 9.93288226e-01 -4.54748508e-03 3.29516660e+01] [ 4.91940104e-02 -1.15140071e-03 9.98788578e-01 1.87370363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.75, Y:32.95, Z:18.74 [[ 9.91821019e-01 -1.17702098e-01 -4.93688377e-02 3.97753493e+02] [ 1.17619649e-01 9.93048147e-01 -4.58204221e-03 3.29530024e+01] [ 4.95649488e-02 -1.26217957e-03 9.98770105e-01 1.87384259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.78, Y:32.95, Z:18.74 [[ 9.91557682e-01 -1.19725766e-01 -4.97905960e-02 3.97782757e+02] [ 1.19644403e-01 9.92806050e-01 -4.62210431e-03 3.29532756e+01] [ 4.99857900e-02 -1.37408312e-03 9.98748984e-01 1.87392810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.81, Y:32.96, Z:18.74 [[ 9.91250449e-01 -1.21995447e-01 -5.03950120e-02 3.97812830e+02] [ 1.21914981e-01 9.92529518e-01 -4.67908334e-03 3.29558544e+01] [ 5.05893638e-02 -1.50576348e-03 9.98718403e-01 1.87403751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.84, Y:32.95, Z:18.74 [[ 9.90655217e-01 -1.26560951e-01 -5.08386258e-02 3.97842514e+02] [ 1.26485057e-01 9.91957282e-01 -4.72033693e-03 3.29536175e+01] [ 5.10271554e-02 -1.75410010e-03 9.98695726e-01 1.87411744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.87, Y:32.95, Z:18.74 [[ 9.90388940e-01 -1.28620054e-01 -5.08589243e-02 3.97871712e+02] [ 1.28546768e-01 9.91692201e-01 -4.72301081e-03 3.29529892e+01] [ 5.10438725e-02 -1.86013268e-03 9.98694680e-01 1.87428052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.90, Y:32.96, Z:18.74 [[ 9.90163257e-01 -1.30544667e-01 -5.03469321e-02 3.97901789e+02] [ 1.30475387e-01 9.91440530e-01 -4.67436791e-03 3.29572903e+01] [ 5.05262029e-02 -1.94064809e-03 9.98720850e-01 1.87448966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.93, Y:32.96, Z:18.75 [[ 9.89951920e-01 -1.32132484e-01 -5.03607234e-02 3.97930809e+02] [ 1.32065210e-01 9.91230002e-01 -4.67575859e-03 3.29580308e+01] [ 5.05368795e-02 -2.02212331e-03 9.98720148e-01 1.87463603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.96, Y:32.96, Z:18.75 [[ 9.89666119e-01 -1.34054851e-01 -5.08946951e-02 3.97960180e+02] [ 1.33988587e-01 9.90971600e-01 -4.72713250e-03 3.29585207e+01] [ 5.10688925e-02 -2.14102538e-03 9.98692838e-01 1.87466744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:397.99, Y:32.96, Z:18.75 [[ 9.89573131e-01 -1.34486332e-01 -5.15601098e-02 3.97989918e+02] [ 1.34418864e-01 9.90913027e-01 -4.78979622e-03 3.29633156e+01] [ 5.17357466e-02 -2.19079775e-03 9.98658407e-01 1.87477361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.02, Y:32.97, Z:18.75 [[ 9.89598358e-01 -1.34371471e-01 -5.13750754e-02 3.98019859e+02] [ 1.34304331e-01 9.90928640e-01 -4.77260701e-03 3.29664068e+01] [ 5.15503358e-02 -2.17693108e-03 9.98668025e-01 1.87490926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.05, Y:32.97, Z:18.75 [[ 9.89712881e-01 -1.33775492e-01 -5.07201241e-02 3.98048905e+02] [ 1.33709266e-01 9.91009400e-01 -4.71188579e-03 3.29687763e+01] [ 5.08944545e-02 -2.11833649e-03 9.98701791e-01 1.87502713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.08, Y:32.98, Z:18.75 [[ 9.90000831e-01 -1.31768205e-01 -5.03537033e-02 3.98079354e+02] [ 1.31700261e-01 9.91278540e-01 -4.67941651e-03 3.29771086e+01] [ 5.05311438e-02 -1.99896966e-03 9.98720485e-01 1.87522981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.11, Y:32.98, Z:18.75 [[ 9.90194810e-01 -1.30301517e-01 -5.03562579e-02 3.98110623e+02] [ 1.30231769e-01 9.91472544e-01 -4.67777352e-03 3.29816004e+01] [ 5.05363681e-02 -1.92607748e-03 9.98720364e-01 1.87538160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.14, Y:32.99, Z:18.76 [[ 9.90562968e-01 -1.27510013e-01 -5.02613390e-02 3.98140743e+02] [ 1.27437041e-01 9.91835682e-01 -4.66695076e-03 3.29868017e+01] [ 5.04460724e-02 -1.78224773e-03 9.98725196e-01 1.87552009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.17, Y:32.99, Z:18.76 [[ 9.90710581e-01 -1.26153992e-01 -5.07712099e-02 3.98170468e+02] [ 1.26077969e-01 9.92009154e-01 -4.71008529e-03 3.29907431e+01] [ 5.09597010e-02 -1.73479969e-03 9.98699204e-01 1.87565735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.20, Y:33.00, Z:18.76 [[ 9.90812048e-01 -1.25252993e-01 -5.10213031e-02 3.98201025e+02] [ 1.25175071e-01 9.92123382e-01 -4.73242198e-03 3.29951428e+01] [ 5.12121778e-02 -1.69765452e-03 9.98686353e-01 1.87581518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.23, Y:33.00, Z:18.76 [[ 9.90904891e-01 -1.24446983e-01 -5.11902802e-02 3.98231240e+02] [ 1.24367471e-01 9.92224868e-01 -4.74809525e-03 3.30004755e+01] [ 5.13831551e-02 -1.66149487e-03 9.98677631e-01 1.87595473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.26, Y:33.00, Z:18.76 [[ 9.90922409e-01 -1.24054618e-01 -5.17999072e-02 3.98260206e+02] [ 1.23972661e-01 9.92274001e-01 -4.80472223e-03 3.30027713e+01] [ 5.19957492e-02 -1.66066541e-03 9.98645925e-01 1.87603313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.29, Y:33.01, Z:18.76 [[ 9.90870704e-01 -1.24036124e-01 -5.28231681e-02 3.98289840e+02] [ 1.23950824e-01 9.92276261e-01 -4.90051522e-03 3.30086202e+01] [ 5.30230166e-02 -1.69169825e-03 9.98591858e-01 1.87613854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.32, Y:33.01, Z:18.76 [[ 9.90839554e-01 -1.24147436e-01 -5.31450106e-02 3.98318844e+02] [ 1.24061248e-01 9.92262313e-01 -4.93047949e-03 3.30112825e+01] [ 5.33458975e-02 -1.70792225e-03 9.98574633e-01 1.87625697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.35, Y:33.01, Z:18.76 [[ 9.90838457e-01 -1.24113535e-01 -5.32445492e-02 3.98347896e+02] [ 1.24026923e-01 9.92266553e-01 -4.94068564e-03 3.30123847e+01] [ 5.34459912e-02 -1.70833627e-03 9.98569280e-01 1.87636070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.38, Y:33.02, Z:18.77 [[ 9.90866803e-01 -1.23696220e-01 -5.36863471e-02 3.98377999e+02] [ 1.23607507e-01 9.92318678e-01 -4.98254243e-03 3.30179708e+01] [ 5.38902866e-02 -1.69899964e-03 9.98545417e-01 1.87652739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.41, Y:33.02, Z:18.77 [[ 9.91015781e-01 -1.22276117e-01 -5.41873968e-02 3.98407153e+02] [ 1.22183614e-01 9.92494772e-01 -5.02916717e-03 3.30213435e+01] [ 5.43956551e-02 -1.63682793e-03 9.98518119e-01 1.87668948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.44, Y:33.03, Z:18.77 [[ 9.91126284e-01 -1.21269750e-01 -5.44273616e-02 3.98436065e+02] [ 1.21174775e-01 9.92618321e-01 -5.05390602e-03 3.30256639e+01] [ 5.46384822e-02 -1.58616422e-03 9.98504943e-01 1.87685049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.47, Y:33.03, Z:18.77 [[ 9.91285455e-01 -1.19696097e-01 -5.50090027e-02 3.98465736e+02] [ 1.19596054e-01 9.92809438e-01 -5.11891990e-03 3.30319852e+01] [ 5.52261718e-02 -1.50454879e-03 9.98472737e-01 1.87702919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.50, Y:33.04, Z:18.77 [[ 9.91669428e-01 -1.16295831e-01 -5.53807236e-02 3.98495514e+02] [ 1.16189086e-01 9.93213738e-01 -5.15436200e-03 3.30394058e+01] [ 5.56043263e-02 -1.32321246e-03 9.98452006e-01 1.87723168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.52, Y:33.04, Z:18.77 [[ 9.91841001e-01 -1.14681398e-01 -5.56741026e-02 3.98523678e+02] [ 1.14570948e-01 9.93401552e-01 -5.18221149e-03 3.30424753e+01] [ 5.59010432e-02 -1.23870489e-03 9.98435546e-01 1.87730447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.55, Y:33.05, Z:18.77 [[ 9.91997222e-01 -1.13280507e-01 -5.57587507e-02 3.98552541e+02] [ 1.13167320e-01 9.93562371e-01 -5.19348292e-03 3.30479641e+01] [ 5.59881169e-02 -1.15814773e-03 9.98430763e-01 1.87749675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.58, Y:33.05, Z:18.78 [[ 9.92118492e-01 -1.12193562e-01 -5.57987741e-02 3.98582171e+02] [ 1.12078390e-01 9.93685767e-01 -5.19908180e-03 3.30514426e+01] [ 5.60297512e-02 -1.09573158e-03 9.98428498e-01 1.87760851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.61, Y:33.06, Z:18.78 [[ 9.92202656e-01 -1.11334996e-01 -5.60214907e-02 3.98611262e+02] [ 1.11217469e-01 9.93782378e-01 -5.22100390e-03 3.30551473e+01] [ 5.62544508e-02 -1.05027450e-03 9.98415912e-01 1.87773207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.64, Y:33.06, Z:18.78 [[ 9.92170077e-01 -1.11512879e-01 -5.62442502e-02 3.98639495e+02] [ 1.11394577e-01 9.93762421e-01 -5.24396372e-03 3.30579670e+01] [ 5.64781918e-02 -1.06240055e-03 9.98403268e-01 1.87779586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.67, Y:33.06, Z:18.78 [[ 9.92067644e-01 -1.12447224e-01 -5.61908478e-02 3.98668321e+02] [ 1.12330472e-01 9.93657077e-01 -5.24200543e-03 3.30600805e+01] [ 5.64238825e-02 -1.11152050e-03 9.98406285e-01 1.87791266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.70, Y:33.06, Z:18.78 [[ 9.91909814e-01 -1.13788590e-01 -5.62768008e-02 3.98697610e+02] [ 1.13673475e-01 9.93504277e-01 -5.25288553e-03 3.30637243e+01] [ 5.65089607e-02 -1.18679077e-03 9.98401387e-01 1.87810088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.73, Y:33.06, Z:18.78 [[ 9.91676434e-01 -1.15487413e-01 -5.69254557e-02 3.98726214e+02] [ 1.15372292e-01 9.93308098e-01 -5.31571649e-03 3.30646289e+01] [ 5.71584144e-02 -1.29614950e-03 9.98364280e-01 1.87817302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.76, Y:33.07, Z:18.78 [[ 9.91006481e-01 -1.20539840e-01 -5.81059530e-02 3.98755491e+02] [ 1.20428370e-01 9.92707173e-01 -5.42918458e-03 3.30655927e+01] [ 5.83366294e-02 -1.61724813e-03 9.98295659e-01 1.87828114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.78, Y:33.06, Z:18.78 [[ 9.90654449e-01 -1.23130680e-01 -5.86736652e-02 3.98784019e+02] [ 1.23021354e-01 9.92388862e-01 -5.48566595e-03 3.30645537e+01] [ 5.89025457e-02 -1.78371435e-03 9.98262144e-01 1.87830502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.81, Y:33.07, Z:18.79 [[ 9.90271971e-01 -1.25954160e-01 -5.91352022e-02 3.98813420e+02] [ 1.25847898e-01 9.92034120e-01 -5.53270611e-03 3.30685855e+01] [ 5.93610056e-02 -1.96315713e-03 9.98234650e-01 1.87851599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.84, Y:33.07, Z:18.79 [[ 9.89875654e-01 -1.28717979e-01 -5.98153134e-02 3.98842657e+02] [ 1.28614194e-01 9.91678906e-01 -5.59798158e-03 3.30685548e+01] [ 6.00381454e-02 -2.15179263e-03 9.98193764e-01 1.87861727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.87, Y:33.07, Z:18.79 [[ 9.89233556e-01 -1.33626650e-01 -5.96731980e-02 3.98872771e+02] [ 1.33532272e-01 9.91028731e-01 -5.58450589e-03 3.30699178e+01] [ 5.98840925e-02 -2.44391707e-03 9.98202346e-01 1.87887457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.90, Y:33.07, Z:18.79 [[ 9.88918104e-01 -1.36052985e-01 -5.94185977e-02 3.98902810e+02] [ 1.35963713e-01 9.90698206e-01 -5.56174606e-03 3.30721918e+01] [ 5.96225903e-02 -2.57866181e-03 9.98217660e-01 1.87906247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.93, Y:33.08, Z:18.79 [[ 9.88620621e-01 -1.38099425e-01 -5.96474419e-02 3.98932724e+02] [ 1.38013126e-01 9.90414659e-01 -5.58402405e-03 3.30764838e+01] [ 5.98468513e-02 -2.71164856e-03 9.98203888e-01 1.87931734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.96, Y:33.08, Z:18.80 [[ 9.88088688e-01 -1.41852125e-01 -5.96550077e-02 3.98963701e+02] [ 1.41772640e-01 9.89883495e-01 -5.58436826e-03 3.30786457e+01] [ 5.98436620e-02 -2.93959681e-03 9.98203434e-01 1.87953988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:398.99, Y:33.08, Z:18.80 [[ 9.88088689e-01 -1.41852059e-01 -5.96551372e-02 3.98993575e+02] [ 1.41772657e-01 9.89883500e-01 -5.58298488e-03 3.30814409e+01] [ 5.98435939e-02 -2.94098310e-03 9.98203434e-01 1.87968260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.02, Y:33.08, Z:18.80 [[ 9.87857842e-01 -1.43479877e-01 -5.95853140e-02 3.99024164e+02] [ 1.43403625e-01 9.89648577e-01 -5.57622131e-03 3.30847785e+01] [ 5.97685967e-02 -3.03623606e-03 9.98207642e-01 1.87987656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.05, Y:33.09, Z:18.80 [[ 9.87634888e-01 -1.44963216e-01 -5.96908191e-02 3.99054014e+02] [ 1.44889515e-01 9.89432083e-01 -5.58406548e-03 3.30857780e+01] [ 5.98694956e-02 -3.13355594e-03 9.98201294e-01 1.88000737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.08, Y:33.09, Z:18.80 [[ 9.87470021e-01 -1.46176298e-01 -5.94596303e-02 3.99084743e+02] [ 1.46105630e-01 9.89253383e-01 -5.55785681e-03 3.30889692e+01] [ 5.96330673e-02 -3.19916974e-03 9.98215239e-01 1.88018892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.12, Y:33.09, Z:18.80 [[ 9.87161130e-01 -1.48147625e-01 -5.97091619e-02 3.99115399e+02] [ 1.48080020e-01 9.88959640e-01 -5.58009188e-03 3.30919656e+01] [ 5.98766286e-02 -3.33328406e-03 9.98200220e-01 1.88037904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.15, Y:33.10, Z:18.81 [[ 9.87073738e-01 -1.48861105e-01 -5.93785011e-02 3.99146307e+02] [ 1.48795608e-01 9.88852410e-01 -5.54789817e-03 3.30962780e+01] [ 5.95424402e-02 -3.35907557e-03 9.98220123e-01 1.88060651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.18, Y:33.10, Z:18.81 [[ 9.87021666e-01 -1.49363635e-01 -5.89808042e-02 3.99176931e+02] [ 1.49300044e-01 9.88776595e-01 -5.50837252e-03 3.30963764e+01] [ 5.91415893e-02 -3.36895365e-03 9.98243919e-01 1.88073561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.21, Y:33.10, Z:18.81 [[ 9.86984490e-01 -1.49661791e-01 -5.88469694e-02 3.99208113e+02] [ 1.49599195e-01 9.88731465e-01 -5.49283656e-03 3.31008577e+01] [ 5.90059180e-02 -3.38211473e-03 9.98251904e-01 1.88093649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.24, Y:33.10, Z:18.81 [[ 9.87007735e-01 -1.49487510e-01 -5.89000515e-02 3.99237876e+02] [ 1.49424605e-01 9.88757848e-01 -5.49589288e-03 3.31036921e+01] [ 5.90594555e-02 -3.37662815e-03 9.98248756e-01 1.88108078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.27, Y:33.11, Z:18.81 [[ 9.87020671e-01 -1.49243600e-01 -5.93004426e-02 3.99268829e+02] [ 1.49179476e-01 9.88794661e-01 -5.53198432e-03 3.31084336e+01] [ 5.94615743e-02 -3.38622605e-03 9.98224852e-01 1.88120254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.30, Y:33.11, Z:18.81 [[ 9.87044384e-01 -1.48816758e-01 -5.99746345e-02 3.99300008e+02] [ 1.48750514e-01 9.88858941e-01 -5.59273302e-03 3.31133463e+01] [ 6.01387460e-02 -3.40098199e-03 9.98184234e-01 1.88131635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.33, Y:33.12, Z:18.81 [[ 9.87116458e-01 -1.47721750e-01 -6.14766835e-02 3.99330536e+02] [ 1.47650160e-01 9.89023047e-01 -5.73082460e-03 3.31166668e+01] [ 6.16484243e-02 -3.42005089e-03 9.98092067e-01 1.88124473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.36, Y:33.12, Z:18.81 [[ 9.87116459e-01 -1.47721711e-01 -6.14767606e-02 3.99360421e+02] [ 1.47650172e-01 9.89023050e-01 -5.72999703e-03 3.31194519e+01] [ 6.16483783e-02 -3.42087991e-03 9.98092067e-01 1.88138751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.39, Y:33.13, Z:18.81 [[ 9.87316300e-01 -1.45813576e-01 -6.28086397e-02 3.99389991e+02] [ 1.45735064e-01 9.89306333e-01 -5.85413603e-03 3.31276043e+01] [ 6.29905976e-02 -3.37353718e-03 9.98008419e-01 1.88148735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.42, Y:33.13, Z:18.82 [[ 9.87533736e-01 -1.44285265e-01 -6.29196576e-02 3.99421107e+02] [ 1.44203438e-01 9.89530690e-01 -5.86362997e-03 3.31349154e+01] [ 6.31069676e-02 -3.28269853e-03 9.98001370e-01 1.88172690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.45, Y:33.14, Z:18.82 [[ 9.87765052e-01 -1.42706615e-01 -6.28889842e-02 3.99450903e+02] [ 1.42621843e-01 9.89759916e-01 -5.85818543e-03 3.31374829e+01] [ 6.30809976e-02 -3.18283199e-03 9.98003335e-01 1.88183152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.48, Y:33.15, Z:18.82 [[ 9.88111144e-01 -1.40398022e-01 -6.26479283e-02 3.99481010e+02] [ 1.40309290e-01 9.90090527e-01 -5.83545172e-03 3.31463839e+01] [ 6.28464062e-02 -3.02401145e-03 9.98018629e-01 1.88215463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.51, Y:33.15, Z:18.82 [[ 9.88956400e-01 -1.34976350e-01 -6.12096651e-02 3.99509639e+02] [ 1.34881319e-01 9.90845361e-01 -5.70084404e-03 3.31537869e+01] [ 6.14187919e-02 -2.61815416e-03 9.98108650e-01 1.88242421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.54, Y:33.16, Z:18.83 [[ 9.89445507e-01 -1.31761153e-01 -6.03041289e-02 3.99538979e+02] [ 1.31662939e-01 9.91278630e-01 -5.61671323e-03 3.31571017e+01] [ 6.05182589e-02 -2.38238721e-03 9.98164247e-01 1.88256322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.57, Y:33.17, Z:18.83 [[ 9.90461088e-01 -1.24656286e-01 -5.87166400e-02 3.99567741e+02] [ 1.24550806e-01 9.92198169e-01 -5.46714075e-03 3.31719197e+01] [ 5.89400562e-02 -1.89821467e-03 9.98259719e-01 1.88300548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.60, Y:33.18, Z:18.83 [[ 9.90939641e-01 -1.21147038e-01 -5.79829606e-02 3.99598389e+02] [ 1.21038209e-01 9.92633170e-01 -5.39829332e-03 3.31785259e+01] [ 5.82097973e-02 -1.66877087e-03 9.98302977e-01 1.88320406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.63, Y:33.19, Z:18.83 [[ 9.91384186e-01 -1.17671726e-01 -5.75392103e-02 3.99629366e+02] [ 1.17558831e-01 9.93051482e-01 -5.35489147e-03 3.31858579e+01] [ 5.77695174e-02 -1.45548758e-03 9.98328886e-01 1.88345272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.66, Y:33.19, Z:18.84 [[ 9.91807650e-01 -1.14188908e-01 -5.72580053e-02 3.99659482e+02] [ 1.14071427e-01 9.93458270e-01 -5.32678268e-03 3.31911497e+01] [ 5.74916984e-02 -1.24835857e-03 9.98345204e-01 1.88355755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.69, Y:33.20, Z:18.84 [[ 9.92131079e-01 -1.11197974e-01 -5.75407022e-02 3.99690654e+02] [ 1.11074376e-01 9.93797686e-01 -5.35183742e-03 3.31965060e+01] [ 5.77789302e-02 -1.08157334e-03 9.98328816e-01 1.88367429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.72, Y:33.20, Z:18.84 [[ 9.92628327e-01 -1.06031194e-01 -5.87059665e-02 3.99721249e+02] [ 1.05893634e-01 9.94362483e-01 -5.45804786e-03 3.32037667e+01] [ 5.89537339e-02 -7.98775239e-04 9.98260396e-01 1.88371093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.75, Y:33.21, Z:18.84 [[ 9.92793848e-01 -1.04043234e-01 -5.94590717e-02 3.99751371e+02] [ 1.03898676e-01 9.94572535e-01 -5.52609314e-03 3.32079620e+01] [ 5.97113123e-02 -6.91447567e-04 9.98215448e-01 1.88378496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.78, Y:33.21, Z:18.84 [[ 9.92975205e-01 -1.02164145e-01 -5.96886039e-02 3.99780724e+02] [ 1.02015115e-01 9.94767385e-01 -5.54678616e-03 3.32117018e+01] [ 5.99429591e-02 -5.81318659e-04 9.98201635e-01 1.88383576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.81, Y:33.22, Z:18.84 [[ 9.93079141e-01 -1.01010404e-01 -5.99225995e-02 3.99810775e+02] [ 1.00858052e-01 9.94885237e-01 -5.56938095e-03 3.32162772e+01] [ 6.01786751e-02 -5.12840626e-04 9.98187489e-01 1.88402389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.84, Y:33.22, Z:18.84 [[ 9.93167575e-01 -1.00023437e-01 -6.01122210e-02 3.99841309e+02] [ 9.98683129e-02 9.94984978e-01 -5.58700492e-03 3.32195665e+01] [ 6.03695883e-02 -4.54473966e-04 9.98175990e-01 1.88413001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.87, Y:33.22, Z:18.84 [[ 9.93256265e-01 -9.88312112e-02 -6.06166919e-02 3.99871892e+02] [ 9.86712520e-02 9.95104137e-01 -5.63389192e-03 3.32229930e+01] [ 6.08767253e-02 -3.85226441e-04 9.98145218e-01 1.88425140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.90, Y:33.23, Z:18.84 [[ 9.93296786e-01 -9.83984551e-02 -6.06567335e-02 3.99900130e+02] [ 9.82374340e-02 9.95147032e-01 -5.63833716e-03 3.32259989e+01] [ 6.09171719e-02 -3.58219676e-04 9.98142760e-01 1.88435135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.93, Y:33.23, Z:18.85 [[ 9.93350428e-01 -9.77710879e-02 -6.07926041e-02 3.99929328e+02] [ 9.76079831e-02 9.95208879e-01 -5.65402619e-03 3.32293358e+01] [ 6.10541397e-02 -3.17414134e-04 9.98134405e-01 1.88450009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.96, Y:33.23, Z:18.85 [[ 9.93416599e-01 -9.72689755e-02 -6.05161775e-02 3.99958139e+02] [ 9.71062741e-02 9.95258090e-01 -5.63073030e-03 3.32323512e+01] [ 6.07769107e-02 -2.82839580e-04 9.98151335e-01 1.88459644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:399.99, Y:33.24, Z:18.85 [[ 9.93488369e-01 -9.65924995e-02 -6.04214313e-02 3.99986616e+02] [ 9.64287051e-02 9.95323984e-01 -5.62771377e-03 3.32352974e+01] [ 6.06824947e-02 -2.35292207e-04 9.98157092e-01 1.88476973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.01, Y:33.24, Z:18.85 [[ 9.93497891e-01 -9.66144551e-02 -6.02294656e-02 4.00014858e+02] [ 9.64508335e-02 9.95321857e-01 -5.62480859e-03 3.32380909e+01] [ 6.04911413e-02 -2.20946683e-04 9.98168710e-01 1.88495789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.04, Y:33.24, Z:18.85 [[ 9.93467647e-01 -9.66188103e-02 -6.07193511e-02 4.00043143e+02] [ 9.64517444e-02 9.95321436e-01 -5.68328659e-03 3.32403928e+01] [ 6.09843841e-02 -2.10325968e-04 9.98138698e-01 1.88505655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.07, Y:33.24, Z:18.85 [[ 9.93458648e-01 -9.70953142e-02 -6.01033602e-02 4.00071488e+02] [ 9.69321516e-02 9.95275061e-01 -5.63130644e-03 3.32423251e+01] [ 6.03661489e-02 -2.31477937e-04 9.98176274e-01 1.88530507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.10, Y:33.24, Z:18.86 [[ 9.93416006e-01 -9.75782170e-02 -6.00260776e-02 4.00101199e+02] [ 9.74156193e-02 9.95227828e-01 -5.63624264e-03 3.32446595e+01] [ 6.02895974e-02 -2.48343868e-04 9.98180897e-01 1.88552857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.13, Y:33.25, Z:18.86 [[ 9.93332502e-01 -9.85563610e-02 -5.98095627e-02 4.00129410e+02] [ 9.83965548e-02 9.95131424e-01 -5.61843098e-03 3.32463364e+01] [ 6.00721074e-02 -3.04084804e-04 9.98193994e-01 1.88566776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.16, Y:33.25, Z:18.86 [[ 9.93255114e-01 -9.96102451e-02 -5.93470940e-02 4.00159051e+02] [ 9.94545704e-02 9.95026466e-01 -5.57853089e-03 3.32479838e+01] [ 5.96076080e-02 -3.61435397e-04 9.98221820e-01 1.88583156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.19, Y:33.25, Z:18.86 [[ 9.93006586e-01 -1.02085813e-01 -5.92993004e-02 4.00187589e+02] [ 1.01934649e-01 9.94775467e-01 -5.57653978e-03 3.32470634e+01] [ 5.95587748e-02 -5.07112629e-04 9.98224672e-01 1.88591938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.22, Y:33.25, Z:18.86 [[ 9.92892947e-01 -1.03495023e-01 -5.87569299e-02 4.00217290e+02] [ 1.03348893e-01 9.94629801e-01 -5.52866566e-03 3.32473324e+01] [ 5.90135829e-02 -5.83090519e-04 9.98257010e-01 1.88599973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.25, Y:33.25, Z:18.86 [[ 9.92778993e-01 -1.04701624e-01 -5.85443491e-02 4.00248050e+02] [ 1.04558648e-01 9.94503466e-01 -5.50863051e-03 3.32494172e+01] [ 5.87993206e-02 -6.52465335e-04 9.98269610e-01 1.88623302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.28, Y:33.25, Z:18.86 [[ 9.92731752e-01 -1.05158062e-01 -5.85273452e-02 4.00278363e+02] [ 1.05015999e-01 9.94455288e-01 -5.50639636e-03 3.32500875e+01] [ 5.87818699e-02 -6.79933107e-04 9.98270619e-01 1.88628524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.31, Y:33.25, Z:18.86 [[ 9.92719568e-01 -1.05123959e-01 -5.87946645e-02 4.00309091e+02] [ 1.04980693e-01 9.94458891e-01 -5.52885942e-03 3.32511936e+01] [ 5.90500924e-02 -6.83697692e-04 9.98254787e-01 1.88639077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.34, Y:33.25, Z:18.87 [[ 9.92785266e-01 -1.04589745e-01 -5.86378789e-02 4.00339328e+02] [ 1.04446312e-01 9.94515240e-01 -5.51411581e-03 3.32541538e+01] [ 5.88929842e-02 -6.50177233e-04 9.98264090e-01 1.88659822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.37, Y:33.26, Z:18.87 [[ 9.92913411e-01 -1.03592523e-01 -5.82369916e-02 4.00370009e+02] [ 1.03449332e-01 9.94619648e-01 -5.47641767e-03 3.32563146e+01] [ 5.84909720e-02 -5.86969313e-04 9.98287765e-01 1.88670423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.40, Y:33.26, Z:18.87 [[ 9.93060090e-01 -1.02318067e-01 -5.79885325e-02 4.00400141e+02] [ 1.02173925e-01 9.94751604e-01 -5.45305339e-03 3.32587349e+01] [ 5.82421316e-02 -5.09706260e-04 9.98302356e-01 1.88685612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.43, Y:33.26, Z:18.87 [[ 9.93205694e-01 -1.00915966e-01 -5.79518517e-02 4.00430891e+02] [ 1.00769621e-01 9.94894861e-01 -5.44960404e-03 3.32612430e+01] [ 5.82059515e-02 -4.27208364e-04 9.98304505e-01 1.88701533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.46, Y:33.26, Z:18.87 [[ 9.93572414e-01 -9.76760906e-02 -5.72122287e-02 4.00460362e+02] [ 9.75280810e-02 9.95218231e-01 -5.38023358e-03 3.32627889e+01] [ 5.74641732e-02 -2.34147206e-04 9.98347542e-01 1.88708980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.49, Y:33.27, Z:18.87 [[ 9.93728297e-01 -9.62553221e-02 -5.69120740e-02 4.00489869e+02] [ 9.61064648e-02 9.95356665e-01 -5.35321788e-03 3.32650937e+01] [ 5.71630879e-02 -1.49974148e-04 9.98364843e-01 1.88728205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.52, Y:33.27, Z:18.87 [[ 9.93857763e-01 -9.50745429e-02 -5.66354913e-02 4.00518425e+02] [ 9.49250879e-02 9.95470153e-01 -5.32941873e-03 3.32669664e+01] [ 5.68856333e-02 -7.94448164e-05 9.98380698e-01 1.88735450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.55, Y:33.27, Z:18.88 [[ 9.93960463e-01 -9.42761771e-02 -5.61658268e-02 4.00547325e+02] [ 9.41276492e-02 9.95546082e-01 -5.28999438e-03 3.32689141e+01] [ 5.64143893e-02 -2.87119729e-05 9.98407440e-01 1.88751927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.58, Y:33.27, Z:18.88 [[ 9.94017495e-01 -9.35925454e-02 -5.62996821e-02 4.00575782e+02] [ 9.34414050e-02 9.95610584e-01 -5.31685800e-03 3.32691146e+01] [ 5.65501776e-02 2.43284705e-05 9.98399758e-01 1.88766785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.60, Y:33.27, Z:18.88 [[ 9.93998990e-01 -9.39037887e-02 -5.61078123e-02 4.00604090e+02] [ 9.37533656e-02 9.95581276e-01 -5.31304035e-03 3.32705098e+01] [ 5.63588020e-02 2.08605008e-05 9.98410579e-01 1.88777649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.63, Y:33.27, Z:18.88 [[ 9.93914335e-01 -9.45580325e-02 -5.65072849e-02 4.00633154e+02] [ 9.44056889e-02 9.95519351e-01 -5.36539084e-03 3.32717564e+01] [ 5.67614364e-02 -1.87028858e-06 9.98387770e-01 1.88791464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.66, Y:33.27, Z:18.88 [[ 9.93749002e-01 -9.62258086e-02 -5.65996065e-02 4.00660703e+02] [ 9.60749054e-02 9.95359526e-01 -5.38756340e-03 3.32704904e+01] [ 5.68553801e-02 -8.39160845e-05 9.98382421e-01 1.88798344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.69, Y:33.27, Z:18.88 [[ 9.93647281e-01 -9.74504239e-02 -5.62893919e-02 4.00688450e+02] [ 9.73027291e-02 9.95240370e-01 -5.36519803e-03 3.32706713e+01] [ 5.65443161e-02 -1.45997016e-04 9.98400080e-01 1.88803467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.72, Y:33.27, Z:18.88 [[ 9.93463985e-01 -9.93121776e-02 -5.62707952e-02 4.00717017e+02] [ 9.91671939e-02 9.95056295e-01 -5.36995899e-03 3.32710331e+01] [ 5.65259114e-02 -2.45356009e-04 9.98401102e-01 1.88823555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.75, Y:33.27, Z:18.88 [[ 9.93257949e-01 -1.01517031e-01 -5.59726640e-02 4.00745959e+02] [ 1.01376277e-01 9.94833738e-01 -5.35572696e-03 3.32714965e+01] [ 5.62271920e-02 -3.54681897e-04 9.98417937e-01 1.88837649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.78, Y:33.27, Z:18.89 [[ 9.92795546e-01 -1.06226935e-01 -5.54332187e-02 4.00776065e+02] [ 1.06095531e-01 9.94341729e-01 -5.31636463e-03 3.32692186e+01] [ 5.56843037e-02 -6.03153642e-04 9.98448243e-01 1.88859455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.81, Y:33.27, Z:18.89 [[ 9.92541895e-01 -1.08784878e-01 -5.50130640e-02 4.00805595e+02] [ 1.08659274e-01 9.94065040e-01 -5.27806650e-03 3.32691602e+01] [ 5.52607375e-02 -7.38977445e-04 9.98471685e-01 1.88875907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.84, Y:33.27, Z:18.89 [[ 9.92306006e-01 -1.11303378e-01 -5.42249788e-02 4.00835059e+02] [ 1.11185004e-01 9.93786099e-01 -5.20427878e-03 3.32688158e+01] [ 5.44672840e-02 -8.64767406e-04 9.98515181e-01 1.88890512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.86, Y:33.27, Z:18.89 [[ 9.92306006e-01 -1.11303418e-01 -5.42248975e-02 4.00864893e+02] [ 1.11184998e-01 9.93786095e-01 -5.20512592e-03 3.32716800e+01] [ 5.44672974e-02 -8.63917430e-04 9.98515181e-01 1.88904773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.89, Y:33.27, Z:18.89 [[ 9.92037668e-01 -1.13727755e-01 -5.41041943e-02 4.00894272e+02] [ 1.13613457e-01 9.93511454e-01 -5.19366135e-03 3.32706412e+01] [ 5.43438001e-02 -9.94656837e-04 9.98521788e-01 1.88918399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.92, Y:33.27, Z:18.89 [[ 9.91584144e-01 -1.17838392e-01 -5.36190152e-02 4.00924733e+02] [ 1.17732090e-01 9.93032051e-01 -5.14792760e-03 3.32694375e+01] [ 5.38520241e-02 -1.20807532e-03 9.98548196e-01 1.88940090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.96, Y:33.27, Z:18.90 [[ 9.91383863e-01 -1.19609731e-01 -5.33998855e-02 4.00955983e+02] [ 1.19506874e-01 9.92820137e-01 -5.12666211e-03 3.32714092e+01] [ 5.36296803e-02 -1.29916327e-03 9.98560048e-01 1.88958942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:400.99, Y:33.27, Z:18.90 [[ 9.91179074e-01 -1.21090641e-01 -5.38618548e-02 4.00986203e+02] [ 1.20988282e-01 9.92640477e-01 -5.16911588e-03 3.32701441e+01] [ 5.40913888e-02 -1.39313379e-03 9.98535017e-01 1.88966608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.02, Y:33.27, Z:18.90 [[ 9.90817435e-01 -1.24136696e-01 -5.35806997e-02 4.01017004e+02] [ 1.24039895e-01 9.92263912e-01 -5.14126450e-03 3.32698759e+01] [ 5.38044143e-02 -1.55208986e-03 9.98550287e-01 1.88985140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.05, Y:33.27, Z:18.90 [[ 9.90647123e-01 -1.25483805e-01 -5.35919010e-02 4.01047313e+02] [ 1.25388932e-01 9.92094336e-01 -5.14233931e-03 3.32721154e+01] [ 5.38135018e-02 -1.62558757e-03 9.98549681e-01 1.89000797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.08, Y:33.27, Z:18.90 [[ 9.90524252e-01 -1.26399581e-01 -5.37108280e-02 4.01077077e+02] [ 1.26305629e-01 9.91977987e-01 -5.15378221e-03 3.32730243e+01] [ 5.39313949e-02 -1.67903363e-03 9.98543232e-01 1.89014602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.11, Y:33.27, Z:18.90 [[ 9.90406355e-01 -1.27372364e-01 -5.35866883e-02 4.01107021e+02] [ 1.27280247e-01 9.91853465e-01 -5.14221465e-03 3.32743117e+01] [ 5.38051185e-02 -1.72764487e-03 9.98549961e-01 1.89027536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.14, Y:33.28, Z:18.90 [[ 9.90266380e-01 -1.28674178e-01 -5.30608363e-02 4.01137784e+02] [ 1.28585681e-01 9.91685327e-01 -5.09259399e-03 3.32765407e+01] [ 5.32749382e-02 -1.77983916e-03 9.98578296e-01 1.89049219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.17, Y:33.28, Z:18.91 [[ 9.90251922e-01 -1.28703518e-01 -5.32591293e-02 4.01167773e+02] [ 1.28614395e-01 9.91681505e-01 -5.11173364e-03 3.32770326e+01] [ 5.34739916e-02 -1.78798661e-03 9.98567642e-01 1.89058172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.20, Y:33.28, Z:18.91 [[ 9.90199849e-01 -1.28777148e-01 -5.40435591e-02 4.01197929e+02] [ 1.28685442e-01 9.91671893e-01 -5.18789391e-03 3.32811581e+01] [ 5.42615607e-02 -1.81756754e-03 9.98525102e-01 1.89071624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.23, Y:33.28, Z:18.91 [[ 9.90183474e-01 -1.28735005e-01 -5.44424972e-02 4.01228750e+02] [ 1.28641877e-01 9.91677344e-01 -5.22618984e-03 3.32835573e+01] [ 5.46621846e-02 -1.82869821e-03 9.98503231e-01 1.89080260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.26, Y:33.29, Z:18.91 [[ 9.90205890e-01 -1.28019063e-01 -5.57083100e-02 4.01259339e+02] [ 1.27920424e-01 9.91770017e-01 -5.34770113e-03 3.32868959e+01] [ 5.59344393e-02 -1.83090548e-03 9.98432765e-01 1.89082444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.29, Y:33.29, Z:18.91 [[ 9.90200254e-01 -1.27837298e-01 -5.62235049e-02 4.01288519e+02] [ 1.27736524e-01 9.91793451e-01 -5.39731752e-03 3.32882926e+01] [ 5.64520824e-02 -1.83736991e-03 9.98403619e-01 1.89086552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.32, Y:33.29, Z:18.91 [[ 9.90211841e-01 -1.27534778e-01 -5.67044064e-02 4.01317410e+02] [ 1.27431710e-01 9.91832403e-01 -5.44468186e-03 3.32926897e+01] [ 5.69356539e-02 -1.83455101e-03 9.98376164e-01 1.89099864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.35, Y:33.30, Z:18.91 [[ 9.90264488e-01 -1.27069987e-01 -5.68283532e-02 4.01347236e+02] [ 1.26965605e-01 9.91892102e-01 -5.45830283e-03 3.32966196e+01] [ 5.70611811e-02 -1.81008280e-03 9.98369043e-01 1.89115718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.38, Y:33.30, Z:18.91 [[ 9.90337409e-01 -1.26405536e-01 -5.70390873e-02 4.01376349e+02] [ 1.26299258e-01 9.91977056e-01 -5.47889881e-03 3.32985360e+01] [ 5.72740290e-02 -1.77803597e-03 9.98356912e-01 1.89126108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.41, Y:33.30, Z:18.91 [[ 9.90429602e-01 -1.25846815e-01 -5.66725967e-02 4.01405224e+02] [ 1.25740859e-01 9.92048173e-01 -5.44591065e-03 3.33006936e+01] [ 5.69072965e-02 -1.73226986e-03 9.98377964e-01 1.89139029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.43, Y:33.31, Z:18.92 [[ 9.90593761e-01 -1.24795573e-01 -5.61254484e-02 4.01434636e+02] [ 1.24689809e-01 9.92181099e-01 -5.39615579e-03 3.33061872e+01] [ 5.63600255e-02 -1.65287319e-03 9.98409142e-01 1.89162534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.46, Y:33.31, Z:18.92 [[ 9.90686184e-01 -1.24278865e-01 -5.56385515e-02 4.01464751e+02] [ 1.24174020e-01 9.92246028e-01 -5.35104123e-03 3.33105726e+01] [ 5.58721530e-02 -1.60765997e-03 9.98436637e-01 1.89188177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.49, Y:33.31, Z:18.92 [[ 9.90890517e-01 -1.23530589e-01 -5.36300025e-02 4.01494551e+02] [ 1.23432077e-01 9.92339618e-01 -5.15798390e-03 3.33121446e+01] [ 5.38563450e-02 -1.50866529e-03 9.98547554e-01 1.89210914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.52, Y:33.32, Z:18.92 [[ 9.90919601e-01 -1.23673738e-01 -5.27555669e-02 4.01524861e+02] [ 1.23578571e-01 9.92321815e-01 -5.07472876e-03 3.33170330e+01] [ 5.29781106e-02 -1.49080937e-03 9.98594561e-01 1.89237596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.55, Y:33.32, Z:18.93 [[ 9.90929464e-01 -1.24051759e-01 -5.16716414e-02 4.01554711e+02] [ 1.23960976e-01 9.92274645e-01 -4.97046246e-03 3.33204301e+01] [ 5.18890543e-02 -1.47988940e-03 9.98651759e-01 1.89258010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.59, Y:33.32, Z:18.93 [[ 9.90867686e-01 -1.24500877e-01 -5.17760696e-02 4.01585348e+02] [ 1.24410343e-01 9.92218354e-01 -4.98042699e-03 3.33217883e+01] [ 5.19932341e-02 -1.50653439e-03 9.98646301e-01 1.89268469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.61, Y:33.32, Z:18.93 [[ 9.90583484e-01 -1.26403225e-01 -5.25983470e-02 4.01614755e+02] [ 1.26312510e-01 9.91977600e-01 -5.05874953e-03 3.33222697e+01] [ 5.28158243e-02 -1.63271549e-03 9.98602936e-01 1.89271995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.65, Y:33.33, Z:18.93 [[ 9.90415465e-01 -1.27689621e-01 -5.26551831e-02 4.01645294e+02] [ 1.27600479e-01 9.91812716e-01 -5.06505524e-03 3.33267067e+01] [ 5.28708351e-02 -1.70231757e-03 9.98599908e-01 1.89287418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.68, Y:33.33, Z:18.93 [[ 9.90267336e-01 -1.28820862e-01 -5.26857544e-02 4.01675726e+02] [ 1.28733221e-01 9.91666312e-01 -5.06789835e-03 3.33282770e+01] [ 5.28995388e-02 -1.76383265e-03 9.98598281e-01 1.89300039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.71, Y:33.33, Z:18.93 [[ 9.90080311e-01 -1.30149932e-01 -5.29336690e-02 4.01706827e+02] [ 1.30063417e-01 9.91492609e-01 -5.09067485e-03 3.33321284e+01] [ 5.31458926e-02 -1.84455690e-03 9.98585055e-01 1.89318753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.74, Y:33.33, Z:18.93 [[ 9.89889521e-01 -1.31611089e-01 -5.28891099e-02 4.01736688e+02] [ 1.31526893e-01 9.91299563e-01 -5.08463805e-03 3.33336033e+01] [ 5.30981463e-02 -1.92311035e-03 9.98587447e-01 1.89331719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.77, Y:33.33, Z:18.93 [[ 9.89752579e-01 -1.32751148e-01 -5.26019549e-02 4.01767066e+02] [ 1.32669475e-01 9.91147435e-01 -5.05693499e-03 3.33342481e+01] [ 5.28076066e-02 -1.97355930e-03 9.98602755e-01 1.89345785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.80, Y:33.34, Z:18.94 [[ 9.89532984e-01 -1.34260020e-01 -5.29029389e-02 4.01797834e+02] [ 1.34179612e-01 9.90943982e-01 -5.08490293e-03 3.33359601e+01] [ 5.31065481e-02 -2.06681665e-03 9.98586713e-01 1.89355302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.83, Y:33.34, Z:18.94 [[ 9.89509357e-01 -1.34480906e-01 -5.27836908e-02 4.01827413e+02] [ 1.34401214e-01 9.90914013e-01 -5.07269700e-03 3.33369552e+01] [ 5.29862798e-02 -2.07471095e-03 9.98593085e-01 1.89363232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.86, Y:33.34, Z:18.94 [[ 9.89602972e-01 -1.33856441e-01 -5.26156845e-02 4.01857884e+02] [ 1.33776340e-01 9.90998646e-01 -5.05719350e-03 3.33435875e+01] [ 5.28190100e-02 -2.03411999e-03 9.98602030e-01 1.89381725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.89, Y:33.35, Z:18.94 [[ 9.89709156e-01 -1.33195257e-01 -5.22954144e-02 4.01889154e+02] [ 1.33115306e-01 9.91087821e-01 -5.02453525e-03 3.33482043e+01] [ 5.24985926e-02 -1.98849153e-03 9.98619018e-01 1.89397697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.92, Y:33.36, Z:18.94 [[ 9.90125873e-01 -1.30202672e-01 -5.19424606e-02 4.01919922e+02] [ 1.30119783e-01 9.91485731e-01 -4.98875276e-03 3.33564201e+01] [ 5.21497574e-02 -1.81924850e-03 9.98637619e-01 1.89419205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.95, Y:33.36, Z:18.94 [[ 9.90344356e-01 -1.28534805e-01 -5.19313028e-02 4.01949683e+02] [ 1.28449758e-01 9.91703484e-01 -4.98583860e-03 3.33598416e+01] [ 5.21413077e-02 -1.73286615e-03 9.98638213e-01 1.89431290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:401.98, Y:33.36, Z:18.94 [[ 9.90590310e-01 -1.26695817e-01 -5.17591285e-02 4.01980165e+02] [ 1.26608879e-01 9.91940274e-01 -4.96828723e-03 3.33639677e+01] [ 5.19714253e-02 -1.63162807e-03 9.98647239e-01 1.89442957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.01, Y:33.37, Z:18.95 [[ 9.91005091e-01 -1.23338744e-01 -5.19274798e-02 4.02010660e+02] [ 1.23246734e-01 9.92363551e-01 -4.98258268e-03 3.33732541e+01] [ 5.21454838e-02 -1.46212750e-03 9.98638428e-01 1.89454842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.04, Y:33.38, Z:18.95 [[ 9.91126066e-01 -1.22333110e-01 -5.19974131e-02 4.02041848e+02] [ 1.22239569e-01 9.92488092e-01 -4.98738401e-03 3.33784321e+01] [ 5.22169356e-02 -1.41301510e-03 9.98634766e-01 1.89467239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.07, Y:33.38, Z:18.95 [[ 9.91198643e-01 -1.21736079e-01 -5.20151625e-02 4.02072104e+02] [ 1.21641748e-01 9.92561541e-01 -4.98727648e-03 3.33804008e+01] [ 5.22353813e-02 -1.38383363e-03 9.98633842e-01 1.89472227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.10, Y:33.39, Z:18.95 [[ 9.91194281e-01 -1.21709120e-01 -5.21611709e-02 4.02102745e+02] [ 1.21614276e-01 9.92564842e-01 -5.00024098e-03 3.33864112e+01] [ 5.23819192e-02 -1.38733277e-03 9.98626161e-01 1.89484698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.13, Y:33.39, Z:18.95 [[ 9.90985067e-01 -1.23236235e-01 -5.25492879e-02 4.02134130e+02] [ 1.23142220e-01 9.92376258e-01 -5.03552295e-03 3.33899501e+01] [ 5.27692246e-02 -1.48090792e-03 9.98605636e-01 1.89487113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.17, Y:33.39, Z:18.95 [[ 9.90874089e-01 -1.24112847e-01 -5.25789094e-02 4.02165637e+02] [ 1.24020058e-01 9.92266929e-01 -5.03645047e-03 3.33933156e+01] [ 5.27974012e-02 -1.53035115e-03 9.98604072e-01 1.89502420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.20, Y:33.40, Z:18.95 [[ 9.90572629e-01 -1.25900676e-01 -5.39896927e-02 4.02197009e+02] [ 1.25805601e-01 9.92041444e-01 -5.16958108e-03 3.33971542e+01] [ 5.42108664e-02 -1.67136020e-03 9.98528111e-01 1.89521618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.23, Y:33.40, Z:18.95 [[ 9.90346183e-01 -1.26816101e-01 -5.59653013e-02 4.02228355e+02] [ 1.26715517e-01 9.91924636e-01 -5.35665120e-03 3.34017977e+01] [ 5.61926708e-02 -1.78673303e-03 9.98418345e-01 1.89526967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.26, Y:33.41, Z:18.95 [[ 9.90179830e-01 -1.27148884e-01 -5.81125170e-02 4.02259601e+02] [ 1.27041135e-01 9.91881866e-01 -5.55996279e-03 3.34062987e+01] [ 5.83476949e-02 -1.87731708e-03 9.98294557e-01 1.89533943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.29, Y:33.41, Z:18.95 [[ 9.90081897e-01 -1.27297258e-01 -5.94411139e-02 4.02288566e+02] [ 1.27184886e-01 9.91862732e-01 -5.68551410e-03 3.34093450e+01] [ 5.96811760e-02 -1.93088671e-03 9.98215622e-01 1.89532232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.32, Y:33.41, Z:18.95 [[ 9.89991950e-01 -1.27150470e-01 -6.12266088e-02 4.02318238e+02] [ 1.27030895e-01 9.91881466e-01 -5.85744312e-03 3.34143097e+01] [ 6.14743152e-02 -1.97884935e-03 9.98106704e-01 1.89537472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.35, Y:33.42, Z:18.95 [[ 9.90175449e-01 -1.25534282e-01 -6.15932216e-02 4.02347190e+02] [ 1.25410079e-01 9.92087485e-01 -5.89364710e-03 3.34189523e+01] [ 6.18457191e-02 -1.88866613e-03 9.98083934e-01 1.89542824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.38, Y:33.42, Z:18.96 [[ 9.90364925e-01 -1.24263685e-01 -6.11216161e-02 4.02376954e+02] [ 1.24138893e-01 9.92247609e-01 -5.84962640e-03 3.34239278e+01] [ 6.13746735e-02 -1.79430497e-03 9.98113185e-01 1.89566254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.41, Y:33.43, Z:18.96 [[ 9.90611404e-01 -1.22706129e-01 -6.02681703e-02 4.02406478e+02] [ 1.22581879e-01 9.92441639e-01 -5.76861345e-03 3.34263547e+01] [ 6.05204859e-02 -1.67333130e-03 9.98165553e-01 1.89583563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.44, Y:33.43, Z:18.96 [[ 9.91059720e-01 -1.20150607e-01 -5.80039894e-02 4.02436647e+02] [ 1.20031187e-01 9.92754601e-01 -5.55122571e-03 3.34305752e+01] [ 5.82507105e-02 -1.46069150e-03 9.98300917e-01 1.89630268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.47, Y:33.43, Z:18.97 [[ 9.91216120e-01 -1.19563890e-01 -5.65250417e-02 4.02465661e+02] [ 1.19449522e-01 9.92825536e-01 -5.40985046e-03 3.34317471e+01] [ 5.67663276e-02 -1.38955821e-03 9.98386525e-01 1.89653227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.50, Y:33.43, Z:18.97 [[ 9.91309303e-01 -1.19471687e-01 -5.50670727e-02 4.02495907e+02] [ 1.19362956e-01 9.92836693e-01 -5.27114334e-03 3.34333320e+01] [ 5.53023627e-02 -1.34763512e-03 9.98468744e-01 1.89685673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.53, Y:33.43, Z:18.97 [[ 9.91337781e-01 -1.19929503e-01 -5.35380149e-02 4.02525868e+02] [ 1.19827395e-01 9.92781513e-01 -5.12477850e-03 3.34345638e+01] [ 5.37661635e-02 -1.33493428e-03 9.98552661e-01 1.89721067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.56, Y:33.43, Z:18.98 [[ 9.91385207e-01 -1.21227483e-01 -4.95910070e-02 4.02556365e+02] [ 1.21141501e-01 9.92623898e-01 -4.74692171e-03 3.34319188e+01] [ 4.98006760e-02 -1.30150104e-03 9.98758329e-01 1.89776278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.59, Y:33.43, Z:18.98 [[ 9.91344806e-01 -1.22153627e-01 -4.81037106e-02 4.02587383e+02] [ 1.22073856e-01 9.92510342e-01 -4.60370311e-03 3.34315261e+01] [ 4.83057894e-02 -1.30834829e-03 9.98831737e-01 1.89807156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.62, Y:33.43, Z:18.98 [[ 9.91165007e-01 -1.24101819e-01 -4.68045729e-02 4.02618882e+02] [ 1.24028580e-01 9.92268546e-01 -4.47698417e-03 3.34275820e+01] [ 4.69983074e-02 -1.36767469e-03 9.98894033e-01 1.89842178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.65, Y:33.43, Z:18.99 [[ 9.91087899e-01 -1.24846397e-01 -4.64559245e-02 4.02650842e+02] [ 1.24775173e-01 9.92175101e-01 -4.44125855e-03 3.34300027e+01] [ 4.66468867e-02 -1.39486841e-03 9.98910468e-01 1.89859891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.68, Y:33.43, Z:18.99 [[ 9.91053765e-01 -1.25323179e-01 -4.58970154e-02 4.02682886e+02] [ 1.25254319e-01 9.92114979e-01 -4.38457957e-03 3.34310294e+01] [ 4.60846059e-02 -1.40344530e-03 9.98936554e-01 1.89875205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.72, Y:33.43, Z:18.99 [[ 9.91030833e-01 -1.25360851e-01 -4.62876322e-02 4.02715095e+02] [ 1.25291012e-01 9.92110195e-01 -4.41851522e-03 3.34312266e+01] [ 4.64763406e-02 -1.42053944e-03 9.98918381e-01 1.89883937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.75, Y:33.43, Z:18.99 [[ 9.91111568e-01 -1.24709925e-01 -4.63173263e-02 4.02747714e+02] [ 1.24639446e-01 9.92192265e-01 -4.41791041e-03 3.34321095e+01] [ 4.65066501e-02 -1.39432377e-03 9.98917007e-01 1.89894064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.78, Y:33.43, Z:18.99 [[ 9.91402499e-01 -1.22456486e-01 -4.61030801e-02 4.02778329e+02] [ 1.22384384e-01 9.92473050e-01 -4.39403228e-03 3.34319676e+01] [ 4.62941423e-02 -1.28604247e-03 9.98927024e-01 1.89906883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.81, Y:33.43, Z:18.99 [[ 9.91411186e-01 -1.22386105e-01 -4.61031533e-02 4.02809858e+02] [ 1.22313963e-01 9.92481735e-01 -4.39326459e-03 3.34349130e+01] [ 4.62942121e-02 -1.28352771e-03 9.98927024e-01 1.89921946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.84, Y:33.44, Z:18.99 [[ 9.92051529e-01 -1.16934241e-01 -4.64773849e-02 4.02840404e+02] [ 1.16855102e-01 9.93139114e-01 -4.42552235e-03 3.34362545e+01] [ 4.66760039e-02 -1.04077332e-03 9.98909539e-01 1.89925351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.87, Y:33.40, Z:18.99 [[ 9.88926204e-01 -1.37606087e-01 -5.55835245e-02 4.02873760e+02] [ 1.37525438e-01 9.90484100e-01 -5.29170312e-03 3.34043850e+01] [ 5.57827678e-02 -2.41104469e-03 9.98440018e-01 1.89858455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.90, Y:33.41, Z:18.99 [[ 9.89190813e-01 -1.35810037e-01 -5.52916677e-02 4.02901719e+02] [ 1.35727362e-01 9.90732235e-01 -5.26520218e-03 3.34101738e+01] [ 5.54943048e-02 -2.29630255e-03 9.98456363e-01 1.89878763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.93, Y:33.41, Z:18.99 [[ 9.89155821e-01 -1.36064877e-01 -5.52911401e-02 4.02929842e+02] [ 1.35982291e-01 9.90697247e-01 -5.27073691e-03 3.34128847e+01] [ 5.54939424e-02 -2.30503577e-03 9.98456363e-01 1.89892213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.96, Y:33.42, Z:18.99 [[ 9.89120753e-01 -1.36320123e-01 -5.52897787e-02 4.02957963e+02] [ 1.36237139e-01 9.90662158e-01 -5.28498218e-03 3.34156070e+01] [ 5.54939409e-02 -2.30503571e-03 9.98456363e-01 1.89905682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:402.99, Y:33.42, Z:18.99 [[ 9.89435193e-01 -1.33932417e-01 -5.54987157e-02 4.02985401e+02] [ 1.33844326e-01 9.90988100e-01 -5.31805351e-03 3.34189189e+01] [ 5.57108266e-02 -2.16631891e-03 9.98444596e-01 1.89919239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.01, Y:33.42, Z:18.99 [[ 9.89396442e-01 -1.34218645e-01 -5.54980746e-02 4.03012679e+02] [ 1.34130629e-01 9.90949354e-01 -5.32473471e-03 3.34215997e+01] [ 5.57104599e-02 -2.17571806e-03 9.98444596e-01 1.89932288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.04, Y:33.43, Z:18.99 [[ 9.89799506e-01 -1.31394336e-01 -5.50678366e-02 4.03040588e+02] [ 1.31302526e-01 9.91328190e-01 -5.29771912e-03 3.34260629e+01] [ 5.52863891e-02 -1.98686626e-03 9.98468561e-01 1.89945940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36509989300004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.07, Y:33.43, Z:19.00 [[ 9.89761957e-01 -1.31677108e-01 -5.50672973e-02 4.03067861e+02] [ 1.31585424e-01 9.91290649e-01 -5.30331806e-03 3.34287572e+01] [ 5.52860224e-02 -1.99703118e-03 9.98468561e-01 1.89958987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.10, Y:33.43, Z:19.00 [[ 9.89724318e-01 -1.31960351e-01 -5.50657777e-02 4.03095133e+02] [ 1.31868230e-01 9.91252984e-01 -5.31905243e-03 3.34314642e+01] [ 5.52860205e-02 -1.99703111e-03 9.98468561e-01 1.89972056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.12, Y:33.43, Z:19.00 [[ 9.89686598e-01 -1.32243584e-01 -5.50642537e-02 4.03122404e+02] [ 1.32151026e-01 9.91215237e-01 -5.33478637e-03 3.34341790e+01] [ 5.52860186e-02 -1.99703104e-03 9.98468561e-01 1.89985126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.15, Y:33.44, Z:19.00 [[ 9.90081116e-01 -1.29421089e-01 -5.46769188e-02 4.03150986e+02] [ 1.29324691e-01 9.91588070e-01 -5.31254010e-03 3.34399949e+01] [ 5.49045351e-02 -1.81123003e-03 9.98489966e-01 1.90000567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.18, Y:33.44, Z:19.00 [[ 9.90048698e-01 -1.29669374e-01 -5.46756669e-02 4.03179093e+02] [ 1.29572645e-01 9.91555631e-01 -5.32539564e-03 3.34427732e+01] [ 5.49045061e-02 -1.81206977e-03 9.98489966e-01 1.90014030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.21, Y:33.45, Z:19.00 [[ 9.90016218e-01 -1.29917691e-01 -5.46743300e-02 4.03207200e+02] [ 1.29820585e-01 9.91523126e-01 -5.33908807e-03 3.34455589e+01] [ 5.49045046e-02 -1.81206972e-03 9.98489966e-01 1.90027495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.24, Y:33.45, Z:19.00 [[ 9.90356838e-01 -1.27099587e-01 -5.51273804e-02 4.03235856e+02] [ 1.26995780e-01 9.91888578e-01 -5.39641019e-03 3.34520035e+01] [ 5.53661004e-02 -1.65657291e-03 9.98464747e-01 1.90042115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.26, Y:33.45, Z:19.01 [[ 9.90324498e-01 -1.27351669e-01 -5.51265848e-02 4.03263958e+02] [ 1.27247800e-01 9.91856234e-01 -5.40452591e-03 3.34547917e+01] [ 5.53659221e-02 -1.66250224e-03 9.98464747e-01 1.90055565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.29, Y:33.46, Z:19.01 [[ 9.90292091e-01 -1.27604024e-01 -5.51252064e-02 4.03292059e+02] [ 1.27499765e-01 9.91823799e-01 -5.41855149e-03 3.34575898e+01] [ 5.53659206e-02 -1.66250219e-03 9.98464747e-01 1.90069029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.32, Y:33.46, Z:19.01 [[ 9.90259619e-01 -1.27856371e-01 -5.51238244e-02 4.03320159e+02] [ 1.27751722e-01 9.91791301e-01 -5.43257672e-03 3.34603951e+01] [ 5.53659191e-02 -1.66250215e-03 9.98464747e-01 1.90082493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.35, Y:33.46, Z:19.01 [[ 9.90227083e-01 -1.28108709e-01 -5.51224389e-02 4.03348258e+02] [ 1.28003671e-01 9.91758738e-01 -5.44660160e-03 3.34632076e+01] [ 5.53659175e-02 -1.66250210e-03 9.98464747e-01 1.90095956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.38, Y:33.47, Z:19.01 [[ 9.90581001e-01 -1.25450962e-01 -5.48756560e-02 4.03376394e+02] [ 1.25342091e-01 9.92098696e-01 -5.43486391e-03 3.34669219e+01] [ 5.51238756e-02 -1.49455653e-03 9.98478405e-01 1.90105489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.40, Y:33.47, Z:19.01 [[ 9.90545451e-01 -1.25731592e-01 -5.48751054e-02 4.03403650e+02] [ 1.25622844e-01 9.92063155e-01 -5.44041656e-03 3.34696927e+01] [ 5.51236024e-02 -1.50458694e-03 9.98478405e-01 1.90118532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.43, Y:33.47, Z:19.01 [[ 9.90866551e-01 -1.23131512e-01 -5.49737063e-02 4.03430922e+02] [ 1.23017588e-01 9.92389446e-01 -5.46442835e-03 3.34738479e+01] [ 5.52281693e-02 -1.34821349e-03 9.98472850e-01 1.90128534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.46, Y:33.48, Z:19.01 [[ 9.91073778e-01 -1.21288235e-01 -5.53347057e-02 4.03459642e+02] [ 1.21169594e-01 9.92616546e-01 -5.50652446e-03 3.34781926e+01] [ 5.55940210e-02 -1.24751181e-03 9.98452677e-01 1.90141055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.49, Y:33.48, Z:19.02 [[ 9.91337796e-01 -1.18993551e-01 -5.55869433e-02 4.03487798e+02] [ 1.18869448e-01 9.92894406e-01 -5.54545340e-03 3.34828268e+01] [ 5.58518383e-02 -1.11017171e-03 9.98438451e-01 1.90153860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.51, Y:33.49, Z:19.02 [[ 9.91362982e-01 -1.18753654e-01 -5.56507705e-02 4.03514968e+02] [ 1.18628098e-01 9.92923157e-01 -5.56591979e-03 3.34880099e+01] [ 5.59179120e-02 -1.08389823e-03 9.98434781e-01 1.90178493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.54, Y:33.49, Z:19.02 [[ 9.91391463e-01 -1.18833639e-01 -5.49684751e-02 4.03542845e+02] [ 1.18710383e-01 9.92913614e-01 -5.51365597e-03 3.34916553e+01] [ 5.52341550e-02 -1.05913729e-03 9.98472867e-01 1.90201590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.57, Y:33.49, Z:19.02 [[ 9.91356476e-01 -1.19903137e-01 -5.32501145e-02 4.03570245e+02] [ 1.19788243e-01 9.92785019e-01 -5.35561188e-03 3.34940063e+01] [ 5.35080706e-02 -1.06941715e-03 9.98566844e-01 1.90232354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.60, Y:33.50, Z:19.02 [[ 9.91233123e-01 -1.21155413e-01 -5.27092177e-02 4.03598798e+02] [ 1.21044197e-01 9.92632921e-01 -5.30902299e-03 3.34957757e+01] [ 5.29641216e-02 -1.11766550e-03 9.98595790e-01 1.90248703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.63, Y:33.50, Z:19.03 [[ 9.90862116e-01 -1.23822410e-01 -5.34815633e-02 4.03627464e+02] [ 1.23711052e-01 9.92303588e-01 -5.40049653e-03 3.34966647e+01] [ 5.37386497e-02 -1.26511304e-03 9.98554233e-01 1.90254289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.66, Y:33.50, Z:19.03 [[ 9.90663594e-01 -1.25259614e-01 -5.38114524e-02 4.03655730e+02] [ 1.25148325e-01 9.92123095e-01 -5.44617205e-03 3.34982602e+01] [ 5.40697701e-02 -1.33908878e-03 9.98536262e-01 1.90260876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.68, Y:33.50, Z:19.03 [[ 9.90250461e-01 -1.28123850e-01 -5.46653860e-02 4.03684294e+02] [ 1.28013113e-01 9.91757019e-01 -5.53702720e-03 3.35014719e+01] [ 5.49242054e-02 -1.51484249e-03 9.98489377e-01 1.90267098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.71, Y:33.50, Z:19.03 [[ 9.90055144e-01 -1.29427905e-01 -5.51291999e-02 4.03712747e+02] [ 1.29316524e-01 9.91587565e-01 -5.59795532e-03 3.35045833e+01] [ 5.53899607e-02 -1.58683206e-03 9.98463537e-01 1.90278900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.74, Y:33.51, Z:19.03 [[ 9.89912757e-01 -1.30463582e-01 -5.52447900e-02 4.03740992e+02] [ 1.30352573e-01 9.91451755e-01 -5.62356242e-03 3.35074360e+01] [ 5.55062141e-02 -1.63446435e-03 9.98457004e-01 1.90289615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.77, Y:33.51, Z:19.03 [[ 9.89767023e-01 -1.31514727e-01 -5.53634893e-02 4.03769638e+02] [ 1.31404110e-01 9.91312788e-01 -5.64948853e-03 3.35111563e+01] [ 5.56255259e-02 -1.68331262e-03 9.98450283e-01 1.90306121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.80, Y:33.51, Z:19.03 [[ 9.89717240e-01 -1.32082772e-01 -5.48992306e-02 4.03798683e+02] [ 1.31974207e-01 9.91237252e-01 -5.61421191e-03 3.35140427e+01] [ 5.51597031e-02 -1.68880013e-03 9.98476116e-01 1.90323064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.83, Y:33.52, Z:19.04 [[ 9.89629321e-01 -1.33328035e-01 -5.34550574e-02 4.03827467e+02] [ 1.33226813e-01 9.91070488e-01 -5.46850829e-03 3.35184830e+01] [ 5.37068353e-02 -1.70985082e-03 9.98555283e-01 1.90350850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.86, Y:33.52, Z:19.04 [[ 9.89601693e-01 -1.33694108e-01 -5.30506807e-02 4.03856429e+02] [ 1.33594785e-01 9.91021165e-01 -5.42999027e-03 3.35203940e+01] [ 5.33003051e-02 -1.71376673e-03 9.98577058e-01 1.90367644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.89, Y:33.53, Z:19.04 [[ 9.89593477e-01 -1.34002884e-01 -5.24211598e-02 4.03886391e+02] [ 1.33906206e-01 9.90979471e-01 -5.36806330e-03 3.35260613e+01] [ 5.26676292e-02 -1.70731817e-03 9.98610638e-01 1.90391179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.92, Y:33.53, Z:19.04 [[ 9.89483727e-01 -1.35030300e-01 -5.18533774e-02 4.03916013e+02] [ 1.34937108e-01 9.90839937e-01 -5.31000328e-03 3.35272036e+01] [ 5.20954086e-02 -1.74278294e-03 9.98640592e-01 1.90392294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.95, Y:33.53, Z:19.04 [[ 9.89318974e-01 -1.36323627e-01 -5.16123669e-02 4.03946112e+02] [ 1.36233011e-01 9.90662719e-01 -5.28616923e-03 3.35323827e+01] [ 5.18510775e-02 -1.80160063e-03 9.98653203e-01 1.90395054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:403.98, Y:33.53, Z:19.04 [[ 9.89064787e-01 -1.38291351e-01 -5.12479167e-02 4.03975706e+02] [ 1.38204643e-01 9.90389785e-01 -5.24891491e-03 3.35338267e+01] [ 5.14812928e-02 -1.89118313e-03 9.98672168e-01 1.90400382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.01, Y:33.54, Z:19.04 [[ 9.88957986e-01 -1.39245577e-01 -5.07224918e-02 4.04006006e+02] [ 1.39161846e-01 9.90256019e-01 -5.19595791e-03 3.35372851e+01] [ 5.09517670e-02 -1.92005151e-03 9.98699269e-01 1.90419496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.04, Y:33.54, Z:19.04 [[ 9.88898955e-01 -1.39724145e-01 -5.05570955e-02 4.04036555e+02] [ 1.39641583e-01 9.90188571e-01 -5.17901489e-03 3.35402676e+01] [ 5.07846916e-02 -1.93835046e-03 9.98707744e-01 1.90432880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.07, Y:33.54, Z:19.04 [[ 9.88808508e-01 -1.40180659e-01 -5.10599436e-02 4.04067238e+02] [ 1.40097058e-01 9.90123960e-01 -5.23045858e-03 3.35418873e+01] [ 5.12888827e-02 -1.98142593e-03 9.98681894e-01 1.90442404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.10, Y:33.54, Z:19.05 [[ 9.88808509e-01 -1.40180620e-01 -5.10600291e-02 4.04097071e+02] [ 1.40097061e-01 9.90123964e-01 -5.22962396e-03 3.35449424e+01] [ 5.12888504e-02 -1.98226335e-03 9.98681894e-01 1.90456669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.13, Y:33.55, Z:19.05 [[ 9.88808509e-01 -1.40180620e-01 -5.10600291e-02 4.04126904e+02] [ 1.40097061e-01 9.90123964e-01 -5.22962396e-03 3.35479979e+01] [ 5.12888504e-02 -1.98226335e-03 9.98681894e-01 1.90470937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.16, Y:33.55, Z:19.05 [[ 9.88730198e-01 -1.40658659e-01 -5.12614657e-02 4.04158329e+02] [ 1.40575088e-01 9.90056100e-01 -5.25011113e-03 3.35530290e+01] [ 5.14902004e-02 -2.01514164e-03 9.98671467e-01 1.90482833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.19, Y:33.56, Z:19.05 [[ 9.88623125e-01 -1.41470812e-01 -5.10913433e-02 4.04189385e+02] [ 1.41388972e-01 9.89940300e-01 -5.23084322e-03 3.35577947e+01] [ 5.13173913e-02 -2.05241995e-03 9.98680286e-01 1.90496180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.22, Y:33.56, Z:19.05 [[ 9.88534969e-01 -1.42187650e-01 -5.08063614e-02 4.04219998e+02] [ 1.42107757e-01 9.89837536e-01 -5.19987170e-03 3.35588817e+01] [ 5.10294011e-02 -2.07972303e-03 9.98694986e-01 1.90508116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.25, Y:33.57, Z:19.05 [[ 9.88494144e-01 -1.42482452e-01 -5.07747769e-02 4.04250839e+02] [ 1.42403096e-01 9.89795112e-01 -5.19564699e-03 3.35651523e+01] [ 5.09969145e-02 -2.09461880e-03 9.98696614e-01 1.90522520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.28, Y:33.57, Z:19.05 [[ 9.88507261e-01 -1.42573630e-01 -5.02608686e-02 4.04281592e+02] [ 1.42496082e-01 9.89782014e-01 -5.14122421e-03 3.35690011e+01] [ 5.04803068e-02 -2.07983939e-03 9.98722891e-01 1.90536338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.31, Y:33.57, Z:19.05 [[ 9.88917832e-01 -1.39737918e-01 -5.01481401e-02 4.04311387e+02] [ 1.39657179e-01 9.90186638e-01 -5.12769835e-03 3.35741724e+01] [ 5.03725522e-02 -1.93267546e-03 9.98728627e-01 1.90544598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.34, Y:33.58, Z:19.06 [[ 9.89273650e-01 -1.37357727e-01 -4.97041279e-02 4.04342239e+02] [ 1.37275626e-01 9.90519872e-01 -5.07802104e-03 3.35822898e+01] [ 4.99304319e-02 -1.79961285e-03 9.98751077e-01 1.90562530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.37, Y:33.59, Z:19.06 [[ 9.89705478e-01 -1.34314934e-01 -4.94223075e-02 4.04373028e+02] [ 1.34230065e-01 9.90937341e-01 -5.04738688e-03 3.35882565e+01] [ 4.96523495e-02 -1.63853309e-03 9.98765217e-01 1.90578889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.40, Y:33.59, Z:19.06 [[ 9.90207404e-01 -1.30540088e-01 -4.94831495e-02 4.04403421e+02] [ 1.30450393e-01 9.91441967e-01 -5.05175419e-03 3.35939073e+01] [ 4.97191276e-02 -1.45281189e-03 9.98762183e-01 1.90598919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.43, Y:33.60, Z:19.06 [[ 9.90713895e-01 -1.26979694e-01 -4.86018135e-02 4.04434469e+02] [ 1.26888973e-01 9.91904525e-01 -4.95998859e-03 3.36009788e+01] [ 4.88381766e-02 -1.25310457e-03 9.98805918e-01 1.90619397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.46, Y:33.61, Z:19.06 [[ 9.91709032e-01 -1.19332868e-01 -4.76745387e-02 4.04463281e+02] [ 1.19236863e-01 9.92853929e-01 -4.86281070e-03 3.36097047e+01] [ 4.79141462e-02 -8.62069156e-04 9.98851086e-01 1.90641270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.49, Y:33.61, Z:19.07 [[ 9.92071208e-01 -1.16209285e-01 -4.78552053e-02 4.04493575e+02] [ 1.16108878e-01 9.93224493e-01 -4.88208801e-03 3.36146030e+01] [ 4.80983059e-02 -7.13035255e-04 9.98842352e-01 1.90654046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.53, Y:33.62, Z:19.07 [[ 9.92384732e-01 -1.13521647e-01 -4.78056466e-02 4.04525037e+02] [ 1.13418372e-01 9.93535352e-01 -4.87617496e-03 3.36197596e+01] [ 4.80501513e-02 -5.82997053e-04 9.98844754e-01 1.90667437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.56, Y:33.62, Z:19.07 [[ 9.92641665e-01 -1.11305621e-01 -4.76821086e-02 4.04555944e+02] [ 1.11200424e-01 9.93786110e-01 -4.86148566e-03 3.36241527e+01] [ 4.79269278e-02 -4.76557470e-04 9.98850731e-01 1.90679982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.59, Y:33.63, Z:19.07 [[ 9.92888500e-01 -1.08470435e-01 -4.90570159e-02 4.04586627e+02] [ 1.08355711e-01 9.94099613e-01 -4.99986043e-03 3.36283224e+01] [ 4.93098976e-02 -3.51303910e-04 9.98783465e-01 1.90684675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.62, Y:33.63, Z:19.07 [[ 9.92926333e-01 -1.07822654e-01 -4.97149078e-02 4.04617509e+02] [ 1.07704109e-01 9.94170091e-01 -5.06511510e-03 3.36319646e+01] [ 4.99712085e-02 -3.25213667e-04 9.98750606e-01 1.90694976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.65, Y:33.64, Z:19.07 [[ 9.92930222e-01 -1.07786748e-01 -4.97150907e-02 4.04648165e+02] [ 1.07668248e-01 9.94173984e-01 -5.06331960e-03 3.36350582e+01] [ 4.99712085e-02 -3.25213667e-04 9.98750606e-01 1.90709630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.68, Y:33.64, Z:19.07 [[ 9.92927987e-01 -1.07632608e-01 -5.00922638e-02 4.04678330e+02] [ 1.07512197e-01 9.94190685e-01 -5.09994424e-03 3.36378442e+01] [ 5.03501824e-02 -3.21651961e-04 9.98731573e-01 1.90719059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.71, Y:33.64, Z:19.07 [[ 9.92850964e-01 -1.07873496e-01 -5.10908181e-02 4.04709146e+02] [ 1.07748603e-01 9.94164570e-01 -5.20059613e-03 3.36409226e+01] [ 5.13536877e-02 -3.41547420e-04 9.98680470e-01 1.90730878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.74, Y:33.64, Z:19.07 [[ 9.92778829e-01 -1.08313899e-01 -5.15586564e-02 4.04739411e+02] [ 1.08187391e-01 9.94116675e-01 -5.24648180e-03 3.36435823e+01] [ 5.18235870e-02 -3.69400489e-04 9.98656187e-01 1.90746078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.77, Y:33.65, Z:19.08 [[ 9.92713851e-01 -1.08741632e-01 -5.19082632e-02 4.04769643e+02] [ 1.08613990e-01 9.94069968e-01 -5.28197284e-03 3.36459886e+01] [ 5.21748159e-02 -3.94475989e-04 9.98637889e-01 1.90762109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.80, Y:33.65, Z:19.08 [[ 9.92651034e-01 -1.09287917e-01 -5.19622583e-02 4.04799885e+02] [ 1.09160802e-01 9.94010046e-01 -5.28660793e-03 3.36488132e+01] [ 5.22287692e-02 -4.24484988e-04 9.98635056e-01 1.90778897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.83, Y:33.65, Z:19.08 [[ 9.92515444e-01 -1.10392546e-01 -5.22166618e-02 4.04830397e+02] [ 1.10265710e-01 9.93887947e-01 -5.31249077e-03 3.36509236e+01] [ 5.24839701e-02 -4.84978147e-04 9.98621649e-01 1.90798808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.86, Y:33.65, Z:19.08 [[ 9.92459621e-01 -1.10962826e-01 -5.20687275e-02 4.04860908e+02] [ 1.10837493e-01 9.93824425e-01 -5.29744003e-03 3.36534325e+01] [ 5.23349921e-02 -5.13671889e-04 9.98629453e-01 1.90814341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.89, Y:33.66, Z:19.08 [[ 9.92396078e-01 -1.11643853e-01 -5.18234851e-02 4.04891001e+02] [ 1.11520626e-01 9.93748133e-01 -5.27248922e-03 3.36558469e+01] [ 5.20881326e-02 -5.46989868e-04 9.98642342e-01 1.90830803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.92, Y:33.66, Z:19.08 [[ 9.92334130e-01 -1.12390242e-01 -5.13946213e-02 4.04920579e+02] [ 1.12270043e-01 9.93663975e-01 -5.22892981e-03 3.36579818e+01] [ 5.16566644e-02 -5.81230813e-04 9.98664734e-01 1.90845399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.95, Y:33.66, Z:19.09 [[ 9.92248061e-01 -1.13616096e-01 -5.03504488e-02 4.04950182e+02] [ 1.13502267e-01 9.93524526e-01 -5.12356912e-03 3.36590338e+01] [ 5.06065257e-02 -6.31038555e-04 9.98718470e-01 1.90863240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:404.98, Y:33.66, Z:19.09 [[ 9.92216811e-01 -1.14007089e-01 -5.00817665e-02 4.04980320e+02] [ 1.13894928e-01 9.93479726e-01 -5.09705160e-03 3.36626645e+01] [ 5.03363197e-02 -6.46678914e-04 9.98732115e-01 1.90881695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.01, Y:33.66, Z:19.09 [[ 9.92242843e-01 -1.13945522e-01 -4.97047064e-02 4.05010380e+02] [ 1.13834969e-01 9.93486794e-01 -5.05863289e-03 3.36648495e+01] [ 4.99573780e-02 -6.38741431e-04 9.98751146e-01 1.90895038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.04, Y:33.67, Z:19.09 [[ 9.92321414e-01 -1.13372567e-01 -4.94456458e-02 4.05040234e+02] [ 1.13262493e-01 9.93552360e-01 -5.03146113e-03 3.36669847e+01] [ 4.96972678e-02 -6.07510505e-04 9.98764143e-01 1.90906857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.07, Y:33.67, Z:19.09 [[ 9.92394779e-01 -1.12970213e-01 -4.88910344e-02 4.05071734e+02] [ 1.12862071e-01 9.93598206e-01 -4.97578733e-03 3.36712143e+01] [ 4.91401598e-02 -5.79998024e-04 9.98791724e-01 1.90925353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.10, Y:33.67, Z:19.09 [[ 9.92578287e-01 -1.11291225e-01 -4.90163943e-02 4.05103421e+02] [ 1.11180569e-01 9.93787710e-01 -4.98675779e-03 3.36736064e+01] [ 4.92668727e-02 -4.99923096e-04 9.98785525e-01 1.90935724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.13, Y:33.68, Z:19.10 [[ 9.92699452e-01 -1.10248089e-01 -4.89199120e-02 4.05134848e+02] [ 1.10136690e-01 9.93903998e-01 -4.97517163e-03 3.36768937e+01] [ 4.91701993e-02 -4.49027030e-04 9.98790313e-01 1.90952333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.17, Y:33.68, Z:19.10 [[ 9.92827300e-01 -1.09067488e-01 -4.89717741e-02 4.05165103e+02] [ 1.08954509e-01 9.94034269e-01 -4.97857416e-03 3.36786227e+01] [ 4.92226223e-02 -3.92831255e-04 9.98787755e-01 1.90963490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.20, Y:33.68, Z:19.10 [[ 9.93070243e-01 -1.06824864e-01 -4.89891834e-02 4.05195351e+02] [ 1.06709221e-01 9.94277812e-01 -4.97742817e-03 3.36805876e+01] [ 4.92405712e-02 -2.84661798e-04 9.98786907e-01 1.90976867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.23, Y:33.68, Z:19.10 [[ 9.93131330e-01 -1.05971692e-01 -4.96000281e-02 4.05226108e+02] [ 1.05852082e-01 9.94369117e-01 -5.03949157e-03 3.36830615e+01] [ 4.98547796e-02 -2.45389257e-04 9.98756447e-01 1.90988398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.26, Y:33.69, Z:19.10 [[ 9.93224872e-01 -1.04909146e-01 -4.99842446e-02 4.05255197e+02] [ 1.04786327e-01 9.94481792e-01 -5.07857808e-03 3.36853048e+01] [ 5.02412104e-02 -1.93495341e-04 9.98737094e-01 1.90995230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.28, Y:33.69, Z:19.10 [[ 9.93241320e-01 -1.04333803e-01 -5.08540899e-02 4.05284634e+02] [ 1.04205864e-01 9.94542322e-01 -5.16796064e-03 3.36875635e+01] [ 5.11157376e-02 -1.66262349e-04 9.98692722e-01 1.91003511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.31, Y:33.69, Z:19.10 [[ 9.93230362e-01 -1.04108081e-01 -5.15262702e-02 4.05313227e+02] [ 1.03976286e-01 9.94565978e-01 -5.23909678e-03 3.36897102e+01] [ 5.17917076e-02 -1.53880206e-04 9.98657897e-01 1.91009153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.34, Y:33.69, Z:19.10 [[ 9.93141134e-01 -1.04378788e-01 -5.26854469e-02 4.05341554e+02] [ 1.04240693e-01 9.94537603e-01 -5.36978392e-03 3.36906536e+01] [ 5.29581496e-02 -1.59014217e-04 9.98596720e-01 1.91011056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.37, Y:33.69, Z:19.10 [[ 9.93036671e-01 -1.05067057e-01 -5.32830559e-02 4.05370102e+02] [ 1.04926485e-01 9.94465121e-01 -5.43655004e-03 3.36925299e+01] [ 5.35593430e-02 -1.92110202e-04 9.98564650e-01 1.91022915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.40, Y:33.69, Z:19.10 [[ 9.92935690e-01 -1.05796519e-01 -5.37197563e-02 4.05398921e+02] [ 1.05653949e-01 9.94387776e-01 -5.49497034e-03 3.36942240e+01] [ 5.39996178e-02 -2.19552250e-04 9.98540932e-01 1.91036468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.43, Y:33.70, Z:19.10 [[ 9.92804868e-01 -1.06818192e-01 -5.41143947e-02 4.05426418e+02] [ 1.06674335e-01 9.94278534e-01 -5.54818549e-03 3.36956019e+01] [ 5.43974282e-02 -2.64351502e-04 9.98519329e-01 1.91046787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.46, Y:33.70, Z:19.11 [[ 9.92576834e-01 -1.09091507e-01 -5.37612515e-02 4.05455263e+02] [ 1.08952534e-01 9.94031639e-01 -5.51787840e-03 3.36957158e+01] [ 5.40423386e-02 -3.80506312e-04 9.98538573e-01 1.91065106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.48, Y:33.70, Z:19.11 [[ 9.92481474e-01 -1.10242918e-01 -5.31697538e-02 4.05483119e+02] [ 1.10107980e-01 9.93904582e-01 -5.46947381e-03 3.36969923e+01] [ 5.34486327e-02 -4.26062771e-04 9.98570509e-01 1.91085296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.51, Y:33.70, Z:19.11 [[ 9.92365455e-01 -1.11475854e-01 -5.27630325e-02 4.05511067e+02] [ 1.11344409e-01 9.93767025e-01 -5.43339514e-03 3.36984342e+01] [ 5.30398542e-02 -4.82955034e-04 9.98592279e-01 1.91104484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.54, Y:33.70, Z:19.11 [[ 9.92106920e-01 -1.14306546e-01 -5.15545601e-02 4.05540292e+02] [ 1.14184130e-01 9.93445342e-01 -5.32329924e-03 3.36987125e+01] [ 5.18251255e-02 -6.05430551e-04 9.98655992e-01 1.91127996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.57, Y:33.70, Z:19.11 [[ 9.91929444e-01 -1.16049139e-01 -5.10742249e-02 4.05568744e+02] [ 1.15930665e-01 9.93243242e-01 -5.28608190e-03 3.36983998e+01] [ 5.13425740e-02 -6.77648602e-04 9.98680870e-01 1.91137373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.60, Y:33.70, Z:19.12 [[ 9.91693104e-01 -1.18116615e-01 -5.09239898e-02 4.05598504e+02] [ 1.18001383e-01 9.92999425e-01 -5.27398330e-03 3.36999452e+01] [ 5.11904376e-02 -7.78928374e-04 9.98688606e-01 1.91155127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.63, Y:33.70, Z:19.12 [[ 9.91390940e-01 -1.20709451e-01 -5.07270381e-02 4.05627839e+02] [ 1.20598402e-01 9.92687466e-01 -5.25550380e-03 3.36988345e+01] [ 5.09904839e-02 -9.07340889e-04 9.98698727e-01 1.91165627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.66, Y:33.70, Z:19.12 [[ 9.90622053e-01 -1.26985383e-01 -5.04248075e-02 4.05658086e+02] [ 1.26883633e-01 9.91903838e-01 -5.22687563e-03 3.36965795e+01] [ 5.06802969e-02 -1.22022448e-03 9.98714183e-01 1.91176632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.69, Y:33.70, Z:19.12 [[ 9.90146142e-01 -1.30599380e-01 -5.05412657e-02 4.05687050e+02] [ 1.30501761e-01 9.91434226e-01 -5.24086862e-03 3.36950502e+01] [ 5.07927948e-02 -1.40649835e-03 9.98708223e-01 1.91186231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.72, Y:33.69, Z:19.12 [[ 9.89566377e-01 -1.34780885e-01 -5.09165853e-02 4.05716286e+02] [ 1.34687190e-01 9.90874086e-01 -5.28259323e-03 3.36930683e+01] [ 5.11639175e-02 -1.63033516e-03 9.98688938e-01 1.91195050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.75, Y:33.69, Z:19.12 [[ 9.88909223e-01 -1.39346222e-01 -5.13924018e-02 4.05746382e+02] [ 1.39256777e-01 9.90241936e-01 -5.33466774e-03 3.36917544e+01] [ 5.16342772e-02 -1.88123812e-03 9.98664289e-01 1.91202714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.78, Y:33.69, Z:19.12 [[ 9.88185660e-01 -1.44165655e-01 -5.20131310e-02 4.05776398e+02] [ 1.44080601e-01 9.89551217e-01 -5.40085271e-03 3.36918002e+01] [ 5.22482746e-02 -2.15703797e-03 9.98631797e-01 1.91214675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.81, Y:33.69, Z:19.12 [[ 9.86961253e-01 -1.52153649e-01 -5.25047864e-02 4.05807545e+02] [ 1.52078192e-01 9.88353424e-01 -5.45276274e-03 3.36899991e+01] [ 5.27229432e-02 -2.60316747e-03 9.98605785e-01 1.91227156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.84, Y:33.69, Z:19.12 [[ 9.86446383e-01 -1.55251206e-01 -5.31092852e-02 4.05836117e+02] [ 1.55178450e-01 9.87871055e-01 -5.51602570e-03 3.36881555e+01] [ 5.33214952e-02 -2.80015293e-03 9.98573471e-01 1.91235643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.87, Y:33.69, Z:19.13 [[ 9.86033262e-01 -1.57606965e-01 -5.38372660e-02 4.05865204e+02] [ 1.57535454e-01 9.87497475e-01 -5.59616417e-03 3.36937513e+01] [ 5.40461587e-02 -2.96327412e-03 9.98534041e-01 1.91250225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.89, Y:33.69, Z:19.13 [[ 9.85752145e-01 -1.59185462e-01 -5.43387299e-02 4.05894300e+02] [ 1.59114884e-01 9.87243904e-01 -5.65045931e-03 3.36915621e+01] [ 5.45450508e-02 -3.07614830e-03 9.98506572e-01 1.91254285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.92, Y:33.70, Z:19.13 [[ 9.85636767e-01 -1.59590484e-01 -5.52362246e-02 4.05922073e+02] [ 1.59518003e-01 9.87178290e-01 -5.74717384e-03 3.36977947e+01] [ 5.54451960e-02 -3.14654641e-03 9.98456774e-01 1.91263682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.95, Y:33.70, Z:19.13 [[ 9.85735044e-01 -1.58890913e-01 -5.54986637e-02 4.05950156e+02] [ 1.58816279e-01 9.87291229e-01 -5.78091850e-03 3.37030888e+01] [ 5.57118793e-02 -3.11563729e-03 9.98442026e-01 1.91275231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:405.98, Y:33.71, Z:19.13 [[ 9.85893146e-01 -1.57632358e-01 -5.62738255e-02 4.05978213e+02] [ 1.57552757e-01 9.87493088e-01 -5.87628418e-03 3.37081169e+01] [ 5.64963062e-02 -3.07270804e-03 9.98398080e-01 1.91285377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.01, Y:33.72, Z:19.13 [[ 9.86457842e-01 -1.53752466e-01 -5.71060843e-02 4.06007602e+02] [ 1.53663302e-01 9.88105198e-01 -5.97556246e-03 3.37162056e+01] [ 5.73455762e-02 -2.88046905e-03 9.98350233e-01 1.91293532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.04, Y:33.72, Z:19.13 [[ 9.86770040e-01 -1.51688156e-01 -5.72327825e-02 4.06035900e+02] [ 1.51595043e-01 9.88424533e-01 -5.99040670e-03 3.37223519e+01] [ 5.74789601e-02 -2.76505228e-03 9.98342889e-01 1.91310410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.06, Y:33.73, Z:19.13 [[ 9.87064954e-01 -1.49919735e-01 -5.68053609e-02 4.06063779e+02] [ 1.49824851e-01 9.88694652e-01 -5.94979446e-03 3.37304480e+01] [ 5.70551481e-02 -2.63802114e-03 9.98367543e-01 1.91334466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.09, Y:33.74, Z:19.14 [[ 9.87414154e-01 -1.48039119e-01 -5.56570612e-02 4.06093201e+02] [ 1.47944840e-01 9.88978411e-01 -5.83328990e-03 3.37361116e+01] [ 5.59071870e-02 -2.47430201e-03 9.98432904e-01 1.91352746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.12, Y:33.74, Z:19.14 [[ 9.87959411e-01 -1.44866376e-01 -5.43133001e-02 4.06122088e+02] [ 1.44771701e-01 9.89448699e-01 -5.69443311e-03 3.37403901e+01] [ 5.45651560e-02 -2.23716005e-03 9.98507706e-01 1.91374073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.15, Y:33.75, Z:19.14 [[ 9.88157512e-01 -1.43719628e-01 -5.37531402e-02 4.06151143e+02] [ 1.43625096e-01 9.89616112e-01 -5.63766948e-03 3.37479064e+01] [ 5.40052174e-02 -2.14939448e-03 9.98538340e-01 1.91397539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.18, Y:33.75, Z:19.14 [[ 9.88291805e-01 -1.42854611e-01 -5.35898189e-02 4.06179289e+02] [ 1.42759267e-01 9.89741470e-01 -5.62268016e-03 3.37515536e+01] [ 5.38432919e-02 -2.09359455e-03 9.98547203e-01 1.91411699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.21, Y:33.76, Z:19.14 [[ 9.88435497e-01 -1.42071182e-01 -5.30193092e-02 4.06208947e+02] [ 1.41976546e-01 9.89854371e-01 -5.56631928e-03 3.37567826e+01] [ 5.32722085e-02 -2.02555083e-03 9.98577973e-01 1.91427231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.24, Y:33.76, Z:19.14 [[ 9.88505083e-01 -1.41459171e-01 -5.33573268e-02 4.06237507e+02] [ 1.41362223e-01 9.89942068e-01 -5.60574598e-03 3.37610384e+01] [ 5.36136466e-02 -2.00140196e-03 9.98559748e-01 1.91438645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.27, Y:33.77, Z:19.14 [[ 9.88600572e-01 -1.40822830e-01 -5.32713767e-02 4.06266286e+02] [ 1.40725126e-01 9.90032871e-01 -5.59945441e-03 3.37667953e+01] [ 5.35289450e-02 -1.96099734e-03 9.98564373e-01 1.91449521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.29, Y:33.77, Z:19.14 [[ 9.88714199e-01 -1.39390038e-01 -5.49058206e-02 4.06294577e+02] [ 1.39283922e-01 9.90235657e-01 -5.77341027e-03 3.37727000e+01] [ 5.51744572e-02 -1.93924534e-03 9.98474846e-01 1.91448673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.32, Y:33.78, Z:19.15 [[ 9.88747089e-01 -1.38676424e-01 -5.61074231e-02 4.06324088e+02] [ 1.38564280e-01 9.90335849e-01 -5.90305907e-03 3.37798743e+01] [ 5.63838076e-02 -1.93785220e-03 9.98407287e-01 1.91462946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.35, Y:33.78, Z:19.15 [[ 9.88906630e-01 -1.37272046e-01 -5.67455949e-02 4.06352307e+02] [ 1.37154771e-01 9.90531611e-01 -5.97470061e-03 3.37844975e+01] [ 5.70284649e-02 -1.87450804e-03 9.98370793e-01 1.91470520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.38, Y:33.79, Z:19.15 [[ 9.89316685e-01 -1.33782826e-01 -5.79193653e-02 4.06380040e+02] [ 1.33654462e-01 9.91009208e-01 -6.10198054e-03 3.37929710e+01] [ 5.82149646e-02 -1.70439045e-03 9.98302616e-01 1.91482828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.41, Y:33.80, Z:19.15 [[ 9.89590958e-01 -1.31496856e-01 -5.84663427e-02 4.06408869e+02] [ 1.31361897e-01 9.91315326e-01 -6.16257454e-03 3.38012903e+01] [ 5.87689407e-02 -1.58182164e-03 9.98270359e-01 1.91501681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.44, Y:33.81, Z:19.15 [[ 9.89886573e-01 -1.29073252e-01 -5.88614235e-02 4.06436701e+02] [ 1.28932043e-01 9.91634008e-01 -6.20659409e-03 3.38067393e+01] [ 5.91700946e-02 -1.44529941e-03 9.98246869e-01 1.91514360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.47, Y:33.82, Z:19.15 [[ 9.90600250e-01 -1.23568590e-01 -5.86681165e-02 4.06466030e+02] [ 1.23418495e-01 9.92335413e-01 -6.18898659e-03 3.38171432e+01] [ 5.89832139e-02 -1.10991897e-03 9.98258358e-01 1.91537235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.50, Y:33.82, Z:19.16 [[ 9.90937244e-01 -1.21020822e-01 -5.82867001e-02 4.06495637e+02] [ 1.20868207e-01 9.92649513e-01 -6.14979803e-03 3.38236557e+01] [ 5.86025181e-02 -9.50945043e-04 9.98280943e-01 1.91556079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.52, Y:33.83, Z:19.16 [[ 9.90932940e-01 -1.21056124e-01 -5.82865699e-02 4.06524600e+02] [ 1.20903498e-01 9.92645208e-01 -6.15103179e-03 3.38267415e+01] [ 5.86025044e-02 -9.51790188e-04 9.98280943e-01 1.91569939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.55, Y:33.83, Z:19.16 [[ 9.91260227e-01 -1.18623053e-01 -5.77211802e-02 4.06553344e+02] [ 1.18469133e-01 9.92939039e-01 -6.09342809e-03 3.38329858e+01] [ 5.80364342e-02 -7.98005287e-04 9.98314147e-01 1.91593089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.58, Y:33.84, Z:19.16 [[ 9.91546949e-01 -1.16535795e-01 -5.70443351e-02 4.06583463e+02] [ 1.16381918e-01 9.93186269e-01 -6.02366108e-03 3.38393274e+01] [ 5.73576225e-02 -6.66186356e-04 9.98353474e-01 1.91617084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.61, Y:33.84, Z:19.16 [[ 9.91711959e-01 -1.15173534e-01 -5.69424971e-02 4.06613480e+02] [ 1.15017962e-01 9.93345214e-01 -6.01290738e-03 3.38445871e+01] [ 5.72560848e-02 -5.86337820e-04 9.98359353e-01 1.91633810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.64, Y:33.85, Z:19.17 [[ 9.91878943e-01 -1.13861752e-01 -5.66715514e-02 4.06643014e+02] [ 1.13705518e-01 9.93496474e-01 -5.98429656e-03 3.38505751e+01] [ 5.69843689e-02 -5.08170383e-04 9.98374941e-01 1.91651043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.67, Y:33.85, Z:19.17 [[ 9.91865901e-01 -1.14111507e-01 -5.63968001e-02 4.06673139e+02] [ 1.13957189e-01 9.93467812e-01 -5.95528388e-03 3.38544676e+01] [ 5.67079720e-02 -5.19977802e-04 9.98390673e-01 1.91668149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.70, Y:33.86, Z:19.17 [[ 9.91753939e-01 -1.15147661e-01 -5.62595856e-02 4.06703766e+02] [ 1.14995759e-01 9.93348218e-01 -5.94079456e-03 3.38583231e+01] [ 5.65694277e-02 -5.77807343e-04 9.98398501e-01 1.91685425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.73, Y:33.86, Z:19.17 [[ 9.91594733e-01 -1.16639141e-01 -5.59928148e-02 4.06734270e+02] [ 1.16491062e-01 9.93174141e-01 -5.91246419e-03 3.38610571e+01] [ 5.63002406e-02 -6.59894107e-04 9.98413666e-01 1.91700484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.76, Y:33.86, Z:19.17 [[ 9.91314528e-01 -1.18836608e-01 -5.63326421e-02 4.06764041e+02] [ 1.18690316e-01 9.92913509e-01 -5.94750398e-03 3.38629200e+01] [ 5.66402225e-02 -7.90291982e-04 9.98394341e-01 1.91711853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.79, Y:33.86, Z:19.17 [[ 9.90622442e-01 -1.24445964e-01 -5.63948582e-02 4.06794890e+02] [ 1.24308413e-01 9.92225763e-01 -5.95422590e-03 3.38640975e+01] [ 5.66974106e-02 -1.11196552e-03 9.98390789e-01 1.91725756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.83, Y:33.87, Z:19.17 [[ 9.90190498e-01 -1.27797969e-01 -5.64841276e-02 4.06825796e+02] [ 1.27665436e-01 9.91799361e-01 -5.96348270e-03 3.38661166e+01] [ 5.67830427e-02 -1.30608690e-03 9.98385687e-01 1.91738360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.86, Y:33.87, Z:19.17 [[ 9.89723571e-01 -1.31259101e-01 -5.67300799e-02 4.06856345e+02] [ 1.31131145e-01 9.91346943e-01 -5.98841230e-03 3.38667134e+01] [ 5.70252249e-02 -1.51220752e-03 9.98371593e-01 1.91746164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.89, Y:33.87, Z:19.18 [[ 9.89260175e-01 -1.34594679e-01 -5.69963103e-02 4.06887097e+02] [ 1.34471094e-01 9.90899257e-01 -6.01565592e-03 3.38677553e+01] [ 5.72872768e-02 -1.71330736e-03 9.98356265e-01 1.91752373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.92, Y:33.87, Z:19.18 [[ 9.88365563e-01 -1.41073540e-01 -5.68486650e-02 4.06918242e+02] [ 1.40961288e-01 9.89996927e-01 -5.99993717e-03 3.38685148e+01] [ 5.71264360e-02 -2.08332976e-03 9.98364778e-01 1.91765316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.95, Y:33.87, Z:19.18 [[ 9.87961262e-01 -1.43922091e-01 -5.67360190e-02 4.06949715e+02] [ 1.43815025e-01 9.89586476e-01 -5.98703453e-03 3.38714810e+01] [ 5.70068636e-02 -2.24453382e-03 9.98371263e-01 1.91781197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:406.98, Y:33.87, Z:19.18 [[ 9.87633372e-01 -1.46403800e-01 -5.60914426e-02 4.06981203e+02] [ 1.46303268e-01 9.89222091e-01 -5.91681236e-03 3.38747455e+01] [ 5.63531379e-02 -2.36272004e-03 9.98408104e-01 1.91800231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.01, Y:33.88, Z:19.18 [[ 9.87074683e-01 -1.50599330e-01 -5.48033930e-02 4.07010993e+02] [ 1.50509949e-01 9.88591607e-01 -5.77836654e-03 3.38753729e+01] [ 5.50483925e-02 -2.54477654e-03 9.98480445e-01 1.91815602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.04, Y:33.88, Z:19.18 [[ 9.86852698e-01 -1.52241929e-01 -5.42600057e-02 4.07041962e+02] [ 1.52156799e-01 9.88339810e-01 -5.72081972e-03 3.38788042e+01] [ 5.44982724e-02 -2.61042240e-03 9.98510453e-01 1.91832797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.07, Y:33.88, Z:19.18 [[ 9.86687006e-01 -1.53545507e-01 -5.35959760e-02 4.07073981e+02] [ 1.53464479e-01 9.88138020e-01 -5.64866494e-03 3.38815568e+01] [ 5.38275487e-02 -2.65161426e-03 9.98546726e-01 1.91848176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.11, Y:33.89, Z:19.19 [[ 9.86524517e-01 -1.54700783e-01 -5.32639166e-02 4.07105919e+02] [ 1.54622639e-01 9.87957676e-01 -5.60984809e-03 3.38860228e+01] [ 5.34903431e-02 -2.70155464e-03 9.98564712e-01 1.91866569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.14, Y:33.89, Z:19.19 [[ 9.86270160e-01 -1.56739319e-01 -5.19995967e-02 4.07136773e+02] [ 1.56667845e-01 9.87636183e-01 -5.47315348e-03 3.38869542e+01] [ 5.22145416e-02 -2.74865680e-03 9.98632108e-01 1.91882623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.17, Y:33.89, Z:19.19 [[ 9.86138947e-01 -1.57663054e-01 -5.16946723e-02 4.07168698e+02] [ 1.57593786e-01 9.87489046e-01 -5.43903270e-03 3.38913839e+01] [ 5.19054571e-02 -2.78311713e-03 9.98648125e-01 1.91899297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.20, Y:33.89, Z:19.19 [[ 9.86026519e-01 -1.58529824e-01 -5.11859294e-02 4.07200440e+02] [ 1.58463259e-01 9.87350207e-01 -5.38192500e-03 3.38910565e+01] [ 5.13916336e-02 -2.80436841e-03 9.98674639e-01 1.91908966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.23, Y:33.90, Z:19.19 [[ 9.85915334e-01 -1.59268502e-01 -5.10342863e-02 4.07232232e+02] [ 1.59203460e-01 9.87231227e-01 -5.36318021e-03 3.38983794e+01] [ 5.12368267e-02 -2.83719334e-03 9.98682501e-01 1.91921756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.26, Y:33.91, Z:19.19 [[ 9.85759010e-01 -1.59911136e-01 -5.20346362e-02 4.07263952e+02] [ 1.59844614e-01 9.87127063e-01 -5.46447152e-03 3.39058314e+01] [ 5.22386275e-02 -2.93080427e-03 9.98630330e-01 1.91926551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.30, Y:33.91, Z:19.19 [[ 9.85836452e-01 -1.59366819e-01 -5.22370295e-02 4.07296240e+02] [ 1.59299221e-01 9.87215127e-01 -5.48183831e-03 3.39099758e+01] [ 5.24428089e-02 -2.91712210e-03 9.98619668e-01 1.91933977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.33, Y:33.91, Z:19.19 [[ 9.85988385e-01 -1.58240815e-01 -5.27896789e-02 4.07327514e+02] [ 1.58170376e-01 9.87396316e-01 -5.53599973e-03 3.39135479e+01] [ 5.30003556e-02 -2.89133194e-03 9.98590308e-01 1.91944520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.36, Y:33.92, Z:19.20 [[ 9.86228571e-01 -1.56807994e-01 -5.25781206e-02 4.07359144e+02] [ 1.56736247e-01 9.87625121e-01 -5.51083205e-03 3.39197581e+01] [ 5.27916152e-02 -2.80595729e-03 9.98601608e-01 1.91958844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.39, Y:33.93, Z:19.20 [[ 9.86598474e-01 -1.54550218e-01 -5.23228582e-02 4.07389824e+02] [ 1.54476192e-01 9.87981311e-01 -5.48044122e-03 3.39257169e+01] [ 5.25410094e-02 -2.67564092e-03 9.98615183e-01 1.91978564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.42, Y:33.94, Z:19.20 [[ 9.87648043e-01 -1.48319387e-01 -5.05242750e-02 4.07418721e+02] [ 1.48242308e-01 9.88936919e-01 -5.29037629e-03 3.39385719e+01] [ 5.07499863e-02 -2.26480536e-03 9.98708821e-01 1.92011981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.45, Y:33.94, Z:19.20 [[ 9.88304392e-01 -1.43977212e-01 -5.02492960e-02 4.07447931e+02] [ 1.43895369e-01 9.89578920e-01 -5.26154416e-03 3.39435886e+01] [ 5.04831865e-02 -2.03063377e-03 9.98722847e-01 1.92030039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.48, Y:33.95, Z:19.20 [[ 9.89000781e-01 -1.39424849e-01 -4.93777998e-02 4.07477546e+02] [ 1.39340154e-01 9.90231079e-01 -5.17029083e-03 3.39530249e+01] [ 4.96162990e-02 -1.76688857e-03 9.98766790e-01 1.92048670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.51, Y:33.96, Z:19.21 [[ 9.89759576e-01 -1.34266486e-01 -4.84612387e-02 4.07506274e+02] [ 1.34178727e-01 9.90944156e-01 -5.07434034e-03 3.39602495e+01] [ 4.87036951e-02 -1.48009039e-03 9.98812174e-01 1.92066224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.54, Y:33.97, Z:19.21 [[ 9.91191018e-01 -1.23833160e-01 -4.69650336e-02 4.07535631e+02] [ 1.23738985e-01 9.92302611e-01 -4.91849989e-03 3.39742524e+01] [ 4.72125988e-02 -9.36232686e-04 9.98884425e-01 1.92088065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.57, Y:33.98, Z:19.21 [[ 9.91836207e-01 -1.18696987e-01 -4.66043339e-02 4.07566415e+02] [ 1.18598601e-01 9.92930287e-01 -4.88036860e-03 3.39821211e+01] [ 4.68541397e-02 -6.86682519e-04 9.98901506e-01 1.92101242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.60, Y:33.99, Z:19.21 [[ 9.92456753e-01 -1.13720553e-01 -4.57955055e-02 4.07597996e+02] [ 1.13620330e-01 9.93512676e-01 -4.79408302e-03 3.39899882e+01] [ 4.60436010e-02 -4.45380357e-04 9.98939332e-01 1.92112022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.63, Y:34.00, Z:19.21 [[ 9.93398364e-01 -1.04939933e-01 -4.63389829e-02 4.07628468e+02] [ 1.04827921e-01 9.94478561e-01 -4.84750757e-03 3.40010095e+01] [ 4.65918222e-02 -4.21131516e-05 9.98914010e-01 1.92120403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.66, Y:34.01, Z:19.21 [[ 9.93739904e-01 -1.01696512e-01 -4.62474108e-02 4.07659809e+02] [ 1.01581547e-01 9.94815464e-01 -4.83541648e-03 3.40075551e+01] [ 4.64993845e-02 1.07262756e-04 9.98918313e-01 1.92133107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.69, Y:34.01, Z:19.21 [[ 9.94000727e-01 -9.89735887e-02 -4.65487255e-02 4.07690596e+02] [ 9.88542965e-02 9.95090033e-01 -4.86348680e-03 3.40134602e+01] [ 4.68015295e-02 2.32767906e-04 9.98904181e-01 1.92144066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.72, Y:34.02, Z:19.22 [[ 9.94188819e-01 -9.68119157e-02 -4.70748887e-02 4.07722625e+02] [ 9.66876098e-02 9.95302638e-01 -4.91587822e-03 3.40187469e+01] [ 4.73296765e-02 3.35752699e-04 9.98879266e-01 1.92156923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.75, Y:34.02, Z:19.22 [[ 9.94314118e-01 -9.57482795e-02 -4.66015119e-02 4.07754267e+02] [ 9.56254511e-02 9.95405507e-01 -4.86311597e-03 3.40232475e+01] [ 4.68530366e-02 3.79174263e-04 9.98901721e-01 1.92170811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.79, Y:34.03, Z:19.22 [[ 9.94367780e-01 -9.54619368e-02 -4.60405994e-02 4.07786361e+02] [ 9.53418939e-02 9.95433007e-01 -4.80131460e-03 3.40266368e+01] [ 4.62886751e-02 3.84674593e-04 9.98928031e-01 1.92186496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.82, Y:34.03, Z:19.22 [[ 9.94303795e-01 -9.61679736e-02 -4.59530554e-02 4.07817146e+02] [ 9.60492985e-02 9.95365059e-01 -4.78877108e-03 3.40293964e+01] [ 4.62005921e-02 3.47734532e-04 9.98932122e-01 1.92204648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.85, Y:34.03, Z:19.22 [[ 9.94158407e-01 -9.74440707e-02 -4.64081385e-02 4.07848454e+02] [ 9.73245419e-02 9.95240961e-01 -4.83361309e-03 3.40319432e+01] [ 4.66582872e-02 2.88726274e-04 9.98910867e-01 1.92219834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.88, Y:34.03, Z:19.22 [[ 9.93981993e-01 -9.93866066e-02 -4.60662491e-02 4.07880158e+02] [ 9.92710325e-02 9.95048876e-01 -4.79553550e-03 3.40335995e+01] [ 4.63147814e-02 1.93631821e-04 9.98926876e-01 1.92235147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.91, Y:34.03, Z:19.22 [[ 9.93735279e-01 -1.01865268e-01 -4.59745840e-02 4.07912021e+02] [ 1.01752956e-01 9.94798201e-01 -4.78270919e-03 3.40349922e+01] [ 4.62226255e-02 7.46970100e-05 9.98931160e-01 1.92248396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.94, Y:34.03, Z:19.23 [[ 9.93056207e-01 -1.08059622e-01 -4.65025648e-02 4.07943918e+02] [ 1.07951661e-01 9.94144391e-01 -4.83414380e-03 3.40339517e+01] [ 4.67526397e-02 -2.19452598e-04 9.98906473e-01 1.92259583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:407.97, Y:34.03, Z:19.23 [[ 9.92688224e-01 -1.11501855e-01 -4.62323144e-02 4.07974709e+02] [ 1.11398994e-01 9.93764152e-01 -4.80350123e-03 3.40339134e+01] [ 4.64796160e-02 -3.81854232e-04 9.98919166e-01 1.92271899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.01, Y:34.03, Z:19.23 [[ 9.92256758e-01 -1.15214854e-01 -4.63903448e-02 4.08006827e+02] [ 1.15115419e-01 9.93340437e-01 -4.81825645e-03 3.40347985e+01] [ 4.66365401e-02 -5.59296469e-04 9.98911768e-01 1.92283927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.04, Y:34.03, Z:19.23 [[ 9.91812085e-01 -1.18939242e-01 -4.64999526e-02 4.08037776e+02] [ 1.18843586e-01 9.92901259e-01 -4.82620292e-03 3.40344486e+01] [ 4.67438863e-02 -7.39534733e-04 9.98906633e-01 1.92296719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.07, Y:34.03, Z:19.23 [[ 9.90839825e-01 -1.26724868e-01 -4.66610031e-02 4.08069486e+02] [ 1.26637245e-01 9.91937282e-01 -4.84121052e-03 3.40324500e+01] [ 4.68982903e-02 -1.11215669e-03 9.98899051e-01 1.92312954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.10, Y:34.03, Z:19.23 [[ 9.90361158e-01 -1.30580498e-01 -4.61899291e-02 4.08100508e+02] [ 1.30498895e-01 9.91436880e-01 -4.79076432e-03 3.40316620e+01] [ 4.64199796e-02 -1.28314781e-03 9.98921188e-01 1.92328721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.13, Y:34.03, Z:19.23 [[ 9.89858408e-01 -1.34296953e-01 -4.63104892e-02 4.08132950e+02] [ 1.34219260e-01 9.90940047e-01 -4.79731989e-03 3.40330571e+01] [ 4.65351837e-02 -1.46709216e-03 9.98915574e-01 1.92349551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.16, Y:34.03, Z:19.24 [[ 9.89394974e-01 -1.37785201e-01 -4.59654558e-02 4.08164839e+02] [ 1.37712569e-01 9.90460805e-01 -4.75831100e-03 3.40339791e+01] [ 4.61826072e-02 -1.62217199e-03 9.98931697e-01 1.92368560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.20, Y:34.03, Z:19.24 [[ 9.88960781e-01 -1.40922158e-01 -4.57986740e-02 4.08197041e+02] [ 1.40853653e-01 9.90019102e-01 -4.73570358e-03 3.40346207e+01] [ 4.60089277e-02 -1.76748544e-03 9.98939465e-01 1.92386500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.23, Y:34.03, Z:19.24 [[ 9.88214440e-01 -1.46227072e-01 -4.52754206e-02 4.08226973e+02] [ 1.46165823e-01 9.89249041e-01 -4.67832574e-03 3.40322718e+01] [ 4.54727642e-02 -1.99453008e-03 9.98963588e-01 1.92401498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.26, Y:34.03, Z:19.24 [[ 9.87881306e-01 -1.48417935e-01 -4.54163145e-02 4.08257720e+02] [ 1.48358746e-01 9.88922488e-01 -4.68996897e-03 3.40326226e+01] [ 4.56092902e-02 -2.10477482e-03 9.98957138e-01 1.92415002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.29, Y:34.04, Z:19.24 [[ 9.87593767e-01 -1.50222313e-01 -4.57362873e-02 4.08289097e+02] [ 1.50164293e-01 9.88649783e-01 -4.72137407e-03 3.40363938e+01] [ 4.59264263e-02 -2.20515764e-03 9.98942391e-01 1.92423910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.32, Y:34.03, Z:19.24 [[ 9.87134329e-01 -1.53027625e-01 -4.63504317e-02 4.08319098e+02] [ 1.52971237e-01 9.88219070e-01 -4.78221573e-03 3.40347657e+01] [ 4.65361916e-02 -2.36959355e-03 9.98913794e-01 1.92432866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.35, Y:34.04, Z:19.25 [[ 9.86927162e-01 -1.54361897e-01 -4.63376966e-02 4.08350470e+02] [ 1.54307198e-01 9.88011372e-01 -4.77678594e-03 3.40392362e+01] [ 4.65195249e-02 -2.43590031e-03 9.98914411e-01 1.92450630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.38, Y:34.04, Z:19.25 [[ 9.86729797e-01 -1.55446493e-01 -4.69115639e-02 4.08382327e+02] [ 1.55391774e-01 9.87841098e-01 -4.83335796e-03 3.40419924e+01] [ 4.70924994e-02 -2.52045283e-03 9.98887353e-01 1.92462843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.735099893 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:408.41, Y:34.05, Z:19.25 [[ 9.86532818e-01 -1.56414681e-01 -4.78272478e-02 4.08414109e+02] [ 1.56359110e-01 9.87687998e-01 -4.92417023e-03 3.40450872e+01] [ 4.80086111e-02 -2.62037037e-03 9.98843485e-01 1.92472480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.45, Y:34.05, Z:19.25 [[ 9.86174578e-01 -1.58230928e-01 -4.92206857e-02 4.08445629e+02] [ 1.58174514e-01 9.87398187e-01 -5.06387247e-03 3.40454538e+01] [ 4.94016771e-02 -2.79159573e-03 9.98775090e-01 1.92478834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.48, Y:34.05, Z:19.25 [[ 9.86191285e-01 -1.58126583e-01 -4.92212634e-02 4.08478021e+02] [ 1.58070319e-01 9.87414902e-01 -5.05825131e-03 3.40486879e+01] [ 4.94016530e-02 -2.79201745e-03 9.98775090e-01 1.92494305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.51, Y:34.05, Z:19.25 [[ 9.86024075e-01 -1.58880605e-01 -5.01345768e-02 4.08509455e+02] [ 1.58823473e-01 9.87293581e-01 -5.14681618e-03 3.40499978e+01] [ 5.03152752e-02 -2.88766296e-03 9.98729210e-01 1.92505009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.855099893 meters Centerline goodness [0,1] 0.9999788283615269 Centerline is valid? [True, True] Translation: X:408.54, Y:34.06, Z:19.25 [[ 9.85885425e-01 -1.59601080e-01 -5.05709848e-02 4.08541288e+02] [ 1.59544034e-01 9.87177176e-01 -5.18885888e-03 3.40568485e+01] [ 5.07506695e-02 -2.95267857e-03 9.98706990e-01 1.92516560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.57, Y:34.06, Z:19.25 [[ 9.85748477e-01 -1.60268585e-01 -5.11265108e-02 4.08573519e+02] [ 1.60211365e-01 9.87068811e-01 -5.24214110e-03 3.40605496e+01] [ 5.13055348e-02 -3.02361548e-03 9.98678427e-01 1.92527812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.61, Y:34.07, Z:19.25 [[ 9.85624671e-01 -1.60400936e-01 -5.30617407e-02 4.08605430e+02] [ 1.60339710e-01 9.87046919e-01 -5.43659428e-03 3.40673410e+01] [ 5.32464625e-02 -3.14946269e-03 9.98576434e-01 1.92528953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.64, Y:34.07, Z:19.25 [[ 9.85645322e-01 -1.59985938e-01 -5.39240074e-02 4.08636431e+02] [ 1.59922336e-01 9.87114163e-01 -5.52041626e-03 3.40698442e+01] [ 5.41123404e-02 -3.18248076e-03 9.98529782e-01 1.92541112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.67, Y:34.07, Z:19.26 [[ 9.85730859e-01 -1.59368339e-01 -5.41886100e-02 4.08668522e+02] [ 1.59303586e-01 9.87214098e-01 -5.54010358e-03 3.40748955e+01] [ 5.43786769e-02 -3.17138882e-03 9.98515349e-01 1.92554623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.70, Y:34.08, Z:19.26 [[ 9.86130496e-01 -1.56941168e-01 -5.40010544e-02 4.08699074e+02] [ 1.56873437e-01 9.87603303e-01 -5.51722643e-03 3.40773920e+01] [ 5.41974997e-02 -3.03062578e-03 9.98525636e-01 1.92565136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.73, Y:34.09, Z:19.26 [[ 9.86365894e-01 -1.55382106e-01 -5.42100033e-02 4.08730309e+02] [ 1.55311626e-01 9.87850013e-01 -5.53632032e-03 3.40894052e+01] [ 5.44115976e-02 -2.95860624e-03 9.98514209e-01 1.92596115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.76, Y:34.09, Z:19.26 [[ 9.86725757e-01 -1.53338195e-01 -5.34759651e-02 4.08761609e+02] [ 1.53266817e-01 9.88169771e-01 -5.45763602e-03 3.40875461e+01] [ 5.36801963e-02 -2.81090095e-03 9.98554223e-01 1.92607788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.79, Y:34.10, Z:19.26 [[ 9.87111848e-01 -1.50968183e-01 -5.30924415e-02 4.08792668e+02] [ 1.50894517e-01 9.88535031e-01 -5.41643512e-03 3.40977649e+01] [ 5.33014476e-02 -2.66473104e-03 9.98574912e-01 1.92635356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.82, Y:34.11, Z:19.27 [[ 9.88003228e-01 -1.45335137e-01 -5.22237452e-02 4.08821043e+02] [ 1.45256136e-01 9.89379753e-01 -5.32536370e-03 3.41053995e+01] [ 5.24430786e-02 -2.32434291e-03 9.98621210e-01 1.92664395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.85, Y:34.12, Z:19.27 [[ 9.88424853e-01 -1.42478119e-01 -5.21181006e-02 4.08851263e+02] [ 1.42395445e-01 9.89795578e-01 -5.31514704e-03 3.41150027e+01] [ 5.23435576e-02 -2.16775668e-03 9.98626784e-01 1.92688781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.88, Y:34.12, Z:19.27 [[ 9.88888723e-01 -1.39245980e-01 -5.20543088e-02 4.08881567e+02] [ 1.39159140e-01 9.90255812e-01 -5.30671009e-03 3.41198676e+01] [ 5.22860198e-02 -1.99608707e-03 9.98630156e-01 1.92704400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.91, Y:34.13, Z:19.27 [[ 9.89728983e-01 -1.33223962e-01 -5.18451116e-02 4.08911359e+02] [ 1.33129660e-01 9.91084546e-01 -5.28356659e-03 3.41285094e+01] [ 5.20867865e-02 -1.67282307e-03 9.98641161e-01 1.92722449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.94, Y:34.13, Z:19.27 [[ 9.90097275e-01 -1.30473414e-01 -5.18080563e-02 4.08941248e+02] [ 1.30375535e-01 9.91450631e-01 -5.27884122e-03 3.41324038e+01] [ 5.20538785e-02 -1.52793677e-03 9.98643109e-01 1.92738409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:408.97, Y:34.14, Z:19.28 [[ 9.90480297e-01 -1.27620106e-01 -5.15934988e-02 4.08973294e+02] [ 1.27519231e-01 9.91822173e-01 -5.25580622e-03 3.41379808e+01] [ 5.18423226e-02 -1.37339076e-03 9.98654338e-01 1.92757125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.01, Y:34.14, Z:19.28 [[ 9.90869547e-01 -1.24550885e-01 -5.16199430e-02 4.09005138e+02] [ 1.24445942e-01 9.92212475e-01 -5.25470335e-03 3.41431973e+01] [ 5.18724293e-02 -1.21716693e-03 9.98652978e-01 1.92775698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.04, Y:34.15, Z:19.28 [[ 9.91643161e-01 -1.17984449e-01 -5.21872716e-02 4.09036238e+02] [ 1.17868295e-01 9.93015047e-01 -5.30865777e-03 3.41499048e+01] [ 5.24490850e-02 -8.86930553e-04 9.98623206e-01 1.92790652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.07, Y:34.15, Z:19.28 [[ 9.92031361e-01 -1.14318465e-01 -5.29628791e-02 4.09067895e+02] [ 1.14193773e-01 9.93443904e-01 -5.38448753e-03 3.41547053e+01] [ 5.32311957e-02 -7.06450497e-04 9.98581965e-01 1.92800226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.10, Y:34.16, Z:19.28 [[ 9.92407030e-01 -1.10739620e-01 -5.35259198e-02 4.09099294e+02] [ 1.10607271e-01 9.93849316e-01 -5.43778805e-03 3.41593737e+01] [ 5.37988774e-02 -5.23856831e-04 9.98551654e-01 1.92810025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.13, Y:34.16, Z:19.28 [[ 9.92786877e-01 -1.07009850e-01 -5.40657895e-02 4.09131420e+02] [ 1.06869502e-01 9.94257906e-01 -5.48869756e-03 3.41645893e+01] [ 5.43426834e-02 -3.28877091e-04 9.98522290e-01 1.92821859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.16, Y:34.17, Z:19.28 [[ 9.93112139e-01 -1.03603882e-01 -5.47221659e-02 4.09162833e+02] [ 1.03455150e-01 9.94618627e-01 -5.55140327e-03 3.41695597e+01] [ 5.50028325e-02 -1.48123940e-04 9.98486187e-01 1.92836810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.19, Y:34.17, Z:19.28 [[ 9.93679538e-01 -9.77537087e-02 -5.51832204e-02 4.09193481e+02] [ 9.75936796e-02 9.95210622e-01 -5.59385316e-03 3.41743373e+01] [ 5.54657470e-02 1.72963891e-04 9.98460576e-01 1.92846305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.22, Y:34.18, Z:19.29 [[ 9.93900897e-01 -9.53570228e-02 -5.53899387e-02 4.09224766e+02] [ 9.51923883e-02 9.95443091e-01 -5.60913048e-03 3.41777535e+01] [ 5.56724018e-02 3.02219260e-04 9.98449043e-01 1.92860174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.26, Y:34.18, Z:19.29 [[ 9.94089228e-01 -9.34057300e-02 -5.53351334e-02 4.09256332e+02] [ 9.32385093e-02 9.95628044e-01 -5.60162289e-03 3.41808190e+01] [ 5.56164343e-02 4.09147621e-04 9.98452124e-01 1.92878139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.29, Y:34.18, Z:19.29 [[ 9.94220862e-01 -9.19281580e-02 -5.54444896e-02 4.09287369e+02] [ 9.17580905e-02 9.95765521e-01 -5.61069918e-03 3.41838190e+01] [ 5.57254923e-02 4.90793680e-04 9.98446007e-01 1.92893803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.32, Y:34.19, Z:19.29 [[ 9.94304450e-01 -9.09630036e-02 -5.55373104e-02 4.09317551e+02] [ 9.07909817e-02 9.95854124e-01 -5.61793660e-03 3.41852556e+01] [ 5.58180840e-02 5.43652419e-04 9.98440807e-01 1.92910658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.35, Y:34.19, Z:19.29 [[ 9.94220280e-01 -9.18294564e-02 -5.56182115e-02 4.09347811e+02] [ 9.16584363e-02 9.95774627e-01 -5.62345442e-03 3.41863404e+01] [ 5.58996026e-02 4.93074139e-04 9.98436273e-01 1.92926369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.38, Y:34.19, Z:19.29 [[ 9.94098487e-01 -9.31013371e-02 -5.56806928e-02 4.09378432e+02] [ 9.29319254e-02 9.95656549e-01 -5.62977179e-03 3.41866333e+01] [ 5.59629857e-02 4.22033633e-04 9.98432755e-01 1.92943801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.41, Y:34.19, Z:19.30 [[ 9.93980435e-01 -9.45693046e-02 -5.53131231e-02 4.09408842e+02] [ 9.44043949e-02 9.95518223e-01 -5.59260750e-03 3.41865532e+01] [ 5.55941110e-02 3.37140518e-04 9.98453395e-01 1.92961773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.44, Y:34.18, Z:19.30 [[ 9.93557132e-01 -9.90477046e-02 -5.50797376e-02 4.09440016e+02] [ 9.88910580e-02 9.95082682e-01 -5.56901032e-03 3.41828645e+01] [ 5.53604907e-02 8.62364024e-05 9.98466428e-01 1.92989252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.47, Y:34.18, Z:19.30 [[ 9.93310553e-01 -1.01642594e-01 -5.47989782e-02 4.09471906e+02] [ 1.01491502e-01 9.94820979e-01 -5.54035045e-03 3.41823816e+01] [ 5.50783087e-02 -5.83420135e-05 9.98482036e-01 1.93008533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.50, Y:34.18, Z:19.30 [[ 9.92721223e-01 -1.07402828e-01 -5.44904163e-02 4.09502422e+02] [ 1.07262199e-01 9.94215515e-01 -5.50731826e-03 3.41772065e+01] [ 5.47667188e-02 -3.77530155e-04 9.98499106e-01 1.93026644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.53, Y:34.18, Z:19.30 [[ 9.92724978e-01 -1.07368062e-01 -5.44905270e-02 4.09533082e+02] [ 1.07227442e-01 9.94219270e-01 -5.50622274e-03 3.41802750e+01] [ 5.47667244e-02 -3.76714950e-04 9.98499106e-01 1.93041301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.56, Y:34.18, Z:19.31 [[ 9.92070354e-01 -1.13333885e-01 -5.43308685e-02 4.09564743e+02] [ 1.13203126e-01 9.93556708e-01 -5.48816892e-03 3.41750981e+01] [ 5.46027944e-02 -7.05774460e-04 9.98507905e-01 1.93058996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.60, Y:34.17, Z:19.31 [[ 9.91738480e-01 -1.16096908e-01 -5.45554357e-02 4.09595712e+02] [ 1.15969341e-01 9.93237516e-01 -5.50901736e-03 3.41733018e+01] [ 5.48260853e-02 -8.63253420e-04 9.98495546e-01 1.93069454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.63, Y:34.17, Z:19.31 [[ 9.91145159e-01 -1.20802996e-01 -5.51172303e-02 4.09627306e+02] [ 1.20680106e-01 9.92675851e-01 -5.56475328e-03 3.41686422e+01] [ 5.53857824e-02 -1.13607493e-03 9.98464383e-01 1.93079137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.66, Y:34.17, Z:19.31 [[ 9.91153822e-01 -1.20731838e-01 -5.51173724e-02 4.09658816e+02] [ 1.20608916e-01 9.92684511e-01 -5.56334556e-03 3.41717650e+01] [ 5.53858348e-02 -1.13351534e-03 9.98464383e-01 1.93094199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.69, Y:34.17, Z:19.31 [[ 9.90944130e-01 -1.22358760e-01 -5.52997817e-02 4.09689905e+02] [ 1.22237760e-01 9.92485171e-01 -5.57802588e-03 3.41719129e+01] [ 5.55667337e-02 -1.23220947e-03 9.98454215e-01 1.93107432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.72, Y:34.17, Z:19.31 [[ 9.90754776e-01 -1.23541416e-01 -5.60579409e-02 4.09721267e+02] [ 1.23419081e-01 9.92338541e-01 -5.65244473e-03 3.41705552e+01] [ 5.63267664e-02 -1.31843295e-03 9.98411517e-01 1.93116090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.75, Y:34.17, Z:19.31 [[ 9.90728784e-01 -1.23397596e-01 -5.68287701e-02 4.09751760e+02] [ 1.23271746e-01 9.92356420e-01 -5.72825267e-03 3.41704372e+01] [ 5.71012475e-02 -1.33023690e-03 9.98367506e-01 1.93122959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.78, Y:34.17, Z:19.31 [[ 9.90809127e-01 -1.22709228e-01 -5.69185362e-02 4.09782387e+02] [ 1.22581895e-01 9.92441823e-01 -5.73644488e-03 3.41730950e+01] [ 5.71922506e-02 -1.29346009e-03 9.98362346e-01 1.93140311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.81, Y:34.17, Z:19.32 [[ 9.91072206e-01 -1.20289502e-01 -5.75006002e-02 4.09812832e+02] [ 1.20155482e-01 9.92738171e-01 -5.79510729e-03 3.41742661e+01] [ 5.77801313e-02 -1.16564257e-03 9.98328652e-01 1.93150737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.84, Y:34.18, Z:19.32 [[ 9.91240786e-01 -1.18681169e-01 -5.79351714e-02 4.09842061e+02] [ 1.18542348e-01 9.92931828e-01 -5.83928261e-03 3.41764459e+01] [ 5.82186885e-02 -1.07963619e-03 9.98303270e-01 1.93159475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.87, Y:34.18, Z:19.32 [[ 9.91443261e-01 -1.16911974e-01 -5.80676411e-02 4.09871701e+02] [ 1.16769364e-01 9.93141802e-01 -5.85470319e-03 3.41797665e+01] [ 5.83538866e-02 -9.75915507e-04 9.98295483e-01 1.93174926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.90, Y:34.18, Z:19.32 [[ 9.91665930e-01 -1.14777878e-01 -5.85211274e-02 4.09900402e+02] [ 1.14629174e-01 9.93390814e-01 -5.90287631e-03 3.41818716e+01] [ 5.88118700e-02 -8.54547162e-04 9.98268718e-01 1.93179249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.93, Y:34.19, Z:19.32 [[ 9.92139588e-01 -1.10392504e-01 -5.89281963e-02 4.09929550e+02] [ 1.10233783e-01 9.93887892e-01 -5.94745387e-03 3.41854295e+01] [ 5.92245751e-02 -5.95173564e-04 9.98244507e-01 1.93193096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.96, Y:34.19, Z:19.32 [[ 9.92363458e-01 -1.08290077e-01 -5.90595104e-02 4.09957773e+02] [ 1.08126647e-01 9.94119229e-01 -5.96541624e-03 3.41883734e+01] [ 5.93581903e-02 -4.66045742e-04 9.98236639e-01 1.93208739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:409.99, Y:34.19, Z:19.32 [[ 9.92611008e-01 -1.06250323e-01 -5.86025217e-02 4.09985989e+02] [ 1.06085095e-01 9.94339359e-01 -5.93225658e-03 3.41902728e+01] [ 5.89010981e-02 -3.28430887e-04 9.98263769e-01 1.93208551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.01, Y:34.19, Z:19.32 [[ 9.92794909e-01 -1.04607174e-01 -5.84431995e-02 4.10013381e+02] [ 1.04439557e-01 9.94513594e-01 -5.92364321e-03 3.41935232e+01] [ 5.87422120e-02 -2.22819037e-04 9.98273160e-01 1.93240062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.04, Y:34.20, Z:19.33 [[ 9.93196987e-01 -1.01512783e-01 -5.70517342e-02 4.10041827e+02] [ 1.01347038e-01 9.94834235e-01 -5.79857494e-03 3.41957516e+01] [ 5.73456478e-02 -2.28971378e-05 9.98354384e-01 1.93263441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.07, Y:34.20, Z:19.33 [[ 9.93322430e-01 -1.00530780e-01 -5.66048731e-02 4.10068313e+02] [ 1.00365242e-01 9.94933948e-01 -5.76698500e-03 3.41981189e+01] [ 5.68978694e-02 4.73137610e-05 9.98380003e-01 1.93272371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.10, Y:34.20, Z:19.33 [[ 9.93391081e-01 -9.98279195e-02 -5.66440323e-02 4.10097098e+02] [ 9.96603282e-02 9.95004712e-01 -5.78294114e-03 3.41999340e+01] [ 5.69383781e-02 9.95592987e-05 9.98377690e-01 1.93297320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.12, Y:34.20, Z:19.33 [[ 9.93471553e-01 -9.88268911e-02 -5.69870097e-02 4.10124634e+02] [ 9.86548661e-02 9.95104626e-01 -5.83104013e-03 3.42002710e+01] [ 5.72843006e-02 1.70926681e-04 9.98357892e-01 1.93305660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.15, Y:34.20, Z:19.33 [[ 9.93477418e-01 -9.88694888e-02 -5.68105916e-02 4.10152085e+02] [ 9.86981938e-02 9.95100394e-01 -5.82004927e-03 3.42014860e+01] [ 5.71076673e-02 1.74984750e-04 9.98368010e-01 1.93319857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.18, Y:34.20, Z:19.33 [[ 9.93449461e-01 -9.91872420e-02 -5.67455662e-02 4.10179620e+02] [ 9.90159124e-02 9.95068772e-01 -5.82992190e-03 3.42023765e+01] [ 5.70439948e-02 1.73018750e-04 9.98371651e-01 1.93331779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.21, Y:34.20, Z:19.33 [[ 9.93400621e-01 -9.98855568e-02 -5.63744799e-02 4.10207255e+02] [ 9.97166600e-02 9.94998921e-01 -5.80811306e-03 3.42030768e+01] [ 5.66726933e-02 1.48308279e-04 9.98392800e-01 1.93345582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.24, Y:34.20, Z:19.34 [[ 9.93223412e-01 -1.01841757e-01 -5.59956234e-02 4.10235142e+02] [ 1.01677317e-01 9.94800610e-01 -5.78526997e-03 3.42015140e+01] [ 5.62936624e-02 5.25808027e-05 9.98414253e-01 1.93355321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.26, Y:34.20, Z:19.34 [[ 9.93072397e-01 -1.03352810e-01 -5.59053728e-02 4.10263154e+02] [ 1.03190382e-01 9.94644759e-01 -5.79212823e-03 3.42021864e+01] [ 5.62046188e-02 -1.68941060e-05 9.98419271e-01 1.93371110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.29, Y:34.20, Z:19.34 [[ 9.92910533e-01 -1.04821272e-01 -5.60461821e-02 4.10290649e+02] [ 1.04659511e-01 9.94491073e-01 -5.82177987e-03 3.42026188e+01] [ 5.63476742e-02 -8.52594420e-05 9.98411204e-01 1.93371970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.32, Y:34.20, Z:19.34 [[ 9.92741849e-01 -1.06514077e-01 -5.58423980e-02 4.10318516e+02] [ 1.06355688e-01 9.94311180e-01 -5.80911840e-03 3.42034148e+01] [ 5.61434735e-02 -1.72201709e-04 9.98422696e-01 1.93390876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.35, Y:34.20, Z:19.34 [[ 9.92416821e-01 -1.09561235e-01 -5.57242325e-02 4.10346779e+02] [ 1.09407497e-01 9.93979993e-01 -5.81138874e-03 3.42017998e+01] [ 5.60254752e-02 -3.29328856e-04 9.98429285e-01 1.93399104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.37, Y:34.20, Z:19.34 [[ 9.92256889e-01 -1.10918011e-01 -5.58879278e-02 4.10374371e+02] [ 1.10765233e-01 9.93829479e-01 -5.83352327e-03 3.42018672e+01] [ 5.61901129e-02 -4.02085713e-04 9.98420007e-01 1.93405904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.40, Y:34.20, Z:19.34 [[ 9.92226025e-01 -1.11194119e-01 -5.58872385e-02 4.10401599e+02] [ 1.11041407e-01 9.93798621e-01 -5.84011862e-03 3.42047847e+01] [ 5.61900474e-02 -4.11079902e-04 9.98420007e-01 1.93418943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.43, Y:34.21, Z:19.34 [[ 9.92072630e-01 -1.12714923e-01 -5.55629579e-02 4.10429864e+02] [ 1.12565493e-01 9.93627252e-01 -5.82177013e-03 3.42053203e+01] [ 5.58650695e-02 -4.78852912e-04 9.98438213e-01 1.93429901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.46, Y:34.20, Z:19.35 [[ 9.91942648e-01 -1.14623949e-01 -5.39549186e-02 4.10457927e+02] [ 1.14485066e-01 9.93408799e-01 -5.66806598e-03 3.42045682e+01] [ 5.42489870e-02 -5.54636039e-04 9.98527285e-01 1.93456507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.49, Y:34.21, Z:19.35 [[ 9.91866997e-01 -1.15428524e-01 -5.36294389e-02 4.10486013e+02] [ 1.15291647e-01 9.93315619e-01 -5.64943500e-03 3.42054597e+01] [ 5.39230652e-02 -5.79538226e-04 9.98544925e-01 1.93474785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.51, Y:34.21, Z:19.35 [[ 9.91826969e-01 -1.15972965e-01 -5.31933734e-02 4.10512596e+02] [ 1.15838321e-01 9.93252195e-01 -5.61784039e-03 3.42062509e+01] [ 5.34859525e-02 -5.89905445e-04 9.98568428e-01 1.93491018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.54, Y:34.21, Z:19.35 [[ 9.91738837e-01 -1.16970721e-01 -5.26491259e-02 4.10540137e+02] [ 1.16839882e-01 9.93135163e-01 -5.56681252e-03 3.42050561e+01] [ 5.29388524e-02 -6.30693474e-04 9.98597557e-01 1.93506930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.57, Y:34.21, Z:19.35 [[ 9.91634838e-01 -1.17806863e-01 -5.27436417e-02 4.10567620e+02] [ 1.17676385e-01 9.93036301e-01 -5.58337804e-03 3.42062929e+01] [ 5.30341111e-02 -6.70008920e-04 9.98592477e-01 1.93518553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.60, Y:34.21, Z:19.35 [[ 9.91467967e-01 -1.18835168e-01 -5.35674662e-02 4.10595942e+02] [ 1.18701252e-01 9.92913734e-01 -5.68595277e-03 3.42079083e+01] [ 5.38635640e-02 -7.21085241e-04 9.98548044e-01 1.93531680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.62, Y:34.21, Z:19.35 [[ 9.91305887e-01 -1.20059351e-01 -5.38367062e-02 4.10623985e+02] [ 1.19925186e-01 9.92766411e-01 -5.72746701e-03 3.42077791e+01] [ 5.41349095e-02 -7.78705214e-04 9.98533327e-01 1.93536263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.65, Y:34.21, Z:19.35 [[ 9.90948001e-01 -1.22468808e-01 -5.49859102e-02 4.10652210e+02] [ 1.22332272e-01 9.92471932e-01 -5.85485033e-03 3.42057519e+01] [ 5.52890091e-02 -9.24699077e-04 9.98469965e-01 1.93542440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.68, Y:34.21, Z:19.36 [[ 9.90753014e-01 -1.24186131e-01 -5.46467806e-02 4.10680827e+02] [ 1.24053549e-01 9.92258428e-01 -5.82482365e-03 3.42066878e+01] [ 5.49470909e-02 -1.00816547e-03 9.98488758e-01 1.93555912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.71, Y:34.21, Z:19.36 [[ 9.90592492e-01 -1.25629069e-01 -5.42572739e-02 4.10708318e+02] [ 1.25499823e-01 9.92076709e-01 -5.79629349e-03 3.42060577e+01] [ 5.45555607e-02 -1.06751346e-03 9.98510166e-01 1.93566364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.74, Y:34.21, Z:19.36 [[ 9.90447319e-01 -1.26981156e-01 -5.37577309e-02 4.10737395e+02] [ 1.26855787e-01 9.91904494e-01 -5.75183883e-03 3.42079010e+01] [ 5.40529101e-02 -1.12258591e-03 9.98537442e-01 1.93586751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.77, Y:34.21, Z:19.36 [[ 9.90219664e-01 -1.29012213e-01 -5.31118185e-02 4.10765856e+02] [ 1.28892054e-01 9.91642272e-01 -5.69586590e-03 3.42090022e+01] [ 5.34027607e-02 -1.20553297e-03 9.98572327e-01 1.93608533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.79, Y:34.21, Z:19.36 [[ 9.90106866e-01 -1.29904094e-01 -5.30407383e-02 4.10794338e+02] [ 1.29784810e-01 9.91525790e-01 -5.70179296e-03 3.42109728e+01] [ 5.33319462e-02 -1.23849779e-03 9.98576071e-01 1.93623502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.82, Y:34.21, Z:19.36 [[ 9.90016229e-01 -1.30600198e-01 -5.30231502e-02 4.10822586e+02] [ 1.30481320e-01 9.91434311e-01 -5.71247972e-03 3.42113800e+01] [ 5.33150213e-02 -1.26308298e-03 9.98576944e-01 1.93631784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.85, Y:34.22, Z:19.36 [[ 9.89896175e-01 -1.31523836e-01 -5.29815340e-02 4.10851463e+02] [ 1.31406160e-01 9.91312148e-01 -5.71369857e-03 3.42150576e+01] [ 5.32727258e-02 -1.30613159e-03 9.98579146e-01 1.93648330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.88, Y:34.22, Z:19.37 [[ 9.89775537e-01 -1.32471145e-01 -5.28751545e-02 4.10879773e+02] [ 1.32354584e-01 9.91185955e-01 -5.71551202e-03 3.42173543e+01] [ 5.31662509e-02 -1.34119510e-03 9.98584774e-01 1.93660675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.91, Y:34.22, Z:19.37 [[ 9.89493276e-01 -1.34532278e-01 -5.29539663e-02 4.10907927e+02] [ 1.34417652e-01 9.90908163e-01 -5.73647694e-03 3.42197903e+01] [ 5.32442588e-02 -1.44174246e-03 9.98580478e-01 1.93671461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.94, Y:34.22, Z:19.37 [[ 9.89323433e-01 -1.35901976e-01 -5.26288653e-02 4.10936217e+02] [ 1.35790384e-01 9.90721152e-01 -5.70700104e-03 3.42220691e+01] [ 5.29161228e-02 -1.50042397e-03 9.98597833e-01 1.93683399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.96, Y:34.22, Z:19.37 [[ 9.89182748e-01 -1.36900537e-01 -5.26852324e-02 4.10964200e+02] [ 1.36789441e-01 9.90583597e-01 -5.72592028e-03 3.42229982e+01] [ 5.29730086e-02 -1.54280192e-03 9.98594753e-01 1.93695593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:410.99, Y:34.23, Z:19.37 [[ 9.88901964e-01 -1.38989313e-01 -5.24869112e-02 4.10992310e+02] [ 1.38881734e-01 9.90292517e-01 -5.70917378e-03 3.42253279e+01] [ 5.27709095e-02 -1.64366007e-03 9.98605292e-01 1.93712561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.02, Y:34.23, Z:19.37 [[ 9.88746131e-01 -1.40088857e-01 -5.24995378e-02 4.11020477e+02] [ 1.39982523e-01 9.90137480e-01 -5.71529332e-03 3.42268938e+01] [ 5.27824090e-02 -1.69804360e-03 9.98604593e-01 1.93726658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.05, Y:34.23, Z:19.37 [[ 9.88557354e-01 -1.41366871e-01 -5.26285729e-02 4.11048960e+02] [ 1.41261522e-01 9.89955702e-01 -5.73496906e-03 3.42313685e+01] [ 5.29106904e-02 -1.76504648e-03 9.98597688e-01 1.93743447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.08, Y:34.23, Z:19.38 [[ 9.88393138e-01 -1.42501125e-01 -5.26539152e-02 4.11077061e+02] [ 1.42396616e-01 9.89792977e-01 -5.75027645e-03 3.42335717e+01] [ 5.29358964e-02 -1.81420555e-03 9.98596265e-01 1.93755549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.10, Y:34.24, Z:19.38 [[ 9.88207194e-01 -1.43664203e-01 -5.29824414e-02 4.11104973e+02] [ 1.43559783e-01 9.89624702e-01 -5.79121849e-03 3.42359504e+01] [ 5.32647236e-02 -1.88322405e-03 9.98578651e-01 1.93769560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.13, Y:34.24, Z:19.38 [[ 9.87892442e-01 -1.45812044e-01 -5.29846221e-02 4.11132539e+02] [ 1.45710332e-01 9.89310305e-01 -5.79831859e-03 3.42373478e+01] [ 5.32636973e-02 -1.99229177e-03 9.98578494e-01 1.93783150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.16, Y:34.24, Z:19.38 [[ 9.87740737e-01 -1.46689464e-01 -5.33894965e-02 4.11160902e+02] [ 1.46587164e-01 9.89180469e-01 -5.84833678e-03 3.42400385e+01] [ 5.36697366e-02 -2.04957439e-03 9.98556638e-01 1.93795343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.19, Y:34.24, Z:19.38 [[ 9.87665201e-01 -1.47134699e-01 -5.35614684e-02 4.11188787e+02] [ 1.47031665e-01 9.89114305e-01 -5.88064995e-03 3.42449699e+01] [ 5.38436622e-02 -2.06711857e-03 9.98547238e-01 1.93808655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.22, Y:34.25, Z:19.38 [[ 9.87590661e-01 -1.47541318e-01 -5.38167857e-02 4.11216829e+02] [ 1.47437129e-01 9.89053695e-01 -5.92294334e-03 3.42471788e+01] [ 5.41015696e-02 -2.08514885e-03 9.98533261e-01 1.93817278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.24, Y:34.25, Z:19.38 [[ 9.87548766e-01 -1.47801451e-01 -5.38717482e-02 4.11244179e+02] [ 1.47697102e-01 9.89014833e-01 -5.93514234e-03 3.42532763e+01] [ 5.41571807e-02 -2.09545858e-03 9.98530224e-01 1.93835554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.27, Y:34.26, Z:19.38 [[ 9.87497780e-01 -1.48029057e-01 -5.41805611e-02 4.11271412e+02] [ 1.47922985e-01 9.88980773e-01 -5.98502292e-03 3.42571991e+01] [ 5.44694905e-02 -2.10435346e-03 9.98513218e-01 1.93847372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.30, Y:34.26, Z:19.39 [[ 9.87528244e-01 -1.47625854e-01 -5.47226977e-02 4.11299732e+02] [ 1.47516164e-01 9.89041076e-01 -6.06065003e-03 3.42627929e+01] [ 5.50177044e-02 -2.08741935e-03 9.98483197e-01 1.93865284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.33, Y:34.27, Z:19.39 [[ 9.87587428e-01 -1.47167428e-01 -5.48891580e-02 4.11328384e+02] [ 1.47055594e-01 9.89109462e-01 -6.09300167e-03 3.42666415e+01] [ 5.51880769e-02 -2.05438590e-03 9.98473863e-01 1.93877938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.36, Y:34.27, Z:19.39 [[ 9.87612457e-01 -1.47075454e-01 -5.46849659e-02 4.11356362e+02] [ 1.46963553e-01 9.89123197e-01 -6.08408669e-03 3.42730881e+01] [ 5.49849881e-02 -2.02797708e-03 9.98485122e-01 1.93899199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.38, Y:34.28, Z:19.39 [[ 9.87731262e-01 -1.46313037e-01 -5.45843401e-02 4.11384513e+02] [ 1.46199609e-01 9.89236384e-01 -6.08699336e-03 3.42783183e+01] [ 5.48874217e-02 -1.96789558e-03 9.98490610e-01 1.93918265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.41, Y:34.28, Z:19.39 [[ 9.87865401e-01 -1.45575488e-01 -5.41269525e-02 4.11412194e+02] [ 1.45462133e-01 9.89345327e-01 -6.04911553e-03 3.42797555e+01] [ 5.44308504e-02 -1.89771003e-03 9.98515739e-01 1.93929059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.44, Y:34.29, Z:19.39 [[ 9.88227296e-01 -1.43291422e-01 -5.36132416e-02 4.11439592e+02] [ 1.43176490e-01 9.89678994e-01 -5.99842342e-03 3.42858778e+01] [ 5.39194217e-02 -1.74834998e-03 9.98543759e-01 1.93949142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.47, Y:34.29, Z:19.40 [[ 9.88402824e-01 -1.42249644e-01 -5.31497469e-02 4.11468383e+02] [ 1.42134896e-01 9.89829402e-01 -5.95199953e-03 3.42911959e+01] [ 5.34558520e-02 -1.67146061e-03 9.98568815e-01 1.93963980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.50, Y:34.30, Z:19.40 [[ 9.88575122e-01 -1.41105955e-01 -5.29937505e-02 4.11497989e+02] [ 1.40989674e-01 9.89993216e-01 -5.94512243e-03 3.43012497e+01] [ 5.33023457e-02 -1.59437148e-03 9.98577147e-01 1.93991258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.53, Y:34.31, Z:19.40 [[ 9.88912216e-01 -1.38742272e-01 -5.29453592e-02 4.11525847e+02] [ 1.38622803e-01 9.90327438e-01 -5.94000752e-03 3.43063451e+01] [ 5.32573721e-02 -1.46528808e-03 9.98579744e-01 1.94001102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.55, Y:34.31, Z:19.40 [[ 9.89065117e-01 -1.37533982e-01 -5.32409400e-02 4.11554807e+02] [ 1.37411275e-01 9.90496052e-01 -5.97599339e-03 3.43113865e+01] [ 5.35568431e-02 -1.40525883e-03 9.98563814e-01 1.94015702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.58, Y:34.32, Z:19.40 [[ 9.89242214e-01 -1.36334073e-01 -5.30364232e-02 4.11583667e+02] [ 1.36210482e-01 9.90662023e-01 -5.95495625e-03 3.43162553e+01] [ 5.33530337e-02 -1.33322266e-03 9.98574823e-01 1.94028969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.61, Y:34.32, Z:19.40 [[ 9.89433608e-01 -1.34897245e-01 -5.31400803e-02 4.11613152e+02] [ 1.34770998e-01 9.90858797e-01 -5.96851668e-03 3.43218731e+01] [ 5.34594524e-02 -1.25629066e-03 9.98569231e-01 1.94043720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.64, Y:34.33, Z:19.41 [[ 9.89797381e-01 -1.31850366e-01 -5.40057882e-02 4.11642561e+02] [ 1.31715344e-01 9.91269012e-01 -6.06749539e-03 3.43297244e+01] [ 5.43342658e-02 -1.10779991e-03 9.98522188e-01 1.94057212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.67, Y:34.33, Z:19.41 [[ 9.90004050e-01 -1.30320420e-01 -5.39311460e-02 4.11670852e+02] [ 1.30183482e-01 9.91471403e-01 -6.05948317e-03 3.43322386e+01] [ 5.42608634e-02 -1.02203151e-03 9.98526271e-01 1.94063428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.70, Y:34.34, Z:19.41 [[ 9.90211617e-01 -1.28747686e-01 -5.38979263e-02 4.11699996e+02] [ 1.28608433e-01 9.91676945e-01 -6.05862514e-03 3.43383760e+01] [ 5.42293649e-02 -9.32406863e-04 9.98528070e-01 1.94079964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.73, Y:34.34, Z:19.41 [[ 9.90399662e-01 -1.27312317e-01 -5.38524180e-02 4.11729995e+02] [ 1.27171085e-01 9.91862314e-01 -6.05523893e-03 3.43434582e+01] [ 5.41850904e-02 -8.51363834e-04 9.98530546e-01 1.94096832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.76, Y:34.35, Z:19.41 [[ 9.90719199e-01 -1.24987944e-01 -5.34179981e-02 4.11758714e+02] [ 1.24845588e-01 9.92158001e-01 -6.00673466e-03 3.43479572e+01] [ 5.37498636e-02 -7.18014044e-04 9.98554173e-01 1.94107691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.79, Y:34.35, Z:19.41 [[ 9.90842511e-01 -1.24011623e-01 -5.34063264e-02 4.11787981e+02] [ 1.23867760e-01 9.92280544e-01 -6.00825605e-03 3.43517896e+01] [ 5.37391522e-02 -6.62086500e-04 9.98554788e-01 1.94119401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.82, Y:34.36, Z:19.41 [[ 9.90909050e-01 -1.23547096e-01 -5.32481868e-02 4.11817142e+02] [ 1.23403310e-01 9.92338508e-01 -5.99238889e-03 3.43559380e+01] [ 5.35805685e-02 -6.33090115e-04 9.98563329e-01 1.94137294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.85, Y:34.36, Z:19.41 [[ 9.90998974e-01 -1.22958006e-01 -5.29373341e-02 4.11846710e+02] [ 1.22814952e-01 9.92411696e-01 -5.95934243e-03 3.43593338e+01] [ 5.32683784e-02 -5.95793920e-04 9.98580054e-01 1.94148754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.88, Y:34.36, Z:19.42 [[ 9.91045002e-01 -1.22558059e-01 -5.30030707e-02 4.11875912e+02] [ 1.22413980e-01 9.92461180e-01 -5.96857628e-03 3.43616642e+01] [ 5.33349872e-02 -5.73189124e-04 9.98576512e-01 1.94156191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.91, Y:34.36, Z:19.42 [[ 9.91041865e-01 -1.22563899e-01 -5.30482098e-02 4.11905482e+02] [ 1.22419526e-01 9.92460459e-01 -5.97472280e-03 3.43644037e+01] [ 5.33805360e-02 -5.72936256e-04 9.98574078e-01 1.94168894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.93, Y:34.37, Z:19.42 [[ 9.90964360e-01 -1.23255424e-01 -5.28936443e-02 4.11933681e+02] [ 1.23112711e-01 9.92374795e-01 -5.96040484e-03 3.43666722e+01] [ 5.32249717e-02 -6.05331174e-04 9.98582363e-01 1.94179870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.96, Y:34.37, Z:19.42 [[ 9.90919933e-01 -1.23641489e-01 -5.28248806e-02 4.11963082e+02] [ 1.23499058e-01 9.92326764e-01 -5.96461255e-03 3.43696264e+01] [ 5.31570164e-02 -6.13369529e-04 9.98585978e-01 1.94197423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:411.99, Y:34.37, Z:19.42 [[ 9.90890433e-01 -1.24025826e-01 -5.24761228e-02 4.11991387e+02] [ 1.23885704e-01 9.92278792e-01 -5.92722561e-03 3.43714525e+01] [ 5.28060728e-02 -6.27810253e-04 9.98604589e-01 1.94211606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.02, Y:34.37, Z:19.42 [[ 9.90758383e-01 -1.25340321e-01 -5.18423687e-02 4.12020508e+02] [ 1.25205214e-01 9.92113568e-01 -5.85848659e-03 3.43714414e+01] [ 5.21678220e-02 -6.86590191e-04 9.98638096e-01 1.94227233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.05, Y:34.37, Z:19.42 [[ 9.90686759e-01 -1.25984283e-01 -5.16498403e-02 4.12049575e+02] [ 1.25850873e-01 9.92031980e-01 -5.84019250e-03 3.43734961e+01] [ 5.19740659e-02 -7.14376097e-04 9.98648179e-01 1.94243556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.08, Y:34.38, Z:19.43 [[ 9.90656453e-01 -1.26552681e-01 -5.08351284e-02 4.12079062e+02] [ 1.26424064e-01 9.91959619e-01 -5.75062523e-03 3.43754970e+01] [ 5.11541517e-02 -7.29889558e-04 9.98690503e-01 1.94266050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.11, Y:34.38, Z:19.43 [[ 9.90652152e-01 -1.26716099e-01 -5.05108312e-02 4.12109006e+02] [ 1.26589240e-01 9.91938755e-01 -5.71574142e-03 3.43778301e+01] [ 5.08279275e-02 -7.31816198e-04 9.98707157e-01 1.94284847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.14, Y:34.38, Z:19.43 [[ 9.90678018e-01 -1.26706098e-01 -5.00262850e-02 4.12139137e+02] [ 1.26581564e-01 9.91940040e-01 -5.66260111e-03 3.43804737e+01] [ 5.03405613e-02 -7.22590951e-04 9.98731849e-01 1.94302269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.17, Y:34.38, Z:19.43 [[ 9.90685171e-01 -1.26819767e-01 -4.95947482e-02 4.12169259e+02] [ 1.26697516e-01 9.91925514e-01 -5.61375437e-03 3.43826727e+01] [ 4.99062311e-02 -7.22068199e-04 9.98753647e-01 1.94321617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.20, Y:34.39, Z:19.43 [[ 9.90685171e-01 -1.26819768e-01 -4.95947482e-02 4.12199038e+02] [ 1.26697516e-01 9.91925514e-01 -5.61375437e-03 3.43860434e+01] [ 4.99062311e-02 -7.22068199e-04 9.98753647e-01 1.94335876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.23, Y:34.39, Z:19.44 [[ 9.90752717e-01 -1.26630525e-01 -4.87212866e-02 4.12229453e+02] [ 1.26512315e-01 9.91949707e-01 -5.51488505e-03 3.43874739e+01] [ 4.90274187e-02 -6.99955391e-04 9.98797188e-01 1.94356932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.26, Y:34.39, Z:19.44 [[ 9.90768849e-01 -1.26548820e-01 -4.86053870e-02 4.12259775e+02] [ 1.26431073e-01 9.91960137e-01 -5.50176608e-03 3.43900634e+01] [ 4.89108484e-02 -6.94252799e-04 9.98802907e-01 1.94375137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.29, Y:34.39, Z:19.44 [[ 9.90782371e-01 -1.26532228e-01 -4.83724017e-02 4.12289853e+02] [ 1.26415589e-01 9.91962257e-01 -5.47539389e-03 3.43925093e+01] [ 4.86764105e-02 -6.90101900e-04 9.98814363e-01 1.94389537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.32, Y:34.40, Z:19.44 [[ 9.90832024e-01 -1.26177966e-01 -4.82806512e-02 4.12320287e+02] [ 1.26061348e-01 9.92007394e-01 -5.46500843e-03 3.43952004e+01] [ 4.85843267e-02 -6.71418638e-04 9.98818859e-01 1.94405449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.35, Y:34.40, Z:19.44 [[ 9.90920926e-01 -1.25647196e-01 -4.78382730e-02 4.12349943e+02] [ 1.25532089e-01 9.92074782e-01 -5.41493104e-03 3.43952233e+01] [ 4.81395151e-02 -6.39469854e-04 9.98840417e-01 1.94415709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.38, Y:34.40, Z:19.44 [[ 9.90986121e-01 -1.25132229e-01 -4.78375749e-02 4.12379387e+02] [ 1.25016537e-01 9.92139883e-01 -5.41460829e-03 3.43972645e+01] [ 4.81391080e-02 -6.14686307e-04 9.98840452e-01 1.94427546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.41, Y:34.40, Z:19.44 [[ 9.91002699e-01 -1.25028746e-01 -4.77646621e-02 4.12409427e+02] [ 1.24913205e-01 9.92152934e-01 -5.40804719e-03 3.44000928e+01] [ 4.80660110e-02 -6.07047678e-04 9.98843977e-01 1.94441108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.44, Y:34.40, Z:19.45 [[ 9.91029540e-01 -1.24929832e-01 -4.74656587e-02 4.12438671e+02] [ 1.24815620e-01 9.92165399e-01 -5.37419770e-03 3.44014531e+01] [ 4.77651818e-02 -5.98466942e-04 9.98858413e-01 1.94452766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.47, Y:34.40, Z:19.45 [[ 9.91015981e-01 -1.25054797e-01 -4.74196579e-02 4.12468628e+02] [ 1.24940908e-01 9.92149653e-01 -5.36986295e-03 3.44025347e+01] [ 4.77189242e-02 -6.03035110e-04 9.98860621e-01 1.94462208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.50, Y:34.40, Z:19.45 [[ 9.90959961e-01 -1.25303032e-01 -4.79323096e-02 4.12498200e+02] [ 1.25186871e-01 9.92118323e-01 -5.42968466e-03 3.44042112e+01] [ 4.82348786e-02 -6.19895742e-04 9.98835828e-01 1.94469144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.53, Y:34.41, Z:19.45 [[ 9.90867265e-01 -1.25806894e-01 -4.85251325e-02 4.12527388e+02] [ 1.25688343e-01 9.92054536e-01 -5.49890793e-03 3.44060076e+01] [ 4.88313783e-02 -6.50355630e-04 9.98806825e-01 1.94475656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.55, Y:34.41, Z:19.45 [[ 9.90816726e-01 -1.26057087e-01 -4.89062959e-02 4.12554864e+02] [ 1.25936362e-01 9.92022772e-01 -5.55442593e-03 3.44068894e+01] [ 4.92163340e-02 -6.55662890e-04 9.98787927e-01 1.94481058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.58, Y:34.41, Z:19.45 [[ 9.90707343e-01 -1.26727436e-01 -4.93874278e-02 4.12583100e+02] [ 1.26604910e-01 9.91937337e-01 -5.61400959e-03 3.44087188e+01] [ 4.97006826e-02 -6.90850334e-04 9.98763918e-01 1.94489831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.61, Y:34.41, Z:19.45 [[ 9.90618838e-01 -1.27483714e-01 -4.92160587e-02 4.12611791e+02] [ 1.27362273e-01 9.91840408e-01 -5.60857355e-03 3.44107054e+01] [ 4.95294775e-02 -7.12310509e-04 9.98772408e-01 1.94503732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.64, Y:34.41, Z:19.45 [[ 9.90544447e-01 -1.27936868e-01 -4.95364154e-02 4.12639378e+02] [ 1.27813774e-01 9.91782047e-01 -5.65774039e-03 3.44121204e+01] [ 4.98531610e-02 -7.27192876e-04 9.98756293e-01 1.94516346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.67, Y:34.42, Z:19.45 [[ 9.90512609e-01 -1.28297642e-01 -4.92390663e-02 4.12667659e+02] [ 1.28176226e-01 9.91735435e-01 -5.62865785e-03 3.44154147e+01] [ 4.95542703e-02 -7.36021093e-04 9.98771161e-01 1.94533893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.70, Y:34.42, Z:19.46 [[ 9.90520026e-01 -1.28637150e-01 -4.81929551e-02 4.12695393e+02] [ 1.28520652e-01 9.91691463e-01 -5.52122935e-03 3.44161139e+01] [ 4.85027774e-02 -7.24901782e-04 9.98822785e-01 1.94551215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.72, Y:34.42, Z:19.46 [[ 9.90489740e-01 -1.29095282e-01 -4.75865907e-02 4.12724177e+02] [ 1.28982015e-01 9.91631923e-01 -5.45616492e-03 3.44184352e+01] [ 4.78927476e-02 -7.33538966e-04 9.98852215e-01 1.94569475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.75, Y:34.42, Z:19.46 [[ 9.90460289e-01 -1.29498914e-01 -4.71003970e-02 4.12751582e+02] [ 1.29387837e-01 9.91579293e-01 -5.41241087e-03 3.44201503e+01] [ 4.74046797e-02 -7.33440464e-04 9.98875497e-01 1.94584612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.78, Y:34.42, Z:19.46 [[ 9.90380627e-01 -1.30250790e-01 -4.67005881e-02 4.12780225e+02] [ 1.30142233e-01 9.91480789e-01 -5.37059000e-03 3.44226600e+01] [ 4.70022596e-02 -7.58790542e-04 9.98894495e-01 1.94600712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.81, Y:34.42, Z:19.46 [[ 9.90126623e-01 -1.32323607e-01 -4.62572468e-02 4.12808704e+02] [ 1.32218814e-01 9.91206216e-01 -5.33134927e-03 3.44235601e+01] [ 4.65559339e-02 -8.37367458e-04 9.98915334e-01 1.94612387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.84, Y:34.42, Z:19.46 [[ 9.89937858e-01 -1.33803810e-01 -4.60388751e-02 4.12837415e+02] [ 1.33701050e-01 9.91007440e-01 -5.31811907e-03 3.44248962e+01] [ 4.63364523e-02 -8.90838545e-04 9.98925493e-01 1.94626100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.87, Y:34.43, Z:19.46 [[ 9.89739090e-01 -1.35282793e-01 -4.59902035e-02 4.12866363e+02] [ 1.35181293e-01 9.90806575e-01 -5.32441061e-03 3.44264479e+01] [ 4.62876971e-02 -9.47237861e-04 9.98927701e-01 1.94636084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.89, Y:34.43, Z:19.46 [[ 9.89512432e-01 -1.36816726e-01 -4.63284980e-02 4.12894766e+02] [ 1.36714833e-01 9.90595858e-01 -5.37584269e-03 3.44266264e+01] [ 4.66283235e-02 -1.01432972e-03 9.98911793e-01 1.94647660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.92, Y:34.43, Z:19.47 [[ 9.89304436e-01 -1.38219012e-01 -4.66072625e-02 4.12923733e+02] [ 1.38117246e-01 9.90401097e-01 -5.41239783e-03 3.44291266e+01] [ 4.69079802e-02 -1.08275754e-03 9.98898628e-01 1.94657398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.95, Y:34.43, Z:19.47 [[ 9.88990461e-01 -1.40281018e-01 -4.71073629e-02 4.12952369e+02] [ 1.40178812e-01 9.90111025e-01 -5.48267562e-03 3.44303709e+01] [ 4.74106347e-02 -1.18114029e-03 9.98874785e-01 1.94670449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:412.98, Y:34.43, Z:19.47 [[ 9.88905207e-01 -1.40945703e-01 -4.69126928e-02 4.12980120e+02] [ 1.40844517e-01 9.90016605e-01 -5.47208420e-03 3.44308847e+01] [ 4.72156117e-02 -1.19602301e-03 9.98884005e-01 1.94684227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.01, Y:34.44, Z:19.47 [[ 9.88708977e-01 -1.42196881e-01 -4.72716145e-02 4.13008424e+02] [ 1.42095361e-01 9.89837591e-01 -5.51829915e-03 3.44356632e+01] [ 4.75759060e-02 -1.26108525e-03 9.98866829e-01 1.94697585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.04, Y:34.43, Z:19.47 [[ 9.88592089e-01 -1.42794853e-01 -4.79094057e-02 4.13036508e+02] [ 1.42690674e-01 9.89751460e-01 -5.60520082e-03 3.44344790e+01] [ 4.82187981e-02 -1.29496822e-03 9.98835958e-01 1.94703952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.06, Y:34.44, Z:19.47 [[ 9.88452651e-01 -1.43527318e-01 -4.85928550e-02 4.13064741e+02] [ 1.43420797e-01 9.89645442e-01 -5.68990716e-03 3.44411564e+01] [ 4.89063546e-02 -1.34502219e-03 9.98802463e-01 1.94713331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.09, Y:34.44, Z:19.47 [[ 9.88326750e-01 -1.44178984e-01 -4.92204880e-02 4.13092502e+02] [ 1.44069881e-01 9.89550660e-01 -5.77586841e-03 3.44432888e+01] [ 4.95389252e-02 -1.38274461e-03 9.98771237e-01 1.94722623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.12, Y:34.45, Z:19.47 [[ 9.88009456e-01 -1.46217045e-01 -4.95771192e-02 4.13121250e+02] [ 1.46108671e-01 9.89251411e-01 -5.82264311e-03 3.44456871e+01] [ 4.98956047e-02 -1.49082052e-03 9.98753326e-01 1.94734456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.15, Y:34.45, Z:19.47 [[ 9.87868207e-01 -1.47167648e-01 -4.95791147e-02 4.13148879e+02] [ 1.47059849e-01 9.89110384e-01 -5.83510036e-03 3.44472206e+01] [ 4.98979552e-02 -1.52678701e-03 9.98753154e-01 1.94747224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.18, Y:34.45, Z:19.48 [[ 9.87675881e-01 -1.48402089e-01 -4.97310264e-02 4.13177308e+02] [ 1.48294944e-01 9.88925829e-01 -5.85789000e-03 3.44525509e+01] [ 5.00496196e-02 -1.58916312e-03 9.98745468e-01 1.94761725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.21, Y:34.45, Z:19.48 [[ 9.87518948e-01 -1.49512704e-01 -4.95204810e-02 4.13205032e+02] [ 1.49407248e-01 9.88758467e-01 -5.84534025e-03 3.44548021e+01] [ 4.98377475e-02 -1.62633451e-03 9.98756003e-01 1.94774003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.23, Y:34.46, Z:19.48 [[ 9.87193473e-01 -1.51447547e-01 -5.01267158e-02 4.13233033e+02] [ 1.51341749e-01 9.88463763e-01 -5.92148932e-03 3.44572522e+01] [ 5.04452371e-02 -1.74060924e-03 9.98725312e-01 1.94782789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.26, Y:34.46, Z:19.48 [[ 9.87021132e-01 -1.52523351e-01 -5.02584620e-02 4.13260727e+02] [ 1.52418162e-01 9.88298235e-01 -5.94154140e-03 3.44643239e+01] [ 5.05765732e-02 -1.79587547e-03 9.98718572e-01 1.94798084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.29, Y:34.47, Z:19.48 [[ 9.86630884e-01 -1.54917396e-01 -5.05974319e-02 4.13288865e+02] [ 1.54813685e-01 9.87925548e-01 -5.98627565e-03 3.44668007e+01] [ 5.09138738e-02 -1.92693045e-03 9.98701189e-01 1.94811536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.32, Y:34.47, Z:19.48 [[ 9.86434913e-01 -1.56221826e-01 -5.04073689e-02 4.13316391e+02] [ 1.56120393e-01 9.87720006e-01 -5.96769654e-03 3.44681676e+01] [ 5.07206511e-02 -1.98287404e-03 9.98710911e-01 1.94823274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.34, Y:34.47, Z:19.48 [[ 9.86198860e-01 -1.57655597e-01 -5.05620581e-02 4.13344611e+02] [ 1.57555045e-01 9.87492019e-01 -5.99338260e-03 3.44742311e+01] [ 5.08745192e-02 -2.05564027e-03 9.98702938e-01 1.94838338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.37, Y:34.48, Z:19.49 [[ 9.86056425e-01 -1.58613901e-01 -5.03423931e-02 4.13372609e+02] [ 1.58514842e-01 9.87338487e-01 -5.97966728e-03 3.44783685e+01] [ 5.06534406e-02 -2.08372714e-03 9.98714117e-01 1.94851910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.40, Y:34.48, Z:19.49 [[ 9.85952958e-01 -1.59423536e-01 -4.98086353e-02 4.13399818e+02] [ 1.59327367e-01 9.87208050e-01 -5.92082972e-03 3.44803390e+01] [ 5.01154054e-02 -2.09821916e-03 9.98741230e-01 1.94864441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.43, Y:34.49, Z:19.49 [[ 9.85847184e-01 -1.60299681e-01 -4.90850530e-02 4.13428310e+02] [ 1.60207095e-01 9.87066146e-01 -5.84036527e-03 3.44870891e+01] [ 4.93864028e-02 -2.10606612e-03 9.98777527e-01 1.94884357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.46, Y:34.49, Z:19.49 [[ 9.85897142e-01 -1.60056324e-01 -4.88753278e-02 4.13456090e+02] [ 1.59963622e-01 9.87105707e-01 -5.82776148e-03 3.44935194e+01] [ 4.91778850e-02 -2.07270105e-03 9.98787885e-01 1.94900557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.48, Y:34.50, Z:19.49 [[ 9.86043411e-01 -1.59221262e-01 -4.86516220e-02 4.13484225e+02] [ 1.59127798e-01 9.87240878e-01 -5.81319921e-03 3.44983709e+01] [ 4.89564549e-02 -2.00975871e-03 9.98798892e-01 1.94914049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.51, Y:34.51, Z:19.49 [[ 9.86279938e-01 -1.57756888e-01 -4.86276527e-02 4.13512752e+02] [ 1.57661612e-01 9.87476089e-01 -5.81294987e-03 3.45061034e+01] [ 4.89356771e-02 -1.93351828e-03 9.98800061e-01 1.94927616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.54, Y:34.51, Z:19.49 [[ 9.86983999e-01 -1.53142321e-01 -4.90918990e-02 4.13541104e+02] [ 1.53039426e-01 9.88202648e-01 -5.87025658e-03 3.45133420e+01] [ 4.94117293e-02 -1.71914674e-03 9.98777015e-01 1.94937299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.57, Y:34.52, Z:19.49 [[ 9.87379593e-01 -1.50569409e-01 -4.90957497e-02 4.13570022e+02] [ 1.50463236e-01 9.88598164e-01 -5.87246329e-03 3.45237781e+01] [ 4.94201813e-02 -1.58875496e-03 9.98776813e-01 1.94949663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.60, Y:34.53, Z:19.50 [[ 9.87764988e-01 -1.47898567e-01 -4.94605089e-02 4.13598778e+02] [ 1.47787418e-01 9.89001450e-01 -5.91705421e-03 3.45296423e+01] [ 4.97916388e-02 -1.46498191e-03 9.98758553e-01 1.94961444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.63, Y:34.54, Z:19.50 [[ 9.88434901e-01 -1.43082575e-01 -5.02376595e-02 4.13626712e+02] [ 1.42961591e-01 9.89709978e-01 -6.01194325e-03 3.45386076e+01] [ 5.05809172e-02 -1.23964119e-03 9.98719197e-01 1.94966298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.66, Y:34.55, Z:19.50 [[ 9.88704894e-01 -1.41054014e-01 -5.06596336e-02 4.13655424e+02] [ 1.40928192e-01 9.90001242e-01 -6.06511002e-03 3.45473617e+01] [ 5.10086083e-02 -1.14276661e-03 9.98697560e-01 1.94980194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.68, Y:34.55, Z:19.50 [[ 9.88962043e-01 -1.39235083e-01 -5.06721689e-02 4.13684379e+02] [ 1.39106720e-01 9.90258802e-01 -6.06841650e-03 3.45539454e+01] [ 5.10234977e-02 -1.04740565e-03 9.98696904e-01 1.94993548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.71, Y:34.56, Z:19.50 [[ 9.89157829e-01 -1.37774216e-01 -5.08434262e-02 4.13713030e+02] [ 1.37642963e-01 9.90463183e-01 -6.09074639e-03 3.45608504e+01] [ 5.11976895e-02 -9.73530338e-04 9.98688064e-01 1.95009013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.74, Y:34.57, Z:19.50 [[ 9.89382018e-01 -1.36099296e-01 -5.09921872e-02 4.13741660e+02] [ 1.35964954e-01 9.90694804e-01 -6.11043547e-03 3.45681356e+01] [ 5.13493208e-02 -8.87595424e-04 9.98680359e-01 1.95020884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.77, Y:34.57, Z:19.50 [[ 9.89416734e-01 -1.35635072e-01 -5.15524297e-02 4.13770471e+02] [ 1.35497036e-01 9.90758481e-01 -6.17940069e-03 3.45727012e+01] [ 5.19141504e-02 -8.71198972e-04 9.98651171e-01 1.95035536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.80, Y:34.58, Z:19.50 [[ 9.89373935e-01 -1.35736195e-01 -5.21047162e-02 4.13800684e+02] [ 1.35595278e-01 9.90744620e-01 -6.24646956e-03 3.45774878e+01] [ 5.24703393e-02 -8.85059333e-04 9.98622091e-01 1.95047684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.83, Y:34.58, Z:19.51 [[ 9.89319257e-01 -1.35940159e-01 -5.26087567e-02 4.13830137e+02] [ 1.35796790e-01 9.90716637e-01 -6.30690525e-03 3.45817562e+01] [ 5.29777322e-02 -9.04557459e-04 9.98595284e-01 1.95060277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.86, Y:34.59, Z:19.51 [[ 9.89152482e-01 -1.37023078e-01 -5.29343367e-02 4.13859698e+02] [ 1.36879461e-01 9.90567382e-01 -6.34622808e-03 3.45870301e+01] [ 5.33046070e-02 -9.68236222e-04 9.98577829e-01 1.95079237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.89, Y:34.59, Z:19.51 [[ 9.89058315e-01 -1.37738340e-01 -5.28374801e-02 4.13889006e+02] [ 1.37596167e-01 9.90468144e-01 -6.33649906e-03 3.45906557e+01] [ 5.32066197e-02 -1.00306767e-03 9.98583021e-01 1.95096496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.92, Y:34.60, Z:19.51 [[ 9.88978418e-01 -1.38323261e-01 -5.28049561e-02 4.13919406e+02] [ 1.38182007e-01 9.90386596e-01 -6.33426920e-03 3.45954993e+01] [ 5.31734975e-02 -1.03223928e-03 9.98584755e-01 1.95117906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.95, Y:34.60, Z:19.51 [[ 9.88859597e-01 -1.39305227e-01 -5.24476077e-02 4.13948461e+02] [ 1.39167258e-01 9.90248904e-01 -6.29142073e-03 3.45982889e+01] [ 5.28126139e-02 -1.07765800e-03 9.98603859e-01 1.95136404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:413.98, Y:34.60, Z:19.52 [[ 9.88777005e-01 -1.39890109e-01 -5.24479937e-02 4.13977782e+02] [ 1.39752941e-01 9.90166415e-01 -6.29181234e-03 3.46032019e+01] [ 5.28124041e-02 -1.10856202e-03 9.98603836e-01 1.95157720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.01, Y:34.61, Z:19.52 [[ 9.88718111e-01 -1.40126070e-01 -5.29261881e-02 4.14007596e+02] [ 1.39986636e-01 9.90133025e-01 -6.35087362e-03 3.46088668e+01] [ 5.32938897e-02 -1.12973526e-03 9.98578232e-01 1.95179692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.04, Y:34.61, Z:19.52 [[ 9.88718111e-01 -1.40126070e-01 -5.29261881e-02 4.14037356e+02] [ 1.39986636e-01 9.90133025e-01 -6.35087362e-03 3.46124378e+01] [ 5.32938897e-02 -1.12973526e-03 9.98578232e-01 1.95193952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.07, Y:34.61, Z:19.52 [[ 9.88650498e-01 -1.40729216e-01 -5.25878331e-02 4.14066268e+02] [ 1.40592406e-01 9.90047451e-01 -6.31037129e-03 3.46149722e+01] [ 5.29525037e-02 -1.15469827e-03 9.98596364e-01 1.95207325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.10, Y:34.62, Z:19.52 [[ 9.88691134e-01 -1.40505086e-01 -5.24229126e-02 4.14096518e+02] [ 1.40368773e-01 9.90079303e-01 -6.29143897e-03 3.46202892e+01] [ 5.27868199e-02 -1.13824999e-03 9.98605155e-01 1.95225629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.13, Y:34.62, Z:19.52 [[ 9.88780602e-01 -1.39845326e-01 -5.24995887e-02 4.14125572e+02] [ 1.39707681e-01 9.90172745e-01 -6.30073546e-03 3.46239005e+01] [ 5.28647902e-02 -1.10455078e-03 9.98601068e-01 1.95238422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.16, Y:34.63, Z:19.53 [[ 9.88932003e-01 -1.38747589e-01 -5.25604432e-02 4.14156518e+02] [ 1.38608041e-01 9.90327224e-01 -6.30868047e-03 3.46300552e+01] [ 5.29273520e-02 -1.04644406e-03 9.98597817e-01 1.95256513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.19, Y:34.64, Z:19.53 [[ 9.89201712e-01 -1.36857834e-01 -5.24395523e-02 4.14187032e+02] [ 1.36716375e-01 9.90590248e-01 -6.29225711e-03 3.46351304e+01] [ 5.28072538e-02 -9.45034000e-04 9.98604276e-01 1.95271306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.22, Y:34.64, Z:19.53 [[ 9.89751012e-01 -1.32823199e-01 -5.24493287e-02 4.14216374e+02] [ 1.32676121e-01 9.91139477e-01 -6.29161255e-03 3.46415949e+01] [ 5.28202723e-02 -7.31643602e-04 9.98603767e-01 1.95291831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.25, Y:34.65, Z:19.53 [[ 9.90090903e-01 -1.30353664e-01 -5.22295581e-02 4.14245585e+02] [ 1.30204422e-01 9.91467379e-01 -6.26448900e-03 3.46468865e+01] [ 5.26005022e-02 -5.98105879e-04 9.98615456e-01 1.95305635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.28, Y:34.65, Z:19.53 [[ 9.90371442e-01 -1.28277221e-01 -5.20515233e-02 4.14275991e+02] [ 1.28126085e-01 9.91738231e-01 -6.24396928e-03 3.46526350e+01] [ 5.24224446e-02 -4.85309035e-04 9.98624880e-01 1.95324635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.30, Y:34.66, Z:19.53 [[ 9.90582006e-01 -1.26552719e-01 -5.22656463e-02 4.14304806e+02] [ 1.26397940e-01 9.91959804e-01 -6.26962203e-03 3.46566065e+01] [ 5.26388579e-02 -3.95695234e-04 9.98613536e-01 1.95333679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.34, Y:34.66, Z:19.53 [[ 9.90845173e-01 -1.24204204e-01 -5.29070715e-02 4.14335169e+02] [ 1.24042269e-01 9.92256640e-01 -6.34625620e-03 3.46619657e+01] [ 5.32856248e-02 -2.74555900e-04 9.98579274e-01 1.95347746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.37, Y:34.67, Z:19.54 [[ 9.90900118e-01 -1.23478901e-01 -5.35716044e-02 4.14365597e+02] [ 1.23311811e-01 9.92347169e-01 -6.42596758e-03 3.46657335e+01] [ 5.39551014e-02 -2.38519540e-04 9.98543334e-01 1.95358252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.40, Y:34.67, Z:19.54 [[ 9.90926542e-01 -1.23050176e-01 -5.40670209e-02 4.14395209e+02] [ 1.22879335e-01 9.92400427e-01 -6.48551869e-03 3.46690571e+01] [ 5.44541788e-02 -2.17046948e-04 9.98516247e-01 1.95364332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.43, Y:34.67, Z:19.54 [[ 9.90890134e-01 -1.23206885e-01 -5.43765098e-02 4.14425012e+02] [ 1.23034256e-01 9.92380981e-01 -6.52376528e-03 3.46719965e+01] [ 5.47659870e-02 -2.25838763e-04 9.98499192e-01 1.95373259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.46, Y:34.67, Z:19.54 [[ 9.90670709e-01 -1.24644191e-01 -5.50942139e-02 4.14455489e+02] [ 1.24469096e-01 9.92201457e-01 -6.61158528e-03 3.46745867e+01] [ 5.54886550e-02 -3.07623124e-04 9.98459270e-01 1.95387989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.48, Y:34.68, Z:19.54 [[ 9.90467270e-01 -1.26011509e-01 -5.56388886e-02 4.14484944e+02] [ 1.25835079e-01 9.92028704e-01 -6.67710328e-03 3.46770392e+01] [ 5.60367664e-02 -3.87871703e-04 9.98428631e-01 1.95399708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.51, Y:34.68, Z:19.54 [[ 9.90263062e-01 -1.27540572e-01 -5.57895273e-02 4.14514276e+02] [ 1.27365543e-01 9.91833241e-01 -6.69635330e-03 3.46792837e+01] [ 5.61879644e-02 -4.74512112e-04 9.98420096e-01 1.95411214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.54, Y:34.68, Z:19.54 [[ 9.89690234e-01 -1.31863124e-01 -5.59048936e-02 4.14543822e+02] [ 1.31694142e-01 9.91267673e-01 -6.71221921e-03 3.46798098e+01] [ 5.63018079e-02 -7.19329190e-04 9.98413536e-01 1.95428934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.57, Y:34.68, Z:19.54 [[ 9.89329628e-01 -1.34649715e-01 -5.56447854e-02 4.14572670e+02] [ 1.34486581e-01 9.90892877e-01 -6.68317634e-03 3.46800692e+01] [ 5.60379094e-02 -8.71612611e-04 9.98428261e-01 1.95442007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.60, Y:34.68, Z:19.55 [[ 9.88908541e-01 -1.37990981e-01 -5.49398560e-02 4.14602302e+02] [ 1.37836948e-01 9.90432935e-01 -6.60134228e-03 3.46814917e+01] [ 5.53251685e-02 -1.04461833e-03 9.98467844e-01 1.95464997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.63, Y:34.68, Z:19.55 [[ 9.88480822e-01 -1.41210603e-01 -5.44539217e-02 4.14632555e+02] [ 1.41064068e-01 9.89978836e-01 -6.54466042e-03 3.46826083e+01] [ 5.48324055e-02 -1.21222039e-03 9.98494836e-01 1.95482184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.66, Y:34.68, Z:19.55 [[ 9.87546146e-01 -1.47648417e-01 -5.43374050e-02 4.14663193e+02] [ 1.47512224e-01 9.89038671e-01 -6.53078934e-03 3.46812369e+01] [ 5.47060555e-02 -1.56597561e-03 9.98501275e-01 1.95499489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.69, Y:34.68, Z:19.55 [[ 9.87083794e-01 -1.50697687e-01 -5.43671908e-02 4.14692758e+02] [ 1.50565904e-01 9.88578372e-01 -6.53537715e-03 3.46805484e+01] [ 5.47310952e-02 -1.73488038e-03 9.98499623e-01 1.95513478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.72, Y:34.68, Z:19.55 [[ 9.86698542e-01 -1.53610431e-01 -5.31960780e-02 4.14722661e+02] [ 1.53488437e-01 9.88129747e-01 -6.39556022e-03 3.46825989e+01] [ 5.35470518e-02 -1.85449292e-03 9.98563605e-01 1.95532709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.75, Y:34.68, Z:19.55 [[ 9.86303683e-01 -1.56172534e-01 -5.30583112e-02 4.14752569e+02] [ 1.56054819e-01 9.87727791e-01 -6.37993922e-03 3.46800897e+01] [ 5.34035398e-02 -1.98744761e-03 9.98571035e-01 1.95542473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.78, Y:34.68, Z:19.56 [[ 9.85466757e-01 -1.61534976e-01 -5.25520959e-02 4.14782770e+02] [ 1.61427060e-01 9.86864411e-01 -6.31978657e-03 3.46820822e+01] [ 5.28826598e-02 -2.25539075e-03 9.98598186e-01 1.95564670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.81, Y:34.68, Z:19.56 [[ 9.85075802e-01 -1.63935289e-01 -5.24488754e-02 4.14812877e+02] [ 1.63831137e-01 9.86468227e-01 -6.30833036e-03 3.46830079e+01] [ 5.27733071e-02 -2.37857532e-03 9.98603685e-01 1.95579883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.84, Y:34.68, Z:19.56 [[ 9.84729277e-01 -1.66071469e-01 -5.22352277e-02 4.14842476e+02] [ 1.65971105e-01 9.86110596e-01 -6.28367234e-03 3.46808758e+01] [ 5.25532503e-02 -2.48182236e-03 9.98615039e-01 1.95592834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.87, Y:34.69, Z:19.56 [[ 9.84207328e-01 -1.69229561e-01 -5.19354457e-02 4.14872220e+02] [ 1.69134638e-01 9.85573143e-01 -6.24930810e-03 3.46875225e+01] [ 5.22437481e-02 -2.63346796e-03 9.98630891e-01 1.95616702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.90, Y:34.69, Z:19.56 [[ 9.83981562e-01 -1.70452870e-01 -5.22121164e-02 4.14902376e+02] [ 1.70358644e-01 9.85362096e-01 -6.28269208e-03 3.46851781e+01] [ 5.25187434e-02 -2.71273218e-03 9.98616254e-01 1.95625465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.93, Y:34.69, Z:19.56 [[ 9.83782838e-01 -1.71503442e-01 -5.25156904e-02 4.14931900e+02] [ 1.71409563e-01 9.85179587e-01 -6.32009491e-03 3.46921992e+01] [ 5.28213042e-02 -2.78409065e-03 9.98600099e-01 1.95643072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.96, Y:34.70, Z:19.57 [[ 9.83580830e-01 -1.72475353e-01 -5.31131197e-02 4.14962488e+02] [ 1.72380738e-01 9.85009657e-01 -6.39199361e-03 3.46961107e+01] [ 5.34193971e-02 -2.86863639e-03 9.98568044e-01 1.95654384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:414.99, Y:34.70, Z:19.57 [[ 9.83440108e-01 -1.73108997e-01 -5.36547202e-02 4.14993220e+02] [ 1.73013396e-01 9.84898306e-01 -6.45693231e-03 3.47007094e+01] [ 5.39621961e-02 -2.93297914e-03 9.98538672e-01 1.95668826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.02, Y:34.70, Z:19.57 [[ 9.83366203e-01 -1.73061442e-01 -5.51420707e-02 4.15023091e+02] [ 1.72960488e-01 9.84906420e-01 -6.63426426e-03 3.47028920e+01] [ 5.54579148e-02 -3.01348820e-03 9.98456478e-01 1.95670433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.05, Y:34.71, Z:19.57 [[ 9.83454321e-01 -1.72412417e-01 -5.56017793e-02 4.15051216e+02] [ 1.72308665e-01 9.85020282e-01 -6.69090560e-03 3.47067895e+01] [ 5.59224756e-02 -3.00046837e-03 9.98430605e-01 1.95679183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.08, Y:34.71, Z:19.57 [[ 9.83623827e-01 -1.71357466e-01 -5.58639982e-02 4.15080017e+02] [ 1.71250877e-01 9.85204500e-01 -6.72533363e-03 3.47134362e+01] [ 5.61898985e-02 -2.95156028e-03 9.98415737e-01 1.95697181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.11, Y:34.72, Z:19.57 [[ 9.83962945e-01 -1.69388408e-01 -5.58971352e-02 4.15108193e+02] [ 1.69278402e-01 9.85545285e-01 -6.73151211e-03 3.47173332e+01] [ 5.62293982e-02 -2.83861922e-03 9.98413841e-01 1.95711685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.14, Y:34.73, Z:19.57 [[ 9.84678229e-01 -1.65260072e-01 -5.56587339e-02 4.15137805e+02] [ 1.65144289e-01 9.86246624e-01 -6.70518920e-03 3.47313771e+01] [ 5.60013384e-02 -2.58926822e-03 9.98427336e-01 1.95743677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.17, Y:34.74, Z:19.58 [[ 9.85074065e-01 -1.63024785e-01 -5.52449628e-02 4.15167993e+02] [ 1.62907259e-01 9.86618945e-01 -6.65446689e-03 3.47373618e+01] [ 5.55905699e-02 -2.44466269e-03 9.98450656e-01 1.95760794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.20, Y:34.74, Z:19.58 [[ 9.85462519e-01 -1.60767920e-01 -5.49299540e-02 4.15197836e+02] [ 1.60648232e-01 9.86989548e-01 -6.61652287e-03 3.47430400e+01] [ 5.52790150e-02 -2.30406467e-03 9.98468288e-01 1.95777306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.23, Y:34.75, Z:19.58 [[ 9.85796009e-01 -1.58952143e-01 -5.42258702e-02 4.15228270e+02] [ 1.58832769e-01 9.87283895e-01 -6.53158266e-03 3.47491617e+01] [ 5.45745374e-02 -2.17403702e-03 9.98507333e-01 1.95799302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.26, Y:34.76, Z:19.58 [[ 9.86282089e-01 -1.55898216e-01 -5.42529918e-02 4.15259088e+02] [ 1.55774173e-01 9.87771086e-01 -6.53371124e-03 3.47566696e+01] [ 5.46081305e-02 -2.00713257e-03 9.98505846e-01 1.95818235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.29, Y:34.76, Z:19.58 [[ 9.86404762e-01 -1.54918347e-01 -5.48265570e-02 4.15288836e+02] [ 1.54790262e-01 9.87925302e-01 -6.60087190e-03 3.47602732e+01] [ 5.51871391e-02 -1.97548567e-03 9.98474074e-01 1.95824146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.32, Y:34.77, Z:19.58 [[ 9.86587294e-01 -1.53622266e-01 -5.51879568e-02 4.15319337e+02] [ 1.53490527e-01 9.88127788e-01 -6.64322481e-03 3.47658512e+01] [ 5.55533010e-02 -1.91670739e-03 9.98453883e-01 1.95836639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.35, Y:34.77, Z:19.59 [[ 9.87033029e-01 -1.51174645e-01 -5.39631974e-02 4.15349565e+02] [ 1.51045140e-01 9.88505536e-01 -6.49388631e-03 3.47741770e+01] [ 5.43246304e-02 -1.74119845e-03 9.98521809e-01 1.95864867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.38, Y:34.78, Z:19.59 [[ 9.87189457e-01 -1.50316643e-01 -5.34965685e-02 4.15380121e+02] [ 1.50188216e-01 9.88636475e-01 -6.43579199e-03 3.47794441e+01] [ 5.38560656e-02 -1.68120816e-03 9.98547294e-01 1.95883349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.41, Y:34.78, Z:19.59 [[ 9.87362950e-01 -1.49139465e-01 -5.35894029e-02 4.15411280e+02] [ 1.49008965e-01 9.88814841e-01 -6.44502067e-03 3.47847982e+01] [ 5.39512038e-02 -1.62172684e-03 9.98542256e-01 1.95901143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.44, Y:34.79, Z:19.59 [[ 9.87499568e-01 -1.48067877e-01 -5.40417214e-02 4.15442075e+02] [ 1.47933669e-01 9.88975941e-01 -6.49745755e-03 3.47905126e+01] [ 5.44080270e-02 -1.57835358e-03 9.98517539e-01 1.95915943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.47, Y:34.80, Z:19.59 [[ 9.87594560e-01 -1.47107369e-01 -5.49218222e-02 4.15472883e+02] [ 1.46967382e-01 9.89119311e-01 -6.60125309e-03 3.47959976e+01] [ 5.52953279e-02 -1.55235478e-03 9.98468836e-01 1.95929059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.50, Y:34.80, Z:19.59 [[ 9.87732156e-01 -1.46005001e-01 -5.53870632e-02 4.15502904e+02] [ 1.45861006e-01 9.89282707e-01 -6.65529721e-03 3.48000800e+01] [ 5.57651705e-02 -1.50516167e-03 9.98442778e-01 1.95936086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.53, Y:34.81, Z:19.59 [[ 9.88077865e-01 -1.43340713e-01 -5.61744936e-02 4.15533113e+02] [ 1.43188358e-01 9.89672445e-01 -6.74873235e-03 3.48080788e+01] [ 5.65617165e-02 -1.37526044e-03 9.98398157e-01 1.95949553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.56, Y:34.81, Z:19.60 [[ 9.88270586e-01 -1.41975888e-01 -5.62502997e-02 4.15564097e+02] [ 1.41821027e-01 9.89869262e-01 -6.75583294e-03 3.48134271e+01] [ 5.66396080e-02 -1.30088431e-03 9.98393841e-01 1.95965632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.60, Y:34.82, Z:19.60 [[ 9.88519167e-01 -1.40316024e-01 -5.60470259e-02 4.15595382e+02] [ 1.40159728e-01 9.90106037e-01 -6.72943578e-03 3.48185752e+01] [ 5.64367464e-02 -1.20335966e-03 9.98405452e-01 1.95984545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.63, Y:34.83, Z:19.60 [[ 9.88721097e-01 -1.38801742e-01 -5.62553852e-02 4.15626445e+02] [ 1.38641947e-01 9.90319552e-01 -6.75244902e-03 3.48251057e+01] [ 5.66480596e-02 -1.12306731e-03 9.98393578e-01 1.96008759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.66, Y:34.83, Z:19.60 [[ 9.89171950e-01 -1.35530136e-01 -5.63066214e-02 4.15657386e+02] [ 1.35364869e-01 9.90772780e-01 -6.75654383e-03 3.48320900e+01] [ 5.67027831e-02 -9.38554797e-04 9.98390662e-01 1.96025910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.69, Y:34.84, Z:19.60 [[ 9.89391887e-01 -1.33953056e-01 -5.62163030e-02 4.15688810e+02] [ 1.33785901e-01 9.90987315e-01 -6.74348673e-03 3.48372495e+01] [ 5.66129539e-02 -8.48997699e-04 9.98395840e-01 1.96041390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.72, Y:34.84, Z:19.61 [[ 9.89566340e-01 -1.32628682e-01 -5.62857939e-02 4.15719616e+02] [ 1.32459139e-01 9.91165490e-01 -6.74890243e-03 3.48420575e+01] [ 5.66836345e-02 -7.77081113e-04 9.98391888e-01 1.96059111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.75, Y:34.85, Z:19.61 [[ 9.89702812e-01 -1.31616417e-01 -5.62624516e-02 4.15750827e+02] [ 1.31445496e-01 9.91300459e-01 -6.74405769e-03 3.48470039e+01] [ 5.66606228e-02 -7.20833020e-04 9.98393236e-01 1.96078535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.78, Y:34.85, Z:19.61 [[ 9.89799803e-01 -1.31121441e-01 -5.57092182e-02 4.15781930e+02] [ 1.30953197e-01 9.91366075e-01 -6.67571872e-03 3.48514109e+01] [ 5.61035588e-02 -6.87675165e-04 9.98424718e-01 1.96095263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.81, Y:34.85, Z:19.61 [[ 9.89777462e-01 -1.31084025e-01 -5.61921127e-02 4.15813325e+02] [ 1.30912919e-01 9.91371019e-01 -6.73131261e-03 3.48545485e+01] [ 5.65895996e-02 -6.93772006e-04 9.98397284e-01 1.96106453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.84, Y:34.86, Z:19.61 [[ 9.89574470e-01 -1.32397458e-01 -5.66858096e-02 4.15842773e+02] [ 1.32225625e-01 9.91196402e-01 -6.78797654e-03 3.48555824e+01] [ 5.70854813e-02 -7.78108285e-04 9.98368991e-01 1.96108691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.87, Y:34.86, Z:19.61 [[ 9.89398910e-01 -1.33742820e-01 -5.65920103e-02 4.15873446e+02] [ 1.33573705e-01 9.91015706e-01 -6.77759259e-03 3.48578058e+01] [ 5.69900254e-02 -8.53461752e-04 9.98374383e-01 1.96119730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.90, Y:34.86, Z:19.61 [[ 9.89193816e-01 -1.35179157e-01 -5.67643388e-02 4.15903720e+02] [ 1.35011371e-01 9.90820727e-01 -6.79823106e-03 3.48604911e+01] [ 5.71622626e-02 -9.39063080e-04 9.98364459e-01 1.96136884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.93, Y:34.86, Z:19.62 [[ 9.89193816e-01 -1.35179157e-01 -5.67643388e-02 4.15933479e+02] [ 1.35011371e-01 9.90820727e-01 -6.79823106e-03 3.48640551e+01] [ 5.71622626e-02 -9.39063080e-04 9.98364459e-01 1.96151143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.96, Y:34.87, Z:19.62 [[ 9.88995284e-01 -1.36658282e-01 -5.66819333e-02 4.15962952e+02] [ 1.36493399e-01 9.90617720e-01 -6.78853353e-03 3.48654712e+01] [ 5.70778369e-02 -1.02288210e-03 9.98369207e-01 1.96160111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:415.99, Y:34.87, Z:19.62 [[ 9.88773408e-01 -1.38346773e-01 -5.64563416e-02 4.15993624e+02] [ 1.38185901e-01 9.90383222e-01 -6.76236413e-03 3.48675509e+01] [ 5.68489648e-02 -1.11502462e-03 9.98382167e-01 1.96173535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.03, Y:34.87, Z:19.62 [[ 9.88408466e-01 -1.41107874e-01 -5.60113530e-02 4.16025189e+02] [ 1.40953974e-01 9.89993419e-01 -6.70873636e-03 3.48692801e+01] [ 5.63975264e-02 -1.26405099e-03 9.98407593e-01 1.96192668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.06, Y:34.87, Z:19.62 [[ 9.88201000e-01 -1.42529334e-01 -5.60729231e-02 4.16055902e+02] [ 1.42377488e-01 9.89789660e-01 -6.71419890e-03 3.48692077e+01] [ 5.64573698e-02 -1.34854387e-03 9.98404100e-01 1.96197559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.09, Y:34.87, Z:19.62 [[ 9.88041447e-01 -1.43794002e-01 -5.56541545e-02 4.16085930e+02] [ 1.43646460e-01 9.89606636e-01 -6.66334395e-03 3.48707392e+01] [ 5.60338695e-02 -1.41086228e-03 9.98427872e-01 1.96210422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.12, Y:34.87, Z:19.62 [[ 9.87796298e-01 -1.45618595e-01 -5.52602831e-02 4.16116767e+02] [ 1.45475956e-01 9.89339661e-01 -6.61671267e-03 3.48737252e+01] [ 5.56347062e-02 -1.50307822e-03 9.98450059e-01 1.96230352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.15, Y:34.87, Z:19.62 [[ 9.87797567e-01 -1.45657178e-01 -5.51357708e-02 4.16147708e+02] [ 1.45515344e-01 9.89333981e-01 -6.59993757e-03 3.48733202e+01] [ 5.55090199e-02 -1.50369839e-03 9.98457053e-01 1.96234736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.18, Y:34.88, Z:19.63 [[ 9.87835191e-01 -1.45480391e-01 -5.49280547e-02 4.16178706e+02] [ 1.45339414e-01 9.89360014e-01 -6.57393602e-03 3.48796501e+01] [ 5.52999998e-02 -1.48924594e-03 9.98468674e-01 1.96260597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.21, Y:34.88, Z:19.63 [[ 9.87939714e-01 -1.44807786e-01 -5.48254162e-02 4.16209847e+02] [ 1.44666413e-01 9.89458741e-01 -6.55964180e-03 3.48830732e+01] [ 5.51973745e-02 -1.45086564e-03 9.98474409e-01 1.96275393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.24, Y:34.89, Z:19.63 [[ 9.88134034e-01 -1.43532581e-01 -5.46765811e-02 4.16240512e+02] [ 1.43390136e-01 9.89644633e-01 -6.53982744e-03 3.48867678e+01] [ 5.50490634e-02 -1.37785633e-03 9.98482700e-01 1.96289240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.27, Y:34.89, Z:19.63 [[ 9.88584163e-01 -1.40364061e-01 -5.47657066e-02 4.16270662e+02] [ 1.40216397e-01 9.90099226e-01 -6.54860773e-03 3.48891984e+01] [ 5.51426729e-02 -1.20520016e-03 9.98477758e-01 1.96294445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.30, Y:34.89, Z:19.63 [[ 9.88885156e-01 -1.38255955e-01 -5.46940515e-02 4.16301192e+02] [ 1.38105503e-01 9.90395936e-01 -6.53917870e-03 3.48934854e+01] [ 5.50728467e-02 -1.08705274e-03 9.98481747e-01 1.96310881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.33, Y:34.90, Z:19.63 [[ 9.89518808e-01 -1.33607506e-01 -5.47865161e-02 4.16331981e+02] [ 1.33449439e-01 9.91033978e-01 -6.54995195e-03 3.48992374e+01] [ 5.51704218e-02 -8.29929167e-04 9.98476608e-01 1.96328947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.36, Y:34.90, Z:19.63 [[ 9.89794809e-01 -1.31508409e-01 -5.48796388e-02 4.16361414e+02] [ 1.31346668e-01 9.91314797e-01 -6.55947363e-03 3.49030888e+01] [ 5.52656239e-02 -7.15724781e-04 9.98471431e-01 1.96342155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.39, Y:34.91, Z:19.64 [[ 9.90275986e-01 -1.27696290e-01 -5.52008027e-02 4.16391178e+02] [ 1.27526673e-01 9.91813189e-01 -6.59887177e-03 3.49077409e+01] [ 5.55915356e-02 -5.04870469e-04 9.98453467e-01 1.96355624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.42, Y:34.91, Z:19.64 [[ 9.90275987e-01 -1.27696331e-01 -5.52007007e-02 4.16420935e+02] [ 1.27526666e-01 9.91813185e-01 -6.59972498e-03 3.49112989e+01] [ 5.55915434e-02 -5.04012157e-04 9.98453467e-01 1.96369884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.45, Y:34.92, Z:19.64 [[ 9.90456729e-01 -1.26239740e-01 -5.53082008e-02 4.16451638e+02] [ 1.26067144e-01 9.91999672e-01 -6.61257756e-03 3.49150780e+01] [ 5.57004871e-02 -4.23074960e-04 9.98447433e-01 1.96383202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.48, Y:34.92, Z:19.64 [[ 9.90606419e-01 -1.25058777e-01 -5.53102668e-02 4.16481727e+02] [ 1.24884328e-01 9.92149271e-01 -6.61282457e-03 3.49184392e+01] [ 5.57030326e-02 -3.56679041e-04 9.98447317e-01 1.96395671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.51, Y:34.92, Z:19.64 [[ 9.90737677e-01 -1.24091027e-01 -5.51386668e-02 4.16510096e+02] [ 1.23916138e-01 9.92270793e-01 -6.59274040e-03 3.49210868e+01] [ 5.55305886e-02 -3.00894350e-04 9.98456941e-01 1.96407782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.54, Y:34.92, Z:19.64 [[ 9.91034301e-01 -1.21998354e-01 -5.44739858e-02 4.16539151e+02] [ 1.21824338e-01 9.92530287e-01 -6.51619146e-03 3.49228887e+01] [ 5.48620454e-02 -1.78488035e-04 9.98493928e-01 1.96421903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.57, Y:34.93, Z:19.64 [[ 9.91214591e-01 -1.20580411e-01 -5.43507012e-02 4.16568105e+02] [ 1.20404893e-01 9.92703558e-01 -6.50436060e-03 3.49257414e+01] [ 5.47384330e-02 -9.68732465e-05 9.98500723e-01 1.96433431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.60, Y:34.93, Z:19.65 [[ 9.91372545e-01 -1.19128501e-01 -5.46706267e-02 4.16597763e+02] [ 1.18948548e-01 9.92878845e-01 -6.54544782e-03 3.49289069e+01] [ 5.50610581e-02 -1.40143824e-05 9.98482989e-01 1.96451289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.63, Y:34.93, Z:19.65 [[ 9.91869250e-01 -1.14881980e-01 -5.47496176e-02 4.16626852e+02] [ 1.14694930e-01 9.93379122e-01 -6.55687606e-03 3.49322223e+01] [ 5.51403939e-02 2.24060187e-04 9.98478586e-01 1.96467196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.66, Y:34.94, Z:19.65 [[ 9.92145444e-01 -1.12742539e-01 -5.41898384e-02 4.16655319e+02] [ 1.12555919e-01 9.93624176e-01 -6.49329778e-03 3.49354657e+01] [ 5.45764044e-02 3.42908774e-04 9.98509539e-01 1.96488015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.68, Y:34.94, Z:19.65 [[ 9.92374748e-01 -1.10863268e-01 -5.38673790e-02 4.16683518e+02] [ 1.10675353e-01 9.93835563e-01 -6.46834881e-03 3.49386189e+01] [ 5.42524192e-02 4.57234837e-04 9.98527148e-01 1.96506281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.71, Y:34.94, Z:19.65 [[ 9.92612787e-01 -1.09148440e-01 -5.29761571e-02 4.16712331e+02] [ 1.08963544e-01 9.94025306e-01 -6.37465717e-03 3.49411443e+01] [ 5.33554247e-02 5.55096416e-04 9.98575431e-01 1.96522542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.74, Y:34.94, Z:19.65 [[ 9.92789285e-01 -1.07629729e-01 -5.27757234e-02 4.16741330e+02] [ 1.07443371e-01 9.94190838e-01 -6.36396327e-03 3.49433405e+01] [ 5.31540923e-02 6.47672914e-04 9.98586112e-01 1.96535817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.77, Y:34.94, Z:19.66 [[ 9.93060351e-01 -1.05634232e-01 -5.16966977e-02 4.16770292e+02] [ 1.05452050e-01 9.94404769e-01 -6.24671223e-03 3.49427288e+01] [ 5.20673094e-02 7.51839484e-04 9.98643295e-01 1.96560019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.80, Y:34.95, Z:19.66 [[ 9.93144129e-01 -1.05101445e-01 -5.11705548e-02 4.16797557e+02] [ 1.04921611e-01 9.94461197e-01 -6.19549644e-03 3.49451101e+01] [ 5.15382868e-02 7.84123878e-04 9.98670712e-01 1.96572061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.83, Y:34.95, Z:19.66 [[ 9.93124294e-01 -1.05416481e-01 -5.09067899e-02 4.16825307e+02] [ 1.05238637e-01 9.94427863e-01 -6.16888922e-03 3.49457501e+01] [ 5.12734328e-02 7.69112550e-04 9.98684356e-01 1.96589747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.85, Y:34.95, Z:19.66 [[ 9.93077099e-01 -1.06067469e-01 -5.04734396e-02 4.16853418e+02] [ 1.05892759e-01 9.94358657e-01 -6.13060222e-03 3.49462941e+01] [ 5.08389591e-02 7.43388884e-04 9.98706587e-01 1.96602831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.88, Y:34.95, Z:19.66 [[ 9.92953141e-01 -1.07174148e-01 -5.05743160e-02 4.16882832e+02] [ 1.06999447e-01 9.94240016e-01 -6.15706515e-03 3.49457084e+01] [ 5.09428869e-02 7.02253333e-04 9.98701321e-01 1.96615840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.91, Y:34.94, Z:19.66 [[ 9.92549923e-01 -1.10976829e-01 -5.02871177e-02 4.16912549e+02] [ 1.10808339e-01 9.93822860e-01 -6.13478824e-03 3.49409667e+01] [ 5.06573065e-02 5.16851591e-04 9.98715961e-01 1.96626536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.94, Y:34.94, Z:19.66 [[ 9.92202417e-01 -1.13881243e-01 -5.06500413e-02 4.16941411e+02] [ 1.13713434e-01 9.93494295e-01 -6.19192386e-03 3.49395348e+01] [ 5.10256711e-02 3.84051700e-04 9.98697268e-01 1.96636968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:416.97, Y:34.94, Z:19.66 [[ 9.91771945e-01 -1.17324011e-01 -5.12199757e-02 4.16969331e+02] [ 1.17156342e-01 9.93093665e-01 -6.27409888e-03 3.49379610e+01] [ 5.16023358e-02 2.21730278e-04 9.98667687e-01 1.96645219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.00, Y:34.93, Z:19.67 [[ 9.90737192e-01 -1.25725601e-01 -5.13117001e-02 4.16997258e+02] [ 1.25568316e-01 9.92065033e-01 -6.29040317e-03 3.49299648e+01] [ 5.16954081e-02 -2.10987400e-04 9.98662876e-01 1.96655540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.03, Y:34.93, Z:19.67 [[ 9.90115710e-01 -1.30523441e-01 -5.13274987e-02 4.17026578e+02] [ 1.30371966e-01 9.91445121e-01 -6.30260428e-03 3.49278168e+01] [ 5.17110357e-02 -4.51359426e-04 9.98661987e-01 1.96671527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.05, Y:34.93, Z:19.67 [[ 9.89435964e-01 -1.35546063e-01 -5.14172879e-02 4.17054376e+02] [ 1.35400200e-01 9.90770796e-01 -6.32576431e-03 3.49250328e+01] [ 5.18001797e-02 -7.02972342e-04 9.98657222e-01 1.96683829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.08, Y:34.92, Z:19.67 [[ 9.88649286e-01 -1.40912642e-01 -5.21173331e-02 4.17083329e+02] [ 1.40769892e-01 9.90021538e-01 -6.41815227e-03 3.49236086e+01] [ 5.25016810e-02 -9.91249673e-04 9.98620344e-01 1.96703394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.11, Y:34.92, Z:19.67 [[ 9.87209446e-01 -1.50636199e-01 -5.22134614e-02 4.17113507e+02] [ 1.50505856e-01 9.88588129e-01 -6.44193457e-03 3.49156887e+01] [ 5.25879967e-02 -1.49889305e-03 9.98615169e-01 1.96719149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.14, Y:34.92, Z:19.67 [[ 9.86511292e-01 -1.55000620e-01 -5.26334385e-02 4.17142544e+02] [ 1.54874263e-01 9.87912834e-01 -6.49572394e-03 3.49169749e+01] [ 5.30040907e-02 -1.74345998e-03 9.98592773e-01 1.96735788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.17, Y:34.91, Z:19.67 [[ 9.85821310e-01 -1.59087965e-01 -5.33607025e-02 4.17171476e+02] [ 1.58963897e-01 9.87262412e-01 -6.58856105e-03 3.49144105e+01] [ 5.37291766e-02 -1.98728134e-03 9.98553567e-01 1.96749100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.20, Y:34.92, Z:19.68 [[ 9.85210681e-01 -1.62714774e-01 -5.37011864e-02 4.17201150e+02] [ 1.62594290e-01 9.86670706e-01 -6.63429946e-03 3.49162334e+01] [ 5.40648860e-02 -2.19532357e-03 9.98535011e-01 1.96770310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.23, Y:34.91, Z:19.68 [[ 9.84227994e-01 -1.68544102e-01 -5.37414402e-02 4.17231131e+02] [ 1.68431992e-01 9.85690904e-01 -6.64117648e-03 3.49113894e+01] [ 5.40917799e-02 -2.51534602e-03 9.98532800e-01 1.96791631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.26, Y:34.92, Z:19.68 [[ 9.83882456e-01 -1.70573425e-01 -5.36658210e-02 4.17260488e+02] [ 1.70464560e-01 9.85341481e-01 -6.63330352e-03 3.49165796e+01] [ 5.40106248e-02 -2.62172959e-03 9.98536919e-01 1.96817793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.29, Y:34.92, Z:19.68 [[ 9.83595299e-01 -1.72173177e-01 -5.38208556e-02 4.17289428e+02] [ 1.72065880e-01 9.85062958e-01 -6.65593108e-03 3.49186059e+01] [ 5.41629040e-02 -2.71399035e-03 9.98528424e-01 1.96834985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.32, Y:34.92, Z:19.68 [[ 9.83399561e-01 -1.73191660e-01 -5.41290294e-02 4.17317104e+02] [ 1.73083960e-01 9.84884236e-01 -6.70704149e-03 3.49168447e+01] [ 5.44724314e-02 -2.77316508e-03 9.98511424e-01 1.96844301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.35, Y:34.92, Z:19.69 [[ 9.83246213e-01 -1.73932524e-01 -5.45377015e-02 4.17345224e+02] [ 1.73823938e-01 9.84753511e-01 -6.76475754e-03 3.49226658e+01] [ 5.48828044e-02 -2.82853583e-03 9.98488797e-01 1.96860316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.37, Y:34.93, Z:19.69 [[ 9.83157059e-01 -1.74283963e-01 -5.50208768e-02 4.17373784e+02] [ 1.74173209e-01 9.84691283e-01 -6.83884172e-03 3.49289544e+01] [ 5.53704782e-02 -2.85950717e-03 9.98461784e-01 1.96875334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.40, Y:34.93, Z:19.69 [[ 9.83062043e-01 -1.74656624e-01 -5.55345308e-02 4.17402660e+02] [ 1.74543564e-01 9.84625154e-01 -6.91735670e-03 3.49323604e+01] [ 5.58888581e-02 -2.89300414e-03 9.98432805e-01 1.96885713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.43, Y:34.93, Z:19.69 [[ 9.82986402e-01 -1.74917950e-01 -5.60485870e-02 4.17431130e+02] [ 1.74802436e-01 9.84578680e-01 -6.99512112e-03 3.49322555e+01] [ 5.64078160e-02 -2.92132058e-03 9.98403538e-01 1.96890119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.46, Y:34.94, Z:19.69 [[ 9.82877407e-01 -1.75260429e-01 -5.68839572e-02 4.17459760e+02] [ 1.75141481e-01 9.84517611e-01 -7.10875931e-03 3.49367459e+01] [ 5.72491419e-02 -2.97570159e-03 9.98355488e-01 1.96902980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.49, Y:34.95, Z:19.69 [[ 9.82753408e-01 -1.75724112e-01 -5.75914610e-02 4.17487659e+02] [ 1.75602128e-01 9.84434803e-01 -7.21186454e-03 3.49457900e+01] [ 5.79623370e-02 -3.02569867e-03 9.98314185e-01 1.96922615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.51, Y:34.95, Z:19.69 [[ 9.82721576e-01 -1.75866564e-01 -5.76997088e-02 4.17514886e+02] [ 1.75743593e-01 9.84409361e-01 -7.23871590e-03 3.49488686e+01] [ 5.80731816e-02 -3.02671183e-03 9.98307740e-01 1.96933075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.54, Y:34.95, Z:19.69 [[ 9.82717212e-01 -1.75833375e-01 -5.78749081e-02 4.17543613e+02] [ 1.75709181e-01 9.84415289e-01 -7.26785286e-03 3.49545313e+01] [ 5.82508755e-02 -3.02690863e-03 9.98297387e-01 1.96948486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.57, Y:34.96, Z:19.70 [[ 9.82711898e-01 -1.75749648e-01 -5.82184346e-02 4.17571597e+02] [ 1.75622937e-01 9.84430247e-01 -7.32619827e-03 3.49593799e+01] [ 5.85995648e-02 -3.02495028e-03 9.98276986e-01 1.96963177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.60, Y:34.96, Z:19.70 [[ 9.82751048e-01 -1.75369161e-01 -5.87029419e-02 4.17600065e+02] [ 1.75238750e-01 9.84498138e-01 -7.40247172e-03 3.49649965e+01] [ 5.90911023e-02 -3.01224335e-03 9.98248049e-01 1.96976635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.63, Y:34.97, Z:19.70 [[ 9.82814845e-01 -1.74900582e-01 -5.90319153e-02 4.17628561e+02] [ 1.74766950e-01 9.84581572e-01 -7.45931532e-03 3.49719074e+01] [ 5.94263745e-02 -2.98570193e-03 9.98228226e-01 1.96993331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.66, Y:34.98, Z:19.70 [[ 9.83109719e-01 -1.73117963e-01 -5.93755108e-02 4.17656779e+02] [ 1.72978609e-01 9.84896887e-01 -7.51810531e-03 3.49810940e+01] [ 5.97802749e-02 -2.87957087e-03 9.98207407e-01 1.97013995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.68, Y:34.99, Z:19.70 [[ 9.83351625e-01 -1.71778230e-01 -5.92606261e-02 4.17684256e+02] [ 1.71636235e-01 9.85131722e-01 -7.51617263e-03 3.49863461e+01] [ 5.96706375e-02 -2.78023020e-03 9.98214248e-01 1.97030590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:417.71, Y:34.99, Z:19.70 [[ 9.83571997e-01 -1.70585552e-01 -5.90482505e-02 4.17712850e+02] [ 1.70441998e-01 9.85339194e-01 -7.49647836e-03 3.49930834e+01] [ 5.94613464e-02 -2.69097562e-03 9.98226982e-01 1.97049171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.275099893 meters Centerline goodness [0,1] 0.9994582881906826 Centerline is valid? [True, True] Translation: X:417.74, Y:35.00, Z:19.71 [[ 9.84086117e-01 -1.67736947e-01 -5.86415465e-02 4.17742185e+02] [ 1.67589612e-01 9.85828646e-01 -7.45676533e-03 3.50023259e+01] [ 5.90612914e-02 -2.48961479e-03 9.98251254e-01 1.97069703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30509989300003 meters Centerline goodness [0,1] 0.9994391242028293 Centerline is valid? [True, True] Translation: X:417.77, Y:35.01, Z:19.71 [[ 9.84343714e-01 -1.66234805e-01 -5.85955810e-02 4.17770149e+02] [ 1.66084722e-01 9.86083296e-01 -7.45640328e-03 3.50065028e+01] [ 5.90196374e-02 -2.39216709e-03 9.98253956e-01 1.97080019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.335099893 meters Centerline goodness [0,1] 0.9994391242028293 Centerline is valid? [True, True] Translation: X:417.80, Y:35.01, Z:19.71 [[ 9.84296679e-01 -1.66513760e-01 -5.85936471e-02 4.17797343e+02] [ 1.66363269e-01 9.86036226e-01 -7.47157213e-03 3.50100479e+01] [ 5.90195782e-02 -2.39358704e-03 9.98253956e-01 1.97093088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters Centerline goodness [0,1] 0.9993120700437773 Centerline is valid? [True, True] Translation: X:417.82, Y:35.02, Z:19.71 [[ 9.84550760e-01 -1.64805517e-01 -5.91518622e-02 4.17824578e+02] [ 1.64648063e-01 9.86323409e-01 -7.55959756e-03 3.50200219e+01] [ 5.95887298e-02 -2.29643199e-03 9.98220371e-01 1.97120048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.395099893 meters Centerline goodness [0,1] 0.9992302891616393 Centerline is valid? [True, True] Translation: X:417.85, Y:35.03, Z:19.71 [[ 9.84906747e-01 -1.62620177e-01 -5.92737467e-02 4.17852973e+02] [ 1.62457326e-01 9.86686390e-01 -7.58850446e-03 3.50270788e+01] [ 5.97186431e-02 -2.15548514e-03 9.98212922e-01 1.97133929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters Centerline goodness [0,1] 0.999127145766657 Centerline is valid? [True, True] Translation: X:417.88, Y:35.03, Z:19.71 [[ 9.85192406e-01 -1.60714276e-01 -5.97230603e-02 4.17881038e+02] [ 1.60545038e-01 9.86998847e-01 -7.65285738e-03 3.50309083e+01] [ 6.01765151e-02 -2.04870402e-03 9.98185649e-01 1.97136583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.455099893 meters Centerline goodness [0,1] 0.9990873073492501 Centerline is valid? [True, True] Translation: X:417.91, Y:35.04, Z:19.72 [[ 9.85938484e-01 -1.55965543e-01 -6.00004592e-02 4.17910059e+02] [ 1.55785187e-01 9.87760938e-01 -7.70094206e-03 3.50424225e+01] [ 6.04671915e-02 -1.75452760e-03 9.98168643e-01 1.97158599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters Centerline goodness [0,1] 0.9989359926562631 Centerline is valid? [True, True] Translation: X:417.94, Y:35.05, Z:19.72 [[ 9.86232857e-01 -1.54079688e-01 -6.00350007e-02 4.17938382e+02] [ 1.53895382e-01 9.88057070e-01 -7.70955167e-03 3.50495395e+01] [ 6.05058922e-02 -1.63569620e-03 9.98166500e-01 1.97177585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.515099893 meters Centerline goodness [0,1] 0.9990625 Centerline is valid? [True, True] Translation: X:417.97, Y:35.06, Z:19.72 [[ 9.86542934e-01 -1.52110389e-01 -5.99622206e-02 4.17967032e+02] [ 1.51921980e-01 9.88362375e-01 -7.71535885e-03 3.50558179e+01] [ 6.04379890e-02 -1.49804651e-03 9.98170830e-01 1.97195367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters Centerline goodness [0,1] 0.9991531200297441 Centerline is valid? [True, True] Translation: X:417.99, Y:35.06, Z:19.72 [[ 9.86889200e-01 -1.49972987e-01 -5.96473800e-02 4.17994840e+02] [ 1.49781793e-01 9.88689179e-01 -7.68912393e-03 3.50616027e+01] [ 6.01258800e-02 -1.34577814e-03 9.98189895e-01 1.97208177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.575099893 meters Centerline goodness [0,1] 0.999063358587961 Centerline is valid? [True, True] Translation: X:418.02, Y:35.07, Z:19.72 [[ 9.87408452e-01 -1.46234142e-01 -6.03334539e-02 4.18022911e+02] [ 1.46030607e-01 9.89249378e-01 -7.79298930e-03 3.50709668e+01] [ 6.08244328e-02 -1.11566740e-03 9.98147857e-01 1.97225045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.605099893 meters Centerline goodness [0,1] 0.9989830860226212 Centerline is valid? [True, True] Translation: X:418.05, Y:35.08, Z:19.72 [[ 9.87694908e-01 -1.44158699e-01 -6.06385932e-02 4.18049924e+02] [ 1.43948380e-01 9.89554096e-01 -7.84566100e-03 3.50767670e+01] [ 6.11361885e-02 -9.79707813e-04 9.98128953e-01 1.97234006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.635099893 meters Centerline goodness [0,1] 0.9989355485055936 Centerline is valid? [True, True] Translation: X:418.08, Y:35.08, Z:19.73 [[ 9.87890582e-01 -1.42666780e-01 -6.09785879e-02 4.18078110e+02] [ 1.42450774e-01 9.89770381e-01 -7.89743712e-03 3.50834278e+01] [ 6.14815021e-02 -8.84643317e-04 9.98107831e-01 1.97250733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.665099893 meters Centerline goodness [0,1] 0.9989393340681738 Centerline is valid? [True, True] Translation: X:418.11, Y:35.09, Z:19.73 [[ 9.88131284e-01 -1.41123349e-01 -6.06693224e-02 4.18105406e+02] [ 1.40905818e-01 9.89991720e-01 -7.87053717e-03 3.50888412e+01] [ 6.11728434e-02 -7.71536495e-04 9.98126890e-01 1.97259560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.695099893 meters Centerline goodness [0,1] 0.9992528175006745 Centerline is valid? [True, True] Translation: X:418.13, Y:35.10, Z:19.73 [[ 9.88425761e-01 -1.39249331e-01 -6.02008247e-02 4.18133660e+02] [ 1.39031222e-01 9.90257143e-01 -7.81723348e-03 3.50958317e+01] [ 6.07028412e-02 -6.43039264e-04 9.98155675e-01 1.97278266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.725099893 meters Centerline goodness [0,1] 0.9990632220996315 Centerline is valid? [True, True] Translation: X:418.16, Y:35.10, Z:19.73 [[ 9.88431674e-01 -1.39161004e-01 -6.03078761e-02 4.18161470e+02] [ 1.38940999e-01 9.90269573e-01 -7.84679688e-03 3.51011268e+01] [ 6.08130228e-02 -6.23213999e-04 9.98148981e-01 1.97301586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.755099893 meters Centerline goodness [0,1] 0.9992108815283979 Centerline is valid? [True, True] Translation: X:418.19, Y:35.10, Z:19.73 [[ 9.88446521e-01 -1.39105344e-01 -6.01928430e-02 4.18188475e+02] [ 1.38885071e-01 9.90277406e-01 -7.84834104e-03 3.51040828e+01] [ 6.06993586e-02 -6.02221866e-04 9.98155912e-01 1.97294348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.785099893 meters Centerline goodness [0,1] 0.9991519463864642 Centerline is valid? [True, True] Translation: X:418.22, Y:35.11, Z:19.73 [[ 9.88410043e-01 -1.39528443e-01 -5.98113816e-02 4.18216471e+02] [ 1.39310941e-01 9.90217875e-01 -7.81165675e-03 3.51084866e+01] [ 6.03162475e-02 -6.11259854e-04 9.98179131e-01 1.97314127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.815099893 meters Centerline goodness [0,1] 0.9993351754513535 Centerline is valid? [True, True] Translation: X:418.24, Y:35.11, Z:19.73 [[ 9.88302729e-01 -1.40285854e-01 -5.98129994e-02 4.18244212e+02] [ 1.40068857e-01 9.90110835e-01 -7.82623074e-03 3.51121999e+01] [ 6.03194082e-02 -6.43253245e-04 9.98178919e-01 1.97325667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.845099893 meters Centerline goodness [0,1] 0.999249530956848 Centerline is valid? [True, True] Translation: X:418.27, Y:35.12, Z:19.74 [[ 9.87964357e-01 -1.42804991e-01 -5.94404235e-02 4.18272381e+02] [ 1.42594809e-01 9.89750534e-01 -7.78471481e-03 3.51163178e+01] [ 5.99428870e-02 -7.84875067e-04 9.98201500e-01 1.97357799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.875099893 meters Centerline goodness [0,1] 0.9991449961420558 Centerline is valid? [True, True] Translation: X:418.30, Y:35.12, Z:19.74 [[ 9.87729933e-01 -1.44591527e-01 -5.90158484e-02 4.18300688e+02] [ 1.44386629e-01 9.89491046e-01 -7.74413314e-03 3.51189793e+01] [ 5.95153896e-02 -8.71987283e-04 9.98227007e-01 1.97372374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.905099893 meters Centerline goodness [0,1] 0.9991688311688312 Centerline is valid? [True, True] Translation: X:418.33, Y:35.12, Z:19.74 [[ 9.87437165e-01 -1.46654199e-01 -5.88250962e-02 4.18328827e+02] [ 1.46453464e-01 9.89187336e-01 -7.73281237e-03 3.51211065e+01] [ 5.93230896e-02 -9.79472794e-04 9.98238354e-01 1.97385436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93509989300003 meters Centerline goodness [0,1] 0.9990394453841175 Centerline is valid? [True, True] Translation: X:418.36, Y:35.12, Z:19.74 [[ 9.87070888e-01 -1.49090170e-01 -5.88488211e-02 4.18357033e+02] [ 1.48893129e-01 9.88822972e-01 -7.74378306e-03 3.51231054e+01] [ 5.93455881e-02 -1.11852228e-03 9.98236871e-01 1.97401074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.965099893 meters Centerline goodness [0,1] 0.998956920830291 Centerline is valid? [True, True] Translation: X:418.39, Y:35.12, Z:19.74 [[ 9.86389071e-01 -1.53764313e-01 -5.82506403e-02 4.18385449e+02] [ 1.53579094e-01 9.88106589e-01 -7.67013538e-03 3.51219539e+01] [ 5.87372346e-02 -1.38034287e-03 9.98272524e-01 1.97409894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99509989300003 meters Centerline goodness [0,1] 0.9990207925330222 Centerline is valid? [True, True] Translation: X:418.41, Y:35.12, Z:19.74 [[ 9.86044033e-01 -1.56005571e-01 -5.81328407e-02 4.18413869e+02] [ 1.55824623e-01 9.87755029e-01 -7.66086697e-03 3.51241098e+01] [ 5.86161437e-02 -1.50457583e-03 9.98279462e-01 1.97428030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.025099893 meters Centerline goodness [0,1] 0.9992488576376573 Centerline is valid? [True, True] Translation: X:418.44, Y:35.13, Z:19.74 [[ 9.85747502e-01 -1.58073906e-01 -5.75717172e-02 4.18441267e+02] [ 1.57899212e-01 9.87425989e-01 -7.59971256e-03 3.51254094e+01] [ 5.80491260e-02 -1.59913110e-03 9.98312447e-01 1.97441356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05509989300003 meters Centerline goodness [0,1] 0.9991476623079641 Centerline is valid? [True, True] Translation: X:418.47, Y:35.13, Z:19.75 [[ 9.85502873e-01 -1.59762411e-01 -5.70969220e-02 4.18470224e+02] [ 1.59592987e-01 9.87154071e-01 -7.54448854e-03 3.51275470e+01] [ 5.75687846e-02 -1.67715317e-03 9.98340134e-01 1.97456478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.085099893 meters Centerline goodness [0,1] 0.9993311875600887 Centerline is valid? [True, True] Translation: X:418.50, Y:35.13, Z:19.75 [[ 9.85140899e-01 -1.62315340e-01 -5.61350123e-02 4.18498594e+02] [ 1.62155018e-01 9.86737326e-01 -7.42966479e-03 3.51273466e+01] [ 5.65964605e-02 -1.78330730e-03 9.98395543e-01 1.97472509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.115099893 meters Centerline goodness [0,1] 0.9993545297436859 Centerline is valid? [True, True] Translation: X:418.53, Y:35.13, Z:19.75 [[ 9.85011878e-01 -1.63076190e-01 -5.61939173e-02 4.18526862e+02] [ 1.62916407e-01 9.86611795e-01 -7.44381259e-03 3.51306503e+01] [ 5.66554902e-02 -1.82266727e-03 9.98392124e-01 1.97487119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.145099893 meters Centerline goodness [0,1] 0.9991261105678201 Centerline is valid? [True, True] Translation: X:418.55, Y:35.13, Z:19.75 [[ 9.84924680e-01 -1.63610663e-01 -5.61687196e-02 4.18554590e+02] [ 1.63451195e-01 9.86523271e-01 -7.45272610e-03 3.51331003e+01] [ 5.66310944e-02 -1.84047047e-03 9.98393475e-01 1.97497381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.175099893 meters Centerline goodness [0,1] 0.9994164964781395 Centerline is valid? [True, True] Translation: X:418.58, Y:35.14, Z:19.75 [[ 9.84892244e-01 -1.63745040e-01 -5.63456313e-02 4.18583053e+02] [ 1.63584421e-01 9.86500962e-01 -7.48260632e-03 3.51398772e+01] [ 5.68102591e-02 -1.84770656e-03 9.98383283e-01 1.97521202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.205099893 meters Centerline goodness [0,1] 0.9992476646256087 Centerline is valid? [True, True] Translation: X:418.61, Y:35.14, Z:19.75 [[ 9.85005265e-01 -1.63178930e-01 -5.60112882e-02 4.18611325e+02] [ 1.63018585e-01 9.86594864e-01 -7.45081432e-03 3.51406134e+01] [ 5.64762651e-02 -1.79178962e-03 9.98402334e-01 1.97523714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.235099893 meters Centerline goodness [0,1] 0.999393140393831 Centerline is valid? [True, True] Translation: X:418.64, Y:35.15, Z:19.75 [[ 9.85110223e-01 -1.62433366e-01 -5.63316026e-02 4.18639561e+02] [ 1.62269591e-01 9.86717959e-01 -7.49999427e-03 3.51489985e+01] [ 5.68016532e-02 -1.75258505e-03 9.98383945e-01 1.97548660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.265099893 meters Centerline goodness [0,1] 0.9994153023722018 Centerline is valid? [True, True] Translation: X:418.67, Y:35.16, Z:19.76 [[ 9.85725946e-01 -1.58813579e-01 -5.58802836e-02 4.18667452e+02] [ 1.58645903e-01 9.87307419e-01 -7.45240351e-03 3.51554858e+01] [ 5.63545614e-02 -1.51915054e-03 9.98409663e-01 1.97563093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.295099893 meters Centerline goodness [0,1] 0.9995417048579285 Centerline is valid? [True, True] Translation: X:418.70, Y:35.16, Z:19.76 [[ 9.86113298e-01 -1.56508015e-01 -5.55500124e-02 4.18696459e+02] [ 1.56338454e-01 9.87675731e-01 -7.41206409e-03 3.51616055e+01] [ 5.60254466e-02 -1.37546808e-03 9.98428394e-01 1.97580818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.325099893 meters Centerline goodness [0,1] 0.9994776867792078 Centerline is valid? [True, True] Translation: X:418.72, Y:35.17, Z:19.76 [[ 9.86502775e-01 -1.54157478e-01 -5.52063985e-02 4.18724644e+02] [ 1.53986211e-01 9.88045522e-01 -7.36838433e-03 3.51660217e+01] [ 5.56823264e-02 -1.23209252e-03 9.98447776e-01 1.97592813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.355099893 meters Centerline goodness [0,1] 0.9993740088473416 Centerline is valid? [True, True] Translation: X:418.75, Y:35.17, Z:19.76 [[ 9.87185614e-01 -1.49894363e-01 -5.47379584e-02 4.18752718e+02] [ 1.49719267e-01 9.88701532e-01 -7.30899780e-03 3.51722869e+01] [ 5.52150809e-02 -9.79989531e-04 9.98474003e-01 1.97605307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.385099893 meters Centerline goodness [0,1] 0.9996034313623177 Centerline is valid? [True, True] Translation: X:418.78, Y:35.18, Z:19.76 [[ 9.87448257e-01 -1.48027458e-01 -5.50800429e-02 4.18781502e+02] [ 1.47847060e-01 9.88982862e-01 -7.35833625e-03 3.51777114e+01] [ 5.55624543e-02 -8.77446085e-04 9.98454828e-01 1.97617661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.415099893 meters Centerline goodness [0,1] 0.9995398452206651 Centerline is valid? [True, True] Translation: X:418.81, Y:35.18, Z:19.76 [[ 9.87651490e-01 -1.46641161e-01 -5.51444006e-02 4.18809533e+02] [ 1.46458064e-01 9.89189432e-01 -7.36904993e-03 3.51822216e+01] [ 5.56288644e-02 -7.98289032e-04 9.98451197e-01 1.97625309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.445099893 meters Centerline goodness [0,1] 0.9995411504609352 Centerline is valid? [True, True] Translation: X:418.84, Y:35.19, Z:19.76 [[ 9.87752243e-01 -1.45768335e-01 -5.56515795e-02 4.18838413e+02] [ 1.45580207e-01 9.89318466e-01 -7.44146162e-03 3.51867148e+01] [ 5.61418647e-02 -7.51448057e-04 9.98422519e-01 1.97632197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.475099893 meters Centerline goodness [0,1] 0.9995627368508725 Centerline is valid? [True, True] Translation: X:418.87, Y:35.19, Z:19.76 [[ 9.87742144e-01 -1.45507538e-01 -5.65067627e-02 4.18866220e+02] [ 1.45312435e-01 9.89356870e-01 -7.56840016e-03 3.51896284e+01] [ 5.70066131e-02 -7.35507497e-04 9.98373530e-01 1.97632090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.505099893 meters Centerline goodness [0,1] 0.9996245228310978 Centerline is valid? [True, True] Translation: X:418.89, Y:35.19, Z:19.76 [[ 9.87618324e-01 -1.46367054e-01 -5.64511401e-02 4.18894927e+02] [ 1.46173376e-01 9.89230044e-01 -7.56730941e-03 3.51924622e+01] [ 5.69507686e-02 -7.78040254e-04 9.98376685e-01 1.97642647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.535099893 meters Centerline goodness [0,1] 0.9995414756148395 Centerline is valid? [True, True] Translation: X:418.92, Y:35.19, Z:19.77 [[ 9.87480972e-01 -1.47493439e-01 -5.59197227e-02 4.18922582e+02] [ 1.47304421e-01 9.89062693e-01 -7.50979733e-03 3.51949569e+01] [ 5.64157574e-02 -8.21440393e-04 9.98407025e-01 1.97658455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.565099893 meters Centerline goodness [0,1] 0.9996452790818988 Centerline is valid? [True, True] Translation: X:418.95, Y:35.20, Z:19.77 [[ 9.87289781e-01 -1.48889837e-01 -5.55941130e-02 4.18951590e+02] [ 1.48704481e-01 9.88853395e-01 -7.47932456e-03 3.51992088e+01] [ 5.60880228e-02 -8.82833007e-04 9.98425438e-01 1.97685469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.595099893 meters Centerline goodness [0,1] 0.9995839747056621 Centerline is valid? [True, True] Translation: X:418.98, Y:35.20, Z:19.77 [[ 9.87038694e-01 -1.50674383e-01 -5.52435167e-02 4.18979753e+02] [ 1.50494013e-01 9.88582965e-01 -7.43461261e-03 3.52009856e+01] [ 5.57330052e-02 -9.75568169e-04 9.98445232e-01 1.97698433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.625099893 meters Centerline goodness [0,1] 0.9995611285266458 Centerline is valid? [True, True] Translation: X:419.01, Y:35.20, Z:19.77 [[ 9.86536673e-01 -1.54509926e-01 -5.35917432e-02 4.19009250e+02] [ 1.54345598e-01 9.87990564e-01 -7.21671369e-03 3.52025992e+01] [ 5.40631905e-02 -1.15209696e-03 9.98536852e-01 1.97725772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.655099893 meters Centerline goodness [0,1] 0.9994785148101794 Centerline is valid? [True, True] Translation: X:419.04, Y:35.20, Z:19.77 [[ 9.86178130e-01 -1.56856412e-01 -5.33738023e-02 4.19038235e+02] [ 1.56696736e-01 9.87620597e-01 -7.18946813e-03 3.52031476e+01] [ 5.38407807e-02 -1.27340437e-03 9.98548721e-01 1.97736174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68509989300003 meters Centerline goodness [0,1] 0.9994571911730934 Centerline is valid? [True, True] Translation: X:419.07, Y:35.21, Z:19.78 [[ 9.85836666e-01 -1.59085983e-01 -5.30821849e-02 4.19068241e+02] [ 1.58931135e-01 9.87263760e-01 -7.15279195e-03 3.52069159e+01] [ 5.35440264e-02 -1.38492731e-03 9.98564529e-01 1.97754210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.715099893 meters Centerline goodness [0,1] 0.9994578024315476 Centerline is valid? [True, True] Translation: X:419.10, Y:35.21, Z:19.78 [[ 9.85459896e-01 -1.61308366e-01 -5.33704489e-02 4.19098418e+02] [ 1.61155084e-01 9.86902893e-01 -7.19163535e-03 3.52087927e+01] [ 5.38315214e-02 -1.51385096e-03 9.98548885e-01 1.97765865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74509989300003 meters Centerline goodness [0,1] 0.9993750520789935 Centerline is valid? [True, True] Translation: X:419.13, Y:35.21, Z:19.78 [[ 9.85089349e-01 -1.63566477e-01 -5.33383739e-02 4.19127483e+02] [ 1.63416664e-01 9.86530958e-01 -7.18765936e-03 3.52092338e+01] [ 5.37956173e-02 -1.63589245e-03 9.98550627e-01 1.97775061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.775099893 meters Centerline goodness [0,1] 0.9994806597698284 Centerline is valid? [True, True] Translation: X:419.16, Y:35.21, Z:19.78 [[ 9.84386645e-01 -1.67887772e-01 -5.28831705e-02 4.19156923e+02] [ 1.67746571e-01 9.85804373e-01 -7.12922079e-03 3.52058918e+01] [ 5.33293697e-02 -1.85306077e-03 9.98575257e-01 1.97784782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80509989300003 meters Centerline goodness [0,1] 0.9994778722248909 Centerline is valid? [True, True] Translation: X:419.19, Y:35.21, Z:19.78 [[ 9.84144677e-01 -1.69588046e-01 -5.19533357e-02 4.19186220e+02] [ 1.69453990e-01 9.85513193e-01 -7.00656294e-03 3.52123772e+01] [ 5.23889271e-02 -1.90822843e-03 9.98624934e-01 1.97811802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.835099893 meters Centerline goodness [0,1] 0.9994383308023549 Centerline is valid? [True, True] Translation: X:419.21, Y:35.21, Z:19.78 [[ 9.83972177e-01 -1.70741679e-01 -5.14396182e-02 4.19214638e+02] [ 1.70611726e-01 9.85313901e-01 -6.93935466e-03 3.52140149e+01] [ 5.18690080e-02 -1.94807017e-03 9.98651997e-01 1.97829447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters Centerline goodness [0,1] 0.9994392290437817 Centerline is valid? [True, True] Translation: X:419.24, Y:35.21, Z:19.78 [[ 9.83940242e-01 -1.71039690e-01 -5.10590312e-02 4.19243768e+02] [ 1.70911856e-01 9.85262219e-01 -6.89186274e-03 3.52139654e+01] [ 5.14853164e-02 -1.94541268e-03 9.98671857e-01 1.97844486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.895099893 meters Centerline goodness [0,1] 0.99960545715057 Centerline is valid? [True, True] Translation: X:419.27, Y:35.22, Z:19.79 [[ 9.84033686e-01 -1.70473299e-01 -5.11523091e-02 4.19272755e+02] [ 1.70344049e-01 9.85360434e-01 -6.90800813e-03 3.52219881e+01] [ 5.15810924e-02 -1.91577876e-03 9.98666972e-01 1.97862786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters Centerline goodness [0,1] 0.999563373253493 Centerline is valid? [True, True] Translation: X:419.30, Y:35.23, Z:19.79 [[ 9.84195607e-01 -1.69437703e-01 -5.14769040e-02 4.19301184e+02] [ 1.69305290e-01 9.85539123e-01 -6.95384524e-03 3.52255526e+01] [ 5.19107463e-02 -1.87136824e-03 9.98649975e-01 1.97871116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.955099893 meters Centerline goodness [0,1] 0.9996465182043125 Centerline is valid? [True, True] Translation: X:419.33, Y:35.23, Z:19.79 [[ 9.84497579e-01 -1.67706747e-01 -5.13708488e-02 4.19330432e+02] [ 1.67572376e-01 9.85835332e-01 -6.94242419e-03 3.52315680e+01] [ 5.18074891e-02 -1.77353538e-03 9.98655516e-01 1.97884784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters Centerline goodness [0,1] 0.9995011535823408 Centerline is valid? [True, True] Translation: X:419.36, Y:35.24, Z:19.79 [[ 9.84784310e-01 -1.65938039e-01 -5.16181193e-02 4.19359098e+02] [ 1.65799841e-01 9.86134739e-01 -6.97783250e-03 3.52359388e+01] [ 5.20603084e-02 -1.68661601e-03 9.98642518e-01 1.97891622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.015099893 meters Centerline goodness [0,1] 0.9995859041782268 Centerline is valid? [True, True] Translation: X:419.39, Y:35.24, Z:19.79 [[ 9.85443475e-01 -1.61901532e-01 -5.18560699e-02 4.19388262e+02] [ 1.61756328e-01 9.86805812e-01 -7.01276715e-03 3.52428941e+01] [ 5.23072490e-02 -1.47736184e-03 9.98629946e-01 1.97901622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters Centerline goodness [0,1] 0.999688065381496 Centerline is valid? [True, True] Translation: X:419.42, Y:35.25, Z:19.79 [[ 9.85729894e-01 -1.60220109e-01 -5.16342164e-02 4.19417480e+02] [ 1.60073743e-01 9.87080347e-01 -6.98464407e-03 3.52479253e+01] [ 5.20862007e-02 -1.38030983e-03 9.98641639e-01 1.97914054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.075099893 meters Centerline goodness [0,1] 0.9996668818055006 Centerline is valid? [True, True] Translation: X:419.45, Y:35.25, Z:19.79 [[ 9.85953217e-01 -1.58797091e-01 -5.17661866e-02 4.19446887e+02] [ 1.58647918e-01 9.87310375e-01 -7.00439019e-03 3.52541318e+01] [ 5.22215699e-02 -1.30659666e-03 9.98634668e-01 1.97931382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.105099893 meters Centerline goodness [0,1] 0.999752755743278 Centerline is valid? [True, True] Translation: X:419.48, Y:35.26, Z:19.79 [[ 9.86109961e-01 -1.57806836e-01 -5.18087560e-02 4.19475871e+02] [ 1.57655951e-01 9.87469205e-01 -7.01208003e-03 3.52568890e+01] [ 5.22661053e-02 -1.25327675e-03 9.98632407e-01 1.97940994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.135099893 meters Centerline goodness [0,1] 0.9996455305573511 Centerline is valid? [True, True] Translation: X:419.51, Y:35.26, Z:19.80 [[ 9.86238465e-01 -1.56967376e-01 -5.19127483e-02 4.19505410e+02] [ 1.56814627e-01 9.87603048e-01 -7.02798311e-03 3.52631945e+01] [ 5.23723525e-02 -1.20941098e-03 9.98626894e-01 1.97955662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.165099893 meters Centerline goodness [0,1] 0.9996668679339565 Centerline is valid? [True, True] Translation: X:419.54, Y:35.27, Z:19.80 [[ 9.86218977e-01 -1.57050759e-01 -5.20306516e-02 4.19535097e+02] [ 1.56897377e-01 9.87589784e-01 -7.04497101e-03 3.52675051e+01] [ 5.24913580e-02 -1.21558865e-03 9.98620639e-01 1.97973795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.195099893 meters Centerline goodness [0,1] 0.999689691553404 Centerline is valid? [True, True] Translation: X:419.56, Y:35.27, Z:19.80 [[ 9.86077086e-01 -1.57754903e-01 -5.25867979e-02 4.19564635e+02] [ 1.57599122e-01 9.87477489e-01 -7.12218624e-03 3.52713703e+01] [ 5.30518390e-02 -1.26460851e-03 9.98590959e-01 1.97986722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.225099893 meters Centerline goodness [0,1] 0.999689691553404 Centerline is valid? [True, True] Translation: X:419.59, Y:35.28, Z:19.80 [[ 9.86071527e-01 -1.57789730e-01 -5.25865467e-02 4.19593500e+02] [ 1.57633899e-01 9.87471925e-01 -7.12404074e-03 3.52753112e+01] [ 5.30518389e-02 -1.26460867e-03 9.98590959e-01 1.98000585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.255099893 meters Centerline goodness [0,1] 0.9997102169233317 Centerline is valid? [True, True] Translation: X:419.62, Y:35.28, Z:19.80 [[ 9.85906845e-01 -1.58622752e-01 -5.31649814e-02 4.19622631e+02] [ 1.58464579e-01 9.87338379e-01 -7.20433172e-03 3.52793478e+01] [ 5.36345975e-02 -1.32196643e-03 9.98559754e-01 1.98016213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.285099893 meters Centerline goodness [0,1] 0.9997918877858941 Centerline is valid? [True, True] Translation: X:419.65, Y:35.28, Z:19.80 [[ 9.85296088e-01 -1.62089650e-01 -5.40237394e-02 4.19652355e+02] [ 1.61931423e-01 9.86774845e-01 -7.32255382e-03 3.52833580e+01] [ 5.44961773e-02 -1.53325737e-03 9.98512802e-01 1.98036564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.315099893 meters Centerline goodness [0,1] 0.9997505975267588 Centerline is valid? [True, True] Translation: X:419.68, Y:35.29, Z:19.81 [[ 9.84961929e-01 -1.64090545e-01 -5.40767191e-02 4.19681349e+02] [ 1.63934949e-01 9.86443911e-01 -7.33099277e-03 3.52865881e+01] [ 5.45465968e-02 -1.64431538e-03 9.98509872e-01 1.98051258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.345099893 meters Centerline goodness [0,1] 0.9998125078121745 Centerline is valid? [True, True] Translation: X:419.71, Y:35.29, Z:19.81 [[ 9.84624321e-01 -1.66142297e-01 -5.39600224e-02 4.19710612e+02] [ 1.65990290e-01 9.86100233e-01 -7.31803765e-03 3.52899697e+01] [ 5.44258263e-02 -1.75132190e-03 9.98516280e-01 1.98072969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.375099893 meters Centerline goodness [0,1] 0.9997928362785109 Centerline is valid? [True, True] Translation: X:419.74, Y:35.29, Z:19.81 [[ 9.84097499e-01 -1.69358434e-01 -5.35708306e-02 4.19739646e+02] [ 1.69213252e-01 9.85552668e-01 -7.26735742e-03 3.52918958e+01] [ 5.40276633e-02 -1.91310622e-03 9.98537607e-01 1.98097204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.405099893 meters Centerline goodness [0,1] 0.9997931148626282 Centerline is valid? [True, True] Translation: X:419.77, Y:35.29, Z:19.81 [[ 9.83924077e-01 -1.70494643e-01 -5.31506140e-02 4.19768780e+02] [ 1.70353220e-01 9.85356660e-01 -7.21340036e-03 3.52919887e+01] [ 5.36021576e-02 -1.95693995e-03 9.98560453e-01 1.98106838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43509989300003 meters Centerline goodness [0,1] 0.9998131190431695 Centerline is valid? [True, True] Translation: X:419.80, Y:35.30, Z:19.81 [[ 9.83822671e-01 -1.71105388e-01 -5.30650457e-02 4.19798018e+02] [ 1.70965106e-01 9.85250736e-01 -7.20555426e-03 3.52985294e+01] [ 5.35152845e-02 -1.98328351e-03 9.98565061e-01 1.98127978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.465099893 meters Centerline goodness [0,1] 0.9997301560943208 Centerline is valid? [True, True] Translation: X:419.83, Y:35.30, Z:19.81 [[ 9.83772015e-01 -1.71389821e-01 -5.30862754e-02 4.19826901e+02] [ 1.71249728e-01 9.85201268e-01 -7.21049388e-03 3.53015626e+01] [ 5.35364711e-02 -1.99752816e-03 9.98563897e-01 1.98142950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49509989300003 meters Centerline goodness [0,1] 0.9997089397089397 Centerline is valid? [True, True] Translation: X:419.86, Y:35.31, Z:19.82 [[ 9.83778790e-01 -1.71459622e-01 -5.27341403e-02 4.19856297e+02] [ 1.71321335e-01 9.85189148e-01 -7.16542776e-03 3.53069276e+01] [ 5.31816843e-02 -1.98528748e-03 9.98582879e-01 1.98161345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.525099893 meters Centerline goodness [0,1] 0.9997318703077304 Centerline is valid? [True, True] Translation: X:419.88, Y:35.31, Z:19.82 [[ 9.83820469e-01 -1.71126915e-01 -5.30364476e-02 4.19884433e+02] [ 1.70986444e-01 9.85247011e-01 -7.20857641e-03 3.53100170e+01] [ 5.34875829e-02 -1.97656857e-03 9.98566558e-01 1.98169646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55509989300003 meters Centerline goodness [0,1] 0.9997920997920998 Centerline is valid? [True, True] Translation: X:419.91, Y:35.32, Z:19.82 [[ 9.84104649e-01 -1.69586966e-01 -5.27095832e-02 4.19914094e+02] [ 1.69445880e-01 9.85513436e-01 -7.16671513e-03 3.53165985e+01] [ 5.31613839e-02 -1.87862406e-03 9.98584167e-01 1.98183525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.585099893 meters Centerline goodness [0,1] 0.99979196571595 Centerline is valid? [True, True] Translation: X:419.94, Y:35.32, Z:19.82 [[ 9.84365852e-01 -1.68095783e-01 -5.26087261e-02 4.19943627e+02] [ 1.67953111e-01 9.85769033e-01 -7.15300198e-03 3.53223817e+01] [ 5.30624425e-02 -1.79462833e-03 9.98589584e-01 1.98199737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.615099893 meters Centerline goodness [0,1] 0.9998758817566868 Centerline is valid? [True, True] Translation: X:419.97, Y:35.33, Z:19.82 [[ 9.84675270e-01 -1.66240618e-01 -5.27130810e-02 4.19973368e+02] [ 1.66094725e-01 9.86083756e-01 -7.16719070e-03 3.53265021e+01] [ 5.31709911e-02 -1.69800924e-03 9.98583979e-01 1.98210161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.645099893 meters Centerline goodness [0,1] 0.999896244034032 Centerline is valid? [True, True] Translation: X:420.00, Y:35.33, Z:19.82 [[ 9.85426483e-01 -1.61789160e-01 -5.25253644e-02 4.20002293e+02] [ 1.61637976e-01 9.86824279e-01 -7.14186667e-03 3.53344983e+01] [ 5.29887815e-02 -1.45230902e-03 9.98594052e-01 1.98223963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.675099893 meters Centerline goodness [0,1] 0.999937544239497 Centerline is valid? [True, True] Translation: X:420.03, Y:35.34, Z:19.82 [[ 9.85844955e-01 -1.59335725e-01 -5.21713566e-02 4.20031810e+02] [ 1.59183046e-01 9.87223587e-01 -7.09553654e-03 3.53399788e+01] [ 5.26353662e-02 -1.30969654e-03 9.98612939e-01 1.98238228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.705099893 meters Centerline goodness [0,1] 0.9999377967612847 Centerline is valid? [True, True] Translation: X:420.06, Y:35.35, Z:19.83 [[ 9.86181270e-01 -1.57219419e-01 -5.22356011e-02 4.20061472e+02] [ 1.57063352e-01 9.87562970e-01 -7.10512868e-03 3.53458821e+01] [ 5.27030096e-02 -1.19735378e-03 9.98609513e-01 1.98252170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.735099893 meters Centerline goodness [0,1] 0.999958455370682 Centerline is valid? [True, True] Translation: X:420.09, Y:35.35, Z:19.83 [[ 9.86474842e-01 -1.55374197e-01 -5.22134657e-02 4.20090888e+02] [ 1.55215675e-01 9.87855077e-01 -7.10221049e-03 3.53505430e+01] [ 5.26828374e-02 -1.09819635e-03 9.98610691e-01 1.98262690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.765099893 meters Centerline goodness [0,1] 0.9999583992012646 Centerline is valid? [True, True] Translation: X:420.12, Y:35.36, Z:19.83 [[ 9.86733961e-01 -1.53730801e-01 -5.21817060e-02 4.20119126e+02] [ 1.53570117e-01 9.88112252e-01 -7.09901513e-03 3.53550862e+01] [ 5.26527204e-02 -1.00871137e-03 9.98612374e-01 1.98268486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.795099893 meters Centerline goodness [0,1] 0.9999377916018662 Centerline is valid? [True, True] Translation: X:420.15, Y:35.36, Z:19.83 [[ 9.86712420e-01 -1.53673601e-01 -5.27543733e-02 4.20147308e+02] [ 1.53509130e-01 9.88121145e-01 -7.17987567e-03 3.53588236e+01] [ 5.32310691e-02 -1.01380544e-03 9.98581707e-01 1.98277045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.825099893 meters Centerline goodness [0,1] 0.9999377580447727 Centerline is valid? [True, True] Translation: X:420.18, Y:35.36, Z:19.83 [[ 9.86642997e-01 -1.53968742e-01 -5.31904361e-02 4.20176386e+02] [ 1.53801778e-01 9.88075177e-01 -7.24274569e-03 3.53629794e+01] [ 5.36713061e-02 -1.03477934e-03 9.98558121e-01 1.98285197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.855099893 meters Centerline goodness [0,1] 0.9999584958910932 Centerline is valid? [True, True] Translation: X:420.21, Y:35.37, Z:19.83 [[ 9.86507515e-01 -1.54649285e-01 -5.37263650e-02 4.20206113e+02] [ 1.54479840e-01 9.87968841e-01 -7.31766122e-03 3.53673856e+01] [ 5.42116456e-02 -1.08071250e-03 9.98528883e-01 1.98297978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.885099893 meters Centerline goodness [0,1] 0.9999379601290429 Centerline is valid? [True, True] Translation: X:420.23, Y:35.37, Z:19.83 [[ 9.86134014e-01 -1.56879793e-01 -5.41150406e-02 4.20234821e+02] [ 1.56711125e-01 9.87616964e-01 -7.37270613e-03 3.53695182e+01] [ 5.46015607e-02 -1.20995259e-03 9.98507489e-01 1.98307315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.915099893 meters Centerline goodness [0,1] 0.9999792263907932 Centerline is valid? [True, True] Translation: X:420.26, Y:35.37, Z:19.83 [[ 9.85925235e-01 -1.58136595e-01 -5.42609375e-02 4.20263290e+02] [ 1.57968677e-01 9.87416418e-01 -7.39694062e-03 3.53726175e+01] [ 5.47478675e-02 -1.27869810e-03 9.98499392e-01 1.98319625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.945099893 meters Centerline goodness [0,1] 0.999958357624719 Centerline is valid? [True, True] Translation: X:420.29, Y:35.38, Z:19.83 [[ 9.85640392e-01 -1.59843449e-01 -5.44342631e-02 4.20292276e+02] [ 1.59676374e-01 9.87141432e-01 -7.43294664e-03 3.53754120e+01] [ 5.49224243e-02 -1.36565334e-03 9.98489691e-01 1.98333001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.975099893 meters Centerline goodness [0,1] 0.9999379973132169 Centerline is valid? [True, True] Translation: X:420.32, Y:35.38, Z:19.83 [[ 9.85347770e-01 -1.61662942e-01 -5.43586781e-02 4.20320958e+02] [ 1.61498806e-01 9.86844953e-01 -7.42788521e-03 3.53781851e+01] [ 5.48444009e-02 -1.45981149e-03 9.98493846e-01 1.98347669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.005099893 meters Centerline goodness [0,1] 0.999937769664786 Centerline is valid? [True, True] Translation: X:420.35, Y:35.38, Z:19.84 [[ 9.85135477e-01 -1.63032830e-01 -5.41145886e-02 4.20349082e+02] [ 1.62871499e-01 9.86619480e-01 -7.40785999e-03 3.53817586e+01] [ 5.45982316e-02 -1.51597849e-03 9.98507253e-01 1.98362394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.035099893 meters Centerline goodness [0,1] 0.9999583515545283 Centerline is valid? [True, True] Translation: X:420.38, Y:35.38, Z:19.84 [[ 9.84913981e-01 -1.64512850e-01 -5.36653651e-02 4.20377315e+02] [ 1.64355666e-01 9.86373688e-01 -7.35955334e-03 3.53848098e+01] [ 5.41448452e-02 -1.57167984e-03 9.98531855e-01 1.98378861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.065099893 meters Centerline goodness [0,1] 0.999979240621951 Centerline is valid? [True, True] Translation: X:420.41, Y:35.39, Z:19.84 [[ 9.84711526e-01 -1.65946532e-01 -5.29618634e-02 4.20405148e+02] [ 1.65794874e-01 9.86133426e-01 -7.27502553e-03 3.53872700e+01] [ 5.34347291e-02 -1.61700396e-03 9.98570035e-01 1.98397687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.43, Y:35.39, Z:19.84 [[ 9.84610731e-01 -1.66643488e-01 -5.26465195e-02 4.20433421e+02] [ 1.66494337e-01 9.86015852e-01 -7.23713019e-03 3.53905544e+01] [ 5.31163234e-02 -1.63959130e-03 9.98586986e-01 1.98414825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.46, Y:35.39, Z:19.84 [[ 9.84615182e-01 -1.66876256e-01 -5.18194776e-02 4.20461185e+02] [ 1.66731425e-01 9.85976526e-01 -7.13591425e-03 3.53942077e+01] [ 5.22836032e-02 -1.61380583e-03 9.98630973e-01 1.98430074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.49, Y:35.40, Z:19.84 [[ 9.84619159e-01 -1.66903219e-01 -5.16568263e-02 4.20488535e+02] [ 1.66758597e-01 9.85971991e-01 -7.12761308e-03 3.53981194e+01] [ 5.21218054e-02 -1.59623547e-03 9.98639459e-01 1.98440003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.52, Y:35.40, Z:19.85 [[ 9.84675772e-01 -1.66774699e-01 -5.09884617e-02 4.20517372e+02] [ 1.66632928e-01 9.85993803e-01 -7.04892191e-03 3.54029106e+01] [ 5.14498891e-02 -1.55545401e-03 9.98674366e-01 1.98454918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.215099893 meters Centerline goodness [0,1] 0.9999792384669685 Centerline is valid? [True, True] Translation: X:420.54, Y:35.41, Z:19.85 [[ 9.84711789e-01 -1.66495178e-01 -5.12059352e-02 4.20544486e+02] [ 1.66351254e-01 9.86041071e-01 -7.08986263e-03 3.54063553e+01] [ 5.16715832e-02 -1.53670023e-03 9.98662949e-01 1.98467589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24509989300003 meters Centerline goodness [0,1] 0.999979213868507 Centerline is valid? [True, True] Translation: X:420.57, Y:35.41, Z:19.85 [[ 9.84793233e-01 -1.65859457e-01 -5.17003666e-02 4.20573335e+02] [ 1.65711622e-01 9.86148240e-01 -7.16294937e-03 3.54113988e+01] [ 5.21722684e-02 -1.51332756e-03 9.98636953e-01 1.98478264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.60, Y:35.42, Z:19.85 [[ 9.85122540e-01 -1.63686441e-01 -5.23481682e-02 4.20602028e+02] [ 1.63531429e-01 9.86511411e-01 -7.25995319e-03 3.54176909e+01] [ 5.28304212e-02 -1.40862721e-03 9.98602505e-01 1.98481532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.63, Y:35.42, Z:19.85 [[ 9.85301757e-01 -1.62472675e-01 -5.27548810e-02 4.20630304e+02] [ 1.62312886e-01 9.86712130e-01 -7.32798952e-03 3.54231547e+01] [ 5.32444791e-02 -1.34251604e-03 9.98580604e-01 1.98492391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.66, Y:35.43, Z:19.85 [[ 9.85499425e-01 -1.61172256e-01 -5.30508013e-02 4.20658025e+02] [ 1.61008165e-01 9.86925476e-01 -7.38068738e-03 3.54275691e+01] [ 5.35467494e-02 -1.26794902e-03 9.98564539e-01 1.98501935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.69, Y:35.43, Z:19.85 [[ 9.85683273e-01 -1.59971050e-01 -5.32705225e-02 4.20685990e+02] [ 1.59803556e-01 9.87120974e-01 -7.41660286e-03 3.54327690e+01] [ 5.37708919e-02 -1.20239754e-03 9.98552575e-01 1.98514571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.71, Y:35.44, Z:19.85 [[ 9.86122585e-01 -1.56989590e-01 -5.40047710e-02 4.20713280e+02] [ 1.56812349e-01 9.87599707e-01 -7.53033409e-03 3.54391318e+01] [ 5.45172801e-02 -1.04278249e-03 9.98512283e-01 1.98521203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.74, Y:35.44, Z:19.85 [[ 9.86356957e-01 -1.55471842e-01 -5.41152442e-02 4.20741145e+02] [ 1.55291296e-01 9.87839862e-01 -7.55115982e-03 3.54445667e+01] [ 5.46311881e-02 -9.55487385e-04 9.98506144e-01 1.98533102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.77, Y:35.45, Z:19.85 [[ 9.86494530e-01 -1.54531912e-01 -5.42994497e-02 4.20769848e+02] [ 1.54348036e-01 9.87987393e-01 -7.58916692e-03 3.54498666e+01] [ 5.48199402e-02 -8.94341784e-04 9.98495856e-01 1.98544868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.80, Y:35.45, Z:19.86 [[ 9.86636989e-01 -1.53565219e-01 -5.44534186e-02 4.20798355e+02] [ 1.53378148e-01 9.88138165e-01 -7.62302079e-03 3.54545653e+01] [ 5.49781320e-02 -8.30810218e-04 9.98487213e-01 1.98553764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.83, Y:35.46, Z:19.86 [[ 9.86696718e-01 -1.52999374e-01 -5.49616058e-02 4.20826256e+02] [ 1.52807288e-01 9.88225965e-01 -7.70546167e-03 3.54589359e+01] [ 5.54934168e-02 -7.95580164e-04 9.98458736e-01 1.98562661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.85, Y:35.46, Z:19.86 [[ 9.86610878e-01 -1.53562348e-01 -5.49325050e-02 4.20853865e+02] [ 1.53371019e-01 9.88138619e-01 -7.70711613e-03 3.54624071e+01] [ 5.54644525e-02 -8.21129637e-04 9.98460325e-01 1.98573071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.88, Y:35.47, Z:19.86 [[ 9.86417745e-01 -1.54813290e-01 -5.48896781e-02 4.20882070e+02] [ 1.54623438e-01 9.87943356e-01 -7.71472587e-03 3.54654435e+01] [ 5.54222349e-02 -8.77288216e-04 9.98462621e-01 1.98587476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.91, Y:35.47, Z:19.86 [[ 9.86144142e-01 -1.56557796e-01 -5.48578857e-02 4.20910734e+02] [ 1.56370191e-01 9.87668330e-01 -7.72230007e-03 3.54679224e+01] [ 5.53903826e-02 -9.62837105e-04 9.98464310e-01 1.98600525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.94, Y:35.47, Z:19.86 [[ 9.85350534e-01 -1.61539600e-01 -5.46743344e-02 4.20939856e+02] [ 1.61360315e-01 9.86865467e-01 -7.70710950e-03 3.54663338e+01] [ 5.52012159e-02 -1.22806334e-03 9.98474495e-01 1.98618379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:420.97, Y:35.47, Z:19.86 [[ 9.84881487e-01 -1.64500272e-01 -5.42965572e-02 4.20968160e+02] [ 1.64327797e-01 9.86376070e-01 -7.65659607e-03 3.54670034e+01] [ 5.48163368e-02 -1.38159390e-03 9.98495498e-01 1.98635862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.00, Y:35.47, Z:19.87 [[ 9.84397815e-01 -1.67734712e-01 -5.31602174e-02 4.20997771e+02] [ 1.67573889e-01 9.85830990e-01 -7.50009645e-03 3.54674867e+01] [ 5.36650162e-02 -1.52518579e-03 9.98557830e-01 1.98660017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.03, Y:35.48, Z:19.87 [[ 9.83823535e-01 -1.71262682e-01 -5.25390019e-02 4.21026327e+02] [ 1.71110535e-01 9.85223943e-01 -7.41397942e-03 3.54787436e+01] [ 5.30324206e-02 -1.69592929e-03 9.98591351e-01 1.98701151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.06, Y:35.46, Z:19.87 [[ 9.82709505e-01 -1.77591735e-01 -5.23756096e-02 4.21057614e+02] [ 1.77449444e-01 9.84102157e-01 -7.39188811e-03 3.54637812e+01] [ 5.28556886e-02 -2.02994407e-03 9.98600098e-01 1.98694123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.09, Y:35.46, Z:19.87 [[ 9.82141559e-01 -1.80637096e-01 -5.26136619e-02 4.21086457e+02] [ 1.80497800e-01 9.83547349e-01 -7.42670764e-03 3.54638769e+01] [ 5.30895666e-02 -2.20257198e-03 9.98587325e-01 1.98697954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.815099893 meters Centerline goodness [0,1] 0.9999791527685123 Centerline is valid? [True, True] Translation: X:421.12, Y:35.47, Z:19.87 [[ 9.81634271e-01 -1.83235937e-01 -5.30918991e-02 4.21115845e+02] [ 1.83097750e-01 9.83066128e-01 -7.49675955e-03 3.54650346e+01] [ 5.35665235e-02 -2.36193116e-03 9.98561490e-01 1.98703236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.845099893 meters Centerline goodness [0,1] 0.999958375824679 Centerline is valid? [True, True] Translation: X:421.14, Y:35.47, Z:19.87 [[ 9.81146809e-01 -1.85777247e-01 -5.32705631e-02 4.21144568e+02] [ 1.85641681e-01 9.82588691e-01 -7.52533801e-03 3.54655584e+01] [ 5.37410895e-02 -2.50577552e-03 9.98551759e-01 1.98709907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.17, Y:35.49, Z:19.87 [[ 9.80387043e-01 -1.89897011e-01 -5.27292322e-02 4.21172317e+02] [ 1.89770010e-01 9.81800299e-01 -7.45096190e-03 3.54858080e+01] [ 5.31844913e-02 -2.70160042e-03 9.98581049e-01 1.98749896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.905099893 meters Centerline goodness [0,1] 0.9995643334301482 Centerline is valid? [True, True] Translation: X:421.20, Y:35.47, Z:19.87 [[ 9.80080433e-01 -1.91476753e-01 -5.27161975e-02 4.21203364e+02] [ 1.91352049e-01 9.81493195e-01 -7.44991351e-03 3.54671203e+01] [ 5.31670744e-02 -2.78583795e-03 9.98581745e-01 1.98741727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.23, Y:35.50, Z:19.88 [[ 9.79802436e-01 -1.93126363e-01 -5.18593741e-02 4.21229932e+02] [ 1.93007646e-01 9.81169834e-01 -7.33522167e-03 3.54979615e+01] [ 5.22994781e-02 -2.82218764e-03 9.98627458e-01 1.98792932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.26, Y:35.50, Z:19.88 [[ 9.79762967e-01 -1.93436973e-01 -5.14457603e-02 4.21260415e+02] [ 1.93320622e-01 9.81108659e-01 -7.27567238e-03 3.55029555e+01] [ 5.18812650e-02 -2.81709204e-03 9.98649287e-01 1.98810035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.29, Y:35.51, Z:19.88 [[ 9.79743881e-01 -1.93443791e-01 -5.17825040e-02 4.21291415e+02] [ 1.93326024e-01 9.81107255e-01 -7.32133886e-03 3.55092768e+01] [ 5.22204579e-02 -2.83786868e-03 9.98631549e-01 1.98824875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.32, Y:35.51, Z:19.88 [[ 9.79812498e-01 -1.93127553e-01 -5.16644729e-02 4.21321486e+02] [ 1.93009981e-01 9.81169616e-01 -7.30279390e-03 3.55107772e+01] [ 5.21019817e-02 -2.81639021e-03 9.98637798e-01 1.98837611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.35, Y:35.52, Z:19.89 [[ 9.80004990e-01 -1.92374881e-01 -5.08146052e-02 4.21351623e+02] [ 1.92260189e-01 9.81317708e-01 -7.18165728e-03 3.55226584e+01] [ 5.12468424e-02 -2.73156563e-03 9.98682282e-01 1.98863259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.38, Y:35.52, Z:19.89 [[ 9.80167629e-01 -1.91583401e-01 -5.06677342e-02 4.21383027e+02] [ 1.91468414e-01 9.81472667e-01 -7.15900070e-03 3.55205640e+01] [ 5.11005419e-02 -2.68424998e-03 9.98689907e-01 1.98871658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.41, Y:35.52, Z:19.89 [[ 9.80122208e-01 -1.91815602e-01 -5.06678557e-02 4.21411019e+02] [ 1.91700968e-01 9.81427277e-01 -7.15813956e-03 3.55245763e+01] [ 5.10998585e-02 -2.69722545e-03 9.98689907e-01 1.98885108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.44, Y:35.54, Z:19.89 [[ 9.80310329e-01 -1.90828696e-01 -5.07549865e-02 4.21440944e+02] [ 1.90711771e-01 9.81619806e-01 -7.18171622e-03 3.55382790e+01] [ 5.11925775e-02 -2.63926278e-03 9.98685313e-01 1.98908227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.47, Y:35.54, Z:19.89 [[ 9.80482235e-01 -1.89954810e-01 -5.07124920e-02 4.21471290e+02] [ 1.89837009e-01 9.81789410e-01 -7.17389215e-03 3.55420470e+01] [ 5.11517029e-02 -2.59323397e-03 9.98687528e-01 1.98922532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.50, Y:35.55, Z:19.89 [[ 9.80658238e-01 -1.88855326e-01 -5.14109531e-02 4.21501875e+02] [ 1.88732810e-01 9.82001553e-01 -7.27157543e-03 3.55525694e+01] [ 5.18589116e-02 -2.57200328e-03 9.98651109e-01 1.98943436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.53, Y:35.56, Z:19.90 [[ 9.80972215e-01 -1.86841521e-01 -5.27613528e-02 4.21532360e+02] [ 1.86709736e-01 9.82386802e-01 -7.45963798e-03 3.55624292e+01] [ 5.32258267e-02 -2.53336066e-03 9.98579288e-01 1.98956925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.56, Y:35.57, Z:19.90 [[ 9.81161587e-01 -1.85842330e-01 -5.27690066e-02 4.21563036e+02] [ 1.85709178e-01 9.82576445e-01 -7.45861394e-03 3.55674913e+01] [ 5.32357091e-02 -2.48158337e-03 9.98578891e-01 1.98969822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.59, Y:35.58, Z:19.90 [[ 9.81474923e-01 -1.84071094e-01 -5.31489258e-02 4.21593271e+02] [ 1.83933583e-01 9.82909989e-01 -7.50942116e-03 3.55760951e+01] [ 5.36228774e-02 -2.40556382e-03 9.98558361e-01 1.98987667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.63, Y:35.58, Z:19.90 [[ 9.81639117e-01 -1.83257861e-01 -5.29263692e-02 4.21625233e+02] [ 1.83120436e-01 9.83062062e-01 -7.47580087e-03 3.55826168e+01] [ 5.33999050e-02 -2.35336127e-03 9.98570434e-01 1.99005744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.66, Y:35.59, Z:19.90 [[ 9.81812077e-01 -1.82288795e-01 -5.30644948e-02 4.21656988e+02] [ 1.82149451e-01 9.83242318e-01 -7.49137827e-03 3.55900512e+01] [ 5.35408512e-02 -2.31054294e-03 9.98562987e-01 1.99027399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.69, Y:35.60, Z:19.90 [[ 9.82030030e-01 -1.81114292e-01 -5.30531147e-02 4.21688123e+02] [ 1.80973510e-01 9.83459481e-01 -7.48582962e-03 3.55953977e+01] [ 5.35313794e-02 -2.24989888e-03 9.98563633e-01 1.99041638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.72, Y:35.60, Z:19.91 [[ 9.82246049e-01 -1.80021811e-01 -5.27716442e-02 4.21719956e+02] [ 1.79881158e-01 9.83660197e-01 -7.44213527e-03 3.56036196e+01] [ 5.32491126e-02 -2.18261648e-03 9.98578874e-01 1.99062940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.75, Y:35.61, Z:19.91 [[ 9.82907591e-01 -1.76777975e-01 -5.14024896e-02 4.21750701e+02] [ 1.76640331e-01 9.84248805e-01 -7.24457168e-03 3.56129513e+01] [ 5.18735197e-02 -1.95900826e-03 9.98651741e-01 1.99084646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.78, Y:35.62, Z:19.91 [[ 9.83269608e-01 -1.74961750e-01 -5.06879185e-02 4.21782333e+02] [ 1.74825643e-01 9.84573512e-01 -7.14101294e-03 3.56202514e+01] [ 5.11553861e-02 -1.84000696e-03 9.98689011e-01 1.99102486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.81, Y:35.63, Z:19.91 [[ 9.83660829e-01 -1.72900112e-01 -5.01689640e-02 4.21813463e+02] [ 1.72764289e-01 9.84937865e-01 -7.06421072e-03 3.56251474e+01] [ 5.06347151e-02 -1.71861800e-03 9.98715761e-01 1.99120597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.84, Y:35.63, Z:19.91 [[ 9.83997539e-01 -1.71171366e-01 -4.94894545e-02 4.21844687e+02] [ 1.71037194e-01 9.85239955e-01 -6.96493464e-03 3.56326745e+01] [ 4.99511853e-02 -1.61105886e-03 9.98750361e-01 1.99142048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.88, Y:35.64, Z:19.92 [[ 9.84276397e-01 -1.69763638e-01 -4.87881263e-02 4.21876111e+02] [ 1.69631689e-01 9.85483634e-01 -6.86272753e-03 3.56396293e+01] [ 4.92449416e-02 -1.52119153e-03 9.98785573e-01 1.99165267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.91, Y:35.65, Z:19.92 [[ 9.84726537e-01 -1.67051328e-01 -4.90663000e-02 4.21906092e+02] [ 1.66914683e-01 9.85947211e-01 -6.89829260e-03 3.56475620e+01] [ 4.95291506e-02 -1.39695413e-03 9.98771702e-01 1.99177829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.94, Y:35.65, Z:19.92 [[ 9.84924045e-01 -1.65850126e-01 -4.91768434e-02 4.21937492e+02] [ 1.65711503e-01 9.86150057e-01 -6.91112100e-03 3.56541191e+01] [ 4.96419572e-02 -1.34223940e-03 9.98766176e-01 1.99191096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:421.97, Y:35.66, Z:19.92 [[ 9.85124470e-01 -1.64631910e-01 -4.92555852e-02 4.21968380e+02] [ 1.64491504e-01 9.86354236e-01 -6.91852044e-03 3.56590177e+01] [ 4.97224643e-02 -1.28652152e-03 9.98762245e-01 1.99205342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.00, Y:35.67, Z:19.92 [[ 9.85363801e-01 -1.63292404e-01 -4.89261799e-02 4.21999494e+02] [ 1.63152508e-01 9.86576967e-01 -6.86644783e-03 3.56665438e+01] [ 4.93906809e-02 -1.21647982e-03 9.98778795e-01 1.99220673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.03, Y:35.67, Z:19.92 [[ 9.85828524e-01 -1.60763443e-01 -4.79294951e-02 4.22029965e+02] [ 1.60626371e-01 9.86992385e-01 -6.72311556e-03 3.56711054e+01] [ 4.83868779e-02 -1.07090177e-03 9.98828095e-01 1.99234932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.06, Y:35.68, Z:19.93 [[ 9.86027721e-01 -1.59689620e-01 -4.74189795e-02 4.22061677e+02] [ 1.59554337e-01 9.87166757e-01 -6.64891762e-03 3.56759148e+01] [ 4.78722033e-02 -1.00988674e-03 9.98852958e-01 1.99253413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.09, Y:35.68, Z:19.93 [[ 9.86185522e-01 -1.58777935e-01 -4.71983466e-02 4.22093664e+02] [ 1.58643026e-01 9.87313849e-01 -6.61461194e-03 3.56821216e+01] [ 4.76498357e-02 -9.64453990e-04 9.98863636e-01 1.99269597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.12, Y:35.69, Z:19.93 [[ 9.86534550e-01 -1.56366064e-01 -4.79503433e-02 4.22124652e+02] [ 1.56224148e-01 9.87698793e-01 -6.71639533e-03 3.56867418e+01] [ 4.84107125e-02 -8.65045479e-04 9.98827140e-01 1.99269887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.16, Y:35.69, Z:19.93 [[ 9.86636148e-01 -1.55522498e-01 -4.85990145e-02 4.22156175e+02] [ 1.55375825e-01 9.87831995e-01 -6.80452725e-03 3.56898495e+01] [ 4.90659186e-02 -8.37519441e-04 9.98795191e-01 1.99273824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.19, Y:35.69, Z:19.93 [[ 9.86725360e-01 -1.54843893e-01 -4.89533810e-02 4.22187907e+02] [ 1.54694373e-01 9.87938616e-01 -6.85142351e-03 3.56947669e+01] [ 4.94238366e-02 -8.12339252e-04 9.98777565e-01 1.99283405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.22, Y:35.70, Z:19.93 [[ 9.86784375e-01 -1.54251505e-01 -4.96293328e-02 4.22219691e+02] [ 1.54097258e-01 9.88031294e-01 -6.94241525e-03 3.56994711e+01] [ 5.01062119e-02 -7.97077201e-04 9.98743577e-01 1.99293162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.25, Y:35.70, Z:19.93 [[ 9.86796373e-01 -1.54177900e-01 -4.96194847e-02 4.22252956e+02] [ 1.54023813e-01 9.88042783e-01 -6.93720406e-03 3.57030929e+01] [ 5.00957372e-02 -7.96974446e-04 9.98744102e-01 1.99310866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.28, Y:35.71, Z:19.93 [[ 9.86710393e-01 -1.54525923e-01 -5.02428079e-02 4.22283893e+02] [ 1.54368674e-01 9.87988385e-01 -7.01876712e-03 3.57052268e+01] [ 5.07238921e-02 -8.30425141e-04 9.98712370e-01 1.99324479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.32, Y:35.71, Z:19.93 [[ 9.86632576e-01 -1.55114079e-01 -4.99577997e-02 4.22315636e+02] [ 1.54959506e-01 9.87896192e-01 -6.97611480e-03 3.57087193e+01] [ 5.04352137e-02 -8.58573828e-04 9.98726966e-01 1.99341321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.35, Y:35.71, Z:19.94 [[ 9.86492432e-01 -1.55986717e-01 -5.00082612e-02 4.22347542e+02] [ 1.55833137e-01 9.87758736e-01 -6.97947833e-03 3.57122544e+01] [ 5.04848028e-02 -9.07741675e-04 9.98724417e-01 1.99356423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.38, Y:35.71, Z:19.94 [[ 9.86120632e-01 -1.58509131e-01 -4.94060139e-02 4.22380101e+02] [ 1.58362574e-01 9.87356976e-01 -6.89177604e-03 3.57130610e+01] [ 4.98737819e-02 -1.02794098e-03 9.98755000e-01 1.99372965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.41, Y:35.71, Z:19.94 [[ 9.85904364e-01 -1.59937169e-01 -4.91191095e-02 4.22411720e+02] [ 1.59794259e-01 9.87126586e-01 -6.84814135e-03 3.57147529e+01] [ 4.95820513e-02 -1.09733927e-03 9.98769451e-01 1.99392899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.44, Y:35.72, Z:19.94 [[ 9.85752170e-01 -1.61011039e-01 -4.86631773e-02 4.22444237e+02] [ 1.60872211e-01 9.86951943e-01 -6.78185575e-03 3.57171657e+01] [ 4.91201710e-02 -1.14332392e-03 9.98792221e-01 1.99411694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.48, Y:35.72, Z:19.94 [[ 9.85537354e-01 -1.62329555e-01 -4.86337304e-02 4.22476349e+02] [ 1.62192673e-01 9.86735855e-01 -6.77419882e-03 3.57198964e+01] [ 4.90882983e-02 -1.21180876e-03 9.98793708e-01 1.99427579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.51, Y:35.72, Z:19.94 [[ 9.85357015e-01 -1.63396935e-01 -4.87133845e-02 4.22508583e+02] [ 1.63261082e-01 9.86559591e-01 -6.78173292e-03 3.57231416e+01] [ 4.91667711e-02 -1.27057177e-03 9.98789775e-01 1.99443217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.54, Y:35.72, Z:19.95 [[ 9.85031220e-01 -1.65217557e-01 -4.91594817e-02 4.22539418e+02] [ 1.65081644e-01 9.86256185e-01 -6.84028049e-03 3.57239584e+01] [ 4.96139773e-02 -1.37743822e-03 9.98767518e-01 1.99451213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.57, Y:35.73, Z:19.95 [[ 9.84893972e-01 -1.66038280e-01 -4.91442028e-02 4.22571142e+02] [ 1.65903565e-01 9.86118285e-01 -6.83628123e-03 3.57288433e+01] [ 4.95970814e-02 -1.42018623e-03 9.98768298e-01 1.99463250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.60, Y:35.73, Z:19.95 [[ 9.84679206e-01 -1.67211632e-01 -4.94684869e-02 4.22602607e+02] [ 1.67076794e-01 9.85919896e-01 -6.87771718e-03 3.57284368e+01] [ 4.99219998e-02 -1.49269109e-03 9.98752004e-01 1.99472558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.63, Y:35.73, Z:19.95 [[ 9.84602996e-01 -1.67615068e-01 -4.96198378e-02 4.22634602e+02] [ 1.67480056e-01 9.85851346e-01 -6.89594253e-03 3.57347926e+01] [ 5.00736477e-02 -1.52056754e-03 9.98744371e-01 1.99490388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.67, Y:35.74, Z:19.95 [[ 9.84482950e-01 -1.68331468e-01 -4.95765822e-02 4.22665832e+02] [ 1.68197781e-01 9.85729215e-01 -6.88627885e-03 3.57372433e+01] [ 5.00282629e-02 -1.55924698e-03 9.98746585e-01 1.99503726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.70, Y:35.74, Z:19.95 [[ 9.84318141e-01 -1.69347054e-01 -4.93900096e-02 4.22697263e+02] [ 1.69215784e-01 9.85555169e-01 -6.85762532e-03 3.57409153e+01] [ 4.98378979e-02 -1.60748419e-03 9.98756026e-01 1.99520380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.73, Y:35.74, Z:19.95 [[ 9.84181135e-01 -1.70128888e-01 -4.94333380e-02 4.22729521e+02] [ 1.69998512e-01 9.85420436e-01 -6.86083870e-03 3.57442697e+01] [ 4.98798483e-02 -1.65128589e-03 9.98753861e-01 1.99536134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.76, Y:35.75, Z:19.96 [[ 9.83828402e-01 -1.72304234e-01 -4.89175390e-02 4.22760743e+02] [ 1.72179424e-01 9.85042233e-01 -6.78569076e-03 3.57451944e+01] [ 4.93550451e-02 -1.74663839e-03 9.98779770e-01 1.99552440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.79, Y:35.75, Z:19.96 [[ 9.83660574e-01 -1.73281860e-01 -4.88392410e-02 4.22792907e+02] [ 1.73158787e-01 9.84870638e-01 -6.77210029e-03 3.57491646e+01] [ 4.92738166e-02 -1.79549568e-03 9.98783694e-01 1.99567886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.82, Y:35.75, Z:19.96 [[ 9.83474716e-01 -1.74325998e-01 -4.88664463e-02 4.22824537e+02] [ 1.74204251e-01 9.84686252e-01 -6.77227046e-03 3.57523045e+01] [ 4.92987006e-02 -1.85238591e-03 9.98782362e-01 1.99584538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.86, Y:35.76, Z:19.96 [[ 9.83304069e-01 -1.75168626e-01 -4.92855051e-02 4.22856449e+02] [ 1.75046019e-01 9.84536585e-01 -6.82670199e-03 3.57572220e+01] [ 4.97192069e-02 -1.91450763e-03 9.98761401e-01 1.99596826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.89, Y:35.76, Z:19.96 [[ 9.82715507e-01 -1.78341739e-01 -4.96433016e-02 4.22886628e+02] [ 1.78221561e-01 9.83966382e-01 -6.87272351e-03 3.57570583e+01] [ 5.00730333e-02 -2.09357470e-03 9.98743365e-01 1.99611227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.92, Y:35.76, Z:19.96 [[ 9.82425613e-01 -1.79527403e-01 -5.10864645e-02 4.22918104e+02] [ 1.79401749e-01 9.83750474e-01 -7.07222319e-03 3.57621095e+01] [ 5.15259915e-02 -2.21706789e-03 9.98669193e-01 1.99617676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.95, Y:35.76, Z:19.96 [[ 9.81513263e-01 -1.83681813e-01 -5.37838766e-02 4.22948724e+02] [ 1.83548957e-01 9.82982400e-01 -7.44187920e-03 3.57649575e+01] [ 5.42355420e-02 -2.56767132e-03 9.98524869e-01 1.99611347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:422.98, Y:35.77, Z:19.96 [[ 9.81092750e-01 -1.85943447e-01 -5.36847326e-02 4.22978643e+02] [ 1.85814501e-01 9.82556770e-01 -7.42729459e-03 3.57653997e+01] [ 5.41293542e-02 -2.68853694e-03 9.98530312e-01 1.99623527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.01, Y:35.77, Z:19.96 [[ 9.80654274e-01 -1.88352011e-01 -5.32983524e-02 4.23009335e+02] [ 1.88228471e-01 9.82097588e-01 -7.37360678e-03 3.57720886e+01] [ 5.37330170e-02 -2.80130837e-03 9.98551409e-01 1.99646327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.04, Y:35.78, Z:19.97 [[ 9.80129228e-01 -1.91134127e-01 -5.30513221e-02 4.23040217e+02] [ 1.91015896e-01 9.81559519e-01 -7.33740395e-03 3.57757628e+01] [ 5.34754585e-02 -2.94204177e-03 9.98564830e-01 1.99666982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.07, Y:35.78, Z:19.97 [[ 9.79036875e-01 -1.96556103e-01 -5.34087607e-02 4.23070125e+02] [ 1.96444415e-01 9.80487153e-01 -7.38471252e-03 3.57784540e+01] [ 5.38181140e-02 -3.26194685e-03 9.98545427e-01 1.99684718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.10, Y:35.78, Z:19.97 [[ 9.78564998e-01 -1.98802453e-01 -5.37413247e-02 4.23100881e+02] [ 1.98692699e-01 9.80033665e-01 -7.43143744e-03 3.57761220e+01] [ 5.41456954e-02 -3.40586431e-03 9.98527237e-01 1.99688585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.13, Y:35.79, Z:19.97 [[ 9.78161261e-01 -2.00768326e-01 -5.37831407e-02 4.23130498e+02] [ 2.00661365e-01 9.79632434e-01 -7.43709310e-03 3.57862981e+01] [ 5.41808418e-02 -3.51752208e-03 9.98524944e-01 1.99709589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.16, Y:35.79, Z:19.97 [[ 9.77646865e-01 -2.03567489e-01 -5.26011974e-02 4.23160642e+02] [ 2.03469254e-01 9.79054325e-01 -7.27268182e-03 3.57894041e+01] [ 5.29799114e-02 -3.59261182e-03 9.98589116e-01 1.99728754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.19, Y:35.79, Z:19.97 [[ 9.77586489e-01 -2.04040637e-01 -5.18852157e-02 4.23191974e+02] [ 2.03945784e-01 9.78955910e-01 -7.17246052e-03 3.57943178e+01] [ 5.22568119e-02 -3.57007048e-03 9.98627298e-01 1.99749536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.22, Y:35.80, Z:19.98 [[ 9.77622791e-01 -2.04202927e-01 -5.05454609e-02 4.23223357e+02] [ 2.04113309e-01 9.78922360e-01 -6.98357751e-03 3.58009585e+01] [ 5.09061489e-02 -3.48969677e-03 9.98697345e-01 1.99774922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.25, Y:35.81, Z:19.98 [[ 9.77637712e-01 -2.04131352e-01 -5.05459719e-02 4.23254793e+02] [ 2.04041830e-01 9.78937288e-01 -6.97987742e-03 3.58052394e+01] [ 5.09061484e-02 -3.48970121e-03 9.98697345e-01 1.99790008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.29, Y:35.81, Z:19.98 [[ 9.77666865e-01 -2.03936512e-01 -5.07681091e-02 4.23286710e+02] [ 2.03846135e-01 9.78977864e-01 -7.00675512e-03 3.58107970e+01] [ 5.11297882e-02 -3.49861051e-03 9.98685889e-01 1.99806557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.32, Y:35.82, Z:19.98 [[ 9.77835206e-01 -2.03153933e-01 -5.06634933e-02 4.23318200e+02] [ 2.03063074e-01 9.79140719e-01 -6.98855969e-03 3.58196938e+01] [ 5.10264427e-02 -3.45422499e-03 9.98691329e-01 1.99819821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.35, Y:35.83, Z:19.98 [[ 9.77951510e-01 -2.02634751e-01 -5.04975364e-02 4.23349247e+02] [ 2.02543999e-01 9.79248417e-01 -6.96171094e-03 3.58250680e+01] [ 5.08603171e-02 -3.41975723e-03 9.98699922e-01 1.99835467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.38, Y:35.83, Z:19.99 [[ 9.78127224e-01 -2.01800678e-01 -5.04343144e-02 4.23380626e+02] [ 2.01709379e-01 9.79420784e-01 -6.94652678e-03 3.58306595e+01] [ 5.07982295e-02 -3.37848730e-03 9.98703222e-01 1.99850058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.41, Y:35.83, Z:19.99 [[ 9.78141760e-01 -2.01730082e-01 -5.04348149e-02 4.23412061e+02] [ 2.01638877e-01 9.79435327e-01 -6.94289044e-03 3.58349254e+01] [ 5.07982293e-02 -3.37848836e-03 9.98703222e-01 1.99865142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.44, Y:35.84, Z:19.99 [[ 9.78333164e-01 -2.00793791e-01 -5.04586360e-02 4.23443863e+02] [ 2.00701452e-01 9.79627853e-01 -6.94239998e-03 3.58435675e+01] [ 5.08246760e-02 -3.33514136e-03 9.98702022e-01 1.99881324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.48, Y:35.85, Z:19.99 [[ 9.78421302e-01 -2.00263820e-01 -5.08542910e-02 4.23475997e+02] [ 2.00169557e-01 9.79736321e-01 -6.99213295e-03 3.58498684e+01] [ 5.12240672e-02 -3.33822909e-03 9.98681607e-01 1.99892702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.51, Y:35.86, Z:19.99 [[ 9.78536184e-01 -1.99593088e-01 -5.12790009e-02 4.23506909e+02] [ 1.99496570e-01 9.79873193e-01 -7.04585956e-03 3.58594502e+01] [ 5.16532232e-02 -3.33535626e-03 9.98659512e-01 1.99901381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.54, Y:35.87, Z:19.99 [[ 9.78507482e-01 -1.99279651e-01 -5.30162963e-02 4.23537880e+02] [ 1.99176282e-01 9.79936637e-01 -7.27981787e-03 3.58663780e+01] [ 5.34033307e-02 -3.43623253e-03 9.98567112e-01 1.99901967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.57, Y:35.87, Z:19.99 [[ 9.78597506e-01 -1.98711563e-01 -5.34849127e-02 4.23569130e+02] [ 1.98606025e-01 9.80051962e-01 -7.33471166e-03 3.58706631e+01] [ 5.38754856e-02 -3.44469538e-03 9.98541720e-01 1.99905426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.60, Y:35.88, Z:19.99 [[ 9.78672796e-01 -1.98195178e-01 -5.40206439e-02 4.23600134e+02] [ 1.98087096e-01 9.80156477e-01 -7.40152516e-03 3.58783495e+01] [ 5.44156307e-02 -3.45712115e-03 9.98512387e-01 1.99915848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.63, Y:35.89, Z:19.99 [[ 9.78852456e-01 -1.97356227e-01 -5.38366946e-02 4.23631840e+02] [ 1.97247830e-01 9.80325936e-01 -7.37238229e-03 3.58858315e+01] [ 5.42324936e-02 -3.40269668e-03 9.98522538e-01 1.99930064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.66, Y:35.89, Z:20.00 [[ 9.79036362e-01 -1.96559887e-01 -5.34042448e-02 4.23663613e+02] [ 1.96452262e-01 9.80486147e-01 -7.30912694e-03 3.58941101e+01] [ 5.37988034e-02 -3.33548366e-03 9.98546225e-01 1.99950101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.69, Y:35.90, Z:20.00 [[ 9.79587322e-01 -1.94316347e-01 -5.14765465e-02 4.23693601e+02] [ 1.94213491e-01 9.80934017e-01 -7.04091203e-03 3.59005241e+01] [ 5.18632598e-02 -3.10025162e-03 9.98649383e-01 1.99974869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.73, Y:35.91, Z:20.00 [[ 9.79892131e-01 -1.93106922e-01 -5.02108311e-02 4.23725005e+02] [ 1.93007575e-01 9.81173245e-01 -6.86586269e-03 3.59076178e+01] [ 5.05913697e-02 -2.96326593e-03 9.98715041e-01 2.00000656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.76, Y:35.92, Z:20.00 [[ 9.80110645e-01 -1.92264582e-01 -4.91676156e-02 4.23756246e+02] [ 1.92168435e-01 9.81338951e-01 -6.71975295e-03 3.59157160e+01] [ 4.95420668e-02 -2.86236236e-03 9.98767936e-01 2.00026050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.79, Y:35.93, Z:20.00 [[ 9.80410905e-01 -1.90916839e-01 -4.84274584e-02 4.23786958e+02] [ 1.90822095e-01 9.81602347e-01 -6.61514134e-03 3.59266768e+01] [ 4.87994488e-02 -2.75547237e-03 9.98804796e-01 2.00044894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.82, Y:35.93, Z:20.01 [[ 9.80478266e-01 -1.90529703e-01 -4.85880929e-02 4.23818179e+02] [ 1.90434032e-01 9.81677583e-01 -6.63349810e-03 3.59346075e+01] [ 4.89617200e-02 -2.74882571e-03 9.98796873e-01 2.00052197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.85, Y:35.94, Z:20.01 [[ 9.80557511e-01 -1.90083832e-01 -4.87350508e-02 4.23849010e+02] [ 1.89987226e-01 9.81764043e-01 -6.64963277e-03 3.59409048e+01] [ 4.91103082e-02 -2.73868975e-03 9.98789606e-01 2.00054774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.88, Y:35.95, Z:20.01 [[ 9.80538416e-01 -1.90330687e-01 -4.81522996e-02 4.23881151e+02] [ 1.90237220e-01 9.81716243e-01 -6.55885615e-03 3.59455164e+01] [ 4.85202462e-02 -2.72914920e-03 9.98818471e-01 2.00066474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.91, Y:35.95, Z:20.01 [[ 9.80253893e-01 -1.91571587e-01 -4.90166595e-02 4.23911972e+02] [ 1.91476467e-01 9.81474521e-01 -6.67283363e-03 3.59496318e+01] [ 4.93869277e-02 -2.84446562e-03 9.98775671e-01 2.00068130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.94, Y:35.96, Z:20.01 [[ 9.79880711e-01 -1.92933944e-01 -5.10909543e-02 4.23943119e+02] [ 1.92832776e-01 9.81207029e-01 -6.94887527e-03 3.59588671e+01] [ 5.14714774e-02 -3.04294170e-03 9.98669829e-01 2.00063096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:423.97, Y:35.96, Z:20.01 [[ 9.79735476e-01 -1.93414550e-01 -5.20500642e-02 4.23974259e+02] [ 1.93310475e-01 9.81112130e-01 -7.07454994e-03 3.59630590e+01] [ 5.24352702e-02 -3.13063506e-03 9.98619418e-01 2.00066751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.01, Y:35.96, Z:20.01 [[ 9.79615245e-01 -1.93801707e-01 -5.28665291e-02 4.24005955e+02] [ 1.93695534e-01 9.81035462e-01 -7.17372003e-03 3.59648146e+01] [ 5.32542190e-02 -3.21252505e-03 9.98575820e-01 2.00067803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.04, Y:35.97, Z:20.01 [[ 9.79546177e-01 -1.94006391e-01 -5.33929454e-02 4.24037315e+02] [ 1.93898555e-01 9.80994853e-01 -7.24219220e-03 3.59688036e+01] [ 5.37832361e-02 -3.25875328e-03 9.98547317e-01 2.00076825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.07, Y:35.97, Z:20.01 [[ 9.79566444e-01 -1.93903919e-01 -5.33933699e-02 4.24069593e+02] [ 1.93796102e-01 9.81015121e-01 -7.23906121e-03 3.59730846e+01] [ 5.37833855e-02 -3.25628552e-03 9.98547317e-01 2.00092308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.10, Y:35.98, Z:20.01 [[ 9.79610538e-01 -1.93724988e-01 -5.32336626e-02 4.24101351e+02] [ 1.93617850e-01 9.81050517e-01 -7.21185283e-03 3.59818778e+01] [ 5.36220283e-02 -3.24218027e-03 9.98556041e-01 2.00108956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.13, Y:35.99, Z:20.01 [[ 9.79963445e-01 -1.92318071e-01 -5.18209037e-02 4.24131844e+02] [ 1.92214808e-01 9.81327795e-01 -7.01614107e-03 3.59900737e+01] [ 5.22026239e-02 -3.08518331e-03 9.98631748e-01 2.00130930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.16, Y:36.00, Z:20.01 [[ 9.80229262e-01 -1.91163542e-01 -5.10597087e-02 4.24164057e+02] [ 1.91061836e-01 9.81553673e-01 -6.91102820e-03 3.59956878e+01] [ 5.14389812e-02 -2.98116959e-03 9.98671690e-01 2.00148992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.20, Y:36.00, Z:20.02 [[ 9.80529602e-01 -1.89737671e-01 -5.06094456e-02 4.24195490e+02] [ 1.89636086e-01 9.81830582e-01 -6.84561146e-03 3.60047204e+01] [ 5.09887718e-02 -2.88505248e-03 9.98695059e-01 2.00170577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.23, Y:36.01, Z:20.02 [[ 9.81084715e-01 -1.87289660e-01 -4.89424630e-02 4.24225745e+02] [ 1.87191788e-01 9.82301101e-01 -6.61669002e-03 3.60089981e+01] [ 4.93154729e-02 -2.67009371e-03 9.98779683e-01 2.00191786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.26, Y:36.01, Z:20.02 [[ 9.81301865e-01 -1.86168031e-01 -4.88683365e-02 4.24257305e+02] [ 1.86069161e-01 9.82514450e-01 -6.60481286e-03 3.60146312e+01] [ 4.92434517e-02 -2.61157520e-03 9.98783391e-01 2.00207918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.29, Y:36.02, Z:20.02 [[ 9.81398620e-01 -1.85697620e-01 -4.87149229e-02 4.24288665e+02] [ 1.85598960e-01 9.82603542e-01 -6.58064825e-03 3.60195217e+01] [ 4.90894666e-02 -2.58319992e-03 9.98791045e-01 2.00226984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.32, Y:36.03, Z:20.02 [[ 9.81491497e-01 -1.85076633e-01 -4.92044797e-02 4.24319330e+02] [ 1.84975397e-01 9.82720700e-01 -6.64288456e-03 3.60324327e+01] [ 4.95837034e-02 -2.58168344e-03 9.98766635e-01 2.00242547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.35, Y:36.03, Z:20.03 [[ 9.81520590e-01 -1.84833449e-01 -4.95371328e-02 4.24351623e+02] [ 1.84731187e-01 9.82766421e-01 -6.67464498e-03 3.60311395e+01] [ 4.99171283e-02 -2.59975188e-03 9.98749980e-01 2.00250497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.38, Y:36.04, Z:20.03 [[ 9.81392751e-01 -1.85471282e-01 -4.96857397e-02 4.24383165e+02] [ 1.85369893e-01 9.82646103e-01 -6.68125206e-03 3.60371336e+01] [ 5.00626788e-02 -2.65330793e-03 9.98742553e-01 2.00266012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.42, Y:36.04, Z:20.03 [[ 9.81329504e-01 -1.85778365e-01 -4.97875786e-02 4.24415070e+02] [ 1.85677135e-01 9.82588025e-01 -6.69135780e-03 3.60433146e+01] [ 5.01637881e-02 -2.67798811e-03 9.98737414e-01 2.00276832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.45, Y:36.05, Z:20.03 [[ 9.81255386e-01 -1.86056533e-01 -5.02079006e-02 4.24446595e+02] [ 1.85954138e-01 9.82535279e-01 -6.74413585e-03 3.60490555e+01] [ 5.05858241e-02 -2.71864723e-03 9.98716017e-01 2.00289363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.48, Y:36.05, Z:20.03 [[ 9.81170714e-01 -1.86459919e-01 -5.03659495e-02 4.24478631e+02] [ 1.86357598e-01 9.82458715e-01 -6.76161604e-03 3.60536683e+01] [ 5.07432364e-02 -2.75177772e-03 9.98707941e-01 2.00302473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.51, Y:36.06, Z:20.03 [[ 9.81229246e-01 -1.86122568e-01 -5.04733295e-02 4.24509609e+02] [ 1.86019567e-01 9.82522702e-01 -6.77205986e-03 3.60572463e+01] [ 5.08516253e-02 -2.74408372e-03 9.98702449e-01 2.00315356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.54, Y:36.06, Z:20.03 [[ 9.81350556e-01 -1.85478420e-01 -5.04860538e-02 4.24541267e+02] [ 1.85374878e-01 9.82644578e-01 -6.76670204e-03 3.60647714e+01] [ 5.08649243e-02 -2.71833924e-03 9.98701842e-01 2.00331182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.57, Y:36.07, Z:20.03 [[ 9.81717388e-01 -1.83541206e-01 -5.04340775e-02 4.24571193e+02] [ 1.83435510e-01 9.83008529e-01 -6.75616935e-03 3.60680272e+01] [ 5.08171638e-02 -2.61875178e-03 9.98704540e-01 2.00341737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.60, Y:36.08, Z:20.04 [[ 9.81912164e-01 -1.82412428e-01 -5.07366584e-02 4.24603156e+02] [ 1.82304020e-01 9.83218727e-01 -6.79549851e-03 3.60760243e+01] [ 5.11248160e-02 -2.57691412e-03 9.98688947e-01 2.00356152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.63, Y:36.08, Z:20.04 [[ 9.82149647e-01 -1.81038599e-01 -5.10597354e-02 4.24634196e+02] [ 1.80927227e-01 9.83472746e-01 -6.83348698e-03 3.60806048e+01] [ 5.14529831e-02 -2.52658952e-03 9.98672222e-01 2.00367558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.67, Y:36.09, Z:20.04 [[ 9.82516182e-01 -1.79046445e-01 -5.10325573e-02 4.24665667e+02] [ 1.78933135e-01 9.83837614e-01 -6.81773151e-03 3.60883495e+01] [ 5.14284400e-02 -2.43288395e-03 9.98673719e-01 2.00376155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.70, Y:36.09, Z:20.04 [[ 9.82649312e-01 -1.78246757e-01 -5.12681516e-02 4.24696874e+02] [ 1.78131968e-01 9.83982857e-01 -6.83655218e-03 3.60919155e+01] [ 5.16655756e-02 -2.41456347e-03 9.98661523e-01 2.00387236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.73, Y:36.10, Z:20.04 [[ 9.82729752e-01 -1.77829919e-01 -5.11737686e-02 4.24728494e+02] [ 1.77715356e-01 9.84058323e-01 -6.81684944e-03 3.60994669e+01] [ 5.15702127e-02 -2.39524377e-03 9.98666499e-01 2.00404813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.76, Y:36.10, Z:20.04 [[ 9.82795879e-01 -1.77516999e-01 -5.09899502e-02 4.24759779e+02] [ 1.77403030e-01 9.84114871e-01 -6.78862155e-03 3.61046980e+01] [ 5.13850640e-02 -2.37394240e-03 9.98676093e-01 2.00417865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.79, Y:36.11, Z:20.04 [[ 9.82858919e-01 -1.77274979e-01 -5.06154806e-02 4.24792092e+02] [ 1.77162584e-01 9.84158558e-01 -6.73433894e-03 3.61052918e+01] [ 5.10074882e-02 -2.34826422e-03 9.98695510e-01 2.00428145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.82, Y:36.12, Z:20.04 [[ 9.82677013e-01 -1.78026942e-01 -5.15004516e-02 4.24823636e+02] [ 1.77912358e-01 9.84022580e-01 -6.83773447e-03 3.61151731e+01] [ 5.18949082e-02 -2.44328231e-03 9.98649563e-01 2.00438649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.86, Y:36.11, Z:20.04 [[ 9.82322417e-01 -1.79576372e-01 -5.28677126e-02 4.24855163e+02] [ 1.79458605e-01 9.83740583e-01 -7.00530453e-03 3.61143836e+01] [ 5.32661016e-02 -2.60609829e-03 9.98576953e-01 2.00436644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.89, Y:36.12, Z:20.05 [[ 9.82341213e-01 -1.79473067e-01 -5.28692617e-02 4.24887438e+02] [ 1.79355779e-01 9.83759419e-01 -6.99359464e-03 3.61185549e+01] [ 5.32657961e-02 -2.61231140e-03 9.98576953e-01 2.00452091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.92, Y:36.13, Z:20.05 [[ 9.82142918e-01 -1.80409817e-01 -5.33627836e-02 4.24918900e+02] [ 1.80292005e-01 9.83587842e-01 -7.05334881e-03 3.61268112e+01] [ 5.37594785e-02 -2.69348666e-03 9.98550281e-01 2.00466871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.95, Y:36.13, Z:20.05 [[ 9.81954215e-01 -1.81441887e-01 -5.33363052e-02 4.24950750e+02] [ 1.81325922e-01 9.83397816e-01 -7.04589696e-03 3.61312916e+01] [ 5.37292269e-02 -2.75250651e-03 9.98551748e-01 2.00478892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:424.98, Y:36.14, Z:20.05 [[ 9.81819863e-01 -1.81974984e-01 -5.39894529e-02 4.24982303e+02] [ 1.81857249e-01 9.83299114e-01 -7.12696811e-03 3.61352820e+01] [ 5.43847111e-02 -2.82097453e-03 9.98516072e-01 2.00492287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.01, Y:36.14, Z:20.05 [[ 9.81714461e-01 -1.82656479e-01 -5.36034291e-02 4.25013821e+02] [ 1.82542127e-01 9.83172662e-01 -7.06316890e-03 3.61362285e+01] [ 5.39915596e-02 -2.85086892e-03 9.98537322e-01 2.00501947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.05, Y:36.14, Z:20.05 [[ 9.81722212e-01 -1.82772306e-01 -5.30639420e-02 4.25045981e+02] [ 1.82661034e-01 9.83151168e-01 -6.98048089e-03 3.61417378e+01] [ 5.34457152e-02 -2.83982135e-03 9.98566718e-01 2.00519490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.08, Y:36.15, Z:20.05 [[ 9.81816863e-01 -1.82280870e-01 -5.30031329e-02 4.25077188e+02] [ 1.82169338e-01 9.83242477e-01 -6.96875914e-03 3.61462003e+01] [ 5.33852032e-02 -2.81350041e-03 9.98570030e-01 2.00533428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.11, Y:36.15, Z:20.06 [[ 9.81958854e-01 -1.81522968e-01 -5.29737778e-02 4.25108660e+02] [ 1.81410619e-01 9.83382794e-01 -6.96193629e-03 3.61526956e+01] [ 5.33572530e-02 -2.77367084e-03 9.98571635e-01 2.00551741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.14, Y:36.16, Z:20.06 [[ 9.82378655e-01 -1.79057327e-01 -5.35784693e-02 4.25139423e+02] [ 1.78938942e-01 9.83835009e-01 -7.03771618e-03 3.61598956e+01] [ 5.39725285e-02 -2.67357246e-03 9.98538842e-01 2.00564685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.17, Y:36.16, Z:20.06 [[ 9.82668317e-01 -1.77529053e-01 -5.33518036e-02 4.25170014e+02] [ 1.77409591e-01 9.84112173e-01 -7.00479389e-03 3.61639397e+01] [ 5.37477138e-02 -2.58173263e-03 9.98551209e-01 2.00577101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.20, Y:36.17, Z:20.06 [[ 9.82954224e-01 -1.76058193e-01 -5.29575864e-02 4.25201428e+02] [ 1.75938963e-01 9.84376601e-01 -6.94176197e-03 3.61700321e+01] [ 5.33523630e-02 -2.49386856e-03 9.98572634e-01 2.00592257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.23, Y:36.18, Z:20.06 [[ 9.83187562e-01 -1.74858901e-01 -5.25983040e-02 4.25232507e+02] [ 1.74739825e-01 9.84590536e-01 -6.88989869e-03 3.61799858e+01] [ 5.29925524e-02 -2.41695573e-03 9.98591983e-01 2.00619900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.26, Y:36.18, Z:20.06 [[ 9.83467396e-01 -1.73363389e-01 -5.23165086e-02 4.25263586e+02] [ 1.73244189e-01 9.84855153e-01 -6.83944795e-03 3.61838198e+01] [ 5.27098930e-02 -2.33715704e-03 9.98607132e-01 2.00632363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.30, Y:36.19, Z:20.06 [[ 9.83567391e-01 -1.72714514e-01 -5.25821621e-02 4.25295702e+02] [ 1.72593803e-01 9.84969181e-01 -6.86234249e-03 3.61889048e+01] [ 5.29770353e-02 -2.32577902e-03 9.98593022e-01 2.00643241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.33, Y:36.19, Z:20.07 [[ 9.83652204e-01 -1.72178419e-01 -5.27535153e-02 4.25327897e+02] [ 1.72056363e-01 9.85063076e-01 -6.88072679e-03 3.61947704e+01] [ 5.31502527e-02 -2.30833592e-03 9.98583858e-01 2.00655057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.36, Y:36.20, Z:20.07 [[ 9.83829581e-01 -1.71249088e-01 -5.24700471e-02 4.25358999e+02] [ 1.71127317e-01 9.85225193e-01 -6.83817538e-03 3.61991088e+01] [ 5.28658436e-02 -2.25145916e-03 9.98599085e-01 2.00667427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.39, Y:36.20, Z:20.07 [[ 9.83848061e-01 -1.71142426e-01 -5.24715500e-02 4.25391277e+02] [ 1.71021118e-01 9.85243713e-01 -6.82662462e-03 3.62032152e+01] [ 5.28655898e-02 -2.25738176e-03 9.98599086e-01 2.00682869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.42, Y:36.21, Z:20.07 [[ 9.84056236e-01 -1.70038487e-01 -5.21558980e-02 4.25422210e+02] [ 1.69917420e-01 9.85434986e-01 -6.77923427e-03 3.62069106e+01] [ 5.25489773e-02 -2.19104787e-03 9.98615944e-01 2.00698425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.45, Y:36.22, Z:20.07 [[ 9.84435948e-01 -1.67970008e-01 -5.16908253e-02 4.25453118e+02] [ 1.67848829e-01 9.85789926e-01 -6.70757381e-03 3.62155506e+01] [ 5.20829661e-02 -2.07306772e-03 9.98640610e-01 2.00720200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.48, Y:36.22, Z:20.07 [[ 9.84623004e-01 -1.66832407e-01 -5.18120539e-02 4.25484548e+02] [ 1.66709288e-01 9.85983196e-01 -6.71948249e-03 3.62196374e+01] [ 5.22068419e-02 -2.02139359e-03 9.98634247e-01 2.00733380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.52, Y:36.22, Z:20.07 [[ 9.84750012e-01 -1.65921443e-01 -5.23210243e-02 4.25516615e+02] [ 1.65795272e-01 9.86136935e-01 -6.77294566e-03 3.62242882e+01] [ 5.27194715e-02 -2.00492012e-03 9.98607349e-01 2.00742282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.55, Y:36.23, Z:20.07 [[ 9.84959263e-01 -1.64152106e-01 -5.39382685e-02 4.25547316e+02] [ 1.64015645e-01 9.86433063e-01 -6.97716559e-03 3.62282866e+01] [ 5.43518078e-02 -1.97449602e-03 9.98519896e-01 2.00740604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.58, Y:36.23, Z:20.07 [[ 9.85004715e-01 -1.63572702e-01 -5.48605756e-02 4.25579028e+02] [ 1.63431288e-01 9.86529280e-01 -7.08469393e-03 3.62320919e+01] [ 5.52804267e-02 -1.98747763e-03 9.98468890e-01 2.00748566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.61, Y:36.24, Z:20.08 [[ 9.85052114e-01 -1.63329793e-01 -5.47330930e-02 4.25611098e+02] [ 1.63188878e-01 9.86569554e-01 -7.06431305e-03 3.62375284e+01] [ 5.51518160e-02 -1.97311555e-03 9.98476031e-01 2.00762294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.64, Y:36.24, Z:20.08 [[ 9.84887227e-01 -1.64435683e-01 -5.43880079e-02 4.25643387e+02] [ 1.64298438e-01 9.86385726e-01 -7.01583319e-03 3.62404391e+01] [ 5.48012080e-02 -2.02606026e-03 9.98495229e-01 2.00783033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.68, Y:36.24, Z:20.08 [[ 9.84822104e-01 -1.64840236e-01 -5.43426203e-02 4.25675484e+02] [ 1.64704050e-01 9.86318149e-01 -7.00604578e-03 3.62434960e+01] [ 5.47539909e-02 -2.05074092e-03 9.98497769e-01 2.00799151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.71, Y:36.25, Z:20.08 [[ 9.84755890e-01 -1.65382632e-01 -5.38926934e-02 4.25706939e+02] [ 1.65249713e-01 9.86227312e-01 -6.94416352e-03 3.62481691e+01] [ 5.42988902e-02 -2.06744621e-03 9.98522587e-01 2.00817691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.74, Y:36.25, Z:20.08 [[ 9.84581827e-01 -1.66407224e-01 -5.39190283e-02 4.25738891e+02] [ 1.66275925e-01 9.86054818e-01 -6.94358753e-03 3.62508499e+01] [ 5.43225808e-02 -2.12890620e-03 9.98521169e-01 2.00837430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.77, Y:36.26, Z:20.09 [[ 9.84579926e-01 -1.66639521e-01 -5.32319365e-02 4.25770396e+02] [ 1.66512093e-01 9.86015610e-01 -6.85124657e-03 3.62555028e+01] [ 5.36292087e-02 -2.11816129e-03 9.98558672e-01 2.00854252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.80, Y:36.26, Z:20.09 [[ 9.84273083e-01 -1.68289118e-01 -5.37147184e-02 4.25802731e+02] [ 1.68162035e-01 9.85735152e-01 -6.90936505e-03 3.62578447e+01] [ 5.41112571e-02 -2.23207432e-03 9.98532418e-01 2.00870794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.83, Y:36.26, Z:20.09 [[ 9.84138094e-01 -1.69122904e-01 -5.35691626e-02 4.25834365e+02] [ 1.68998012e-01 9.85592340e-01 -6.88562270e-03 3.62596740e+01] [ 5.39618728e-02 -2.27667839e-03 9.98540401e-01 2.00884315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.87, Y:36.26, Z:20.09 [[ 9.83939856e-01 -1.70231318e-01 -5.36997084e-02 4.25865965e+02] [ 1.70108157e-01 9.85401313e-01 -6.88958186e-03 3.62631210e+01] [ 5.40885858e-02 -2.35582426e-03 9.98533362e-01 2.00899295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.90, Y:36.26, Z:20.09 [[ 9.83675260e-01 -1.71401838e-01 -5.48123442e-02 4.25897913e+02] [ 1.71276071e-01 9.85198072e-01 -7.01898625e-03 3.62645963e+01] [ 5.52040830e-02 -2.48363982e-03 9.98472003e-01 2.00902877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.93, Y:36.27, Z:20.09 [[ 9.83674416e-01 -1.71317491e-01 -5.50904737e-02 4.25930613e+02] [ 1.71191062e-01 9.85212689e-01 -7.04110173e-03 3.62650796e+01] [ 5.54820977e-02 -2.50484509e-03 9.98456540e-01 2.00909997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.96, Y:36.27, Z:20.09 [[ 9.83693865e-01 -1.71210733e-01 -5.50750783e-02 4.25963277e+02] [ 1.71084975e-01 9.85231230e-01 -7.02534039e-03 3.62699032e+01] [ 5.54645008e-02 -2.51173414e-03 9.98457501e-01 2.00931387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:425.99, Y:36.27, Z:20.10 [[ 9.83759426e-01 -1.70917278e-01 -5.48149285e-02 4.25994862e+02] [ 1.70792564e-01 9.85282238e-01 -6.98647834e-03 3.62746109e+01] [ 5.52022853e-02 -2.48896828e-03 9.98472089e-01 2.00952160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.03, Y:36.28, Z:20.10 [[ 9.83921091e-01 -1.70150707e-01 -5.42957089e-02 4.26026421e+02] [ 1.70027395e-01 9.85415064e-01 -6.91637506e-03 3.62783459e+01] [ 5.46806356e-02 -2.42659066e-03 9.98500946e-01 2.00971447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.06, Y:36.28, Z:20.10 [[ 9.84077194e-01 -1.69462476e-01 -5.36147819e-02 4.26058033e+02] [ 1.69341427e-01 9.85533810e-01 -6.82578781e-03 3.62838939e+01] [ 5.39958952e-02 -2.36210156e-03 9.98538364e-01 2.00997690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.09, Y:36.29, Z:20.10 [[ 9.84255384e-01 -1.68786152e-01 -5.24649785e-02 4.26088945e+02] [ 1.68669528e-01 9.85650059e-01 -6.67473548e-03 3.62868122e+01] [ 5.28387120e-02 -2.27959880e-03 9.98600458e-01 2.01019239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.12, Y:36.29, Z:20.10 [[ 9.84416803e-01 -1.68383708e-01 -5.06999407e-02 4.26121519e+02] [ 1.68274836e-01 9.85719087e-01 -6.43903337e-03 3.62890381e+01] [ 5.10601276e-02 -2.19283157e-03 9.98693174e-01 2.01043505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.15, Y:36.29, Z:20.11 [[ 9.84463031e-01 -1.68175236e-01 -5.04938661e-02 4.26153574e+02] [ 1.68067237e-01 9.85754709e-01 -6.40769006e-03 3.62907430e+01] [ 5.08521810e-02 -2.17823058e-03 9.98703815e-01 2.01053320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.19, Y:36.29, Z:20.11 [[ 9.84450800e-01 -1.68268294e-01 -5.04222447e-02 4.26185561e+02] [ 1.68161382e-01 9.85738796e-01 -6.38563065e-03 3.62935611e+01] [ 5.07776620e-02 -2.19273518e-03 9.98707575e-01 2.01064104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.22, Y:36.30, Z:20.11 [[ 9.84370762e-01 -1.68858504e-01 -5.00100915e-02 4.26218035e+02] [ 1.68754274e-01 9.85637828e-01 -6.32985450e-03 3.62954841e+01] [ 5.03606877e-02 -2.20849297e-03 9.98728654e-01 2.01080914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.25, Y:36.30, Z:20.11 [[ 9.84247454e-01 -1.69778088e-01 -4.93188627e-02 4.26250152e+02] [ 1.69678043e-01 9.85479801e-01 -6.23888272e-03 3.62974462e+01] [ 4.96619685e-02 -2.22772366e-03 9.98763599e-01 2.01100396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.28, Y:36.30, Z:20.11 [[ 9.83732760e-01 -1.72303029e-01 -5.08086900e-02 4.26281405e+02] [ 1.72200389e-01 9.85040995e-01 -6.42375228e-03 3.63012703e+01] [ 5.11554745e-02 -2.43002064e-03 9.98687745e-01 2.01103732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.31, Y:36.30, Z:20.11 [[ 9.83203727e-01 -1.74700076e-01 -5.28234378e-02 4.26312348e+02] [ 1.74592686e-01 9.84618107e-01 -6.67656459e-03 3.62984524e+01] [ 5.31773097e-02 -2.65816269e-03 9.98581548e-01 2.01086563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.34, Y:36.30, Z:20.11 [[ 9.82970820e-01 -1.75873454e-01 -5.32625207e-02 4.26344403e+02] [ 1.75766059e-01 9.84408955e-01 -6.73074161e-03 3.63021472e+01] [ 5.36158611e-02 -2.74562075e-03 9.98557861e-01 2.01099419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.38, Y:36.30, Z:20.11 [[ 9.82547946e-01 -1.78326785e-01 -5.29064426e-02 4.26375594e+02] [ 1.78224552e-01 9.83967153e-01 -6.68220567e-03 3.63020217e+01] [ 5.32498179e-02 -2.86363957e-03 9.98577116e-01 2.01112112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.41, Y:36.31, Z:20.11 [[ 9.82567177e-01 -1.78220740e-01 -5.29066279e-02 4.26407901e+02] [ 1.78118432e-01 9.83986378e-01 -6.68073838e-03 3.63060122e+01] [ 5.32500473e-02 -2.85937136e-03 9.98577116e-01 2.01127596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.44, Y:36.31, Z:20.11 [[ 9.82324065e-01 -1.79661412e-01 -5.25472076e-02 4.26440018e+02] [ 1.79562836e-01 9.83724165e-01 -6.62981356e-03 3.63103196e+01] [ 5.28830796e-02 -2.92290020e-03 9.98596433e-01 2.01149113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.47, Y:36.31, Z:20.12 [[ 9.81998450e-01 -1.81435159e-01 -5.25388239e-02 4.26472554e+02] [ 1.81339349e-01 9.83398267e-01 -6.62483846e-03 3.63115275e+01] [ 5.28685670e-02 -3.02177502e-03 9.98596907e-01 2.01167484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.50, Y:36.31, Z:20.12 [[ 9.81872849e-01 -1.82107876e-01 -5.25588136e-02 4.26504009e+02] [ 1.82013179e-01 9.83273786e-01 -6.62309471e-03 3.63119469e+01] [ 5.28858214e-02 -3.06335988e-03 9.98595867e-01 2.01178886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.54, Y:36.32, Z:20.12 [[ 9.81747816e-01 -1.82908421e-01 -5.21127161e-02 4.26535437e+02] [ 1.82816847e-01 9.83125107e-01 -6.55926771e-03 3.63168813e+01] [ 5.24330649e-02 -3.08753568e-03 9.98619668e-01 2.01200921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.57, Y:36.31, Z:20.12 [[ 9.81757093e-01 -1.83275787e-01 -5.06260525e-02 4.26567532e+02] [ 1.83190458e-01 9.83056867e-01 -6.36016126e-03 3.63137073e+01] [ 5.09339522e-02 -3.03007632e-03 9.98697427e-01 2.01222614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.60, Y:36.32, Z:20.12 [[ 9.81883426e-01 -1.82953135e-01 -4.93263462e-02 4.26599089e+02] [ 1.82872283e-01 9.83117219e-01 -6.18560419e-03 3.63221237e+01] [ 4.96252560e-02 -2.94687932e-03 9.98763561e-01 2.01247699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.63, Y:36.33, Z:20.13 [[ 9.81969852e-01 -1.82678052e-01 -4.86203560e-02 4.26630754e+02] [ 1.82599337e-01 9.83168527e-01 -6.09347637e-03 3.63251859e+01] [ 4.89151481e-02 -2.89443468e-03 9.98798744e-01 2.01267470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.66, Y:36.33, Z:20.13 [[ 9.82114442e-01 -1.82049978e-01 -4.80523543e-02 4.26662062e+02] [ 1.81972521e-01 9.83285197e-01 -6.01858508e-03 3.63257251e+01] [ 4.83448519e-02 -2.83326872e-03 9.98826686e-01 2.01284916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.69, Y:36.33, Z:20.13 [[ 9.82334011e-01 -1.81207459e-01 -4.67305931e-02 4.26693838e+02] [ 1.81133772e-01 9.83441115e-01 -5.84202560e-03 3.63280548e+01] [ 4.70154052e-02 -2.72566814e-03 9.98890446e-01 2.01304940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.73, Y:36.33, Z:20.13 [[ 9.82357543e-01 -1.81157488e-01 -4.64286736e-02 4.26727074e+02] [ 1.81084851e-01 9.83450368e-01 -5.80093021e-03 3.63312707e+01] [ 4.67111781e-02 -2.70894187e-03 9.98904764e-01 2.01323217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.76, Y:36.33, Z:20.13 [[ 9.82407713e-01 -1.80896814e-01 -4.63834802e-02 4.26759514e+02] [ 1.80824261e-01 9.83498378e-01 -5.79029490e-03 3.63296341e+01] [ 4.66655235e-02 -2.69882818e-03 9.98906925e-01 2.01336072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.79, Y:36.33, Z:20.14 [[ 9.82293910e-01 -1.81664009e-01 -4.57915006e-02 4.26791066e+02] [ 1.81594706e-01 9.83356919e-01 -5.70381947e-03 3.63346041e+01] [ 4.60655677e-02 -2.71266696e-03 9.98934735e-01 2.01352667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.82, Y:36.33, Z:20.14 [[ 9.82196952e-01 -1.82239232e-01 -4.55851938e-02 4.26822543e+02] [ 1.82171321e-01 9.83250429e-01 -5.67478380e-03 3.63320754e+01] [ 4.58558296e-02 -2.73055964e-03 9.98944336e-01 2.01370374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.85, Y:36.34, Z:20.14 [[ 9.82067489e-01 -1.83069601e-01 -4.50440676e-02 4.26854126e+02] [ 1.83004270e-01 9.83096140e-01 -5.60503960e-03 3.63375509e+01] [ 4.53087613e-02 -2.73872956e-03 9.98969277e-01 2.01383838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.89, Y:36.34, Z:20.14 [[ 9.82010387e-01 -1.83478978e-01 -4.46213349e-02 4.26886794e+02] [ 1.83415433e-01 9.83019829e-01 -5.54921398e-03 3.63385687e+01] [ 4.48818212e-02 -2.73485571e-03 9.98988560e-01 2.01397937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.92, Y:36.34, Z:20.14 [[ 9.81975879e-01 -1.83834428e-01 -4.39121296e-02 4.26918263e+02] [ 1.83773380e-01 9.82953487e-01 -5.45783814e-03 3.63384793e+01] [ 4.41669195e-02 -2.71041510e-03 9.99020489e-01 2.01412589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.95, Y:36.34, Z:20.14 [[ 9.82097862e-01 -1.83319103e-01 -4.33347078e-02 4.26949996e+02] [ 1.83259247e-01 9.83049878e-01 -5.38384457e-03 3.63424957e+01] [ 4.35871408e-02 -2.65402368e-03 9.99046104e-01 2.01420371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:426.98, Y:36.34, Z:20.14 [[ 9.82208949e-01 -1.82809202e-01 -4.29694750e-02 4.26981357e+02] [ 1.82750002e-01 9.83144939e-01 -5.33529110e-03 3.63445359e+01] [ 4.32205622e-02 -2.61230097e-03 9.99062140e-01 2.01430372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.01, Y:36.34, Z:20.14 [[ 9.82317924e-01 -1.82255444e-01 -4.28304608e-02 4.27013154e+02] [ 1.82196202e-01 9.83247826e-01 -5.31571221e-03 3.63442580e+01] [ 4.30817750e-02 -2.58182791e-03 9.99068213e-01 2.01444083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.05, Y:36.35, Z:20.15 [[ 9.82418785e-01 -1.81690557e-01 -4.29170483e-02 4.27045757e+02] [ 1.81630632e-01 9.83352412e-01 -5.32428802e-03 3.63472675e+01] [ 4.31699558e-02 -2.56437002e-03 9.99064452e-01 2.01454701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.08, Y:36.35, Z:20.15 [[ 9.82459297e-01 -1.81584844e-01 -4.24343479e-02 4.27078136e+02] [ 1.81526313e-01 9.83372016e-01 -5.26084102e-03 3.63518756e+01] [ 4.26840392e-02 -2.53438853e-03 9.99085407e-01 2.01462108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.11, Y:36.36, Z:20.15 [[ 9.82454929e-01 -1.81708230e-01 -4.20051473e-02 4.27109578e+02] [ 1.81651187e-01 9.83349264e-01 -5.20295474e-03 3.63560424e+01] [ 4.22511504e-02 -2.51861632e-03 9.99103847e-01 2.01473381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.14, Y:36.36, Z:20.15 [[ 9.82403749e-01 -1.81978322e-01 -4.20329009e-02 4.27140872e+02] [ 1.81921565e-01 9.83299276e-01 -5.20364411e-03 3.63559585e+01] [ 4.22778714e-02 -2.53461164e-03 9.99102676e-01 2.01483280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.17, Y:36.36, Z:20.15 [[ 9.82384389e-01 -1.81963805e-01 -4.25450996e-02 4.27173811e+02] [ 1.81905906e-01 9.83301868e-01 -5.26094947e-03 3.63598317e+01] [ 4.27919783e-02 -2.57093023e-03 9.99080696e-01 2.01490792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.21, Y:36.36, Z:20.15 [[ 9.82452585e-01 -1.81597966e-01 -4.25334719e-02 4.27206023e+02] [ 1.81539963e-01 9.83369529e-01 -5.25469171e-03 3.63643046e+01] [ 4.27803616e-02 -2.55903947e-03 9.99081224e-01 2.01492052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.24, Y:36.36, Z:20.15 [[ 9.82702816e-01 -1.80313169e-01 -4.22177178e-02 4.27238070e+02] [ 1.80254960e-01 9.83606108e-01 -5.21293492e-03 3.63618311e+01] [ 4.24655659e-02 -2.48718719e-03 9.99094835e-01 2.01502388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.27, Y:36.37, Z:20.15 [[ 9.82847963e-01 -1.79566044e-01 -4.20228268e-02 4.27269928e+02] [ 1.79507968e-01 9.83742869e-01 -5.18230073e-03 3.63650702e+01] [ 4.22702215e-02 -2.45001853e-03 9.99103211e-01 2.01514383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.30, Y:36.37, Z:20.15 [[ 9.83141552e-01 -1.77891663e-01 -4.22758280e-02 4.27300540e+02] [ 1.77831477e-01 9.84047162e-01 -5.21034241e-03 3.63729835e+01] [ 4.25282851e-02 -2.39546883e-03 9.99092391e-01 2.01514516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.33, Y:36.37, Z:20.15 [[ 9.83272758e-01 -1.77194133e-01 -4.21535668e-02 4.27331586e+02] [ 1.77133718e-01 9.84173090e-01 -5.19381821e-03 3.63740278e+01] [ 4.24067202e-02 -2.35987807e-03 9.99097643e-01 2.01528759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.36, Y:36.38, Z:20.15 [[ 9.83291475e-01 -1.77090180e-01 -4.21538136e-02 4.27363903e+02] [ 1.77029755e-01 9.84191806e-01 -5.19181456e-03 3.63779143e+01] [ 4.24068573e-02 -2.35741231e-03 9.99097643e-01 2.01544237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.40, Y:36.39, Z:20.16 [[ 9.83347138e-01 -1.76884777e-01 -4.17154903e-02 4.27396045e+02] [ 1.76825602e-01 9.84228812e-01 -5.13343542e-03 3.63868126e+01] [ 4.19656140e-02 -2.32841766e-03 9.99116342e-01 2.01554650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.43, Y:36.39, Z:20.16 [[ 9.83366856e-01 -1.76774988e-01 -4.17160618e-02 4.27428364e+02] [ 1.76715912e-01 9.84248537e-01 -5.12878667e-03 3.63906983e+01] [ 4.19656140e-02 -2.32841307e-03 9.99116342e-01 2.01570122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.46, Y:36.39, Z:20.16 [[ 9.83429934e-01 -1.76388477e-01 -4.18649033e-02 4.27460587e+02] [ 1.76328793e-01 9.84317888e-01 -5.14320780e-03 3.63927658e+01] [ 4.21155757e-02 -2.32400334e-03 9.99110043e-01 2.01587814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.49, Y:36.40, Z:20.16 [[ 9.83403092e-01 -1.76506504e-01 -4.19977612e-02 4.27491986e+02] [ 1.76447095e-01 9.84296670e-01 -5.14659580e-03 3.63968784e+01] [ 4.22466641e-02 -2.34920472e-03 9.99104449e-01 2.01600684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.52, Y:36.40, Z:20.16 [[ 9.83378963e-01 -1.76576615e-01 -4.22671678e-02 4.27523318e+02] [ 1.76516607e-01 9.84284046e-01 -5.17723482e-03 3.63972652e+01] [ 4.25170775e-02 -2.36967324e-03 9.99092930e-01 2.01612321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.55, Y:36.40, Z:20.16 [[ 9.83309689e-01 -1.76949409e-01 -4.23197613e-02 4.27554934e+02] [ 1.76889691e-01 9.84217044e-01 -5.18142444e-03 3.64023403e+01] [ 4.25686804e-02 -2.39098466e-03 9.99090682e-01 2.01624138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.59, Y:36.41, Z:20.16 [[ 9.83260074e-01 -1.77192925e-01 -4.24534313e-02 4.27586529e+02] [ 1.77133190e-01 9.84173180e-01 -5.19465785e-03 3.64059282e+01] [ 4.27019852e-02 -2.41221207e-03 9.99084942e-01 2.01637236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.62, Y:36.41, Z:20.17 [[ 9.83112867e-01 -1.77793744e-01 -4.33413791e-02 4.27617698e+02] [ 1.77732212e-01 9.84064617e-01 -5.29996187e-03 3.64085383e+01] [ 4.35930177e-02 -2.49269848e-03 9.99046263e-01 2.01652208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.65, Y:36.41, Z:20.17 [[ 9.83079433e-01 -1.77691415e-01 -4.45038059e-02 4.27649830e+02] [ 1.77626546e-01 9.84082934e-01 -5.43964013e-03 3.64141407e+01] [ 4.47620133e-02 -2.55745898e-03 9.98994405e-01 2.01663098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.68, Y:36.42, Z:20.17 [[ 9.83141181e-01 -1.77140947e-01 -4.53266176e-02 4.27682310e+02] [ 1.77073231e-01 9.84182104e-01 -5.53681265e-03 3.64177306e+01] [ 4.55904422e-02 -2.58266210e-03 9.98956877e-01 2.01670791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.71, Y:36.42, Z:20.17 [[ 9.83226027e-01 -1.76391563e-01 -4.63960868e-02 4.27713844e+02] [ 1.76319988e-01 9.84316611e-01 -5.66306192e-03 3.64219806e+01] [ 4.66673553e-02 -2.61248761e-03 9.98907069e-01 2.01682555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.74, Y:36.43, Z:20.17 [[ 9.83335047e-01 -1.75607423e-01 -4.70554846e-02 4.27744505e+02] [ 1.75533073e-01 9.84456801e-01 -5.74002533e-03 3.64256465e+01] [ 4.73320829e-02 -2.61542573e-03 9.98875785e-01 2.01697224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.78, Y:36.43, Z:20.17 [[ 9.83521600e-01 -1.74639092e-01 -4.67594974e-02 4.27775306e+02] [ 1.74564703e-01 9.84629199e-01 -5.70136792e-03 3.64287901e+01] [ 4.70364481e-02 -2.55513929e-03 9.98889906e-01 2.01723319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.81, Y:36.43, Z:20.17 [[ 9.83555472e-01 -1.74148978e-01 -4.78619546e-02 4.27806693e+02] [ 1.74070592e-01 9.84715900e-01 -5.83311542e-03 3.64334939e+01] [ 4.81462588e-02 -2.59416619e-03 9.98836928e-01 2.01734693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.84, Y:36.44, Z:20.17 [[ 9.83696496e-01 -1.73101665e-01 -4.87546707e-02 4.27837982e+02] [ 1.73019221e-01 9.84900546e-01 -5.93836690e-03 3.64371597e+01] [ 4.90464430e-02 -2.59394445e-03 9.98793131e-01 2.01744858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.87, Y:36.44, Z:20.18 [[ 9.83981739e-01 -1.71117124e-01 -4.99886805e-02 4.27867973e+02] [ 1.71028035e-01 9.85247366e-01 -6.08602362e-03 3.64418031e+01] [ 5.02926387e-02 -2.56092969e-03 9.98731241e-01 2.01750890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.90, Y:36.45, Z:20.18 [[ 9.84175609e-01 -1.69911706e-01 -5.02830304e-02 4.27900273e+02] [ 1.69820052e-01 9.85456080e-01 -6.12075283e-03 3.64461388e+01] [ 5.05917056e-02 -2.51517121e-03 9.98716253e-01 2.01767204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.93, Y:36.45, Z:20.18 [[ 9.84353859e-01 -1.68936026e-01 -5.00809209e-02 4.27931959e+02] [ 1.68844066e-01 9.85623950e-01 -6.09184603e-03 3.64516793e+01] [ 5.03900873e-02 -2.45933418e-03 9.98726585e-01 2.01781651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.96, Y:36.45, Z:20.18 [[ 9.84478082e-01 -1.68210417e-01 -5.00815478e-02 4.27962838e+02] [ 1.68117705e-01 9.85748127e-01 -6.08822623e-03 3.64542892e+01] [ 5.03918950e-02 -2.42586959e-03 9.98726575e-01 2.01795588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:427.99, Y:36.46, Z:20.18 [[ 9.84626077e-01 -1.67255181e-01 -5.03705614e-02 4.27994232e+02] [ 1.67160466e-01 9.85910726e-01 -6.11712622e-03 3.64643367e+01] [ 5.06839978e-02 -2.39688451e-03 9.98711864e-01 2.01818128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.03, Y:36.47, Z:20.18 [[ 9.84667544e-01 -1.66952920e-01 -5.05623435e-02 4.28026065e+02] [ 1.66857275e-01 9.85961962e-01 -6.13669739e-03 3.64691888e+01] [ 5.08770869e-02 -2.39408810e-03 9.98702053e-01 2.01833616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.06, Y:36.47, Z:20.19 [[ 9.84650725e-01 -1.66781444e-01 -5.14480208e-02 4.28058529e+02] [ 1.66682394e-01 9.85990892e-01 -6.24018459e-03 3.64731575e+01] [ 5.17680270e-02 -2.43107698e-03 9.98656178e-01 2.01850664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.09, Y:36.48, Z:20.19 [[ 9.84598185e-01 -1.66953887e-01 -5.18923339e-02 4.28090208e+02] [ 1.66853649e-01 9.85961619e-01 -6.28849260e-03 3.64780087e+01] [ 5.22137379e-02 -2.46678688e-03 9.98632886e-01 2.01864451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.12, Y:36.48, Z:20.19 [[ 9.84617734e-01 -1.66746060e-01 -5.21887802e-02 4.28122972e+02] [ 1.66644596e-01 9.85996771e-01 -6.32037961e-03 3.64829145e+01] [ 5.25118672e-02 -2.47382032e-03 9.98617236e-01 2.01879578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.15, Y:36.49, Z:20.19 [[ 9.84554167e-01 -1.66746668e-01 -5.33726591e-02 4.28154568e+02] [ 1.66640863e-01 9.85996510e-01 -6.45793813e-03 3.64881971e+01] [ 5.37020953e-02 -2.53587607e-03 9.98553781e-01 2.01890683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.19, Y:36.49, Z:20.19 [[ 9.84597351e-01 -1.66356943e-01 -5.37905559e-02 4.28186157e+02] [ 1.66249135e-01 9.86062332e-01 -6.50405974e-03 3.64903702e+01] [ 5.41228365e-02 -2.53875343e-03 9.98531058e-01 2.01901433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.22, Y:36.50, Z:20.19 [[ 9.84635865e-01 -1.66051279e-01 -5.40294933e-02 4.28217844e+02] [ 1.65942431e-01 9.86113848e-01 -6.52599019e-03 3.64959074e+01] [ 5.43628806e-02 -2.54006149e-03 9.98518015e-01 2.01918669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.25, Y:36.50, Z:20.19 [[ 9.84775532e-01 -1.65086258e-01 -5.44396811e-02 4.28248849e+02] [ 1.64974529e-01 9.86275938e-01 -6.57101412e-03 3.65007397e+01] [ 5.47773317e-02 -2.51018685e-03 9.98495440e-01 2.01939475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.28, Y:36.51, Z:20.20 [[ 9.84948742e-01 -1.64058419e-01 -5.44133370e-02 4.28280077e+02] [ 1.63945627e-01 9.86447560e-01 -6.56066978e-03 3.65076447e+01] [ 5.47522366e-02 -2.45890522e-03 9.98496944e-01 2.01961995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.31, Y:36.51, Z:20.20 [[ 9.85152949e-01 -1.62861106e-01 -5.43132253e-02 4.28311065e+02] [ 1.62747126e-01 9.86646106e-01 -6.54472253e-03 3.65113331e+01] [ 5.46538130e-02 -2.39176864e-03 9.98502499e-01 2.01980338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.34, Y:36.52, Z:20.20 [[ 9.85580271e-01 -1.60590031e-01 -5.33138890e-02 4.28341198e+02] [ 1.60477040e-01 9.87018685e-01 -6.42152275e-03 3.65199750e+01] [ 5.36530372e-02 -2.22672898e-03 9.98557156e-01 2.02014590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.37, Y:36.53, Z:20.20 [[ 9.85720168e-01 -1.59757861e-01 -5.32275923e-02 4.28372985e+02] [ 1.59644143e-01 9.87153824e-01 -6.40892930e-03 3.65260440e+01] [ 5.35676982e-02 -2.18006251e-03 9.98561840e-01 2.02037584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.40, Y:36.53, Z:20.21 [[ 9.85877103e-01 -1.58918128e-01 -5.28333748e-02 4.28404704e+02] [ 1.58805095e-01 9.87289483e-01 -6.35753478e-03 3.65304068e+01] [ 5.31721628e-02 -2.12246111e-03 9.98583104e-01 2.02054957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.44, Y:36.53, Z:20.21 [[ 9.85952564e-01 -1.58318500e-01 -5.32240081e-02 4.28435296e+02] [ 1.58203124e-01 9.87385843e-01 -6.40067075e-03 3.65340206e+01] [ 5.35659767e-02 -2.10944663e-03 9.98562084e-01 2.02069730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.47, Y:36.54, Z:20.21 [[ 9.85892207e-01 -1.58676425e-01 -5.32761436e-02 4.28466587e+02] [ 1.58561510e-01 9.87328333e-01 -6.40387687e-03 3.65393080e+01] [ 5.36171904e-02 -2.13401345e-03 9.98559284e-01 2.02086243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.50, Y:36.54, Z:20.21 [[ 9.85807781e-01 -1.59121048e-01 -5.35117883e-02 4.28497625e+02] [ 1.59005973e-01 9.87256692e-01 -6.42837589e-03 3.65395133e+01] [ 5.38527611e-02 -2.17155099e-03 9.98546526e-01 2.02093878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.53, Y:36.55, Z:20.21 [[ 9.85634744e-01 -1.59984858e-01 -5.41202052e-02 4.28529016e+02] [ 1.59868621e-01 9.87116911e-01 -6.49834612e-03 3.65470328e+01] [ 5.44626068e-02 -2.24712686e-03 9.98513282e-01 2.02112123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.56, Y:36.55, Z:20.21 [[ 9.85208832e-01 -1.62502946e-01 -5.43723348e-02 4.28560517e+02] [ 1.62389658e-01 9.86705137e-01 -6.52475838e-03 3.65467121e+01] [ 5.47097545e-02 -2.40125526e-03 9.98499412e-01 2.02112455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.59, Y:36.55, Z:20.21 [[ 9.84904724e-01 -1.64228439e-01 -5.46964814e-02 4.28592631e+02] [ 1.64116621e-01 9.86419127e-01 -6.56053579e-03 3.65511865e+01] [ 5.50310820e-02 -2.51509901e-03 9.98481474e-01 2.02129358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.62, Y:36.56, Z:20.21 [[ 9.84297982e-01 -1.67616256e-01 -5.53378177e-02 4.28623013e+02] [ 1.67507335e-01 9.85848510e-01 -6.63387947e-03 3.65555235e+01] [ 5.56666511e-02 -2.73977619e-03 9.98445651e-01 2.02143716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.65, Y:36.56, Z:20.21 [[ 9.84010549e-01 -1.69023557e-01 -5.61629436e-02 4.28654710e+02] [ 1.68913726e-01 9.85607854e-01 -6.73142629e-03 3.65555771e+01] [ 5.64924079e-02 -2.86289760e-03 9.98398924e-01 2.02147961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.69, Y:36.56, Z:20.22 [[ 9.83675949e-01 -1.70728020e-01 -5.68645005e-02 4.28685718e+02] [ 1.70618446e-01 9.85313624e-01 -6.81237976e-03 3.65571636e+01] [ 5.71924312e-02 -3.00095859e-03 9.98358663e-01 2.02155875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.72, Y:36.56, Z:20.22 [[ 9.83076488e-01 -1.73588168e-01 -5.85471403e-02 4.28716232e+02] [ 1.73477247e-01 9.84812922e-01 -7.01088949e-03 3.65644901e+01] [ 5.88749878e-02 -3.26435612e-03 9.98260026e-01 2.02171663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.75, Y:36.57, Z:20.22 [[ 9.82875075e-01 -1.74578686e-01 -5.89819393e-02 4.28747711e+02] [ 1.74468052e-01 9.84637523e-01 -7.06022178e-03 3.65670310e+01] [ 5.93083948e-02 -3.35114803e-03 9.98234083e-01 2.02184881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.78, Y:36.57, Z:20.22 [[ 9.82759518e-01 -1.75176832e-01 -5.91338119e-02 4.28779920e+02] [ 1.75066911e-01 9.84531118e-01 -7.07496058e-03 3.65721316e+01] [ 5.94584471e-02 -3.39938895e-03 9.98224993e-01 2.02199848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.81, Y:36.57, Z:20.22 [[ 9.82782353e-01 -1.75133714e-01 -5.88814823e-02 4.28811692e+02] [ 1.75024916e-01 9.84538833e-01 -7.04030610e-03 3.65734926e+01] [ 5.92041008e-02 -3.38663790e-03 9.98240154e-01 2.02214767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.84, Y:36.58, Z:20.23 [[ 9.83161287e-01 -1.73410772e-01 -5.76418905e-02 4.28842083e+02] [ 1.73303818e-01 9.84844327e-01 -6.88753935e-03 3.65830167e+01] [ 5.79626624e-02 -3.21799763e-03 9.98313565e-01 2.02252164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.87, Y:36.59, Z:20.23 [[ 9.83450522e-01 -1.72030211e-01 -5.68390462e-02 4.28874285e+02] [ 1.71924062e-01 9.85086811e-01 -6.78905313e-03 3.65888387e+01] [ 5.71593170e-02 -3.09530189e-03 9.98360271e-01 2.02282016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.91, Y:36.59, Z:20.23 [[ 9.83468902e-01 -1.71924897e-01 -5.68396687e-02 4.28906618e+02] [ 1.71818874e-01 9.85105200e-01 -6.78383781e-03 3.65926062e+01] [ 5.71593638e-02 -3.09443434e-03 9.98360271e-01 2.02297489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.94, Y:36.60, Z:20.23 [[ 9.83756014e-01 -1.70474930e-01 -5.62352524e-02 4.28937543e+02] [ 1.70369112e-01 9.85357496e-01 -6.70596253e-03 3.66014762e+01] [ 5.65550260e-02 -2.98371904e-03 9.98395025e-01 2.02324975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:428.97, Y:36.61, Z:20.23 [[ 9.84058379e-01 -1.68953988e-01 -5.55306833e-02 4.28968648e+02] [ 1.68848654e-01 9.85619777e-01 -6.61723670e-03 3.66052397e+01] [ 5.58501482e-02 -2.86453389e-03 9.98435053e-01 2.02347339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.00, Y:36.61, Z:20.24 [[ 9.84366812e-01 -1.67135311e-01 -5.55676866e-02 4.28999319e+02] [ 1.67027356e-01 9.85930075e-01 -6.61434764e-03 3.66077727e+01] [ 5.58913445e-02 -2.77037945e-03 9.98433014e-01 2.02358864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.03, Y:36.62, Z:20.24 [[ 9.84891918e-01 -1.63683948e-01 -5.65285386e-02 4.29029305e+02] [ 1.63566678e-01 9.86509348e-01 -6.72662555e-03 3.66195447e+01] [ 5.68669724e-02 -2.62118611e-03 9.98378324e-01 2.02374985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.06, Y:36.62, Z:20.24 [[ 9.85137221e-01 -1.61933252e-01 -5.72911574e-02 4.29060820e+02] [ 1.61809990e-01 9.86798401e-01 -6.81485363e-03 3.66226670e+01] [ 5.76383740e-02 -2.55671563e-03 9.98334253e-01 2.02380952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.09, Y:36.63, Z:20.24 [[ 9.85392361e-01 -1.60196122e-01 -5.77849315e-02 4.29092072e+02] [ 1.60067995e-01 9.87082088e-01 -6.86932110e-03 3.66293203e+01] [ 5.81389095e-02 -2.48054161e-03 9.98305421e-01 2.02395421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.12, Y:36.64, Z:20.24 [[ 9.85604452e-01 -1.58442931e-01 -5.89889927e-02 4.29123480e+02] [ 1.58306536e-01 9.87365144e-01 -7.00810339e-03 3.66351431e+01] [ 5.93540597e-02 -2.43112517e-03 9.98234033e-01 2.02407009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.15, Y:36.64, Z:20.24 [[ 9.85832116e-01 -1.56600433e-01 -6.00944487e-02 4.29154620e+02] [ 1.56455786e-01 9.87659198e-01 -7.13409646e-03 3.66399671e+01] [ 6.04700376e-02 -2.36910279e-03 9.98167201e-01 2.02413540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.18, Y:36.65, Z:20.24 [[ 9.86232387e-01 -1.53420168e-01 -6.17084381e-02 4.29184755e+02] [ 1.53261899e-01 9.88158507e-01 -7.31821263e-03 3.66469930e+01] [ 6.21004794e-02 -2.24009410e-03 9.98067389e-01 2.02414294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.22, Y:36.65, Z:20.24 [[ 9.86463240e-01 -1.51736333e-01 -6.21800641e-02 4.29216234e+02] [ 1.51572471e-01 9.88418661e-01 -7.37137280e-03 3.66543559e+01] [ 6.25784407e-02 -2.15319767e-03 9.98037726e-01 2.02434278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.25, Y:36.66, Z:20.25 [[ 9.86666716e-01 -1.50176279e-01 -6.27365722e-02 4.29248299e+02] [ 1.50006610e-01 9.88657054e-01 -7.43279560e-03 3.66599264e+01] [ 6.31411842e-02 -2.07720852e-03 9.98002443e-01 2.02450405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.28, Y:36.67, Z:20.25 [[ 9.87189563e-01 -1.47048104e-01 -6.19162518e-02 4.29278623e+02] [ 1.46876943e-01 9.89127600e-01 -7.33173165e-03 3.66669523e+01] [ 6.23211908e-02 -1.85626085e-03 9.98054419e-01 2.02468546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.31, Y:36.67, Z:20.25 [[ 9.87401266e-01 -1.45786759e-01 -6.15220439e-02 4.29310381e+02] [ 1.45615494e-01 9.89314457e-01 -7.28235246e-03 3.66726136e+01] [ 6.19263180e-02 -1.76795876e-03 9.98079158e-01 2.02489548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.34, Y:36.68, Z:20.25 [[ 9.87618841e-01 -1.44539424e-01 -6.09703140e-02 4.29342446e+02] [ 1.44369109e-01 9.89497618e-01 -7.21273825e-03 3.66777749e+01] [ 6.13725055e-02 -1.67879374e-03 9.98113519e-01 2.02508671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.37, Y:36.68, Z:20.25 [[ 9.87803627e-01 -1.43423931e-01 -6.06099861e-02 4.29374417e+02] [ 1.43253789e-01 9.89660044e-01 -7.16583089e-03 3.66837043e+01] [ 6.10110331e-02 -1.60417645e-03 9.98135803e-01 2.02531990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.41, Y:36.69, Z:20.25 [[ 9.87818811e-01 -1.43319078e-01 -6.06105478e-02 4.29406723e+02] [ 1.43149032e-01 9.89675237e-01 -7.16107699e-03 3.66874312e+01] [ 6.10110772e-02 -1.60249466e-03 9.98135803e-01 2.02547450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.44, Y:36.69, Z:20.26 [[ 9.88136263e-01 -1.41552134e-01 -5.95795163e-02 4.29438097e+02] [ 1.41384971e-01 9.89929705e-01 -7.03338210e-03 3.66941156e+01] [ 5.99751233e-02 -1.47370830e-03 9.98198784e-01 2.02566352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.47, Y:36.70, Z:20.26 [[ 9.88252594e-01 -1.41147237e-01 -5.86026193e-02 4.29469821e+02] [ 1.40985049e-01 9.89987583e-01 -6.91388037e-03 3.66990432e+01] [ 5.89917406e-02 -1.42943295e-03 9.98257447e-01 2.02587006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.50, Y:36.70, Z:20.26 [[ 9.88252923e-01 -1.41322526e-01 -5.81730536e-02 4.29502314e+02] [ 1.41163283e-01 9.89962569e-01 -6.85856820e-03 3.67031774e+01] [ 5.85584158e-02 -1.43389914e-03 9.98282954e-01 2.02605208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.53, Y:36.71, Z:20.26 [[ 9.88284099e-01 -1.41517829e-01 -5.71598115e-02 4.29534194e+02] [ 1.41364811e-01 9.89934678e-01 -6.73220264e-03 3.67062014e+01] [ 5.75372063e-02 -1.42705715e-03 9.98342343e-01 2.02617533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.57, Y:36.71, Z:20.26 [[ 9.88182163e-01 -1.42374379e-01 -5.67939160e-02 4.29565652e+02] [ 1.42225254e-01 9.89811778e-01 -6.67991293e-03 3.67105587e+01] [ 5.71663354e-02 -1.47655832e-03 9.98363576e-01 2.02640572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.60, Y:36.71, Z:20.26 [[ 9.88035745e-01 -1.43633849e-01 -5.61665769e-02 4.29596773e+02] [ 1.43490254e-01 9.89629707e-01 -6.60221198e-03 3.67112429e+01] [ 5.65324142e-02 -1.53613496e-03 9.98399583e-01 2.02645013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.63, Y:36.71, Z:20.27 [[ 9.87487496e-01 -1.47490797e-01 -5.58113875e-02 4.29628550e+02] [ 1.47355330e-01 9.89061882e-01 -6.55743311e-03 3.67136431e+01] [ 5.61680770e-02 -1.74872224e-03 9.98419796e-01 2.02658110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.66, Y:36.72, Z:20.27 [[ 9.87116149e-01 -1.49910421e-01 -5.59336598e-02 4.29660709e+02] [ 1.49778414e-01 9.88697770e-01 -6.56862253e-03 3.67175654e+01] [ 5.62861896e-02 -1.89366149e-03 9.98412880e-01 2.02673656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.69, Y:36.72, Z:20.27 [[ 9.86693926e-01 -1.52533452e-01 -5.62907033e-02 4.29692206e+02] [ 1.52404241e-01 9.88296161e-01 -6.60653532e-03 3.67182454e+01] [ 5.66396036e-02 -2.06031363e-03 9.98392563e-01 2.02680990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.72, Y:36.72, Z:20.27 [[ 9.86272389e-01 -1.55233873e-01 -5.62958296e-02 4.29723595e+02] [ 1.55109200e-01 9.87875257e-01 -6.60404249e-03 3.67192110e+01] [ 5.66384282e-02 -2.21861636e-03 9.98392291e-01 2.02687664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.75, Y:36.72, Z:20.27 [[ 9.85489515e-01 -1.60270006e-01 -5.58922261e-02 4.29754442e+02] [ 1.60155338e-01 9.87070065e-01 -6.55400766e-03 3.67216884e+01] [ 5.62199541e-02 -2.49253255e-03 9.98415296e-01 2.02699255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.79, Y:36.72, Z:20.27 [[ 9.85164549e-01 -1.62217463e-01 -5.60027384e-02 4.29785858e+02] [ 1.62105555e-01 9.86751581e-01 -6.56561297e-03 3.67199410e+01] [ 5.63258477e-02 -2.61014585e-03 9.98409027e-01 2.02704448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.82, Y:36.72, Z:20.27 [[ 9.84908993e-01 -1.63795182e-01 -5.59054057e-02 4.29817196e+02] [ 1.63686368e-01 9.86490677e-01 -6.55114022e-03 3.67240731e+01] [ 5.62232067e-02 -2.69867591e-03 9.98414577e-01 2.02721962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.85, Y:36.73, Z:20.27 [[ 9.84745240e-01 -1.64917207e-01 -5.54898777e-02 4.29849011e+02] [ 1.64811955e-01 9.86303593e-01 -6.49931529e-03 3.67306015e+01] [ 5.58017148e-02 -2.74522543e-03 9.98438096e-01 2.02742201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.88, Y:36.73, Z:20.28 [[ 9.84613621e-01 -1.65638111e-01 -5.56779471e-02 4.29879848e+02] [ 1.65533516e-01 9.86182630e-01 -6.51735579e-03 3.67326578e+01] [ 5.59881468e-02 -2.79948908e-03 9.98427509e-01 2.02752711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.91, Y:36.74, Z:20.28 [[ 9.84511219e-01 -1.66237722e-01 -5.57016937e-02 4.29910776e+02] [ 1.66134167e-01 9.86081623e-01 -6.51705745e-03 3.67356975e+01] [ 5.60097973e-02 -2.83783831e-03 9.98426186e-01 2.02761022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.94, Y:36.74, Z:20.28 [[ 9.84506389e-01 -1.66310300e-01 -5.55702704e-02 4.29942671e+02] [ 1.66207526e-01 9.86069383e-01 -6.49850830e-03 3.67391544e+01] [ 5.58769111e-02 -2.83837423e-03 9.98433630e-01 2.02772691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:429.97, Y:36.75, Z:20.28 [[ 9.84481386e-01 -1.66417234e-01 -5.56929537e-02 4.29974446e+02] [ 1.66314402e-01 9.86051294e-01 -6.50883057e-03 3.67452626e+01] [ 5.59992906e-02 -2.85471775e-03 9.98426727e-01 2.02791267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.01, Y:36.75, Z:20.28 [[ 9.84471479e-01 -1.66445132e-01 -5.57846353e-02 4.30005866e+02] [ 1.66342236e-01 9.86046555e-01 -6.51543405e-03 3.67498670e+01] [ 5.60907097e-02 -2.86508199e-03 9.98421566e-01 2.02810162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.04, Y:36.75, Z:20.28 [[ 9.84536748e-01 -1.66130717e-01 -5.55695725e-02 4.30038205e+02] [ 1.66028438e-01 9.86099644e-01 -6.48453400e-03 3.67481433e+01] [ 5.58744160e-02 -2.84186733e-03 9.98433760e-01 2.02822005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.07, Y:36.76, Z:20.29 [[ 9.84559313e-01 -1.66092850e-01 -5.52822282e-02 4.30070209e+02] [ 1.65992335e-01 9.86106033e-01 -6.43718330e-03 3.67587375e+01] [ 5.55833089e-02 -2.83863739e-03 9.98450018e-01 2.02850510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.10, Y:36.76, Z:20.29 [[ 9.84581148e-01 -1.65803161e-01 -5.57608682e-02 4.30102284e+02] [ 1.65700865e-01 9.86154737e-01 -6.48527586e-03 3.67589900e+01] [ 5.60641235e-02 -2.85434374e-03 9.98423090e-01 2.02858797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.13, Y:36.77, Z:20.29 [[ 9.84516430e-01 -1.66008353e-01 -5.62905460e-02 4.30134105e+02] [ 1.65905218e-01 9.86120062e-01 -6.53314183e-03 3.67657231e+01] [ 5.65937929e-02 -2.90690983e-03 9.98393055e-01 2.02874974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.16, Y:36.77, Z:20.29 [[ 9.84503321e-01 -1.66049918e-01 -5.63971325e-02 4.30164739e+02] [ 1.65946723e-01 9.86113027e-01 -6.54089969e-03 3.67680413e+01] [ 5.67000629e-02 -2.91938183e-03 9.98386989e-01 2.02889714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.20, Y:36.77, Z:20.29 [[ 9.84532921e-01 -1.65938348e-01 -5.62084678e-02 4.30196029e+02] [ 1.65836034e-01 9.86131836e-01 -6.51241188e-03 3.67733863e+01] [ 5.65096184e-02 -2.90970550e-03 9.98397815e-01 2.02908284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.23, Y:36.78, Z:20.29 [[ 9.84504778e-01 -1.65955676e-01 -5.66485309e-02 4.30227734e+02] [ 1.65852020e-01 9.86128837e-01 -6.55924208e-03 3.67769941e+01] [ 5.69512934e-02 -2.93766811e-03 9.98372636e-01 2.02920860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.26, Y:36.78, Z:20.29 [[ 9.84517473e-01 -1.65867147e-01 -5.66871718e-02 4.30259914e+02] [ 1.65763449e-01 9.86143728e-01 -6.55942762e-03 3.67799979e+01] [ 5.69896925e-02 -2.93879001e-03 9.98370442e-01 2.02935857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.29, Y:36.78, Z:20.30 [[ 9.84508159e-01 -1.65912264e-01 -5.67168856e-02 4.30292275e+02] [ 1.65808814e-01 9.86136112e-01 -6.55791589e-03 3.67839181e+01] [ 5.70186077e-02 -2.94783784e-03 9.98368764e-01 2.02952418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.32, Y:36.79, Z:20.30 [[ 9.84676889e-01 -1.64976228e-01 -5.65178662e-02 4.30324227e+02] [ 1.64872195e-01 9.86293317e-01 -6.53087943e-03 3.67884098e+01] [ 5.68206336e-02 -2.88741863e-03 9.98380227e-01 2.02968634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.36, Y:36.79, Z:20.30 [[ 9.84772267e-01 -1.64462209e-01 -5.63539192e-02 4.30355874e+02] [ 1.64358168e-01 9.86379258e-01 -6.50790276e-03 3.67931878e+01] [ 5.66566410e-02 -2.85342478e-03 9.98389645e-01 2.02981250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.39, Y:36.80, Z:20.30 [[ 9.84802352e-01 -1.64361061e-01 -5.61228005e-02 4.30388112e+02] [ 1.64257937e-01 9.86396156e-01 -6.47715296e-03 3.67979491e+01] [ 5.64239064e-02 -2.83989994e-03 9.98402863e-01 2.02998707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.42, Y:36.80, Z:20.30 [[ 9.84780610e-01 -1.64446386e-01 -5.62542076e-02 4.30419351e+02] [ 1.64343140e-01 9.86381890e-01 -6.48838971e-03 3.68006922e+01] [ 5.65551239e-02 -2.85535277e-03 9.98395395e-01 2.03014305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.45, Y:36.80, Z:20.30 [[ 9.84874925e-01 -1.63879961e-01 -5.62560309e-02 4.30451401e+02] [ 1.63775969e-01 9.86476240e-01 -6.48540120e-03 3.68047027e+01] [ 5.65580651e-02 -2.82607693e-03 9.98395312e-01 2.03022357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.48, Y:36.81, Z:20.30 [[ 9.84931179e-01 -1.63456322e-01 -5.65031329e-02 4.30482953e+02] [ 1.63350950e-01 9.86546547e-01 -6.50983868e-03 3.68073933e+01] [ 5.68070450e-02 -2.81809736e-03 9.98381199e-01 2.03032735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.52, Y:36.81, Z:20.30 [[ 9.85023004e-01 -1.62826479e-01 -5.67205419e-02 4.30515329e+02] [ 1.62719494e-01 9.86650757e-01 -6.53067986e-03 3.68120366e+01] [ 5.70267332e-02 -2.79666797e-03 9.98368735e-01 2.03047036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.55, Y:36.82, Z:20.31 [[ 9.85104089e-01 -1.62543395e-01 -5.61211122e-02 4.30547096e+02] [ 1.62438471e-01 9.86697548e-01 -6.45687883e-03 3.68160490e+01] [ 5.64240868e-02 -2.75552995e-03 9.98403090e-01 2.03062604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.58, Y:36.82, Z:20.31 [[ 9.85121588e-01 -1.62776605e-01 -5.51292416e-02 4.30578551e+02] [ 1.62675927e-01 9.86659191e-01 -6.33903040e-03 3.68154839e+01] [ 5.54256188e-02 -2.72348481e-03 9.98459105e-01 2.03077281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.61, Y:36.82, Z:20.31 [[ 9.85117303e-01 -1.62994125e-01 -5.45601995e-02 4.30610714e+02] [ 1.62896011e-01 9.86623317e-01 -6.27059132e-03 3.68210835e+01] [ 5.48524346e-02 -2.71037088e-03 9.98490793e-01 2.03099332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.64, Y:36.82, Z:20.31 [[ 9.85082107e-01 -1.63317359e-01 -5.42280550e-02 4.30642609e+02] [ 1.63221135e-01 9.86569849e-01 -6.22855434e-03 3.68249854e+01] [ 5.45169950e-02 -2.71552726e-03 9.98509150e-01 2.03116837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.68, Y:36.83, Z:20.31 [[ 9.84973490e-01 -1.64186310e-01 -5.35731170e-02 4.30675217e+02] [ 1.64093882e-01 9.86425558e-01 -6.14950858e-03 3.68254243e+01] [ 5.38555569e-02 -2.73391783e-03 9.98544994e-01 2.03132026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.71, Y:36.83, Z:20.31 [[ 9.84991008e-01 -1.64081036e-01 -5.35735784e-02 4.30707564e+02] [ 1.63988671e-01 9.86443079e-01 -6.14548589e-03 3.68290420e+01] [ 5.38556434e-02 -2.73221160e-03 9.98544994e-01 2.03147500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.74, Y:36.83, Z:20.32 [[ 9.84877199e-01 -1.64911093e-01 -5.31152979e-02 4.30740071e+02] [ 1.64821797e-01 9.86304577e-01 -6.08742836e-03 3.68312140e+01] [ 5.33917459e-02 -2.75918948e-03 9.98569831e-01 2.03164989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.77, Y:36.83, Z:20.32 [[ 9.84569039e-01 -1.66995256e-01 -5.23105413e-02 4.30771447e+02] [ 1.66911781e-01 9.85953631e-01 -5.99128396e-03 3.68306264e+01] [ 5.25762842e-02 -2.83241293e-03 9.98612894e-01 2.03183882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.80, Y:36.83, Z:20.32 [[ 9.84417937e-01 -1.67910931e-01 -5.22230241e-02 4.30803199e+02] [ 1.67829320e-01 9.85797957e-01 -5.97550971e-03 3.68332288e+01] [ 5.24847039e-02 -2.88215571e-03 9.98617569e-01 2.03201355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.84, Y:36.83, Z:20.32 [[ 9.84129528e-01 -1.69563483e-01 -5.23191909e-02 4.30835139e+02] [ 1.69484089e-01 9.85514763e-01 -5.98287733e-03 3.68306111e+01] [ 5.25758125e-02 -2.97934416e-03 9.98612491e-01 2.03211607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.87, Y:36.84, Z:20.32 [[ 9.84030993e-01 -1.70276050e-01 -5.18562586e-02 4.30866371e+02] [ 1.70199186e-01 9.85391854e-01 -5.92712578e-03 3.68369063e+01] [ 5.21079824e-02 -2.99341755e-03 9.98636970e-01 2.03229560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.90, Y:36.84, Z:20.32 [[ 9.83894979e-01 -1.71091367e-01 -5.17534053e-02 4.30898092e+02] [ 1.71016125e-01 9.85250495e-01 -5.91163775e-03 3.68398194e+01] [ 5.20014984e-02 -3.03423612e-03 9.98642397e-01 2.03247728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.93, Y:36.84, Z:20.33 [[ 9.83789950e-01 -1.71764088e-01 -5.15211752e-02 4.30929218e+02] [ 1.71690627e-01 9.85133360e-01 -5.88145485e-03 3.68406841e+01] [ 5.17654511e-02 -3.05958670e-03 9.98654583e-01 2.03261362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.96, Y:36.84, Z:20.33 [[ 9.83554576e-01 -1.73065000e-01 -5.16614173e-02 4.30960922e+02] [ 1.72993072e-01 9.84905402e-01 -5.89465292e-03 3.68415852e+01] [ 5.19017671e-02 -3.13935442e-03 9.98647261e-01 2.03276788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:430.99, Y:36.84, Z:20.33 [[ 9.83333814e-01 -1.74219325e-01 -5.19830518e-02 4.30993485e+02] [ 1.74148258e-01 9.84701598e-01 -5.92841761e-03 3.68424600e+01] [ 5.22206391e-02 -3.22314442e-03 9.98630370e-01 2.03289502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.03, Y:36.84, Z:20.33 [[ 9.83106448e-01 -1.75579459e-01 -5.17065361e-02 4.31025470e+02] [ 1.75511210e-01 9.84459794e-01 -5.89317628e-03 3.68436724e+01] [ 5.19377266e-02 -3.28145711e-03 9.98644934e-01 2.03307389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.06, Y:36.84, Z:20.33 [[ 9.82866639e-01 -1.76868333e-01 -5.18725593e-02 4.31058037e+02] [ 1.76801627e-01 9.84228772e-01 -5.90835293e-03 3.68442874e+01] [ 5.20994659e-02 -3.36402989e-03 9.98636235e-01 2.03319653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.09, Y:36.84, Z:20.33 [[ 9.82574493e-01 -1.78386888e-01 -5.22061598e-02 4.31090101e+02] [ 1.78321647e-01 9.83954305e-01 -5.94267268e-03 3.68429048e+01] [ 5.24285706e-02 -3.47036983e-03 9.98618647e-01 2.03329094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.12, Y:36.84, Z:20.33 [[ 9.82489578e-01 -1.78872353e-01 -5.21431768e-02 4.31122361e+02] [ 1.78808102e-01 9.83866082e-01 -5.93260417e-03 3.68449792e+01] [ 5.23630819e-02 -3.49490072e-03 9.98621997e-01 2.03342742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.16, Y:36.85, Z:20.34 [[ 9.82507814e-01 -1.78838948e-01 -5.19136488e-02 4.31155513e+02] [ 1.78775417e-01 9.83872202e-01 -5.90259340e-03 3.68465549e+01] [ 5.21320096e-02 -3.48154010e-03 9.98634133e-01 2.03361369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.19, Y:36.85, Z:20.34 [[ 9.82707514e-01 -1.78026300e-01 -5.09173765e-02 4.31187226e+02] [ 1.77964366e-01 9.84019933e-01 -5.78405208e-03 3.68514077e+01] [ 5.11334268e-02 -3.37744717e-03 9.98686120e-01 2.03386381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.22, Y:36.85, Z:20.34 [[ 9.82842244e-01 -1.77308928e-01 -5.08199590e-02 4.31218882e+02] [ 1.77246463e-01 9.84149585e-01 -5.76931618e-03 3.68478201e+01] [ 5.10373928e-02 -3.33733035e-03 9.98691167e-01 2.03400374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.25, Y:36.86, Z:20.34 [[ 9.83009638e-01 -1.76417325e-01 -5.06851028e-02 4.31250438e+02] [ 1.76354156e-01 9.84309980e-01 -5.75117524e-03 3.68551727e+01] [ 5.09044594e-02 -3.28506782e-03 9.98698125e-01 2.03416132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.28, Y:36.85, Z:20.34 [[ 9.83158996e-01 -1.75537826e-01 -5.08415103e-02 4.31282640e+02] [ 1.75473285e-01 9.84467312e-01 -5.76522495e-03 3.68514864e+01] [ 5.10638201e-02 -3.25319408e-03 9.98690094e-01 2.03426387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.31, Y:36.86, Z:20.34 [[ 9.83378650e-01 -1.74208539e-01 -5.11645892e-02 4.31313855e+02] [ 1.74141576e-01 9.84703556e-01 -5.79815575e-03 3.68587744e+01] [ 5.13920412e-02 -3.20809960e-03 9.98673403e-01 2.03438848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.35, Y:36.86, Z:20.35 [[ 9.83461323e-01 -1.73693159e-01 -5.13275002e-02 4.31346472e+02] [ 1.73625268e-01 9.84794637e-01 -5.81278651e-03 3.68609392e+01] [ 5.15566882e-02 -3.19510025e-03 9.98664958e-01 2.03452063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.38, Y:36.86, Z:20.35 [[ 9.83480693e-01 -1.73460212e-01 -5.17424553e-02 4.31378112e+02] [ 1.73391136e-01 9.84835636e-01 -5.85521132e-03 3.68612606e+01] [ 5.19734601e-02 -3.21319583e-03 9.98643297e-01 2.03463241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.41, Y:36.87, Z:20.35 [[ 9.83507730e-01 -1.73137529e-01 -5.23062149e-02 4.31409982e+02] [ 1.73066643e-01 9.84892348e-01 -5.91604949e-03 3.68652475e+01] [ 5.25402810e-02 -3.23398064e-03 9.98613569e-01 2.03477337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.44, Y:36.87, Z:20.35 [[ 9.83526485e-01 -1.73030824e-01 -5.23066630e-02 4.31442350e+02] [ 1.72959997e-01 9.84911106e-01 -5.91208541e-03 3.68688155e+01] [ 5.25403863e-02 -3.23226771e-03 9.98613569e-01 2.03492819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.48, Y:36.87, Z:20.35 [[ 9.83529529e-01 -1.72806723e-01 -5.29858709e-02 4.31475820e+02] [ 1.72734037e-01 9.84950332e-01 -5.98297272e-03 3.68701713e+01] [ 5.32223490e-02 -3.26803307e-03 9.98577339e-01 2.03503598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.51, Y:36.87, Z:20.35 [[ 9.83752170e-01 -1.71309150e-01 -5.37107411e-02 4.31506375e+02] [ 1.71232529e-01 9.85212009e-01 -6.05948111e-03 3.68687243e+01] [ 5.39545118e-02 -3.23599837e-03 9.98538151e-01 2.03510620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.54, Y:36.87, Z:20.35 [[ 9.83902141e-01 -1.70489048e-01 -5.35729463e-02 4.31538188e+02] [ 1.70411680e-01 9.85354427e-01 -6.04263044e-03 3.68730494e+01] [ 5.38185421e-02 -3.18409873e-03 9.98545655e-01 2.03528912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.57, Y:36.87, Z:20.35 [[ 9.84080482e-01 -1.69519931e-01 -5.33722633e-02 4.31569926e+02] [ 1.69441928e-01 9.85521811e-01 -6.01613827e-03 3.68749485e+01] [ 5.36193849e-02 -3.12313495e-03 9.98556562e-01 2.03547040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.60, Y:36.88, Z:20.36 [[ 9.84253040e-01 -1.68583042e-01 -5.31574179e-02 4.31602369e+02] [ 1.68504515e-01 9.85682694e-01 -5.98798068e-03 3.68780162e+01] [ 5.34058188e-02 -3.06357672e-03 9.98568191e-01 2.03566063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.63, Y:36.88, Z:20.36 [[ 9.84514307e-01 -1.67371043e-01 -5.21393677e-02 4.31634879e+02] [ 1.67294044e-01 9.85889579e-01 -5.86863981e-03 3.68798960e+01] [ 5.23858996e-02 -2.94484580e-03 9.98622574e-01 2.03584605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.67, Y:36.88, Z:20.36 [[ 9.84957620e-01 -1.64996860e-01 -5.13276130e-02 4.31665831e+02] [ 1.64919251e-01 9.86290178e-01 -5.77290898e-03 3.68796934e+01] [ 5.15764324e-02 -2.77884079e-03 9.98665184e-01 2.03606730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.70, Y:36.88, Z:20.36 [[ 9.85170159e-01 -1.63788359e-01 -5.11187990e-02 4.31697402e+02] [ 1.63709860e-01 9.86491788e-01 -5.74744099e-03 3.68842916e+01] [ 5.13696394e-02 -2.70644407e-03 9.98676041e-01 2.03626061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.73, Y:36.89, Z:20.36 [[ 9.85383596e-01 -1.62518396e-01 -5.10582049e-02 4.31729810e+02] [ 1.62438584e-01 9.86701980e-01 -5.73672696e-03 3.68878171e+01] [ 5.13115555e-02 -2.64094586e-03 9.98679203e-01 2.03640007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.76, Y:36.89, Z:20.36 [[ 9.85752141e-01 -1.60119729e-01 -5.15207707e-02 4.31760969e+02] [ 1.60035499e-01 9.87094320e-01 -5.78287994e-03 3.68870034e+01] [ 5.17818133e-02 -2.54466600e-03 9.98655180e-01 2.03647318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.79, Y:36.89, Z:20.37 [[ 9.85897599e-01 -1.59215092e-01 -5.15410356e-02 4.31792730e+02] [ 1.59129670e-01 9.87240753e-01 -5.78311393e-03 3.68907315e+01] [ 5.18041698e-02 -2.50014983e-03 9.98654133e-01 2.03660801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.82, Y:36.90, Z:20.37 [[ 9.86054506e-01 -1.58123552e-01 -5.18984865e-02 4.31824411e+02] [ 1.58035633e-01 9.87416261e-01 -5.81941139e-03 3.68950469e+01] [ 5.21655955e-02 -2.46355332e-03 9.98635410e-01 2.03673710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.86, Y:36.90, Z:20.37 [[ 9.86247688e-01 -1.56863714e-01 -5.20506860e-02 4.31855731e+02] [ 1.56773728e-01 9.87617324e-01 -5.83267363e-03 3.68961965e+01] [ 5.23210940e-02 -2.40771919e-03 9.98627411e-01 2.03685908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.89, Y:36.90, Z:20.37 [[ 9.86491023e-01 -1.55292107e-01 -5.21519278e-02 4.31886589e+02] [ 1.55199732e-01 9.87865843e-01 -5.84111758e-03 3.68979126e+01] [ 5.24261876e-02 -2.33175517e-03 9.98622080e-01 2.03699664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.92, Y:36.90, Z:20.37 [[ 9.86979297e-01 -1.52235232e-01 -5.19259320e-02 4.31918170e+02] [ 1.52139582e-01 9.88341923e-01 -5.81296858e-03 3.69019898e+01] [ 5.22055141e-02 -2.16270996e-03 9.98634021e-01 2.03721458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.95, Y:36.90, Z:20.37 [[ 9.87223721e-01 -1.50610209e-01 -5.20181671e-02 4.31949001e+02] [ 1.50512119e-01 9.88591030e-01 -5.82042824e-03 3.69037978e+01] [ 5.23013093e-02 -2.08329972e-03 9.98629177e-01 2.03739392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:431.98, Y:36.91, Z:20.38 [[ 9.87527157e-01 -1.48702791e-01 -5.17454803e-02 4.31980597e+02] [ 1.48603264e-01 9.88879963e-01 -5.78702356e-03 3.69083421e+01] [ 5.20306152e-02 -1.97470433e-03 9.98643538e-01 2.03757948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.01, Y:36.91, Z:20.38 [[ 9.87853332e-01 -1.46455334e-01 -5.19290807e-02 4.32012422e+02] [ 1.46352197e-01 9.89215523e-01 -5.80376112e-03 3.69128264e+01] [ 5.22190445e-02 -1.86667029e-03 9.98633910e-01 2.03774505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.04, Y:36.91, Z:20.38 [[ 9.88460400e-01 -1.42292346e-01 -5.19511838e-02 4.32043093e+02] [ 1.42183570e-01 9.89823299e-01 -5.80257884e-03 3.69145269e+01] [ 5.22481546e-02 -1.65098537e-03 9.98632768e-01 2.03781067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.07, Y:36.92, Z:20.38 [[ 9.88727711e-01 -1.40384144e-01 -5.20557998e-02 4.32073779e+02] [ 1.40272388e-01 9.90095891e-01 -5.81235850e-03 3.69187038e+01] [ 5.23561964e-02 -1.55515142e-03 9.98627263e-01 2.03797697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.11, Y:36.92, Z:20.38 [[ 9.88986818e-01 -1.38599830e-01 -5.19149470e-02 4.32105311e+02] [ 1.38486329e-01 9.90347393e-01 -5.79460246e-03 3.69230157e+01] [ 5.22169633e-02 -1.45872499e-03 9.98634698e-01 2.03815591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.14, Y:36.93, Z:20.38 [[ 9.89188677e-01 -1.37317158e-01 -5.14758057e-02 4.32136887e+02] [ 1.37204028e-01 9.90526166e-01 -5.74186325e-03 3.69261470e+01] [ 5.17765888e-02 -1.38290178e-03 9.98657735e-01 2.03835674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.17, Y:36.93, Z:20.39 [[ 9.89437246e-01 -1.35550481e-01 -5.13809657e-02 4.32167716e+02] [ 1.35435574e-01 9.90769599e-01 -5.72770133e-03 3.69276160e+01] [ 5.16830915e-02 -1.29160955e-03 9.98662701e-01 2.03852651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.20, Y:36.93, Z:20.39 [[ 9.89512215e-01 -1.35026159e-01 -5.13177732e-02 4.32199840e+02] [ 1.34910932e-01 9.90841227e-01 -5.71866573e-03 3.69301280e+01] [ 5.16199348e-02 -1.26463904e-03 9.98666002e-01 2.03869262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.23, Y:36.93, Z:20.39 [[ 9.89506593e-01 -1.34966585e-01 -5.15822044e-02 4.32232339e+02] [ 1.34850281e-01 9.90849334e-01 -5.74440514e-03 3.69331908e+01] [ 5.18854956e-02 -1.27174801e-03 9.98652231e-01 2.03886813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.26, Y:36.94, Z:20.39 [[ 9.89513684e-01 -1.34971937e-01 -5.14319558e-02 4.32264169e+02] [ 1.34856510e-01 9.90848605e-01 -5.72393370e-03 3.69356993e+01] [ 5.17338521e-02 -1.27202335e-03 9.98660098e-01 2.03904121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.30, Y:36.94, Z:20.39 [[ 9.89433469e-01 -1.35583436e-01 -5.13667393e-02 4.32295299e+02] [ 1.35469316e-01 9.90765071e-01 -5.71297710e-03 3.69359647e+01] [ 5.16669562e-02 -1.30600628e-03 9.98663517e-01 2.03916773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.33, Y:36.94, Z:20.39 [[ 9.89138676e-01 -1.37934008e-01 -5.07827597e-02 4.32326679e+02] [ 1.37825700e-01 9.90440410e-01 -5.64533803e-03 3.69357986e+01] [ 5.10759814e-02 -1.41514719e-03 9.98693768e-01 2.03933576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.36, Y:36.94, Z:20.39 [[ 9.88954161e-01 -1.39240761e-01 -5.08102229e-02 4.32358055e+02] [ 1.39134151e-01 9.90257444e-01 -5.64654370e-03 3.69371907e+01] [ 5.11014304e-02 -1.48526434e-03 9.98692364e-01 2.03946040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.39, Y:36.94, Z:20.40 [[ 9.88703892e-01 -1.40961752e-01 -5.09352369e-02 4.32388620e+02] [ 1.40856995e-01 9.90013782e-01 -5.65851439e-03 3.69373384e+01] [ 5.12242207e-02 -1.57998923e-03 9.98685928e-01 2.03956957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.42, Y:36.94, Z:20.40 [[ 9.88393925e-01 -1.43019248e-01 -5.12146852e-02 4.32420626e+02] [ 1.42916238e-01 9.89718450e-01 -5.68679906e-03 3.69399488e+01] [ 5.15014406e-02 -1.69861248e-03 9.98671476e-01 2.03971250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.45, Y:36.94, Z:20.40 [[ 9.88107719e-01 -1.44832586e-01 -5.16396977e-02 4.32452049e+02] [ 1.44730540e-01 9.89454516e-01 -5.72995091e-03 3.69394769e+01] [ 5.19250157e-02 -1.81203262e-03 9.98649343e-01 2.03981526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.48, Y:36.94, Z:20.40 [[ 9.87447904e-01 -1.49066059e-01 -5.22105994e-02 4.32482532e+02] [ 1.48967911e-01 9.88825090e-01 -5.78823193e-03 3.69351769e+01] [ 5.24899796e-02 -2.06212646e-03 9.98619322e-01 2.03985165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.51, Y:36.94, Z:20.40 [[ 9.87140823e-01 -1.51068882e-01 -5.22607644e-02 4.32513822e+02] [ 1.50973355e-01 9.88520855e-01 -5.79361076e-03 3.69386207e+01] [ 5.25360898e-02 -2.17087323e-03 9.98616666e-01 2.04001487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.54, Y:36.94, Z:20.40 [[ 9.86854933e-01 -1.52904533e-01 -5.23215593e-02 4.32544122e+02] [ 1.52811446e-01 9.88238351e-01 -5.79863353e-03 3.69354225e+01] [ 5.25928088e-02 -2.27292306e-03 9.98613454e-01 2.04006505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.57, Y:36.94, Z:20.40 [[ 9.86589540e-01 -1.54591348e-01 -5.23697880e-02 4.32574655e+02] [ 1.54500459e-01 9.87975669e-01 -5.80397856e-03 3.69396881e+01] [ 5.26373212e-02 -2.36501176e-03 9.98610895e-01 2.04022632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.60, Y:36.94, Z:20.40 [[ 9.86138486e-01 -1.57395938e-01 -5.25110032e-02 4.32604745e+02] [ 1.57308517e-01 9.87532360e-01 -5.81972323e-03 3.69366124e+01] [ 5.27723157e-02 -2.52137497e-03 9.98603387e-01 2.04028695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.64, Y:36.94, Z:20.40 [[ 9.85981456e-01 -1.58326183e-01 -5.26629753e-02 4.32635296e+02] [ 1.58239533e-01 9.87383499e-01 -5.83741166e-03 3.69411447e+01] [ 5.29227679e-02 -2.57778500e-03 9.98595281e-01 2.04048480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.67, Y:36.94, Z:20.41 [[ 9.85936562e-01 -1.58633108e-01 -5.25797804e-02 4.32665941e+02] [ 1.58547171e-01 9.87334203e-01 -5.82809270e-03 3.69443688e+01] [ 5.28383440e-02 -2.59024578e-03 9.98599720e-01 2.04063795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.70, Y:36.95, Z:20.41 [[ 9.85922399e-01 -1.58721381e-01 -5.25789476e-02 4.32696322e+02] [ 1.58635623e-01 9.87320001e-01 -5.82704526e-03 3.69453371e+01] [ 5.28371233e-02 -2.59587969e-03 9.98599770e-01 2.04079054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.73, Y:36.95, Z:20.41 [[ 9.86165860e-01 -1.57075578e-01 -5.29543075e-02 4.32726087e+02] [ 1.56986272e-01 9.87583353e-01 -5.86778725e-03 3.69518395e+01] [ 5.32184786e-02 -2.52648784e-03 9.98579697e-01 2.04096517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.76, Y:36.96, Z:20.41 [[ 9.86434131e-01 -1.55417055e-01 -5.28511486e-02 4.32757254e+02] [ 1.55325733e-01 9.87845951e-01 -5.85614743e-03 3.69562853e+01] [ 5.31189383e-02 -2.43243971e-03 9.98585230e-01 2.04112877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.79, Y:36.96, Z:20.41 [[ 9.86789846e-01 -1.53280220e-01 -5.24497228e-02 4.32787901e+02] [ 1.53187366e-01 9.88180083e-01 -5.80982875e-03 3.69608620e+01] [ 5.27203032e-02 -2.30155483e-03 9.98606666e-01 2.04128864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.82, Y:36.97, Z:20.42 [[ 9.87622344e-01 -1.48096514e-01 -5.16674850e-02 4.32817606e+02] [ 1.47999370e-01 9.88970900e-01 -5.72232444e-03 3.69675634e+01] [ 5.19450954e-02 -1.99525975e-03 9.98647949e-01 2.04155868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.85, Y:36.97, Z:20.42 [[ 9.88020429e-01 -1.45464630e-01 -5.15332280e-02 4.32847825e+02] [ 1.45364417e-01 9.89361719e-01 -5.70745509e-03 3.69729339e+01] [ 5.18152359e-02 -1.85201540e-03 9.98654971e-01 2.04174052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.88, Y:36.98, Z:20.42 [[ 9.88423073e-01 -1.42721176e-01 -5.14829605e-02 4.32877707e+02] [ 1.42617442e-01 9.89761463e-01 -5.70188782e-03 3.69786267e+01] [ 5.17696305e-02 -1.70649065e-03 9.98657596e-01 2.04191949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.91, Y:36.98, Z:20.42 [[ 9.88765192e-01 -1.40187922e-01 -5.18723586e-02 4.32908949e+02] [ 1.40079140e-01 9.90123644e-01 -5.74484246e-03 3.69841639e+01] [ 5.21654063e-02 -1.58593514e-03 9.98637199e-01 2.04203335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.94, Y:36.99, Z:20.42 [[ 9.88983578e-01 -1.38370195e-01 -5.25848965e-02 4.32939507e+02] [ 1.38255936e-01 9.90379423e-01 -5.82187955e-03 3.69870221e+01] [ 5.28845741e-02 -1.51243084e-03 9.98599486e-01 2.04209319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:432.97, Y:36.99, Z:20.42 [[ 9.89338627e-01 -1.35344380e-01 -5.37678374e-02 4.32969379e+02] [ 1.35220500e-01 9.90797653e-01 -5.95208064e-03 3.69923659e+01] [ 5.40786278e-02 -1.38189055e-03 9.98535724e-01 2.04210582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.00, Y:37.00, Z:20.42 [[ 9.89399698e-01 -1.34679540e-01 -5.43107647e-02 4.32998728e+02] [ 1.34552085e-01 9.90888277e-01 -6.01327623e-03 3.69960032e+01] [ 5.46257653e-02 -1.35809292e-03 9.98505975e-01 2.04219701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.03, Y:37.00, Z:20.42 [[ 9.89381790e-01 -1.34744897e-01 -5.44746408e-02 4.33027551e+02] [ 1.34616581e-01 9.90879385e-01 -6.03486602e-03 3.69992779e+01] [ 5.47909660e-02 -1.36240334e-03 9.98496917e-01 2.04229765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.06, Y:37.00, Z:20.42 [[ 9.89279443e-01 -1.35364588e-01 -5.47960983e-02 4.33055832e+02] [ 1.35234957e-01 9.90794879e-01 -6.08396407e-03 3.70026561e+01] [ 5.51152469e-02 -1.39160744e-03 9.98479030e-01 2.04239737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.08, Y:37.01, Z:20.43 [[ 9.89202172e-01 -1.35846034e-01 -5.49992534e-02 4.33083846e+02] [ 1.35715506e-01 9.90728955e-01 -6.11872777e-03 3.70054492e+01] [ 5.53205577e-02 -1.41159271e-03 9.98467648e-01 2.04251875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.11, Y:37.01, Z:20.43 [[ 9.89091380e-01 -1.36537534e-01 -5.52787869e-02 4.33113722e+02] [ 1.36406526e-01 9.90633832e-01 -6.15391533e-03 3.70116445e+01] [ 5.56012769e-02 -1.45360269e-03 9.98451994e-01 2.04277013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.14, Y:37.01, Z:20.43 [[ 9.89068340e-01 -1.36958893e-01 -5.46450449e-02 4.33142854e+02] [ 1.36831507e-01 9.90575656e-01 -6.08349874e-03 3.70142166e+01] [ 5.49632405e-02 -1.46016787e-03 9.98487311e-01 2.04293440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.17, Y:37.02, Z:20.43 [[ 9.89044717e-01 -1.37554888e-01 -5.35649251e-02 4.33172534e+02] [ 1.37433312e-01 9.90493066e-01 -5.96420693e-03 3.70166335e+01] [ 5.38760927e-02 -1.46273770e-03 9.98546557e-01 2.04316385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.20, Y:37.02, Z:20.43 [[ 9.89104658e-01 -1.37594775e-01 -5.23416929e-02 4.33201709e+02] [ 1.37478691e-01 9.90487573e-01 -5.82901991e-03 3.70215016e+01] [ 5.26458390e-02 -1.43035669e-03 9.98612222e-01 2.04345297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.23, Y:37.02, Z:20.44 [[ 9.89105379e-01 -1.37795985e-01 -5.17959107e-02 4.33230498e+02] [ 1.37682494e-01 9.90459609e-01 -5.77000222e-03 3.70248350e+01] [ 5.20968407e-02 -1.42424992e-03 9.98641022e-01 2.04367018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.26, Y:37.03, Z:20.44 [[ 9.89105378e-01 -1.37796025e-01 -5.17958179e-02 4.33260292e+02] [ 1.37682490e-01 9.90459605e-01 -5.77083514e-03 3.70281548e+01] [ 5.20968635e-02 -1.42341310e-03 9.98641022e-01 2.04381282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.29, Y:37.03, Z:20.44 [[ 9.89089656e-01 -1.38104923e-01 -5.12706719e-02 4.33290329e+02] [ 1.37994094e-01 9.90416579e-01 -5.71232595e-03 3.70314452e+01] [ 5.15682238e-02 -1.42504739e-03 9.98668457e-01 2.04398897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.32, Y:37.03, Z:20.44 [[ 9.88971359e-01 -1.39131982e-01 -5.07734525e-02 4.33320532e+02] [ 1.39024644e-01 9.90272764e-01 -5.65692822e-03 3.70339212e+01] [ 5.10666268e-02 -1.46422116e-03 9.98694175e-01 2.04409259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.35, Y:37.04, Z:20.44 [[ 9.88875676e-01 -1.39843685e-01 -5.06817742e-02 4.33350531e+02] [ 1.39737670e-01 9.90172459e-01 -5.64665372e-03 3.70360100e+01] [ 5.09733458e-02 -1.49831452e-03 9.98698890e-01 2.04421375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.38, Y:37.04, Z:20.44 [[ 9.88875676e-01 -1.39843646e-01 -5.06818647e-02 4.33380326e+02] [ 1.39737673e-01 9.90172463e-01 -5.64584104e-03 3.70393287e+01] [ 5.09733218e-02 -1.49913096e-03 9.98698890e-01 2.04435636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.41, Y:37.04, Z:20.44 [[ 9.88737006e-01 -1.40675505e-01 -5.10836169e-02 4.33410973e+02] [ 1.40568953e-01 9.90054537e-01 -5.69059530e-03 3.70414759e+01] [ 5.13760941e-02 -1.55426840e-03 9.98678167e-01 2.04444071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.44, Y:37.04, Z:20.45 [[ 9.88642863e-01 -1.41158409e-01 -5.15712363e-02 4.33441573e+02] [ 1.41050469e-01 9.89985738e-01 -5.74491495e-03 3.70439493e+01] [ 5.18657314e-02 -1.59447789e-03 9.98652794e-01 2.04454832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.47, Y:37.05, Z:20.45 [[ 9.88462050e-01 -1.42007375e-01 -5.26942304e-02 4.33470292e+02] [ 1.41895871e-01 9.89864183e-01 -5.87029381e-03 3.70466500e+01] [ 5.29937563e-02 -1.67453108e-03 9.98593440e-01 2.04462715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.50, Y:37.05, Z:20.45 [[ 9.88460669e-01 -1.41865095e-01 -5.31017985e-02 4.33500502e+02] [ 1.41751524e-01 9.89884580e-01 -5.91813590e-03 3.70531355e+01] [ 5.34042284e-02 -1.67741628e-03 9.98571567e-01 2.04480464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.53, Y:37.06, Z:20.45 [[ 9.88490688e-01 -1.41575056e-01 -5.33166288e-02 4.33531475e+02] [ 1.41460155e-01 9.89926118e-01 -5.94185436e-03 3.70592680e+01] [ 5.36207417e-02 -1.66871084e-03 9.98559979e-01 2.04502633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.56, Y:37.06, Z:20.45 [[ 9.88720199e-01 -1.39983058e-01 -5.32645484e-02 4.33562011e+02] [ 1.39866180e-01 9.90152634e-01 -5.93409293e-03 3.70625381e+01] [ 5.35707053e-02 -1.58275137e-03 9.98562804e-01 2.04516904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.59, Y:37.07, Z:20.45 [[ 9.88855608e-01 -1.38940012e-01 -5.34813984e-02 4.33591905e+02] [ 1.38820749e-01 9.90299611e-01 -5.95652041e-03 3.70663988e+01] [ 5.37902071e-02 -1.53418918e-03 9.98551080e-01 2.04528904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.62, Y:37.07, Z:20.45 [[ 9.88998393e-01 -1.37766211e-01 -5.38762378e-02 4.33621912e+02] [ 1.37643441e-01 9.90463668e-01 -6.00049587e-03 3.70717603e+01] [ 5.41891217e-02 -1.48122999e-03 9.98529591e-01 2.04543773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.65, Y:37.08, Z:20.46 [[ 9.89147397e-01 -1.36416158e-01 -5.45715890e-02 4.33652142e+02] [ 1.36288146e-01 9.90650594e-01 -6.07794099e-03 3.70768162e+01] [ 5.48905064e-02 -1.42548119e-03 9.98491362e-01 2.04560495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.68, Y:37.08, Z:20.46 [[ 9.89411720e-01 -1.34272962e-01 -5.50928218e-02 4.33681854e+02] [ 1.34139174e-01 9.90943506e-01 -6.13599358e-03 3.70812269e+01] [ 5.54177720e-02 -1.31908164e-03 9.98462383e-01 2.04571084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.71, Y:37.09, Z:20.46 [[ 9.89504332e-01 -1.33632825e-01 -5.49858648e-02 4.33711217e+02] [ 1.33498553e-01 9.91030085e-01 -6.12435992e-03 3.70850467e+01] [ 5.53110617e-02 -1.28045273e-03 9.98468350e-01 2.04585174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.74, Y:37.09, Z:20.46 [[ 9.89519370e-01 -1.33379005e-01 -5.53304319e-02 4.33741674e+02] [ 1.33242553e-01 9.91064287e-01 -6.16444554e-03 3.70889243e+01] [ 5.56582226e-02 -1.27252974e-03 9.98449069e-01 2.04601514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.77, Y:37.09, Z:20.46 [[ 9.89506503e-01 -1.33508098e-01 -5.52491532e-02 4.33771500e+02] [ 1.33372247e-01 9.91046898e-01 -6.15539016e-03 3.70921199e+01] [ 5.55762963e-02 -1.27790514e-03 9.98453625e-01 2.04617920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.80, Y:37.10, Z:20.46 [[ 9.89447752e-01 -1.33850029e-01 -5.54735620e-02 4.33801653e+02] [ 1.33713609e-01 9.91000743e-01 -6.18039188e-03 3.70956551e+01] [ 5.58015868e-02 -1.30239533e-03 9.98441028e-01 2.04635340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.83, Y:37.10, Z:20.46 [[ 9.89360144e-01 -1.34309921e-01 -5.59227129e-02 4.33830787e+02] [ 1.34172015e-01 9.90938470e-01 -6.23045825e-03 3.70978328e+01] [ 5.62527800e-02 -1.33909598e-03 9.98415661e-01 2.04648874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.86, Y:37.10, Z:20.47 [[ 9.89177154e-01 -1.35593928e-01 -5.60610847e-02 4.33861369e+02] [ 1.35457388e-01 9.90763485e-01 -6.24601501e-03 3.71006920e+01] [ 5.63901974e-02 -1.41547277e-03 9.98407803e-01 2.04670553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.89, Y:37.10, Z:20.47 [[ 9.89065778e-01 -1.36454146e-01 -5.59388281e-02 4.33890573e+02] [ 1.36319567e-01 9.90645310e-01 -6.23255437e-03 3.71026752e+01] [ 5.62659956e-02 -1.46115057e-03 9.98414745e-01 2.04685187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.92, Y:37.10, Z:20.47 [[ 9.88937940e-01 -1.37340896e-01 -5.60288198e-02 4.33919890e+02] [ 1.37207252e-01 9.90522685e-01 -6.24349155e-03 3.71027148e+01] [ 5.63553038e-02 -1.51313474e-03 9.98409630e-01 2.04692267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.95, Y:37.11, Z:20.47 [[ 9.88651955e-01 -1.39119085e-01 -5.66850279e-02 4.33949205e+02] [ 1.38985177e-01 9.90274312e-01 -6.31716859e-03 3.71064027e+01] [ 5.70125657e-02 -1.63289756e-03 9.98372126e-01 2.04711646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:433.98, Y:37.11, Z:20.47 [[ 9.88497893e-01 -1.40004252e-01 -5.71902562e-02 4.33978651e+02] [ 1.39869285e-01 9.90149449e-01 -6.37589822e-03 3.71052755e+01] [ 5.75195535e-02 -1.69659829e-03 9.98342938e-01 2.04709458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.01, Y:37.11, Z:20.47 [[ 9.88335911e-01 -1.41173131e-01 -5.71163216e-02 4.34007443e+02] [ 1.41040229e-01 9.89983361e-01 -6.37169124e-03 3.71097079e+01] [ 5.74437196e-02 -1.75832783e-03 9.98347198e-01 2.04727001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.04, Y:37.11, Z:20.47 [[ 9.88191152e-01 -1.42066282e-01 -5.74057435e-02 4.34035833e+02] [ 1.41933191e-01 9.89855486e-01 -6.40989587e-03 3.71118890e+01] [ 5.77340202e-02 -1.81357801e-03 9.98330353e-01 2.04740326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.07, Y:37.12, Z:20.48 [[ 9.88022143e-01 -1.43215451e-01 -5.74593645e-02 4.34065458e+02] [ 1.43083351e-01 9.89689767e-01 -6.42796954e-03 3.71165424e+01] [ 5.77875296e-02 -1.87050220e-03 9.98327152e-01 2.04765085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.09, Y:37.12, Z:20.48 [[ 9.88045031e-01 -1.43148750e-01 -5.72315652e-02 4.34094520e+02] [ 1.43017454e-01 9.89699443e-01 -6.40473952e-03 3.71169764e+01] [ 5.75588786e-02 -1.85694169e-03 9.98340386e-01 2.04772702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.12, Y:37.12, Z:20.48 [[ 9.88031868e-01 -1.43283448e-01 -5.71216304e-02 4.34123136e+02] [ 1.43152596e-01 9.89679952e-01 -6.39738782e-03 3.71206451e+01] [ 5.74487722e-02 -1.85628662e-03 9.98346730e-01 2.04789100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.15, Y:37.12, Z:20.48 [[ 9.88092218e-01 -1.43172562e-01 -5.63505701e-02 4.34151174e+02] [ 1.43044274e-01 9.89696083e-01 -6.32451186e-03 3.71242083e+01] [ 5.66754351e-02 -1.81142545e-03 9.98391012e-01 2.04808844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.18, Y:37.13, Z:20.48 [[ 9.88192127e-01 -1.42756827e-01 -5.56489776e-02 4.34180709e+02] [ 1.42630425e-01 9.89756238e-01 -6.25703377e-03 3.71323252e+01] [ 5.59721570e-02 -1.75408579e-03 9.98430789e-01 2.04837629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.21, Y:37.13, Z:20.48 [[ 9.88240697e-01 -1.42201266e-01 -5.62060945e-02 4.34209963e+02] [ 1.42071413e-01 9.89836236e-01 -6.31983948e-03 3.71322833e+01] [ 5.65335182e-02 -1.73975667e-03 9.98399186e-01 2.04839172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.24, Y:37.14, Z:20.49 [[ 9.88398015e-01 -1.41074642e-01 -5.62788503e-02 4.34239871e+02] [ 1.40942580e-01 9.89997543e-01 -6.32888787e-03 3.71403776e+01] [ 5.66087691e-02 -1.67662614e-03 9.98395030e-01 2.04859302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.27, Y:37.14, Z:20.49 [[ 9.88511669e-01 -1.40488165e-01 -5.57472406e-02 4.34268954e+02] [ 1.40357647e-01 9.90081021e-01 -6.26926212e-03 3.71423888e+01] [ 5.60750420e-02 -1.62731274e-03 9.98425231e-01 2.04868549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.30, Y:37.15, Z:20.49 [[ 9.88498185e-01 -1.40720806e-01 -5.53984918e-02 4.34298063e+02] [ 1.40592216e-01 9.90047979e-01 -6.23119890e-03 3.71456897e+01] [ 5.57240242e-02 -1.62906793e-03 9.98444880e-01 2.04884059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.33, Y:37.15, Z:20.49 [[ 9.88344686e-01 -1.41542730e-01 -5.60396130e-02 4.34328678e+02] [ 1.41412368e-01 9.89930699e-01 -6.30502421e-03 3.71499686e+01] [ 5.63677636e-02 -1.69315721e-03 9.98408638e-01 2.04900580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.36, Y:37.15, Z:20.49 [[ 9.88223655e-01 -1.42270998e-01 -5.63291217e-02 4.34357985e+02] [ 1.42140457e-01 9.89826209e-01 -6.33776332e-03 3.71513458e+01] [ 5.66577209e-02 -1.74351947e-03 9.98392139e-01 2.04904105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.39, Y:37.16, Z:20.49 [[ 9.88046221e-01 -1.43404500e-01 -5.65669020e-02 4.34388035e+02] [ 1.43274659e-01 9.89662495e-01 -6.36538335e-03 3.71550821e+01] [ 5.68949660e-02 -1.81531061e-03 9.98378519e-01 2.04917072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.42, Y:37.16, Z:20.49 [[ 9.87748452e-01 -1.45453973e-01 -5.65343874e-02 4.34418290e+02] [ 1.45327630e-01 9.89363133e-01 -6.36172454e-03 3.71568317e+01] [ 5.68583768e-02 -1.93222499e-03 9.98380384e-01 2.04924183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.45, Y:37.16, Z:20.49 [[ 9.87610754e-01 -1.46542245e-01 -5.61281576e-02 4.34448766e+02] [ 1.46419465e-01 9.89202430e-01 -6.31601214e-03 3.71599713e+01] [ 5.64476725e-02 -1.98049330e-03 9.98403595e-01 2.04942965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.48, Y:37.16, Z:20.50 [[ 9.87554987e-01 -1.47133252e-01 -5.55603557e-02 4.34478273e+02] [ 1.47013869e-01 9.89114670e-01 -6.25227225e-03 3.71618276e+01] [ 5.58754801e-02 -1.99368023e-03 9.98435755e-01 2.04959130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.51, Y:37.16, Z:20.50 [[ 9.87553516e-01 -1.47244776e-01 -5.52904089e-02 4.34507726e+02] [ 1.47126668e-01 9.89098084e-01 -6.22290952e-03 3.71632720e+01] [ 5.56039284e-02 -1.98923746e-03 9.98450923e-01 2.04974477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.54, Y:37.17, Z:20.50 [[ 9.87576099e-01 -1.47278239e-01 -5.47957029e-02 4.34538112e+02] [ 1.47162240e-01 9.89093135e-01 -6.16808363e-03 3.71673691e+01] [ 5.51064781e-02 -1.97240641e-03 9.98478535e-01 2.04994497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.57, Y:37.17, Z:20.50 [[ 9.87744921e-01 -1.46197243e-01 -5.46473892e-02 4.34567332e+02] [ 1.46080212e-01 9.89253623e-01 -6.15152267e-03 3.71680067e+01] [ 5.49594634e-02 -1.90676695e-03 9.98486766e-01 2.05002550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.60, Y:37.17, Z:20.50 [[ 9.87816494e-01 -1.45730789e-01 -5.45995507e-02 4.34597557e+02] [ 1.45613205e-01 9.89322500e-01 -6.14698895e-03 3.71740959e+01] [ 5.49123696e-02 -1.87831847e-03 9.98489411e-01 2.05021605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.63, Y:37.18, Z:20.50 [[ 9.87866950e-01 -1.45476111e-01 -5.43653451e-02 4.34627608e+02] [ 1.45359149e-01 9.89360023e-01 -6.12062135e-03 3.71790890e+01] [ 5.46773033e-02 -1.85614075e-03 9.98502352e-01 2.05039153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.66, Y:37.18, Z:20.51 [[ 9.87946114e-01 -1.45291496e-01 -5.34121335e-02 4.34658406e+02] [ 1.45178331e-01 9.89387231e-01 -6.01330579e-03 3.71818091e+01] [ 5.37189650e-02 -1.81346228e-03 9.98554447e-01 2.05056772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.69, Y:37.19, Z:20.51 [[ 9.87913983e-01 -1.45747401e-01 -5.27603803e-02 4.34689646e+02] [ 1.45637640e-01 9.89320169e-01 -5.93972732e-03 3.71855065e+01] [ 5.30626082e-02 -1.81595759e-03 9.98589536e-01 2.05076890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.72, Y:37.19, Z:20.51 [[ 9.87848950e-01 -1.46301417e-01 -5.24437480e-02 4.34720632e+02] [ 1.46193850e-01 9.89238355e-01 -5.90217803e-03 3.71886864e+01] [ 5.27428640e-02 -1.83649304e-03 9.98606438e-01 2.05094499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.75, Y:37.19, Z:20.51 [[ 9.87754946e-01 -1.46892631e-01 -5.25616040e-02 4.34751672e+02] [ 1.46785516e-01 9.89150667e-01 -5.91352201e-03 3.71912432e+01] [ 5.28599984e-02 -1.87417155e-03 9.98600174e-01 2.05106908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.78, Y:37.19, Z:20.51 [[ 9.87677199e-01 -1.47374001e-01 -5.26749831e-02 4.34783167e+02] [ 1.47267208e-01 9.89079002e-01 -5.92436770e-03 3.71949360e+01] [ 5.29728175e-02 -1.90593481e-03 9.98594136e-01 2.05119952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.81, Y:37.20, Z:20.51 [[ 9.87514616e-01 -1.48516927e-01 -5.25129102e-02 4.34814535e+02] [ 1.48412503e-01 9.88907917e-01 -5.90423556e-03 3.71983606e+01] [ 5.28073115e-02 -1.96305355e-03 9.98602791e-01 2.05131254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.84, Y:37.20, Z:20.51 [[ 9.87441844e-01 -1.48886197e-01 -5.28346934e-02 4.34844901e+02] [ 1.48781114e-01 9.88852321e-01 -5.93859289e-03 3.72010368e+01] [ 5.31298837e-02 -1.99678942e-03 9.98585614e-01 2.05140491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.88, Y:37.20, Z:20.52 [[ 9.87440292e-01 -1.48917370e-01 -5.27758226e-02 4.34875522e+02] [ 1.48812616e-01 9.88847626e-01 -5.93102772e-03 3.72041940e+01] [ 5.30704799e-02 -1.99717247e-03 9.98588772e-01 2.05152472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.91, Y:37.21, Z:20.52 [[ 9.87443455e-01 -1.48811286e-01 -5.30153267e-02 4.34906499e+02] [ 1.48705483e-01 9.88863588e-01 -5.95689056e-03 3.72083923e+01] [ 5.33113787e-02 -2.00157718e-03 9.98575931e-01 2.05169744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.94, Y:37.22, Z:20.52 [[ 9.87516416e-01 -1.48406514e-01 -5.27904782e-02 4.34936809e+02] [ 1.48301129e-01 9.88924473e-01 -5.92974559e-03 3.72156928e+01] [ 5.30858087e-02 -1.97316639e-03 9.98588005e-01 2.05192578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:434.97, Y:37.22, Z:20.52 [[ 9.87510236e-01 -1.48295271e-01 -5.32169735e-02 4.34967649e+02] [ 1.48188121e-01 9.88941137e-01 -5.97567981e-03 3.72201805e+01] [ 5.35146193e-02 -1.98507832e-03 9.98565093e-01 2.05206104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.00, Y:37.22, Z:20.52 [[ 9.87524477e-01 -1.47997830e-01 -5.37777718e-02 4.34997540e+02] [ 1.47888072e-01 9.88985680e-01 -6.03677083e-03 3.72230398e+01] [ 5.40788752e-02 -1.99163202e-03 9.98534681e-01 2.05215394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.03, Y:37.23, Z:20.52 [[ 9.87514346e-01 -1.48001575e-01 -5.39532152e-02 4.35028476e+02] [ 1.47891165e-01 9.88985104e-01 -6.05535517e-03 3.72269779e+01] [ 5.42551283e-02 -1.99945374e-03 9.98525104e-01 2.05225309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.06, Y:37.23, Z:20.52 [[ 9.87487418e-01 -1.48021172e-01 -5.43905496e-02 4.35058543e+02] [ 1.47909111e-01 9.88982132e-01 -6.10230066e-03 3.72303092e+01] [ 5.46945514e-02 -2.01891273e-03 9.98501092e-01 2.05229453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.09, Y:37.24, Z:20.52 [[ 9.87439611e-01 -1.48252427e-01 -5.46281330e-02 4.35089082e+02] [ 1.48139906e-01 9.88947441e-01 -6.12591533e-03 3.72357966e+01] [ 5.49325342e-02 -2.04363506e-03 9.98487977e-01 2.05245814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.12, Y:37.24, Z:20.53 [[ 9.87469829e-01 -1.48051969e-01 -5.46255598e-02 4.35119157e+02] [ 1.47939272e-01 9.88977490e-01 -6.12344491e-03 3.72376480e+01] [ 5.49300371e-02 -2.03454845e-03 9.98488133e-01 2.05256313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.15, Y:37.25, Z:20.53 [[ 9.87560024e-01 -1.47631358e-01 -5.41311540e-02 4.35149358e+02] [ 1.47520232e-01 9.89040443e-01 -6.06488926e-03 3.72458418e+01] [ 5.44332683e-02 -1.99599821e-03 9.98515416e-01 2.05279551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.18, Y:37.25, Z:20.53 [[ 9.87666827e-01 -1.47010472e-01 -5.38717075e-02 4.35179485e+02] [ 1.46899588e-01 9.89133005e-01 -6.03395867e-03 3.72477112e+01] [ 5.41733391e-02 -1.95419083e-03 9.98529634e-01 2.05291971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.21, Y:37.26, Z:20.53 [[ 9.87777281e-01 -1.46337770e-01 -5.36777388e-02 4.35210989e+02] [ 1.46226765e-01 9.89232835e-01 -6.01088771e-03 3.72555456e+01] [ 5.39794016e-02 -1.91170377e-03 9.98540219e-01 2.05315358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.24, Y:37.26, Z:20.53 [[ 9.88016740e-01 -1.44751097e-01 -5.35727745e-02 4.35242038e+02] [ 1.44638399e-01 9.89466416e-01 -5.99537797e-03 3.72616508e+01] [ 5.38762987e-02 -1.82514656e-03 9.98545950e-01 2.05332194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.27, Y:37.27, Z:20.53 [[ 9.88109371e-01 -1.44015496e-01 -5.38461529e-02 4.35273535e+02] [ 1.43900677e-01 9.89573802e-01 -6.02371906e-03 3.72665116e+01] [ 5.41522511e-02 -1.79640460e-03 9.98531074e-01 2.05348436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.31, Y:37.27, Z:20.54 [[ 9.88119934e-01 -1.43942838e-01 -5.38465949e-02 4.35305018e+02] [ 1.43828127e-01 9.89584373e-01 -6.01976552e-03 3.72699739e+01] [ 5.41522510e-02 -1.79640460e-03 9.98531074e-01 2.05363495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.34, Y:37.27, Z:20.54 [[ 9.88186978e-01 -1.43471442e-01 -5.38743143e-02 4.35335466e+02] [ 1.43356124e-01 9.89652865e-01 -6.01898359e-03 3.72739362e+01] [ 5.41804218e-02 -1.77533166e-03 9.98529584e-01 2.05377882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.37, Y:37.28, Z:20.54 [[ 9.88285242e-01 -1.42900841e-01 -5.35876032e-02 4.35367342e+02] [ 1.42786075e-01 9.89735485e-01 -5.98387740e-03 3.72791334e+01] [ 5.38926535e-02 -1.73778583e-03 9.98545223e-01 2.05393109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.40, Y:37.28, Z:20.54 [[ 9.88415257e-01 -1.42023442e-01 -5.35221568e-02 4.35398294e+02] [ 1.41907880e-01 9.89861849e-01 -5.97272195e-03 3.72821876e+01] [ 5.38278076e-02 -1.69168632e-03 9.98548800e-01 2.05404527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.43, Y:37.29, Z:20.54 [[ 9.88699986e-01 -1.40233699e-01 -5.29796874e-02 4.35428735e+02] [ 1.40118051e-01 9.90117170e-01 -5.90939330e-03 3.72891367e+01] [ 5.32847942e-02 -1.58079347e-03 9.98578105e-01 2.05420516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.46, Y:37.29, Z:20.54 [[ 9.88927271e-01 -1.38699682e-01 -5.27754781e-02 4.35459490e+02] [ 1.38582850e-01 9.90333361e-01 -5.88459266e-03 3.72931824e+01] [ 5.30815077e-02 -1.49434200e-03 9.98589065e-01 2.05430567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.49, Y:37.30, Z:20.54 [[ 9.89132568e-01 -1.37248135e-01 -5.27229768e-02 4.35490589e+02] [ 1.37129624e-01 9.90535683e-01 -5.87596528e-03 3.72982528e+01] [ 5.30304551e-02 -1.41777333e-03 9.98591889e-01 2.05446403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.52, Y:37.31, Z:20.55 [[ 9.89674303e-01 -1.33124003e-01 -5.31297834e-02 4.35521711e+02] [ 1.32997825e-01 9.91098653e-01 -5.91927617e-03 3.73068527e+01] [ 5.34448546e-02 -1.20799014e-03 9.98570072e-01 2.05464080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.55, Y:37.31, Z:20.55 [[ 9.89679060e-01 -1.33088513e-01 -5.31300905e-02 4.35552344e+02] [ 1.32962433e-01 9.91103419e-01 -5.91651860e-03 3.73102340e+01] [ 5.34448350e-02 -1.20885151e-03 9.98570072e-01 2.05478735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.58, Y:37.32, Z:20.55 [[ 9.90274827e-01 -1.28802232e-01 -5.25904091e-02 4.35582784e+02] [ 1.28672760e-01 9.91669827e-01 -5.85453236e-03 3.73180309e+01] [ 5.29063987e-02 -9.69357063e-04 9.98599005e-01 2.05496980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.61, Y:37.32, Z:20.55 [[ 9.90586521e-01 -1.26325402e-01 -5.27279628e-02 4.35613722e+02] [ 1.26191852e-01 9.91988500e-01 -5.86782645e-03 3.73228405e+01] [ 5.30467883e-02 -8.41249492e-04 9.98591674e-01 2.05508470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.64, Y:37.33, Z:20.55 [[ 9.90865643e-01 -1.23978742e-01 -5.30523191e-02 4.35644494e+02] [ 1.23840330e-01 9.92284611e-01 -5.90114934e-03 3.73287220e+01] [ 5.33746169e-02 -7.22770571e-04 9.98574298e-01 2.05525629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.67, Y:37.33, Z:20.55 [[ 9.91089103e-01 -1.21925085e-01 -5.36345369e-02 4.35674661e+02] [ 1.21780710e-01 9.92539112e-01 -5.96407288e-03 3.73332711e+01] [ 5.39615457e-02 -6.20724364e-04 9.98542821e-01 2.05535583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.71, Y:37.34, Z:20.56 [[ 9.91451558e-01 -1.18812317e-01 -5.39207046e-02 4.35705667e+02] [ 1.18661855e-01 9.92916626e-01 -5.99480833e-03 3.73393299e+01] [ 5.42510212e-02 -4.54768761e-04 9.98527225e-01 2.05551245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.74, Y:37.34, Z:20.56 [[ 9.91550465e-01 -1.18031766e-01 -5.38161488e-02 4.35736301e+02] [ 1.17880841e-01 9.93009734e-01 -5.98128170e-03 3.73434022e+01] [ 5.41459408e-02 -4.13150231e-04 9.98532947e-01 2.05566840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.77, Y:37.35, Z:20.56 [[ 9.91572419e-01 -1.17787592e-01 -5.39464694e-02 4.35766201e+02] [ 1.17635673e-01 9.93038731e-01 -5.99394830e-03 3.73463020e+01] [ 5.42769463e-02 -4.02595425e-04 9.98525839e-01 2.05576532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.80, Y:37.35, Z:20.56 [[ 9.91469825e-01 -1.18562829e-01 -5.41335500e-02 4.35796225e+02] [ 1.18411054e-01 9.92946451e-01 -6.01389102e-03 3.73485291e+01] [ 5.44647403e-02 -4.47419234e-04 9.98515594e-01 2.05591282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.83, Y:37.35, Z:20.56 [[ 9.91320958e-01 -1.19573215e-01 -5.46351968e-02 4.35827050e+02] [ 1.19420145e-01 9.92825256e-01 -6.06962078e-03 3.73510018e+01] [ 5.49689673e-02 -5.07600839e-04 9.98487934e-01 2.05603779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.86, Y:37.35, Z:20.56 [[ 9.91150586e-01 -1.20791774e-01 -5.50441890e-02 4.35858075e+02] [ 1.20638295e-01 9.92677698e-01 -6.11477489e-03 3.73539347e+01] [ 5.53797533e-02 -5.79774400e-04 9.98465196e-01 2.05621501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.89, Y:37.36, Z:20.56 [[ 9.90882717e-01 -1.22566987e-01 -5.59354557e-02 4.35889672e+02] [ 1.22411436e-01 9.92460002e-01 -6.21173472e-03 3.73562550e+01] [ 5.62750561e-02 -6.92038878e-04 9.98415064e-01 2.05634095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.92, Y:37.36, Z:20.56 [[ 9.90401812e-01 -1.26136580e-01 -5.65138413e-02 4.35919789e+02] [ 1.25983694e-01 9.92012471e-01 -6.27423447e-03 3.73564109e+01] [ 5.68538459e-02 -9.05809321e-04 9.98382101e-01 2.05641233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.95, Y:37.36, Z:20.57 [[ 9.90190479e-01 -1.27738709e-01 -5.66183429e-02 4.35948849e+02] [ 1.27587863e-01 9.91807352e-01 -6.28600278e-03 3.73579433e+01] [ 5.69574547e-02 -9.99473282e-04 9.98376106e-01 2.05651620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:435.98, Y:37.36, Z:20.57 [[ 9.89972352e-01 -1.29506220e-01 -5.64170281e-02 4.35978850e+02] [ 1.29359265e-01 9.91578003e-01 -6.26448613e-03 3.73611283e+01] [ 5.67531740e-02 -1.09639721e-03 9.98387638e-01 2.05673213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.01, Y:37.36, Z:20.57 [[ 9.89820783e-01 -1.30800188e-01 -5.60903621e-02 4.36009331e+02] [ 1.30657005e-01 9.91408068e-01 -6.22821349e-03 3.73631797e+01] [ 5.64230890e-02 -1.16378359e-03 9.98406270e-01 2.05690917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.04, Y:37.37, Z:20.57 [[ 9.89667612e-01 -1.32098750e-01 -5.57488895e-02 4.36040449e+02] [ 1.31959381e-01 9.91235797e-01 -6.18998684e-03 3.73658455e+01] [ 5.60779845e-02 -1.23055944e-03 9.98425633e-01 2.05713553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.07, Y:37.37, Z:20.57 [[ 9.89395483e-01 -1.34647508e-01 -5.44667466e-02 4.36072110e+02] [ 1.34518439e-01 9.90892648e-01 -6.04568556e-03 3.73673753e+01] [ 5.47847352e-02 -1.34520777e-03 9.98497283e-01 2.05737560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.10, Y:37.37, Z:20.58 [[ 9.89303330e-01 -1.35554681e-01 -5.38873837e-02 4.36103527e+02] [ 1.35429801e-01 9.90768902e-01 -5.97931406e-03 3.73710388e+01] [ 5.42004680e-02 -1.38260233e-03 9.98529117e-01 2.05756728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.14, Y:37.37, Z:20.58 [[ 9.89144856e-01 -1.36689956e-01 -5.39287527e-02 4.36135013e+02] [ 1.36566732e-01 9.90612819e-01 -5.98090047e-03 3.73708771e+01] [ 5.42400427e-02 -1.44889658e-03 9.98526874e-01 2.05766816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.17, Y:37.37, Z:20.58 [[ 9.88958537e-01 -1.38218318e-01 -5.34481880e-02 4.36166074e+02] [ 1.38099660e-01 9.90400616e-01 -5.92479418e-03 3.73742862e+01] [ 5.37540335e-02 -1.52180082e-03 9.98553047e-01 2.05785621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.20, Y:37.38, Z:20.58 [[ 9.88635470e-01 -1.40699719e-01 -5.29480571e-02 4.36197981e+02] [ 1.40586935e-01 9.90050953e-01 -5.86725209e-03 3.73781324e+01] [ 5.32467951e-02 -1.64323156e-03 9.98580031e-01 2.05806618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.23, Y:37.38, Z:20.58 [[ 9.88463988e-01 -1.41895681e-01 -5.29580965e-02 4.36228566e+02] [ 1.41784769e-01 9.89880137e-01 -5.86460996e-03 3.73800791e+01] [ 5.32543306e-02 -1.71169570e-03 9.98579514e-01 2.05820213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.26, Y:37.38, Z:20.58 [[ 9.88307979e-01 -1.42965189e-01 -5.29933318e-02 4.36260327e+02] [ 1.42855780e-01 9.89726130e-01 -5.86631735e-03 3.73828446e+01] [ 5.32875644e-02 -1.77267551e-03 9.98577635e-01 2.05834946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.29, Y:37.39, Z:20.59 [[ 9.88157380e-01 -1.43998732e-01 -5.30033675e-02 4.36292192e+02] [ 1.43890977e-01 9.89576175e-01 -5.86347245e-03 3.73851543e+01] [ 5.32952023e-02 -1.83267275e-03 9.98577119e-01 2.05850449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.32, Y:37.39, Z:20.59 [[ 9.87942724e-01 -1.45648379e-01 -5.24949897e-02 4.36324401e+02] [ 1.45545209e-01 9.89334581e-01 -5.80336572e-03 3.73879576e+01] [ 5.27803595e-02 -1.90700131e-03 9.98604325e-01 2.05872173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.36, Y:37.39, Z:20.59 [[ 9.87896868e-01 -1.46027217e-01 -5.23051589e-02 4.36355728e+02] [ 1.45925523e-01 9.89278702e-01 -5.77856927e-03 3.73900628e+01] [ 5.25882081e-02 -1.92402717e-03 9.98614429e-01 2.05889065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.39, Y:37.39, Z:20.59 [[ 9.87875530e-01 -1.46212438e-01 -5.21906211e-02 4.36387234e+02] [ 1.46111604e-01 9.89251327e-01 -5.76291382e-03 3.73937312e+01] [ 5.24722509e-02 -1.93261384e-03 9.98620512e-01 2.05907805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.42, Y:37.40, Z:20.59 [[ 9.87918685e-01 -1.45710555e-01 -5.27741083e-02 4.36418762e+02] [ 1.45606950e-01 9.89325378e-01 -5.82337060e-03 3.73975104e+01] [ 5.30592912e-02 -1.93126032e-03 9.98589496e-01 2.05919502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.45, Y:37.40, Z:20.59 [[ 9.87969847e-01 -1.45113103e-01 -5.34581052e-02 4.36450543e+02] [ 1.45006138e-01 9.89413195e-01 -5.89483004e-03 3.74022068e+01] [ 5.37475717e-02 -1.92783905e-03 9.98552694e-01 2.05931111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.48, Y:37.40, Z:20.59 [[ 9.88048025e-01 -1.44236186e-01 -5.43785088e-02 4.36482092e+02] [ 1.44124426e-01 9.89541433e-01 -5.99184904e-03 3.74048677e+01] [ 5.46740290e-02 -1.91703673e-03 9.98502416e-01 2.05940854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.51, Y:37.41, Z:20.60 [[ 9.88178049e-01 -1.43241763e-01 -5.46437631e-02 4.36513117e+02] [ 1.43127729e-01 9.89685947e-01 -6.01496220e-03 3.74090193e+01] [ 5.49417582e-02 -1.87718411e-03 9.98487796e-01 2.05953242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.54, Y:37.41, Z:20.60 [[ 9.88480759e-01 -1.41046554e-01 -5.48785781e-02 4.36543723e+02] [ 1.40928271e-01 9.90001392e-01 -6.03880654e-03 3.74130240e+01] [ 5.51816216e-02 -1.76469903e-03 9.98474774e-01 2.05965406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.57, Y:37.42, Z:20.60 [[ 9.88667187e-01 -1.39858343e-01 -5.45603989e-02 4.36574659e+02] [ 1.39739728e-01 9.90170080e-01 -6.00183873e-03 3.74178177e+01] [ 5.48634817e-02 -1.69043426e-03 9.98492434e-01 2.05984646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.60, Y:37.42, Z:20.60 [[ 9.88882171e-01 -1.38340925e-01 -5.45329377e-02 4.36604504e+02] [ 1.38220225e-01 9.90383363e-01 -5.99700268e-03 3.74219505e+01] [ 5.48381451e-02 -1.60722589e-03 9.98493963e-01 2.06001659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.63, Y:37.43, Z:20.60 [[ 9.89358892e-01 -1.35127192e-01 -5.39409377e-02 4.36634941e+02] [ 1.35004386e-01 9.90827251e-01 -5.93083350e-03 3.74293773e+01] [ 5.42475679e-02 -1.41454030e-03 9.98526515e-01 2.06032779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.67, Y:37.44, Z:20.61 [[ 9.89599693e-01 -1.33352357e-01 -5.39406829e-02 4.36665736e+02] [ 1.33227023e-01 9.91067812e-01 -5.92887780e-03 3.74351731e+01] [ 5.42495044e-02 -1.31914095e-03 9.98526540e-01 2.06054271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.70, Y:37.44, Z:20.61 [[ 9.89819422e-01 -1.32038929e-01 -5.31341049e-02 4.36697578e+02] [ 1.31915538e-01 9.91243768e-01 -5.83812831e-03 3.74410924e+01] [ 5.34397106e-02 -1.23052124e-03 9.98570320e-01 2.06079796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.73, Y:37.44, Z:20.61 [[ 9.89975364e-01 -1.31029744e-01 -5.27255576e-02 4.36729135e+02] [ 1.30907018e-01 9.91377746e-01 -5.78940577e-03 3.74434524e+01] [ 5.30295289e-02 -1.17077643e-03 9.98592258e-01 2.06098712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.76, Y:37.45, Z:20.61 [[ 9.90119636e-01 -1.30448638e-01 -5.14418150e-02 4.36759003e+02] [ 1.30331211e-01 9.91454441e-01 -5.64502725e-03 3.74466555e+01] [ 5.17386020e-02 -1.11522170e-03 9.98660039e-01 2.06122819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.79, Y:37.45, Z:20.61 [[ 9.90050470e-01 -1.30980505e-01 -5.14215327e-02 4.36788899e+02] [ 1.30863941e-01 9.91384284e-01 -5.64176054e-03 3.74481148e+01] [ 5.17174601e-02 -1.14359676e-03 9.98661102e-01 2.06136636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.82, Y:37.45, Z:20.62 [[ 9.89896931e-01 -1.32127247e-01 -5.14437195e-02 4.36820323e+02] [ 1.32012277e-01 9.91232028e-01 -5.64131896e-03 3.74541636e+01] [ 5.17380343e-02 -1.20687824e-03 9.98659962e-01 2.06159116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.85, Y:37.45, Z:20.62 [[ 9.89657379e-01 -1.33696230e-01 -5.19960616e-02 4.36851656e+02] [ 1.33581138e-01 9.91021499e-01 -5.69812326e-03 3.74526229e+01] [ 5.22910325e-02 -1.30650333e-03 9.98631033e-01 2.06167328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.88, Y:37.45, Z:20.62 [[ 9.89036525e-01 -1.37830566e-01 -5.30045946e-02 4.36882402e+02] [ 1.37717035e-01 9.90454598e-01 -5.80591197e-03 3.74502338e+01] [ 5.32988765e-02 -1.55737659e-03 9.98577390e-01 2.06172496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.91, Y:37.46, Z:20.62 [[ 9.88731182e-01 -1.39855527e-01 -5.33955091e-02 4.36914064e+02] [ 1.39743329e-01 9.90170495e-01 -5.84748707e-03 3.74571602e+01] [ 5.36884611e-02 -1.68007340e-03 9.98556321e-01 2.06192353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.95, Y:37.46, Z:20.62 [[ 9.88458416e-01 -1.41588126e-01 -5.38772895e-02 4.36946147e+02] [ 1.41476675e-01 9.89924029e-01 -5.89633651e-03 3.74603864e+01] [ 5.41692747e-02 -1.79409632e-03 9.98530155e-01 2.06205626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:436.98, Y:37.46, Z:20.62 [[ 9.88235689e-01 -1.42922308e-01 -5.44374615e-02 4.36977387e+02] [ 1.42810779e-01 9.89732104e-01 -5.95339207e-03 3.74617640e+01] [ 5.47293759e-02 -1.89090179e-03 9.98499434e-01 2.06218251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.01, Y:37.46, Z:20.62 [[ 9.87923858e-01 -1.44993263e-01 -5.46205475e-02 4.37008428e+02] [ 1.44884428e-01 9.89430585e-01 -5.96820400e-03 3.74636360e+01] [ 5.49085897e-02 -2.01753566e-03 9.98489347e-01 2.06238489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.04, Y:37.47, Z:20.63 [[ 9.87863370e-01 -1.45518225e-01 -5.43176684e-02 4.37039207e+02] [ 1.45411499e-01 9.89353473e-01 -5.93302736e-03 3.74655929e+01] [ 5.46027375e-02 -2.03739317e-03 9.98506079e-01 2.06256104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.07, Y:37.47, Z:20.63 [[ 9.87886353e-01 -1.45462861e-01 -5.40472967e-02 4.37069824e+02] [ 1.45357264e-01 9.89361636e-01 -5.90070802e-03 3.74691287e+01] [ 5.43306557e-02 -2.02693822e-03 9.98520942e-01 2.06274905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.10, Y:37.47, Z:20.63 [[ 9.87903585e-01 -1.45394371e-01 -5.39164491e-02 4.37101957e+02] [ 1.45289300e-01 9.89371717e-01 -5.88426160e-03 3.74737072e+01] [ 5.41989483e-02 -2.02040002e-03 9.98528113e-01 2.06294979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.13, Y:37.48, Z:20.63 [[ 9.88023863e-01 -1.44482810e-01 -5.41623914e-02 4.37134146e+02] [ 1.44375633e-01 9.89505323e-01 -5.90703723e-03 3.74797627e+01] [ 5.44474399e-02 -1.98343581e-03 9.98514668e-01 2.06312247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.17, Y:37.48, Z:20.63 [[ 9.88109899e-01 -1.43733233e-01 -5.45855764e-02 4.37166481e+02] [ 1.43623505e-01 9.89614525e-01 -5.94824663e-03 3.74840665e+01] [ 5.48736400e-02 -1.96225042e-03 9.98491379e-01 2.06326712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.20, Y:37.49, Z:20.63 [[ 9.88174834e-01 -1.43163986e-01 -5.49051044e-02 4.37198023e+02] [ 1.43052320e-01 9.89697068e-01 -5.97895413e-03 3.74881969e+01] [ 5.51953917e-02 -1.94605054e-03 9.98473676e-01 2.06340361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.23, Y:37.49, Z:20.63 [[ 9.88231173e-01 -1.42788043e-01 -5.48700697e-02 4.37229212e+02] [ 1.42676185e-01 9.89751412e-01 -5.97070164e-03 3.74884699e+01] [ 5.51602738e-02 -1.92821875e-03 9.98475651e-01 2.06349261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.26, Y:37.49, Z:20.64 [[ 9.88236159e-01 -1.42753286e-01 -5.48707066e-02 4.37259865e+02] [ 1.42641700e-01 9.89756418e-01 -5.96484365e-03 3.74917692e+01] [ 5.51601350e-02 -1.93217667e-03 9.98475651e-01 2.06363913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.29, Y:37.50, Z:20.64 [[ 9.88252385e-01 -1.42613003e-01 -5.49431963e-02 4.37290890e+02] [ 1.42501014e-01 9.89776647e-01 -5.97078039e-03 3.74950229e+01] [ 5.52330035e-02 -1.92882320e-03 9.98471630e-01 2.06376959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.32, Y:37.50, Z:20.64 [[ 9.88105930e-01 -1.43645286e-01 -5.48880908e-02 4.37322870e+02] [ 1.43535233e-01 9.89627245e-01 -5.96255719e-03 3.75013002e+01] [ 5.51752433e-02 -1.98673678e-03 9.98474709e-01 2.06404545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.36, Y:37.50, Z:20.64 [[ 9.87997963e-01 -1.44365367e-01 -5.49423961e-02 4.37355056e+02] [ 1.44256434e-01 9.89522363e-01 -5.96435713e-03 3.75046374e+01] [ 5.52277762e-02 -2.03302147e-03 9.98471712e-01 2.06423020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.39, Y:37.51, Z:20.64 [[ 9.87668483e-01 -1.46295218e-01 -5.57555162e-02 4.37386789e+02] [ 1.46186332e-01 9.89238582e-01 -6.04857080e-03 3.75067856e+01] [ 5.60403847e-02 -2.17671166e-03 9.98426130e-01 2.06434483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.42, Y:37.51, Z:20.64 [[ 9.87492826e-01 -1.47336518e-01 -5.61236977e-02 4.37418015e+02] [ 1.47228046e-01 9.89083854e-01 -6.08535859e-03 3.75084942e+01] [ 5.64076388e-02 -2.25373438e-03 9.98405278e-01 2.06446132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.45, Y:37.51, Z:20.65 [[ 9.87320010e-01 -1.48461166e-01 -5.62003594e-02 4.37449715e+02] [ 1.48354390e-01 9.88915507e-01 -6.09055138e-03 3.75084689e+01] [ 5.64816173e-02 -2.32424679e-03 9.98400934e-01 2.06452524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.48, Y:37.51, Z:20.65 [[ 9.87116379e-01 -1.49753977e-01 -5.63471535e-02 4.37481574e+02] [ 1.49648928e-01 9.88720360e-01 -6.10319797e-03 3.75133639e+01] [ 5.66255560e-02 -2.40772443e-03 9.98392583e-01 2.06471362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.51, Y:37.52, Z:20.65 [[ 9.86961396e-01 -1.50613983e-01 -5.67682234e-02 4.37512666e+02] [ 1.50509006e-01 9.88589541e-01 -6.14481556e-03 3.75159623e+01] [ 5.70459671e-02 -2.47943311e-03 9.98368474e-01 2.06484385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.54, Y:37.52, Z:20.65 [[ 9.86759931e-01 -1.51756506e-01 -5.72258861e-02 4.37544230e+02] [ 1.51651937e-01 9.88414570e-01 -6.19103177e-03 3.75210207e+01] [ 5.75024289e-02 -2.56935438e-03 9.98342060e-01 2.06498751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.58, Y:37.52, Z:20.65 [[ 9.86720043e-01 -1.51955084e-01 -5.73864905e-02 4.37575943e+02] [ 1.51850505e-01 9.88384000e-01 -6.20419426e-03 3.75247750e+01] [ 5.76626479e-02 -2.59236473e-03 9.98332759e-01 2.06516497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.61, Y:37.53, Z:20.65 [[ 9.86744009e-01 -1.51889104e-01 -5.71485894e-02 4.37607779e+02] [ 1.51785520e-01 9.88394169e-01 -6.17430474e-03 3.75301556e+01] [ 5.74231422e-02 -2.58187012e-03 9.98346591e-01 2.06539564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.64, Y:37.54, Z:20.66 [[ 9.86874041e-01 -1.51126174e-01 -5.69254479e-02 4.37639983e+02] [ 1.51022382e-01 9.88511239e-01 -6.14581815e-03 3.75352821e+01] [ 5.72002390e-02 -2.53186832e-03 9.98359516e-01 2.06562823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.67, Y:37.54, Z:20.66 [[ 9.87020476e-01 -1.50385328e-01 -5.63456609e-02 4.37672013e+02] [ 1.50282717e-01 9.88624378e-01 -6.07823803e-03 3.75410047e+01] [ 5.66187718e-02 -2.46843360e-03 9.98392819e-01 2.06582820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.70, Y:37.54, Z:20.66 [[ 9.87193885e-01 -1.49100775e-01 -5.67203048e-02 4.37702984e+02] [ 1.48994913e-01 9.88819057e-01 -6.11457292e-03 3.75434589e+01] [ 5.69978059e-02 -2.41476791e-03 9.98371383e-01 2.06593965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.73, Y:37.55, Z:20.66 [[ 9.87365664e-01 -1.47848693e-01 -5.70070957e-02 4.37734718e+02] [ 1.47739869e-01 9.89007182e-01 -6.14212933e-03 3.75503015e+01] [ 5.72885329e-02 -2.35769327e-03 9.98354879e-01 2.06613947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.77, Y:37.56, Z:20.66 [[ 9.87683565e-01 -1.45480817e-01 -5.75891242e-02 4.37765038e+02] [ 1.45365969e-01 9.89358521e-01 -6.20094543e-03 3.75553828e+01] [ 5.78784093e-02 -2.24692698e-03 9.98321111e-01 2.06626065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.80, Y:37.56, Z:20.66 [[ 9.87885479e-01 -1.44147945e-01 -5.74773882e-02 4.37796287e+02] [ 1.44031435e-01 9.89553775e-01 -6.18643332e-03 3.75621977e+01] [ 5.77687281e-02 -2.16706304e-03 9.98327641e-01 2.06646129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.83, Y:37.56, Z:20.67 [[ 9.88094532e-01 -1.42768394e-01 -5.73269720e-02 4.37827304e+02] [ 1.42650409e-01 9.89753928e-01 -6.16621047e-03 3.75640834e+01] [ 5.76199357e-02 -2.08491713e-03 9.98336414e-01 2.06651296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.86, Y:37.57, Z:20.67 [[ 9.88223818e-01 -1.41903077e-01 -5.72468610e-02 4.37858529e+02] [ 1.41784164e-01 9.89878465e-01 -6.15426598e-03 3.75704834e+01] [ 5.75407442e-02 -2.03490611e-03 9.98341085e-01 2.06672830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.89, Y:37.57, Z:20.67 [[ 9.88445480e-01 -1.40527685e-01 -5.68111108e-02 4.37889856e+02] [ 1.40408534e-01 9.90074841e-01 -6.10346004e-03 3.75733072e+01] [ 5.71049566e-02 -1.94382729e-03 9.98366288e-01 2.06683695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.92, Y:37.58, Z:20.67 [[ 9.88533513e-01 -1.39798416e-01 -5.70779861e-02 4.37921223e+02] [ 1.39677120e-01 9.90178135e-01 -6.12880934e-03 3.75806420e+01] [ 5.73741716e-02 -1.91395530e-03 9.98350911e-01 2.06708439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.95, Y:37.58, Z:20.67 [[ 9.88541004e-01 -1.39736440e-01 -5.71000116e-02 4.37952618e+02] [ 1.39615181e-01 9.90186881e-01 -6.12712467e-03 3.75821186e+01] [ 5.73958650e-02 -1.91511445e-03 9.98349662e-01 2.06715411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:437.98, Y:37.59, Z:20.67 [[ 9.88442398e-01 -1.39931548e-01 -5.83162656e-02 4.37983846e+02] [ 1.39805637e-01 9.90159217e-01 -6.25371831e-03 3.75877217e+01] [ 5.86174804e-02 -1.97150231e-03 9.98278570e-01 2.06732021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.01, Y:37.59, Z:20.67 [[ 9.88337631e-01 -1.40604773e-01 -5.84724367e-02 4.38014597e+02] [ 1.40479701e-01 9.90063739e-01 -6.26470091e-03 3.75890136e+01] [ 5.87722861e-02 -2.02255078e-03 9.98269366e-01 2.06738165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.05, Y:37.59, Z:20.67 [[ 9.88262104e-01 -1.41159290e-01 -5.84129161e-02 4.38045918e+02] [ 1.41035564e-01 9.89984762e-01 -6.25620361e-03 3.75916624e+01] [ 5.87110181e-02 -2.05552964e-03 9.98272904e-01 2.06749499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.08, Y:37.60, Z:20.68 [[ 9.88053259e-01 -1.42724379e-01 -5.81421373e-02 4.38077652e+02] [ 1.42604644e-01 9.89760157e-01 -6.22474856e-03 3.75958025e+01] [ 5.84351943e-02 -2.14095570e-03 9.98288908e-01 2.06771201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.11, Y:37.60, Z:20.68 [[ 9.88014709e-01 -1.43240545e-01 -5.75246162e-02 4.38109868e+02] [ 1.43124452e-01 9.89685563e-01 -6.15449818e-03 3.75997899e+01] [ 5.78128559e-02 -2.15244447e-03 9.98325118e-01 2.06793238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.14, Y:37.60, Z:20.68 [[ 9.87970486e-01 -1.43740854e-01 -5.70340733e-02 4.38141362e+02] [ 1.43627826e-01 9.89612989e-01 -6.09746457e-03 3.76031046e+01] [ 5.73181146e-02 -2.16756494e-03 9.98353612e-01 2.06814956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.17, Y:37.60, Z:20.68 [[ 9.87945558e-01 -1.44157210e-01 -5.64116392e-02 4.38172738e+02] [ 1.44047643e-01 9.89552411e-01 -6.02508403e-03 3.76043535e+01] [ 5.66908329e-02 -2.17350867e-03 9.98389416e-01 2.06828416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.20, Y:37.61, Z:20.69 [[ 9.87944082e-01 -1.44256802e-01 -5.61824368e-02 4.38204018e+02] [ 1.44148468e-01 9.89537898e-01 -5.99736724e-03 3.76095225e+01] [ 5.64598114e-02 -2.17354873e-03 9.98402507e-01 2.06851429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.24, Y:37.61, Z:20.69 [[ 9.88082731e-01 -1.43623235e-01 -5.53613898e-02 4.38235711e+02] [ 1.43517275e-01 9.89630191e-01 -5.90570327e-03 3.76130884e+01] [ 5.56354989e-02 -2.10999241e-03 9.98448917e-01 2.06870598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.27, Y:37.62, Z:20.69 [[ 9.88171688e-01 -1.43246907e-01 -5.47452127e-02 4.38267702e+02] [ 1.43142936e-01 9.89684819e-01 -5.83598728e-03 3.76171451e+01] [ 5.50164931e-02 -2.06943306e-03 9.98483301e-01 2.06886517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.30, Y:37.62, Z:20.69 [[ 9.88196263e-01 -1.43035260e-01 -5.48549008e-02 4.38298883e+02] [ 1.42930763e-01 9.89715438e-01 -5.84374940e-03 3.76200243e+01] [ 5.51266043e-02 -2.06568152e-03 9.98477236e-01 2.06900427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.33, Y:37.62, Z:20.69 [[ 9.88184899e-01 -1.43096699e-01 -5.48993578e-02 4.38330248e+02] [ 1.42992296e-01 9.89706539e-01 -5.84545135e-03 3.76225760e+01] [ 5.51707182e-02 -2.07379846e-03 9.98474782e-01 2.06914558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.36, Y:37.63, Z:20.69 [[ 9.88104972e-01 -1.43835780e-01 -5.44043525e-02 4.38362230e+02] [ 1.43734537e-01 9.89599345e-01 -5.78965139e-03 3.76265182e+01] [ 5.46712705e-02 -2.09900111e-03 9.98502201e-01 2.06937942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.39, Y:37.63, Z:20.70 [[ 9.88039180e-01 -1.44371249e-01 -5.41804507e-02 4.38393800e+02] [ 1.44271852e-01 9.89521315e-01 -5.76195605e-03 3.76292493e+01] [ 5.44445716e-02 -2.12367565e-03 9.98514536e-01 2.06954609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.43, Y:37.63, Z:20.70 [[ 9.87905764e-01 -1.45322506e-01 -5.40700630e-02 4.38425453e+02] [ 1.45225099e-01 9.89381949e-01 -5.74720571e-03 3.76308639e+01] [ 5.43311426e-02 -2.17463260e-03 9.98520605e-01 2.06970043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.46, Y:37.63, Z:20.70 [[ 9.87601750e-01 -1.47365921e-01 -5.40931564e-02 4.38456512e+02] [ 1.47271644e-01 9.89079389e-01 -5.74679120e-03 3.76280907e+01] [ 5.43493072e-02 -2.29084699e-03 9.98519356e-01 2.06976048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.49, Y:37.63, Z:20.70 [[ 9.87464776e-01 -1.48277444e-01 -5.41028182e-02 4.38488103e+02] [ 1.48184620e-01 9.88943025e-01 -5.74557755e-03 3.76338099e+01] [ 5.43565442e-02 -2.34365009e-03 9.98518840e-01 2.06994364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.52, Y:37.64, Z:20.70 [[ 9.87332077e-01 -1.49162423e-01 -5.40919744e-02 4.38519727e+02] [ 1.49071169e-01 9.88809806e-01 -5.74057643e-03 3.76360298e+01] [ 5.43429530e-02 -2.39569862e-03 9.98519456e-01 2.07007732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.55, Y:37.64, Z:20.70 [[ 9.87236330e-01 -1.49571150e-01 -5.47074058e-02 4.38550654e+02] [ 1.49478625e-01 9.88747932e-01 -5.80243826e-03 3.76364872e+01] [ 5.49597117e-02 -2.44920996e-03 9.98485569e-01 2.07014044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.58, Y:37.64, Z:20.70 [[ 9.87141416e-01 -1.49906265e-01 -5.54971674e-02 4.38582668e+02] [ 1.49811909e-01 9.88697029e-01 -5.88027285e-03 3.76437233e+01] [ 5.57513742e-02 -2.50947574e-03 9.98441529e-01 2.07031792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.61, Y:37.64, Z:20.70 [[ 9.86989898e-01 -1.50581544e-01 -5.63572452e-02 4.38613924e+02] [ 1.50485573e-01 9.88594196e-01 -5.96728942e-03 3.76442784e+01] [ 5.66130092e-02 -2.59129798e-03 9.98392835e-01 2.07035927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.65, Y:37.64, Z:20.70 [[ 9.86967162e-01 -1.50601938e-01 -5.66998819e-02 4.38645151e+02] [ 1.50505012e-01 9.88591036e-01 -6.00038921e-03 3.76448465e+01] [ 5.69566652e-02 -2.61142931e-03 9.98373236e-01 2.07045773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.68, Y:37.65, Z:20.71 [[ 9.87030807e-01 -1.50322550e-01 -5.63322026e-02 4.38677385e+02] [ 1.50226607e-01 9.88633636e-01 -5.95822861e-03 3.76497682e+01] [ 5.65875664e-02 -2.58164048e-03 9.98394302e-01 2.07065530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.71, Y:37.65, Z:20.71 [[ 9.87233629e-01 -1.49256930e-01 -5.56069252e-02 4.38709837e+02] [ 1.49161995e-01 9.88795306e-01 -5.87721813e-03 3.76532512e+01] [ 5.58610822e-02 -2.49225252e-03 9.98435440e-01 2.07088784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.74, Y:37.66, Z:20.71 [[ 9.87434904e-01 -1.48187622e-01 -5.48884227e-02 4.38741825e+02] [ 1.48093777e-01 9.88956340e-01 -5.79583469e-03 3.76571417e+01] [ 5.51411246e-02 -2.40562435e-03 9.98475673e-01 2.07108989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.77, Y:37.66, Z:20.71 [[ 9.87651523e-01 -1.46876254e-01 -5.45145385e-02 4.38772541e+02] [ 1.46781898e-01 9.89152153e-01 -5.75255303e-03 3.76598165e+01] [ 5.47680866e-02 -2.32022969e-03 9.98496406e-01 2.07127425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.80, Y:37.67, Z:20.71 [[ 9.87890531e-01 -1.45426122e-01 -5.40697874e-02 4.38804165e+02] [ 1.45331296e-01 9.89366613e-01 -5.70258683e-03 3.76659248e+01] [ 5.43241475e-02 -2.22450077e-03 9.98520875e-01 2.07149432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.83, Y:37.67, Z:20.72 [[ 9.88506623e-01 -1.41520775e-01 -5.31650785e-02 4.38833942e+02] [ 1.41423645e-01 9.89933307e-01 -5.60365813e-03 3.76700857e+01] [ 5.34229160e-02 -1.97954602e-03 9.98570014e-01 2.07164848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.87, Y:37.67, Z:20.72 [[ 9.88841024e-01 -1.39212798e-01 -5.30398560e-02 4.38865537e+02] [ 1.39112872e-01 9.90260758e-01 -5.58929804e-03 3.76749157e+01] [ 5.33013898e-02 -1.85159952e-03 9.98576754e-01 2.07178150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.90, Y:37.68, Z:20.72 [[ 9.89179727e-01 -1.36868871e-01 -5.28240439e-02 4.38895929e+02] [ 1.36766584e-01 9.90587679e-01 -5.56346026e-03 3.76786837e+01] [ 5.30883116e-02 -1.72130194e-03 9.98588338e-01 2.07192618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.93, Y:37.68, Z:20.72 [[ 9.89500480e-01 -1.34418208e-01 -5.31088072e-02 4.38927738e+02] [ 1.34311564e-01 9.90923395e-01 -5.58833538e-03 3.76847489e+01] [ 5.33779335e-02 -1.60346642e-03 9.98573095e-01 2.07209110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.96, Y:37.69, Z:20.72 [[ 9.90080182e-01 -1.30130232e-01 -5.29844850e-02 4.38958740e+02] [ 1.30018146e-01 9.91495960e-01 -5.57163505e-03 3.76900959e+01] [ 5.32589410e-02 -1.37257905e-03 9.98579792e-01 2.07222034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:438.99, Y:37.70, Z:20.72 [[ 9.90316707e-01 -1.28252977e-01 -5.31412568e-02 4.38990958e+02] [ 1.28137647e-01 9.91740662e-01 -5.58587478e-03 3.76952524e+01] [ 5.34187503e-02 -1.27761045e-03 9.98571382e-01 2.07240560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.02, Y:37.70, Z:20.73 [[ 9.90527718e-01 -1.26700067e-01 -5.29332849e-02 4.39022457e+02] [ 1.26583674e-01 9.91940355e-01 -5.55930182e-03 3.76992929e+01] [ 5.32110253e-02 -1.19384712e-03 9.98582576e-01 2.07255872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.05, Y:37.70, Z:20.73 [[ 9.90662690e-01 -1.25703226e-01 -5.27838414e-02 4.39053956e+02] [ 1.25586282e-01 9.92067234e-01 -5.53973375e-03 3.77036710e+01] [ 5.30614820e-02 -1.14091885e-03 9.98590596e-01 2.07277190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.09, Y:37.70, Z:20.73 [[ 9.90801239e-01 -1.24640377e-01 -5.27037096e-02 4.39085225e+02] [ 1.24522510e-01 9.92201389e-01 -5.52709036e-03 3.77033464e+01] [ 5.29815925e-02 -1.08655024e-03 9.98594898e-01 2.07284264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.12, Y:37.71, Z:20.73 [[ 9.91016324e-01 -1.22994998e-01 -5.25250044e-02 4.39116766e+02] [ 1.22875963e-01 9.92406785e-01 -5.50187469e-03 3.77102663e+01] [ 5.28028738e-02 -1.00161284e-03 9.98604453e-01 2.07302797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.15, Y:37.71, Z:20.73 [[ 9.91145872e-01 -1.21794058e-01 -5.28778573e-02 4.39147620e+02] [ 1.21671939e-01 9.92554940e-01 -5.53453451e-03 3.77123720e+01] [ 5.31582519e-02 -9.48220390e-04 9.98585650e-01 2.07309935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.18, Y:37.72, Z:20.73 [[ 9.91242299e-01 -1.20795175e-01 -5.33594545e-02 4.39178641e+02] [ 1.20669722e-01 9.92677037e-01 -5.57844652e-03 3.77152654e+01] [ 5.36425546e-02 -9.09278420e-04 9.98559788e-01 2.07318968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.21, Y:37.72, Z:20.73 [[ 9.91584973e-01 -1.18349161e-01 -5.24663495e-02 4.39210135e+02] [ 1.18224606e-01 9.92971746e-01 -5.48218479e-03 3.77198517e+01] [ 5.27464147e-02 -7.66761451e-04 9.98607645e-01 2.07335102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.24, Y:37.72, Z:20.73 [[ 9.91751406e-01 -1.16770704e-01 -5.28559583e-02 4.39241837e+02] [ 1.16642256e-01 9.93158660e-01 -5.51904192e-03 3.77232197e+01] [ 5.31388151e-02 -6.91720659e-04 9.98586895e-01 2.07349582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.27, Y:37.73, Z:20.74 [[ 9.91759708e-01 -1.16699993e-01 -5.28563513e-02 4.39273332e+02] [ 1.16571646e-01 9.93166971e-01 -5.51527587e-03 3.77264469e+01] [ 5.31388150e-02 -6.91723478e-04 9.98586896e-01 2.07364634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.30, Y:37.73, Z:20.74 [[ 9.91913340e-01 -1.15368684e-01 -5.28960654e-02 4.39304084e+02] [ 1.15238444e-01 9.93322544e-01 -5.51581139e-03 3.77299105e+01] [ 5.31792061e-02 -6.24453376e-04 9.98584790e-01 2.07377259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.33, Y:37.73, Z:20.74 [[ 9.92049432e-01 -1.14137440e-01 -5.30147986e-02 4.39334418e+02] [ 1.14004955e-01 9.93464810e-01 -5.52637167e-03 3.77325791e+01] [ 5.32991028e-02 -5.61515830e-04 9.98578435e-01 2.07387504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.37, Y:37.74, Z:20.74 [[ 9.92257763e-01 -1.12090711e-01 -5.34808706e-02 4.39365158e+02] [ 1.11952972e-01 9.93697874e-01 -5.57387847e-03 3.77355402e+01] [ 5.37686074e-02 -4.56618234e-04 9.98553318e-01 2.07399469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.40, Y:37.74, Z:20.74 [[ 9.92295879e-01 -1.11707284e-01 -5.35758438e-02 4.39396328e+02] [ 1.11568599e-01 9.93741058e-01 -5.58186940e-03 3.77384518e+01] [ 5.38640512e-02 -4.38515823e-04 9.98548182e-01 2.07417775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.43, Y:37.74, Z:20.74 [[ 9.92299359e-01 -1.11817042e-01 -5.32816141e-02 4.39428053e+02] [ 1.11680151e-01 9.93728711e-01 -5.54906249e-03 3.77412155e+01] [ 5.35679494e-02 -4.44167551e-04 9.98564108e-01 2.07441170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.46, Y:37.74, Z:20.75 [[ 9.92304900e-01 -1.11667459e-01 -5.34917218e-02 4.39458774e+02] [ 1.11529464e-01 9.93745533e-01 -5.56730320e-03 3.77428412e+01] [ 5.37788462e-02 -4.41440823e-04 9.98552773e-01 2.07452153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.49, Y:37.74, Z:20.75 [[ 9.92089515e-01 -1.12857603e-01 -5.49686789e-02 4.39490390e+02] [ 1.12713767e-01 9.93611036e-01 -5.71984720e-03 3.77436488e+01] [ 5.52630142e-02 -5.21126452e-04 9.98471696e-01 2.07468096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.52, Y:37.75, Z:20.75 [[ 9.91955387e-01 -1.13759077e-01 -5.55282191e-02 4.39520647e+02] [ 1.13613831e-01 9.93508197e-01 -5.77586523e-03 3.77450020e+01] [ 5.58247980e-02 -5.79373108e-04 9.98440412e-01 2.07478753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.55, Y:37.75, Z:20.75 [[ 9.91874642e-01 -1.14429658e-01 -5.55926963e-02 4.39551505e+02] [ 1.14285292e-01 9.93431159e-01 -5.77962707e-03 3.77471622e+01] [ 5.58888775e-02 -6.20761987e-04 9.98436802e-01 2.07499642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.58, Y:37.75, Z:20.75 [[ 9.91728538e-01 -1.15337055e-01 -5.63193580e-02 4.39581483e+02] [ 1.15190460e-01 9.93326179e-01 -5.85323035e-03 3.77481474e+01] [ 5.66185870e-02 -6.82637143e-04 9.98395648e-01 2.07511649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.61, Y:37.75, Z:20.75 [[ 9.91513716e-01 -1.17184847e-01 -5.62873219e-02 4.39611766e+02] [ 1.17041441e-01 9.93109808e-01 -5.84903092e-03 3.77483904e+01] [ 5.65849092e-02 -7.88554907e-04 9.98397479e-01 2.07533378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.64, Y:37.75, Z:20.76 [[ 9.91355883e-01 -1.18334524e-01 -5.66608698e-02 4.39642115e+02] [ 1.18191084e-01 9.92973414e-01 -5.88784772e-03 3.77504583e+01] [ 5.69594730e-02 -8.59857132e-04 9.98376121e-01 2.07552135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.67, Y:37.75, Z:20.76 [[ 9.91207150e-01 -1.19322235e-01 -5.71890713e-02 4.39671173e+02] [ 1.19177738e-01 9.92855150e-01 -5.94291537e-03 3.77518271e+01] [ 5.74895859e-02 -9.25003953e-04 9.98345678e-01 2.07565281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.70, Y:37.75, Z:20.76 [[ 9.91002230e-01 -1.20568196e-01 -5.81196239e-02 4.39701175e+02] [ 1.20421044e-01 9.92704530e-01 -6.04048784e-03 3.77539566e+01] [ 5.84239047e-02 -1.01268890e-03 9.98291351e-01 2.07583986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.73, Y:37.75, Z:20.76 [[ 9.90615329e-01 -1.23416431e-01 -5.87337675e-02 4.39730678e+02] [ 1.23271169e-01 9.92354251e-01 -6.10399155e-03 3.77507227e+01] [ 5.90380368e-02 -1.19347260e-03 9.98255020e-01 2.07584449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.76, Y:37.75, Z:20.76 [[ 9.90368424e-01 -1.25318280e-01 -5.88703056e-02 4.39760485e+02] [ 1.25175776e-01 9.92115724e-01 -6.11683723e-03 3.77541964e+01] [ 5.91727073e-02 -1.31121375e-03 9.98246899e-01 2.07616186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.79, Y:37.75, Z:20.76 [[ 9.90127631e-01 -1.27313121e-01 -5.86399544e-02 4.39790223e+02] [ 1.27175219e-01 9.91861553e-01 -6.09297142e-03 3.77536098e+01] [ 5.89384314e-02 -1.42472967e-03 9.98260603e-01 2.07626936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.82, Y:37.76, Z:20.76 [[ 9.89886925e-01 -1.29149569e-01 -5.86878659e-02 4.39820319e+02] [ 1.29014646e-01 9.91623937e-01 -6.09823453e-03 3.77550440e+01] [ 5.89838770e-02 -1.53503165e-03 9.98257755e-01 2.07646520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.85, Y:37.75, Z:20.77 [[ 9.89373740e-01 -1.32871979e-01 -5.90308454e-02 4.39851269e+02] [ 1.32742085e-01 9.91131633e-01 -6.13387340e-03 3.77542102e+01] [ 5.93223581e-02 -1.76718426e-03 9.98237314e-01 2.07661053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.88, Y:37.76, Z:20.77 [[ 9.89181256e-01 -1.34198068e-01 -5.92564119e-02 4.39881951e+02] [ 1.34069554e-01 9.90952795e-01 -6.15731193e-03 3.77554223e+01] [ 5.95466064e-02 -1.85378319e-03 9.98223805e-01 2.07674716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.91, Y:37.76, Z:20.77 [[ 9.88949096e-01 -1.35811548e-01 -5.94551076e-02 4.39911984e+02] [ 1.35685067e-01 9.90732755e-01 -6.17818145e-03 3.77570235e+01] [ 5.97431909e-02 -1.95726330e-03 9.98211861e-01 2.07688111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.94, Y:37.75, Z:20.77 [[ 9.88515793e-01 -1.38520682e-01 -6.04032093e-02 4.39941416e+02] [ 1.38395133e-01 9.90357198e-01 -6.27748603e-03 3.77548948e+01] [ 6.06903148e-02 -2.15411610e-03 9.98154319e-01 2.07693172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:439.97, Y:37.76, Z:20.77 [[ 9.88320197e-01 -1.39731330e-01 -6.08140154e-02 4.39971024e+02] [ 1.39606359e-01 9.90186912e-01 -6.32008976e-03 3.77597497e+01] [ 6.11003567e-02 -2.24375092e-03 9.98129106e-01 2.07718832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.00, Y:37.76, Z:20.77 [[ 9.88100569e-01 -1.41101988e-01 -6.12167810e-02 4.40000097e+02] [ 1.40977894e-01 9.89992294e-01 -6.36335287e-03 3.77596180e+01] [ 6.15020232e-02 -2.34258026e-03 9.98104210e-01 2.07726168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.03, Y:37.76, Z:20.77 [[ 9.87636340e-01 -1.44006104e-01 -6.19411184e-02 4.40028877e+02] [ 1.43884573e-01 9.89573513e-01 -6.44148287e-03 3.77570396e+01] [ 6.22229030e-02 -2.55052881e-03 9.98059019e-01 2.07732436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.06, Y:37.76, Z:20.77 [[ 9.87394117e-01 -1.45496947e-01 -6.23177037e-02 4.40056412e+02] [ 1.45376554e-01 9.89355138e-01 -6.48608060e-03 3.77578929e+01] [ 6.25980452e-02 -2.65521518e-03 9.98035287e-01 2.07744162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.08, Y:37.76, Z:20.78 [[ 9.87181816e-01 -1.46767920e-01 -6.26995934e-02 4.40084641e+02] [ 1.46648121e-01 9.89167146e-01 -6.53346390e-03 3.77600149e+01] [ 6.29792808e-02 -2.74506083e-03 9.98011059e-01 2.07758987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.11, Y:37.77, Z:20.78 [[ 9.86993056e-01 -1.48194900e-01 -6.23135567e-02 4.40112839e+02] [ 1.48078908e-01 9.88954181e-01 -6.50118523e-03 3.77654664e+01] [ 6.25886949e-02 -2.81069878e-03 9.98035448e-01 2.07788795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.14, Y:37.77, Z:20.78 [[ 9.86814578e-01 -1.49314985e-01 -6.24661762e-02 4.40140732e+02] [ 1.49199815e-01 9.88785501e-01 -6.53057849e-03 3.77664541e+01] [ 6.27407625e-02 -2.87547186e-03 9.98025715e-01 2.07803358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.17, Y:37.77, Z:20.78 [[ 9.86483693e-01 -1.51612054e-01 -6.21587410e-02 4.40168833e+02] [ 1.51502216e-01 9.88435520e-01 -6.50389778e-03 3.77664920e+01] [ 6.24259768e-02 -3.00119788e-03 9.98045084e-01 2.07819846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.20, Y:37.77, Z:20.78 [[ 9.86282299e-01 -1.52959597e-01 -6.20531057e-02 4.40197379e+02] [ 1.52852320e-01 9.88227663e-01 -6.50035474e-03 3.77683676e+01] [ 6.23168873e-02 -3.07377638e-03 9.98051681e-01 2.07834834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.23, Y:37.77, Z:20.79 [[ 9.86083667e-01 -1.54265450e-01 -6.19771949e-02 4.40226153e+02] [ 1.54160045e-01 9.88024458e-01 -6.50780474e-03 3.77705795e+01] [ 6.22389138e-02 -3.13716718e-03 9.98056349e-01 2.07851304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.25, Y:37.77, Z:20.79 [[ 9.85894458e-01 -1.55426643e-01 -6.20860319e-02 4.40254742e+02] [ 1.55322198e-01 9.87842251e-01 -6.53466068e-03 3.77723825e+01] [ 6.23468659e-02 -3.20085316e-03 9.98049409e-01 2.07865815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.28, Y:37.77, Z:20.79 [[ 9.85591448e-01 -1.57410633e-01 -6.18982169e-02 4.40283817e+02] [ 1.57309942e-01 9.87527709e-01 -6.52731071e-03 3.77742052e+01] [ 6.21536725e-02 -3.30394327e-03 9.98061123e-01 2.07884253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.31, Y:37.78, Z:20.79 [[ 9.85467580e-01 -1.58283023e-01 -6.16452283e-02 4.40312352e+02] [ 1.58184480e-01 9.87388138e-01 -6.50663007e-03 3.77765782e+01] [ 6.18976563e-02 -3.33924538e-03 9.98076916e-01 2.07900328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.34, Y:37.78, Z:20.79 [[ 9.85404871e-01 -1.58833276e-01 -6.12309626e-02 4.40340198e+02] [ 1.58736188e-01 9.87299782e-01 -6.47785408e-03 3.77814983e+01] [ 6.14822148e-02 -3.33626064e-03 9.98102603e-01 2.07922721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.37, Y:37.78, Z:20.79 [[ 9.85323194e-01 -1.59295323e-01 -6.13449475e-02 4.40369117e+02] [ 1.59197823e-01 9.87225271e-01 -6.50520067e-03 3.77847579e+01] [ 6.15975304e-02 -3.35625698e-03 9.98095426e-01 2.07937677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.40, Y:37.79, Z:20.80 [[ 9.85324011e-01 -1.59574858e-01 -6.06008156e-02 4.40396449e+02] [ 1.59479418e-01 9.87180250e-01 -6.43965463e-03 3.77870690e+01] [ 6.08515352e-02 -3.31943650e-03 9.98141309e-01 2.07951856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.43, Y:37.79, Z:20.80 [[ 9.85358104e-01 -1.59415774e-01 -6.04650083e-02 4.40425674e+02] [ 1.59320057e-01 9.87206032e-01 -6.43188545e-03 3.77928594e+01] [ 6.07167650e-02 -3.29557813e-03 9.98149595e-01 2.07974607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.45, Y:37.80, Z:20.80 [[ 9.85545159e-01 -1.58602417e-01 -5.95484078e-02 4.40454996e+02] [ 1.58507999e-01 9.87337363e-01 -6.33603623e-03 3.78013320e+01] [ 5.97992786e-02 -3.19444911e-03 9.98205310e-01 2.08004049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.48, Y:37.80, Z:20.80 [[ 9.85677772e-01 -1.57667854e-01 -5.98345935e-02 4.40484851e+02] [ 1.57570812e-01 9.87487168e-01 -6.36648680e-03 3.78043905e+01] [ 6.00896836e-02 -3.15288093e-03 9.98188003e-01 2.08015227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.52, Y:37.81, Z:20.80 [[ 9.85807821e-01 -1.56782149e-01 -6.00191518e-02 4.40515585e+02] [ 1.56682900e-01 9.87628317e-01 -6.38565388e-03 3.78114772e+01] [ 6.02777704e-02 -3.10894723e-03 9.98176800e-01 2.08032393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.55, Y:37.82, Z:20.80 [[ 9.85946303e-01 -1.55761475e-01 -6.04007557e-02 4.40546517e+02] [ 1.55659188e-01 9.87789932e-01 -6.42402076e-03 3.78158235e+01] [ 6.06638733e-02 -3.06819308e-03 9.98153536e-01 2.08043657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.58, Y:37.82, Z:20.81 [[ 9.86069380e-01 -1.54673142e-01 -6.11833074e-02 4.40576286e+02] [ 1.54566225e-01 9.87961013e-01 -6.50524154e-03 3.78191280e+01] [ 6.14529085e-02 -3.04225336e-03 9.98105348e-01 2.08052572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.61, Y:37.83, Z:20.81 [[ 9.86495844e-01 -1.51797232e-01 -6.15105727e-02 4.40606311e+02] [ 1.51683649e-01 9.88407462e-01 -6.53917318e-03 3.78258217e+01] [ 6.17901374e-02 -2.87928093e-03 9.98085011e-01 2.08058707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.64, Y:37.83, Z:20.81 [[ 9.86769778e-01 -1.50076795e-01 -6.13380863e-02 4.40636594e+02] [ 1.49960548e-01 9.88670479e-01 -6.52057791e-03 3.78331655e+01] [ 6.16217426e-02 -2.76398383e-03 9.98095748e-01 2.08080388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.67, Y:37.84, Z:20.81 [[ 9.87014483e-01 -1.48359886e-01 -6.15772277e-02 4.40667081e+02] [ 1.48239453e-01 9.88929839e-01 -6.54513028e-03 3.78376304e+01] [ 6.18665926e-02 -2.66803617e-03 9.98080862e-01 2.08091561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.70, Y:37.84, Z:20.81 [[ 9.87338542e-01 -1.46381576e-01 -6.11149582e-02 4.40696768e+02] [ 1.46259163e-01 9.89224979e-01 -6.49599501e-03 3.78436385e+01] [ 6.14073373e-02 -2.52487642e-03 9.98109595e-01 2.08109415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.73, Y:37.85, Z:20.81 [[ 9.88041382e-01 -1.41815730e-01 -6.05188158e-02 4.40726715e+02] [ 1.41687143e-01 9.89890587e-01 -6.43263019e-03 3.78482861e+01] [ 6.08192543e-02 -2.21903331e-03 9.98146329e-01 2.08116398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.76, Y:37.86, Z:20.81 [[ 9.88391640e-01 -1.39385688e-01 -6.04449795e-02 4.40757754e+02] [ 1.39252924e-01 9.90236010e-01 -6.42405190e-03 3.78572468e+01] [ 6.07502162e-02 -2.06766094e-03 9.98150858e-01 2.08141888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.79, Y:37.86, Z:20.82 [[ 9.88688866e-01 -1.37315730e-01 -6.03217694e-02 4.40789020e+02] [ 1.37179863e-01 9.90525430e-01 -6.40761945e-03 3.78634237e+01] [ 6.06301135e-02 -1.93979005e-03 9.98158418e-01 2.08159693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.82, Y:37.87, Z:20.82 [[ 9.89146296e-01 -1.34083619e-01 -6.00931595e-02 4.40820136e+02] [ 1.33943026e-01 9.90968497e-01 -6.37999513e-03 3.78706087e+01] [ 6.04058807e-02 -1.73831108e-03 9.98172384e-01 2.08175033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.85, Y:37.87, Z:20.82 [[ 9.89247707e-01 -1.33280860e-01 -6.02095166e-02 4.40850603e+02] [ 1.33138412e-01 9.91076858e-01 -6.38946484e-03 3.78725149e+01] [ 6.05238519e-02 -1.69543598e-03 9.98165311e-01 2.08176454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.88, Y:37.88, Z:20.82 [[ 9.89318397e-01 -1.32950531e-01 -5.97767970e-02 4.40880345e+02] [ 1.32809574e-01 9.91121278e-01 -6.34268238e-03 3.78781970e+01] [ 6.00893184e-02 -1.66399861e-03 9.98191617e-01 2.08197000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.91, Y:37.88, Z:20.82 [[ 9.89256646e-01 -1.33663846e-01 -5.92052758e-02 4.40911593e+02] [ 1.33526873e-01 9.91025285e-01 -6.28160178e-03 3.78816137e+01] [ 5.95135484e-02 -1.69137905e-03 9.98226065e-01 2.08212293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.94, Y:37.88, Z:20.82 [[ 9.89182239e-01 -1.34285966e-01 -5.90404687e-02 4.40942871e+02] [ 1.34150990e-01 9.90941118e-01 -6.26195371e-03 3.78849322e+01] [ 5.93465206e-02 -1.72612394e-03 9.98235950e-01 2.08228459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:440.97, Y:37.89, Z:20.82 [[ 9.89098973e-01 -1.35194548e-01 -5.83580007e-02 4.40973593e+02] [ 1.35064378e-01 9.90817506e-01 -6.18744892e-03 3.78883091e+01] [ 5.86586381e-02 -1.76208769e-03 9.98276544e-01 2.08245821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.00, Y:37.89, Z:20.83 [[ 9.88966504e-01 -1.36339538e-01 -5.79377639e-02 4.41004576e+02] [ 1.36213320e-01 9.90660498e-01 -6.14078724e-03 3.78913299e+01] [ 5.82338861e-02 -1.81886227e-03 9.98301310e-01 2.08262600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.04, Y:37.89, Z:20.83 [[ 9.88586465e-01 -1.39120320e-01 -5.78129522e-02 4.41036064e+02] [ 1.38999512e-01 9.90273505e-01 -6.12545601e-03 3.78939063e+01] [ 5.81028102e-02 -1.98042923e-03 9.98308640e-01 2.08276567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.07, Y:37.90, Z:20.83 [[ 9.88345560e-01 -1.40708223e-01 -5.80882886e-02 4.41068486e+02] [ 1.40589147e-01 9.90048910e-01 -6.15208537e-03 3.78966202e+01] [ 5.83758958e-02 -2.08619666e-03 9.98292493e-01 2.08290669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.10, Y:37.90, Z:20.83 [[ 9.88127897e-01 -1.42257193e-01 -5.80185346e-02 4.41100015e+02] [ 1.42141335e-01 9.89827329e-01 -6.14008128e-03 3.78980267e+01] [ 5.83018019e-02 -2.17964637e-03 9.98296624e-01 2.08299843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.13, Y:37.90, Z:20.83 [[ 9.87917331e-01 -1.43779741e-01 -5.78509489e-02 4.41131677e+02] [ 1.43667477e-01 9.89607114e-01 -6.11682702e-03 3.79003351e+01] [ 5.81291864e-02 -2.26838043e-03 9.98306492e-01 2.08314892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.16, Y:37.90, Z:20.83 [[ 9.87922485e-01 -1.43744204e-01 -5.78512590e-02 4.41162345e+02] [ 1.43632051e-01 9.89612275e-01 -6.11389354e-03 3.79035461e+01] [ 5.81291527e-02 -2.26924206e-03 9.98306492e-01 2.08329556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.19, Y:37.91, Z:20.83 [[ 9.87701456e-01 -1.45641153e-01 -5.68725647e-02 4.41193523e+02] [ 1.45536014e-01 9.89334710e-01 -6.00843044e-03 3.79052011e+01] [ 5.71410770e-02 -2.34247086e-03 9.98363366e-01 2.08348996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.22, Y:37.90, Z:20.84 [[ 9.87116146e-01 -1.49515029e-01 -5.69821901e-02 4.41223684e+02] [ 1.49416047e-01 9.88756103e-01 -6.01775821e-03 3.79043405e+01] [ 5.72412336e-02 -2.57382728e-03 9.98357059e-01 2.08363539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.26, Y:37.91, Z:20.84 [[ 9.86852526e-01 -1.51357622e-01 -5.66829904e-02 4.41255292e+02] [ 1.51262876e-01 9.88475464e-01 -5.98318986e-03 3.79064551e+01] [ 5.69353467e-02 -2.66950610e-03 9.98374299e-01 2.08380028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.29, Y:37.91, Z:20.84 [[ 9.86255486e-01 -1.55346096e-01 -5.62823927e-02 4.41286118e+02] [ 1.55259265e-01 9.87855905e-01 -5.93891839e-03 3.79140628e+01] [ 5.65214817e-02 -2.88107205e-03 9.98397226e-01 2.08409474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.32, Y:37.92, Z:20.84 [[ 9.85949073e-01 -1.57272612e-01 -5.63005453e-02 4.41318545e+02] [ 1.57188993e-01 9.87550685e-01 -5.93837819e-03 3.79159639e+01] [ 5.65335863e-02 -2.99488756e-03 9.98396206e-01 2.08424218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.35, Y:37.92, Z:20.84 [[ 9.85668276e-01 -1.58977847e-01 -5.64277783e-02 4.41349467e+02] [ 1.58896854e-01 9.87277272e-01 -5.94790488e-03 3.79159550e+01] [ 5.66554481e-02 -3.10353529e-03 9.98388966e-01 2.08434032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.375099893 meters Centerline goodness [0,1] 0.9999790470603026 Centerline is valid? [True, True] Translation: X:441.38, Y:37.91, Z:20.84 [[ 9.85392365e-01 -1.60553448e-01 -5.67844897e-02 4.41380536e+02] [ 1.60474145e-01 9.87021908e-01 -5.98355560e-03 3.79125612e+01] [ 5.70082158e-02 -3.21629242e-03 9.98368529e-01 2.08437016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.41, Y:37.92, Z:20.85 [[ 9.84986492e-01 -1.62879940e-01 -5.71990805e-02 4.41410747e+02] [ 1.62803454e-01 9.86640118e-01 -6.02596479e-03 3.79199175e+01] [ 5.74164164e-02 -3.37671398e-03 9.98344606e-01 2.08464448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.44, Y:37.93, Z:20.85 [[ 9.84896514e-01 -1.63276906e-01 -5.76151743e-02 4.41442557e+02] [ 1.63200142e-01 9.86574328e-01 -6.06702601e-03 3.79286815e+01] [ 5.78322571e-02 -3.42741189e-03 9.98320431e-01 2.08488149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.47, Y:37.93, Z:20.85 [[ 9.84773203e-01 -1.63767236e-01 -5.83269396e-02 4.41474752e+02] [ 1.63689680e-01 9.86492787e-01 -6.13759653e-03 3.79334922e+01] [ 5.85442424e-02 -3.50337747e-03 9.98278668e-01 2.08501716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.51, Y:37.93, Z:20.85 [[ 9.84848685e-01 -1.63318516e-01 -5.83106391e-02 4.41505762e+02] [ 1.63240461e-01 9.86567257e-01 -6.13176872e-03 3.79345596e+01] [ 5.85287987e-02 -3.47979124e-03 9.98279656e-01 2.08514208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.54, Y:37.94, Z:20.85 [[ 9.84959510e-01 -1.62746046e-01 -5.80386750e-02 4.41536699e+02] [ 1.62667912e-01 9.86662019e-01 -6.09999557e-03 3.79380736e+01] [ 5.82573065e-02 -3.43278145e-03 9.98295699e-01 2.08531688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.57, Y:37.95, Z:20.86 [[ 9.85115585e-01 -1.61817357e-01 -5.79864378e-02 4.41567960e+02] [ 1.61737954e-01 9.86814943e-01 -6.09119338e-03 3.79470387e+01] [ 5.82075441e-02 -3.37807829e-03 9.98298788e-01 2.08559147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.60, Y:37.95, Z:20.86 [[ 9.85621209e-01 -1.58862332e-01 -5.75638069e-02 4.41597304e+02] [ 1.58779257e-01 9.87295612e-01 -6.04336692e-03 3.79510037e+01] [ 5.77925573e-02 -3.18346791e-03 9.98323538e-01 2.08575310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.63, Y:37.96, Z:20.86 [[ 9.85959920e-01 -1.56911574e-01 -5.71121277e-02 4.41627610e+02] [ 1.56826556e-01 9.87607961e-01 -5.99558615e-03 3.79604777e+01] [ 5.73451688e-02 -3.04529067e-03 9.98349767e-01 2.08602361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.66, Y:37.97, Z:20.86 [[ 9.86302476e-01 -1.54755487e-01 -5.70803420e-02 4.41658859e+02] [ 1.54667095e-01 9.87948485e-01 -5.98998223e-03 3.79664753e+01] [ 5.73194200e-02 -2.92051640e-03 9.98351619e-01 2.08623266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.69, Y:37.97, Z:20.86 [[ 9.86716529e-01 -1.52192056e-01 -5.68161033e-02 4.41690192e+02] [ 1.52100419e-01 9.88347080e-01 -5.95915627e-03 3.79740684e+01] [ 5.70609660e-02 -2.76175515e-03 9.98366876e-01 2.08649078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.72, Y:37.98, Z:20.87 [[ 9.87634801e-01 -1.46478589e-01 -5.58705947e-02 4.41719286e+02] [ 1.46380999e-01 9.89210945e-01 -5.85736260e-03 3.79845161e+01] [ 5.61257820e-02 -2.39345833e-03 9.98420837e-01 2.08676515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.75, Y:37.99, Z:20.87 [[ 9.88101105e-01 -1.43376815e-01 -5.56713219e-02 4.41749539e+02] [ 1.43275035e-01 9.89665704e-01 -5.83597986e-03 3.79887028e+01] [ 5.59327422e-02 -2.20977243e-03 9.98432093e-01 2.08690734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.78, Y:38.00, Z:20.87 [[ 9.88563128e-01 -1.40178419e-01 -5.56143167e-02 4.41779937e+02] [ 1.40071860e-01 9.90124184e-01 -5.82883031e-03 3.79975366e+01] [ 5.58821561e-02 -2.02783404e-03 9.98435312e-01 2.08712994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.81, Y:38.01, Z:20.87 [[ 9.89442845e-01 -1.33700438e-01 -5.59200341e-02 4.41808864e+02] [ 1.33582467e-01 9.91020381e-01 -5.85914619e-03 3.80066405e+01] [ 5.62012639e-02 -1.67264582e-03 9.98418059e-01 2.08721926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.84, Y:38.01, Z:20.87 [[ 9.89898300e-01 -1.30337515e-01 -5.57986326e-02 4.41839604e+02] [ 1.30214735e-01 9.91468580e-01 -5.84612101e-03 3.80135869e+01] [ 5.60845599e-02 -1.47873892e-03 9.98424927e-01 2.08737181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.87, Y:38.02, Z:20.88 [[ 9.90351727e-01 -1.26960092e-01 -5.55390947e-02 4.41870292e+02] [ 1.26833258e-01 9.91906996e-01 -5.81694602e-03 3.80211784e+01] [ 5.58281366e-02 -1.28338178e-03 9.98439569e-01 2.08754520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.90, Y:38.03, Z:20.88 [[ 9.90808366e-01 -1.23587670e-01 -5.49988106e-02 4.41901720e+02] [ 1.23458227e-01 9.92333064e-01 -5.75807297e-03 3.80288488e+01] [ 5.52887651e-02 -1.08490876e-03 9.98469817e-01 2.08775529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.93, Y:38.04, Z:20.88 [[ 9.91682916e-01 -1.16686052e-01 -5.43080117e-02 4.41931456e+02] [ 1.16549693e-01 9.93168607e-01 -5.68212455e-03 3.80373522e+01] [ 5.46000370e-02 -6.94716248e-04 9.98508064e-01 2.08791302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.96, Y:38.04, Z:20.88 [[ 9.92104526e-01 -1.13279981e-01 -5.38168730e-02 4.41962703e+02] [ 1.13141143e-01 9.93562978e-01 -5.62938274e-03 3.80435256e+01] [ 5.41081490e-02 -5.03966420e-04 9.98534954e-01 2.08806651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:441.99, Y:38.05, Z:20.88 [[ 9.92459122e-01 -1.10155975e-01 -5.37638657e-02 4.41994461e+02] [ 1.10013039e-01 9.93914256e-01 -5.61993459e-03 3.80492849e+01] [ 5.40557419e-02 -3.37170907e-04 9.98537863e-01 2.08820856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.03, Y:38.05, Z:20.88 [[ 9.92753965e-01 -1.07422890e-01 -5.38506102e-02 4.42025616e+02] [ 1.07275680e-01 9.94213400e-01 -5.62520549e-03 3.80544813e+01] [ 5.41432741e-02 -1.92415743e-04 9.98533159e-01 2.08831250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.06, Y:38.06, Z:20.88 [[ 9.93144169e-01 -1.03792150e-01 -5.37759164e-02 4.42057642e+02] [ 1.03640192e-01 9.94599009e-01 -5.61437193e-03 3.80600361e+01] [ 5.40682009e-02 2.53446440e-06 9.98537245e-01 2.08841766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.09, Y:38.06, Z:20.88 [[ 9.93248678e-01 -1.02744657e-01 -5.38572056e-02 4.42088394e+02] [ 1.02590907e-01 9.94707762e-01 -5.61903617e-03 3.80635869e+01] [ 5.41495064e-02 5.58406920e-05 9.98532838e-01 2.08849690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.12, Y:38.07, Z:20.89 [[ 9.93306584e-01 -1.02187399e-01 -5.38494642e-02 4.42119954e+02] [ 1.02033041e-01 9.94765163e-01 -5.61516307e-03 3.80666910e+01] [ 5.41413699e-02 8.31538584e-05 9.98533277e-01 2.08866433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.15, Y:38.07, Z:20.89 [[ 9.93292127e-01 -1.02653062e-01 -5.32268734e-02 4.42151525e+02] [ 1.02503127e-01 9.94717219e-01 -5.54643510e-03 3.80688050e+01] [ 5.35150460e-02 5.33093565e-05 9.98567042e-01 2.08873921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.18, Y:38.07, Z:20.89 [[ 9.93167224e-01 -1.03875694e-01 -5.31855757e-02 4.42184124e+02] [ 1.03727907e-01 9.94590287e-01 -5.53908771e-03 3.80707048e+01] [ 5.34732336e-02 -1.55880712e-05 9.98569283e-01 2.08892912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.22, Y:38.07, Z:20.89 [[ 9.93014663e-01 -1.05464065e-01 -5.29075577e-02 4.42216079e+02] [ 1.05320275e-01 9.94423109e-01 -5.50631211e-03 3.80718993e+01] [ 5.31932161e-02 -1.04389889e-04 9.98584233e-01 2.08903673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.25, Y:38.07, Z:20.89 [[ 9.92523429e-01 -1.10298379e-01 -5.22638619e-02 4.42247458e+02] [ 1.10164973e-01 9.93898453e-01 -5.43534812e-03 3.80697208e+01] [ 5.25444816e-02 -3.62936574e-04 9.98618519e-01 2.08916509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.28, Y:38.07, Z:20.89 [[ 9.92209106e-01 -1.13155756e-01 -5.21235535e-02 4.42279446e+02] [ 1.13027309e-01 9.93577126e-01 -5.41492805e-03 3.80696136e+01] [ 5.24015008e-02 -5.18644089e-04 9.98625963e-01 2.08929508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.31, Y:38.07, Z:20.89 [[ 9.91880396e-01 -1.16159625e-01 -5.17708495e-02 4.42310663e+02] [ 1.16037186e-01 9.93230328e-01 -5.37469533e-03 3.80686090e+01] [ 5.20447004e-02 -6.76288736e-04 9.98644527e-01 2.08938421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.34, Y:38.07, Z:20.90 [[ 9.91504666e-01 -1.19309224e-01 -5.18054752e-02 4.42342621e+02] [ 1.19191063e-01 9.92856785e-01 -5.37545432e-03 3.80687270e+01] [ 5.20767588e-02 -8.44961599e-04 9.98642728e-01 2.08952388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.37, Y:38.07, Z:20.90 [[ 9.91162170e-01 -1.22100273e-01 -5.18563097e-02 4.42374877e+02] [ 1.21985888e-01 9.92517270e-01 -5.37703211e-03 3.80691535e+01] [ 5.21248200e-02 -9.96227150e-04 9.98640081e-01 2.08964961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.41, Y:38.07, Z:20.90 [[ 9.90550056e-01 -1.27366844e-01 -5.08750719e-02 4.42406376e+02] [ 1.27263864e-01 9.91854887e-01 -5.27172139e-03 3.80650137e+01] [ 5.11321312e-02 -1.25265432e-03 9.98691111e-01 2.08978047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.44, Y:38.07, Z:20.90 [[ 9.90327586e-01 -1.29182990e-01 -5.06263494e-02 4.42438248e+02] [ 1.29083526e-01 9.91619863e-01 -5.24316663e-03 3.80657201e+01] [ 5.08794216e-02 -1.34257513e-03 9.98703901e-01 2.08996930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.47, Y:38.06, Z:20.90 [[ 9.90181039e-01 -1.30430389e-01 -5.02933677e-02 4.42469654e+02] [ 1.30334017e-01 9.91456480e-01 -5.20510463e-03 3.80647743e+01] [ 5.05425891e-02 -1.40094072e-03 9.98720924e-01 2.09009386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.50, Y:38.07, Z:20.90 [[ 9.90035011e-01 -1.31649961e-01 -4.99896446e-02 4.42501865e+02] [ 1.31556440e-01 9.91295196e-01 -5.17092957e-03 3.80653803e+01] [ 5.02352472e-02 -1.45705835e-03 9.98736350e-01 2.09028817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.53, Y:38.07, Z:20.90 [[ 9.90052175e-01 -1.31444763e-01 -5.01892958e-02 4.42534055e+02] [ 1.31350429e-01 9.91322427e-01 -5.18763297e-03 3.80650265e+01] [ 5.04356617e-02 -1.45635821e-03 9.98726250e-01 2.09041042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.57, Y:38.07, Z:20.91 [[ 9.90116206e-01 -1.31056905e-01 -4.99398261e-02 4.42565646e+02] [ 1.30963447e-01 9.91373804e-01 -5.15323168e-03 3.80693199e+01] [ 5.01844020e-02 -1.43799355e-03 9.98738934e-01 2.09052619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.60, Y:38.07, Z:20.91 [[ 9.90158976e-01 -1.30386040e-01 -5.08397682e-02 4.42596948e+02] [ 1.30288489e-01 9.91462267e-01 -5.24239167e-03 3.80692490e+01] [ 5.10892465e-02 -1.43303542e-03 9.98693064e-01 2.09060662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.63, Y:38.07, Z:20.91 [[ 9.90303467e-01 -1.29202336e-01 -5.10470427e-02 4.42629366e+02] [ 1.29102567e-01 9.91617290e-01 -5.26084176e-03 3.80736816e+01] [ 5.12988432e-02 -1.38047441e-03 9.98682393e-01 2.09075900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.66, Y:38.08, Z:20.91 [[ 9.90666436e-01 -1.26394407e-01 -5.10339831e-02 4.42661569e+02] [ 1.26291202e-01 9.91979293e-01 -5.25492547e-03 3.80766689e+01] [ 5.12888477e-02 -1.23926476e-03 9.98683092e-01 2.09089658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.69, Y:38.08, Z:20.91 [[ 9.90900930e-01 -1.24530841e-01 -5.10628774e-02 4.42693762e+02] [ 1.24425240e-01 9.92215074e-01 -5.25413485e-03 3.80798130e+01] [ 5.13196585e-02 -1.14718367e-03 9.98681619e-01 2.09107664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.72, Y:38.08, Z:20.91 [[ 9.91146269e-01 -1.22566331e-01 -5.10545642e-02 4.42724816e+02] [ 1.22458350e-01 9.92459770e-01 -5.24959100e-03 3.80819452e+01] [ 5.13130241e-02 -1.04894517e-03 9.98682068e-01 2.09120411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.76, Y:38.09, Z:20.91 [[ 9.91420025e-01 -1.20194426e-01 -5.13773724e-02 4.42756416e+02] [ 1.20082044e-01 9.92749931e-01 -5.27987327e-03 3.80860788e+01] [ 5.16394943e-02 -9.34927783e-04 9.98665354e-01 2.09134991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.79, Y:38.09, Z:20.91 [[ 9.91975347e-01 -1.15545445e-01 -5.13240832e-02 4.42788059e+02] [ 1.15427268e-01 9.93301951e-01 -5.27066616e-03 3.80896316e+01] [ 5.15893135e-02 -6.95827798e-04 9.98668142e-01 2.09147146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.82, Y:38.09, Z:20.92 [[ 9.92261553e-01 -1.12880693e-01 -5.17200126e-02 4.42818782e+02] [ 1.12757240e-01 9.93608389e-01 -5.30799540e-03 3.80918518e+01] [ 5.19886086e-02 -5.64886120e-04 9.98647518e-01 2.09153761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.85, Y:38.10, Z:20.92 [[ 9.92515520e-01 -1.10587151e-01 -5.18017809e-02 4.42850366e+02] [ 1.10460331e-01 9.93866330e-01 -5.31357891e-03 3.80960257e+01] [ 5.20716594e-02 -4.48232311e-04 9.98643250e-01 2.09168981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.88, Y:38.10, Z:20.92 [[ 9.92804290e-01 -1.08134232e-01 -5.14453980e-02 4.42881042e+02] [ 1.08005998e-01 9.94136251e-01 -5.27437412e-03 3.80985014e+01] [ 5.17140755e-02 -3.19990291e-04 9.98661881e-01 2.09174574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.91, Y:38.10, Z:20.92 [[ 9.93178446e-01 -1.04375651e-01 -5.19836310e-02 4.42912217e+02] [ 1.04239900e-01 9.94537936e-01 -5.32327551e-03 3.81010641e+01] [ 5.22553134e-02 -1.31805993e-04 9.98633749e-01 2.09181556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.94, Y:38.10, Z:20.92 [[ 9.93329737e-01 -1.03046401e-01 -5.17443034e-02 4.42942704e+02] [ 1.02910181e-01 9.94676548e-01 -5.29710314e-03 3.81033876e+01] [ 5.20146925e-02 -6.32455770e-05 9.98646318e-01 2.09194584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:442.97, Y:38.11, Z:20.92 [[ 9.93470221e-01 -1.01743578e-01 -5.16252287e-02 4.42974097e+02] [ 1.01606236e-01 9.94810658e-01 -5.28475509e-03 3.81054871e+01] [ 5.18950176e-02 4.80166331e-06 9.98652546e-01 2.09210750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.00, Y:38.11, Z:20.92 [[ 9.93590568e-01 -1.00786641e-01 -5.11843362e-02 4.43004176e+02] [ 1.00650466e-01 9.94908061e-01 -5.23768980e-03 3.81072875e+01] [ 5.14515978e-02 5.23918685e-05 9.98675488e-01 2.09222589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.04, Y:38.11, Z:20.92 [[ 9.93704957e-01 -1.00256585e-01 -4.99907516e-02 4.43035755e+02] [ 1.00126161e-01 9.94961613e-01 -5.11276765e-03 3.81075361e+01] [ 5.02514675e-02 7.52005132e-05 9.98736594e-01 2.09242400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.07, Y:38.11, Z:20.93 [[ 9.93676044e-01 -1.00735886e-01 -4.96004220e-02 4.43066339e+02] [ 1.00608176e-01 9.94913202e-01 -5.07109258e-03 3.81087703e+01] [ 4.98589557e-02 4.88152180e-05 9.98756268e-01 2.09257477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.10, Y:38.11, Z:20.93 [[ 9.93477580e-01 -1.03308213e-01 -4.82670773e-02 4.43097429e+02] [ 1.03190355e-01 9.94649389e-01 -4.93394021e-03 3.81064007e+01] [ 4.85185355e-02 -7.89378688e-05 9.98822279e-01 2.09272888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.13, Y:38.11, Z:20.93 [[ 9.93258739e-01 -1.05361292e-01 -4.83329741e-02 4.43128090e+02] [ 1.05245543e-01 9.94433993e-01 -4.94061461e-03 3.81055727e+01] [ 4.85845019e-02 -1.79521486e-04 9.98819060e-01 2.09283453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.16, Y:38.11, Z:20.93 [[ 9.93258739e-01 -1.05361162e-01 -4.83332528e-02 4.43157901e+02] [ 1.05245546e-01 9.94434006e-01 -4.93788672e-03 3.81086171e+01] [ 4.85844917e-02 -1.82260457e-04 9.98819060e-01 2.09297702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.19, Y:38.11, Z:20.93 [[ 9.93004611e-01 -1.08020184e-01 -4.76810583e-02 4.43189824e+02] [ 1.07910732e-01 9.94148653e-01 -4.87124187e-03 3.81079749e+01] [ 4.79282523e-02 -3.08132283e-04 9.98850733e-01 2.09308854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.22, Y:38.11, Z:20.93 [[ 9.92634017e-01 -1.11253830e-01 -4.79613854e-02 4.43220924e+02] [ 1.11146941e-01 9.93791913e-01 -4.89814483e-03 3.81072571e+01] [ 4.82085743e-02 -4.68696083e-04 9.98837181e-01 2.09322241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.25, Y:38.10, Z:20.93 [[ 9.91757333e-01 -1.18691853e-01 -4.82662984e-02 4.43253000e+02] [ 1.18592525e-01 9.92930784e-01 -4.92659859e-03 3.81019436e+01] [ 4.85098407e-02 -8.38031914e-04 9.98822353e-01 2.09326332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.28, Y:38.10, Z:20.93 [[ 9.91305445e-01 -1.22498754e-01 -4.80371631e-02 4.43284742e+02] [ 1.22404915e-01 9.92468142e-01 -4.90145966e-03 3.81012844e+01] [ 4.82757767e-02 -1.02114122e-03 9.98833523e-01 2.09340452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.32, Y:38.10, Z:20.94 [[ 9.90822122e-01 -1.26375412e-01 -4.79664175e-02 4.43315903e+02] [ 1.26286470e-01 9.91981749e-01 -4.89247123e-03 3.81001980e+01] [ 4.82000988e-02 -1.20994083e-03 9.98836967e-01 2.09355404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.35, Y:38.10, Z:20.94 [[ 9.90308850e-01 -1.30330879e-01 -4.79816933e-02 4.43346415e+02] [ 1.30246557e-01 9.91469562e-01 -4.89313843e-03 3.80984858e+01] [ 4.82101154e-02 -1.40373206e-03 9.98836230e-01 2.09369941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.38, Y:38.09, Z:20.94 [[ 9.89370443e-01 -1.37078833e-01 -4.85337008e-02 4.43377405e+02] [ 1.37000703e-01 9.90558590e-01 -4.94850734e-03 3.80897270e+01] [ 4.87538098e-02 -1.75324423e-03 9.98809287e-01 2.09371327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.41, Y:38.09, Z:20.94 [[ 9.88882797e-01 -1.40503035e-01 -4.86796786e-02 4.43408272e+02] [ 1.40428657e-01 9.90078368e-01 -4.96167816e-03 3.80929020e+01] [ 4.88938275e-02 -1.92950370e-03 9.98802118e-01 2.09384542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.44, Y:38.09, Z:20.94 [[ 9.88452140e-01 -1.43457608e-01 -4.88086197e-02 4.43439653e+02] [ 1.43386513e-01 9.89654271e-01 -4.97308022e-03 3.80925938e+01] [ 4.90170852e-02 -2.08284598e-03 9.98795768e-01 2.09394598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.47, Y:38.09, Z:20.94 [[ 9.87581841e-01 -1.49367561e-01 -4.86974159e-02 4.43469392e+02] [ 1.49304034e-01 9.88778895e-01 -4.95999443e-03 3.80892321e+01] [ 4.88918394e-02 -2.37232021e-03 9.98801262e-01 2.09408326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.50, Y:38.09, Z:20.94 [[ 9.87207110e-01 -1.51821101e-01 -4.87080717e-02 4.43500679e+02] [ 1.51760553e-01 9.88404840e-01 -4.96045071e-03 3.80907112e+01] [ 4.88963950e-02 -2.49497169e-03 9.98800740e-01 2.09422608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.53, Y:38.09, Z:20.94 [[ 9.86868997e-01 -1.53936309e-01 -4.89203027e-02 4.43531496e+02] [ 1.53877909e-01 9.88077318e-01 -4.98028409e-03 3.80911640e+01] [ 4.91036881e-02 -2.61286594e-03 9.98790269e-01 2.09436726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.56, Y:38.09, Z:20.95 [[ 9.86576583e-01 -1.55731201e-01 -4.91369442e-02 4.43561747e+02] [ 1.55674544e-01 9.87795739e-01 -5.00146652e-03 3.80891655e+01] [ 4.93161485e-02 -2.71504163e-03 9.98779528e-01 2.09451635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.59, Y:38.09, Z:20.95 [[ 9.86243731e-01 -1.57789102e-01 -4.92534534e-02 4.43591787e+02] [ 1.57734732e-01 9.87468795e-01 -5.01332556e-03 3.80934150e+01] [ 4.94272964e-02 -2.82461937e-03 9.98773730e-01 2.09460271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.62, Y:38.09, Z:20.95 [[ 9.86142521e-01 -1.58339291e-01 -4.95136029e-02 4.43621533e+02] [ 1.58285035e-01 9.87380599e-01 -5.03984604e-03 3.80940456e+01] [ 4.96867766e-02 -2.86725586e-03 9.98760734e-01 2.09469961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.65, Y:38.10, Z:20.95 [[ 9.86100232e-01 -1.58521893e-01 -4.97708972e-02 4.43651786e+02] [ 1.58467260e-01 9.87351231e-01 -5.06690310e-03 3.80967625e+01] [ 4.99445717e-02 -2.89058341e-03 9.98747808e-01 2.09481725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.68, Y:38.10, Z:20.95 [[ 9.86132359e-01 -1.58237622e-01 -5.00382494e-02 4.43682792e+02] [ 1.58182042e-01 9.87396826e-01 -5.09401841e-03 3.81032640e+01] [ 5.02136740e-02 -2.89177605e-03 9.98734311e-01 2.09498390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.71, Y:38.11, Z:20.95 [[ 9.86219127e-01 -1.57662377e-01 -5.01438795e-02 4.43713652e+02] [ 1.57605915e-01 9.87488904e-01 -5.10290951e-03 3.81069408e+01] [ 5.03210615e-02 -2.87038505e-03 9.98728968e-01 2.09510191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.74, Y:38.11, Z:20.95 [[ 9.86313039e-01 -1.56960346e-01 -5.04979105e-02 4.43743699e+02] [ 1.56902269e-01 9.87600774e-01 -5.13695499e-03 3.81087715e+01] [ 5.06780737e-02 -2.85659104e-03 9.98710956e-01 2.09520295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.77, Y:38.11, Z:20.95 [[ 9.86418583e-01 -1.56124764e-01 -5.10238859e-02 4.43773592e+02] [ 1.56064525e-01 9.87733242e-01 -5.18720470e-03 3.81140673e+01] [ 5.12078393e-02 -2.84626341e-03 9.98683962e-01 2.09531896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.80, Y:38.12, Z:20.95 [[ 9.86543192e-01 -1.55290454e-01 -5.11605783e-02 4.43803959e+02] [ 1.55228774e-01 9.87864857e-01 -5.20110117e-03 3.81179540e+01] [ 5.13474187e-02 -2.81048290e-03 9.98676897e-01 2.09546801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.83, Y:38.12, Z:20.96 [[ 9.86690975e-01 -1.54411460e-01 -5.09707946e-02 4.43834657e+02] [ 1.54349071e-01 9.88002790e-01 -5.18173904e-03 3.81227182e+01] [ 5.11594071e-02 -2.75451966e-03 9.98686701e-01 2.09561487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.86, Y:38.12, Z:20.96 [[ 9.86944874e-01 -1.52691724e-01 -5.12352702e-02 4.43864093e+02] [ 1.52626415e-01 9.88270234e-01 -5.20789235e-03 3.81216757e+01] [ 5.14294945e-02 -2.67995294e-03 9.98673032e-01 2.09570397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.89, Y:38.13, Z:20.96 [[ 9.87021157e-01 -1.52165479e-01 -5.13313012e-02 4.43894094e+02] [ 1.52099127e-01 9.88351463e-01 -5.21938973e-03 3.81308038e+01] [ 5.15275776e-02 -2.65579798e-03 9.98668041e-01 2.09589340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.92, Y:38.14, Z:20.96 [[ 9.87085906e-01 -1.51742429e-01 -5.13385695e-02 4.43924190e+02] [ 1.51675487e-01 9.88416560e-01 -5.22012877e-03 3.81355821e+01] [ 5.15360073e-02 -2.63408700e-03 9.98667663e-01 2.09606445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.95, Y:38.14, Z:20.96 [[ 9.87136315e-01 -1.51451488e-01 -5.12283331e-02 4.43954255e+02] [ 1.51384439e-01 9.88461238e-01 -5.20899125e-03 3.81355358e+01] [ 5.14261310e-02 -2.61318802e-03 9.98673382e-01 2.09618988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:443.99, Y:38.15, Z:20.96 [[ 9.87217864e-01 -1.51054810e-01 -5.08265094e-02 4.43985117e+02] [ 1.50988247e-01 9.88522044e-01 -5.16884933e-03 3.81452504e+01] [ 5.10239045e-02 -2.57142516e-03 9.98694122e-01 2.09636858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.02, Y:38.15, Z:20.97 [[ 9.87232477e-01 -1.50858510e-01 -5.11248142e-02 4.44016334e+02] [ 1.50790999e-01 9.88552003e-01 -5.19729017e-03 3.81488879e+01] [ 5.13235930e-02 -2.57822818e-03 9.98678748e-01 2.09651235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.05, Y:38.15, Z:20.97 [[ 9.87279441e-01 -1.50533323e-01 -5.11763955e-02 4.44047347e+02] [ 1.50465337e-01 9.88601606e-01 -5.20065576e-03 3.81526681e+01] [ 5.13759388e-02 -2.56577309e-03 9.98676088e-01 2.09664981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.08, Y:38.16, Z:20.97 [[ 9.87431516e-01 -1.49527151e-01 -5.11921052e-02 4.44078097e+02] [ 1.49457871e-01 9.88754419e-01 -5.20038929e-03 3.81578321e+01] [ 5.13940196e-02 -2.51603477e-03 9.98675285e-01 2.09679025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.11, Y:38.16, Z:20.97 [[ 9.87547586e-01 -1.48804779e-01 -5.10578438e-02 4.44108486e+02] [ 1.48734990e-01 9.88863499e-01 -5.18497124e-03 3.81613024e+01] [ 5.12607865e-02 -2.47368206e-03 9.98682238e-01 2.09694276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.14, Y:38.17, Z:20.97 [[ 9.87685038e-01 -1.47872370e-01 -5.11080104e-02 4.44139217e+02] [ 1.47801247e-01 9.89003470e-01 -5.18914568e-03 3.81656916e+01] [ 5.13133309e-02 -2.42858611e-03 9.98679650e-01 2.09707623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.17, Y:38.17, Z:20.97 [[ 9.88008379e-01 -1.45479017e-01 -5.17232959e-02 4.44169289e+02] [ 1.45402945e-01 9.89358587e-01 -5.25076499e-03 3.81731181e+01] [ 5.19367631e-02 -2.33291977e-03 9.98647651e-01 2.09720058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.20, Y:38.18, Z:20.97 [[ 9.88246219e-01 -1.43933406e-01 -5.15032631e-02 4.44199119e+02] [ 1.43855889e-01 9.89584836e-01 -5.22835250e-03 3.81756613e+01] [ 5.17193827e-02 -2.24214810e-03 9.98659140e-01 2.09732197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.23, Y:38.18, Z:20.98 [[ 9.88459506e-01 -1.42453599e-01 -5.15245253e-02 4.44229291e+02] [ 1.42374064e-01 9.89799110e-01 -5.22951017e-03 3.81842707e+01] [ 5.17438919e-02 -2.16659704e-03 9.98658037e-01 2.09751413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.26, Y:38.19, Z:20.98 [[ 9.88737109e-01 -1.40580686e-01 -5.13419995e-02 4.44260481e+02] [ 1.40499291e-01 9.90067076e-01 -5.20911301e-03 3.81900992e+01] [ 5.15643240e-02 -2.06307121e-03 9.98667544e-01 2.09770292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.29, Y:38.19, Z:20.98 [[ 9.88966111e-01 -1.38939328e-01 -5.13993604e-02 4.44291097e+02] [ 1.38855636e-01 9.90298913e-01 -5.21303861e-03 3.81940140e+01] [ 5.16250268e-02 -1.98157236e-03 9.98664573e-01 2.09784105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.32, Y:38.20, Z:20.98 [[ 9.89320478e-01 -1.36218198e-01 -5.18613049e-02 4.44320588e+02] [ 1.36129353e-01 9.90677117e-01 -5.25814949e-03 3.82004914e+01] [ 5.20940637e-02 -1.85785094e-03 9.98640454e-01 2.09801872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.35, Y:38.20, Z:20.98 [[ 9.89486479e-01 -1.35005343e-01 -5.18658415e-02 4.44350413e+02] [ 1.34914819e-01 9.90843246e-01 -5.25860945e-03 3.82038873e+01] [ 5.21008592e-02 -1.79414769e-03 9.98640216e-01 2.09813721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.38, Y:38.21, Z:20.98 [[ 9.89565350e-01 -1.34352005e-01 -5.20572422e-02 4.44381236e+02] [ 1.34259919e-01 9.90932096e-01 -5.27784358e-03 3.82099220e+01] [ 5.22942810e-02 -1.76642999e-03 9.98630156e-01 2.09831214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.41, Y:38.21, Z:20.98 [[ 9.89612019e-01 -1.33872119e-01 -5.24052204e-02 4.44411099e+02] [ 1.33778221e-01 9.90997062e-01 -5.31132168e-03 3.82141733e+01] [ 5.26444573e-02 -1.75452941e-03 9.98611778e-01 2.09846911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.44, Y:38.22, Z:20.99 [[ 9.89594455e-01 -1.33971002e-01 -5.24841476e-02 4.44441563e+02] [ 1.33877004e-01 9.90983684e-01 -5.31847755e-03 3.82176905e+01] [ 5.27234557e-02 -1.76328458e-03 9.98607595e-01 2.09860888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.47, Y:38.22, Z:20.99 [[ 9.89506674e-01 -1.34523900e-01 -5.27244083e-02 4.44472580e+02] [ 1.34429834e-01 9.90908712e-01 -5.34262402e-03 3.82242097e+01] [ 5.29637862e-02 -1.80117132e-03 9.98594809e-01 2.09883739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.50, Y:38.22, Z:20.99 [[ 9.89397163e-01 -1.35134282e-01 -5.32163427e-02 4.44503544e+02] [ 1.35039445e-01 9.90825561e-01 -5.39037724e-03 3.82240951e+01] [ 5.34565374e-02 -1.85308145e-03 9.98568458e-01 2.09890978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.53, Y:38.23, Z:20.99 [[ 9.89290660e-01 -1.35591652e-01 -5.40267920e-02 4.44533996e+02] [ 1.35494735e-01 9.90762968e-01 -5.46972402e-03 3.82272950e+01] [ 5.42693937e-02 -1.90919899e-03 9.98524505e-01 2.09901147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.56, Y:38.23, Z:20.99 [[ 9.89067018e-01 -1.36895459e-01 -5.48276221e-02 4.44563703e+02] [ 1.36797639e-01 9.90583461e-01 -5.55093383e-03 3.82321289e+01] [ 5.50712333e-02 -2.01004370e-03 9.98480405e-01 2.09917715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.59, Y:38.24, Z:20.99 [[ 9.89022493e-01 -1.37386846e-01 -5.44000236e-02 4.44594898e+02] [ 1.37291257e-01 9.90515406e-01 -5.50821131e-03 3.82373632e+01] [ 5.46408173e-02 -2.02090274e-03 9.98504030e-01 2.09938587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.63, Y:38.24, Z:21.00 [[ 9.88997271e-01 -1.37633570e-01 -5.42346538e-02 4.44625226e+02] [ 1.37539031e-01 9.90481135e-01 -5.48963825e-03 3.82400828e+01] [ 5.44739599e-02 -2.03014449e-03 9.98513128e-01 2.09952990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.66, Y:38.24, Z:21.00 [[ 9.89020784e-01 -1.37744502e-01 -5.35195366e-02 4.44655588e+02] [ 1.37652652e-01 9.90465755e-01 -5.41630675e-03 3.82428439e+01] [ 5.37553347e-02 -2.01026621e-03 9.98552113e-01 2.09968042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.69, Y:38.25, Z:21.00 [[ 9.89070254e-01 -1.37428853e-01 -5.34166935e-02 4.44686573e+02] [ 1.37336953e-01 9.90509641e-01 -5.40484096e-03 3.82471087e+01] [ 5.36525310e-02 -1.99031851e-03 9.98557682e-01 2.09985623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.72, Y:38.25, Z:21.00 [[ 9.89139984e-01 -1.36935651e-01 -5.33921240e-02 4.44718578e+02] [ 1.36843234e-01 9.90577996e-01 -5.40021342e-03 3.82541175e+01] [ 5.36285450e-02 -1.96478390e-03 9.98559021e-01 2.10004994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.75, Y:38.25, Z:21.00 [[ 9.89283004e-01 -1.35987247e-01 -5.31658411e-02 4.44748779e+02] [ 1.35894455e-01 9.90708748e-01 -5.37339263e-03 3.82542815e+01] [ 5.34025767e-02 -1.90913699e-03 9.98571239e-01 2.10008629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.78, Y:38.26, Z:21.00 [[ 9.89601566e-01 -1.33587293e-01 -5.33214326e-02 4.44779177e+02] [ 1.33490670e-01 9.91035437e-01 -5.38554018e-03 3.82639763e+01] [ 5.35628690e-02 -1.78837478e-03 9.98562878e-01 2.10026768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.81, Y:38.27, Z:21.00 [[ 9.89808441e-01 -1.32033349e-01 -5.33520871e-02 4.44810800e+02] [ 1.31934475e-01 9.91243804e-01 -5.38651251e-03 3.82679425e+01] [ 5.35961251e-02 -1.70736406e-03 9.98561235e-01 2.10038062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.84, Y:38.27, Z:21.01 [[ 9.90037212e-01 -1.30320972e-01 -5.33175622e-02 4.44842119e+02] [ 1.30219900e-01 9.91470540e-01 -5.38016889e-03 3.82720804e+01] [ 5.35639410e-02 -1.61644022e-03 9.98563113e-01 2.10051720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.87, Y:38.28, Z:21.01 [[ 9.90446306e-01 -1.26999078e-01 -5.37340625e-02 4.44872670e+02] [ 1.26891646e-01 9.91901775e-01 -5.42018489e-03 3.82759699e+01] [ 5.39872705e-02 -1.45000155e-03 9.98540571e-01 2.10061882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.90, Y:38.28, Z:21.01 [[ 9.90692630e-01 -1.25037775e-01 -5.37928181e-02 4.44903444e+02] [ 1.24927329e-01 9.92151068e-01 -5.42411575e-03 3.82804078e+01] [ 5.40488213e-02 -1.34656157e-03 9.98537386e-01 2.10073470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.93, Y:38.28, Z:21.01 [[ 9.90924393e-01 -1.23105362e-01 -5.39807199e-02 4.44934506e+02] [ 1.22991385e-01 9.92392822e-01 -5.44109077e-03 3.82845777e+01] [ 5.42399065e-02 -1.24745395e-03 9.98527154e-01 2.10087863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:444.97, Y:38.29, Z:21.01 [[ 9.91464173e-01 -1.18693221e-01 -5.39510238e-02 4.44965194e+02] [ 1.18572948e-01 9.92930463e-01 -5.43614447e-03 3.82900881e+01] [ 5.42148485e-02 -1.00738945e-03 9.98528785e-01 2.10103763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.00, Y:38.29, Z:21.01 [[ 9.91746483e-01 -1.16255463e-01 -5.40701515e-02 4.44995300e+02] [ 1.16131130e-01 9.93218957e-01 -5.44643058e-03 3.82941584e+01] [ 5.43366768e-02 -8.77749444e-04 9.98522286e-01 2.10116366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.03, Y:38.30, Z:21.01 [[ 9.92001928e-01 -1.13929342e-01 -5.43348809e-02 4.45025352e+02] [ 1.13800302e-01 9.93488569e-01 -5.47309650e-03 3.82980887e+01] [ 5.46046294e-02 -7.54003592e-04 9.98507770e-01 2.10127167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.06, Y:38.30, Z:21.01 [[ 9.92510200e-01 -1.09140219e-01 -5.48809140e-02 4.45055878e+02] [ 1.09001259e-01 9.94026241e-01 -5.52796011e-03 3.83035284e+01] [ 5.51563914e-02 -4.95531943e-04 9.98477605e-01 2.10146090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.08, Y:38.31, Z:21.02 [[ 9.92506290e-01 -1.09175746e-01 -5.48809720e-02 4.45084853e+02] [ 1.09036873e-01 9.94022338e-01 -5.52738444e-03 3.83064743e+01] [ 5.51563684e-02 -4.98085757e-04 9.98477605e-01 2.10159943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.11, Y:38.31, Z:21.02 [[ 9.92737587e-01 -1.07059352e-01 -5.48669200e-02 4.45114735e+02] [ 1.06917225e-01 9.94252559e-01 -5.52768157e-03 3.83100701e+01] [ 5.51433656e-02 -3.78681566e-04 9.98478375e-01 2.10174332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.14, Y:38.31, Z:21.02 [[ 9.92960638e-01 -1.05004241e-01 -5.48021903e-02 4.45143892e+02] [ 1.04859314e-01 9.94471739e-01 -5.52129605e-03 3.83131260e+01] [ 5.50789890e-02 -2.64090428e-04 9.98481965e-01 2.10183646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.17, Y:38.32, Z:21.02 [[ 9.93110346e-01 -1.03606380e-01 -5.47499739e-02 4.45172861e+02] [ 1.03459461e-01 9.94618361e-01 -5.51866399e-03 3.83167252e+01] [ 5.50270981e-02 -1.83760492e-04 9.98484845e-01 2.10206046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.20, Y:38.32, Z:21.02 [[ 9.93301811e-01 -1.01733634e-01 -5.47884997e-02 4.45202395e+02] [ 1.01583025e-01 9.94811672e-01 -5.53407223e-03 3.83190386e+01] [ 5.50672403e-02 -6.85775766e-05 9.98482646e-01 2.10223673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.23, Y:38.32, Z:21.02 [[ 9.93312056e-01 -1.01537717e-01 -5.49659199e-02 4.45230377e+02] [ 1.01385696e-01 9.94831689e-01 -5.55443590e-03 3.83208203e+01] [ 5.52458237e-02 -5.54698899e-05 9.98472782e-01 2.10235350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.26, Y:38.32, Z:21.02 [[ 9.93257627e-01 -1.01948460e-01 -5.51887563e-02 4.45259026e+02] [ 1.01795485e-01 9.94789679e-01 -5.58327995e-03 3.83220965e+01] [ 5.54704120e-02 -7.23308280e-05 9.98460329e-01 2.10245285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.29, Y:38.32, Z:21.03 [[ 9.93137953e-01 -1.02920287e-01 -5.55375616e-02 4.45286758e+02] [ 1.02766152e-01 9.94689601e-01 -5.63173967e-03 3.83227039e+01] [ 5.58222553e-02 -1.14287110e-04 9.98440716e-01 2.10254034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.32, Y:38.32, Z:21.03 [[ 9.92795218e-01 -1.06399186e-01 -5.51077968e-02 4.45315947e+02] [ 1.06252320e-01 9.94323450e-01 -5.59650904e-03 3.83210642e+01] [ 5.53904386e-02 -2.99143823e-04 9.98464726e-01 2.10271536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.34, Y:38.32, Z:21.03 [[ 9.92568563e-01 -1.08719530e-01 -5.46599689e-02 4.45344816e+02] [ 1.08577795e-01 9.94072379e-01 -5.56488202e-03 3.83212269e+01] [ 5.49409767e-02 -4.11331954e-04 9.98489519e-01 2.10287642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.37, Y:38.32, Z:21.03 [[ 9.92273467e-01 -1.11550236e-01 -5.43130884e-02 4.45373352e+02] [ 1.11413775e-01 9.93758644e-01 -5.54340024e-03 3.83212333e+01] [ 5.45924687e-02 -5.50657222e-04 9.98508567e-01 2.10303925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.40, Y:38.32, Z:21.03 [[ 9.91636383e-01 -1.17477078e-01 -5.34454908e-02 4.45402097e+02] [ 1.17352871e-01 9.93075230e-01 -5.46724825e-03 3.83171962e+01] [ 5.37176694e-02 -8.50459511e-04 9.98555802e-01 2.10318324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.43, Y:38.32, Z:21.03 [[ 9.91255163e-01 -1.20671447e-01 -5.34004127e-02 4.45432202e+02] [ 1.20551896e-01 9.92691978e-01 -5.46602637e-03 3.83166926e+01] [ 5.36697546e-02 -1.01929416e-03 9.98558220e-01 2.10330075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.46, Y:38.32, Z:21.03 [[ 9.90792973e-01 -1.24351633e-01 -5.35346314e-02 4.45461839e+02] [ 1.24236739e-01 9.92237463e-01 -5.48170869e-03 3.83161814e+01] [ 5.38007263e-02 -1.21972957e-03 9.98550947e-01 2.10341841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.49, Y:38.31, Z:21.04 [[ 9.90355801e-01 -1.27927913e-01 -5.31962123e-02 4.45491251e+02] [ 1.27819531e-01 9.91782476e-01 -5.44867446e-03 3.83140565e+01] [ 5.34561087e-02 -1.40338853e-03 9.98569214e-01 2.10352205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.52, Y:38.31, Z:21.04 [[ 9.89282141e-01 -1.36071713e-01 -5.29654062e-02 4.45522098e+02] [ 1.35975943e-01 9.90697289e-01 -5.42439871e-03 3.83087053e+01] [ 5.32107915e-02 -1.83576028e-03 9.98581615e-01 2.10363516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.55, Y:38.31, Z:21.04 [[ 9.88715803e-01 -1.40156427e-01 -5.28889022e-02 4.45552056e+02] [ 1.40066737e-01 9.90127247e-01 -5.41702514e-03 3.83107314e+01] [ 5.31259740e-02 -2.05207761e-03 9.98585710e-01 2.10379503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.58, Y:38.31, Z:21.04 [[ 9.87543826e-01 -1.48292152e-01 -5.25987619e-02 4.45582922e+02] [ 1.48214895e-01 9.88940500e-01 -5.38816883e-03 3.83067736e+01] [ 5.28160690e-02 -2.47486710e-03 9.98601191e-01 2.10391472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.61, Y:38.31, Z:21.04 [[ 9.87538436e-01 -1.48328046e-01 -5.25987463e-02 4.45611923e+02] [ 1.48250831e-01 9.88935113e-01 -5.38832135e-03 3.83097731e+01] [ 5.28159862e-02 -2.47663341e-03 9.98601191e-01 2.10405343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.64, Y:38.31, Z:21.04 [[ 9.86982010e-01 -1.52040697e-01 -5.24417654e-02 4.45642248e+02] [ 1.51969072e-01 9.88370640e-01 -5.37397257e-03 3.83115690e+01] [ 5.26489637e-02 -2.66551217e-03 9.98609524e-01 2.10420024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.67, Y:38.31, Z:21.04 [[ 9.85958836e-01 -1.58454859e-01 -5.26994363e-02 4.45673336e+02] [ 1.58391648e-01 9.87361596e-01 -5.40037336e-03 3.83097167e+01] [ 5.28891150e-02 -3.02260476e-03 9.98595817e-01 2.10429142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.70, Y:38.31, Z:21.04 [[ 9.85590032e-01 -1.60705084e-01 -5.27841411e-02 4.45703570e+02] [ 1.60644880e-01 9.86997449e-01 -5.40912119e-03 3.83105622e+01] [ 5.29670859e-02 -3.14832608e-03 9.98591296e-01 2.10439295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.73, Y:38.31, Z:21.05 [[ 9.85284653e-01 -1.62554099e-01 -5.28234529e-02 4.45734335e+02] [ 1.62496403e-01 9.86694283e-01 -5.41403486e-03 3.83118622e+01] [ 5.30006725e-02 -3.24925565e-03 9.98589190e-01 2.10450347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.76, Y:38.31, Z:21.05 [[ 9.84953308e-01 -1.64360953e-01 -5.34084046e-02 4.45763468e+02] [ 1.64304605e-01 9.86394460e-01 -5.47421522e-03 3.83123223e+01] [ 5.35815016e-02 -3.38340042e-03 9.98557748e-01 2.10455028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.79, Y:38.31, Z:21.05 [[ 9.84931299e-01 -1.64470234e-01 -5.34778393e-02 4.45792153e+02] [ 1.64413787e-01 9.86376216e-01 -5.48342338e-03 3.83139983e+01] [ 5.36511286e-02 -3.39169879e-03 9.98553981e-01 2.10463795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.82, Y:38.32, Z:21.05 [[ 9.84964446e-01 -1.64131459e-01 -5.39064453e-02 4.45821767e+02] [ 1.64073452e-01 9.86432623e-01 -5.53011121e-03 3.83205254e+01] [ 5.40827414e-02 -3.39765364e-03 9.98530677e-01 2.10479736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.85, Y:38.32, Z:21.05 [[ 9.85122859e-01 -1.63231115e-01 -5.37452810e-02 4.45850744e+02] [ 1.63172060e-01 9.86582215e-01 -5.51469301e-03 3.83234306e+01] [ 5.39243078e-02 -3.33707806e-03 9.98539450e-01 2.10492576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.88, Y:38.33, Z:21.05 [[ 9.85386452e-01 -1.61748123e-01 -5.33955482e-02 4.45878887e+02] [ 1.61687554e-01 9.86826781e-01 -5.48087357e-03 3.83269231e+01] [ 5.35786780e-02 -3.23261705e-03 9.98558399e-01 2.10506756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.91, Y:38.34, Z:21.05 [[ 9.86094278e-01 -1.57438068e-01 -5.32102434e-02 4.45908725e+02] [ 1.57371524e-01 9.87524350e-01 -5.46448452e-03 3.83357324e+01] [ 5.34067289e-02 -2.98528019e-03 9.98568380e-01 2.10526508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.94, Y:38.34, Z:21.05 [[ 9.86537323e-01 -1.54559087e-01 -5.34377993e-02 4.45937917e+02] [ 1.54487753e-01 9.87979461e-01 -5.48805147e-03 3.83408378e+01] [ 5.36436764e-02 -2.84131792e-03 9.98556099e-01 2.10541026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:445.97, Y:38.35, Z:21.06 [[ 9.87014408e-01 -1.51593582e-01 -5.31219783e-02 4.45967977e+02] [ 1.51518916e-01 9.88439314e-01 -5.45353581e-03 3.83494991e+01] [ 5.33345728e-02 -2.66626616e-03 9.98573139e-01 2.10559144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.00, Y:38.36, Z:21.06 [[ 9.88048659e-01 -1.44728839e-01 -5.30415882e-02 4.45996727e+02] [ 1.44644542e-01 9.89468700e-01 -5.44497194e-03 3.83591580e+01] [ 5.32710358e-02 -2.29227902e-03 9.98577459e-01 2.10574155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.03, Y:38.37, Z:21.06 [[ 9.88563499e-01 -1.41050938e-01 -5.33557908e-02 4.46026587e+02] [ 1.40960247e-01 9.90000101e-01 -5.47809421e-03 3.83663610e+01] [ 5.35949286e-02 -2.10560146e-03 9.98560539e-01 2.10588339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.06, Y:38.37, Z:21.06 [[ 9.89042964e-01 -1.37610395e-01 -5.34545970e-02 4.46056230e+02] [ 1.37514351e-01 9.90484570e-01 -5.48823874e-03 3.83737265e+01] [ 5.37011922e-02 -1.92267028e-03 9.98555199e-01 2.10600870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.09, Y:38.38, Z:21.06 [[ 9.89907021e-01 -1.31102178e-01 -5.38173699e-02 4.46085947e+02] [ 1.30995223e-01 9.91367602e-01 -5.52536575e-03 3.83839641e+01] [ 5.40771844e-02 -1.58022002e-03 9.98535508e-01 2.10612450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.12, Y:38.39, Z:21.06 [[ 9.90320857e-01 -1.27866881e-01 -5.39876057e-02 4.46115307e+02] [ 1.27754486e-01 9.91790339e-01 -5.54210087e-03 3.83894476e+01] [ 5.42530369e-02 -1.40870076e-03 9.98526226e-01 2.10623093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.14, Y:38.40, Z:21.06 [[ 9.90723512e-01 -1.24657002e-01 -5.41068862e-02 4.46144691e+02] [ 1.24539268e-01 9.92199127e-01 -5.55544300e-03 3.83963785e+01] [ 5.43773301e-02 -1.23452398e-03 9.98519695e-01 2.10637994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.17, Y:38.40, Z:21.07 [[ 9.91071511e-01 -1.21754142e-01 -5.43432445e-02 4.46172857e+02] [ 1.21630905e-01 9.92559705e-01 -5.58176136e-03 3.84028558e+01] [ 5.46185173e-02 -1.07789332e-03 9.98506713e-01 2.10650573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.20, Y:38.41, Z:21.07 [[ 9.91874346e-01 -1.15077824e-01 -5.42436677e-02 4.46202159e+02] [ 1.14944921e-01 9.93356228e-01 -5.57401394e-03 3.84145391e+01] [ 5.45247305e-02 -7.06312644e-04 9.98512171e-01 2.10671184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.23, Y:38.42, Z:21.07 [[ 9.92248799e-01 -1.11802283e-01 -5.42454580e-02 4.46232350e+02] [ 1.11664479e-01 9.93730332e-01 -5.57419792e-03 3.84213736e+01] [ 5.45285651e-02 -5.26299604e-04 9.98512072e-01 2.10689803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.26, Y:38.43, Z:21.07 [[ 9.92605563e-01 -1.08847452e-01 -5.37255019e-02 4.46262326e+02] [ 1.08707952e-01 9.94058400e-01 -5.52076784e-03 3.84276663e+01] [ 5.40072079e-02 -3.60444390e-04 9.98540481e-01 2.10706656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.29, Y:38.43, Z:21.07 [[ 9.92977963e-01 -1.05785891e-01 -5.29538451e-02 4.46292582e+02] [ 1.05646020e-01 9.94388912e-01 -5.44147332e-03 3.84338624e+01] [ 5.32323475e-02 -1.91099881e-04 9.98582135e-01 2.10727141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.32, Y:38.44, Z:21.07 [[ 9.93458374e-01 -1.01722617e-01 -5.18938117e-02 4.46322165e+02] [ 1.01582752e-01 9.94812801e-01 -5.33254557e-03 3.84408907e+01] [ 5.21670686e-02 2.61458448e-05 9.98638371e-01 2.10746802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.35, Y:38.45, Z:21.08 [[ 9.93553735e-01 -1.00844122e-01 -5.17826022e-02 4.46352220e+02] [ 1.00703678e-01 9.94902235e-01 -5.32085209e-03 3.84450695e+01] [ 5.20552034e-02 7.18539902e-05 9.98644206e-01 2.10759396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.38, Y:38.45, Z:21.08 [[ 9.93579919e-01 -1.01008119e-01 -5.09539367e-02 4.46382796e+02] [ 1.00872492e-01 9.94885600e-01 -5.23296330e-03 3.84482548e+01] [ 5.12219096e-02 5.95166587e-05 9.98687295e-01 2.10778807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.41, Y:38.45, Z:21.08 [[ 9.93351318e-01 -1.03550771e-01 -5.03030553e-02 4.46412891e+02] [ 1.03421847e-01 9.94624167e-01 -5.16611785e-03 3.84500334e+01] [ 5.05675899e-02 -7.06649005e-05 9.98720639e-01 2.10794382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.44, Y:38.45, Z:21.08 [[ 9.93103537e-01 -1.05905928e-01 -5.02921324e-02 4.46443343e+02] [ 1.05780080e-01 9.94376135e-01 -5.16494146e-03 3.84513438e+01] [ 5.05562942e-02 -1.90584135e-04 9.98721195e-01 2.10805643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.47, Y:38.45, Z:21.08 [[ 9.92790643e-01 -1.08818024e-01 -5.02531261e-02 4.46473363e+02] [ 1.08696150e-01 9.94061629e-01 -5.15991542e-03 3.84519086e+01] [ 5.05161962e-02 -3.39605577e-04 9.98723184e-01 2.10817816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.51, Y:38.45, Z:21.08 [[ 9.91991991e-01 -1.15867247e-01 -5.02660037e-02 4.46505192e+02] [ 1.15754485e-01 9.93264461e-01 -5.15849653e-03 3.84502572e+01] [ 5.05251359e-02 -7.01328131e-04 9.98722543e-01 2.10829367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.54, Y:38.45, Z:21.08 [[ 9.91505595e-01 -1.19872686e-01 -5.04697362e-02 4.46535143e+02] [ 1.19764293e-01 9.92788854e-01 -5.17735716e-03 3.84500069e+01] [ 5.07264153e-02 -9.11093688e-04 9.98712171e-01 2.10839744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.57, Y:38.45, Z:21.08 [[ 9.91037344e-01 -1.23775735e-01 -5.02449018e-02 4.46566025e+02] [ 1.23673536e-01 9.92309596e-01 -5.14991987e-03 3.84485491e+01] [ 5.04959333e-02 -1.11020176e-03 9.98723650e-01 2.10849512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.60, Y:38.45, Z:21.09 [[ 9.90536056e-01 -1.27801611e-01 -5.00506704e-02 4.46596430e+02] [ 1.27705377e-01 9.91798885e-01 -5.12910712e-03 3.84475163e+01] [ 5.02957073e-02 -1.31117418e-03 9.98733509e-01 2.10860870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.63, Y:38.45, Z:21.09 [[ 9.89654879e-01 -1.34689234e-01 -4.94169011e-02 4.46627367e+02] [ 1.34604030e-01 9.90886531e-01 -5.06329964e-03 3.84463936e+01] [ 4.96485137e-02 -1.64079484e-03 9.98765404e-01 2.10879476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.66, Y:38.45, Z:21.09 [[ 9.89290546e-01 -1.37443088e-01 -4.91285304e-02 4.46659211e+02] [ 1.37362311e-01 9.90508085e-01 -5.03279698e-03 3.84470836e+01] [ 4.93539297e-02 -1.76951001e-03 9.98779785e-01 2.10896222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.69, Y:38.45, Z:21.09 [[ 9.89028697e-01 -1.39370043e-01 -4.89716920e-02 4.46690982e+02] [ 1.39292275e-01 9.90238619e-01 -5.01395816e-03 3.84484601e+01] [ 4.91924563e-02 -1.86242987e-03 9.98787582e-01 2.10912154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.72, Y:38.45, Z:21.09 [[ 9.88816238e-01 -1.40969050e-01 -4.86844320e-02 4.46722750e+02] [ 1.40894373e-01 9.90012111e-01 -4.97947916e-03 3.84493341e+01] [ 4.89001297e-02 -1.93557267e-03 9.98801798e-01 2.10928635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.76, Y:38.45, Z:21.09 [[ 9.88666793e-01 -1.42186016e-01 -4.81778861e-02 4.46755156e+02] [ 1.42114567e-01 9.89837975e-01 -4.92270105e-03 3.84516061e+01] [ 4.83882404e-02 -1.97986834e-03 9.98826641e-01 2.10948185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.79, Y:38.45, Z:21.10 [[ 9.88697972e-01 -1.42002427e-01 -4.80794183e-02 4.46786648e+02] [ 1.41931225e-01 9.89864348e-01 -4.90908380e-03 3.84534813e+01] [ 4.82892039e-02 -1.97036951e-03 9.98831452e-01 2.10964467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.82, Y:38.46, Z:21.10 [[ 9.88753031e-01 -1.41579112e-01 -4.81954307e-02 4.46819113e+02] [ 1.41507194e-01 9.89925010e-01 -4.91823191e-03 3.84565730e+01] [ 4.84061811e-02 -1.95708346e-03 9.98825816e-01 2.10978966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.85, Y:38.46, Z:21.10 [[ 9.88967844e-01 -1.40065980e-01 -4.82091836e-02 4.46850627e+02] [ 1.39992398e-01 9.90140374e-01 -4.91611101e-03 3.84593314e+01] [ 4.84224390e-02 -1.88704351e-03 9.98825163e-01 2.10991347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.88, Y:38.46, Z:21.10 [[ 9.89042642e-01 -1.39480885e-01 -4.83708027e-02 4.46882784e+02] [ 1.39406199e-01 9.90223005e-01 -4.93077406e-03 3.84617997e+01] [ 4.85856304e-02 -1.86644394e-03 9.98817277e-01 2.11006031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.92, Y:38.47, Z:21.10 [[ 9.89135176e-01 -1.38975365e-01 -4.79317452e-02 4.46915073e+02] [ 1.38901604e-01 9.90294151e-01 -4.88254322e-03 3.84656686e+01] [ 4.81450801e-02 -1.82830104e-03 9.98838680e-01 2.11020401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.95, Y:38.47, Z:21.10 [[ 9.89143606e-01 -1.38968244e-01 -4.77781689e-02 4.46947052e+02] [ 1.38895117e-01 9.90295155e-01 -4.86335467e-03 3.84683697e+01] [ 4.79903410e-02 -1.82559817e-03 9.98846131e-01 2.11035131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:446.98, Y:38.47, Z:21.10 [[ 9.89036631e-01 -1.39620419e-01 -4.80903439e-02 4.46978273e+02] [ 1.39547275e-01 9.90203328e-01 -4.89154102e-03 3.84689444e+01] [ 4.83021776e-02 -1.87296322e-03 9.98831013e-01 2.11049649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.01, Y:38.47, Z:21.11 [[ 9.89046727e-01 -1.39548789e-01 -4.80906138e-02 4.47009793e+02] [ 1.39475691e-01 9.90213427e-01 -4.88888613e-03 3.84720899e+01] [ 4.83022096e-02 -1.87213474e-03 9.98831013e-01 2.11064713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.04, Y:38.47, Z:21.11 [[ 9.88930994e-01 -1.40248608e-01 -4.84336466e-02 4.47041467e+02] [ 1.40175474e-01 9.90114452e-01 -4.92019202e-03 3.84747589e+01] [ 4.86449036e-02 -1.92347899e-03 9.98814284e-01 2.11077012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.07, Y:38.47, Z:21.11 [[ 9.88741634e-01 -1.41365112e-01 -4.90498442e-02 4.47072504e+02] [ 1.41291655e-01 9.89955492e-01 -4.97917200e-03 3.84743804e+01] [ 4.92610438e-02 -2.00721898e-03 9.98783921e-01 2.11087147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.10, Y:38.48, Z:21.11 [[ 9.88528389e-01 -1.42697030e-01 -4.94892134e-02 4.47103650e+02] [ 1.42624050e-01 9.89764199e-01 -5.02107988e-03 3.84791463e+01] [ 4.96991448e-02 -2.09487205e-03 9.98762037e-01 2.11097889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.13, Y:38.48, Z:21.11 [[ 9.88296456e-01 -1.44116557e-01 -5.00053207e-02 4.47133855e+02] [ 1.44043948e-01 9.89558295e-01 -5.07168797e-03 3.84773187e+01] [ 5.02140941e-02 -2.19063257e-03 9.98736074e-01 2.11104587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.16, Y:38.48, Z:21.11 [[ 9.87876102e-01 -1.46796055e-01 -5.05146039e-02 4.47164846e+02] [ 1.46725458e-01 9.89163987e-01 -5.12322133e-03 3.84827303e+01] [ 5.07192957e-02 -2.35067048e-03 9.98710182e-01 2.11120144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.20, Y:38.49, Z:21.11 [[ 9.87747012e-01 -1.47555386e-01 -5.08256672e-02 4.47196262e+02] [ 1.47485016e-01 9.89050867e-01 -5.15287965e-03 3.84853842e+01] [ 5.10295053e-02 -2.40628285e-03 9.98694247e-01 2.11136716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.23, Y:38.48, Z:21.12 [[ 9.87659229e-01 -1.48177687e-01 -5.07209954e-02 4.47226878e+02] [ 1.48108524e-01 9.88957756e-01 -5.14033471e-03 3.84843165e+01] [ 5.09226047e-02 -2.43531273e-03 9.98699633e-01 2.11150047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.26, Y:38.49, Z:21.12 [[ 9.87553244e-01 -1.49130738e-01 -4.99861368e-02 4.47257906e+02] [ 1.49064920e-01 9.88814449e-01 -5.06306407e-03 3.84928867e+01] [ 5.01820728e-02 -2.45113415e-03 9.98737078e-01 2.11179488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.29, Y:38.50, Z:21.12 [[ 9.87529178e-01 -1.49377295e-01 -4.97247003e-02 4.47289196e+02] [ 1.49312657e-01 9.88777225e-01 -5.03295137e-03 3.84954328e+01] [ 4.99184598e-02 -2.45434078e-03 9.98750281e-01 2.11198281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.32, Y:38.50, Z:21.12 [[ 9.87508400e-01 -1.49618652e-01 -4.94107199e-02 4.47320787e+02] [ 1.49555265e-01 9.88740734e-01 -4.99840990e-03 3.84998238e+01] [ 4.96022468e-02 -2.45366155e-03 9.98766037e-01 2.11217792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.35, Y:38.50, Z:21.12 [[ 9.87475653e-01 -1.49946874e-01 -4.90690305e-02 4.47351328e+02] [ 1.49884947e-01 9.88691003e-01 -4.96014688e-03 3.85028267e+01] [ 4.92578675e-02 -2.45668474e-03 9.98783073e-01 2.11237753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.38, Y:38.51, Z:21.13 [[ 9.87456628e-01 -1.50100027e-01 -4.89835731e-02 4.47383500e+02] [ 1.50038769e-01 9.88667742e-01 -4.94608762e-03 3.85080317e+01] [ 4.91708865e-02 -2.46538803e-03 9.98787338e-01 2.11257021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.41, Y:38.51, Z:21.13 [[ 9.87340304e-01 -1.50984991e-01 -4.86071625e-02 4.47414135e+02] [ 1.50925919e-01 9.88532910e-01 -4.90440744e-03 3.85103707e+01] [ 4.87902717e-02 -2.49376155e-03 9.98805932e-01 2.11271170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.45, Y:38.52, Z:21.13 [[ 9.87183320e-01 -1.51927426e-01 -4.88584703e-02 4.47445537e+02] [ 1.51869200e-01 9.88388337e-01 -4.92350487e-03 3.85158210e+01] [ 4.90391577e-02 -2.55969494e-03 9.98793577e-01 2.11286394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.48, Y:38.52, Z:21.13 [[ 9.87014259e-01 -1.52958544e-01 -4.90564611e-02 4.47476526e+02] [ 1.52901294e-01 9.88229119e-01 -4.93981356e-03 3.85159433e+01] [ 4.92346100e-02 -2.62512998e-03 9.98783791e-01 2.11298451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.51, Y:38.52, Z:21.13 [[ 9.86860536e-01 -1.53937865e-01 -4.90858051e-02 4.47508775e+02] [ 1.53881889e-01 9.88076900e-01 -4.94000509e-03 3.85196013e+01] [ 4.92610039e-02 -2.67832036e-03 9.98782349e-01 2.11311341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.54, Y:38.52, Z:21.13 [[ 9.86486994e-01 -1.56124981e-01 -4.96829984e-02 4.47539947e+02] [ 1.56070578e-01 9.87733268e-01 -4.99652881e-03 3.85246001e+01] [ 4.98536334e-02 -2.82504360e-03 9.98752539e-01 2.11320563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.57, Y:38.53, Z:21.13 [[ 9.86363982e-01 -1.56835523e-01 -4.98870010e-02 4.47571805e+02] [ 1.56781675e-01 9.87620552e-01 -5.01509589e-03 3.85289913e+01] [ 5.00559727e-02 -2.87465764e-03 9.98742277e-01 2.11334857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.60, Y:38.53, Z:21.14 [[ 9.86315098e-01 -1.57068958e-01 -5.01185670e-02 4.47603884e+02] [ 1.57015100e-01 9.87583369e-01 -5.03461520e-03 3.85326116e+01] [ 5.02870451e-02 -2.90365482e-03 9.98730585e-01 2.11351670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.64, Y:38.54, Z:21.14 [[ 9.86374516e-01 -1.56698447e-01 -5.01089867e-02 4.47635919e+02] [ 1.56644320e-01 9.87642272e-01 -5.02993537e-03 3.85366001e+01] [ 5.02779365e-02 -2.88788807e-03 9.98731090e-01 2.11367458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.67, Y:38.54, Z:21.14 [[ 9.86673457e-01 -1.54647510e-01 -5.05928485e-02 4.47667071e+02] [ 1.54589835e-01 9.87965702e-01 -5.07480769e-03 3.85436650e+01] [ 5.07688055e-02 -2.81396207e-03 9.98706468e-01 2.11380340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.70, Y:38.55, Z:21.14 [[ 9.86920658e-01 -1.53093040e-01 -5.04988683e-02 4.47697946e+02] [ 1.53033689e-01 9.88208004e-01 -5.06266422e-03 3.85488381e+01] [ 5.06784445e-02 -2.73158019e-03 9.98711286e-01 2.11397589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.73, Y:38.55, Z:21.14 [[ 9.87233343e-01 -1.51011154e-01 -5.06552834e-02 4.47729297e+02] [ 1.50948801e-01 9.88528548e-01 -5.07642271e-03 3.85549206e+01] [ 5.08407902e-02 -2.63474052e-03 9.98703295e-01 2.11412052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.76, Y:38.56, Z:21.14 [[ 9.87565377e-01 -1.48769576e-01 -5.08157292e-02 4.47760407e+02] [ 1.48704009e-01 9.88868653e-01 -5.08976831e-03 3.85610193e+01] [ 5.10072843e-02 -2.53002367e-03 9.98695077e-01 2.11425500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.79, Y:38.57, Z:21.14 [[ 9.88118436e-01 -1.44852633e-01 -5.13777383e-02 4.47790667e+02] [ 1.44780420e-01 9.89450437e-01 -5.14422386e-03 3.85716553e+01] [ 5.15808799e-02 -2.35538808e-03 9.98666043e-01 2.11439099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.82, Y:38.58, Z:21.15 [[ 9.88402365e-01 -1.42994841e-01 -5.11198654e-02 4.47821693e+02] [ 1.42920929e-01 9.89720880e-01 -5.11730230e-03 3.85752708e+01] [ 5.13261460e-02 -2.24814496e-03 9.98679414e-01 2.11452287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.85, Y:38.58, Z:21.15 [[ 9.88637597e-01 -1.41247791e-01 -5.14272547e-02 4.47852729e+02] [ 1.41170779e-01 9.89971888e-01 -5.14517389e-03 3.85777735e+01] [ 5.16382809e-02 -2.17331325e-03 9.98663489e-01 2.11464153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.88, Y:38.59, Z:21.15 [[ 9.89012913e-01 -1.38491584e-01 -5.17062744e-02 4.47883459e+02] [ 1.38410119e-01 9.90361503e-01 -5.17031701e-03 3.85868287e+01] [ 5.19239490e-02 -2.04316132e-03 9.98648952e-01 2.11479984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.91, Y:38.59, Z:21.15 [[ 9.89160785e-01 -1.37516056e-01 -5.14808399e-02 4.47914948e+02] [ 1.37434086e-01 9.90497548e-01 -5.14574322e-03 3.85910871e+01] [ 5.16992680e-02 -1.98525480e-03 9.98660725e-01 2.11493913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.95, Y:38.60, Z:21.15 [[ 9.89264423e-01 -1.36634555e-01 -5.18353117e-02 4.47946756e+02] [ 1.36550443e-01 9.90619590e-01 -5.17737785e-03 3.85952339e+01] [ 5.20564839e-02 -1.95633909e-03 9.98642226e-01 2.11506779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:447.98, Y:38.60, Z:21.15 [[ 9.89327517e-01 -1.36196905e-01 -5.17828867e-02 4.47978911e+02] [ 1.36112561e-01 9.90679897e-01 -5.16837736e-03 3.86005834e+01] [ 5.20041819e-02 -1.93508342e-03 9.98644992e-01 2.11521753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.01, Y:38.60, Z:21.15 [[ 9.89409804e-01 -1.35308998e-01 -5.25329823e-02 4.48010038e+02] [ 1.35221167e-01 9.90801589e-01 -5.23903346e-03 3.86033814e+01] [ 5.27586507e-02 -1.92002008e-03 9.98605447e-01 2.11527626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.04, Y:38.61, Z:21.15 [[ 9.89466918e-01 -1.34854782e-01 -5.26251464e-02 4.48041875e+02] [ 1.34766334e-01 9.90863541e-01 -5.24193796e-03 3.86079939e+01] [ 5.28512393e-02 -1.90537386e-03 9.98600579e-01 2.11543331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.07, Y:38.61, Z:21.16 [[ 9.89488432e-01 -1.34629718e-01 -5.27966066e-02 4.48073814e+02] [ 1.34540579e-01 9.90894150e-01 -5.25513672e-03 3.86126742e+01] [ 5.30233462e-02 -1.90338901e-03 9.98591459e-01 2.11557973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.11, Y:38.62, Z:21.16 [[ 9.89542598e-01 -1.34235495e-01 -5.27852177e-02 4.48105393e+02] [ 1.34146042e-01 9.90947666e-01 -5.25009734e-03 3.86165400e+01] [ 5.30121377e-02 -1.88573307e-03 9.98592088e-01 2.11571582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.14, Y:38.62, Z:21.16 [[ 9.89585475e-01 -1.33946456e-01 -5.27155947e-02 4.48136881e+02] [ 1.33857036e-01 9.90986803e-01 -5.23927427e-03 3.86208173e+01] [ 5.29422409e-02 -1.87164354e-03 9.98595822e-01 2.11585416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.17, Y:38.62, Z:21.16 [[ 9.89588828e-01 -1.33983626e-01 -5.25579581e-02 4.48167685e+02] [ 1.33894993e-01 9.90981778e-01 -5.21982539e-03 3.86217605e+01] [ 5.27833499e-02 -1.87176651e-03 9.98604233e-01 2.11596450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.20, Y:38.63, Z:21.16 [[ 9.89546245e-01 -1.34206312e-01 -5.27910419e-02 4.48199386e+02] [ 1.34117366e-01 9.90951601e-01 -5.23995815e-03 3.86250798e+01] [ 5.30166029e-02 -1.89501460e-03 9.98591833e-01 2.11611405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.23, Y:38.63, Z:21.16 [[ 9.89534839e-01 -1.34486587e-01 -5.22891959e-02 4.48231832e+02] [ 1.34399911e-01 9.90913601e-01 -5.18643312e-03 3.86278043e+01] [ 5.25115811e-02 -1.89550699e-03 9.98618516e-01 2.11628427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.26, Y:38.63, Z:21.17 [[ 9.89503617e-01 -1.34858588e-01 -5.19206526e-02 4.48263324e+02] [ 1.34773832e-01 9.90863023e-01 -5.14620208e-03 3.86327917e+01] [ 5.21402644e-02 -1.90535972e-03 9.98637954e-01 2.11651427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.29, Y:38.63, Z:21.17 [[ 9.89514990e-01 -1.34833554e-01 -5.17686998e-02 4.48293935e+02] [ 1.34749449e-01 9.90866436e-01 -5.12748836e-03 3.86347358e+01] [ 5.19872246e-02 -1.90207718e-03 9.98645939e-01 2.11666180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.33, Y:38.64, Z:21.17 [[ 9.89540312e-01 -1.34744694e-01 -5.15154189e-02 4.48325652e+02] [ 1.34661437e-01 9.90878546e-01 -5.09955510e-03 3.86420186e+01] [ 5.17326613e-02 -1.89092499e-03 9.98659179e-01 2.11685924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.36, Y:38.65, Z:21.17 [[ 9.89541617e-01 -1.34721295e-01 -5.15515333e-02 4.48357763e+02] [ 1.34638087e-01 9.90881720e-01 -5.09932376e-03 3.86459870e+01] [ 5.17684595e-02 -1.89480676e-03 9.98657317e-01 2.11704454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.39, Y:38.65, Z:21.17 [[ 9.89566755e-01 -1.34696734e-01 -5.11314783e-02 4.48389008e+02] [ 1.34615035e-01 9.90885084e-01 -5.05406317e-03 3.86482693e+01] [ 5.13461849e-02 -1.88173285e-03 9.98679142e-01 2.11718192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.42, Y:38.65, Z:21.17 [[ 9.89530587e-01 -1.35107792e-01 -5.07454556e-02 4.48420696e+02] [ 1.35028007e-01 9.90829101e-01 -5.01304503e-03 3.86515647e+01] [ 5.09573756e-02 -1.89149632e-03 9.98699038e-01 2.11736884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.45, Y:38.65, Z:21.17 [[ 9.89390971e-01 -1.36042014e-01 -5.09713375e-02 4.48452223e+02] [ 1.35962955e-01 9.90701145e-01 -5.03142179e-03 3.86524666e+01] [ 5.11818472e-02 -1.95217040e-03 9.98687442e-01 2.11749233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.48, Y:38.66, Z:21.18 [[ 9.89264268e-01 -1.36838256e-01 -5.12981456e-02 4.48483626e+02] [ 1.36759539e-01 9.90591361e-01 -5.05805433e-03 3.86566915e+01] [ 5.15076352e-02 -2.01175831e-03 9.98670574e-01 2.11766120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.51, Y:38.66, Z:21.18 [[ 9.89125226e-01 -1.37821626e-01 -5.13467250e-02 4.48514644e+02] [ 1.37744241e-01 9.90454907e-01 -5.05976752e-03 3.86582239e+01] [ 5.15539611e-02 -2.06797196e-03 9.98668069e-01 2.11776837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.55, Y:38.66, Z:21.18 [[ 9.88931305e-01 -1.39123108e-01 -5.15716487e-02 4.48545723e+02] [ 1.39047107e-01 9.90272758e-01 -5.07618372e-03 3.86592093e+01] [ 5.17762133e-02 -2.15089156e-03 9.98656396e-01 2.11792668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.58, Y:38.66, Z:21.18 [[ 9.88507482e-01 -1.41873602e-01 -5.21999885e-02 4.48577014e+02] [ 1.41799837e-01 9.89882044e-01 -5.13277633e-03 3.86620524e+01] [ 5.24000367e-02 -2.32816205e-03 9.98623460e-01 2.11806122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.61, Y:38.66, Z:21.18 [[ 9.88252826e-01 -1.43359846e-01 -5.29557117e-02 4.48608622e+02] [ 1.43286169e-01 9.89667612e-01 -5.20501262e-03 3.86624731e+01] [ 5.31547426e-02 -2.44395262e-03 9.98583297e-01 2.11815100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.64, Y:38.67, Z:21.18 [[ 9.87999276e-01 -1.44934610e-01 -5.33984110e-02 4.48640826e+02] [ 1.44862155e-01 9.89437942e-01 -5.24544527e-03 3.86662841e+01] [ 5.35946604e-02 -2.55291274e-03 9.98559510e-01 2.11830251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.67, Y:38.66, Z:21.18 [[ 9.87533120e-01 -1.47651690e-01 -5.45647801e-02 4.48671057e+02] [ 1.47580403e-01 9.89035561e-01 -5.35576347e-03 3.86633294e+01] [ 5.47572954e-02 -2.76369844e-03 9.98495869e-01 2.11831207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.70, Y:38.66, Z:21.18 [[ 9.87335533e-01 -1.48875253e-01 -5.48151813e-02 4.48701887e+02] [ 1.48805475e-01 9.88851879e-01 -5.37516647e-03 3.86635939e+01] [ 5.50043243e-02 -2.84970625e-03 9.98482050e-01 2.11843795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.73, Y:38.67, Z:21.19 [[ 9.87240847e-01 -1.49678935e-01 -5.43297938e-02 4.48734067e+02] [ 1.49611944e-01 9.88730474e-01 -5.32124484e-03 3.86683539e+01] [ 5.45140011e-02 -2.87503581e-03 9.98508867e-01 2.11864098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.76, Y:38.67, Z:21.19 [[ 9.87148172e-01 -1.50235137e-01 -5.44783405e-02 4.48764828e+02] [ 1.50168832e-01 9.88645989e-01 -5.33199846e-03 3.86695246e+01] [ 5.46608464e-02 -2.91747622e-03 9.98500716e-01 2.11880003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.80, Y:38.68, Z:21.19 [[ 9.87180400e-01 -1.50240779e-01 -5.38754646e-02 4.48796726e+02] [ 1.50176101e-01 9.88645217e-01 -5.26999670e-03 3.86767270e+01] [ 5.40554888e-02 -2.88836979e-03 9.98533756e-01 2.11906785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.83, Y:38.68, Z:21.19 [[ 9.87292086e-01 -1.49836340e-01 -5.29472117e-02 4.48828576e+02] [ 1.49773490e-01 9.88706790e-01 -5.17544322e-03 3.86756467e+01] [ 5.31247372e-02 -2.82041455e-03 9.98583901e-01 2.11919197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.86, Y:38.68, Z:21.19 [[ 9.87408936e-01 -1.49219819e-01 -5.25075077e-02 4.48859877e+02] [ 1.49157296e-01 9.88800177e-01 -5.12948486e-03 3.86847757e+01] [ 5.26848537e-02 -2.76697867e-03 9.98607355e-01 2.11944148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.89, Y:38.69, Z:21.20 [[ 9.87588772e-01 -1.48152996e-01 -5.21450506e-02 4.48891218e+02] [ 1.48090072e-01 9.88960780e-01 -5.08984616e-03 3.86873046e+01] [ 5.23234859e-02 -2.69548936e-03 9.98626550e-01 2.11962602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.92, Y:38.69, Z:21.20 [[ 9.88107240e-01 -1.44874794e-01 -5.15303429e-02 4.48920490e+02] [ 1.44809237e-01 9.89446841e-01 -5.02328074e-03 3.86895393e+01] [ 5.17142818e-02 -2.49852959e-03 9.98658796e-01 2.11980734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.95, Y:38.70, Z:21.20 [[ 9.88406810e-01 -1.42885117e-01 -5.13402472e-02 4.48951656e+02] [ 1.42817333e-01 9.89736407e-01 -5.00539055e-03 3.86968331e+01] [ 5.15285077e-02 -2.38491507e-03 9.98668676e-01 2.11999410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:448.98, Y:38.70, Z:21.20 [[ 9.88417380e-01 -1.42811882e-01 -5.13405323e-02 4.48983202e+02] [ 1.42744151e-01 9.89746979e-01 -5.00246538e-03 3.86998496e+01] [ 5.15285482e-02 -2.38403695e-03 9.98668676e-01 2.12014480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.01, Y:38.70, Z:21.20 [[ 9.89104061e-01 -1.37766500e-01 -5.18993944e-02 4.49012398e+02] [ 1.37690559e-01 9.90462406e-01 -5.05300598e-03 3.87040471e+01] [ 5.21005340e-02 -2.14810787e-03 9.98639535e-01 2.12024373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.04, Y:38.71, Z:21.20 [[ 9.89463668e-01 -1.35229539e-01 -5.17167518e-02 4.49043625e+02] [ 1.35150866e-01 9.90812256e-01 -5.03149793e-03 3.87096901e+01] [ 5.19219987e-02 -2.01107941e-03 9.98649118e-01 2.12040844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.07, Y:38.71, Z:21.21 [[ 9.89810186e-01 -1.32454773e-01 -5.22640228e-02 4.49073765e+02] [ 1.32370710e-01 9.91187252e-01 -5.08199573e-03 3.87133380e+01] [ 5.24765677e-02 -1.88801466e-03 9.98620371e-01 2.12055205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.10, Y:38.72, Z:21.21 [[ 9.90164390e-01 -1.29771259e-01 -5.22867263e-02 4.49103801e+02] [ 1.29683457e-01 9.91542417e-01 -5.08287386e-03 3.87173340e+01] [ 5.25041179e-02 -1.74784272e-03 9.98619178e-01 2.12068352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.14, Y:38.72, Z:21.21 [[ 9.90678318e-01 -1.25627926e-01 -5.26696772e-02 4.49135262e+02] [ 1.25533234e-01 9.92076227e-01 -5.11537652e-03 3.87231992e+01] [ 5.28949688e-02 -1.54410233e-03 9.98598887e-01 2.12081222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.17, Y:38.73, Z:21.21 [[ 9.90858748e-01 -1.23685066e-01 -5.38604397e-02 4.49167364e+02] [ 1.23583346e-01 9.92320425e-01 -5.22790364e-03 3.87269966e+01] [ 5.40934280e-02 -1.47613931e-03 9.98534788e-01 2.12091577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.20, Y:38.73, Z:21.21 [[ 9.90991671e-01 -1.22281699e-01 -5.46140508e-02 4.49198841e+02] [ 1.22175190e-01 9.92494414e-01 -5.29730706e-03 3.87302347e+01] [ 5.48519040e-02 -1.42289484e-03 9.98493487e-01 2.12098173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.23, Y:38.73, Z:21.21 [[ 9.91097728e-01 -1.21215634e-01 -5.50641758e-02 4.49229586e+02] [ 1.21105822e-01 9.92625243e-01 -5.33910960e-03 3.87320945e+01] [ 5.53052745e-02 -1.37701285e-03 9.98468543e-01 2.12103879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.26, Y:38.73, Z:21.21 [[ 9.91250182e-01 -1.19728946e-01 -5.55702768e-02 4.49260901e+02] [ 1.19614835e-01 9.92805757e-01 -5.38704126e-03 3.87349064e+01] [ 5.58154755e-02 -1.30712385e-03 9.98440246e-01 2.12113953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.29, Y:38.74, Z:21.21 [[ 9.91271680e-01 -1.19356431e-01 -5.59865999e-02 4.49290765e+02] [ 1.19240104e-01 9.92850623e-01 -5.42574500e-03 3.87383212e+01] [ 5.62339281e-02 -1.29746063e-03 9.98416778e-01 2.12127988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.32, Y:38.74, Z:21.21 [[ 9.91281302e-01 -1.19232300e-01 -5.60806382e-02 4.49320128e+02] [ 1.19115374e-01 9.92865544e-01 -5.43501211e-03 3.87398535e+01] [ 5.63285623e-02 -1.29244034e-03 9.98411450e-01 2.12138727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.35, Y:38.74, Z:21.22 [[ 9.91307142e-01 -1.18832477e-01 -5.64711744e-02 4.49350149e+02] [ 1.18713222e-01 9.92913496e-01 -5.47369422e-03 3.87428438e+01] [ 5.67214438e-02 -1.27776286e-03 9.98389225e-01 2.12150464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.38, Y:38.74, Z:21.22 [[ 9.91282486e-01 -1.19075263e-01 -5.63925136e-02 4.49379205e+02] [ 1.18956723e-01 9.92884393e-01 -5.46622890e-03 3.87441769e+01] [ 5.66421393e-02 -1.28969167e-03 9.98393712e-01 2.12160573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.41, Y:38.75, Z:21.22 [[ 9.91263415e-01 -1.19487051e-01 -5.58541578e-02 4.49408518e+02] [ 1.19371362e-01 9.92834909e-01 -5.41501219e-03 3.87456880e+01] [ 5.61009814e-02 -1.29968342e-03 9.98424254e-01 2.12177137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.44, Y:38.75, Z:21.22 [[ 9.91218507e-01 -1.20285211e-01 -5.49303144e-02 4.49437826e+02] [ 1.20174497e-01 9.92738496e-01 -5.32626521e-03 3.87465724e+01] [ 5.51721086e-02 -1.32173028e-03 9.98475984e-01 2.12189393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.47, Y:38.75, Z:21.22 [[ 9.91112026e-01 -1.21481454e-01 -5.42144713e-02 4.49467790e+02] [ 1.21375389e-01 9.92592756e-01 -5.25696899e-03 3.87494051e+01] [ 5.44515157e-02 -1.37005737e-03 9.98515476e-01 2.12211841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.50, Y:38.75, Z:21.22 [[ 9.90786292e-01 -1.24634774e-01 -5.29971341e-02 4.49498923e+02] [ 1.24537934e-01 9.92201540e-01 -5.13871933e-03 3.87503603e+01] [ 5.32243012e-02 -1.50878090e-03 9.98581443e-01 2.12238306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.53, Y:38.75, Z:21.23 [[ 9.90562829e-01 -1.26608860e-01 -5.24926532e-02 4.49529829e+02] [ 1.26516717e-01 9.91951427e-01 -5.08798959e-03 3.87498261e+01] [ 5.27143468e-02 -1.60122477e-03 9.98608349e-01 2.12251188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.56, Y:38.75, Z:21.23 [[ 9.90319904e-01 -1.28635122e-01 -5.21487660e-02 4.49560981e+02] [ 1.28547041e-01 9.91690536e-01 -5.05362730e-03 3.87501622e+01] [ 5.23655117e-02 -1.69886185e-03 9.98626540e-01 2.12263110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.59, Y:38.75, Z:21.23 [[ 9.89718241e-01 -1.33532895e-01 -5.12520197e-02 4.49592628e+02] [ 1.33454460e-01 9.91042510e-01 -4.96490975e-03 3.87492373e+01] [ 5.14559090e-02 -1.92594888e-03 9.98673410e-01 2.12278200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.62, Y:38.75, Z:21.23 [[ 9.89458980e-01 -1.35577917e-01 -5.08876780e-02 4.49624015e+02] [ 1.35503390e-01 9.90764629e-01 -4.92768367e-03 3.87475735e+01] [ 5.10857965e-02 -2.01971204e-03 9.98692226e-01 2.12287285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.66, Y:38.75, Z:21.23 [[ 9.89156969e-01 -1.37679637e-01 -5.11156322e-02 4.49655102e+02] [ 1.37607382e-01 9.90474500e-01 -4.94699752e-03 3.87455589e+01] [ 5.13098311e-02 -2.14053124e-03 9.98680489e-01 2.12295606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.69, Y:38.74, Z:21.23 [[ 9.88774805e-01 -1.40401151e-01 -5.11067684e-02 4.49685061e+02] [ 1.40332633e-01 9.90092069e-01 -4.94443765e-03 3.87436604e+01] [ 5.12946108e-02 -2.28301199e-03 9.98680955e-01 2.12305898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.72, Y:38.75, Z:21.23 [[ 9.88720312e-01 -1.40829067e-01 -5.09835127e-02 4.49716396e+02] [ 1.40761460e-01 9.90031254e-01 -4.93224358e-03 3.87501174e+01] [ 5.11698743e-02 -2.29990425e-03 9.98687316e-01 2.12321258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.75, Y:38.75, Z:21.23 [[ 9.88653657e-01 -1.41152019e-01 -5.13814517e-02 4.49748411e+02] [ 1.41083984e-01 9.89985171e-01 -4.96695211e-03 3.87533395e+01] [ 5.15679705e-02 -2.33850451e-03 9.98666749e-01 2.12336275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.78, Y:38.75, Z:21.23 [[ 9.88707218e-01 -1.40820611e-01 -5.12600395e-02 4.49779587e+02] [ 1.40752644e-01 9.90032412e-01 -4.95150540e-03 3.87520490e+01] [ 5.14463746e-02 -2.31939695e-03 9.98673065e-01 2.12346876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.81, Y:38.76, Z:21.24 [[ 9.88957944e-01 -1.39274212e-01 -5.06446441e-02 4.49810906e+02] [ 1.39205983e-01 9.90251377e-01 -4.88930050e-03 3.87581434e+01] [ 5.08318821e-02 -2.21472492e-03 9.98704769e-01 2.12365500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.84, Y:38.76, Z:21.24 [[ 9.89133896e-01 -1.38118887e-01 -5.03717031e-02 4.49841916e+02] [ 1.38050037e-01 9.90413331e-01 -4.86018919e-03 3.87605338e+01] [ 5.05600901e-02 -2.14643759e-03 9.98718714e-01 2.12378341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.87, Y:38.77, Z:21.24 [[ 9.89341947e-01 -1.36588068e-01 -5.04600026e-02 4.49872806e+02] [ 1.36517127e-01 9.90625760e-01 -4.86600216e-03 3.87650879e+01] [ 5.06516163e-02 -2.07451454e-03 9.98714228e-01 2.12393792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.90, Y:38.77, Z:21.24 [[ 9.89781755e-01 -1.33365299e-01 -5.04556745e-02 4.49902976e+02] [ 1.33290282e-01 9.91065106e-01 -4.86378133e-03 3.87677710e+01] [ 5.06535181e-02 -1.91116907e-03 9.98714458e-01 2.12402644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.93, Y:38.77, Z:21.24 [[ 9.90052614e-01 -1.31478301e-01 -5.00926935e-02 4.49934004e+02] [ 1.31401997e-01 9.91317410e-01 -4.82781668e-03 3.87725537e+01] [ 5.02925123e-02 -1.80248744e-03 9.98732904e-01 2.12414151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:449.97, Y:38.78, Z:21.24 [[ 9.90210924e-01 -1.30044854e-01 -5.07017042e-02 4.49965402e+02] [ 1.29964909e-01 9.91506563e-01 -4.88453111e-03 3.87779493e+01] [ 5.09062806e-02 -1.75272630e-03 9.98701897e-01 2.12429000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.00, Y:38.78, Z:21.24 [[ 9.90365177e-01 -1.28804132e-01 -5.08557859e-02 4.49996033e+02] [ 1.28722250e-01 9.91668601e-01 -4.89579946e-03 3.87793372e+01] [ 5.10626852e-02 -1.69764187e-03 9.98694007e-01 2.12436684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.03, Y:38.79, Z:21.25 [[ 9.90651009e-01 -1.26475023e-01 -5.11336187e-02 4.50026945e+02] [ 1.26389197e-01 9.91968522e-01 -4.92153257e-03 3.87866316e+01] [ 5.13453911e-02 -1.58721580e-03 9.98679694e-01 2.12450074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.06, Y:38.79, Z:21.25 [[ 9.90734978e-01 -1.25667624e-01 -5.14961349e-02 4.50057525e+02] [ 1.25579595e-01 9.92071177e-01 -4.95436138e-03 3.87872720e+01] [ 5.17104340e-02 -1.55840465e-03 9.98660905e-01 2.12457988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.09, Y:38.79, Z:21.25 [[ 9.90871427e-01 -1.24646162e-01 -5.13531929e-02 4.50087934e+02] [ 1.24557428e-01 9.92200117e-01 -4.93717967e-03 3.87934810e+01] [ 5.15680445e-02 -1.50431139e-03 9.98668350e-01 2.12475607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.12, Y:38.80, Z:21.25 [[ 9.91061021e-01 -1.23370365e-01 -5.07720906e-02 4.50119463e+02] [ 1.23282051e-01 9.92359676e-01 -4.87944377e-03 3.87968589e+01] [ 5.09861541e-02 -1.42346094e-03 9.98698346e-01 2.12492378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.15, Y:38.80, Z:21.25 [[ 9.91130304e-01 -1.22971847e-01 -5.03849731e-02 4.50150509e+02] [ 1.22884457e-01 9.92409180e-01 -4.84033678e-03 3.88000399e+01] [ 5.05977351e-02 -1.39412563e-03 9.98718141e-01 2.12513354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.18, Y:38.80, Z:21.25 [[ 9.91288320e-01 -1.22168035e-01 -4.92182747e-02 4.50181954e+02] [ 1.22083786e-01 9.92508548e-01 -4.72563528e-03 3.88037308e+01] [ 4.94268799e-02 -1.32428626e-03 9.98776867e-01 2.12532207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.21, Y:38.80, Z:21.25 [[ 9.91377708e-01 -1.21632325e-01 -4.87423707e-02 4.50212763e+02] [ 1.21549136e-01 9.92574391e-01 -4.67819899e-03 3.88046300e+01] [ 4.89494491e-02 -1.28673086e-03 9.98800428e-01 2.12548344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.24, Y:38.81, Z:21.26 [[ 9.91452616e-01 -1.21310936e-01 -4.80142330e-02 4.50243503e+02] [ 1.21229880e-01 9.92613766e-01 -4.60744238e-03 3.88077545e+01] [ 4.82185218e-02 -1.25269893e-03 9.98836025e-01 2.12566888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.28, Y:38.81, Z:21.26 [[ 9.91464849e-01 -1.21294994e-01 -4.78014315e-02 4.50275614e+02] [ 1.21214717e-01 9.92615720e-01 -4.58534626e-03 3.88138585e+01] [ 4.80046318e-02 -1.24802735e-03 9.98846333e-01 2.12585578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.31, Y:38.82, Z:21.26 [[ 9.91475185e-01 -1.21344183e-01 -4.74609991e-02 4.50307822e+02] [ 1.21265269e-01 9.92609712e-01 -4.54919847e-03 3.88175003e+01] [ 4.76622674e-02 -1.24495342e-03 9.98862732e-01 2.12603338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.34, Y:38.82, Z:21.26 [[ 9.91477221e-01 -1.21315031e-01 -4.74929896e-02 4.50338459e+02] [ 1.21236147e-01 9.92613271e-01 -4.54870902e-03 3.88193007e+01] [ 4.76939985e-02 -1.24792568e-03 9.98861214e-01 2.12617299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.37, Y:38.82, Z:21.26 [[ 9.91474433e-01 -1.21410785e-01 -4.73061389e-02 4.50369697e+02] [ 1.21332755e-01 9.92601561e-01 -4.52818337e-03 3.88219786e+01] [ 4.75059176e-02 -1.25020611e-03 9.98870174e-01 2.12630740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.40, Y:38.83, Z:21.26 [[ 9.91471757e-01 -1.21182596e-01 -4.79430219e-02 4.50401602e+02] [ 1.21102311e-01 9.92629435e-01 -4.58648480e-03 3.88251379e+01] [ 4.81454569e-02 -1.25864061e-03 9.98839542e-01 2.12641132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.43, Y:38.83, Z:21.26 [[ 9.91369834e-01 -1.21322937e-01 -4.96648573e-02 4.50433793e+02] [ 1.21237143e-01 9.92612219e-01 -4.74747993e-03 3.88287630e+01] [ 4.98739224e-02 -1.31471703e-03 9.98754656e-01 2.12645390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.47, Y:38.83, Z:21.27 [[ 9.91301941e-01 -1.21536865e-01 -5.04901125e-02 4.50466093e+02] [ 1.21448664e-01 9.92585999e-01 -4.82259670e-03 3.88313699e+01] [ 5.07019020e-02 -1.35130725e-03 9.98712917e-01 2.12654043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.50, Y:38.83, Z:21.27 [[ 9.91249862e-01 -1.21881142e-01 -5.06823244e-02 4.50496616e+02] [ 1.21792898e-01 9.92543747e-01 -4.83741885e-03 3.88330077e+01] [ 5.08940143e-02 -1.37765641e-03 9.98703110e-01 2.12663806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.53, Y:38.84, Z:21.27 [[ 9.91202912e-01 -1.22143535e-01 -5.09680762e-02 4.50527490e+02] [ 1.22054691e-01 9.92511459e-01 -4.86369794e-03 3.88367124e+01] [ 5.11804689e-02 -1.39998122e-03 9.98688440e-01 2.12681996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.56, Y:38.84, Z:21.27 [[ 9.91117586e-01 -1.22536644e-01 -5.16788286e-02 4.50558282e+02] [ 1.22445933e-01 9.92462942e-01 -4.92969294e-03 3.88377916e+01] [ 5.18933903e-02 -1.44195701e-03 9.98651589e-01 2.12691826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.59, Y:38.84, Z:21.27 [[ 9.91085126e-01 -1.22669412e-01 -5.19854634e-02 4.50588666e+02] [ 1.22577849e-01 9.92446517e-01 -4.95808132e-03 3.88413564e+01] [ 5.22009969e-02 -1.45838560e-03 9.98635534e-01 2.12705035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.62, Y:38.84, Z:21.27 [[ 9.91051658e-01 -1.22741814e-01 -5.24505328e-02 4.50618713e+02] [ 1.22648711e-01 9.92437540e-01 -5.00234513e-03 3.88435211e+01] [ 5.26678747e-02 -1.47540780e-03 9.98610994e-01 2.12717358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.65, Y:38.85, Z:21.27 [[ 9.91070016e-01 -1.22564303e-01 -5.25187175e-02 4.50649033e+02] [ 1.22470754e-01 9.92459488e-01 -5.00800184e-03 3.88462119e+01] [ 5.27365017e-02 -1.46872645e-03 9.98607382e-01 2.12730751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.68, Y:38.85, Z:21.27 [[ 9.91099230e-01 -1.22367051e-01 -5.24273004e-02 4.50679509e+02] [ 1.22273551e-01 9.92483847e-01 -4.99928463e-03 3.88508205e+01] [ 5.26449965e-02 -1.45568504e-03 9.98612230e-01 2.12749152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.71, Y:38.85, Z:21.28 [[ 9.91117178e-01 -1.22364384e-01 -5.20931556e-02 4.50710109e+02] [ 1.22272073e-01 9.92484189e-01 -4.96733517e-03 3.88540492e+01] [ 5.23094582e-02 -1.44632691e-03 9.98629876e-01 2.12769484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.74, Y:38.86, Z:21.28 [[ 9.91087819e-01 -1.22509004e-01 -5.23113754e-02 4.50740504e+02] [ 1.22416164e-01 9.92466327e-01 -4.98728436e-03 3.88571052e+01] [ 5.25282658e-02 -1.46092116e-03 9.98618369e-01 2.12784962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.77, Y:38.86, Z:21.28 [[ 9.91052741e-01 -1.22688137e-01 -5.25555500e-02 4.50769722e+02] [ 1.22594675e-01 9.92444174e-01 -5.01065720e-03 3.88585232e+01] [ 5.27731976e-02 -1.47720501e-03 9.98605431e-01 2.12801037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.80, Y:38.86, Z:21.28 [[ 9.90970650e-01 -1.23159958e-01 -5.29980649e-02 4.50799351e+02] [ 1.23065544e-01 9.92385677e-01 -5.05369749e-03 3.88638587e+01] [ 5.32169337e-02 -1.51416981e-03 9.98581827e-01 2.12822652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.83, Y:38.87, Z:21.28 [[ 9.90884593e-01 -1.23859281e-01 -5.29773630e-02 4.50829545e+02] [ 1.23765938e-01 9.92298580e-01 -5.05172343e-03 3.88664855e+01] [ 5.31950650e-02 -1.55111812e-03 9.98582936e-01 2.12833554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.86, Y:38.87, Z:21.28 [[ 9.90742464e-01 -1.24806283e-01 -5.34112484e-02 4.50859476e+02] [ 1.24712785e-01 9.92179814e-01 -5.09298706e-03 3.88675951e+01] [ 5.36291992e-02 -1.61522700e-03 9.98559613e-01 2.12845398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.89, Y:38.87, Z:21.29 [[ 9.90472297e-01 -1.26765113e-01 -5.38073958e-02 4.50890636e+02] [ 1.26673167e-01 9.91931245e-01 -5.12966162e-03 3.88719890e+01] [ 5.40234993e-02 -1.73516550e-03 9.98538157e-01 2.12864710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.92, Y:38.87, Z:21.29 [[ 9.90302340e-01 -1.27889932e-01 -5.42719233e-02 4.50921077e+02] [ 1.27798192e-01 9.91786708e-01 -5.17183722e-03 3.88734851e+01] [ 5.44875981e-02 -1.81417120e-03 9.98512799e-01 2.12874811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.95, Y:38.88, Z:21.29 [[ 9.90121091e-01 -1.29210116e-01 -5.44515428e-02 4.50951725e+02] [ 1.29119896e-01 9.91615426e-01 -5.18648492e-03 3.88767468e+01] [ 5.46651361e-02 -1.89552940e-03 9.98502944e-01 2.12891336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:450.98, Y:38.88, Z:21.29 [[ 9.90125787e-01 -1.29174080e-01 -5.44516495e-02 4.50982418e+02] [ 1.29083867e-01 9.91620123e-01 -5.18536381e-03 3.88796413e+01] [ 5.46651660e-02 -1.89466704e-03 9.98502944e-01 2.12906001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.01, Y:38.88, Z:21.29 [[ 9.89987050e-01 -1.30074112e-01 -5.48303403e-02 4.51012755e+02] [ 1.29984121e-01 9.91502337e-01 -5.21954022e-03 3.88804025e+01] [ 5.50433376e-02 -1.95979636e-03 9.98482043e-01 2.12916750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.04, Y:38.88, Z:21.29 [[ 9.89785163e-01 -1.31500083e-01 -5.50732197e-02 4.51042911e+02] [ 1.31411544e-01 9.91314042e-01 -5.24179539e-03 3.88837747e+01] [ 5.52841526e-02 -2.04900554e-03 9.98468559e-01 2.12933220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.07, Y:38.89, Z:21.29 [[ 9.89818979e-01 -1.31296883e-01 -5.49501310e-02 4.51073180e+02] [ 1.31208434e-01 9.91341008e-01 -5.22994404e-03 3.88861845e+01] [ 5.51609937e-02 -2.03322277e-03 9.98475403e-01 2.12946553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.10, Y:38.89, Z:21.30 [[ 9.89996151e-01 -1.30040566e-01 -5.47455283e-02 4.51102752e+02] [ 1.29950903e-01 9.91506744e-01 -5.20963260e-03 3.88903586e+01] [ 5.49580241e-02 -1.95671463e-03 9.98486748e-01 2.12968930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.13, Y:38.90, Z:21.30 [[ 9.90164670e-01 -1.28676263e-01 -5.49212667e-02 4.51133294e+02] [ 1.28583944e-01 9.91684858e-01 -5.22608486e-03 3.88955621e+01] [ 5.51370616e-02 -1.88730846e-03 9.98477012e-01 2.12988497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.16, Y:38.90, Z:21.30 [[ 9.90359849e-01 -1.27251226e-01 -5.47219769e-02 4.51163222e+02] [ 1.27157503e-01 9.91868879e-01 -5.20531181e-03 3.88980587e+01] [ 5.49394083e-02 -1.80317816e-03 9.98488062e-01 2.13005449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.19, Y:38.91, Z:21.30 [[ 9.90569266e-01 -1.25578072e-01 -5.47966909e-02 4.51194106e+02] [ 1.25481599e-01 9.92082260e-01 -5.21130393e-03 3.89064653e+01] [ 5.50172504e-02 -1.71381887e-03 9.98483933e-01 2.13031834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.22, Y:38.91, Z:21.30 [[ 9.90790516e-01 -1.23819525e-01 -5.47985333e-02 4.51224218e+02] [ 1.23720464e-01 9.92303435e-01 -5.20958765e-03 3.89085349e+01] [ 5.50218215e-02 -1.61808992e-03 9.98483841e-01 2.13041925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.25, Y:38.91, Z:21.31 [[ 9.91153657e-01 -1.20530114e-01 -5.55600512e-02 4.51254179e+02] [ 1.20423176e-01 9.92708603e-01 -5.28095543e-03 3.89136885e+01] [ 5.57914550e-02 -1.45647953e-03 9.98441381e-01 2.13056679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.28, Y:38.92, Z:21.31 [[ 9.91322363e-01 -1.18797507e-01 -5.62772167e-02 4.51284384e+02] [ 1.18685049e-01 9.92917547e-01 -5.34827149e-03 3.89187317e+01] [ 5.65139973e-02 -1.37740311e-03 9.98400857e-01 2.13070050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.31, Y:38.92, Z:21.31 [[ 9.91520312e-01 -1.16588423e-01 -5.73987006e-02 4.51312607e+02] [ 1.16467709e-01 9.93179496e-01 -5.45538312e-03 3.89226746e+01] [ 5.76432470e-02 -1.27597197e-03 9.98336430e-01 2.13075330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.34, Y:38.93, Z:21.31 [[ 9.91580242e-01 -1.15641407e-01 -5.82725389e-02 4.51342612e+02] [ 1.15515206e-01 9.93290257e-01 -5.54096785e-03 3.89283250e+01] [ 5.85223104e-02 -1.23705011e-03 9.98285334e-01 2.13096177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.37, Y:38.93, Z:21.31 [[ 9.91635498e-01 -1.14869361e-01 -5.88563468e-02 4.51372319e+02] [ 1.14739248e-01 9.93379878e-01 -5.59668977e-03 3.89306406e+01] [ 5.91095987e-02 -1.20325673e-03 9.98250774e-01 2.13103123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.40, Y:38.94, Z:21.31 [[ 9.91623719e-01 -1.14785672e-01 -5.92169777e-02 4.51401371e+02] [ 1.14653733e-01 9.93389551e-01 -5.63227850e-03 3.89350457e+01] [ 5.94720317e-02 -1.20434657e-03 9.98229246e-01 2.13123766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.43, Y:38.94, Z:21.31 [[ 9.91479934e-01 -1.15698170e-01 -5.98454194e-02 4.51430768e+02] [ 1.15564956e-01 9.93283605e-01 -5.69401826e-03 3.89379430e+01] [ 6.01022614e-02 -1.27052841e-03 9.98191416e-01 2.13143696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.46, Y:38.94, Z:21.32 [[ 9.91380905e-01 -1.16515078e-01 -5.99010640e-02 4.51459808e+02] [ 1.16383026e-01 9.93188046e-01 -5.70062059e-03 3.89406697e+01] [ 6.01572290e-02 -1.31998070e-03 9.98188041e-01 2.13161253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.49, Y:38.94, Z:21.32 [[ 9.91156204e-01 -1.18461609e-01 -5.98015566e-02 4.51488602e+02] [ 1.18333404e-01 9.92957598e-01 -5.69329245e-03 3.89429674e+01] [ 6.00548466e-02 -1.43357959e-03 9.98194049e-01 2.13178663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.52, Y:38.94, Z:21.32 [[ 9.90970326e-01 -1.19832105e-01 -6.01504804e-02 4.51517363e+02] [ 1.19704776e-01 9.92793003e-01 -5.72888767e-03 3.89447327e+01] [ 6.04034807e-02 -1.52314208e-03 9.98172881e-01 2.13191313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.55, Y:38.95, Z:21.32 [[ 9.90857679e-01 -1.20944946e-01 -5.97777525e-02 4.51547705e+02] [ 1.20821062e-01 9.92657961e-01 -5.69587445e-03 3.89487501e+01] [ 6.00277492e-02 -1.57861058e-03 9.98195460e-01 2.13215274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.58, Y:38.95, Z:21.32 [[ 9.90598723e-01 -1.23223874e-01 -5.94141969e-02 4.51578471e+02] [ 1.23105584e-01 9.92377431e-01 -5.66123335e-03 3.89507404e+01] [ 5.96589072e-02 -1.70620888e-03 9.98217363e-01 2.13236942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.61, Y:38.95, Z:21.33 [[ 9.90425863e-01 -1.24734750e-01 -5.91426332e-02 4.51607965e+02] [ 1.24620223e-01 9.92188511e-01 -5.63543749e-03 3.89524099e+01] [ 5.93835760e-02 -1.78888507e-03 9.98233635e-01 2.13250769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.64, Y:38.96, Z:21.33 [[ 9.90185076e-01 -1.26707982e-01 -5.89796730e-02 4.51638176e+02] [ 1.26597559e-01 9.91938240e-01 -5.62022800e-03 3.89561526e+01] [ 5.92163208e-02 -1.90161672e-03 9.98243363e-01 2.13275318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.67, Y:38.96, Z:21.33 [[ 9.89982930e-01 -1.28535598e-01 -5.84157425e-02 4.51668195e+02] [ 1.28430451e-01 9.91702896e-01 -5.56649053e-03 3.89558901e+01] [ 5.86465532e-02 -1.99162952e-03 9.98276823e-01 2.13284399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.70, Y:38.96, Z:21.33 [[ 9.89440293e-01 -1.32880480e-01 -5.78850946e-02 4.51699264e+02] [ 1.32784672e-01 9.91129563e-01 -5.51554273e-03 3.89580831e+01] [ 5.81045365e-02 -2.22895308e-03 9.98308016e-01 2.13310194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.73, Y:38.96, Z:21.33 [[ 9.89154554e-01 -1.35174537e-01 -5.74553102e-02 4.51730270e+02] [ 1.35084124e-01 9.90819020e-01 -5.47252532e-03 3.89604732e+01] [ 5.76675603e-02 -2.34812690e-03 9.98333080e-01 2.13326047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.76, Y:38.96, Z:21.33 [[ 9.88862493e-01 -1.37363886e-01 -5.72899042e-02 4.51760481e+02] [ 1.37277806e-01 9.90517570e-01 -5.45417235e-03 3.89601614e+01] [ 5.74958630e-02 -2.47120586e-03 9.98342686e-01 2.13334637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.79, Y:38.96, Z:21.33 [[ 9.88544682e-01 -1.39548796e-01 -5.74938653e-02 4.51791832e+02] [ 1.39466048e-01 9.90211750e-01 -5.46907364e-03 3.89613292e+01] [ 5.76943037e-02 -2.61201851e-03 9.98330879e-01 2.13346202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.82, Y:38.97, Z:21.34 [[ 9.88272672e-01 -1.41459387e-01 -5.75010212e-02 4.51822714e+02] [ 1.41379959e-01 9.89940307e-01 -5.46770855e-03 3.89655529e+01] [ 5.76960373e-02 -2.72590510e-03 9.98330475e-01 2.13366854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.85, Y:38.96, Z:21.34 [[ 9.87830792e-01 -1.44430053e-01 -5.77086401e-02 4.51853324e+02] [ 1.44355220e-01 9.89510728e-01 -5.48540110e-03 3.89647455e+01] [ 5.78955752e-02 -2.91189534e-03 9.98318398e-01 2.13378808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.88, Y:38.97, Z:21.34 [[ 9.87710941e-01 -1.45223853e-01 -5.77678889e-02 4.51884099e+02] [ 1.45150327e-01 9.89394386e-01 -5.48917595e-03 3.89688859e+01] [ 5.79523842e-02 -2.96330883e-03 9.98314950e-01 2.13394964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.92, Y:38.97, Z:21.34 [[ 9.87607586e-01 -1.45853776e-01 -5.79476676e-02 4.51915681e+02] [ 1.45780993e-01 9.89301575e-01 -5.50419100e-03 3.89715628e+01] [ 5.81305258e-02 -3.01168775e-03 9.98304448e-01 2.13406194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.95, Y:38.98, Z:21.34 [[ 9.87485202e-01 -1.46457776e-01 -5.85072290e-02 4.51946712e+02] [ 1.46384763e-01 9.89212131e-01 -5.55524273e-03 3.89760058e+01] [ 5.86896692e-02 -3.07884685e-03 9.98271528e-01 2.13420600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:451.98, Y:38.98, Z:21.34 [[ 9.87457000e-01 -1.46444445e-01 -5.90143869e-02 4.51977162e+02] [ 1.46370252e-01 9.89214018e-01 -5.60148141e-03 3.89773519e+01] [ 5.91981646e-02 -3.10672865e-03 9.98241416e-01 2.13429260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.01, Y:38.99, Z:21.35 [[ 9.87451540e-01 -1.46429867e-01 -5.91417811e-02 4.52008134e+02] [ 1.46355403e-01 9.89216153e-01 -5.61229955e-03 3.89852914e+01] [ 5.93258135e-02 -3.11384540e-03 9.98233816e-01 2.13453115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.04, Y:38.98, Z:21.35 [[ 9.87444908e-01 -1.46253048e-01 -5.96875130e-02 4.52038533e+02] [ 1.46177002e-01 9.89242248e-01 -5.66211769e-03 3.89847349e+01] [ 5.98735115e-02 -3.13391241e-03 9.98201053e-01 2.13460229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.07, Y:38.99, Z:21.35 [[ 9.87500434e-01 -1.45768610e-01 -5.99533583e-02 4.52069594e+02] [ 1.45691075e-01 9.89313792e-01 -5.68602581e-03 3.89899383e+01] [ 6.01415284e-02 -3.11971628e-03 9.98184985e-01 2.13481256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.10, Y:39.00, Z:21.35 [[ 9.87808809e-01 -1.43762560e-01 -5.97166928e-02 4.52099602e+02] [ 1.43682110e-01 9.89607700e-01 -5.66143467e-03 3.90004617e+01] [ 5.99100014e-02 -2.98780541e-03 9.98199311e-01 2.13520012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.13, Y:39.00, Z:21.35 [[ 9.88087671e-01 -1.42166824e-01 -5.89181571e-02 4.52129849e+02] [ 1.42085798e-01 9.89838597e-01 -5.58374726e-03 3.90010050e+01] [ 5.91132896e-02 -2.85420157e-03 9.98247200e-01 2.13531025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.16, Y:39.01, Z:21.36 [[ 9.88432952e-01 -1.39996240e-01 -5.83211072e-02 4.52160581e+02] [ 1.39913155e-01 9.90148360e-01 -5.52587833e-03 3.90082547e+01] [ 5.85201508e-02 -2.69792986e-03 9.98282582e-01 2.13559858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.19, Y:39.01, Z:21.36 [[ 9.89202763e-01 -1.34976555e-01 -5.70896025e-02 4.52190012e+02] [ 1.34888696e-01 9.90846002e-01 -5.40745705e-03 3.90139507e+01] [ 5.72968843e-02 -2.35167055e-03 9.98354414e-01 2.13589455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.22, Y:39.02, Z:21.36 [[ 9.89646678e-01 -1.32033577e-01 -5.62724307e-02 4.52220514e+02] [ 1.31943484e-01 9.91242912e-01 -5.32972598e-03 3.90176683e+01] [ 5.64833509e-02 -2.15023497e-03 9.98401226e-01 2.13607966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.25, Y:39.02, Z:21.36 [[ 9.90077851e-01 -1.28917062e-01 -5.59127972e-02 4.52250483e+02] [ 1.28823297e-01 9.91653438e-01 -5.29315051e-03 3.90203369e+01] [ 5.61284949e-02 -1.96223978e-03 9.98421625e-01 2.13625736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.28, Y:39.03, Z:21.37 [[ 9.90497600e-01 -1.25813429e-01 -5.55471445e-02 4.52281620e+02] [ 1.25716278e-01 9.92052325e-01 -5.25379074e-03 3.90276390e+01] [ 5.57666713e-02 -1.77931312e-03 9.98442243e-01 2.13650659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.31, Y:39.03, Z:21.37 [[ 9.91202811e-01 -1.19978959e-01 -5.58751908e-02 4.52311719e+02] [ 1.19871543e-01 9.92775358e-01 -5.28219591e-03 3.90295427e+01] [ 5.61052649e-02 -1.46211792e-03 9.98423789e-01 2.13653314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.34, Y:39.04, Z:21.37 [[ 9.91466168e-01 -1.17391583e-01 -5.66926246e-02 4.52342619e+02] [ 1.17276795e-01 9.93084807e-01 -5.35912868e-03 3.90373222e+01] [ 5.69297007e-02 -1.33533454e-03 9.98377296e-01 2.13676391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.37, Y:39.04, Z:21.37 [[ 9.91747107e-01 -1.14811363e-01 -5.70615968e-02 4.52373692e+02] [ 1.14690930e-01 9.93386590e-01 -5.39190641e-03 3.90412398e+01] [ 5.73032772e-02 -1.19704001e-03 9.98356100e-01 2.13683990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.40, Y:39.05, Z:21.37 [[ 9.92017077e-01 -1.12022722e-01 -5.79053449e-02 4.52404765e+02] [ 1.11894078e-01 9.93705087e-01 -5.46949405e-03 3.90450599e+01] [ 5.81535434e-02 -1.05343365e-03 9.98307095e-01 2.13691746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.43, Y:39.05, Z:21.37 [[ 9.92501641e-01 -1.07164744e-01 -5.87895429e-02 4.52434365e+02] [ 1.07023737e-01 9.94240970e-01 -5.55106597e-03 3.90486849e+01] [ 5.90458507e-02 -7.82434467e-04 9.98254965e-01 2.13695721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.46, Y:39.05, Z:21.37 [[ 9.92772489e-01 -1.04632356e-01 -5.87780214e-02 4.52464243e+02] [ 1.04487016e-01 9.94510769e-01 -5.54917488e-03 3.90526242e+01] [ 5.90359985e-02 -6.32471927e-04 9.98255654e-01 2.13717810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.49, Y:39.06, Z:21.37 [[ 9.93089545e-01 -1.02002866e-01 -5.80394002e-02 4.52494632e+02] [ 1.01856671e-01 9.94783994e-01 -5.47944239e-03 3.90553424e+01] [ 5.82955852e-02 -4.70123128e-04 9.98299256e-01 2.13734290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.52, Y:39.06, Z:21.37 [[ 9.93383367e-01 -9.93771316e-02 -5.75644980e-02 4.52524012e+02] [ 9.92289041e-02 9.95049792e-01 -5.43479477e-03 3.90575411e+01] [ 5.78196360e-02 -3.13227322e-04 9.98326996e-01 2.13737248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.55, Y:39.06, Z:21.38 [[ 9.93659472e-01 -9.70743484e-02 -5.67223394e-02 4.52553565e+02] [ 9.69266113e-02 9.95277117e-01 -5.35648276e-03 3.90607706e+01] [ 5.69744235e-02 -1.75384315e-04 9.98375623e-01 2.13764460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.58, Y:39.06, Z:21.38 [[ 9.94116804e-01 -9.29138341e-02 -5.56668563e-02 4.52582442e+02] [ 9.27649065e-02 9.95674151e-01 -5.25897391e-03 3.90626152e+01] [ 5.59146814e-02 6.41036117e-05 9.98435548e-01 2.13776394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.61, Y:39.06, Z:21.38 [[ 9.94269961e-01 -9.16509560e-02 -5.50213396e-02 4.52611004e+02] [ 9.15032836e-02 9.95791185e-01 -5.20248903e-03 3.90647152e+01] [ 5.52665780e-02 1.38045326e-04 9.98471625e-01 2.13787886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.64, Y:39.07, Z:21.38 [[ 9.94376211e-01 -9.08114511e-02 -5.44906625e-02 4.52639560e+02] [ 9.06646087e-02 9.95868085e-01 -5.16594472e-03 3.90661528e+01] [ 5.47346386e-02 1.96517940e-04 9.98500917e-01 2.13802909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.67, Y:39.07, Z:21.38 [[ 9.94410180e-01 -9.03979580e-02 -5.45582620e-02 4.52667468e+02] [ 9.02494308e-02 9.95905696e-01 -5.18507274e-03 3.90670947e+01] [ 5.48036038e-02 2.32237026e-04 9.98497126e-01 2.13808220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.70, Y:39.06, Z:21.38 [[ 9.94233876e-01 -9.24488621e-02 -5.43342225e-02 4.52695406e+02] [ 9.23043466e-02 9.95717426e-01 -5.16865344e-03 3.90638175e+01] [ 5.45793683e-02 1.23565443e-04 9.98509428e-01 2.13805274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.72, Y:39.06, Z:21.38 [[ 9.94017615e-01 -9.47946168e-02 -5.42490621e-02 4.52723983e+02] [ 9.46537094e-02 9.95496851e-01 -5.16668864e-03 3.90624576e+01] [ 5.44945448e-02 9.04560532e-07 9.98514068e-01 2.13814828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.75, Y:39.06, Z:21.38 [[ 9.93743413e-01 -9.80284343e-02 -5.35206085e-02 4.52752785e+02] [ 9.78951877e-02 9.95183601e-01 -5.11190567e-03 3.90604576e+01] [ 5.37639440e-02 -1.59487429e-04 9.98553660e-01 2.13825635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.78, Y:39.05, Z:21.38 [[ 9.93003210e-01 -1.05731632e-01 -5.25875181e-02 4.52782411e+02] [ 1.05613107e-01 9.94394547e-01 -5.03549482e-03 3.90536963e+01] [ 5.28251524e-02 -5.53668642e-04 9.98603623e-01 2.13846119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.81, Y:39.05, Z:21.39 [[ 9.92527033e-01 -1.10176926e-01 -5.24512554e-02 4.52812283e+02] [ 1.10064567e-01 9.93911688e-01 -5.03471158e-03 3.90511069e+01] [ 5.26866248e-02 -7.75937343e-04 9.98610794e-01 2.13860856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.84, Y:39.05, Z:21.39 [[ 9.92527032e-01 -1.10177008e-01 -5.24510903e-02 4.52842115e+02] [ 1.10064558e-01 9.93911680e-01 -5.03643081e-03 3.90539723e+01] [ 5.26866501e-02 -7.74212323e-04 9.98610794e-01 2.13875119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.87, Y:39.05, Z:21.39 [[ 9.92017608e-01 -1.14837924e-01 -5.20895011e-02 4.52872007e+02] [ 1.14733426e-01 9.93383724e-01 -5.00188628e-03 3.90514870e+01] [ 5.23192688e-02 -1.01444763e-03 9.98629894e-01 2.13887658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.90, Y:39.05, Z:21.39 [[ 9.91485457e-01 -1.19152531e-01 -5.25286962e-02 4.52901370e+02] [ 1.19052205e-01 9.92875174e-01 -5.04600261e-03 3.90478372e+01] [ 5.27556824e-02 -1.25061891e-03 9.98606666e-01 2.13895358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.93, Y:39.04, Z:21.39 [[ 9.90434238e-01 -1.27334636e-01 -5.31593025e-02 4.52931409e+02] [ 1.27243537e-01 9.91858349e-01 -5.10853456e-03 3.90392888e+01] [ 5.33769914e-02 -1.70451014e-03 9.98572978e-01 2.13894203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.96, Y:39.04, Z:21.39 [[ 9.90029609e-01 -1.30590850e-01 -5.27958619e-02 4.52961426e+02] [ 1.30505512e-01 9.91434592e-01 -5.07548386e-03 3.90375558e+01] [ 5.30064555e-02 -1.86527170e-03 9.98592428e-01 2.13904774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:452.99, Y:39.03, Z:21.39 [[ 9.89666707e-01 -1.33340686e-01 -5.27263801e-02 4.52990692e+02] [ 1.33259361e-01 9.91068227e-01 -5.07078249e-03 3.90321911e+01] [ 5.29315817e-02 -2.00789914e-03 9.98596123e-01 2.13908575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.02, Y:39.03, Z:21.39 [[ 9.89128796e-01 -1.37514017e-01 -5.20972218e-02 4.53020983e+02] [ 1.37440258e-01 9.90497373e-01 -5.01284675e-03 3.90312988e+01] [ 5.22914981e-02 -2.20190454e-03 9.98629436e-01 2.13929596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.05, Y:39.03, Z:21.39 [[ 9.88969563e-01 -1.38957855e-01 -5.12827315e-02 4.53051264e+02] [ 1.38888277e-01 9.90295758e-01 -4.93530895e-03 3.90328079e+01] [ 5.14708714e-02 -2.24169989e-03 9.98671980e-01 2.13945041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.08, Y:39.03, Z:21.40 [[ 9.88790862e-01 -1.40400780e-01 -5.07961755e-02 4.53080476e+02] [ 1.40334407e-01 9.90092095e-01 -4.88861123e-03 3.90316417e+01] [ 5.09792567e-02 -2.29463705e-03 9.98697076e-01 2.13960999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.11, Y:39.03, Z:21.40 [[ 9.88627889e-01 -1.41627012e-01 -5.05636906e-02 4.53109145e+02] [ 1.41562749e-01 9.89917315e-01 -4.86812515e-03 3.90296833e+01] [ 5.07433309e-02 -2.34517073e-03 9.98708974e-01 2.13973955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.14, Y:39.03, Z:21.40 [[ 9.88234686e-01 -1.44580035e-01 -4.98880687e-02 4.53138838e+02] [ 1.44521094e-01 9.89490050e-01 -4.80572488e-03 3.90281465e+01] [ 5.00585595e-02 -2.46069426e-03 9.98743253e-01 2.13989575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.17, Y:39.03, Z:21.40 [[ 9.88017481e-01 -1.46061049e-01 -4.98761283e-02 4.53168335e+02] [ 1.46003886e-01 9.89272337e-01 -4.80718989e-03 3.90304154e+01] [ 5.00432172e-02 -2.53252089e-03 9.98743842e-01 2.14004884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.20, Y:39.03, Z:21.40 [[ 9.87823085e-01 -1.47407014e-01 -4.97666980e-02 4.53198044e+02] [ 1.47351713e-01 9.89072519e-01 -4.79844483e-03 3.90322483e+01] [ 4.99301977e-02 -2.59319362e-03 9.98749343e-01 2.14013571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.23, Y:39.03, Z:21.40 [[ 9.87627199e-01 -1.48744114e-01 -4.96759898e-02 4.53228104e+02] [ 1.48690611e-01 9.88872158e-01 -4.79147593e-03 3.90333046e+01] [ 4.98359070e-02 -2.65416132e-03 9.98753893e-01 2.14023405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.26, Y:39.03, Z:21.40 [[ 9.87142544e-01 -1.51691184e-01 -5.03922860e-02 4.53257735e+02] [ 1.51639903e-01 9.88423849e-01 -4.86155894e-03 3.90334942e+01] [ 5.05463930e-02 -2.84242968e-03 9.98717669e-01 2.14030977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.29, Y:39.03, Z:21.40 [[ 9.86947873e-01 -1.52872677e-01 -5.06343876e-02 4.53287152e+02] [ 1.52822354e-01 9.88241594e-01 -4.88682154e-03 3.90310333e+01] [ 5.07860693e-02 -2.91502818e-03 9.98705301e-01 2.14039239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.32, Y:39.03, Z:21.40 [[ 9.86773900e-01 -1.53920373e-01 -5.08506525e-02 4.53315987e+02] [ 1.53870826e-01 9.88078767e-01 -4.91118489e-03 3.90322386e+01] [ 5.10003814e-02 -2.97820282e-03 9.98694193e-01 2.14049186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.34, Y:39.03, Z:21.41 [[ 9.86530967e-01 -1.55393957e-01 -5.10819777e-02 4.53344808e+02] [ 1.55345273e-01 9.87847853e-01 -4.94626353e-03 3.90342780e+01] [ 5.12298415e-02 -3.05570162e-03 9.98682215e-01 2.14062122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.37, Y:39.04, Z:21.41 [[ 9.86402880e-01 -1.56145892e-01 -5.12622476e-02 4.53372742e+02] [ 1.56097213e-01 9.87729160e-01 -4.97657573e-03 3.90399384e+01] [ 5.14102886e-02 -3.09298534e-03 9.98672827e-01 2.14077649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.40, Y:39.04, Z:21.41 [[ 9.86277270e-01 -1.56934533e-01 -5.12708390e-02 4.53401246e+02] [ 1.56886221e-01 9.87604074e-01 -4.99056228e-03 3.90428824e+01] [ 5.14184811e-02 -3.12161006e-03 9.98672316e-01 2.14091273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.43, Y:39.05, Z:21.41 [[ 9.86186591e-01 -1.57546874e-01 -5.11369761e-02 4.53429825e+02] [ 1.57498961e-01 9.87506542e-01 -4.99062051e-03 3.90461197e+01] [ 5.12843551e-02 -3.13233758e-03 9.98679179e-01 2.14104762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.46, Y:39.05, Z:21.41 [[ 9.86116856e-01 -1.57944360e-01 -5.12554997e-02 4.53458742e+02] [ 1.57896081e-01 9.87442998e-01 -5.01536796e-03 3.90489805e+01] [ 5.14040333e-02 -3.14730364e-03 9.98672979e-01 2.14117411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.49, Y:39.05, Z:21.41 [[ 9.86100230e-01 -1.58091943e-01 -5.11201922e-02 4.53486888e+02] [ 1.58043477e-01 9.87419421e-01 -5.01456438e-03 3.90492239e+01] [ 5.12698329e-02 -3.13434985e-03 9.98679919e-01 2.14132669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.52, Y:39.06, Z:21.42 [[ 9.86186873e-01 -1.57736666e-01 -5.05430060e-02 4.53515947e+02] [ 1.57688601e-01 9.87476420e-01 -4.96231181e-03 3.90579704e+01] [ 5.06927651e-02 -3.07628913e-03 9.98709557e-01 2.14153316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.54, Y:39.06, Z:21.42 [[ 9.86312993e-01 -1.57048389e-01 -5.02243380e-02 4.53544213e+02] [ 1.56999943e-01 9.87586292e-01 -4.93290685e-03 3.90601613e+01] [ 5.03755728e-02 -3.01982810e-03 9.98725779e-01 2.14168983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.57, Y:39.07, Z:21.42 [[ 9.86480288e-01 -1.56281567e-01 -4.93225397e-02 4.53573106e+02] [ 1.56233759e-01 9.87708216e-01 -4.84694304e-03 3.90669477e+01] [ 4.94737655e-02 -2.92443203e-03 9.98771142e-01 2.14188889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.60, Y:39.07, Z:21.42 [[ 9.86683602e-01 -1.55296804e-01 -4.83567184e-02 4.53601931e+02] [ 1.55249586e-01 9.87863841e-01 -4.75376754e-03 3.90705719e+01] [ 4.85080985e-02 -2.81689602e-03 9.98818817e-01 2.14208741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.63, Y:39.08, Z:21.42 [[ 9.87088485e-01 -1.53036559e-01 -4.72877892e-02 4.53630888e+02] [ 1.52988739e-01 9.88216990e-01 -4.65036309e-03 3.90769639e+01] [ 4.74422723e-02 -2.64417939e-03 9.98870482e-01 2.14230885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.66, Y:39.08, Z:21.42 [[ 9.87277385e-01 -1.51848729e-01 -4.71733828e-02 4.53660609e+02] [ 1.51799861e-01 9.88400372e-01 -4.63759583e-03 3.90807208e+01] [ 4.73304022e-02 -2.58231946e-03 9.98875951e-01 2.14247522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.69, Y:39.09, Z:21.43 [[ 9.87636586e-01 -1.49494043e-01 -4.71752658e-02 4.53690862e+02] [ 1.49442492e-01 9.88759542e-01 -4.63778307e-03 3.90908615e+01] [ 4.73383152e-02 -2.46954505e-03 9.98875861e-01 2.14256799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.72, Y:39.10, Z:21.43 [[ 9.87844296e-01 -1.47870591e-01 -4.79367949e-02 4.53721322e+02] [ 1.47815500e-01 9.89003730e-01 -4.71176279e-03 3.90976935e+01] [ 4.81064001e-02 -2.43131332e-03 9.98839258e-01 2.14267481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.75, Y:39.10, Z:21.43 [[ 9.88102982e-01 -1.46147784e-01 -4.78886438e-02 4.53751275e+02] [ 1.46090871e-01 9.89259985e-01 -4.70527865e-03 3.91021223e+01] [ 4.80619851e-02 -2.34679383e-03 9.98841598e-01 2.14277212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.78, Y:39.11, Z:21.43 [[ 9.88374890e-01 -1.44183195e-01 -4.82315613e-02 4.53781618e+02] [ 1.44123174e-01 9.89548413e-01 -4.73809041e-03 3.91089431e+01] [ 4.84106179e-02 -2.26827611e-03 9.98824943e-01 2.14289098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.81, Y:39.12, Z:21.43 [[ 9.88698084e-01 -1.41653475e-01 -4.90957472e-02 4.53812398e+02] [ 1.41588220e-01 9.89913897e-01 -4.82203683e-03 3.91150216e+01] [ 4.92836208e-02 -2.18384091e-03 9.98782437e-01 2.14299413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.84, Y:39.12, Z:21.43 [[ 9.89517824e-01 -1.35493345e-01 -4.99602725e-02 4.53842498e+02] [ 1.35418023e-01 9.90776412e-01 -4.90515276e-03 3.91244823e+01] [ 5.01640750e-02 -1.91178524e-03 9.98739160e-01 2.14308056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.87, Y:39.13, Z:21.43 [[ 9.90015388e-01 -1.31631685e-01 -5.04245090e-02 4.53872294e+02] [ 1.31549976e-01 9.91297179e-01 -4.95032484e-03 3.91315412e+01] [ 5.06372932e-02 -1.73244520e-03 9.98715607e-01 2.14318865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.90, Y:39.14, Z:21.43 [[ 9.90513354e-01 -1.27658517e-01 -5.08586132e-02 4.53901417e+02] [ 1.27570161e-01 9.91816981e-01 -4.99300634e-03 3.91381518e+01] [ 5.10798360e-02 -1.54240200e-03 9.98693382e-01 2.14328561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.93, Y:39.15, Z:21.43 [[ 9.91621822e-01 -1.18494560e-01 -5.14315216e-02 4.53930141e+02] [ 1.18391832e-01 9.92954113e-01 -5.05013634e-03 3.91485597e+01] [ 5.16675546e-02 -1.08124667e-03 9.98663755e-01 2.14335180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.96, Y:39.16, Z:21.44 [[ 9.92194643e-01 -1.13724906e-01 -5.11511079e-02 4.53959709e+02] [ 1.13616946e-01 9.93511933e-01 -5.02287400e-03 3.91574500e+01] [ 5.13904619e-02 -8.27964004e-04 9.98678294e-01 2.14354995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:453.99, Y:39.16, Z:21.44 [[ 9.92763323e-01 -1.08861487e-01 -5.06967508e-02 4.53989155e+02] [ 1.08749098e-01 9.94056764e-01 -4.97825760e-03 3.91642819e+01] [ 5.09373886e-02 -5.70994377e-04 9.98701685e-01 2.14372775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.02, Y:39.17, Z:21.44 [[ 9.93283109e-01 -1.04319019e-01 -5.00620382e-02 4.54018570e+02] [ 1.04203660e-01 9.94543831e-01 -4.91593086e-03 3.91709377e+01] [ 5.03017163e-02 -3.33736520e-04 9.98734012e-01 2.14393624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.05, Y:39.18, Z:21.44 [[ 9.93725193e-01 -1.00298840e-01 -4.95013529e-02 4.54048149e+02] [ 1.00181065e-01 9.94957349e-01 -4.86087338e-03 3.91775731e+01] [ 4.97392748e-02 -1.28725935e-04 9.98762228e-01 2.14416355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.08, Y:39.18, Z:21.44 [[ 9.94101321e-01 -9.68676237e-02 -4.87773173e-02 4.54077865e+02] [ 9.67491414e-02 9.95297273e-01 -4.78977541e-03 3.91832258e+01] [ 4.90119050e-02 4.23584999e-05 9.98798194e-01 2.14433619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.11, Y:39.19, Z:21.45 [[ 9.94513813e-01 -9.29333670e-02 -4.80173503e-02 4.54106914e+02] [ 9.28139648e-02 9.95672303e-01 -4.71516214e-03 3.91890252e+01] [ 4.82477417e-02 2.32613212e-04 9.98835372e-01 2.14453658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.14, Y:39.19, Z:21.45 [[ 9.94575822e-01 -9.25247689e-02 -4.75194905e-02 4.54135918e+02] [ 9.24073246e-02 9.95710352e-01 -4.66712492e-03 3.91920502e+01] [ 4.77474732e-02 2.50660622e-04 9.98859408e-01 2.14465886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.17, Y:39.19, Z:21.45 [[ 9.94534148e-01 -9.27769756e-02 -4.78984562e-02 4.54165758e+02] [ 9.26578598e-02 9.95686886e-01 -4.70604407e-03 3.91944452e+01] [ 4.81284772e-02 2.42153091e-04 9.98841124e-01 2.14480229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.20, Y:39.19, Z:21.45 [[ 9.94186716e-01 -9.63974524e-02 -4.79614910e-02 4.54195208e+02] [ 9.62821905e-02 9.95342919e-01 -4.71309264e-03 3.91939646e+01] [ 4.81924606e-02 6.78566765e-05 9.98838066e-01 2.14490069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.22, Y:39.19, Z:21.45 [[ 9.93938767e-01 -9.89416010e-02 -4.79195834e-02 4.54224753e+02] [ 9.88294115e-02 9.95093240e-01 -4.71070189e-03 3.91946630e+01] [ 4.81505379e-02 -5.37149909e-05 9.98840089e-01 2.14500103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.26, Y:39.20, Z:21.45 [[ 9.93602425e-01 -1.01823971e-01 -4.88477140e-02 4.54255185e+02] [ 1.01710786e-01 9.94802413e-01 -4.80368037e-03 3.91950529e+01] [ 4.90829536e-02 -1.95390915e-04 9.98794686e-01 2.14513793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.29, Y:39.19, Z:21.45 [[ 9.93280188e-01 -1.04939889e-01 -4.88066364e-02 4.54285201e+02] [ 1.04830650e-01 9.94478506e-01 -4.79966797e-03 3.91943024e+01] [ 4.90408274e-02 -3.49016332e-04 9.98796714e-01 2.14521762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.32, Y:39.20, Z:21.45 [[ 9.92917432e-01 -1.08274451e-01 -4.89041553e-02 4.54316078e+02] [ 1.08168774e-01 9.94120908e-01 -4.81010862e-03 3.91952140e+01] [ 4.91374551e-02 -5.13861824e-04 9.98791893e-01 2.14537528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.35, Y:39.19, Z:21.45 [[ 9.92253342e-01 -1.14066672e-01 -4.92148246e-02 4.54346907e+02] [ 1.13966762e-01 9.93472770e-01 -4.84066539e-03 3.91922581e+01] [ 4.94457467e-02 -8.05687791e-04 9.98776486e-01 2.14546250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.38, Y:39.19, Z:21.46 [[ 9.91985936e-01 -1.16414906e-01 -4.91067413e-02 4.54376164e+02] [ 1.16318307e-01 9.93200243e-01 -4.83006724e-03 3.91916289e+01] [ 4.93351192e-02 -9.20654226e-04 9.98781857e-01 2.14561617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.41, Y:39.19, Z:21.46 [[ 9.91729357e-01 -1.18600009e-01 -4.90603767e-02 4.54406323e+02] [ 1.18506219e-01 9.92941580e-01 -4.82636902e-03 3.91920480e+01] [ 4.92864953e-02 -1.02750791e-03 9.98784154e-01 2.14575162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.44, Y:39.19, Z:21.46 [[ 9.91273446e-01 -1.22510048e-01 -4.86646047e-02 4.54436588e+02] [ 1.22422456e-01 9.92466533e-01 -4.78773748e-03 3.91904235e+01] [ 4.88845375e-02 -1.21168339e-03 9.98803701e-01 2.14592303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.47, Y:39.19, Z:21.46 [[ 9.91091366e-01 -1.24061186e-01 -4.84430160e-02 4.54466152e+02] [ 1.23976197e-01 9.92273743e-01 -4.76679791e-03 3.91897794e+01] [ 4.86601074e-02 -1.28144867e-03 9.98814573e-01 2.14602893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.50, Y:39.19, Z:21.46 [[ 9.90903260e-01 -1.25390600e-01 -4.88664142e-02 4.54496834e+02] [ 1.25305695e-01 9.92106523e-01 -4.80924699e-03 3.91940957e+01] [ 4.90837227e-02 -1.35774149e-03 9.98793745e-01 2.14617858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.53, Y:39.19, Z:21.46 [[ 9.90487854e-01 -1.28223486e-01 -4.99254309e-02 4.54527011e+02] [ 1.28138541e-01 9.91744115e-01 -4.91171081e-03 3.91898095e+01] [ 5.01430490e-02 -1.53238197e-03 9.98740871e-01 2.14617639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.56, Y:39.19, Z:21.46 [[ 9.90244671e-01 -1.29792539e-01 -5.06891398e-02 4.54557113e+02] [ 1.29707000e-01 9.91539823e-01 -4.98737863e-03 3.91917440e+01] [ 5.09076252e-02 -1.63601113e-03 9.98702026e-01 2.14625162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.59, Y:39.19, Z:21.46 [[ 9.89989897e-01 -1.31546156e-01 -5.11430555e-02 4.54587963e+02] [ 1.31461413e-01 9.91308517e-01 -5.03204006e-03 3.91932699e+01] [ 5.13604920e-02 -1.74166952e-03 9.98678660e-01 2.14635728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.62, Y:39.19, Z:21.46 [[ 9.89739392e-01 -1.33383555e-01 -5.12324374e-02 4.54617411e+02] [ 1.33300969e-01 9.91062784e-01 -5.04090539e-03 3.91932336e+01] [ 5.14469359e-02 -1.84015091e-03 9.98674034e-01 2.14644145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.65, Y:39.19, Z:21.47 [[ 9.89269244e-01 -1.36691194e-01 -5.15934087e-02 4.54647500e+02] [ 1.36611878e-01 9.90611637e-01 -5.07735883e-03 3.91938555e+01] [ 5.18030613e-02 -2.02539753e-03 9.98655266e-01 2.14657254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.68, Y:39.19, Z:21.47 [[ 9.89072479e-01 -1.38026200e-01 -5.18111983e-02 4.54677494e+02] [ 1.37947990e-01 9.90426345e-01 -5.09974954e-03 3.91938439e+01] [ 5.20190748e-02 -2.10322876e-03 9.98643877e-01 2.14668701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.71, Y:39.20, Z:21.47 [[ 9.88932354e-01 -1.38800548e-01 -5.24138112e-02 4.54706827e+02] [ 1.38721538e-01 9.90317983e-01 -5.16012528e-03 3.91956824e+01] [ 5.26225680e-02 -2.16790968e-03 9.98612120e-01 2.14679564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.74, Y:39.20, Z:21.47 [[ 9.88917612e-01 -1.38515071e-01 -5.34371757e-02 4.54735130e+02] [ 1.38432407e-01 9.90357899e-01 -5.26317226e-03 3.91963379e+01] [ 5.36509577e-02 -2.19259312e-03 9.98557343e-01 2.14684807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.76, Y:39.20, Z:21.47 [[ 9.88883543e-01 -1.38758302e-01 -5.34366119e-02 4.54763244e+02] [ 1.38675684e-01 9.90323833e-01 -5.26888972e-03 3.91991552e+01] [ 5.36506525e-02 -2.20004037e-03 9.98557343e-01 2.14698259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.79, Y:39.20, Z:21.47 [[ 9.88980546e-01 -1.37950142e-01 -5.37330262e-02 4.54791588e+02] [ 1.37864688e-01 9.90436830e-01 -5.31157430e-03 3.92045209e+01] [ 5.39519006e-02 -2.15484323e-03 9.98541211e-01 2.14715276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.82, Y:39.21, Z:21.47 [[ 9.89200719e-01 -1.36269169e-01 -5.39689777e-02 4.54819654e+02] [ 1.36179715e-01 9.90669711e-01 -5.34873942e-03 3.92068792e+01] [ 5.41942998e-02 -2.05850311e-03 9.98528287e-01 2.14728242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.85, Y:39.21, Z:21.47 [[ 9.89521293e-01 -1.34004144e-01 -5.37633705e-02 4.54848555e+02] [ 1.33911305e-01 9.90978924e-01 -5.34183444e-03 3.92119740e+01] [ 5.39941949e-02 -1.91366415e-03 9.98539416e-01 2.14748166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.88, Y:39.22, Z:21.48 [[ 9.90444501e-01 -1.27472847e-01 -5.26342460e-02 4.54878207e+02] [ 1.27374069e-01 9.91840906e-01 -5.24065188e-03 3.92196587e+01] [ 5.28728391e-02 -1.51366327e-03 9.98600106e-01 2.14777617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.91, Y:39.23, Z:21.48 [[ 9.90930169e-01 -1.23649444e-01 -5.26138301e-02 4.54907443e+02] [ 1.23545303e-01 9.92325100e-01 -5.23967140e-03 3.92262517e+01] [ 5.28579067e-02 -1.30804310e-03 9.98601187e-01 2.14801452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.94, Y:39.23, Z:21.48 [[ 9.91404054e-01 -1.20029122e-01 -5.20673833e-02 4.54935642e+02] [ 1.19922041e-01 9.92769760e-01 -5.18722023e-03 3.92305908e+01] [ 5.23135411e-02 -1.10139573e-03 9.98630102e-01 2.14818597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.96, Y:39.24, Z:21.48 [[ 9.92206410e-01 -1.13333732e-01 -5.17871118e-02 4.54964224e+02] [ 1.13218502e-01 9.93556700e-01 -5.16277138e-03 3.92380508e+01] [ 5.20385481e-02 -7.40724360e-04 9.98644802e-01 2.14837395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:454.99, Y:39.24, Z:21.49 [[ 9.92462154e-01 -1.10858211e-01 -5.22429885e-02 4.54992195e+02] [ 1.10736856e-01 9.93836049e-01 -5.22075374e-03 3.92417191e+01] [ 5.24997288e-02 -6.03823782e-04 9.98620756e-01 2.14850482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.02, Y:39.25, Z:21.49 [[ 9.92671313e-01 -1.08989181e-01 -5.22017571e-02 4.55020717e+02] [ 1.08864741e-01 9.94042814e-01 -5.22983781e-03 3.92457640e+01] [ 5.24607773e-02 -4.91420796e-04 9.98622864e-01 2.14866569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.05, Y:39.25, Z:21.49 [[ 9.92822805e-01 -1.07368537e-01 -5.26770758e-02 4.55048550e+02] [ 1.07238853e-01 9.94219211e-01 -5.29040544e-03 3.92489631e+01] [ 5.29405838e-02 -3.96594002e-04 9.98597585e-01 2.14877979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.08, Y:39.25, Z:21.49 [[ 9.92924758e-01 -1.06240340e-01 -5.30416306e-02 4.55076590e+02] [ 1.06106872e-01 9.94340425e-01 -5.33400772e-03 3.92517455e+01] [ 5.33081243e-02 -3.31813167e-04 9.98578056e-01 2.14888606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.10, Y:39.25, Z:21.49 [[ 9.92976968e-01 -1.05431773e-01 -5.36738510e-02 4.55104581e+02] [ 1.05293590e-01 9.94426498e-01 -5.40373682e-03 3.92546057e+01] [ 5.39444252e-02 -2.85726244e-04 9.98543899e-01 2.14904486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.13, Y:39.26, Z:21.49 [[ 9.92904144e-01 -1.05995580e-01 -5.39100933e-02 4.55132733e+02] [ 1.05856147e-01 9.94366555e-01 -5.44336383e-03 3.92569233e+01] [ 5.41833662e-02 -3.01976268e-04 9.98530957e-01 2.14918918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.16, Y:39.26, Z:21.49 [[ 9.92825092e-01 -1.06564861e-01 -5.42426626e-02 4.55160496e+02] [ 1.06423760e-01 9.94305701e-01 -5.49142105e-03 3.92583086e+01] [ 5.45189812e-02 -3.20687518e-04 9.98512683e-01 2.14928625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.19, Y:39.26, Z:21.49 [[ 9.92700834e-01 -1.07692575e-01 -5.42896342e-02 4.55188663e+02] [ 1.07552568e-01 9.94184172e-01 -5.50249919e-03 3.92600998e+01] [ 5.45664733e-02 -3.76654065e-04 9.98510069e-01 2.14946035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.22, Y:39.26, Z:21.50 [[ 9.92339087e-01 -1.10761319e-01 -5.47271985e-02 4.55216373e+02] [ 1.10622898e-01 9.93846892e-01 -5.56154091e-03 3.92587298e+01] [ 5.50064597e-02 -5.35146853e-04 9.98485855e-01 2.14956195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.24, Y:39.26, Z:21.50 [[ 9.92113721e-01 -1.12823765e-01 -5.46000294e-02 4.55244676e+02] [ 1.12688833e-01 9.93614807e-01 -5.55358132e-03 3.92596556e+01] [ 5.48779736e-02 -6.43029379e-04 9.98492862e-01 2.14971895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.27, Y:39.26, Z:21.50 [[ 9.91863910e-01 -1.14974450e-01 -5.46521666e-02 4.55272676e+02] [ 1.14842244e-01 9.93368160e-01 -5.56391943e-03 3.92597689e+01] [ 5.49294307e-02 -7.57726565e-04 9.98489952e-01 2.14984437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.30, Y:39.26, Z:21.50 [[ 9.91360109e-01 -1.19031321e-01 -5.51060672e-02 4.55300692e+02] [ 1.18902886e-01 9.92890011e-01 -5.61518865e-03 3.92573419e+01] [ 5.53826470e-02 -9.85596416e-04 9.98464717e-01 2.14990497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.33, Y:39.26, Z:21.50 [[ 9.91074432e-01 -1.21339564e-01 -5.52103302e-02 4.55329642e+02] [ 1.21213872e-01 9.92610436e-01 -5.63207553e-03 3.92582915e+01] [ 5.54857435e-02 -1.11045183e-03 9.98458862e-01 2.15003781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.36, Y:39.26, Z:21.50 [[ 9.90854211e-01 -1.23223925e-01 -5.49890644e-02 4.55358448e+02] [ 1.23101363e-01 9.92378169e-01 -5.62347077e-03 3.92587905e+01] [ 5.52628932e-02 -1.19718906e-03 9.98471121e-01 2.15021141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.39, Y:39.26, Z:21.50 [[ 9.90653535e-01 -1.24904402e-01 -5.48129902e-02 4.55387124e+02] [ 1.24784427e-01 9.92167965e-01 -5.61934059e-03 3.92598262e+01] [ 5.50855733e-02 -1.27298794e-03 9.98480826e-01 2.15037444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.42, Y:39.26, Z:21.51 [[ 9.90546231e-01 -1.25790857e-01 -5.47249941e-02 4.55415256e+02] [ 1.25671922e-01 9.92055921e-01 -5.62294553e-03 3.92597778e+01] [ 5.49975696e-02 -1.30760772e-03 9.98485632e-01 2.15056162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.44, Y:39.26, Z:21.51 [[ 9.90588113e-01 -1.25503806e-01 -5.46258708e-02 4.55443354e+02] [ 1.25384597e-01 9.92092307e-01 -5.61764034e-03 3.92612702e+01] [ 5.48989414e-02 -1.28447506e-03 9.98491090e-01 2.15066501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.47, Y:39.26, Z:21.51 [[ 9.90676054e-01 -1.24940668e-01 -5.43211258e-02 4.55472294e+02] [ 1.24821620e-01 9.92163440e-01 -5.59218230e-03 3.92637402e+01] [ 5.45941261e-02 -1.24040981e-03 9.98507858e-01 2.15082971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.50, Y:39.27, Z:21.51 [[ 9.90813631e-01 -1.23753080e-01 -5.45300283e-02 4.55500040e+02] [ 1.23630641e-01 9.92312356e-01 -5.62601226e-03 3.92661713e+01] [ 5.48070572e-02 -1.16725271e-03 9.98496281e-01 2.15095528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.53, Y:39.27, Z:21.51 [[ 9.90973567e-01 -1.22516056e-01 -5.44169563e-02 4.55528629e+02] [ 1.22391935e-01 9.92465932e-01 -5.62028838e-03 3.92707701e+01] [ 5.46955509e-02 -1.09063936e-03 9.98502482e-01 2.15117128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.56, Y:39.27, Z:21.51 [[ 9.91521349e-01 -1.18045656e-01 -5.43197732e-02 4.55557019e+02] [ 1.17914585e-01 9.93007822e-01 -5.62283092e-03 3.92746665e+01] [ 5.46037105e-02 -8.29936639e-04 9.98507760e-01 2.15136364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.58, Y:39.28, Z:21.51 [[ 9.91787332e-01 -1.15792569e-01 -5.43136188e-02 4.55584545e+02] [ 1.15657927e-01 9.93273169e-01 -5.62631386e-03 3.92780077e+01] [ 5.45997456e-02 -7.01693734e-04 9.98508075e-01 2.15148321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.61, Y:39.28, Z:21.52 [[ 9.92034316e-01 -1.13538595e-01 -5.45610009e-02 4.55613275e+02] [ 1.13398973e-01 9.93533421e-01 -5.65817521e-03 3.92825119e+01] [ 5.48505991e-02 -5.74057493e-04 9.98494408e-01 2.15169350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.64, Y:39.29, Z:21.52 [[ 9.92440208e-01 -1.09371556e-01 -5.56803071e-02 4.55640648e+02] [ 1.09218819e-01 9.94000880e-01 -5.78796156e-03 3.92858037e+01] [ 5.59793126e-02 -3.37131617e-04 9.98431872e-01 2.15171073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.67, Y:39.29, Z:21.52 [[ 9.92526400e-01 -1.08257313e-01 -5.63178499e-02 4.55668198e+02] [ 1.08098754e-01 9.94122871e-01 -5.86320920e-03 3.92887315e+01] [ 5.66215978e-02 -2.68499497e-04 9.98395674e-01 2.15183539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.70, Y:39.29, Z:21.52 [[ 9.92622903e-01 -1.07379398e-01 -5.62977572e-02 4.55695515e+02] [ 1.07218614e-01 9.94218097e-01 -5.87746449e-03 3.92916564e+01] [ 5.66033676e-02 -2.02061656e-04 9.98396724e-01 2.15199761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.72, Y:39.29, Z:21.52 [[ 9.92582385e-01 -1.07308950e-01 -5.71401644e-02 4.55723645e+02] [ 1.07142211e-01 9.94225707e-01 -5.98256566e-03 3.92929536e+01] [ 5.74522031e-02 -1.83934264e-04 9.98348241e-01 2.15216115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.75, Y:39.29, Z:21.52 [[ 9.92485912e-01 -1.07975424e-01 -5.75588580e-02 4.55751067e+02] [ 1.07806481e-01 9.94153542e-01 -6.04139932e-03 3.92942884e+01] [ 5.78746652e-02 -2.09214229e-04 9.98323835e-01 2.15226124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.78, Y:39.30, Z:21.52 [[ 9.92309896e-01 -1.09542361e-01 -5.76328071e-02 4.55778800e+02] [ 1.09375199e-01 9.93982085e-01 -6.05649529e-03 3.92954909e+01] [ 5.79494206e-02 -2.93679510e-04 9.98319477e-01 2.15239687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.81, Y:39.30, Z:21.53 [[ 9.92109717e-01 -1.11381394e-01 -5.75542662e-02 4.55806850e+02] [ 1.11216807e-01 9.93777660e-01 -6.06498780e-03 3.92965517e+01] [ 5.78716708e-02 -3.83868398e-04 9.98323957e-01 2.15260773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.83, Y:39.29, Z:21.53 [[ 9.91561484e-01 -1.16264759e-01 -5.73439562e-02 4.55834810e+02] [ 1.16108670e-01 9.93218043e-01 -6.05768448e-03 3.92942149e+01] [ 5.76593472e-02 -6.51563885e-04 9.98336103e-01 2.15273174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.86, Y:39.29, Z:21.53 [[ 9.91233049e-01 -1.19494263e-01 -5.63751996e-02 4.55863948e+02] [ 1.19348250e-01 9.92834554e-01 -5.96190094e-03 3.92942120e+01] [ 5.66836591e-02 -8.18648191e-04 9.98391853e-01 2.15291811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.89, Y:39.29, Z:21.53 [[ 9.90817862e-01 -1.23191786e-01 -5.57112958e-02 4.55892568e+02] [ 1.23054249e-01 9.92382374e-01 -5.90560670e-03 3.92938854e+01] [ 5.60144302e-02 -1.00413108e-03 9.98429454e-01 2.15309727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.92, Y:39.29, Z:21.53 [[ 9.90412843e-01 -1.26821880e-01 -5.47595828e-02 4.55920836e+02] [ 1.26693838e-01 9.91924810e-01 -5.81752539e-03 3.92925484e+01] [ 5.50551783e-02 -1.17594984e-03 9.98482621e-01 2.15322677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.95, Y:39.29, Z:21.53 [[ 9.89382402e-01 -1.34940424e-01 -5.39772582e-02 4.55951213e+02] [ 1.34827714e-01 9.90852426e-01 -5.74092530e-03 3.92872850e+01] [ 5.42581801e-02 -1.59765985e-03 9.98525662e-01 2.15340656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:455.98, Y:39.29, Z:21.54 [[ 9.88825448e-01 -1.39036414e-01 -5.37876340e-02 4.55980906e+02] [ 1.38930481e-01 9.90285606e-01 -5.72184444e-03 3.92895412e+01] [ 5.40606645e-02 -1.81483645e-03 9.98536004e-01 2.15362679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.01, Y:39.29, Z:21.54 [[ 9.88217413e-01 -1.43315083e-01 -5.37320288e-02 4.56010210e+02] [ 1.43215561e-01 9.89675001e-01 -5.71806878e-03 3.92871819e+01] [ 5.39967311e-02 -2.04456754e-03 9.98539019e-01 2.15372758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.04, Y:39.28, Z:21.54 [[ 9.87126360e-01 -1.50566772e-01 -5.39555093e-02 4.56040621e+02] [ 1.50477064e-01 9.88596810e-01 -5.74463466e-03 3.92794767e+01] [ 5.42051955e-02 -2.44838631e-03 9.98526816e-01 2.15377075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.07, Y:39.28, Z:21.54 [[ 9.86636972e-01 -1.53860262e-01 -5.36144121e-02 4.56069243e+02] [ 1.53776463e-01 9.88089166e-01 -5.70955576e-03 3.92835855e+01] [ 5.38542935e-02 -2.61137586e-03 9.98545390e-01 2.15400539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.10, Y:39.28, Z:21.54 [[ 9.86184196e-01 -1.56881538e-01 -5.31875415e-02 4.56098193e+02] [ 1.56803283e-01 9.87613596e-01 -5.66711737e-03 3.92778440e+01] [ 5.34178052e-02 -2.75115956e-03 9.98568460e-01 2.15406892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.13, Y:39.28, Z:21.54 [[ 9.85358299e-01 -1.62240566e-01 -5.24120345e-02 4.56128318e+02] [ 1.62171942e-01 9.86746693e-01 -5.58789603e-03 3.92809670e+01] [ 5.26239851e-02 -2.99368167e-03 9.98609911e-01 2.15429489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.16, Y:39.28, Z:21.54 [[ 9.85005807e-01 -1.64366242e-01 -5.24146780e-02 4.56157972e+02] [ 1.64300593e-01 9.86394487e-01 -5.58845023e-03 3.92826060e+01] [ 5.26201020e-02 -3.10710673e-03 9.98609769e-01 2.15443225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.19, Y:39.28, Z:21.55 [[ 9.84694700e-01 -1.66302572e-01 -5.21517220e-02 4.56187354e+02] [ 1.66240178e-01 9.86069603e-01 -5.56241109e-03 3.92836949e+01] [ 5.23502711e-02 -3.19243484e-03 9.98623682e-01 2.15455915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.22, Y:39.29, Z:21.55 [[ 9.84430363e-01 -1.67933205e-01 -5.19162658e-02 4.56216347e+02] [ 1.67873480e-01 9.85792981e-01 -5.54013823e-03 3.92862488e+01] [ 5.21090636e-02 -3.26148394e-03 9.98636074e-01 2.15468594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.25, Y:39.29, Z:21.55 [[ 9.84075402e-01 -1.69925988e-01 -5.21609250e-02 4.56245921e+02] [ 1.69868339e-01 9.85451030e-01 -5.56904892e-03 3.92880464e+01] [ 5.23483634e-02 -3.38012561e-03 9.98623164e-01 2.15475310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.27, Y:39.29, Z:21.55 [[ 9.83928643e-01 -1.70684021e-01 -5.24537018e-02 4.56274474e+02] [ 1.70626633e-01 9.85319823e-01 -5.60338393e-03 3.92914718e+01] [ 5.26400803e-02 -3.43666856e-03 9.98607636e-01 2.15489913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.30, Y:39.29, Z:21.55 [[ 9.83883933e-01 -1.70955498e-01 -5.24082418e-02 4.56301810e+02] [ 1.70897874e-01 9.85272764e-01 -5.61217189e-03 3.92946505e+01] [ 5.25958449e-02 -3.43473133e-03 9.98609974e-01 2.15501148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.33, Y:39.30, Z:21.55 [[ 9.83857890e-01 -1.71172230e-01 -5.21892721e-02 4.56329761e+02] [ 1.71114589e-01 9.85235197e-01 -5.60396935e-03 3.92989783e+01] [ 5.23779517e-02 -3.41683640e-03 9.98621488e-01 2.15515888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.36, Y:39.31, Z:21.55 [[ 9.84154373e-01 -1.69604921e-01 -5.17140289e-02 4.56357902e+02] [ 1.69545437e-01 9.85506648e-01 -5.56704704e-03 3.93062264e+01] [ 5.19087178e-02 -3.28904393e-03 9.98646418e-01 2.15533689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.39, Y:39.31, Z:21.55 [[ 9.84374875e-01 -1.68436050e-01 -5.13361632e-02 4.56386135e+02] [ 1.68375653e-01 9.85707389e-01 -5.53015334e-03 3.93091125e+01] [ 5.15339125e-02 -3.20001598e-03 9.98666118e-01 2.15547283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.41, Y:39.31, Z:21.56 [[ 9.84648392e-01 -1.66919812e-01 -5.10423329e-02 4.56414850e+02] [ 1.66857883e-01 9.85965604e-01 -5.50223406e-03 3.93136098e+01] [ 5.12444165e-02 -3.09904971e-03 9.98681333e-01 2.15564778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.44, Y:39.32, Z:21.56 [[ 9.85297133e-01 -1.63535759e-01 -4.94531690e-02 4.56443824e+02] [ 1.63473206e-01 9.86533353e-01 -5.33432906e-03 3.93205968e+01] [ 4.96595542e-02 -2.82836897e-03 9.98762198e-01 2.15585209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.47, Y:39.33, Z:21.56 [[ 9.85612933e-01 -1.61720506e-01 -4.91286591e-02 4.56472286e+02] [ 1.61656428e-01 9.86832861e-01 -5.30124487e-03 3.93289860e+01] [ 4.93390952e-02 -2.71698805e-03 9.98778390e-01 2.15603551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.50, Y:39.33, Z:21.56 [[ 9.85922330e-01 -1.59802992e-01 -4.91951617e-02 4.56499505e+02] [ 1.59736064e-01 9.87145454e-01 -5.31443235e-03 3.93334126e+01] [ 4.94120424e-02 -2.61862401e-03 9.98775046e-01 2.15616816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.53, Y:39.34, Z:21.56 [[ 9.85876235e-01 -1.60087335e-01 -4.91944475e-02 4.56526779e+02] [ 1.60020431e-01 9.87099361e-01 -5.32103559e-03 3.93364334e+01] [ 4.94116381e-02 -2.62623416e-03 9.98775046e-01 2.15629881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.56, Y:39.34, Z:21.56 [[ 9.86144357e-01 -1.58484818e-01 -4.90088830e-02 4.56555518e+02] [ 1.58415747e-01 9.87358193e-01 -5.31511946e-03 3.93426917e+01] [ 4.92316878e-02 -2.52230375e-03 9.98784200e-01 2.15643560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.58, Y:39.35, Z:21.57 [[ 9.86406482e-01 -1.56805211e-01 -4.91363144e-02 4.56583817e+02] [ 1.56733138e-01 9.87626551e-01 -5.34037544e-03 3.93475538e+01] [ 4.93657274e-02 -2.43350778e-03 9.98777805e-01 2.15653901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.61, Y:39.35, Z:21.57 [[ 9.86832203e-01 -1.53889670e-01 -4.98013251e-02 4.56612026e+02] [ 1.53811748e-01 9.88085325e-01 -5.41628517e-03 3.93539844e+01] [ 5.00414689e-02 -2.31506426e-03 9.98744458e-01 2.15663985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.64, Y:39.36, Z:21.57 [[ 9.87026127e-01 -1.52706516e-01 -4.95998343e-02 4.56640561e+02] [ 1.52627578e-01 9.88269037e-01 -5.39748375e-03 3.93608962e+01] [ 4.98422115e-02 -2.24284512e-03 9.98754586e-01 2.15676398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.67, Y:39.37, Z:21.57 [[ 9.87206126e-01 -1.51516842e-01 -4.96660005e-02 4.56668903e+02] [ 1.51435600e-01 9.88452285e-01 -5.41653117e-03 3.93675980e+01] [ 4.99131674e-02 -2.17396783e-03 9.98751195e-01 2.15688138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.70, Y:39.37, Z:21.57 [[ 9.87371380e-01 -1.50314137e-01 -5.00341724e-02 4.56697293e+02] [ 1.50229489e-01 9.88636021e-01 -5.46972575e-03 3.93723667e+01] [ 5.02877623e-02 -2.11595748e-03 9.98732529e-01 2.15697530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.73, Y:39.38, Z:21.57 [[ 9.87602012e-01 -1.48785108e-01 -5.00525402e-02 4.56725020e+02] [ 1.48697813e-01 9.88867476e-01 -5.48412888e-03 3.93768628e+01] [ 5.03112858e-02 -2.02656654e-03 9.98731529e-01 2.15706971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.75, Y:39.38, Z:21.57 [[ 9.88066337e-01 -1.45792886e-01 -4.96925422e-02 4.56754115e+02] [ 1.45702847e-01 9.89313392e-01 -5.44903403e-03 3.93849444e+01] [ 4.99559279e-02 -1.85633780e-03 9.98749698e-01 2.15723123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.78, Y:39.39, Z:21.57 [[ 9.88260966e-01 -1.44468487e-01 -4.96902325e-02 4.56781696e+02] [ 1.44376688e-01 9.89507788e-01 -5.45073083e-03 3.93895249e+01] [ 4.99563309e-02 -1.78736666e-03 9.98749804e-01 2.15739438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.81, Y:39.39, Z:21.58 [[ 9.88515682e-01 -1.42888013e-01 -4.91910882e-02 4.56810096e+02] [ 1.42795861e-01 9.89737427e-01 -5.40070447e-03 3.93949059e+01] [ 4.94579570e-02 -1.68560273e-03 9.98774784e-01 2.15753900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.84, Y:39.40, Z:21.58 [[ 9.88749259e-01 -1.41240191e-01 -4.92555671e-02 4.56838838e+02] [ 1.41145155e-01 9.89974075e-01 -5.41989496e-03 3.94020213e+01] [ 4.95272415e-02 -1.59326751e-03 9.98771502e-01 2.15769384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.87, Y:39.41, Z:21.58 [[ 9.89116328e-01 -1.38369978e-01 -5.00263902e-02 4.56866731e+02] [ 1.38267943e-01 9.90379524e-01 -5.51135201e-03 3.94073625e+01] [ 5.03077182e-02 -1.46567782e-03 9.98732690e-01 2.15780594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.90, Y:39.41, Z:21.58 [[ 9.89232294e-01 -1.37450406e-01 -5.02678203e-02 4.56895232e+02] [ 1.37345986e-01 9.90507630e-01 -5.54214024e-03 3.94135628e+01] [ 5.05524290e-02 -1.42161923e-03 9.98720397e-01 2.15792911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.92, Y:39.42, Z:21.58 [[ 9.89467308e-01 -1.35697822e-01 -5.04038535e-02 4.56923804e+02] [ 1.35589944e-01 9.90749388e-01 -5.56936477e-03 3.94210749e+01] [ 5.06933377e-02 -1.32355129e-03 9.98713389e-01 2.15806196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.95, Y:39.43, Z:21.58 [[ 9.89578362e-01 -1.34913853e-01 -5.03280979e-02 4.56953148e+02] [ 1.34804958e-01 9.90856512e-01 -5.56746689e-03 3.94260058e+01] [ 5.06190519e-02 -1.27503238e-03 9.98717220e-01 2.15824963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:456.98, Y:39.43, Z:21.58 [[ 9.89655428e-01 -1.34490561e-01 -4.99441955e-02 4.56981831e+02] [ 1.34382688e-01 9.90914096e-01 -5.52689560e-03 3.94291437e+01] [ 5.02337227e-02 -1.24191301e-03 9.98736717e-01 2.15842162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.01, Y:39.44, Z:21.59 [[ 9.89740801e-01 -1.33925568e-01 -4.97703724e-02 4.57011244e+02] [ 1.33817567e-01 9.90990660e-01 -5.51093310e-03 3.94353719e+01] [ 5.00600290e-02 -1.20575479e-03 9.98745483e-01 2.15860949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.04, Y:39.44, Z:21.59 [[ 9.89853531e-01 -1.33064154e-01 -4.98389217e-02 4.57040597e+02] [ 1.32954672e-01 9.91106745e-01 -5.52036931e-03 3.94404096e+01] [ 5.01302547e-02 -1.16196044e-03 9.98742012e-01 2.15876524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.07, Y:39.44, Z:21.59 [[ 9.89914124e-01 -1.32635794e-01 -4.97772312e-02 4.57070195e+02] [ 1.32525950e-01 9.91164191e-01 -5.51536987e-03 3.94445146e+01] [ 5.00689446e-02 -1.13703232e-03 9.98745117e-01 2.15887733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.10, Y:39.45, Z:21.59 [[ 9.89917005e-01 -1.32418453e-01 -5.02958956e-02 4.57099793e+02] [ 1.32305932e-01 9.91193252e-01 -5.57471363e-03 3.94478589e+01] [ 5.05911473e-02 -1.13594153e-03 9.98718802e-01 2.15899291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.13, Y:39.45, Z:21.59 [[ 9.89914911e-01 -1.32480289e-01 -5.01741162e-02 4.57129399e+02] [ 1.32368299e-01 9.91184991e-01 -5.56304887e-03 3.94512300e+01] [ 5.04688252e-02 -1.13451737e-03 9.98724992e-01 2.15908859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.16, Y:39.45, Z:21.59 [[ 9.89811640e-01 -1.32974043e-01 -5.09001173e-02 4.57158658e+02] [ 1.32859343e-01 9.91118824e-01 -5.64542727e-03 3.94540593e+01] [ 5.11987597e-02 -1.17464654e-03 9.98687793e-01 2.15911664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.19, Y:39.46, Z:21.59 [[ 9.89662202e-01 -1.33809275e-01 -5.16120476e-02 4.57186738e+02] [ 1.33692370e-01 9.91006336e-01 -5.72644209e-03 3.94559704e+01] [ 5.19141172e-02 -1.23289369e-03 9.98650792e-01 2.15918414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.22, Y:39.46, Z:21.59 [[ 9.89580418e-01 -1.34359212e-01 -5.17513140e-02 4.57216533e+02] [ 1.34242241e-01 9.90931890e-01 -5.74546722e-03 3.94596869e+01] [ 5.20539838e-02 -1.26161050e-03 9.98643475e-01 2.15930892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.25, Y:39.46, Z:21.59 [[ 9.89338755e-01 -1.36112624e-01 -5.17897829e-02 4.57245602e+02] [ 1.35997729e-01 9.90692447e-01 -5.75257464e-03 3.94620257e+01] [ 5.20907448e-02 -1.35204785e-03 9.98641440e-01 2.15940272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.27, Y:39.46, Z:21.60 [[ 9.89238711e-01 -1.36820421e-01 -5.18357524e-02 4.57273305e+02] [ 1.36705644e-01 9.90594909e-01 -5.77010619e-03 3.94638784e+01] [ 5.21377008e-02 -1.37822750e-03 9.98638954e-01 2.15953232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.30, Y:39.47, Z:21.60 [[ 9.89145407e-01 -1.37565928e-01 -5.16428005e-02 4.57301960e+02] [ 1.37452644e-01 9.90491616e-01 -5.75582893e-03 3.94665892e+01] [ 5.19435668e-02 -1.40508769e-03 9.98649033e-01 2.15966213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.33, Y:39.47, Z:21.60 [[ 9.89120679e-01 -1.37819366e-01 -5.14403118e-02 4.57328985e+02] [ 1.37706687e-01 9.90456390e-01 -5.74529098e-03 3.94686663e+01] [ 5.17411979e-02 -1.40088881e-03 9.98659545e-01 2.15978754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.36, Y:39.47, Z:21.60 [[ 9.89085046e-01 -1.38216803e-01 -5.10576836e-02 4.57357974e+02] [ 1.38106024e-01 9.90401000e-01 -5.70838357e-03 3.94743709e+01] [ 5.13565755e-02 -1.40529684e-03 9.98679392e-01 2.16000339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.39, Y:39.48, Z:21.60 [[ 9.89064351e-01 -1.38352820e-01 -5.10901776e-02 4.57387170e+02] [ 1.38241985e-01 9.90382000e-01 -5.71388078e-03 3.94786074e+01] [ 5.13893238e-02 -1.41141178e-03 9.98677698e-01 2.16015716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.42, Y:39.48, Z:21.60 [[ 9.89082125e-01 -1.38056932e-01 -5.15444749e-02 4.57416809e+02] [ 1.37943616e-01 9.90423296e-01 -5.76661274e-03 3.94823747e+01] [ 5.18469695e-02 -1.40657765e-03 9.98654051e-01 2.16030421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.45, Y:39.48, Z:21.60 [[ 9.89137427e-01 -1.37746596e-01 -5.13130107e-02 4.57445257e+02] [ 1.37633776e-01 9.90466539e-01 -5.74270145e-03 3.94842002e+01] [ 5.16148576e-02 -1.38208246e-03 9.98666109e-01 2.16039505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.47, Y:39.49, Z:21.60 [[ 9.89219770e-01 -1.37022517e-01 -5.16631101e-02 4.57474266e+02] [ 1.36906969e-01 9.90567013e-01 -5.78566036e-03 3.94870900e+01] [ 5.19685384e-02 -1.34975021e-03 9.98647810e-01 2.16046874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.50, Y:39.49, Z:21.61 [[ 9.89298560e-01 -1.36338781e-01 -5.19624400e-02 4.57503415e+02] [ 1.36220303e-01 9.90661407e-01 -5.83149756e-03 3.94907311e+01] [ 5.22722432e-02 -1.30924721e-03 9.98632014e-01 2.16057643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.53, Y:39.49, Z:21.61 [[ 9.89451507e-01 -1.35268352e-01 -5.18477354e-02 4.57531702e+02] [ 1.35148825e-01 9.90808213e-01 -5.82060831e-03 3.94933492e+01] [ 5.21585062e-02 -1.24795087e-03 9.98638039e-01 2.16069046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.56, Y:39.50, Z:21.61 [[ 9.89865153e-01 -1.32050307e-01 -5.22464831e-02 4.57560670e+02] [ 1.31924309e-01 9.91242423e-01 -5.86816182e-03 3.94993834e+01] [ 5.25638231e-02 -1.08389226e-03 9.98616978e-01 2.16089480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.59, Y:39.50, Z:21.61 [[ 9.90157126e-01 -1.29718460e-01 -5.25546176e-02 4.57588992e+02] [ 1.29587578e-01 9.91550398e-01 -5.90484606e-03 3.95024286e+01] [ 5.28765196e-02 -9.63700232e-04 9.98600593e-01 2.16096420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.62, Y:39.51, Z:21.61 [[ 9.90394024e-01 -1.27673991e-01 -5.30945263e-02 4.57617845e+02] [ 1.27537251e-01 9.91815816e-01 -5.96958218e-03 3.95075689e+01] [ 5.34221514e-02 -8.59291410e-04 9.98571648e-01 2.16108713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.65, Y:39.51, Z:21.61 [[ 9.91143370e-01 -1.21664780e-01 -5.32212569e-02 4.57645522e+02] [ 1.21518082e-01 9.92571109e-01 -5.99580363e-03 3.95120706e+01] [ 5.35553601e-02 -5.24644043e-04 9.98564744e-01 2.16117691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.67, Y:39.52, Z:21.61 [[ 9.91508030e-01 -1.18798904e-01 -5.29022474e-02 4.57673389e+02] [ 1.18649576e-01 9.92918269e-01 -5.96563758e-03 3.95170284e+01] [ 5.32363191e-02 -3.61851639e-04 9.98581876e-01 2.16138135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.70, Y:39.52, Z:21.62 [[ 9.91871843e-01 -1.15807703e-01 -5.27145398e-02 4.57701317e+02] [ 1.15654528e-01 9.93271635e-01 -5.95730705e-03 3.95211048e+01] [ 5.30497592e-02 -1.87790115e-04 9.98591852e-01 2.16154130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.73, Y:39.53, Z:21.62 [[ 9.92206145e-01 -1.13035640e-01 -5.24395760e-02 4.57729194e+02] [ 1.12879771e-01 9.93590934e-01 -5.93414591e-03 3.95253802e+01] [ 5.27742572e-02 -3.14712917e-05 9.98606467e-01 2.16172308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.76, Y:39.53, Z:21.62 [[ 9.92695542e-01 -1.08679631e-01 -5.23860556e-02 4.57756829e+02] [ 1.08517259e-01 9.94076804e-01 -5.94244689e-03 3.95296077e+01] [ 5.27215856e-02 2.14249368e-04 9.98609227e-01 2.16182043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.79, Y:39.53, Z:21.62 [[ 9.92815235e-01 -1.07403968e-01 -5.27474895e-02 4.57785464e+02] [ 1.07237244e-01 9.94215421e-01 -5.98914651e-03 3.95328122e+01] [ 5.30856256e-02 2.89620514e-04 9.98589922e-01 2.16192878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.81, Y:39.53, Z:21.62 [[ 9.92847724e-01 -1.06982151e-01 -5.29926100e-02 4.57812885e+02] [ 1.06812551e-01 9.94260888e-01 -6.03046379e-03 3.95349408e+01] [ 5.33336315e-02 3.27056389e-04 9.98576696e-01 2.16206911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.84, Y:39.54, Z:21.62 [[ 9.92793793e-01 -1.07357717e-01 -5.32428943e-02 4.57840882e+02] [ 1.07186207e-01 9.94220406e-01 -6.07465404e-03 3.95369747e+01] [ 5.35873330e-02 3.23974945e-04 9.98563114e-01 2.16217354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.87, Y:39.54, Z:21.62 [[ 9.92507616e-01 -1.09798835e-01 -5.35989512e-02 4.57868931e+02] [ 1.09627772e-01 9.93953808e-01 -6.13018908e-03 3.95362739e+01] [ 5.39479693e-02 2.08325749e-04 9.98543726e-01 2.16218106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.90, Y:39.54, Z:21.62 [[ 9.92256111e-01 -1.12193406e-01 -5.32958693e-02 4.57897417e+02] [ 1.12027281e-01 9.93686385e-01 -6.10377289e-03 3.95363680e+01] [ 5.36441828e-02 8.59146482e-05 9.98560110e-01 2.16236341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.93, Y:39.53, Z:21.63 [[ 9.91540784e-01 -1.18539140e-01 -5.28710241e-02 4.57926303e+02] [ 1.18383923e-01 9.92949351e-01 -6.06900372e-03 3.95325859e+01] [ 5.32176636e-02 -2.41414554e-04 9.98582907e-01 2.16252641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.96, Y:39.53, Z:21.63 [[ 9.91119399e-01 -1.22338427e-01 -5.21118546e-02 4.57955035e+02] [ 1.22192601e-01 9.92488348e-01 -5.98722870e-03 3.95322828e+01] [ 5.24528766e-02 -4.33624546e-04 9.98623306e-01 2.16270408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:457.98, Y:39.53, Z:21.63 [[ 9.90611256e-01 -1.26419250e-01 -5.20337650e-02 4.57983785e+02] [ 1.26278794e-01 9.91976698e-01 -5.99141307e-03 3.95318133e+01] [ 5.23737123e-02 -6.35599863e-04 9.98627353e-01 2.16287889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.01, Y:39.53, Z:21.63 [[ 9.89595917e-01 -1.34504709e-01 -5.10725398e-02 4.58014165e+02] [ 1.34379525e-01 9.90912417e-01 -5.89273823e-03 3.95271635e+01] [ 5.14010150e-02 -1.03167398e-03 9.98677561e-01 2.16304646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.04, Y:39.52, Z:21.63 [[ 9.88991703e-01 -1.38926675e-01 -5.09390792e-02 4.58042885e+02] [ 1.38807897e-01 9.90301874e-01 -5.87933188e-03 3.95245736e+01] [ 5.12618616e-02 -1.25613602e-03 9.98684457e-01 2.16316807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.07, Y:39.53, Z:21.63 [[ 9.88407920e-01 -1.43130329e-01 -5.06309404e-02 4.58072875e+02] [ 1.43018309e-01 9.89702770e-01 -5.84729942e-03 3.95251011e+01] [ 5.09465078e-02 -1.46163439e-03 9.98700314e-01 2.16330508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.10, Y:39.53, Z:21.63 [[ 9.87789041e-01 -1.47327793e-01 -5.06688367e-02 4.58102668e+02] [ 1.47221021e-01 9.89086299e-01 -5.85350887e-03 3.95261416e+01] [ 5.09782367e-02 -1.67748597e-03 9.98698356e-01 2.16344339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.13, Y:39.52, Z:21.64 [[ 9.86557269e-01 -1.55292450e-01 -5.08823208e-02 4.58132340e+02] [ 1.55195255e-01 9.87866318e-01 -5.87972112e-03 3.95222024e+01] [ 5.11780072e-02 -2.09601313e-03 9.98687348e-01 2.16354087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.16, Y:39.52, Z:21.64 [[ 9.85891317e-01 -1.59358379e-01 -5.12173550e-02 4.58161757e+02] [ 1.59265494e-01 9.87218063e-01 -5.91601362e-03 3.95219009e+01] [ 5.15054643e-02 -2.32461086e-03 9.98670007e-01 2.16367060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.19, Y:39.52, Z:21.64 [[ 9.85332755e-01 -1.62825812e-01 -5.10599261e-02 4.58192448e+02] [ 1.62738049e-01 9.86651673e-01 -5.89954284e-03 3.95233891e+01] [ 5.13389593e-02 -2.49637993e-03 9.98678166e-01 2.16381578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.22, Y:39.52, Z:21.64 [[ 9.84284095e-01 -1.68995091e-01 -5.12394330e-02 4.58222346e+02] [ 1.68915031e-01 9.85612836e-01 -5.92028905e-03 3.95212842e+01] [ 5.15027427e-02 -2.82786405e-03 9.98668849e-01 2.16395374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.25, Y:39.52, Z:21.64 [[ 9.83926246e-01 -1.71152141e-01 -5.09518130e-02 4.58250607e+02] [ 1.71075838e-01 9.85240273e-01 -5.88743338e-03 3.95222395e+01] [ 5.12074250e-02 -2.92382388e-03 9.98683759e-01 2.16408583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.28, Y:39.53, Z:21.64 [[ 9.83637013e-01 -1.72729065e-01 -5.12142188e-02 4.58279481e+02] [ 1.72653848e-01 9.84964756e-01 -5.92269128e-03 3.95257547e+01] [ 5.14672215e-02 -3.01655358e-03 9.98670128e-01 2.16423333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.31, Y:39.53, Z:21.64 [[ 9.83464987e-01 -1.73743323e-01 -5.10869576e-02 4.58308338e+02] [ 1.73669181e-01 9.84786251e-01 -5.92081302e-03 3.95297321e+01] [ 5.13384352e-02 -3.04931779e-03 9.98676658e-01 2.16439618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.34, Y:39.53, Z:21.64 [[ 9.83284627e-01 -1.74785877e-01 -5.10023573e-02 4.58335550e+02] [ 1.74712734e-01 9.84601631e-01 -5.92353031e-03 3.95328205e+01] [ 5.12523537e-02 -3.08624502e-03 9.98680966e-01 2.16448097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.36, Y:39.54, Z:21.65 [[ 9.83307025e-01 -1.74631602e-01 -5.10988983e-02 4.58363773e+02] [ 1.74557544e-01 9.84629038e-01 -5.94310518e-03 3.95379355e+01] [ 5.13513130e-02 -3.07580112e-03 9.98675914e-01 2.16459858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.39, Y:39.54, Z:21.65 [[ 9.83257898e-01 -1.74908433e-01 -5.10974175e-02 4.58391033e+02] [ 1.74834090e-01 9.84579895e-01 -5.95581054e-03 3.95411981e+01] [ 5.13512114e-02 -3.07747273e-03 9.98675915e-01 2.16472939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.42, Y:39.55, Z:21.65 [[ 9.83277128e-01 -1.74743897e-01 -5.12899552e-02 4.58418869e+02] [ 1.74668020e-01 9.84609145e-01 -5.99278651e-03 3.95471400e+01] [ 5.15477618e-02 -3.06614503e-03 9.98665823e-01 2.16482655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.45, Y:39.55, Z:21.65 [[ 9.83453357e-01 -1.73444569e-01 -5.23113454e-02 4.58446825e+02] [ 1.73363156e-01 9.84838924e-01 -6.12458746e-03 3.95516130e+01] [ 5.25805255e-02 -3.04561383e-03 9.98612043e-01 2.16484211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.47, Y:39.56, Z:21.65 [[ 9.83587098e-01 -1.72587546e-01 -5.26304132e-02 4.58474894e+02] [ 1.72503663e-01 9.84989573e-01 -6.16670107e-03 3.95615953e+01] [ 5.29047040e-02 -3.01345146e-03 9.98595019e-01 2.16497978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.50, Y:39.56, Z:21.65 [[ 9.83747533e-01 -1.71492948e-01 -5.32067686e-02 4.58502837e+02] [ 1.71404945e-01 9.85180857e-01 -6.24692121e-03 3.95640320e+01] [ 5.34895928e-02 -2.97450989e-03 9.98563977e-01 2.16504399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.53, Y:39.58, Z:21.65 [[ 9.84250243e-01 -1.68642797e-01 -5.30194908e-02 4.58531167e+02] [ 1.68551057e-01 9.85673241e-01 -6.22927943e-03 3.95794716e+01] [ 5.33104164e-02 -2.80532145e-03 9.98574048e-01 2.16529493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.56, Y:39.58, Z:21.65 [[ 9.84493261e-01 -1.67139797e-01 -5.32663818e-02 4.58558669e+02] [ 1.67044931e-01 9.85929413e-01 -6.25972398e-03 3.95840064e+01] [ 5.35631415e-02 -2.73522300e-03 9.98560718e-01 2.16543596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.59, Y:39.59, Z:21.66 [[ 9.84822470e-01 -1.65302177e-01 -5.29140101e-02 4.58586760e+02] [ 1.65205665e-01 9.86239505e-01 -6.22304887e-03 3.95930985e+01] [ 5.32145707e-02 -2.61309585e-03 9.98579682e-01 2.16562871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.62, Y:39.60, Z:21.66 [[ 9.85128923e-01 -1.63560471e-01 -5.26210735e-02 4.58615568e+02] [ 1.63462351e-01 9.86530139e-01 -6.19227617e-03 3.96003713e+01] [ 5.29250865e-02 -2.50137404e-03 9.98595353e-01 2.16577314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.64, Y:39.61, Z:21.66 [[ 9.85836092e-01 -1.59143205e-01 -5.29210645e-02 4.58643599e+02] [ 1.59037507e-01 9.87252888e-01 -6.22955525e-03 3.96092131e+01] [ 5.32378652e-02 -2.27511375e-03 9.98579268e-01 2.16588817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.67, Y:39.62, Z:21.66 [[ 9.86228611e-01 -1.56564834e-01 -5.32970963e-02 4.58672508e+02] [ 1.56453765e-01 9.87665345e-01 -6.27579533e-03 3.96168732e+01] [ 5.36222638e-02 -2.14916246e-03 9.98558979e-01 2.16600841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.70, Y:39.62, Z:21.66 [[ 9.86622296e-01 -1.53997111e-01 -5.34914420e-02 4.58701211e+02] [ 1.53881357e-01 9.88069243e-01 -6.30064132e-03 3.96245090e+01] [ 5.38235292e-02 -2.01498251e-03 9.98548430e-01 2.16613574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.73, Y:39.63, Z:21.66 [[ 9.87021751e-01 -1.51283414e-01 -5.38645601e-02 4.58729399e+02] [ 1.51161892e-01 9.88488645e-01 -6.34669953e-03 3.96309255e+01] [ 5.42046564e-02 -1.87793833e-03 9.98528081e-01 2.16626212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.76, Y:39.64, Z:21.66 [[ 9.87784230e-01 -1.46042539e-01 -5.43497234e-02 4.58758109e+02] [ 1.45910743e-01 9.89277014e-01 -6.40659263e-03 3.96423118e+01] [ 5.47025672e-02 -1.60187735e-03 9.98501409e-01 2.16637070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.79, Y:39.65, Z:21.67 [[ 9.88164840e-01 -1.43433411e-01 -5.43792753e-02 4.58787113e+02] [ 1.43297464e-01 9.89658898e-01 -6.41118678e-03 3.96491532e+01] [ 5.47365121e-02 -1.45710290e-03 9.98499770e-01 2.16650761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.82, Y:39.66, Z:21.67 [[ 9.88466491e-01 -1.41259791e-01 -5.45863250e-02 4.58815818e+02] [ 1.41119308e-01 9.89971656e-01 -6.43901182e-03 3.96558408e+01] [ 5.49484880e-02 -1.33843700e-03 9.98488293e-01 2.16663417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.85, Y:39.66, Z:21.67 [[ 9.88796994e-01 -1.39015689e-01 -5.43612328e-02 4.58845186e+02] [ 1.38872363e-01 9.90289455e-01 -6.42361057e-03 3.96622110e+01] [ 5.47263383e-02 -1.19762606e-03 9.98500673e-01 2.16677360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.87, Y:39.67, Z:21.67 [[ 9.89192299e-01 -1.36211391e-01 -5.42683367e-02 4.58873450e+02] [ 1.36064233e-01 9.90679251e-01 -6.41455830e-03 3.96717584e+01] [ 5.46362511e-02 -1.03874795e-03 9.98505784e-01 2.16697957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.90, Y:39.68, Z:21.67 [[ 9.89337015e-01 -1.35317578e-01 -5.38648702e-02 4.58903890e+02] [ 1.35171185e-01 9.90801792e-01 -6.36857714e-03 3.96771001e+01] [ 5.42311904e-02 -9.80309239e-04 9.98527925e-01 2.16714806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.93, Y:39.68, Z:21.67 [[ 9.89428265e-01 -1.34683113e-01 -5.37788690e-02 4.58933475e+02] [ 1.34536245e-01 9.90888272e-01 -6.35852777e-03 3.96815647e+01] [ 5.41452369e-02 -9.43899981e-04 9.98532625e-01 2.16727170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.96, Y:39.69, Z:21.67 [[ 9.89439018e-01 -1.34724790e-01 -5.34757963e-02 4.58961282e+02] [ 1.34579565e-01 9.90882611e-01 -6.32396185e-03 3.96867496e+01] [ 5.38402311e-02 -9.39574823e-04 9.98549121e-01 2.16740083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:458.99, Y:39.69, Z:21.68 [[ 9.89448823e-01 -1.34847394e-01 -5.29830745e-02 4.58991202e+02] [ 1.34704842e-01 9.90865938e-01 -6.26883183e-03 3.96916546e+01] [ 5.33444595e-02 -9.34388408e-04 9.98575734e-01 2.16757687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.02, Y:39.69, Z:21.68 [[ 9.89453482e-01 -1.34967772e-01 -5.25880898e-02 4.59020481e+02] [ 1.34827503e-01 9.90849549e-01 -6.22219639e-03 3.96947001e+01] [ 5.29466810e-02 -9.33746951e-04 9.98596904e-01 2.16767468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.05, Y:39.70, Z:21.68 [[ 9.89441142e-01 -1.35559136e-01 -5.12830114e-02 4.59050009e+02] [ 1.35426492e-01 9.90768811e-01 -6.06869100e-03 3.96967390e+01] [ 5.16322748e-02 -9.40465780e-04 9.98665722e-01 2.16780211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.08, Y:39.70, Z:21.68 [[ 9.89385739e-01 -1.36092893e-01 -5.09370627e-02 4.59079908e+02] [ 1.35962697e-01 9.90695615e-01 -6.02859095e-03 3.97003491e+01] [ 5.12835730e-02 -9.60938512e-04 9.98683670e-01 2.16794477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.11, Y:39.70, Z:21.68 [[ 9.89311613e-01 -1.36691148e-01 -5.07746338e-02 4.59110912e+02] [ 1.36562575e-01 9.90613220e-01 -6.00923503e-03 3.97045104e+01] [ 5.11194328e-02 -9.88908748e-04 9.98692057e-01 2.16811372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.14, Y:39.71, Z:21.68 [[ 9.89175266e-01 -1.37667303e-01 -5.07937740e-02 4.59141444e+02] [ 1.37540011e-01 9.90477980e-01 -6.00969696e-03 3.97056424e+01] [ 5.11374535e-02 -1.04153267e-03 9.98691081e-01 2.16821397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.17, Y:39.71, Z:21.68 [[ 9.89087770e-01 -1.38214388e-01 -5.10114348e-02 4.59172491e+02] [ 1.38086781e-01 9.90401750e-01 -6.03444379e-03 3.97102250e+01] [ 5.13558613e-02 -1.07541025e-03 9.98679838e-01 2.16835456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.20, Y:39.71, Z:21.68 [[ 9.89026113e-01 -1.38524929e-01 -5.13633400e-02 4.59203361e+02] [ 1.38396071e-01 9.90358335e-01 -6.07417405e-03 3.97131067e+01] [ 5.17095364e-02 -1.10096769e-03 9.98661560e-01 2.16845773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.23, Y:39.72, Z:21.69 [[ 9.89015223e-01 -1.38593761e-01 -5.13873361e-02 4.59234728e+02] [ 1.38464973e-01 9.90348698e-01 -6.07511739e-03 3.97157796e+01] [ 5.17333547e-02 -1.10696253e-03 9.98660320e-01 2.16856909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.26, Y:39.72, Z:21.69 [[ 9.89006520e-01 -1.38541738e-01 -5.16942062e-02 4.59264834e+02] [ 1.38411427e-01 9.90355971e-01 -6.10964990e-03 3.97176055e+01] [ 5.20421072e-02 -1.11258525e-03 9.98644272e-01 2.16868324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.29, Y:39.72, Z:21.69 [[ 9.89031230e-01 -1.38246812e-01 -5.20100429e-02 4.59294656e+02] [ 1.38114491e-01 9.90397193e-01 -6.14706582e-03 3.97200650e+01] [ 5.23604127e-02 -1.10370055e-03 9.98627643e-01 2.16883562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.32, Y:39.72, Z:21.69 [[ 9.89092060e-01 -1.37855502e-01 -5.18917866e-02 4.59324828e+02] [ 1.37723200e-01 9.90451763e-01 -6.13394647e-03 3.97234744e+01] [ 5.22419098e-02 -1.07966516e-03 9.98633875e-01 2.16896371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.35, Y:39.73, Z:21.69 [[ 9.89197062e-01 -1.37017467e-01 -5.21093587e-02 4.59353952e+02] [ 1.36882887e-01 9.90568086e-01 -6.15975350e-03 3.97262705e+01] [ 5.24618615e-02 -1.03966939e-03 9.98622387e-01 2.16909127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.38, Y:39.73, Z:21.69 [[ 9.89458300e-01 -1.35080911e-01 -5.22055557e-02 4.59384475e+02] [ 1.34943094e-01 9.90834127e-01 -6.17197668e-03 3.97305779e+01] [ 5.25607625e-02 -9.37865677e-04 9.98617287e-01 2.16924054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.41, Y:39.73, Z:21.69 [[ 9.89636629e-01 -1.33618967e-01 -5.25862496e-02 4.59413386e+02] [ 1.33477055e-01 9.91032402e-01 -6.21727854e-03 3.97324924e+01] [ 5.29454236e-02 -8.66211142e-04 9.98597032e-01 2.16929399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.44, Y:39.74, Z:21.69 [[ 9.89838716e-01 -1.31911622e-01 -5.30908707e-02 4.59442889e+02] [ 1.31764367e-01 9.91261175e-01 -6.27974773e-03 3.97363885e+01] [ 5.34552905e-02 -7.79547548e-04 9.98569940e-01 2.16941998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.47, Y:39.74, Z:21.70 [[ 9.90326859e-01 -1.28525982e-01 -5.22856071e-02 4.59472504e+02] [ 1.28378355e-01 9.91705969e-01 -6.18621956e-03 3.97415644e+01] [ 5.26470386e-02 -5.85960866e-04 9.98613011e-01 2.16967290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.50, Y:39.74, Z:21.70 [[ 9.90551875e-01 -1.26753467e-01 -5.23501843e-02 4.59502267e+02] [ 1.26602957e-01 9.91934129e-01 -6.19469399e-03 3.97445162e+01] [ 5.27131335e-02 -4.91522382e-04 9.98609575e-01 2.16981870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.53, Y:39.75, Z:21.70 [[ 9.90772600e-01 -1.25044754e-01 -5.22825439e-02 4.59531947e+02] [ 1.24892263e-01 9.92151021e-01 -6.18653549e-03 3.97481076e+01] [ 5.26457732e-02 -4.00235394e-04 9.98613170e-01 2.16997647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.56, Y:39.75, Z:21.70 [[ 9.91183633e-01 -1.21610584e-01 -5.25915465e-02 4.59561802e+02] [ 1.21451349e-01 9.92577865e-01 -6.22503991e-03 3.97505282e+01] [ 5.29582357e-02 -2.17156603e-04 9.98596704e-01 2.17010948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.59, Y:39.75, Z:21.70 [[ 9.91370867e-01 -1.20024828e-01 -5.27052557e-02 4.59591201e+02] [ 1.19862559e-01 9.92770882e-01 -6.24044796e-03 3.97532415e+01] [ 5.30732518e-02 -1.30788527e-04 9.98590613e-01 2.17027286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.62, Y:39.76, Z:21.70 [[ 9.91519119e-01 -1.18856286e-01 -5.25644430e-02 4.59619198e+02] [ 1.18693125e-01 9.92911466e-01 -6.22601294e-03 3.97555944e+01] [ 5.29318389e-02 -6.58271171e-05 9.98598125e-01 2.17036675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.65, Y:39.76, Z:21.70 [[ 9.91717838e-01 -1.17160023e-01 -5.26237423e-02 4.59648142e+02] [ 1.16993802e-01 9.93113049e-01 -6.23877833e-03 3.97564427e+01] [ 5.29922606e-02 3.04560969e-05 9.98594923e-01 2.17048384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.68, Y:39.76, Z:21.71 [[ 9.91788047e-01 -1.16696836e-01 -5.23289475e-02 4.59675618e+02] [ 1.16531109e-01 9.93167581e-01 -6.21746910e-03 3.97579923e+01] [ 5.26969732e-02 6.84612405e-05 9.98610547e-01 2.17059898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.70, Y:39.76, Z:21.71 [[ 9.91794569e-01 -1.16618228e-01 -5.23805539e-02 4.59702615e+02] [ 1.16451264e-01 9.93176813e-01 -6.23873711e-03 3.97595263e+01] [ 5.27507020e-02 8.77638448e-05 9.98607709e-01 2.17075932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.73, Y:39.76, Z:21.71 [[ 9.91802706e-01 -1.16609793e-01 -5.22450852e-02 4.59730612e+02] [ 1.16443075e-01 9.93177802e-01 -6.23409520e-03 3.97590402e+01] [ 5.26156154e-02 9.94141029e-05 9.98614834e-01 2.17084771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.76, Y:39.76, Z:21.71 [[ 9.91735296e-01 -1.16771289e-01 -5.31560829e-02 4.59758383e+02] [ 1.16598150e-01 9.93158826e-01 -6.35743316e-03 3.97607423e+01] [ 5.35347985e-02 1.06989941e-04 9.98565979e-01 2.17092131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.79, Y:39.76, Z:21.71 [[ 9.91603922e-01 -1.17703178e-01 -5.35501939e-02 4.59786089e+02] [ 1.17528484e-01 9.93048820e-01 -6.41074549e-03 3.97619971e+01] [ 5.39325220e-02 6.32472932e-05 9.98544580e-01 2.17110470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.81, Y:39.76, Z:21.71 [[ 9.91532790e-01 -1.18513794e-01 -5.30773689e-02 4.59813558e+02] [ 1.18342509e-01 9.92952405e-01 -6.36953796e-03 3.97632389e+01] [ 5.34581792e-02 3.42967269e-05 9.98570089e-01 2.17125144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.84, Y:39.76, Z:21.71 [[ 9.91253068e-01 -1.21102399e-01 -5.24553593e-02 4.59841042e+02] [ 1.20937967e-01 9.92640016e-01 -6.30930464e-03 3.97613768e+01] [ 5.28333606e-02 -8.97269219e-05 9.98603339e-01 2.17145772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.87, Y:39.76, Z:21.72 [[ 9.91002352e-01 -1.23294145e-01 -5.20854372e-02 4.59869378e+02] [ 1.23134660e-01 9.92370150e-01 -6.27222875e-03 3.97616193e+01] [ 5.24613623e-02 -1.97729164e-04 9.98622935e-01 2.17162630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.90, Y:39.76, Z:21.72 [[ 9.90375605e-01 -1.28411045e-01 -5.16407323e-02 4.59897668e+02] [ 1.28260474e-01 9.91720929e-01 -6.23299263e-03 3.97581213e+01] [ 5.20135801e-02 -4.50460948e-04 9.98646276e-01 2.17181191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.93, Y:39.76, Z:21.72 [[ 9.90027484e-01 -1.31291210e-01 -5.10705356e-02 4.59926164e+02] [ 1.31147419e-01 9.91343670e-01 -6.17109648e-03 3.97578720e+01] [ 5.14386630e-02 -5.88213799e-04 9.98675982e-01 2.17195515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.96, Y:39.76, Z:21.72 [[ 9.89560848e-01 -1.34709389e-01 -5.12123858e-02 4.59955241e+02] [ 1.34569095e-01 9.90884856e-01 -6.19353743e-03 3.97574417e+01] [ 5.15799052e-02 -7.62722263e-04 9.98668579e-01 2.17209727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:459.98, Y:39.76, Z:21.72 [[ 9.89123994e-01 -1.37870823e-01 -5.12382665e-02 4.59983631e+02] [ 1.37733985e-01 9.90449796e-01 -6.20901003e-03 3.97553985e+01] [ 5.16049719e-02 -9.15769842e-04 9.98667156e-01 2.17219127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.01, Y:39.75, Z:21.72 [[ 9.88321760e-01 -1.43229890e-01 -5.20124692e-02 4.60013779e+02] [ 1.43096056e-01 9.89688707e-01 -6.30730346e-03 3.97537508e+01] [ 5.23795478e-02 -1.20913396e-03 9.98626517e-01 2.17232533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.04, Y:39.76, Z:21.72 [[ 9.88018080e-01 -1.45231387e-01 -5.22313863e-02 4.60042174e+02] [ 1.45099089e-01 9.89396840e-01 -6.33625243e-03 3.97552261e+01] [ 5.25977913e-02 -1.31839462e-03 9.98614908e-01 2.17245712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.07, Y:39.76, Z:21.73 [[ 9.87748851e-01 -1.46757806e-01 -5.30504927e-02 4.60070761e+02] [ 1.46623090e-01 9.89171445e-01 -6.44371101e-03 3.97564170e+01] [ 5.34216974e-02 -1.41365902e-03 9.98571041e-01 2.17259005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.10, Y:39.76, Z:21.73 [[ 9.87531115e-01 -1.47988743e-01 -5.36807976e-02 4.60099158e+02] [ 1.47851870e-01 9.88987932e-01 -6.53414976e-03 3.97580299e+01] [ 5.40566416e-02 -1.48413010e-03 9.98536768e-01 2.17271248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.13, Y:39.76, Z:21.73 [[ 9.87474342e-01 -1.48068364e-01 -5.44993881e-02 4.60127576e+02] [ 1.47926695e-01 9.88975993e-01 -6.64670669e-03 3.97573205e+01] [ 5.48827534e-02 -1.49846204e-03 9.98491681e-01 2.17284113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.16, Y:39.76, Z:21.73 [[ 9.87480212e-01 -1.48064912e-01 -5.44023199e-02 4.60155729e+02] [ 1.47923394e-01 9.88976523e-01 -6.64121670e-03 3.97606762e+01] [ 5.47859484e-02 -1.48930572e-03 9.98497011e-01 2.17302641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.18, Y:39.76, Z:21.73 [[ 9.87438166e-01 -1.48345752e-01 -5.44004295e-02 4.60182930e+02] [ 1.48203809e-01 9.88934437e-01 -6.65666850e-03 3.97640783e+01] [ 5.47859466e-02 -1.48930232e-03 9.98497012e-01 2.17315707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.21, Y:39.77, Z:21.73 [[ 9.87481987e-01 -1.48107647e-01 -5.42535813e-02 4.60211393e+02] [ 1.47965269e-01 9.88970173e-01 -6.65407862e-03 3.97679316e+01] [ 5.46406936e-02 -1.45686296e-03 9.98505019e-01 2.17338770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.24, Y:39.77, Z:21.74 [[ 9.87663463e-01 -1.46825661e-01 -5.44344450e-02 4.60239368e+02] [ 1.46679684e-01 9.89161426e-01 -6.68907597e-03 3.97687417e+01] [ 5.48265813e-02 -1.37787125e-03 9.98494941e-01 2.17350621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.27, Y:39.77, Z:21.74 [[ 9.87708514e-01 -1.46275505e-01 -5.50941735e-02 4.60267570e+02] [ 1.46124763e-01 9.89242960e-01 -6.77641846e-03 3.97718150e+01] [ 5.54927473e-02 -1.35749680e-03 9.98458167e-01 2.17363276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.30, Y:39.78, Z:21.74 [[ 9.87763123e-01 -1.45915008e-01 -5.50710686e-02 4.60296423e+02] [ 1.45763089e-01 9.89296244e-01 -6.78696164e-03 3.97767936e+01] [ 5.54719209e-02 -1.32341864e-03 9.98459371e-01 2.17380650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.32, Y:39.78, Z:21.74 [[ 9.87766028e-01 -1.45683731e-01 -5.56284468e-02 4.60323797e+02] [ 1.45527587e-01 9.89330346e-01 -6.86933230e-03 3.97797306e+01] [ 5.60356605e-02 -1.31018054e-03 9.98427908e-01 2.17392184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.35, Y:39.78, Z:21.74 [[ 9.87765186e-01 -1.45457551e-01 -5.62320079e-02 4.60350977e+02] [ 1.45296783e-01 9.89363644e-01 -6.95881856e-03 3.97813318e+01] [ 5.66461169e-02 -1.29665116e-03 9.98393478e-01 2.17399378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.38, Y:39.78, Z:21.74 [[ 9.87748780e-01 -1.45467142e-01 -5.64947543e-02 4.60378191e+02] [ 1.45304478e-01 9.89362234e-01 -6.99844289e-03 3.97835299e+01] [ 5.69118198e-02 -1.29623738e-03 9.98378367e-01 2.17411413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.41, Y:39.79, Z:21.74 [[ 9.87659266e-01 -1.45954824e-01 -5.68010937e-02 4.60407179e+02] [ 1.45790719e-01 9.89290371e-01 -7.04473098e-03 3.97870886e+01] [ 5.72209876e-02 -1.32327844e-03 9.98360660e-01 2.17426494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.43, Y:39.79, Z:21.74 [[ 9.87575118e-01 -1.46527977e-01 -5.67885387e-02 4.60434320e+02] [ 1.46364044e-01 9.89205617e-01 -7.05794271e-03 3.97911916e+01] [ 5.72097275e-02 -1.34155158e-03 9.98361281e-01 2.17447311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.46, Y:39.79, Z:21.75 [[ 9.87442018e-01 -1.47445084e-01 -5.67292633e-02 4.60462351e+02] [ 1.47282153e-01 9.89069283e-01 -7.06543236e-03 3.97920160e+01] [ 5.71509350e-02 -1.37850327e-03 9.98364598e-01 2.17460917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.49, Y:39.80, Z:21.75 [[ 9.87308556e-01 -1.48327578e-01 -5.67516093e-02 4.60491133e+02] [ 1.48165586e-01 9.88937260e-01 -7.07501035e-03 3.97954005e+01] [ 5.71732001e-02 -1.42341720e-03 9.98363260e-01 2.17483809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.52, Y:39.80, Z:21.75 [[ 9.87198140e-01 -1.49246792e-01 -5.62603587e-02 4.60518631e+02] [ 1.49088354e-01 9.88798913e-01 -7.02661808e-03 3.97967902e+01] [ 5.66788817e-02 -1.45109998e-03 9.98391406e-01 2.17494052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.55, Y:39.80, Z:21.75 [[ 9.87042519e-01 -1.50509833e-01 -5.56224340e-02 4.60547351e+02] [ 1.50356610e-01 9.88607374e-01 -6.95337449e-03 3.97998869e+01] [ 5.60352997e-02 -1.49992437e-03 9.98427662e-01 2.17514352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.58, Y:39.80, Z:21.75 [[ 9.86915563e-01 -1.51426020e-01 -5.53880133e-02 4.60575223e+02] [ 1.51274785e-01 9.88467406e-01 -6.93734408e-03 3.98003801e+01] [ 5.57997403e-02 -1.53223696e-03 9.98440805e-01 2.17524957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.60, Y:39.80, Z:21.75 [[ 9.86543610e-01 -1.54042539e-01 -5.47959925e-02 4.60603587e+02] [ 1.53898143e-01 9.88062831e-01 -6.87052872e-03 3.98013293e+01] [ 5.52002372e-02 -1.65492530e-03 9.98473933e-01 2.17542989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.63, Y:39.80, Z:21.76 [[ 9.86379960e-01 -1.55197724e-01 -5.44815665e-02 4.60631792e+02] [ 1.55056407e-01 9.87881959e-01 -6.83716388e-03 3.98046952e+01] [ 5.48824689e-02 -1.70367449e-03 9.98491368e-01 2.17558036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.66, Y:39.81, Z:21.76 [[ 9.86188634e-01 -1.56201682e-01 -5.50727979e-02 4.60660118e+02] [ 1.56058055e-01 9.87723605e-01 -6.92554524e-03 3.98075114e+01] [ 5.54784843e-02 -1.76465971e-03 9.98458323e-01 2.17571521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.69, Y:39.81, Z:21.76 [[ 9.86286311e-01 -1.55408974e-01 -5.55640444e-02 4.60688453e+02] [ 1.55260771e-01 9.87848715e-01 -7.00060340e-03 3.98084941e+01] [ 5.59768265e-02 -1.72231708e-03 9.98430583e-01 2.17573622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.72, Y:39.82, Z:21.76 [[ 9.86504940e-01 -1.53994976e-01 -5.56196942e-02 4.60716702e+02] [ 1.53843743e-01 9.88070278e-01 -7.01633496e-03 3.98156851e+01] [ 5.60366470e-02 -1.63509284e-03 9.98427374e-01 2.17595114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.74, Y:39.82, Z:21.76 [[ 9.86803038e-01 -1.52106802e-01 -5.55273272e-02 4.60744895e+02] [ 1.51952283e-01 9.88362908e-01 -7.01901790e-03 3.98199556e+01] [ 5.59487910e-02 -1.51111594e-03 9.98432496e-01 2.17612743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.77, Y:39.83, Z:21.76 [[ 9.87196814e-01 -1.49685792e-01 -5.51054746e-02 4.60773365e+02] [ 1.49529056e-01 9.88732695e-01 -6.97985083e-03 3.98256379e+01] [ 5.55293690e-02 -1.34938313e-03 9.98456142e-01 2.17634715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.80, Y:39.83, Z:21.77 [[ 9.88187771e-01 -1.43601780e-01 -5.35112795e-02 4.60801514e+02] [ 1.43444402e-01 9.89635082e-01 -6.79027134e-03 3.98317314e+01] [ 5.39317345e-02 -9.65830375e-04 9.98544158e-01 2.17665038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.83, Y:39.84, Z:21.77 [[ 9.88600501e-01 -1.41122110e-01 -5.24747532e-02 4.60829963e+02] [ 1.40967073e-01 9.89991865e-01 -6.66267344e-03 3.98372206e+01] [ 5.28898293e-02 -8.10490060e-04 9.98600025e-01 2.17691870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.86, Y:39.84, Z:21.77 [[ 9.88902741e-01 -1.38821350e-01 -5.29150451e-02 4.60858665e+02] [ 1.38659679e-01 9.90317207e-01 -6.73219753e-03 3.98424246e+01] [ 5.33372525e-02 -6.79694589e-04 9.98576324e-01 2.17705628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.89, Y:39.85, Z:21.77 [[ 9.89074289e-01 -1.37156642e-01 -5.40380062e-02 4.60887502e+02] [ 1.36984781e-01 9.90549196e-01 -6.88915779e-03 3.98467746e+01] [ 5.44721973e-02 -5.88495581e-04 9.98515114e-01 2.17708760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.92, Y:39.85, Z:21.77 [[ 9.89324111e-01 -1.34754417e-01 -5.54891933e-02 4.60916102e+02] [ 1.34568607e-01 9.90878923e-01 -7.08866197e-03 3.98511393e+01] [ 5.59383006e-02 -4.54119216e-04 9.98434124e-01 2.17708288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.94, Y:39.85, Z:21.77 [[ 9.89355659e-01 -1.34575932e-01 -5.53597151e-02 4.60943282e+02] [ 1.34389974e-01 9.90903191e-01 -7.08528330e-03 3.98538269e+01] [ 5.58096269e-02 -4.29925546e-04 9.98441336e-01 2.17717818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:460.97, Y:39.86, Z:21.77 [[ 9.89277704e-01 -1.35054831e-01 -5.55861220e-02 4.60970851e+02] [ 1.34867628e-01 9.90838024e-01 -7.12272901e-03 3.98564381e+01] [ 5.60388023e-02 -4.50411407e-04 9.98428490e-01 2.17733929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.00, Y:39.86, Z:21.77 [[ 9.88947187e-01 -1.37573880e-01 -5.52891445e-02 4.60999177e+02] [ 1.37391811e-01 9.90491341e-01 -7.09889348e-03 3.98567015e+01] [ 5.57400412e-02 -5.75844959e-04 9.98445149e-01 2.17748100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.03, Y:39.86, Z:21.78 [[ 9.88589862e-01 -1.40116616e-01 -5.52939364e-02 4.61028353e+02] [ 1.39938140e-01 9.90134751e-01 -7.10573906e-03 3.98581061e+01] [ 5.57440800e-02 -7.13068999e-04 9.98444835e-01 2.17762947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.06, Y:39.86, Z:21.78 [[ 9.88230385e-01 -1.42866439e-01 -5.46798622e-02 4.61056113e+02] [ 1.42695415e-01 9.89741615e-01 -7.03944189e-03 3.98583217e+01] [ 5.51246352e-02 -8.45975267e-04 9.98479123e-01 2.17775977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.08, Y:39.86, Z:21.78 [[ 9.87722516e-01 -1.46314679e-01 -5.47379834e-02 4.61084587e+02] [ 1.46148126e-01 9.89237560e-01 -7.05508288e-03 3.98594736e+01] [ 5.51811313e-02 -1.03138948e-03 9.98475828e-01 2.17797066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.11, Y:39.86, Z:21.78 [[ 9.86621699e-01 -1.53719609e-01 -5.42946136e-02 4.61114209e+02] [ 1.53566271e-01 9.88113486e-01 -7.00996798e-03 3.98576144e+01] [ 5.47268094e-02 -1.42163484e-03 9.98500353e-01 2.17819910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.14, Y:39.86, Z:21.78 [[ 9.86073549e-01 -1.57451345e-01 -5.35539959e-02 4.61144006e+02] [ 1.57307508e-01 9.87525444e-01 -6.91706083e-03 3.98586818e+01] [ 5.39750341e-02 -1.60371493e-03 9.98540998e-01 2.17840551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.17, Y:39.86, Z:21.79 [[ 9.85480047e-01 -1.61286270e-01 -5.30642616e-02 4.61172656e+02] [ 1.61150485e-01 9.86906033e-01 -6.85592876e-03 3.98577815e+01] [ 5.34752071e-02 -1.79495052e-03 9.98567564e-01 2.17855493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.20, Y:39.86, Z:21.79 [[ 9.84557353e-01 -1.67207125e-01 -5.18516742e-02 4.61202736e+02] [ 1.67085485e-01 9.85919629e-01 -6.70266828e-03 3.98569154e+01] [ 5.22423173e-02 -2.06450077e-03 9.98632304e-01 2.17872011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.23, Y:39.86, Z:21.79 [[ 9.84035616e-01 -1.70234365e-01 -5.19053774e-02 4.61232331e+02] [ 1.70116618e-01 9.85401088e-01 -6.71064075e-03 3.98580790e+01] [ 5.22899970e-02 -2.22645773e-03 9.98629460e-01 2.17883383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.26, Y:39.86, Z:21.79 [[ 9.83533108e-01 -1.72992745e-01 -5.23080885e-02 4.61261951e+02] [ 1.72876952e-01 9.84920200e-01 -6.76461345e-03 3.98596115e+01] [ 5.26895220e-02 -2.38964159e-03 9.98608083e-01 2.17893455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.29, Y:39.86, Z:21.79 [[ 9.83061811e-01 -1.75589428e-01 -5.25150393e-02 4.61291131e+02] [ 1.75476302e-01 9.84460216e-01 -6.79337413e-03 3.98613554e+01] [ 5.28918116e-02 -2.53683824e-03 9.98597026e-01 2.17903682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.32, Y:39.86, Z:21.79 [[ 9.82532352e-01 -1.78364997e-01 -5.30669877e-02 4.61320397e+02] [ 1.78253361e-01 9.83960657e-01 -6.86765621e-03 3.98633510e+01] [ 5.34407776e-02 -2.71167451e-03 9.98567339e-01 2.17916938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.35, Y:39.87, Z:21.79 [[ 9.82111216e-01 -1.80795942e-01 -5.26344711e-02 4.61349600e+02] [ 1.80689451e-01 9.83516592e-01 -6.81438661e-03 3.98694264e+01] [ 5.29988890e-02 -2.81800817e-03 9.98590595e-01 2.17935353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.38, Y:39.87, Z:21.79 [[ 9.81202041e-01 -1.85678547e-01 -5.25930685e-02 4.61380114e+02] [ 1.85579106e-01 9.82605723e-01 -6.81088785e-03 3.98660207e+01] [ 5.29428859e-02 -3.07731759e-03 9.98592800e-01 2.17945538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.41, Y:39.87, Z:21.80 [[ 9.80830039e-01 -1.87830899e-01 -5.18843660e-02 4.61409563e+02] [ 1.87737053e-01 9.82196333e-01 -6.72031510e-03 3.98687648e+01] [ 5.22229169e-02 -3.14913106e-03 9.98630487e-01 2.17964728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.44, Y:39.88, Z:21.80 [[ 9.80469539e-01 -1.89869576e-01 -5.12740348e-02 4.61438091e+02] [ 1.89780605e-01 9.81804050e-01 -6.64305538e-03 3.98782600e+01] [ 5.16023691e-02 -3.21750391e-03 9.98662527e-01 2.17981712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.47, Y:39.88, Z:21.80 [[ 9.80128286e-01 -1.91606625e-01 -5.13365806e-02 4.61467155e+02] [ 1.91519709e-01 9.81466218e-01 -6.65306954e-03 3.98831008e+01] [ 5.16598918e-02 -3.31110533e-03 9.98659247e-01 2.17995688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.50, Y:39.89, Z:21.80 [[ 9.79721120e-01 -1.93715210e-01 -5.11951604e-02 4.61496032e+02] [ 1.93631536e-01 9.81051876e-01 -6.63665147e-03 3.98907297e+01] [ 5.15107284e-02 -3.41092994e-03 9.98666616e-01 2.18007951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.52, Y:39.90, Z:21.80 [[ 9.79522244e-01 -1.94567138e-01 -5.17668005e-02 4.61524399e+02] [ 1.94482612e-01 9.80882989e-01 -6.71377625e-03 3.98955602e+01] [ 5.20834543e-02 -3.49144940e-03 9.98636632e-01 2.18020019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.55, Y:39.90, Z:21.80 [[ 9.79444174e-01 -1.95047109e-01 -5.14367171e-02 4.61552325e+02] [ 1.94963617e-01 9.80787697e-01 -6.68444162e-03 3.99009991e+01] [ 5.17522803e-02 -3.48125103e-03 9.98653885e-01 2.18029871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.58, Y:39.91, Z:21.80 [[ 9.79467548e-01 -1.94865121e-01 -5.16808196e-02 4.61579972e+02] [ 1.94779873e-01 9.80823894e-01 -6.72982240e-03 3.99090167e+01] [ 5.20011903e-02 -3.47474081e-03 9.98640978e-01 2.18041542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.61, Y:39.92, Z:21.81 [[ 9.79549213e-01 -1.94501286e-01 -5.15032900e-02 4.61608068e+02] [ 1.94415421e-01 9.80896265e-01 -6.72019923e-03 3.99156551e+01] [ 5.18264722e-02 -3.43026797e-03 9.98650214e-01 2.18050634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.64, Y:39.92, Z:21.81 [[ 9.79728784e-01 -1.93335238e-01 -5.24689958e-02 4.61635465e+02] [ 1.93243766e-01 9.81126799e-01 -6.85935708e-03 3.99201819e+01] [ 5.28048934e-02 -3.41899678e-03 9.98598995e-01 2.18060549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.66, Y:39.93, Z:21.81 [[ 9.80343301e-01 -1.90319665e-01 -5.20138129e-02 4.61663815e+02] [ 1.90225307e-01 9.81716880e-01 -6.80439529e-03 3.99334381e+01] [ 5.23578483e-02 -3.22370019e-03 9.98623184e-01 2.18082073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.69, Y:39.94, Z:21.81 [[ 9.80690874e-01 -1.88575841e-01 -5.18127685e-02 4.61691914e+02] [ 1.88479630e-01 9.82053688e-01 -6.78108296e-03 3.99423306e+01] [ 5.21616688e-02 -3.11550526e-03 9.98633794e-01 2.18099248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.72, Y:39.95, Z:21.81 [[ 9.81631029e-01 -1.83970837e-01 -5.05495150e-02 4.61720455e+02] [ 1.83872604e-01 9.82927744e-01 -6.62689603e-03 3.99525090e+01] [ 5.09056763e-02 -2.78950417e-03 9.98699570e-01 2.18121855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.75, Y:39.96, Z:21.81 [[ 9.82154122e-01 -1.81266422e-01 -5.01574099e-02 4.61749337e+02] [ 1.81166132e-01 9.83430516e-01 -6.57665111e-03 3.99613928e+01] [ 5.05184535e-02 -2.62753895e-03 9.98719671e-01 2.18138099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.78, Y:39.97, Z:21.81 [[ 9.83080844e-01 -1.76328533e-01 -4.96014290e-02 4.61777256e+02] [ 1.76224095e-01 9.84328577e-01 -6.50549637e-03 3.99718256e+01] [ 4.99712086e-02 -2.34553806e-03 9.98747905e-01 2.18146014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.81, Y:39.99, Z:21.82 [[ 9.83914081e-01 -1.71530652e-01 -4.99030615e-02 4.61805251e+02] [ 1.71418722e-01 9.85176517e-01 -6.54620848e-03 3.99860353e+01] [ 5.02861998e-02 -2.11341236e-03 9.98732613e-01 2.18157057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.83, Y:39.99, Z:21.82 [[ 9.84262367e-01 -1.69609987e-01 -4.95988497e-02 4.61832247e+02] [ 1.69496888e-01 9.85509233e-01 -6.50821099e-03 3.99928523e+01] [ 4.99839819e-02 -2.00106353e-03 9.98748015e-01 2.18167271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.86, Y:40.00, Z:21.82 [[ 9.84531186e-01 -1.68071825e-01 -4.94995611e-02 4.61861227e+02] [ 1.67957019e-01 9.85772892e-01 -6.49955898e-03 4.00033695e+01] [ 4.98877182e-02 -1.91478023e-03 9.98752997e-01 2.18180233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.89, Y:40.01, Z:21.82 [[ 9.84525061e-01 -1.68107832e-01 -4.94991010e-02 4.61890120e+02] [ 1.67992897e-01 9.85766756e-01 -6.50306100e-03 4.00071957e+01] [ 4.98877837e-02 -1.91307083e-03 9.98752997e-01 2.18194106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.92, Y:40.01, Z:21.82 [[ 9.84815635e-01 -1.66565958e-01 -4.89279801e-02 4.61919909e+02] [ 1.66451675e-01 9.86028650e-01 -6.42975533e-03 4.00139244e+01] [ 4.93153685e-02 -1.81202064e-03 9.98781613e-01 2.18209249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.95, Y:40.02, Z:21.82 [[ 9.85060468e-01 -1.65197585e-01 -4.86377704e-02 4.61949793e+02] [ 1.65082988e-01 9.86258969e-01 -6.39161811e-03 4.00202608e+01] [ 4.90253171e-02 -1.73313814e-03 9.98796032e-01 2.18221064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:461.98, Y:40.03, Z:21.82 [[ 9.85571771e-01 -1.62660948e-01 -4.67942392e-02 4.61979500e+02] [ 1.62552019e-01 9.86680813e-01 -6.14935480e-03 4.00292352e+01] [ 4.71712379e-02 -1.54586758e-03 9.98885621e-01 2.18237484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.01, Y:40.03, Z:21.82 [[ 9.85810370e-01 -1.61233527e-01 -4.67082858e-02 4.62009286e+02] [ 1.61123398e-01 9.86915181e-01 -6.13806687e-03 4.00332245e+01] [ 4.70867785e-02 -1.47482775e-03 9.98889714e-01 2.18249991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.04, Y:40.04, Z:21.83 [[ 9.85810371e-01 -1.61233487e-01 -4.67083968e-02 4.62039012e+02] [ 1.61123398e-01 9.86915186e-01 -6.13722253e-03 4.00371298e+01] [ 4.70867519e-02 -1.47567797e-03 9.98889714e-01 2.18264253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.07, Y:40.05, Z:21.83 [[ 9.86091245e-01 -1.59537736e-01 -4.66022218e-02 4.62069333e+02] [ 1.59426255e-01 9.87190850e-01 -6.12329058e-03 4.00467285e+01] [ 4.69821829e-02 -1.39149448e-03 9.98894758e-01 2.18275526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.10, Y:40.05, Z:21.83 [[ 9.86340896e-01 -1.57972728e-01 -4.66503339e-02 4.62100112e+02] [ 1.57859348e-01 9.87442593e-01 -6.12790083e-03 4.00542923e+01] [ 4.70325678e-02 -1.31999211e-03 9.98892484e-01 2.18287443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.13, Y:40.06, Z:21.83 [[ 9.86976273e-01 -1.53979097e-01 -4.65647233e-02 4.62131096e+02] [ 1.53861772e-01 9.88073460e-01 -6.11495215e-03 4.00640577e+01] [ 4.69509421e-02 -1.12921815e-03 9.98896558e-01 2.18294799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.16, Y:40.07, Z:21.83 [[ 9.87277008e-01 -1.52174681e-01 -4.61191542e-02 4.62160871e+02] [ 1.52057739e-01 9.88353071e-01 -6.05395798e-03 4.00683505e+01] [ 4.65032668e-02 -1.03584079e-03 9.98917601e-01 2.18309746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.19, Y:40.07, Z:21.83 [[ 9.87603470e-01 -1.50160433e-01 -4.57299685e-02 4.62191082e+02] [ 1.50043337e-01 9.88661202e-01 -6.00203986e-03 4.00738995e+01] [ 4.61127146e-02 -9.33841711e-04 9.98935806e-01 2.18321017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.22, Y:40.08, Z:21.83 [[ 9.88166302e-01 -1.46674274e-01 -4.48777992e-02 4.62221328e+02] [ 1.46557943e-01 9.89184555e-01 -5.88946635e-03 4.00830198e+01] [ 4.52562591e-02 -7.57425758e-04 9.98975123e-01 2.18332942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.25, Y:40.09, Z:21.83 [[ 9.88404955e-01 -1.45126076e-01 -4.46549693e-02 4.62252557e+02] [ 1.45009388e-01 9.89412934e-01 -5.85867492e-03 4.00876258e+01] [ 4.50324507e-02 -6.84646453e-04 9.98985290e-01 2.18349032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.28, Y:40.10, Z:21.84 [[ 9.88618695e-01 -1.43795961e-01 -4.42244060e-02 4.62283610e+02] [ 1.43680285e-01 9.89607163e-01 -5.79990253e-03 4.00954983e+01] [ 4.45987915e-02 -6.20283186e-04 9.99004786e-01 2.18360289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.31, Y:40.10, Z:21.84 [[ 9.88783743e-01 -1.42963121e-01 -4.32233195e-02 4.62314917e+02] [ 1.42851966e-01 9.89727851e-01 -5.66547753e-03 4.01007834e+01] [ 4.35892775e-02 -5.72604080e-04 9.99049372e-01 2.18378250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.35, Y:40.11, Z:21.84 [[ 9.88873707e-01 -1.42457596e-01 -4.28325207e-02 4.62346078e+02] [ 1.42348097e-01 9.89800754e-01 -5.61129201e-03 4.01052797e+01] [ 4.31950324e-02 -5.48268684e-04 9.99066509e-01 2.18389470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.38, Y:40.11, Z:21.84 [[ 9.88831664e-01 -1.42646282e-01 -4.31738198e-02 4.62378315e+02] [ 1.42535443e-01 9.89773569e-01 -5.65065480e-03 4.01092806e+01] [ 4.35383506e-02 -5.66253130e-04 9.99051596e-01 2.18400943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.41, Y:40.11, Z:21.84 [[ 9.88765467e-01 -1.43226329e-01 -4.27676387e-02 4.62409942e+02] [ 1.43118242e-01 9.89689786e-01 -5.59438909e-03 4.01132092e+01] [ 4.31279590e-02 -5.89290546e-04 9.99069383e-01 2.18410132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.44, Y:40.11, Z:21.84 [[ 9.88439718e-01 -1.45449053e-01 -4.27959930e-02 4.62441350e+02] [ 1.45343047e-01 9.89365502e-01 -5.59479472e-03 4.01145004e+01] [ 4.31546367e-02 -6.89982691e-04 9.99068166e-01 2.18416006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.47, Y:40.12, Z:21.84 [[ 9.88250102e-01 -1.46674798e-01 -4.29911584e-02 4.62473651e+02] [ 1.46569084e-01 9.89184483e-01 -5.61796306e-03 4.01179793e+01] [ 4.33502004e-02 -7.49222128e-04 9.99059657e-01 2.18426902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.51, Y:40.12, Z:21.84 [[ 9.88040323e-01 -1.48167168e-01 -4.26943811e-02 4.62505861e+02] [ 1.48064436e-01 9.88961997e-01 -5.57604730e-03 4.01206859e+01] [ 4.30493075e-02 -8.12159859e-04 9.99072619e-01 2.18436425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.54, Y:40.12, Z:21.84 [[ 9.87779368e-01 -1.50031885e-01 -4.22179269e-02 4.62537993e+02] [ 1.49933265e-01 9.88680761e-01 -5.51074430e-03 4.01229418e+01] [ 4.25668395e-02 -8.86472116e-04 9.99093228e-01 2.18447758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.57, Y:40.12, Z:21.85 [[ 9.87071330e-01 -1.54521560e-01 -4.25825802e-02 4.62568932e+02] [ 1.54425542e-01 9.87988813e-01 -5.55502454e-03 4.01223420e+01] [ 4.29294839e-02 -1.09263255e-03 9.99077507e-01 2.18455305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.60, Y:40.12, Z:21.85 [[ 9.86657619e-01 -1.57302114e-01 -4.19855713e-02 4.62600150e+02] [ 1.57211348e-01 9.87549801e-01 -5.47563153e-03 4.01238570e+01] [ 4.23241710e-02 -1.19803468e-03 9.99103213e-01 2.18465046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.63, Y:40.12, Z:21.85 [[ 9.86230144e-01 -1.59936017e-01 -4.20781897e-02 4.62630951e+02] [ 1.59847312e-01 9.87126506e-01 -5.48609259e-03 4.01247213e+01] [ 4.24139202e-02 -1.31553562e-03 9.99099259e-01 2.18474959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.66, Y:40.13, Z:21.85 [[ 9.85812794e-01 -1.62584046e-01 -4.17080675e-02 4.62662044e+02] [ 1.62499286e-01 9.86693680e-01 -5.43719357e-03 4.01267999e+01] [ 4.20370876e-02 -1.41747622e-03 9.99115045e-01 2.18485554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.69, Y:40.13, Z:21.85 [[ 9.84993057e-01 -1.67540374e-01 -4.14596210e-02 4.62693099e+02] [ 1.67461067e-01 9.85863883e-01 -5.40321608e-03 4.01278439e+01] [ 4.17787998e-02 -1.62074203e-03 9.99125570e-01 2.18495038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.72, Y:40.13, Z:21.85 [[ 9.84629886e-01 -1.69598729e-01 -4.17164086e-02 4.62724898e+02] [ 1.69520304e-01 9.85511702e-01 -5.43610904e-03 4.01266598e+01] [ 4.20339660e-02 -1.71922284e-03 9.99114703e-01 2.18512083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.76, Y:40.13, Z:21.85 [[ 9.84230623e-01 -1.72032868e-01 -4.11676242e-02 4.62755968e+02] [ 1.71958708e-01 9.85089563e-01 -5.36238427e-03 4.01343923e+01] [ 4.14763033e-02 -1.80130866e-03 9.99137864e-01 2.18522067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.79, Y:40.13, Z:21.85 [[ 9.83355050e-01 -1.76763947e-01 -4.20398995e-02 4.62786684e+02] [ 1.76691031e-01 9.84251148e-01 -5.47339009e-03 4.01332198e+01] [ 4.23453174e-02 -2.04578740e-03 9.99100940e-01 2.18536598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.82, Y:40.14, Z:21.85 [[ 9.82926879e-01 -1.79057443e-01 -4.23459884e-02 4.62818107e+02] [ 1.78985608e-01 9.83836248e-01 -5.51262877e-03 4.01386371e+01] [ 4.26485955e-02 -2.16081148e-03 9.99087798e-01 2.18547019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.85, Y:40.14, Z:21.86 [[ 9.82594013e-01 -1.80741199e-01 -4.29141614e-02 4.62849728e+02] [ 1.80669129e-01 9.83528079e-01 -5.58415291e-03 4.01398108e+01] [ 4.32165692e-02 -2.26630896e-03 9.99063157e-01 2.18563355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.88, Y:40.14, Z:21.86 [[ 9.82351674e-01 -1.81974319e-01 -4.32497023e-02 4.62880811e+02] [ 1.81902419e-01 9.83300496e-01 -5.62530385e-03 4.01439242e+01] [ 4.35511146e-02 -2.34119882e-03 9.99048457e-01 2.18577054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.91, Y:40.15, Z:21.86 [[ 9.82064489e-01 -1.83406857e-01 -4.37179982e-02 4.62910623e+02] [ 1.83334870e-01 9.83034083e-01 -5.68476615e-03 4.01461683e+01] [ 4.40189073e-02 -2.43222652e-03 9.99027737e-01 2.18592445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.94, Y:40.15, Z:21.86 [[ 9.82054432e-01 -1.83485595e-01 -4.36134029e-02 4.62942139e+02] [ 1.83414208e-01 9.83019386e-01 -5.66708508e-03 4.01502069e+01] [ 4.39126490e-02 -2.43393174e-03 9.99032410e-01 2.18610920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:462.97, Y:40.16, Z:21.86 [[ 9.82060426e-01 -1.83334151e-01 -4.41124572e-02 4.62972691e+02] [ 1.83261040e-01 9.83047585e-01 -5.73033544e-03 4.01568382e+01] [ 4.44152107e-02 -2.45655912e-03 9.99010137e-01 2.18627500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.00, Y:40.16, Z:21.86 [[ 9.82192659e-01 -1.82616743e-01 -4.41441429e-02 4.63003268e+02] [ 1.82542877e-01 9.83181180e-01 -5.73284545e-03 4.01624729e+01] [ 4.44486041e-02 -2.42744011e-03 9.99008723e-01 2.18641711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.03, Y:40.17, Z:21.87 [[ 9.82541345e-01 -1.80541529e-01 -4.49139289e-02 4.63034021e+02] [ 1.80462978e-01 9.83564493e-01 -5.83115256e-03 4.01707942e+01] [ 4.52285109e-02 -2.37595288e-03 9.98973842e-01 2.18652011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.06, Y:40.17, Z:21.87 [[ 9.82728090e-01 -1.79393615e-01 -4.54250097e-02 4.63064162e+02] [ 1.79312123e-01 9.83774569e-01 -5.89577970e-03 4.01721213e+01] [ 4.57456345e-02 -2.35130659e-03 9.98950353e-01 2.18666191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.09, Y:40.18, Z:21.87 [[ 9.82951764e-01 -1.78145549e-01 -4.54971725e-02 4.63094602e+02] [ 1.78062499e-01 9.84001466e-01 -5.90441125e-03 4.01843851e+01] [ 4.58211290e-02 -2.29758876e-03 9.98947018e-01 2.18677155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.12, Y:40.19, Z:21.87 [[ 9.83267398e-01 -1.76184546e-01 -4.63058383e-02 4.63124777e+02] [ 1.76096515e-01 9.84354584e-01 -6.00580421e-03 4.01900510e+01] [ 4.66394941e-02 -2.24898527e-03 9.98909255e-01 2.18692553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.16, Y:40.20, Z:21.87 [[ 9.83457102e-01 -1.75030471e-01 -4.66525800e-02 4.63156158e+02] [ 1.74939903e-01 9.84560531e-01 -6.04904746e-03 4.01992814e+01] [ 4.69910566e-02 -2.21241913e-03 9.98892860e-01 2.18707276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.19, Y:40.20, Z:21.87 [[ 9.83686413e-01 -1.73630458e-01 -4.70478986e-02 4.63186833e+02] [ 1.73536919e-01 9.84808493e-01 -6.09677281e-03 4.02043552e+01] [ 4.73917555e-02 -2.16723479e-03 9.98874028e-01 2.18719858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.22, Y:40.21, Z:21.87 [[ 9.83911107e-01 -1.72220226e-01 -4.75302690e-02 4.63218624e+02] [ 1.72123246e-01 9.85056183e-01 -6.15659786e-03 4.02125700e+01] [ 4.78802760e-02 -2.12351915e-03 9.98850825e-01 2.18735037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.25, Y:40.22, Z:21.87 [[ 9.84506124e-01 -1.68791835e-01 -4.75079891e-02 4.63248989e+02] [ 1.68691206e-01 9.85649771e-01 -6.14860064e-03 4.02209195e+01] [ 4.78640722e-02 -1.96084500e-03 9.98851934e-01 2.18748107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.28, Y:40.23, Z:21.88 [[ 9.84880900e-01 -1.66556993e-01 -4.76275288e-02 4.63278750e+02] [ 1.66453333e-01 9.86030078e-01 -6.16230966e-03 4.02254637e+01] [ 4.79885516e-02 -1.85861984e-03 9.98846157e-01 2.18765676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.31, Y:40.23, Z:21.88 [[ 9.85340025e-01 -1.63969758e-01 -4.71057773e-02 4.63309832e+02] [ 1.63865447e-01 9.86463876e-01 -6.09395206e-03 4.02324850e+01] [ 4.74673716e-02 -1.71439437e-03 9.98871318e-01 2.18785247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.34, Y:40.25, Z:21.88 [[ 9.86308843e-01 -1.58105376e-01 -4.68780932e-02 4.63339580e+02] [ 1.57995563e-01 9.87421213e-01 -6.06214070e-03 4.02452334e+01] [ 4.72468807e-02 -1.42738775e-03 9.98882223e-01 2.18808524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.37, Y:40.25, Z:21.88 [[ 9.86753274e-01 -1.55195024e-01 -4.72491317e-02 4.63370880e+02] [ 1.55080184e-01 9.87882997e-01 -6.10901835e-03 4.02532557e+01] [ 4.76247031e-02 -1.29931019e-03 9.98864455e-01 2.18822864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.40, Y:40.26, Z:21.88 [[ 9.87175432e-01 -1.52389919e-01 -4.75602644e-02 4.63401262e+02] [ 1.52270476e-01 9.88319752e-01 -6.14574271e-03 4.02597790e+01] [ 4.79412979e-02 -1.17509789e-03 9.98849464e-01 2.18835181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.43, Y:40.27, Z:21.88 [[ 9.87854004e-01 -1.47596693e-01 -4.85765609e-02 4.63430940e+02] [ 1.47466428e-01 9.89047160e-01 -6.27439552e-03 4.02684460e+01] [ 4.89705896e-02 -9.65225161e-04 9.98799755e-01 2.18841259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.46, Y:40.28, Z:21.89 [[ 9.88104006e-01 -1.45664804e-01 -4.93177313e-02 4.63462849e+02] [ 1.45528179e-01 9.89333606e-01 -6.36909531e-03 4.02750197e+01] [ 4.97194419e-02 -8.83791026e-04 9.98762833e-01 2.18851226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.50, Y:40.28, Z:21.89 [[ 9.88321900e-01 -1.44091036e-01 -4.95741360e-02 4.63495090e+02] [ 1.43951189e-01 9.89564103e-01 -6.39857179e-03 4.02807868e+01] [ 4.99787623e-02 -8.12407213e-04 9.98749950e-01 2.18862230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.53, Y:40.29, Z:21.89 [[ 9.88456355e-01 -1.43033451e-01 -4.99546335e-02 4.63526774e+02] [ 1.42890325e-01 9.89717556e-01 -6.44320516e-03 4.02860042e+01] [ 5.03625716e-02 -7.69206732e-04 9.98730704e-01 2.18876252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.56, Y:40.29, Z:21.89 [[ 9.88548226e-01 -1.42346443e-01 -5.00988520e-02 4.63558653e+02] [ 1.42201790e-01 9.89816621e-01 -6.45820131e-03 4.02911074e+01] [ 5.05079784e-02 -7.39902966e-04 9.98723383e-01 2.18892224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.59, Y:40.30, Z:21.89 [[ 9.88636803e-01 -1.41847866e-01 -4.97639899e-02 4.63589229e+02] [ 1.41704693e-01 9.89888213e-01 -6.41139195e-03 4.02959737e+01] [ 5.01702293e-02 -7.13252854e-04 9.98740426e-01 2.18912012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.62, Y:40.30, Z:21.89 [[ 9.88657675e-01 -1.41910309e-01 -4.91677250e-02 4.63621474e+02] [ 1.41770892e-01 9.89879263e-01 -6.32918149e-03 4.03005296e+01] [ 4.95682875e-02 -7.13158377e-04 9.98770482e-01 2.18930982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.65, Y:40.31, Z:21.89 [[ 9.88587338e-01 -1.42385889e-01 -4.92070529e-02 4.63653545e+02] [ 1.42247009e-01 9.89810946e-01 -6.33079458e-03 4.03063502e+01] [ 4.96070954e-02 -7.41012730e-04 9.98768535e-01 2.18947609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.69, Y:40.31, Z:21.90 [[ 9.88368932e-01 -1.44041694e-01 -4.87734084e-02 4.63686023e+02] [ 1.43907444e-01 9.89571280e-01 -6.27139287e-03 4.03094757e+01] [ 4.91681062e-02 -8.20406646e-04 9.98790180e-01 2.18958425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.72, Y:40.31, Z:21.90 [[ 9.88219229e-01 -1.45051996e-01 -4.88126410e-02 4.63717399e+02] [ 1.44918939e-01 9.89423647e-01 -6.27282698e-03 4.03099164e+01] [ 4.92062674e-02 -8.74947883e-04 9.98788255e-01 2.18971369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.75, Y:40.31, Z:21.90 [[ 9.88038646e-01 -1.46444848e-01 -4.83067424e-02 4.63748996e+02] [ 1.46316329e-01 9.89218393e-01 -6.20513765e-03 4.03149877e+01] [ 4.86946285e-02 -9.37149405e-04 9.98813273e-01 2.18989007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.78, Y:40.32, Z:21.90 [[ 9.87817230e-01 -1.48014671e-01 -4.80497311e-02 4.63780797e+02] [ 1.47889540e-01 9.88984647e-01 -6.16863565e-03 4.03183138e+01] [ 4.84334949e-02 -1.01256803e-03 9.98825896e-01 2.19007336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.81, Y:40.32, Z:21.90 [[ 9.87200651e-01 -1.52206631e-01 -4.76236900e-02 4.63813259e+02] [ 1.52088747e-01 9.88347953e-01 -6.11045163e-03 4.03199426e+01] [ 4.79988277e-02 -1.21078551e-03 9.98846658e-01 2.19024784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.84, Y:40.32, Z:21.90 [[ 9.86768976e-01 -1.54904292e-01 -4.78711569e-02 4.63844739e+02] [ 1.54788522e-01 9.87928556e-01 -6.13859420e-03 4.03204084e+01] [ 4.82441775e-02 -1.35253133e-03 9.98834656e-01 2.19036147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.88, Y:40.32, Z:21.90 [[ 9.86299271e-01 -1.57887306e-01 -4.78052991e-02 4.63876792e+02] [ 1.57775586e-01 9.87455997e-01 -6.12529541e-03 4.03223862e+01] [ 4.81727357e-02 -1.50113470e-03 9.98837892e-01 2.19046857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.91, Y:40.32, Z:21.91 [[ 9.85788276e-01 -1.60951643e-01 -4.81252844e-02 4.63908947e+02] [ 1.60842238e-01 9.86960888e-01 -6.16275655e-03 4.03235065e+01] [ 4.84896793e-02 -1.66540529e-03 9.98822295e-01 2.19056717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.94, Y:40.32, Z:21.91 [[ 9.84761143e-01 -1.67126373e-01 -4.81068282e-02 4.63939223e+02] [ 1.67024565e-01 9.85933510e-01 -6.15692195e-03 4.03203485e+01] [ 4.84591180e-02 -1.97192454e-03 9.98823220e-01 2.19063923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:463.97, Y:40.32, Z:21.91 [[ 9.84772906e-01 -1.67056983e-01 -4.81070439e-02 4.63970654e+02] [ 1.66955175e-01 9.85945274e-01 -6.15523648e-03 4.03243090e+01] [ 4.84591878e-02 -1.97020979e-03 9.98823220e-01 2.19078991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.00, Y:40.33, Z:21.91 [[ 9.84253288e-01 -1.69977115e-01 -4.85102678e-02 4.64001691e+02] [ 1.69877297e-01 9.85445697e-01 -6.20339976e-03 4.03262054e+01] [ 4.88586707e-02 -2.13507658e-03 9.98803420e-01 2.19087811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.03, Y:40.33, Z:21.91 [[ 9.83714390e-01 -1.72957829e-01 -4.89038776e-02 4.64031578e+02] [ 1.72860105e-01 9.84926539e-01 -6.25273074e-03 4.03263639e+01] [ 4.92481856e-02 -2.30262823e-03 9.98783918e-01 2.19096137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.06, Y:40.33, Z:21.91 [[ 9.83242808e-01 -1.75591143e-01 -4.90033682e-02 4.64062263e+02] [ 1.75496475e-01 9.84460147e-01 -6.26150881e-03 4.03312221e+01] [ 4.93413285e-02 -2.44333489e-03 9.98778986e-01 2.19107672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.09, Y:40.33, Z:21.91 [[ 9.82496718e-01 -1.79640325e-01 -4.92904964e-02 4.64093460e+02] [ 1.79549666e-01 9.83728754e-01 -6.29727784e-03 4.03316275e+01] [ 4.96197237e-02 -2.66303736e-03 9.98764633e-01 2.19113640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.13, Y:40.33, Z:21.91 [[ 9.82237151e-01 -1.81074984e-01 -4.92141245e-02 4.64125156e+02] [ 1.80986448e-01 9.83465498e-01 -6.28653670e-03 4.03342269e+01] [ 4.95387280e-02 -2.73221968e-03 9.98768466e-01 2.19129466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.16, Y:40.34, Z:21.91 [[ 9.82086570e-01 -1.81983120e-01 -4.88683221e-02 4.64157387e+02] [ 1.81897077e-01 9.83297778e-01 -6.23964714e-03 4.03370447e+01] [ 4.91876230e-02 -2.76113129e-03 9.98785740e-01 2.19144050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.19, Y:40.34, Z:21.92 [[ 9.81859284e-01 -1.83313981e-01 -4.84595710e-02 4.64188740e+02] [ 1.83231156e-01 9.83050407e-01 -6.18396367e-03 4.03394958e+01] [ 4.87718080e-02 -2.80752106e-03 9.98806001e-01 2.19166097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.22, Y:40.34, Z:21.92 [[ 9.81838219e-01 -1.83505832e-01 -4.81593304e-02 4.64220062e+02] [ 1.83424386e-01 9.83014627e-01 -6.14303865e-03 4.03423883e+01] [ 4.84686097e-02 -2.80212547e-03 9.98820776e-01 2.19180015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.25, Y:40.35, Z:21.92 [[ 9.81792874e-01 -1.83704217e-01 -4.83271400e-02 4.64252199e+02] [ 1.83622570e-01 9.82977509e-01 -6.16180716e-03 4.03464825e+01] [ 4.86364417e-02 -2.82433529e-03 9.98812555e-01 2.19193165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.28, Y:40.35, Z:21.92 [[ 9.81622892e-01 -1.84319248e-01 -4.94258258e-02 4.64284398e+02] [ 1.84234805e-01 9.82862080e-01 -6.29828929e-03 4.03512772e+01] [ 4.97396659e-02 -2.92341242e-03 9.98757938e-01 2.19199966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.32, Y:40.36, Z:21.92 [[ 9.81521577e-01 -1.84672813e-01 -5.01133276e-02 4.64316085e+02] [ 1.84586646e-01 9.82795521e-01 -6.38228317e-03 4.03550179e+01] [ 5.04297881e-02 -2.98590240e-03 9.98723145e-01 2.19205396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.35, Y:40.36, Z:21.92 [[ 9.81448051e-01 -1.84797859e-01 -5.10830100e-02 4.64348376e+02] [ 1.84708686e-01 9.82771807e-01 -6.50208615e-03 4.03592892e+01] [ 5.14045136e-02 -3.05401588e-03 9.98673244e-01 2.19210083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.38, Y:40.36, Z:21.92 [[ 9.81373796e-01 -1.84955728e-01 -5.19312154e-02 4.64380079e+02] [ 1.84863987e-01 9.82741911e-01 -6.60630202e-03 4.03647374e+01] [ 5.22568553e-02 -3.11695984e-03 9.98628813e-01 2.19217866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.41, Y:40.37, Z:21.92 [[ 9.81329252e-01 -1.84875788e-01 -5.30456572e-02 4.64412041e+02] [ 1.84780160e-01 9.82756739e-01 -6.74419727e-03 4.03694511e+01] [ 5.33778159e-02 -3.18350697e-03 9.98569314e-01 2.19224113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.44, Y:40.37, Z:21.92 [[ 9.81450162e-01 -1.84287787e-01 -5.28544339e-02 4.64441968e+02] [ 1.84192181e-01 9.82867300e-01 -6.71643982e-03 4.03726814e+01] [ 5.31866526e-02 -3.14352252e-03 9.98579640e-01 2.19233816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.47, Y:40.38, Z:21.93 [[ 9.81623673e-01 -1.83207143e-01 -5.33863940e-02 4.64472280e+02] [ 1.83108063e-01 9.83069391e-01 -6.78309067e-03 4.03787978e+01] [ 5.37252405e-02 -3.11703682e-03 9.98550891e-01 2.19250031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.50, Y:40.39, Z:21.93 [[ 9.81896839e-01 -1.81778548e-01 -5.32461996e-02 4.64503319e+02] [ 1.81677956e-01 9.83334819e-01 -6.76413665e-03 4.03861891e+01] [ 5.35884170e-02 -3.03197633e-03 9.98558505e-01 2.19270943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.53, Y:40.39, Z:21.93 [[ 9.82287523e-01 -1.79642484e-01 -5.32897681e-02 4.64533815e+02] [ 1.79538741e-01 9.83727629e-01 -6.76696186e-03 4.03940571e+01] [ 5.36382511e-02 -2.92047564e-03 9.98556162e-01 2.19290893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.56, Y:40.40, Z:21.93 [[ 9.83325363e-01 -1.74098974e-01 -5.25431111e-02 4.64561915e+02] [ 1.73990304e-01 9.84724772e-01 -6.67059422e-03 4.04031733e+01] [ 5.29018468e-02 -2.58262741e-03 9.98596377e-01 2.19318007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.59, Y:40.41, Z:21.93 [[ 9.83904639e-01 -1.70903448e-01 -5.21888211e-02 4.64591987e+02] [ 1.70791715e-01 9.85284873e-01 -6.62634187e-03 4.04111905e+01] [ 5.25533207e-02 -2.39372976e-03 9.98615251e-01 2.19335024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.62, Y:40.42, Z:21.94 [[ 9.84480744e-01 -1.67748181e-01 -5.15578597e-02 4.64622671e+02] [ 1.67634869e-01 9.85827425e-01 -6.54520176e-03 4.04233926e+01] [ 5.19250977e-02 -2.19926995e-03 9.98648561e-01 2.19360227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.65, Y:40.43, Z:21.94 [[ 9.85049805e-01 -1.64405260e-01 -5.14566938e-02 4.64652867e+02] [ 1.64287979e-01 9.86390807e-01 -6.52966570e-03 4.04334880e+01] [ 5.18299211e-02 -2.02167030e-03 9.98653880e-01 2.19381544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.68, Y:40.44, Z:21.94 [[ 9.85608548e-01 -1.61190654e-01 -5.09250800e-02 4.64683026e+02] [ 1.61071593e-01 9.86921580e-01 -6.46039873e-03 4.04378237e+01] [ 5.13004163e-02 -1.83515953e-03 9.98681581e-01 2.19394824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.71, Y:40.45, Z:21.94 [[ 9.86651309e-01 -1.54602228e-01 -5.11600080e-02 4.64711948e+02] [ 1.54473260e-01 9.87975658e-01 -6.48932365e-03 4.04516979e+01] [ 5.15481065e-02 -1.50015354e-03 9.98669386e-01 2.19409138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.74, Y:40.46, Z:21.94 [[ 9.87092188e-01 -1.51583311e-01 -5.16866798e-02 4.64742754e+02] [ 1.51447552e-01 9.88443554e-01 -6.55588206e-03 4.04580140e+01] [ 5.20831278e-02 -1.35656114e-03 9.98641831e-01 2.19422247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.77, Y:40.47, Z:21.94 [[ 9.87467855e-01 -1.48900213e-01 -5.23064255e-02 4.64774224e+02] [ 1.48757573e-01 9.88851459e-01 -6.63152643e-03 4.04661750e+01] [ 5.27107208e-02 -1.23255771e-03 9.98609063e-01 2.19434570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.81, Y:40.47, Z:21.94 [[ 9.87891446e-01 -1.45933551e-01 -5.26677318e-02 4.64805762e+02] [ 1.45784924e-01 9.89293799e-01 -6.67349039e-03 4.04734051e+01] [ 5.30777467e-02 -1.08547720e-03 9.98589793e-01 2.19447068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.84, Y:40.48, Z:21.95 [[ 9.88446562e-01 -1.41503762e-01 -5.43146276e-02 4.64837056e+02] [ 1.41339228e-01 9.89937328e-01 -6.87811770e-03 4.04835591e+01] [ 5.47413568e-02 -8.78135703e-04 9.98500182e-01 2.19458652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.87, Y:40.49, Z:21.95 [[ 9.88720917e-01 -1.39406531e-01 -5.47427384e-02 4.64867861e+02] [ 1.39236396e-01 9.90234933e-01 -6.92840369e-03 4.04888063e+01] [ 5.51740366e-02 -7.71923926e-04 9.98476454e-01 2.19467892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.90, Y:40.50, Z:21.95 [[ 9.88953903e-01 -1.37670169e-01 -5.49281639e-02 4.64899998e+02] [ 1.37496385e-01 9.90477895e-01 -6.94857361e-03 4.04951209e+01] [ 5.53617435e-02 -6.80605005e-04 9.98466131e-01 2.19483635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.93, Y:40.50, Z:21.95 [[ 9.89333590e-01 -1.34767088e-01 -5.52890618e-02 4.64930969e+02] [ 1.34586751e-01 9.90877164e-01 -6.98938576e-03 4.05033132e+01] [ 5.57266079e-02 -5.26341103e-04 9.98445926e-01 2.19503779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.96, Y:40.51, Z:21.95 [[ 9.89481703e-01 -1.33514197e-01 -5.56769128e-02 4.64962565e+02] [ 1.33329567e-01 9.91046792e-01 -7.03431817e-03 4.05087247e+01] [ 5.61176072e-02 -4.63049574e-04 9.98424058e-01 2.19520375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:464.99, Y:40.51, Z:21.95 [[ 9.89629224e-01 -1.32389009e-01 -5.57418040e-02 4.64994765e+02] [ 1.32202403e-01 9.91197754e-01 -7.03829081e-03 4.05143401e+01] [ 5.61829432e-02 -4.03902134e-04 9.98420409e-01 2.19538678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.03, Y:40.52, Z:21.96 [[ 9.89682130e-01 -1.31866728e-01 -5.60396947e-02 4.65025821e+02] [ 1.31677560e-01 9.91267381e-01 -7.07103121e-03 4.05189533e+01] [ 5.64827551e-02 -3.81097003e-04 9.98403502e-01 2.19551033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.06, Y:40.52, Z:21.96 [[ 9.89638694e-01 -1.31996900e-01 -5.64984314e-02 4.65056233e+02] [ 1.31805010e-01 9.91250050e-01 -7.12579179e-03 4.05232145e+01] [ 5.69446554e-02 -3.94817028e-04 9.98377259e-01 2.19558946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.09, Y:40.53, Z:21.96 [[ 9.89513756e-01 -1.32866309e-01 -5.66486676e-02 4.65088537e+02] [ 1.32675004e-01 9.91133867e-01 -7.14151177e-03 4.05274600e+01] [ 5.70952793e-02 -4.49238076e-04 9.98368633e-01 2.19577232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.12, Y:40.53, Z:21.96 [[ 9.89302313e-01 -1.34236718e-01 -5.71089876e-02 4.65120131e+02] [ 1.34044814e-01 9.90949149e-01 -7.19530232e-03 4.05306672e+01] [ 5.75579764e-02 -5.36834405e-04 9.98342021e-01 2.19589661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.15, Y:40.53, Z:21.96 [[ 9.89023348e-01 -1.36195490e-01 -5.73027545e-02 4.65151975e+02] [ 1.36005811e-01 9.90681763e-01 -7.21546818e-03 4.05339058e+01] [ 5.77515081e-02 -6.57241090e-04 9.98330773e-01 2.19607560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.18, Y:40.53, Z:21.96 [[ 9.88297014e-01 -1.41820176e-01 -5.61787346e-02 4.65183350e+02] [ 1.41647162e-01 9.89891962e-01 -7.07002192e-03 4.05346316e+01] [ 5.66135495e-02 -9.70276776e-04 9.98395695e-01 2.19630638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.22, Y:40.54, Z:21.96 [[ 9.87816058e-01 -1.45211763e-01 -5.59730216e-02 4.65215875e+02] [ 1.45045632e-01 9.89399914e-01 -7.04090439e-03 4.05360398e+01] [ 5.64021249e-02 -1.16352389e-03 9.98407455e-01 2.19648410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.25, Y:40.54, Z:21.97 [[ 9.87270517e-01 -1.49100568e-01 -5.53709988e-02 4.65247616e+02] [ 1.48944335e-01 9.88821081e-01 -6.96094264e-03 4.05374114e+01] [ 5.57898914e-02 -1.37486316e-03 9.98441585e-01 2.19667848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.28, Y:40.53, Z:21.97 [[ 9.85966194e-01 -1.57672428e-01 -5.48641104e-02 4.65278377e+02] [ 1.57532542e-01 9.87489743e-01 -6.89238623e-03 4.05337643e+01] [ 5.52644856e-02 -1.84722296e-03 9.98470042e-01 2.19680168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.31, Y:40.53, Z:21.97 [[ 9.85260811e-01 -1.62033487e-01 -5.48295839e-02 4.65309767e+02] [ 1.61900531e-01 9.86783045e-01 -6.88770287e-03 4.05339521e+01] [ 5.52209423e-02 -2.09075501e-03 9.98471971e-01 2.19691144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.34, Y:40.53, Z:21.97 [[ 9.84544130e-01 -1.66181721e-01 -5.52855486e-02 4.65339987e+02] [ 1.66053110e-01 9.86092361e-01 -6.94414291e-03 4.05332905e+01] [ 5.56706467e-02 -2.34352213e-03 9.98446437e-01 2.19696608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.37, Y:40.53, Z:21.97 [[ 9.83880512e-01 -1.70069760e-01 -5.52758141e-02 4.65370749e+02] [ 1.69947327e-01 9.85428692e-01 -6.94260036e-03 4.05346676e+01] [ 5.56510996e-02 -2.56328767e-03 9.98446986e-01 2.19707854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.40, Y:40.54, Z:21.97 [[ 9.82657903e-01 -1.76947450e-01 -5.54350527e-02 4.65401277e+02] [ 1.76835311e-01 9.84215841e-01 -6.96071455e-03 4.05395143e+01] [ 5.57917377e-02 -2.96287362e-03 9.98438032e-01 2.19723246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.43, Y:40.54, Z:21.97 [[ 9.82167926e-01 -1.79563018e-01 -5.57071561e-02 4.65432000e+02] [ 1.79453981e-01 9.83741503e-01 -6.99457879e-03 4.05388014e+01] [ 5.60574092e-02 -3.12702001e-03 9.98422650e-01 2.19733244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.46, Y:40.54, Z:21.97 [[ 9.81772733e-01 -1.81837748e-01 -5.52931671e-02 4.65462110e+02] [ 1.81733966e-01 9.83323232e-01 -6.94172542e-03 4.05392788e+01] [ 5.56333235e-02 -3.23344979e-03 9.98446032e-01 2.19747188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.49, Y:40.55, Z:21.98 [[ 9.81466569e-01 -1.83419143e-01 -5.55048898e-02 4.65493604e+02] [ 1.83317116e-01 9.83029138e-01 -6.96768374e-03 4.05468987e+01] [ 5.58409305e-02 -3.33644769e-03 9.98434103e-01 2.19769142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.52, Y:40.55, Z:21.98 [[ 9.81071829e-01 -1.85596186e-01 -5.52460130e-02 4.65523770e+02] [ 1.85498738e-01 9.82620054e-01 -6.93169155e-03 4.05469985e+01] [ 5.55723358e-02 -3.44757838e-03 9.98448712e-01 2.19781680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.56, Y:40.55, Z:21.98 [[ 9.80951981e-01 -1.86288659e-01 -5.50431310e-02 4.65555133e+02] [ 1.86193042e-01 9.82488912e-01 -6.90565156e-03 4.05546785e+01] [ 5.53657105e-02 -3.47453543e-03 9.98460097e-01 2.19802538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.59, Y:40.56, Z:21.98 [[ 9.80851425e-01 -1.86810592e-01 -5.50661939e-02 4.65585965e+02] [ 1.86715931e-01 9.82389682e-01 -6.90461544e-03 4.05572101e+01] [ 5.53863160e-02 -3.50933377e-03 9.98458833e-01 2.19814906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.62, Y:40.56, Z:21.98 [[ 9.80777529e-01 -1.87220685e-01 -5.49895734e-02 4.65616797e+02] [ 1.87127096e-01 9.82311534e-01 -6.89198539e-03 4.05597105e+01] [ 5.53072144e-02 -3.53053479e-03 9.98463143e-01 2.19825250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.65, Y:40.57, Z:21.98 [[ 9.80733105e-01 -1.87386060e-01 -5.52181174e-02 4.65648036e+02] [ 1.87292129e-01 9.82279903e-01 -6.91746642e-03 4.05680963e+01] [ 5.55358837e-02 -3.55773046e-03 9.98450353e-01 2.19837306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.68, Y:40.57, Z:21.98 [[ 9.80781834e-01 -1.87073245e-01 -5.54129456e-02 4.65679523e+02] [ 1.86978373e-01 9.82339530e-01 -6.93795234e-03 4.05708965e+01] [ 5.57322322e-02 -3.55640479e-03 9.98439417e-01 2.19847289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.71, Y:40.58, Z:21.99 [[ 9.80835071e-01 -1.86656397e-01 -5.58744449e-02 4.65711584e+02] [ 1.86559448e-01 9.82418789e-01 -6.99251009e-03 4.05765008e+01] [ 5.61973013e-02 -3.56540647e-03 9.98413317e-01 2.19863046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.74, Y:40.59, Z:21.99 [[ 9.80931545e-01 -1.85901960e-01 -5.66900806e-02 4.65743173e+02] [ 1.85801145e-01 9.82561784e-01 -7.09043290e-03 4.05857029e+01] [ 5.70196321e-02 -3.57785260e-03 9.98366646e-01 2.19872649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.78, Y:40.59, Z:21.99 [[ 9.80929235e-01 -1.85701821e-01 -5.73817924e-02 4.65775909e+02] [ 1.85598460e-01 9.82599496e-01 -7.17230809e-03 4.05911813e+01] [ 5.77152309e-02 -3.61444563e-03 9.98326544e-01 2.19883755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.81, Y:40.59, Z:21.99 [[ 9.80928118e-01 -1.85500758e-01 -5.80473646e-02 4.65808016e+02] [ 1.85395004e-01 9.82637340e-01 -7.24923365e-03 4.05949020e+01] [ 5.83842462e-02 -3.65071427e-03 9.98287510e-01 2.19888709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.84, Y:40.60, Z:21.99 [[ 9.80883788e-01 -1.85478788e-01 -5.88609722e-02 4.65839739e+02] [ 1.85370322e-01 9.82641280e-01 -7.34561718e-03 4.06000702e+01] [ 5.92016772e-02 -3.70588056e-03 9.98239164e-01 2.19896045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.87, Y:40.61, Z:21.99 [[ 9.80839746e-01 -1.85596445e-01 -5.92229069e-02 4.65871686e+02] [ 1.85487115e-01 9.82618935e-01 -7.38644160e-03 4.06071369e+01] [ 5.95644470e-02 -3.74017063e-03 9.98217455e-01 2.19909042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.90, Y:40.61, Z:21.99 [[ 9.80740339e-01 -1.86283508e-01 -5.87098203e-02 4.65903248e+02] [ 1.86177542e-01 9.82488864e-01 -7.31813176e-03 4.06127588e+01] [ 5.90449919e-02 -3.75326303e-03 9.98248267e-01 2.19925882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.93, Y:40.62, Z:21.99 [[ 9.80796090e-01 -1.86160967e-01 -5.81646292e-02 4.65934563e+02] [ 1.86056981e-01 9.82512236e-01 -7.24612425e-03 4.06164790e+01] [ 5.84964054e-02 -3.71496497e-03 9.98280707e-01 2.19941789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:465.97, Y:40.62, Z:22.00 [[ 9.80844409e-01 -1.86129154e-01 -5.74472185e-02 4.65966687e+02] [ 1.86027852e-01 9.82518431e-01 -7.15344084e-03 4.06214361e+01] [ 5.77744149e-02 -3.67037022e-03 9.98322916e-01 2.19963811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.00, Y:40.63, Z:22.00 [[ 9.80864424e-01 -1.86023479e-01 -5.74477767e-02 4.65999018e+02] [ 1.85922258e-01 9.82538450e-01 -7.14895589e-03 4.06253679e+01] [ 5.77745231e-02 -3.66866388e-03 9.98322916e-01 2.19979296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.03, Y:40.63, Z:22.00 [[ 9.80924708e-01 -1.85888796e-01 -5.68513230e-02 4.66030083e+02] [ 1.85789762e-01 9.82564091e-01 -7.06910620e-03 4.06295431e+01] [ 5.71741361e-02 -3.62813283e-03 9.98357629e-01 2.20000765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.06, Y:40.64, Z:22.00 [[ 9.81205624e-01 -1.85037710e-01 -5.47409344e-02 4.66061276e+02] [ 1.84944733e-01 9.82725371e-01 -6.80368624e-03 4.06377211e+01] [ 5.50542436e-02 -3.44823230e-03 9.98477411e-01 2.20033777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.09, Y:40.64, Z:22.01 [[ 9.81371816e-01 -1.84536644e-01 -5.34376822e-02 4.66092701e+02] [ 1.84447503e-01 9.82819951e-01 -6.63791916e-03 4.06436016e+01] [ 5.37445595e-02 -3.34218026e-03 9.98549124e-01 2.20057394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.12, Y:40.65, Z:22.01 [[ 9.81476055e-01 -1.84267859e-01 -5.24414828e-02 4.66123996e+02] [ 1.84181824e-01 9.82870627e-01 -6.51042317e-03 4.06495405e+01] [ 5.27428549e-02 -3.26894350e-03 9.98602777e-01 2.20081644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.16, Y:40.66, Z:22.01 [[ 9.81563902e-01 -1.84320516e-01 -5.05791826e-02 4.66156578e+02] [ 1.84240737e-01 9.82861114e-01 -6.27552611e-03 4.06553705e+01] [ 5.08690200e-02 -3.15891600e-03 9.98700337e-01 2.20119698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.19, Y:40.66, Z:22.01 [[ 9.81558619e-01 -1.84576746e-01 -4.97403444e-02 4.66188394e+02] [ 1.84500181e-01 9.82813137e-01 -6.16617323e-03 4.06627969e+01] [ 5.00235961e-02 -3.12464207e-03 9.98743148e-01 2.20140400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.22, Y:40.66, Z:22.02 [[ 9.81492805e-01 -1.84922214e-01 -4.97558890e-02 4.66219611e+02] [ 1.84846238e-01 9.82748122e-01 -6.16420934e-03 4.06638332e+01] [ 5.00374057e-02 -3.14706177e-03 9.98742386e-01 2.20155416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.25, Y:40.66, Z:22.02 [[ 9.81143282e-01 -1.86519029e-01 -5.06804949e-02 4.66250492e+02] [ 1.86442676e-01 9.82445822e-01 -6.27188292e-03 4.06633413e+01] [ 5.09606660e-02 -3.29539128e-03 9.98695224e-01 2.20158030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.28, Y:40.67, Z:22.02 [[ 9.80913932e-01 -1.87573513e-01 -5.12253339e-02 4.66281917e+02] [ 1.87497046e-01 9.82244723e-01 -6.33728431e-03 4.06697548e+01] [ 5.15045207e-02 -3.38826829e-03 9.98667014e-01 2.20168403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.31, Y:40.67, Z:22.02 [[ 9.80669291e-01 -1.88659197e-01 -5.19177158e-02 4.66312425e+02] [ 1.88582352e-01 9.82036399e-01 -6.41932498e-03 4.06724586e+01] [ 5.21961513e-02 -3.49553010e-03 9.98630734e-01 2.20177379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.34, Y:40.68, Z:22.02 [[ 9.80427572e-01 -1.89733550e-01 -5.25638267e-02 4.66344021e+02] [ 1.89656430e-01 9.81829021e-01 -6.49711031e-03 4.06770475e+01] [ 5.28414103e-02 -3.59912161e-03 9.98596431e-01 2.20187345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.38, Y:40.68, Z:22.02 [[ 9.80258070e-01 -1.90374116e-01 -5.34023544e-02 4.66375469e+02] [ 1.90295673e-01 9.81704659e-01 -6.59684652e-03 4.06844437e+01] [ 5.36812090e-02 -3.69562494e-03 9.98551286e-01 2.20197317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.41, Y:40.69, Z:22.02 [[ 9.80329337e-01 -1.89954926e-01 -5.35865416e-02 4.66406617e+02] [ 1.89875527e-01 9.81785881e-01 -6.61574303e-03 4.06859013e+01] [ 5.38672029e-02 -3.68916586e-03 9.98541293e-01 2.20208937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.44, Y:40.69, Z:22.02 [[ 9.80403227e-01 -1.89690345e-01 -5.31703435e-02 4.66437963e+02] [ 1.89611948e-01 9.81837185e-01 -6.56133450e-03 4.06918787e+01] [ 5.34492422e-02 -3.64897889e-03 9.98563901e-01 2.20230633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.47, Y:40.70, Z:22.02 [[ 9.80656009e-01 -1.88607698e-01 -5.23538773e-02 4.66468855e+02] [ 1.88530348e-01 9.82046138e-01 -6.45688211e-03 4.06952286e+01] [ 5.26317406e-02 -3.53831447e-03 9.98607721e-01 2.20249851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.50, Y:40.70, Z:22.03 [[ 9.81135989e-01 -1.86562363e-01 -5.06621819e-02 4.66499253e+02] [ 1.86487346e-01 9.82437510e-01 -6.24561017e-03 4.06986604e+01] [ 5.09376237e-02 -3.32006296e-03 9.98696318e-01 2.20277890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.53, Y:40.70, Z:22.03 [[ 9.81391997e-01 -1.85412679e-01 -4.99187966e-02 4.66531107e+02] [ 1.85338460e-01 9.82655488e-01 -6.15208708e-03 4.07030704e+01] [ 5.01936543e-02 -3.21426384e-03 9.98734332e-01 2.20300189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.56, Y:40.71, Z:22.03 [[ 9.81607284e-01 -1.84439566e-01 -4.92867697e-02 4.66563171e+02] [ 1.84366165e-01 9.82838880e-01 -6.07072425e-03 4.07061574e+01] [ 4.95606353e-02 -3.12774557e-03 9.98766219e-01 2.20318768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.59, Y:40.71, Z:22.03 [[ 9.81879488e-01 -1.83000624e-01 -4.92284633e-02 4.66594272e+02] [ 1.82925765e-01 9.83108051e-01 -6.06013051e-03 4.07123111e+01] [ 4.95059063e-02 -3.05483645e-03 9.98769159e-01 2.20334043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.63, Y:40.71, Z:22.03 [[ 9.82010813e-01 -1.82189257e-01 -4.96169170e-02 4.66625491e+02] [ 1.82112285e-01 9.83258783e-01 -6.10586624e-03 4.07120408e+01] [ 4.98986927e-02 -3.03982347e-03 9.98749658e-01 2.20340994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.66, Y:40.72, Z:22.04 [[ 9.82015856e-01 -1.81936923e-01 -5.04362465e-02 4.66656588e+02] [ 1.81857421e-01 9.83305367e-01 -6.19955292e-03 4.07218188e+01] [ 5.07221595e-02 -3.08414643e-03 9.98708041e-01 2.20351835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.69, Y:40.72, Z:22.04 [[ 9.81991666e-01 -1.81774071e-01 -5.14835378e-02 4.66689391e+02] [ 1.81691223e-01 9.83335296e-01 -6.32421039e-03 4.07248842e+01] [ 5.17751573e-02 -3.14378507e-03 9.98653819e-01 2.20360393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.72, Y:40.72, Z:22.04 [[ 9.81991343e-01 -1.81359919e-01 -5.29299697e-02 4.66721517e+02] [ 1.81272130e-01 9.83411527e-01 -6.49485442e-03 4.07232039e+01] [ 5.32298486e-02 -3.21683755e-03 9.98577105e-01 2.20366330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.75, Y:40.73, Z:22.04 [[ 9.82048837e-01 -1.80822675e-01 -5.36958379e-02 4.66753057e+02] [ 1.80732271e-01 9.83510353e-01 -6.57511447e-03 4.07264327e+01] [ 5.39993422e-02 -3.24748719e-03 9.98535690e-01 2.20382427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.78, Y:40.74, Z:22.04 [[ 9.82159512e-01 -1.80155002e-01 -5.39153740e-02 4.66783951e+02] [ 1.80063068e-01 9.83632938e-01 -6.59809914e-03 4.07356092e+01] [ 5.42216183e-02 -3.22778184e-03 9.98523709e-01 2.20405993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.82, Y:40.73, Z:22.04 [[ 9.82253179e-01 -1.79431305e-01 -5.46177603e-02 4.66815405e+02] [ 1.79336068e-01 9.83765191e-01 -6.68004465e-03 4.07344855e+01] [ 5.49296605e-02 -3.23343927e-03 9.98484991e-01 2.20418291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.85, Y:40.74, Z:22.04 [[ 9.82584940e-01 -1.77608948e-01 -5.46067425e-02 4.66847065e+02] [ 1.77511114e-01 9.84096154e-01 -6.67565026e-03 4.07382675e+01] [ 5.49239405e-02 -3.13391028e-03 9.98485623e-01 2.20441755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.88, Y:40.74, Z:22.05 [[ 9.82901042e-01 -1.75952788e-01 -5.42785234e-02 4.66878476e+02] [ 1.75853770e-01 9.84393956e-01 -6.63259089e-03 4.07435673e+01] [ 5.45984732e-02 -3.02590247e-03 9.98503806e-01 2.20462040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.91, Y:40.75, Z:22.05 [[ 9.83289357e-01 -1.73734279e-01 -5.43915545e-02 4.66908940e+02] [ 1.73631623e-01 9.84788263e-01 -6.64353998e-03 4.07461367e+01] [ 5.47183752e-02 -2.91157171e-03 9.98497582e-01 2.20478979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.94, Y:40.75, Z:22.05 [[ 9.84098110e-01 -1.69436405e-01 -5.33124329e-02 4.66939259e+02] [ 1.69331586e-01 9.85537637e-01 -6.50993598e-03 4.07516793e+01] [ 5.36444293e-02 -2.62106310e-03 9.98556661e-01 2.20501515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:466.97, Y:40.76, Z:22.05 [[ 9.84479207e-01 -1.67391809e-01 -5.27320945e-02 4.66970686e+02] [ 1.67286396e-01 9.85887324e-01 -6.43791948e-03 4.07563038e+01] [ 5.30655585e-02 -2.48336416e-03 9.98587943e-01 2.20522788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.00, Y:40.76, Z:22.05 [[ 9.84858399e-01 -1.65206599e-01 -5.25424834e-02 4.67001654e+02] [ 1.65098987e-01 9.86256159e-01 -6.41199032e-03 4.07609052e+01] [ 5.28796509e-02 -2.35980827e-03 9.98598104e-01 2.20538555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.03, Y:40.77, Z:22.06 [[ 9.85209518e-01 -1.63014512e-01 -5.28060123e-02 4.67033170e+02] [ 1.62902792e-01 9.86621093e-01 -6.44196863e-03 4.07656035e+01] [ 5.31496599e-02 -2.25555804e-03 9.98584011e-01 2.20552876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.06, Y:40.77, Z:22.06 [[ 9.85795247e-01 -1.59079247e-01 -5.38657966e-02 4.67064627e+02] [ 1.58957362e-01 9.87263608e-01 -6.56704933e-03 4.07705415e+01] [ 5.42244220e-02 -2.08859891e-03 9.98526589e-01 2.20565055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.10, Y:40.77, Z:22.06 [[ 9.85994739e-01 -1.57543420e-01 -5.47215261e-02 4.67095600e+02] [ 1.57415509e-01 9.87509953e-01 -6.66706852e-03 4.07719412e+01] [ 5.50884044e-02 -2.04032237e-03 9.98479396e-01 2.20571094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.13, Y:40.78, Z:22.06 [[ 9.86220837e-01 -1.55888175e-01 -5.53835432e-02 4.67127812e+02] [ 1.55754725e-01 9.87772736e-01 -6.74447605e-03 4.07757533e+01] [ 5.57577381e-02 -1.97470574e-03 9.98442374e-01 2.20580382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.16, Y:40.78, Z:22.06 [[ 9.86397770e-01 -1.54484028e-01 -5.61615927e-02 4.67159685e+02] [ 1.54344762e-01 9.87993409e-01 -6.83513206e-03 4.07800008e+01] [ 5.65432022e-02 -1.92608867e-03 9.98398296e-01 2.20591991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.19, Y:40.78, Z:22.06 [[ 9.86628307e-01 -1.52536421e-01 -5.74214658e-02 4.67191789e+02] [ 1.52387788e-01 9.88296101e-01 -6.98423029e-03 4.07836200e+01] [ 5.78147602e-02 -1.85949084e-03 9.98325596e-01 2.20600815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.22, Y:40.79, Z:22.06 [[ 9.86791180e-01 -1.51485331e-01 -5.74052435e-02 4.67223658e+02] [ 1.51335247e-01 9.88457864e-01 -6.97809873e-03 4.07882770e+01] [ 5.77997440e-02 -1.80151045e-03 9.98326572e-01 2.20618252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.26, Y:40.79, Z:22.06 [[ 9.86972558e-01 -1.50370695e-01 -5.72173395e-02 4.67255843e+02] [ 1.50219964e-01 9.88628163e-01 -6.95106307e-03 4.07921204e+01] [ 5.76119095e-02 -1.73467820e-03 9.98337548e-01 2.20634595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.29, Y:40.80, Z:22.07 [[ 9.87310644e-01 -1.48628838e-01 -5.59210240e-02 4.67287907e+02] [ 1.48482300e-01 9.88891758e-01 -6.78953292e-03 4.07952607e+01] [ 5.63089601e-02 -1.59990415e-03 9.98412110e-01 2.20657029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.32, Y:40.80, Z:22.07 [[ 9.87419265e-01 -1.48165845e-01 -5.52275055e-02 4.67319248e+02] [ 1.48022413e-01 9.88961301e-01 -6.70144910e-03 4.07974210e+01] [ 5.56107916e-02 -1.55776870e-03 9.98451307e-01 2.20673692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.35, Y:40.80, Z:22.07 [[ 9.87523681e-01 -1.47638533e-01 -5.47708298e-02 4.67350840e+02] [ 1.47496827e-01 9.89040221e-01 -6.64290885e-03 4.08014734e+01] [ 5.51513029e-02 -1.51849381e-03 9.98476854e-01 2.20694795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.38, Y:40.80, Z:22.07 [[ 9.87459178e-01 -1.48351847e-01 -5.40009420e-02 4.67381992e+02] [ 1.48215368e-01 9.88933444e-01 -6.54577856e-03 4.08031699e+01] [ 5.43744159e-02 -1.54008035e-03 9.98519429e-01 2.20717360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.41, Y:40.81, Z:22.07 [[ 9.87341082e-01 -1.49409577e-01 -5.32387731e-02 4.67414146e+02] [ 1.49278619e-01 9.88774133e-01 -6.45041676e-03 4.08080934e+01] [ 5.36048758e-02 -1.57864905e-03 9.98560977e-01 2.20744701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.45, Y:40.81, Z:22.08 [[ 9.87156779e-01 -1.50812962e-01 -5.26967170e-02 4.67445563e+02] [ 1.50686880e-01 9.88560951e-01 -6.38048599e-03 4.08094825e+01] [ 5.30561766e-02 -1.64216384e-03 9.98590179e-01 2.20767967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.48, Y:40.81, Z:22.08 [[ 9.86837991e-01 -1.53033723e-01 -5.22633728e-02 4.67476267e+02] [ 1.52913184e-01 9.88219410e-01 -6.32098772e-03 4.08099898e+01] [ 5.26150038e-02 -1.75396794e-03 9.98613331e-01 2.20788301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.51, Y:40.81, Z:22.08 [[ 9.85872637e-01 -1.58719750e-01 -5.35087425e-02 4.67507020e+02] [ 1.58602103e-01 9.87321415e-01 -6.46500051e-03 4.08071038e+01] [ 5.38564507e-02 -2.11293201e-03 9.98546453e-01 2.20796890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.54, Y:40.81, Z:22.08 [[ 9.85297254e-01 -1.61787465e-01 -5.49011669e-02 4.67538638e+02] [ 1.61668548e-01 9.86822844e-01 -6.62989954e-03 4.08087237e+01] [ 5.52503602e-02 -2.34337014e-03 9.98469782e-01 2.20806004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.57, Y:40.80, Z:22.08 [[ 9.84294800e-01 -1.66339365e-01 -5.91182087e-02 4.67569369e+02] [ 1.66209760e-01 9.86064588e-01 -7.13748604e-03 4.08035599e+01] [ 5.94816170e-02 -2.80063286e-03 9.98225472e-01 2.20767155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.60, Y:40.81, Z:22.08 [[ 9.83958884e-01 -1.67776415e-01 -6.06299306e-02 4.67600173e+02] [ 1.67642820e-01 9.85820624e-01 -7.31994424e-03 4.08127598e+01] [ 6.09983500e-02 -2.96164838e-03 9.98133473e-01 2.20789142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.63, Y:40.81, Z:22.08 [[ 9.83779135e-01 -1.68606886e-01 -6.12399581e-02 4.67632253e+02] [ 1.68472408e-01 9.85678667e-01 -7.39012527e-03 4.08108532e+01] [ 6.16089463e-02 -3.04699215e-03 9.98095714e-01 2.20787351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.66, Y:40.82, Z:22.08 [[ 9.83656220e-01 -1.69312986e-01 -6.12662591e-02 4.67663328e+02] [ 1.69179967e-01 9.85557471e-01 -7.38989059e-03 4.08170438e+01] [ 6.16326238e-02 -3.09591186e-03 9.98094101e-01 2.20811614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.70, Y:40.82, Z:22.08 [[ 9.83499750e-01 -1.69880030e-01 -6.22014271e-02 4.67695271e+02] [ 1.69744287e-01 9.85459610e-01 -7.49894016e-03 4.08221164e+01] [ 6.25709143e-02 -3.18313112e-03 9.98035444e-01 2.20843131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.73, Y:40.82, Z:22.09 [[ 9.83538443e-01 -1.69520735e-01 -6.25687732e-02 4.67726548e+02] [ 1.69383006e-01 9.85521476e-01 -7.53773565e-03 4.08239978e+01] [ 6.29406722e-02 -3.18443412e-03 9.98012190e-01 2.20855156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.76, Y:40.83, Z:22.09 [[ 9.83642190e-01 -1.68591331e-01 -6.34429232e-02 4.67758312e+02] [ 1.68448269e-01 9.85680920e-01 -7.63574236e-03 4.08301768e+01] [ 6.38217989e-02 -3.17601225e-03 9.97956257e-01 2.20875528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.79, Y:40.84, Z:22.09 [[ 9.84092560e-01 -1.66150153e-01 -6.28964224e-02 4.67789035e+02] [ 1.66004831e-01 9.86095915e-01 -7.56589538e-03 4.08352439e+01] [ 6.32789799e-02 -2.99556863e-03 9.97991381e-01 2.20897691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.82, Y:40.84, Z:22.09 [[ 9.84352431e-01 -1.65077328e-01 -6.16422464e-02 4.67821127e+02] [ 1.64935819e-01 9.86276449e-01 -7.41224081e-03 4.08394349e+01] [ 6.20198888e-02 -2.87075710e-03 9.98070785e-01 2.20926514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.85, Y:40.84, Z:22.10 [[ 9.84584820e-01 -1.64205562e-01 -6.02433861e-02 4.67852546e+02] [ 1.64069038e-01 9.86422292e-01 -7.23967027e-03 4.08442507e+01] [ 6.06142131e-02 -2.75600495e-03 9.98157463e-01 2.20957688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.88, Y:40.85, Z:22.10 [[ 9.84830568e-01 -1.63244490e-01 -5.88216776e-02 4.67884623e+02] [ 1.63112877e-01 9.86582121e-01 -7.06453842e-03 4.08493496e+01] [ 5.91856625e-02 -2.63719966e-03 9.98243509e-01 2.20988068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.92, Y:40.85, Z:22.10 [[ 9.85040968e-01 -1.62054983e-01 -5.85873206e-02 4.67915785e+02] [ 1.61922563e-01 9.86778410e-01 -7.03224881e-03 4.08521474e+01] [ 5.89523140e-02 -2.55955592e-03 9.98257519e-01 2.21004907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.95, Y:40.86, Z:22.10 [[ 9.85052776e-01 -1.61983045e-01 -5.85877304e-02 4.67947255e+02] [ 1.61850701e-01 9.86790224e-01 -7.02883294e-03 4.08558645e+01] [ 5.89523514e-02 -2.55869382e-03 9.98257519e-01 2.21019976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:467.98, Y:40.86, Z:22.10 [[ 9.85153825e-01 -1.61537357e-01 -5.81173298e-02 4.67978415e+02] [ 1.61406594e-01 9.86863392e-01 -6.96833253e-03 4.08582163e+01] [ 5.84795112e-02 -2.51564080e-03 9.98285439e-01 2.21036646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.01, Y:40.86, Z:22.11 [[ 9.85402388e-01 -1.60591387e-01 -5.65025727e-02 4.68010026e+02] [ 1.60466420e-01 9.87018072e-01 -6.77149835e-03 4.08620047e+01] [ 5.68565047e-02 -2.39411494e-03 9.98379490e-01 2.21058314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.04, Y:40.86, Z:22.11 [[ 9.85419307e-01 -1.60556769e-01 -5.63055426e-02 4.68041742e+02] [ 1.60432910e-01 9.87023717e-01 -6.74270036e-03 4.08646407e+01] [ 5.66574921e-02 -2.38887495e-03 9.98390816e-01 2.21077927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.07, Y:40.87, Z:22.11 [[ 9.85328211e-01 -1.61379303e-01 -5.55431199e-02 4.68074122e+02] [ 1.61260594e-01 9.86889509e-01 -6.64218397e-03 4.08675773e+01] [ 5.58868333e-02 -2.41218528e-03 9.98434196e-01 2.21101104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.11, Y:40.87, Z:22.11 [[ 9.85231536e-01 -1.62005686e-01 -5.54344547e-02 4.68105245e+02] [ 1.61888651e-01 9.86786791e-01 -6.62524601e-03 4.08677914e+01] [ 5.57753152e-02 -2.44680778e-03 9.98440347e-01 2.21111983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.14, Y:40.87, Z:22.11 [[ 9.85096851e-01 -1.62903717e-01 -5.51957807e-02 4.68136543e+02] [ 1.62789261e-01 9.86638829e-01 -6.59369875e-03 4.08694508e+01] [ 5.55324385e-02 -2.48984847e-03 9.98453779e-01 2.21124860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.17, Y:40.87, Z:22.11 [[ 9.84912990e-01 -1.63964695e-01 -5.53351674e-02 4.68167870e+02] [ 1.63851495e-01 9.86462888e-01 -6.60737973e-03 4.08738894e+01] [ 5.56694661e-02 -2.55905579e-03 9.98445973e-01 2.21141935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.20, Y:40.88, Z:22.11 [[ 9.84557875e-01 -1.65941674e-01 -5.57597637e-02 4.68199535e+02] [ 1.65830063e-01 9.86131888e-01 -6.65500183e-03 4.08750716e+01] [ 5.60908232e-02 -2.69441068e-03 9.98422035e-01 2.21148950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.23, Y:40.88, Z:22.12 [[ 9.84501271e-01 -1.66353037e-01 -5.55329993e-02 4.68231687e+02] [ 1.66243163e-01 9.86062535e-01 -6.62475011e-03 4.08793486e+01] [ 5.58610574e-02 -2.70990655e-03 9.98434875e-01 2.21164650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.26, Y:40.88, Z:22.12 [[ 9.84528510e-01 -1.66261816e-01 -5.53228780e-02 4.68263162e+02] [ 1.66152845e-01 9.86077952e-01 -6.59577905e-03 4.08823748e+01] [ 5.56492964e-02 -2.69832107e-03 9.98446731e-01 2.21181411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.29, Y:40.88, Z:22.12 [[ 9.84671320e-01 -1.65657965e-01 -5.45878265e-02 4.68294524e+02] [ 1.65551107e-01 9.86179757e-01 -6.50518860e-03 4.08837508e+01] [ 5.49110458e-02 -2.63160248e-03 9.98487782e-01 2.21195442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.33, Y:40.89, Z:22.12 [[ 9.84867323e-01 -1.64299477e-01 -5.51546651e-02 4.68325861e+02] [ 1.64188440e-01 9.86407115e-01 -6.56959621e-03 4.08899408e+01] [ 5.54843353e-02 -2.58557778e-03 9.98456210e-01 2.21208717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.36, Y:40.90, Z:22.12 [[ 9.84312315e-01 -1.67254239e-01 -5.61719327e-02 4.68356549e+02] [ 1.67144065e-01 9.85909805e-01 -6.68719636e-03 4.08953883e+01] [ 5.64989211e-02 -2.80651542e-03 9.98398716e-01 2.21217684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.39, Y:40.90, Z:22.12 [[ 9.84065324e-01 -1.68399968e-01 -5.70691576e-02 4.68388469e+02] [ 1.68288259e-01 9.85714424e-01 -6.79241971e-03 4.08994919e+01] [ 5.73977350e-02 -2.91988447e-03 9.98347121e-01 2.21227840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.42, Y:40.90, Z:22.12 [[ 9.83779110e-01 -1.69735212e-01 -5.80398193e-02 4.68419814e+02] [ 1.69622227e-01 9.85484976e-01 -6.90384776e-03 4.09012409e+01] [ 5.83691960e-02 -3.05298221e-03 9.98290397e-01 2.21236387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.45, Y:40.90, Z:22.13 [[ 9.83791118e-01 -1.69665465e-01 -5.80402122e-02 4.68451300e+02] [ 1.69552554e-01 9.85496988e-01 -6.90054343e-03 4.09049232e+01] [ 5.83692382e-02 -3.05217285e-03 9.98290397e-01 2.21251462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.48, Y:40.91, Z:22.13 [[ 9.83569029e-01 -1.70686824e-01 -5.88045382e-02 4.68482666e+02] [ 1.70573013e-01 9.85320269e-01 -6.98678760e-03 4.09091581e+01] [ 5.91338559e-02 -3.15847936e-03 9.98245066e-01 2.21260869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.51, Y:40.91, Z:22.13 [[ 9.83581194e-01 -1.70616479e-01 -5.88052049e-02 4.68514155e+02] [ 1.70502877e-01 9.85332447e-01 -6.98117230e-03 4.09128346e+01] [ 5.91337795e-02 -3.15990685e-03 9.98245066e-01 2.21275938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.55, Y:40.92, Z:22.13 [[ 9.83355184e-01 -1.71710285e-01 -5.93983180e-02 4.68545821e+02] [ 1.71596614e-01 9.85142089e-01 -7.04747830e-03 4.09157015e+01] [ 5.97259075e-02 -3.26237593e-03 9.98209483e-01 2.21279886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.58, Y:40.92, Z:22.13 [[ 9.83367342e-01 -1.71640505e-01 -5.93987185e-02 4.68577312e+02] [ 1.71526911e-01 9.85154252e-01 -7.04410110e-03 4.09193747e+01] [ 5.97259531e-02 -3.26153974e-03 9.98209483e-01 2.21294963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.61, Y:40.92, Z:22.13 [[ 9.83135912e-01 -1.72648687e-01 -6.03009838e-02 4.68609225e+02] [ 1.72533774e-01 9.84977676e-01 -7.14670060e-03 4.09243030e+01] [ 6.06289913e-02 -3.37777832e-03 9.98154655e-01 2.21306414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.64, Y:40.93, Z:22.13 [[ 9.83148333e-01 -1.72577766e-01 -6.03014981e-02 4.68640720e+02] [ 1.72462986e-01 9.84990104e-01 -7.14235876e-03 4.09279730e+01] [ 6.06289912e-02 -3.37777831e-03 9.98154655e-01 2.21321489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.67, Y:40.93, Z:22.13 [[ 9.83160748e-01 -1.72506844e-01 -6.03020121e-02 4.68672214e+02] [ 1.72392197e-01 9.85002528e-01 -7.13801689e-03 4.09316407e+01] [ 6.06289911e-02 -3.37777831e-03 9.98154655e-01 2.21336564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.70, Y:40.93, Z:22.13 [[ 9.83001288e-01 -1.73304302e-01 -6.06142382e-02 4.68703881e+02] [ 1.73190276e-01 9.84862284e-01 -7.17004484e-03 4.09307280e+01] [ 6.09392768e-02 -3.44963333e-03 9.98135514e-01 2.21338508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.74, Y:40.94, Z:22.14 [[ 9.82943742e-01 -1.73684962e-01 -6.04577023e-02 4.68735089e+02] [ 1.73572612e-01 9.84795152e-01 -7.14542054e-03 4.09382293e+01] [ 6.07795042e-02 -3.47025492e-03 9.98145184e-01 2.21362123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.77, Y:40.94, Z:22.14 [[ 9.82975637e-01 -1.73695144e-01 -5.99073718e-02 4.68766343e+02] [ 1.73585093e-01 9.84793451e-01 -7.07629476e-03 4.09390825e+01] [ 6.02255054e-02 -3.44320138e-03 9.98178858e-01 2.21373719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.80, Y:40.94, Z:22.14 [[ 9.83103331e-01 -1.73295876e-01 -5.89608319e-02 4.68797237e+02] [ 1.73188731e-01 9.84864052e-01 -6.96156268e-03 4.09428251e+01] [ 5.92748139e-02 -3.36741621e-03 9.98236023e-01 2.21393825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.83, Y:40.95, Z:22.14 [[ 9.83560734e-01 -1.71361727e-01 -5.69512258e-02 4.68827380e+02] [ 1.71258637e-01 9.85203172e-01 -6.72234417e-03 4.09527232e+01] [ 5.72604808e-02 -3.14155555e-03 9.98354330e-01 2.21432176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.86, Y:40.96, Z:22.15 [[ 9.83873909e-01 -1.69820299e-01 -5.61533453e-02 4.68857533e+02] [ 1.69717688e-01 9.85470446e-01 -6.62615498e-03 4.09609702e+01] [ 5.64627178e-02 -3.01091492e-03 9.98400168e-01 2.21457097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.89, Y:40.97, Z:22.15 [[ 9.84172087e-01 -1.68319547e-01 -5.54421575e-02 4.68889233e+02] [ 1.68217274e-01 9.85728248e-01 -6.53990984e-03 4.09663229e+01] [ 5.57516954e-02 -2.88993188e-03 9.98440482e-01 2.21480175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.92, Y:40.97, Z:22.15 [[ 9.84465997e-01 -1.66898825e-01 -5.45113135e-02 4.68920827e+02] [ 1.66798000e-01 9.85970147e-01 -6.42619017e-03 4.09687832e+01] [ 5.48190514e-02 -2.76601236e-03 9.98492474e-01 2.21496473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.95, Y:40.98, Z:22.15 [[ 9.84804523e-01 -1.65048089e-01 -5.40294326e-02 4.68951612e+02] [ 1.64946459e-01 9.86281980e-01 -6.36572911e-03 4.09767127e+01] [ 5.43389071e-02 -2.64296477e-03 9.98519052e-01 2.21516588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:468.98, Y:40.98, Z:22.15 [[ 9.84881135e-01 -1.64462016e-01 -5.44187001e-02 4.68982888e+02] [ 1.64358141e-01 9.86379907e-01 -6.40946975e-03 4.09794627e+01] [ 5.47316267e-02 -2.63159055e-03 9.98497633e-01 2.21525259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.02, Y:40.98, Z:22.15 [[ 9.84893995e-01 -1.64343820e-01 -5.45428871e-02 4.69016143e+02] [ 1.64239474e-01 9.86399599e-01 -6.42075704e-03 4.09832082e+01] [ 5.48562937e-02 -2.63433004e-03 9.98490785e-01 2.21539265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.05, Y:40.99, Z:22.16 [[ 9.84613214e-01 -1.65749822e-01 -5.53517447e-02 4.69047290e+02] [ 1.65644882e-01 9.86163976e-01 -6.51042981e-03 4.09897990e+01] [ 5.56649992e-02 -2.75847801e-03 9.98445691e-01 2.21554392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.08, Y:40.99, Z:22.16 [[ 9.84398422e-01 -1.66855134e-01 -5.58490115e-02 4.69078373e+02] [ 1.66750282e-01 9.85977303e-01 -6.56521193e-03 4.09894243e+01] [ 5.61612971e-02 -2.85005415e-03 9.98417641e-01 2.21557673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.11, Y:40.99, Z:22.16 [[ 9.84091190e-01 -1.68496751e-01 -5.63327180e-02 4.69110558e+02] [ 1.68393134e-01 9.85697717e-01 -6.61539252e-03 4.09939733e+01] [ 5.66417037e-02 -2.97589343e-03 9.98390135e-01 2.21571229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.14, Y:41.00, Z:22.16 [[ 9.83389119e-01 -1.71911139e-01 -5.82443133e-02 4.69141259e+02] [ 1.71806555e-01 9.85106986e-01 -6.83616058e-03 4.09987197e+01] [ 5.85520921e-02 -3.28414887e-03 9.98278952e-01 2.21576103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.17, Y:41.00, Z:22.16 [[ 9.83107950e-01 -1.73204636e-01 -5.91516120e-02 4.69173209e+02] [ 1.73099195e-01 9.84879937e-01 -6.94109636e-03 4.09959099e+01] [ 5.94594660e-02 -3.41524940e-03 9.98224878e-01 2.21574278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.20, Y:41.00, Z:22.16 [[ 9.82752048e-01 -1.74906488e-01 -6.00510774e-02 4.69204503e+02] [ 1.74801182e-01 9.84578559e-01 -7.04330140e-03 4.09999895e+01] [ 6.03569224e-02 -3.57518045e-03 9.98170456e-01 2.21586320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.24, Y:41.00, Z:22.16 [[ 9.82733288e-01 -1.74929726e-01 -6.02899221e-02 4.69235792e+02] [ 1.74823820e-01 9.84574362e-01 -7.06811142e-03 4.10010172e+01] [ 6.05963344e-02 -3.59404611e-03 9.98155883e-01 2.21593548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.27, Y:41.01, Z:22.16 [[ 9.82795560e-01 -1.74492193e-01 -6.05422255e-02 4.69267237e+02] [ 1.74384784e-01 9.84652029e-01 -7.09423120e-03 4.10061660e+01] [ 6.08509131e-02 -3.58546401e-03 9.98140426e-01 2.21615113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.30, Y:41.02, Z:22.17 [[ 9.83014824e-01 -1.73367705e-01 -6.02120882e-02 4.69298628e+02] [ 1.73259633e-01 9.84850944e-01 -7.05108101e-03 4.10173368e+01] [ 6.05223616e-02 -3.50100712e-03 9.98160702e-01 2.21651434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.33, Y:41.02, Z:22.17 [[ 9.83336469e-01 -1.71711843e-01 -5.97028551e-02 4.69330023e+02] [ 1.71602835e-01 9.85141438e-01 -6.98670151e-03 4.10155827e+01] [ 6.00154560e-02 -3.37490079e-03 9.98191743e-01 2.21658823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.36, Y:41.03, Z:22.17 [[ 9.84196109e-01 -1.67237061e-01 -5.82218614e-02 4.69358766e+02] [ 1.67125687e-01 9.85912068e-01 -6.81163527e-03 4.10318207e+01] [ 5.85407936e-02 -3.02638366e-03 9.98280430e-01 2.21711781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.39, Y:41.04, Z:22.17 [[ 9.84677381e-01 -1.64621167e-01 -5.75354456e-02 4.69389709e+02] [ 1.64508001e-01 9.86352786e-01 -6.73044795e-03 4.10388486e+01] [ 5.78582213e-02 -2.83772131e-03 9.98320777e-01 2.21737886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.42, Y:41.04, Z:22.18 [[ 9.85209491e-01 -1.61687794e-01 -5.67390209e-02 4.69419566e+02] [ 1.61573044e-01 9.86838454e-01 -6.63451552e-03 4.10421572e+01] [ 5.70649679e-02 -2.63110868e-03 9.98367000e-01 2.21756143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.45, Y:41.05, Z:22.18 [[ 9.86106080e-01 -1.56424852e-01 -5.59112298e-02 4.69449024e+02] [ 1.56305038e-01 9.87687201e-01 -6.53670472e-03 4.10516804e+01] [ 5.62453091e-02 -2.29332265e-03 9.98414346e-01 2.21788923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.48, Y:41.06, Z:22.18 [[ 9.86501209e-01 -1.53921107e-01 -5.58896831e-02 4.69480012e+02] [ 1.53797440e-01 9.88080800e-01 -6.53304260e-03 4.10575321e+01] [ 5.62290959e-02 -2.15083577e-03 9.98415576e-01 2.21806169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.51, Y:41.06, Z:22.18 [[ 9.86790608e-01 -1.51987720e-01 -5.60716354e-02 4.69511375e+02] [ 1.51860265e-01 9.88380257e-01 -6.55194336e-03 4.10630791e+01] [ 5.64159123e-02 -2.04965725e-03 9.98405250e-01 2.21824092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.54, Y:41.07, Z:22.18 [[ 9.86995787e-01 -1.50506859e-01 -5.64535344e-02 4.69543372e+02] [ 1.50375479e-01 9.88606977e-01 -6.59243536e-03 4.10679017e+01] [ 5.68025647e-02 -1.98252135e-03 9.98383463e-01 2.21834787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.58, Y:41.07, Z:22.18 [[ 9.87127133e-01 -1.49412019e-01 -5.70620098e-02 4.69575069e+02] [ 1.49276207e-01 9.88773112e-01 -6.65929473e-03 4.10727147e+01] [ 5.74163597e-02 -1.94442987e-03 9.98348427e-01 2.21846372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.61, Y:41.08, Z:22.19 [[ 9.87224997e-01 -1.48286942e-01 -5.82905472e-02 4.69606909e+02] [ 1.48143516e-01 9.88942507e-01 -6.79832168e-03 4.10763345e+01] [ 5.86541022e-02 -1.92389351e-03 9.98276512e-01 2.21853462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.64, Y:41.08, Z:22.19 [[ 9.87215076e-01 -1.48131324e-01 -5.88515480e-02 4.69638678e+02] [ 1.47985145e-01 9.88965801e-01 -6.85872998e-03 4.10778324e+01] [ 5.92181610e-02 -1.93811324e-03 9.98243183e-01 2.21854599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.67, Y:41.08, Z:22.19 [[ 9.87196760e-01 -1.48082578e-01 -5.92799027e-02 4.69670419e+02] [ 1.47934604e-01 9.88973065e-01 -6.90148759e-03 4.10816532e+01] [ 5.96482171e-02 -1.95642274e-03 9.98217543e-01 2.21868973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.70, Y:41.09, Z:22.19 [[ 9.87166080e-01 -1.48060621e-01 -5.98429926e-02 4.69701746e+02] [ 1.47910041e-01 9.88976309e-01 -6.96274159e-03 4.10881351e+01] [ 6.02142098e-02 -1.97799713e-03 9.98183518e-01 2.21891558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.73, Y:41.09, Z:22.19 [[ 9.87139164e-01 -1.48082969e-01 -6.02304324e-02 4.69732825e+02] [ 1.47930731e-01 9.88972926e-01 -7.00358178e-03 4.10879307e+01] [ 6.06033782e-02 -1.99642205e-03 9.98159930e-01 2.21888143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.77, Y:41.09, Z:22.19 [[ 9.87184866e-01 -1.47872805e-01 -5.99972817e-02 4.69765176e+02] [ 1.47721581e-01 9.89004406e-01 -6.97275772e-03 4.10923817e+01] [ 6.03686572e-02 -1.97949244e-03 9.98174187e-01 2.21907440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.80, Y:41.10, Z:22.19 [[ 9.87237712e-01 -1.47628536e-01 -5.97286807e-02 4.69796999e+02] [ 1.47478518e-01 9.89040935e-01 -6.93654001e-03 4.10967843e+01] [ 6.00981415e-02 -1.96068342e-03 9.98190548e-01 2.21924354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.83, Y:41.10, Z:22.20 [[ 9.87390963e-01 -1.46916891e-01 -5.89450080e-02 4.69828666e+02] [ 1.46769766e-01 9.89147022e-01 -6.84136791e-03 4.11030538e+01] [ 5.93103917e-02 -1.89624018e-03 9.98237788e-01 2.21951175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.86, Y:41.10, Z:22.20 [[ 9.87449212e-01 -1.46667789e-01 -5.85885112e-02 4.69859735e+02] [ 1.46522242e-01 9.89184031e-01 -6.79591399e-03 4.11046049e+01] [ 5.89515614e-02 -1.87390010e-03 9.98259086e-01 2.21961555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.89, Y:41.11, Z:22.20 [[ 9.87474108e-01 -1.46589966e-01 -5.83632495e-02 4.69891852e+02] [ 1.46445599e-01 9.89195583e-01 -6.76641029e-03 4.11081483e+01] [ 5.87245565e-02 -1.86538607e-03 9.98272481e-01 2.21977938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.92, Y:41.11, Z:22.20 [[ 9.87525633e-01 -1.46317809e-01 -5.81740728e-02 4.69923760e+02] [ 1.46174148e-01 9.89235910e-01 -6.74033879e-03 4.11129650e+01] [ 5.85341135e-02 -1.84728817e-03 9.98283700e-01 2.22000141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.95, Y:41.12, Z:22.20 [[ 9.87563670e-01 -1.46377100e-01 -5.73737096e-02 4.69954603e+02] [ 1.46237693e-01 9.89227172e-01 -6.64366976e-03 4.11155818e+01] [ 5.77281137e-02 -1.82915205e-03 9.98330666e-01 2.22016736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:469.99, Y:41.12, Z:22.20 [[ 9.87574045e-01 -1.46306936e-01 -5.73740856e-02 4.69986075e+02] [ 1.46167599e-01 9.89237554e-01 -6.64042169e-03 4.11191644e+01] [ 5.77281398e-02 -1.82832424e-03 9.98330666e-01 2.22031798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.02, Y:41.12, Z:22.20 [[ 9.87530724e-01 -1.46544400e-01 -5.75135449e-02 4.70018328e+02] [ 1.46405028e-01 9.89202362e-01 -6.65241165e-03 4.11229750e+01] [ 5.78674082e-02 -1.85081126e-03 9.98322562e-01 2.22049848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.05, Y:41.13, Z:22.21 [[ 9.87521332e-01 -1.47051426e-01 -5.63692909e-02 4.70049958e+02] [ 1.46918597e-01 9.89127124e-01 -6.51604021e-03 4.11255214e+01] [ 5.67145875e-02 -1.84696845e-03 9.98388724e-01 2.22072000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.08, Y:41.13, Z:22.21 [[ 9.87575573e-01 -1.46864474e-01 -5.59045090e-02 4.70081319e+02] [ 1.46733746e-01 9.89154940e-01 -6.45845838e-03 4.11283921e+01] [ 5.62467394e-02 -1.82486228e-03 9.98415231e-01 2.22088854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.11, Y:41.13, Z:22.21 [[ 9.87605187e-01 -1.46623803e-01 -5.60129952e-02 4.70112839e+02] [ 1.46492360e-01 9.89190657e-01 -6.46780574e-03 4.11323522e+01] [ 5.63558658e-02 -1.81783736e-03 9.98409090e-01 2.22104852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.14, Y:41.13, Z:22.21 [[ 9.87800848e-01 -1.45497784e-01 -5.54966544e-02 4.70144355e+02] [ 1.45367194e-01 9.89357045e-01 -6.40434846e-03 4.11338800e+01] [ 5.58378246e-02 -1.74117210e-03 9.98438333e-01 2.22115353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.18, Y:41.14, Z:22.21 [[ 9.87936586e-01 -1.44814239e-01 -5.48647181e-02 4.70176098e+02] [ 1.44685725e-01 9.89457424e-01 -6.32834196e-03 4.11394965e+01] [ 5.52027367e-02 -1.68614095e-03 9.98473743e-01 2.22136531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.21, Y:41.14, Z:22.21 [[ 9.88051206e-01 -1.43903667e-01 -5.51955446e-02 4.70207600e+02] [ 1.43772397e-01 9.89590327e-01 -6.36259215e-03 4.11410715e+01] [ 5.55365773e-02 -1.64902887e-03 9.98455292e-01 2.22144039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.24, Y:41.15, Z:22.22 [[ 9.88182094e-01 -1.42934015e-01 -5.53716139e-02 4.70239130e+02] [ 1.42800562e-01 9.89730922e-01 -6.37971810e-03 4.11462303e+01] [ 5.57148772e-02 -1.60277442e-03 9.98445433e-01 2.22155000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.27, Y:41.15, Z:22.21 [[ 9.88318201e-01 -1.41234585e-01 -5.72706268e-02 4.70271340e+02] [ 1.41089215e-01 9.89974923e-01 -6.59428579e-03 4.11495262e+01] [ 5.76278256e-02 -1.56301510e-03 9.98336912e-01 2.22149418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.30, Y:41.15, Z:22.22 [[ 9.88392109e-01 -1.40458883e-01 -5.78994077e-02 4.70303641e+02] [ 1.40309217e-01 9.90085317e-01 -6.66249883e-03 4.11536786e+01] [ 5.82611605e-02 -1.53865928e-03 9.98300190e-01 2.22159487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.34, Y:41.16, Z:22.22 [[ 9.88546598e-01 -1.39049815e-01 -5.86580969e-02 4.70335068e+02] [ 1.38893963e-01 9.90284283e-01 -6.74573596e-03 4.11569256e+01] [ 5.90261848e-02 -1.47878122e-03 9.98255339e-01 2.22164770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.37, Y:41.16, Z:22.22 [[ 9.88608771e-01 -1.38615074e-01 -5.86392208e-02 4.70366651e+02] [ 1.38458756e-01 9.90345264e-01 -6.74022159e-03 4.11596578e+01] [ 5.90073710e-02 -1.45567139e-03 9.98256486e-01 2.22170529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.40, Y:41.16, Z:22.22 [[ 9.88653612e-01 -1.38253631e-01 -5.87364340e-02 4.70398954e+02] [ 1.38096403e-01 9.90395809e-01 -6.74724308e-03 4.11642975e+01] [ 5.91051489e-02 -1.44060401e-03 9.98250723e-01 2.22189884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.43, Y:41.17, Z:22.22 [[ 9.88752874e-01 -1.37817064e-01 -5.80879628e-02 4.70430276e+02] [ 1.37662778e-01 9.90456707e-01 -6.66864522e-03 4.11692552e+01] [ 5.84526655e-02 -1.40290820e-03 9.98289195e-01 2.22215529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.46, Y:41.17, Z:22.22 [[ 9.88845409e-01 -1.37390489e-01 -5.75205324e-02 4.70462609e+02] [ 1.37238725e-01 9.90516018e-01 -6.59933028e-03 4.11729591e+01] [ 5.78816940e-02 -1.36832707e-03 9.98322512e-01 2.22233574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.49, Y:41.18, Z:22.23 [[ 9.88961567e-01 -1.36842018e-01 -5.68267654e-02 4.70494057e+02] [ 1.36693215e-01 9.90591999e-01 -6.51579836e-03 4.11759375e+01] [ 5.71837741e-02 -1.32395913e-03 9.98362791e-01 2.22250397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.53, Y:41.18, Z:22.23 [[ 9.88982422e-01 -1.36634916e-01 -5.69619953e-02 4.70525540e+02] [ 1.36485239e-01 9.90620594e-01 -6.52820205e-03 4.11778703e+01] [ 5.73197060e-02 -1.31819449e-03 9.98355004e-01 2.22262309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.56, Y:41.18, Z:22.23 [[ 9.89009765e-01 -1.36563682e-01 -5.66572577e-02 4.70557453e+02] [ 1.36415669e-01 9.90630428e-01 -6.49007257e-03 4.11839119e+01] [ 5.70127116e-02 -1.31019257e-03 9.98372593e-01 2.22291645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.59, Y:41.19, Z:22.23 [[ 9.88977646e-01 -1.36922099e-01 -5.63520554e-02 4.70589174e+02] [ 1.36776491e-01 9.90580929e-01 -6.45100195e-03 4.11873115e+01] [ 5.67045561e-02 -1.32773968e-03 9.98390119e-01 2.22306579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.62, Y:41.19, Z:22.23 [[ 9.88790424e-01 -1.38510132e-01 -5.57533987e-02 4.70620994e+02] [ 1.38370352e-01 9.90360016e-01 -6.37841336e-03 4.11892154e+01] [ 5.60994117e-02 -1.40770333e-03 9.98424196e-01 2.22321861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.65, Y:41.19, Z:22.23 [[ 9.88640318e-01 -1.39760395e-01 -5.52933391e-02 4.70652346e+02] [ 1.39625080e-01 9.90184261e-01 -6.32192228e-03 4.11905125e+01] [ 5.56341485e-02 -1.47022965e-03 9.98450139e-01 2.22335643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.68, Y:41.19, Z:22.24 [[ 9.88435913e-01 -1.41420181e-01 -5.47245624e-02 4.70684251e+02] [ 1.41290346e-01 9.89948447e-01 -6.25379017e-03 4.11945538e+01] [ 5.50589078e-02 -1.55058157e-03 9.98481904e-01 2.22359255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.72, Y:41.19, Z:22.24 [[ 9.87984749e-01 -1.44977035e-01 -5.35518052e-02 4.70715035e+02] [ 1.44858119e-01 9.89433534e-01 -6.11609966e-03 4.11939028e+01] [ 5.38726459e-02 -1.71480059e-03 9.98546342e-01 2.22376614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.75, Y:41.20, Z:22.24 [[ 9.87795874e-01 -1.46515383e-01 -5.28446113e-02 4.70746521e+02] [ 1.46401893e-01 9.89206796e-01 -6.03330055e-03 4.11950926e+01] [ 5.31582200e-02 -1.77688171e-03 9.98584521e-01 2.22393372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.78, Y:41.20, Z:22.24 [[ 9.87592007e-01 -1.48044765e-01 -5.23905957e-02 4.70778383e+02] [ 1.47935518e-01 9.88978938e-01 -5.97854220e-03 4.11977635e+01] [ 5.26982876e-02 -1.84606940e-03 9.98608774e-01 2.22411055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.81, Y:41.20, Z:22.24 [[ 9.87267174e-01 -1.50221490e-01 -5.23166437e-02 4.70810318e+02] [ 1.50115799e-01 9.88650418e-01 -5.96634268e-03 4.11993147e+01] [ 5.26191446e-02 -1.96318048e-03 9.98612724e-01 2.22428734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.84, Y:41.20, Z:22.24 [[ 9.87116627e-01 -1.51057729e-01 -5.27477632e-02 4.70841553e+02] [ 1.50951676e-01 9.88522863e-01 -6.01179604e-03 4.12044569e+01] [ 5.30504982e-02 -2.02801945e-03 9.98589772e-01 2.22445129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.87, Y:41.21, Z:22.25 [[ 9.87070020e-01 -1.51492276e-01 -5.23723775e-02 4.70872787e+02] [ 1.51388513e-01 9.88456336e-01 -5.96568571e-03 4.12058876e+01] [ 5.26715637e-02 -2.04002686e-03 9.98609806e-01 2.22456625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.90, Y:41.21, Z:22.25 [[ 9.86936277e-01 -1.52368682e-01 -5.23504555e-02 4.70903782e+02] [ 1.52266600e-01 9.88321509e-01 -5.95628777e-03 4.12071869e+01] [ 5.26466329e-02 -2.09274941e-03 9.98611012e-01 2.22472614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.94, Y:41.21, Z:22.25 [[ 9.86924864e-01 -1.52314234e-01 -5.27227299e-02 4.70936219e+02] [ 1.52210786e-01 9.88329870e-01 -5.99548009e-03 4.12120637e+01] [ 5.30206457e-02 -2.10787977e-03 9.98591192e-01 2.22485990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:470.97, Y:41.22, Z:22.25 [[ 9.86923983e-01 -1.52182283e-01 -5.31187809e-02 4.70968798e+02] [ 1.52077397e-01 9.88350165e-01 -6.03466602e-03 4.12157070e+01] [ 5.34183251e-02 -2.12240929e-03 9.98569966e-01 2.22498749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.00, Y:41.22, Z:22.25 [[ 9.87005112e-01 -1.51639740e-01 -5.31629411e-02 4.71000788e+02] [ 1.51534195e-01 9.88433598e-01 -6.03406700e-03 4.12206113e+01] [ 5.34630415e-02 -2.10034850e-03 9.98567620e-01 2.22515312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.03, Y:41.22, Z:22.25 [[ 9.87080747e-01 -1.51090807e-01 -5.33213536e-02 4.71031704e+02] [ 1.50984038e-01 9.88517698e-01 -6.04822552e-03 4.12224699e+01] [ 5.36229329e-02 -2.08058630e-03 9.98559088e-01 2.22523459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.06, Y:41.23, Z:22.25 [[ 9.87218432e-01 -1.50031670e-01 -5.37611869e-02 4.71063959e+02] [ 1.49921732e-01 9.88679081e-01 -6.09503807e-03 4.12266211e+01] [ 5.40670096e-02 -2.04283634e-03 9.98535220e-01 2.22537305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.10, Y:41.23, Z:22.25 [[ 9.87353903e-01 -1.48955903e-01 -5.42624177e-02 4.71095216e+02] [ 1.48842489e-01 9.88841804e-01 -6.14812468e-03 4.12308326e+01] [ 5.45727465e-02 -2.00617838e-03 9.98507782e-01 2.22549218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.13, Y:41.24, Z:22.26 [[ 9.87872295e-01 -1.45608594e-01 -5.39116429e-02 4.71125837e+02] [ 1.45491811e-01 9.89340616e-01 -6.10567048e-03 4.12386712e+01] [ 5.42260160e-02 -1.81207984e-03 9.98527043e-01 2.22567052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.16, Y:41.24, Z:22.26 [[ 9.88227543e-01 -1.43357168e-01 -5.34326293e-02 4.71158070e+02] [ 1.43239285e-01 9.89669599e-01 -6.04919497e-03 4.12440700e+01] [ 5.37478443e-02 -1.67567053e-03 9.98553134e-01 2.22584781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.19, Y:41.25, Z:22.26 [[ 9.88600482e-01 -1.40985286e-01 -5.28416144e-02 4.71190119e+02] [ 1.40866856e-01 9.90010503e-01 -5.97772778e-03 4.12494397e+01] [ 5.31565249e-02 -1.53404750e-03 9.98585014e-01 2.22606178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.22, Y:41.26, Z:22.26 [[ 9.88963472e-01 -1.38650019e-01 -5.22247308e-02 4.71221609e+02] [ 1.38531278e-01 9.90340459e-01 -5.90427151e-03 4.12570079e+01] [ 5.25388912e-02 -1.39564986e-03 9.98617903e-01 2.22630675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.25, Y:41.26, Z:22.27 [[ 9.89667168e-01 -1.33758571e-01 -5.16482534e-02 4.71251599e+02] [ 1.33635968e-01 9.91013307e-01 -5.83550821e-03 4.12639819e+01] [ 5.19646556e-02 -1.12685345e-03 9.98648289e-01 2.22651062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.28, Y:41.27, Z:22.27 [[ 9.90226066e-01 -1.29185201e-01 -5.25692064e-02 4.71281651e+02] [ 1.29051846e-01 9.91620071e-01 -5.93761340e-03 4.12712997e+01] [ 5.28957320e-02 -9.04573593e-04 9.98599631e-01 2.22665379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.31, Y:41.28, Z:22.27 [[ 9.90526904e-01 -1.26791415e-01 -5.27293964e-02 4.71313424e+02] [ 1.26653969e-01 9.91929094e-01 -5.95360214e-03 4.12768972e+01] [ 5.30586880e-02 -7.81184240e-04 9.98591090e-01 2.22683340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.34, Y:41.28, Z:22.27 [[ 9.90535814e-01 -1.26721616e-01 -5.27298154e-02 4.71344894e+02] [ 1.26584269e-01 9.91938013e-01 -5.94988897e-03 4.12803878e+01] [ 5.30586878e-02 -7.81186993e-04 9.98591090e-01 2.22698393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.38, Y:41.29, Z:22.27 [[ 9.91115129e-01 -1.22181671e-01 -5.25589206e-02 4.71376104e+02] [ 1.22039029e-01 9.92507606e-01 -5.92686874e-03 4.12869740e+01] [ 5.28892831e-02 -5.40030365e-04 9.98600236e-01 2.22718435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.41, Y:41.29, Z:22.27 [[ 9.91426227e-01 -1.19668057e-01 -5.24746814e-02 4.71407011e+02] [ 1.19522546e-01 9.92813874e-01 -5.91370769e-03 4.12913519e+01] [ 5.28052736e-02 -4.08902615e-04 9.98604745e-01 2.22733105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.44, Y:41.30, Z:22.27 [[ 9.91773713e-01 -1.16929709e-01 -5.20801839e-02 4.71438641e+02] [ 1.16782754e-01 9.93140158e-01 -5.86640832e-03 4.12963864e+01] [ 5.24088795e-02 -2.63917758e-04 9.98625675e-01 2.22749109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.47, Y:41.30, Z:22.28 [[ 9.92364724e-01 -1.11767039e-01 -5.21573015e-02 4.71470628e+02] [ 1.11612710e-01 9.93734436e-01 -5.87146821e-03 4.13026161e+01] [ 5.24867432e-02 5.22017094e-06 9.98621621e-01 2.22776359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.50, Y:41.31, Z:22.28 [[ 9.92652635e-01 -1.09279594e-01 -5.19491734e-02 4.71502921e+02] [ 1.09123286e-01 9.94011043e-01 -5.84430084e-03 4.13071757e+01] [ 5.22767148e-02 1.32496143e-04 9.98632629e-01 2.22791683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.53, Y:41.31, Z:22.28 [[ 9.92939439e-01 -1.06771584e-01 -5.16826738e-02 4.71534881e+02] [ 1.06613673e-01 9.94283542e-01 -5.81060861e-03 4.13114999e+01] [ 5.20076398e-02 2.59502771e-04 9.98646653e-01 2.22810593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.57, Y:41.32, Z:22.28 [[ 9.93196993e-01 -1.04282831e-01 -5.18152822e-02 4.71566845e+02] [ 1.04120920e-01 9.94547606e-01 -5.82174090e-03 4.13152643e+01] [ 5.21398725e-02 3.87080698e-04 9.98639717e-01 2.22827527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.60, Y:41.32, Z:22.28 [[ 9.93529991e-01 -1.00953502e-01 -5.20244923e-02 4.71597918e+02] [ 1.00785915e-01 9.94890987e-01 -5.84147167e-03 4.13183042e+01] [ 5.23484156e-02 5.60341237e-04 9.98628725e-01 2.22836640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.63, Y:41.32, Z:22.29 [[ 9.93609516e-01 -1.00116387e-01 -5.21233046e-02 4.71629979e+02] [ 9.99471675e-02 9.94975550e-01 -5.84959922e-03 4.13201496e+01] [ 5.24470545e-02 6.02640791e-04 9.98623524e-01 2.22850458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.66, Y:41.32, Z:22.29 [[ 9.93619846e-01 -1.00108394e-01 -5.19414232e-02 4.71662072e+02] [ 9.99405419e-02 9.94976358e-01 -5.82540177e-03 4.13218884e+01] [ 5.22636597e-02 5.97180825e-04 9.98633142e-01 2.22862922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.69, Y:41.32, Z:22.29 [[ 9.93548189e-01 -1.00845839e-01 -5.18855660e-02 4.71693120e+02] [ 1.00679563e-01 9.94901910e-01 -5.81511229e-03 4.13233612e+01] [ 5.22074786e-02 5.53778157e-04 9.98636106e-01 2.22876020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.73, Y:41.32, Z:22.29 [[ 9.93182994e-01 -1.04487687e-01 -5.16707216e-02 4.71725558e+02] [ 1.04328029e-01 9.94526117e-01 -5.78488411e-03 4.13208301e+01] [ 5.19923313e-02 3.54743974e-04 9.98647421e-01 2.22892571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.76, Y:41.32, Z:22.29 [[ 9.92894334e-01 -1.07154436e-01 -5.17568290e-02 4.71757862e+02] [ 1.06998062e-01 9.94242366e-01 -5.79073759e-03 4.13205462e+01] [ 5.20793353e-02 2.11710149e-04 9.98642928e-01 2.22906915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.79, Y:41.32, Z:22.29 [[ 9.92552836e-01 -1.10179588e-01 -5.19550398e-02 4.71790581e+02] [ 1.10026352e-01 9.93911694e-01 -5.80911896e-03 4.13196959e+01] [ 5.22787679e-02 4.94340043e-05 9.98632529e-01 2.22917395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.82, Y:41.31, Z:22.29 [[ 9.91644370e-01 -1.17820453e-01 -5.25336422e-02 4.71823570e+02] [ 1.17674692e-01 9.93034849e-01 -5.86993966e-03 4.13133863e+01] [ 5.28593364e-02 -3.60987549e-04 9.98601903e-01 2.22920581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.86, Y:41.31, Z:22.29 [[ 9.91150751e-01 -1.21811587e-01 -5.27458610e-02 4.71855383e+02] [ 1.21670490e-01 9.92553072e-01 -5.88989688e-03 4.13114087e+01] [ 5.30705241e-02 -5.79839038e-04 9.98590598e-01 2.22930424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.89, Y:41.31, Z:22.29 [[ 9.90654013e-01 -1.25732654e-01 -5.28765270e-02 4.71887491e+02] [ 1.25596594e-01 9.92063843e-01 -5.90149467e-03 4.13108190e+01] [ 5.31989012e-02 -7.94772309e-04 9.98583620e-01 2.22943865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.92, Y:41.31, Z:22.30 [[ 9.90126672e-01 -1.29862237e-01 -5.27728500e-02 4.71919425e+02] [ 1.29732769e-01 9.91531524e-01 -5.88612535e-03 4.13086397e+01] [ 5.30903297e-02 -1.01835823e-03 9.98589195e-01 2.22954279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.95, Y:41.31, Z:22.30 [[ 9.90135921e-01 -1.29791562e-01 -5.27731809e-02 4.71950899e+02] [ 1.29662151e-01 9.91540778e-01 -5.88315674e-03 4.13120893e+01] [ 5.30903450e-02 -1.01755935e-03 9.98589195e-01 2.22969335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:471.98, Y:41.31, Z:22.30 [[ 9.89190801e-01 -1.36985196e-01 -5.23126763e-02 4.71983176e+02] [ 1.36868260e-01 9.90572113e-01 -5.82825551e-03 4.13066520e+01] [ 5.26178631e-02 -1.39468826e-03 9.98613747e-01 2.22981565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.02, Y:41.31, Z:22.30 [[ 9.88745946e-01 -1.40151087e-01 -5.23366697e-02 4.72015735e+02] [ 1.40038580e-01 9.90128891e-01 -5.82883942e-03 4.13071324e+01] [ 5.26369669e-02 -1.56591157e-03 9.98612486e-01 2.22996010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.05, Y:41.30, Z:22.30 [[ 9.88362304e-01 -1.42945374e-01 -5.20247722e-02 4.72047238e+02] [ 1.42838276e-01 9.89729105e-01 -5.79012268e-03 4.13037363e+01] [ 5.23181025e-02 -1.70838976e-03 9.98629009e-01 2.23005877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.08, Y:41.30, Z:22.30 [[ 9.87991791e-01 -1.45617273e-01 -5.16510534e-02 4.72078308e+02] [ 1.45515605e-01 9.89339284e-01 -5.74365766e-03 4.13016638e+01] [ 5.19367919e-02 -1.84134766e-03 9.98648677e-01 2.23017929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.11, Y:41.30, Z:22.30 [[ 9.87334194e-01 -1.50032127e-01 -5.15902142e-02 4.72109030e+02] [ 1.49936755e-01 9.88678951e-01 -5.73599059e-03 4.13048292e+01] [ 5.18667418e-02 -2.07192965e-03 9.98651865e-01 2.23036741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.14, Y:41.30, Z:22.30 [[ 9.87034788e-01 -1.51916347e-01 -5.18049228e-02 4.72140841e+02] [ 1.51822826e-01 9.88390948e-01 -5.75873246e-03 4.12996629e+01] [ 5.20783624e-02 -2.18110054e-03 9.98640620e-01 2.23041917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.17, Y:41.30, Z:22.31 [[ 9.86500425e-01 -1.55451094e-01 -5.14962915e-02 4.72171738e+02] [ 1.55363627e-01 9.87840780e-01 -5.72167313e-03 4.13041248e+01] [ 5.17595771e-02 -2.35621767e-03 9.98656795e-01 2.23061220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.20, Y:41.31, Z:22.31 [[ 9.86511668e-01 -1.55379655e-01 -5.14965149e-02 4.72203237e+02] [ 1.55292197e-01 9.87852023e-01 -5.71966174e-03 4.13075646e+01] [ 5.17596555e-02 -2.35449386e-03 9.98656795e-01 2.23076291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.23, Y:41.31, Z:22.31 [[ 9.86057915e-01 -1.58664358e-01 -5.01538683e-02 4.72234409e+02] [ 1.58585806e-01 9.87329504e-01 -5.56711057e-03 4.13077846e+01] [ 5.04016959e-02 -2.46419821e-03 9.98725987e-01 2.23096356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.27, Y:41.31, Z:22.31 [[ 9.85843009e-01 -1.60110022e-01 -4.97829593e-02 4.72266757e+02] [ 1.60034517e-01 9.87095957e-01 -5.52489485e-03 4.13095391e+01] [ 5.00251489e-02 -2.52031288e-03 9.98744778e-01 2.23112541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.30, Y:41.31, Z:22.31 [[ 9.85657071e-01 -1.61190633e-01 -4.99771806e-02 4.72298286e+02] [ 1.61116104e-01 9.86919894e-01 -5.54283242e-03 4.13093426e+01] [ 5.02169264e-02 -2.58879665e-03 9.98734979e-01 2.23122623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.33, Y:41.31, Z:22.31 [[ 9.85269678e-01 -1.63559218e-01 -4.99203709e-02 4.72328901e+02] [ 1.63488019e-01 9.86529799e-01 -5.53391304e-03 4.13113329e+01] [ 5.01530559e-02 -2.70898581e-03 9.98737870e-01 2.23129491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.36, Y:41.31, Z:22.31 [[ 9.85111162e-01 -1.64314410e-01 -5.05645442e-02 4.72361189e+02] [ 1.64242409e-01 9.86404087e-01 -5.60423577e-03 4.13148282e+01] [ 5.07979298e-02 -2.78404734e-03 9.98705071e-01 2.23138868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.39, Y:41.32, Z:22.31 [[ 9.84967102e-01 -1.64934725e-01 -5.13453470e-02 4.72393197e+02] [ 1.64861516e-01 9.86300329e-01 -5.68705720e-03 4.13202318e+01] [ 5.15799258e-02 -2.86330747e-03 9.98664765e-01 2.23149455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.42, Y:41.32, Z:22.32 [[ 9.84773988e-01 -1.65841743e-01 -5.21220495e-02 4.72424531e+02] [ 1.65767765e-01 9.86147942e-01 -5.76934751e-03 4.13218631e+01] [ 5.23568504e-02 -2.95865231e-03 9.98624057e-01 2.23156853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.45, Y:41.32, Z:22.32 [[ 9.84534396e-01 -1.67010945e-01 -5.29090560e-02 4.72454861e+02] [ 1.66936542e-01 9.85950265e-01 -5.85377298e-03 4.13241905e+01] [ 5.31433420e-02 -3.06921404e-03 9.98582177e-01 2.23159740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.49, Y:41.33, Z:22.32 [[ 9.84389149e-01 -1.67811816e-01 -5.30772731e-02 4.72485751e+02] [ 1.67738167e-01 9.85814099e-01 -5.87111644e-03 4.13342507e+01] [ 5.33095669e-02 -3.12362119e-03 9.98573149e-01 2.23179139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.52, Y:41.33, Z:22.32 [[ 9.84265579e-01 -1.68492299e-01 -5.32129200e-02 4.72517630e+02] [ 1.68419470e-01 9.85697865e-01 -5.88225968e-03 4.13308633e+01] [ 5.34429771e-02 -3.17238606e-03 9.98565864e-01 2.23185998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.55, Y:41.34, Z:22.32 [[ 9.84099720e-01 -1.69588134e-01 -5.27977879e-02 4.72548443e+02] [ 1.69518166e-01 9.85509799e-01 -5.83335195e-03 4.13439311e+01] [ 5.30220046e-02 -3.20958412e-03 9.98588186e-01 2.23213985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.58, Y:41.35, Z:22.32 [[ 9.84064720e-01 -1.69867579e-01 -5.25512424e-02 4.72579176e+02] [ 1.69798860e-01 9.85461658e-01 -5.80230481e-03 4.13454027e+01] [ 5.27728580e-02 -3.21329761e-03 9.98601372e-01 2.23228607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.61, Y:41.35, Z:22.32 [[ 9.84100698e-01 -1.69735436e-01 -5.23039045e-02 4.72610606e+02] [ 1.69667332e-01 9.85484490e-01 -5.77201280e-03 4.13495466e+01] [ 5.25244018e-02 -3.19402213e-03 9.98614533e-01 2.23245872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.64, Y:41.36, Z:22.33 [[ 9.84250446e-01 -1.69078507e-01 -5.16092803e-02 4.72642269e+02] [ 1.69011492e-01 9.85597646e-01 -5.69166081e-03 4.13594030e+01] [ 5.18283228e-02 -3.12054177e-03 9.98651134e-01 2.23266181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.335099893 meters Centerline goodness [0,1] 0.9998952440812906 Centerline is valid? [True, True] Translation: X:472.67, Y:41.36, Z:22.33 [[ 9.84461349e-01 -1.67971838e-01 -5.11987723e-02 4.72673152e+02] [ 1.67904586e-01 9.85787102e-01 -5.64264146e-03 4.13634219e+01] [ 5.14188942e-02 -3.04154626e-03 9.98672542e-01 2.23282113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters Centerline goodness [0,1] 0.9998953317981997 Centerline is valid? [True, True] Translation: X:472.70, Y:41.37, Z:22.33 [[ 9.85025089e-01 -1.64952677e-01 -5.01616253e-02 4.72702513e+02] [ 1.64884350e-01 9.86297428e-01 -5.52574294e-03 4.13707010e+01] [ 5.03857681e-02 -2.82787154e-03 9.98725827e-01 2.23305808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.73, Y:41.38, Z:22.33 [[ 9.85350706e-01 -1.63169177e-01 -4.95964380e-02 4.72732761e+02] [ 1.63100132e-01 9.86594394e-01 -5.46339455e-03 4.13787027e+01] [ 4.98230253e-02 -2.70582592e-03 9.98754397e-01 2.23327062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.76, Y:41.38, Z:22.33 [[ 9.85757190e-01 -1.60748236e-01 -4.94243637e-02 4.72763375e+02] [ 1.60676727e-01 9.86992081e-01 -5.44260268e-03 4.13835174e+01] [ 4.96563443e-02 -2.57626025e-03 9.98763040e-01 2.23344462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.79, Y:41.40, Z:22.34 [[ 9.86660309e-01 -1.55292194e-01 -4.88443273e-02 4.72792867e+02] [ 1.55215767e-01 9.87865959e-01 -5.37698893e-03 4.13952688e+01] [ 4.90866526e-02 -2.27614816e-03 9.98791930e-01 2.23365523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.82, Y:41.40, Z:22.34 [[ 9.87056911e-01 -1.52924314e-01 -4.82991506e-02 4.72823943e+02] [ 1.52846774e-01 9.88235598e-01 -5.31657837e-03 4.14009577e+01] [ 4.85439741e-02 -2.13460395e-03 9.98818765e-01 2.23383457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.85, Y:41.41, Z:22.34 [[ 9.87453645e-01 -1.50363618e-01 -4.82294685e-02 4.72854692e+02] [ 1.50283340e-01 9.88628723e-01 -5.30711543e-03 4.14064559e+01] [ 4.84790349e-02 -2.00755513e-03 9.98822183e-01 2.23401043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.88, Y:41.41, Z:22.34 [[ 9.88117007e-01 -1.45684874e-01 -4.89969151e-02 4.72884027e+02] [ 1.45596365e-01 9.89329393e-01 -5.38979546e-03 4.14120047e+01] [ 4.92592999e-02 -1.80802417e-03 9.98784387e-01 2.23411175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.91, Y:41.42, Z:22.34 [[ 9.88450717e-01 -1.43152825e-01 -4.97237197e-02 4.72914997e+02] [ 1.43058476e-01 9.89699124e-01 -5.46965640e-03 4.14184447e+01] [ 4.99945186e-02 -1.70691380e-03 9.98748034e-01 2.23420343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.95, Y:41.43, Z:22.34 [[ 9.88781081e-01 -1.40501889e-01 -5.07069387e-02 4.72946564e+02] [ 1.40400393e-01 9.90079108e-01 -5.57581842e-03 4.14263991e+01] [ 5.09872936e-02 -1.60601033e-03 9.98698011e-01 2.23430244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:472.98, Y:41.43, Z:22.34 [[ 9.89136963e-01 -1.37567937e-01 -5.17989528e-02 4.72978085e+02] [ 1.37458209e-01 9.90491213e-01 -5.69197043e-03 4.14300949e+01] [ 5.20894402e-02 -1.49005290e-03 9.98641312e-01 2.23435879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.01, Y:41.43, Z:22.34 [[ 9.89461077e-01 -1.34838764e-01 -5.27757922e-02 4.73008949e+02] [ 1.34721183e-01 9.90866598e-01 -5.79547007e-03 4.14348507e+01] [ 5.30752237e-02 -1.37562512e-03 9.98589569e-01 2.23444947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.04, Y:41.44, Z:22.35 [[ 9.90316273e-01 -1.28074505e-01 -5.35779928e-02 4.73039872e+02] [ 1.27943583e-01 9.91764013e-01 -5.88064352e-03 4.14429161e+01] [ 5.38898856e-02 -1.03126338e-03 9.98546352e-01 2.23454837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.07, Y:41.45, Z:22.35 [[ 9.90841682e-01 -1.23740221e-01 -5.40473712e-02 4.73071312e+02] [ 1.23600714e-01 9.92314320e-01 -5.92913020e-03 4.14498361e+01] [ 5.43656523e-02 -8.05464340e-04 9.98520769e-01 2.23474914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.10, Y:41.46, Z:22.35 [[ 9.91339373e-01 -1.19639143e-01 -5.41546229e-02 4.73102358e+02] [ 1.19493172e-01 9.92817271e-01 -5.93708885e-03 4.14557000e+01] [ 5.44759531e-02 -5.85437739e-04 9.98514911e-01 2.23492031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.13, Y:41.47, Z:22.35 [[ 9.92435366e-01 -1.10546096e-01 -5.34004154e-02 4.73133380e+02] [ 1.10391158e-01 9.93870994e-01 -5.85142854e-03 4.14653765e+01] [ 5.37199766e-02 -8.77690844e-05 9.98556036e-01 2.23525907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.16, Y:41.47, Z:22.35 [[ 9.92922034e-01 -1.06361971e-01 -5.28485147e-02 4.73163959e+02] [ 1.06204499e-01 9.94327468e-01 -5.78715010e-03 4.14709707e+01] [ 5.31642625e-02 1.33438829e-04 9.98585772e-01 2.23549731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.19, Y:41.48, Z:22.36 [[ 9.93346991e-01 -1.02525238e-01 -5.24435998e-02 4.73194717e+02] [ 1.02364978e-01 9.94730348e-01 -5.73991875e-03 4.14765818e+01] [ 5.27557267e-02 3.33343057e-04 9.98607391e-01 2.23562493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.23, Y:41.48, Z:22.36 [[ 9.93894063e-01 -9.70841187e-02 -5.24334318e-02 4.73225180e+02] [ 9.69164938e-02 9.95275987e-01 -5.73611483e-03 4.14810375e+01] [ 5.27426213e-02 6.19426105e-04 9.98607947e-01 2.23586511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.26, Y:41.48, Z:22.36 [[ 9.94051660e-01 -9.55908882e-02 -5.21888816e-02 4.73255552e+02] [ 9.54228274e-02 9.95420464e-01 -5.70823418e-03 4.14843272e+01] [ 5.24955359e-02 6.94269018e-04 9.98620917e-01 2.23602351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.29, Y:41.49, Z:22.36 [[ 9.94076127e-01 -9.53229157e-02 -5.22129827e-02 4.73286589e+02] [ 9.51544773e-02 9.95446153e-01 -5.70807035e-03 4.14868294e+01] [ 5.25193227e-02 7.05957386e-04 9.98619659e-01 2.23618632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.32, Y:41.49, Z:22.36 [[ 9.94031059e-01 -9.59672684e-02 -5.18896646e-02 4.73317844e+02] [ 9.58018849e-02 9.95384268e-01 -5.67088036e-03 4.14879951e+01] [ 5.21943747e-02 6.65903534e-04 9.98636723e-01 2.23637062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.35, Y:41.49, Z:22.37 [[ 9.93866275e-01 -9.78620663e-02 -5.15057584e-02 4.73347788e+02] [ 9.77017572e-02 9.95199830e-01 -5.62714326e-03 4.14890478e+01] [ 5.18092058e-02 5.60424810e-04 9.98656844e-01 2.23652233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.38, Y:41.48, Z:22.37 [[ 9.93239386e-01 -1.04313108e-01 -5.09342552e-02 4.73379701e+02] [ 1.04164860e-01 9.94544482e-01 -5.56372889e-03 4.14839998e+01] [ 5.12367523e-02 2.20555127e-04 9.98686511e-01 2.23669585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.41, Y:41.48, Z:22.37 [[ 9.92781100e-01 -1.08348339e-01 -5.14424474e-02 4.73412285e+02] [ 1.08202633e-01 9.94112990e-01 -5.61720151e-03 4.14826850e+01] [ 5.17482196e-02 1.04432526e-05 9.98660163e-01 2.23683384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.44, Y:41.48, Z:22.37 [[ 9.92215527e-01 -1.13283287e-01 -5.17227730e-02 4.73444200e+02] [ 1.13142879e-01 9.93562697e-01 -5.64406553e-03 4.14810121e+01] [ 5.20291961e-02 -2.51934010e-04 9.98645532e-01 2.23694496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.48, Y:41.47, Z:22.37 [[ 9.90986254e-01 -1.23253123e-01 -5.24872598e-02 4.73476800e+02] [ 1.23122637e-01 9.92374952e-01 -5.72466041e-03 4.14737601e+01] [ 5.27926241e-02 -7.89310044e-04 9.98605185e-01 2.23701166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.51, Y:41.47, Z:22.37 [[ 9.90358982e-01 -1.28186246e-01 -5.25106970e-02 4.73508406e+02] [ 1.28062668e-01 9.91749552e-01 -5.72528668e-03 4.14712776e+01] [ 5.28113632e-02 -1.05457087e-03 9.98603949e-01 2.23711159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.54, Y:41.47, Z:22.37 [[ 9.89728095e-01 -1.32971550e-01 -5.25058528e-02 4.73540459e+02] [ 1.32854818e-01 9.91118987e-01 -5.72283462e-03 4.14686797e+01] [ 5.28005218e-02 -1.31160530e-03 9.98604218e-01 2.23718693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.57, Y:41.47, Z:22.37 [[ 9.89104366e-01 -1.37550137e-01 -5.24643947e-02 4.73571705e+02] [ 1.37440113e-01 9.90493583e-01 -5.71649754e-03 4.14666058e+01] [ 5.27519513e-02 -1.55649963e-03 9.98606433e-01 2.23732879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.60, Y:41.46, Z:22.37 [[ 9.87932619e-01 -1.45776320e-01 -5.23297607e-02 4.73602771e+02] [ 1.45678406e-01 9.89315572e-01 -5.70103772e-03 4.14579875e+01] [ 5.26017234e-02 -1.99107501e-03 9.98613586e-01 2.23740905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.63, Y:41.46, Z:22.38 [[ 9.87415080e-01 -1.49182819e-01 -5.24971113e-02 4.73633701e+02] [ 1.49089054e-01 9.88807230e-01 -5.71975467e-03 4.14590828e+01] [ 5.27628124e-02 -2.17897263e-03 9.98604695e-01 2.23755136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.66, Y:41.46, Z:22.38 [[ 9.86998832e-01 -1.51783905e-01 -5.28673132e-02 4.73664769e+02] [ 1.51692641e-01 9.88410941e-01 -5.75805968e-03 4.14593021e+01] [ 5.31286116e-02 -2.33638416e-03 9.98584945e-01 2.23767453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.70, Y:41.45, Z:22.38 [[ 9.86229465e-01 -1.56249146e-01 -5.42000682e-02 4.73695288e+02] [ 1.56159991e-01 9.87714139e-01 -5.90232040e-03 4.14545082e+01] [ 5.44564062e-02 -2.64283987e-03 9.98512652e-01 2.23770723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.73, Y:41.46, Z:22.38 [[ 9.85968864e-01 -1.57798741e-01 -5.44514164e-02 4.73726363e+02] [ 1.57711127e-01 9.87467489e-01 -5.92943035e-03 4.14561867e+01] [ 5.47046601e-02 -2.74136057e-03 9.98498816e-01 2.23785995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.76, Y:41.46, Z:22.38 [[ 9.85741762e-01 -1.58990734e-01 -5.50919645e-02 4.73757887e+02] [ 1.58903015e-01 9.87275983e-01 -5.99715972e-03 4.14588748e+01] [ 5.53444662e-02 -2.84262848e-03 9.98463274e-01 2.23803160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.79, Y:41.46, Z:22.38 [[ 9.85441695e-01 -1.60615120e-01 -5.57444895e-02 4.73788225e+02] [ 1.60528040e-01 9.87012642e-01 -6.06571616e-03 4.14571047e+01] [ 5.59947616e-02 -2.97114403e-03 9.98426642e-01 2.23810129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.82, Y:41.46, Z:22.38 [[ 9.85277669e-01 -1.61477428e-01 -5.61511774e-02 4.73819261e+02] [ 1.61390714e-01 9.86871703e-01 -6.10562146e-03 4.14601620e+01] [ 5.63999281e-02 -3.04654614e-03 9.98403609e-01 2.23826314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.85, Y:41.46, Z:22.38 [[ 9.85212444e-01 -1.61856535e-01 -5.62041176e-02 4.73849150e+02] [ 1.61770368e-01 9.86809515e-01 -6.10967742e-03 4.14591617e+01] [ 5.64516493e-02 -3.07283059e-03 9.98400605e-01 2.23835344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.88, Y:41.46, Z:22.39 [[ 9.85053598e-01 -1.62623223e-01 -5.67723266e-02 4.73879121e+02] [ 1.62536564e-01 9.86683220e-01 -6.17164559e-03 4.14646331e+01] [ 5.70199549e-02 -3.14817719e-03 9.98368075e-01 2.23854137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.91, Y:41.46, Z:22.39 [[ 9.84919276e-01 -1.63247111e-01 -5.73096939e-02 4.73909167e+02] [ 1.63159846e-01 9.86579976e-01 -6.23024605e-03 4.14637597e+01] [ 5.75576660e-02 -3.21435139e-03 9.98337009e-01 2.23863950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.94, Y:41.47, Z:22.39 [[ 9.84885900e-01 -1.63405543e-01 -5.74316407e-02 4.73938554e+02] [ 1.63318104e-01 9.86553699e-01 -6.24473138e-03 4.14668634e+01] [ 5.76798213e-02 -3.22927880e-03 9.98329910e-01 2.23877292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:473.97, Y:41.47, Z:22.39 [[ 9.84880144e-01 -1.63440306e-01 -5.74314206e-02 4.73967551e+02] [ 1.63352808e-01 9.86547940e-01 -6.24675503e-03 4.14700484e+01] [ 5.76798212e-02 -3.22927880e-03 9.98329910e-01 2.23891174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.00, Y:41.48, Z:22.39 [[ 9.84875906e-01 -1.63404798e-01 -5.76048814e-02 4.73997820e+02] [ 1.63316613e-01 9.86553802e-01 -6.26731151e-03 4.14765007e+01] [ 5.78544235e-02 -3.23530999e-03 9.98319788e-01 2.23913361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.03, Y:41.48, Z:22.39 [[ 9.84862012e-01 -1.63495777e-01 -5.75842768e-02 4.74027422e+02] [ 1.63407799e-01 9.86538716e-01 -6.26525867e-03 4.14783466e+01] [ 5.78334618e-02 -3.23930464e-03 9.98320989e-01 2.23927390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.06, Y:41.48, Z:22.39 [[ 9.84859039e-01 -1.63633784e-01 -5.72420966e-02 4.74055769e+02] [ 1.63546990e-01 9.86515876e-01 -6.22959174e-03 4.14802918e+01] [ 5.74896088e-02 -3.22650284e-03 9.98340891e-01 2.23942314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.08, Y:41.48, Z:22.40 [[ 9.84830234e-01 -1.63927478e-01 -5.68963335e-02 4.74084812e+02] [ 1.63842007e-01 9.86467136e-01 -6.19561879e-03 4.14833575e+01] [ 5.71419953e-02 -3.22037678e-03 9.98360867e-01 2.23963033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.11, Y:41.49, Z:22.40 [[ 9.84750826e-01 -1.64591229e-01 -5.63519197e-02 4.74114589e+02] [ 1.64508353e-01 9.86356590e-01 -6.13833055e-03 4.14861583e+01] [ 5.65934027e-02 -3.22563540e-03 9.98392098e-01 2.23983552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.15, Y:41.49, Z:22.40 [[ 9.84676739e-01 -1.65322780e-01 -5.54986368e-02 4.74145283e+02] [ 1.65243474e-01 9.86234268e-01 -6.04673130e-03 4.14931495e+01] [ 5.57343199e-02 -3.21671191e-03 9.98440453e-01 2.24010298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.17, Y:41.49, Z:22.40 [[ 9.84543910e-01 -1.66247542e-01 -5.50912394e-02 4.74174890e+02] [ 1.66170924e-01 9.86078706e-01 -6.00077711e-03 4.14934449e+01] [ 5.53219125e-02 -3.24653357e-03 9.98463292e-01 2.24023009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.20, Y:41.50, Z:22.40 [[ 9.84413368e-01 -1.67105940e-01 -5.48263154e-02 4.74204876e+02] [ 1.67031335e-01 9.85933496e-01 -5.97277004e-03 4.14993062e+01] [ 5.50531862e-02 -3.27803798e-03 9.98478042e-01 2.24041957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.24, Y:41.51, Z:22.41 [[ 9.84278508e-01 -1.67870813e-01 -5.49109169e-02 4.74235682e+02] [ 1.67797178e-01 9.85803391e-01 -5.98170060e-03 4.15052436e+01] [ 5.51355211e-02 -3.32623755e-03 9.98473340e-01 2.24056149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.27, Y:41.51, Z:22.41 [[ 9.83821124e-01 -1.70248729e-01 -5.57796214e-02 4.74266149e+02] [ 1.70176667e-01 9.85394847e-01 -6.07428714e-03 4.15066984e+01] [ 5.59990912e-02 -3.51637803e-03 9.98424628e-01 2.24062777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.30, Y:41.51, Z:22.41 [[ 9.83568421e-01 -1.71713734e-01 -5.57454498e-02 4.74296645e+02] [ 1.71644188e-01 9.85140315e-01 -6.06899110e-03 4.15086251e+01] [ 5.59592191e-02 -3.59911449e-03 9.98426568e-01 2.24075796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.33, Y:41.51, Z:22.41 [[ 9.83344813e-01 -1.72943271e-01 -5.58892186e-02 4.74327643e+02] [ 1.72875408e-01 9.84924913e-01 -6.08345851e-03 4.15125745e+01] [ 5.60987770e-02 -3.67973413e-03 9.98418443e-01 2.24092931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.36, Y:41.52, Z:22.41 [[ 9.82939206e-01 -1.75179855e-01 -5.60583175e-02 4.74357372e+02] [ 1.75115297e-01 9.84529035e-01 -6.10012295e-03 4.15150084e+01] [ 5.62596599e-02 -3.82061891e-03 9.98408861e-01 2.24106212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.39, Y:41.52, Z:22.41 [[ 9.82796399e-01 -1.75987226e-01 -5.60333387e-02 4.74388366e+02] [ 1.75924048e-01 9.84384861e-01 -6.09708571e-03 4.15185604e+01] [ 5.62313796e-02 -3.86541791e-03 9.98410282e-01 2.24124201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.42, Y:41.52, Z:22.41 [[ 9.82808808e-01 -1.75874991e-01 -5.61679162e-02 4.74419277e+02] [ 1.75811443e-01 9.84404901e-01 -6.10968686e-03 4.15229779e+01] [ 5.63665131e-02 -3.87030836e-03 9.98402643e-01 2.24140867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.45, Y:41.53, Z:22.42 [[ 9.82894471e-01 -1.75415222e-01 -5.61066747e-02 4.74450312e+02] [ 1.75351182e-01 9.84487045e-01 -6.10099032e-03 4.15284677e+01] [ 5.63065009e-02 -3.84174206e-03 9.98406139e-01 2.24159509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.48, Y:41.53, Z:22.42 [[ 9.83330169e-01 -1.73252302e-01 -5.51853014e-02 4.74480028e+02] [ 1.73187049e-01 9.84870680e-01 -5.99910698e-03 4.15334601e+01] [ 5.53897444e-02 -3.65827662e-03 9.98458108e-01 2.24180050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.51, Y:41.54, Z:22.42 [[ 9.83741514e-01 -1.71195413e-01 -5.42656858e-02 4.74510602e+02] [ 1.71129200e-01 9.85230936e-01 -5.89909757e-03 4.15387494e+01] [ 5.44741309e-02 -3.48325623e-03 9.98509107e-01 2.24200684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.54, Y:41.55, Z:22.42 [[ 9.84116574e-01 -1.69182040e-01 -5.37773809e-02 4.74540912e+02] [ 1.69114040e-01 9.85579155e-01 -5.84563530e-03 4.15456052e+01] [ 5.39908421e-02 -3.34172355e-03 9.98535839e-01 2.24225343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.57, Y:41.56, Z:22.43 [[ 9.84569267e-01 -1.66737541e-01 -5.31220326e-02 4.74571861e+02] [ 1.66667704e-01 9.85996220e-01 -5.77323927e-03 4.15553342e+01] [ 5.33407391e-02 -3.16957324e-03 9.98571339e-01 2.24252308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.60, Y:41.56, Z:22.43 [[ 9.85409749e-01 -1.61780294e-01 -5.28655199e-02 4.74600602e+02] [ 1.61704151e-01 9.86822571e-01 -5.74285186e-03 4.15631473e+01] [ 5.30979685e-02 -2.88951180e-03 9.98585127e-01 2.24269788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.63, Y:41.57, Z:22.43 [[ 9.85802538e-01 -1.59448326e-01 -5.26268736e-02 4.74631892e+02] [ 1.59369531e-01 9.87202443e-01 -5.71741353e-03 4.15686987e+01] [ 5.28650102e-02 -2.75087938e-03 9.98597879e-01 2.24284903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.66, Y:41.58, Z:22.43 [[ 9.86427956e-01 -1.55548696e-01 -5.25784168e-02 4.74662386e+02] [ 1.55464661e-01 9.87824955e-01 -5.70948743e-03 4.15754399e+01] [ 5.28263756e-02 -2.54208774e-03 9.98600477e-01 2.24300421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.69, Y:41.58, Z:22.43 [[ 9.86735525e-01 -1.53552273e-01 -5.26754479e-02 4.74693771e+02] [ 1.53465160e-01 9.88137511e-01 -5.71869597e-03 4.15801456e+01] [ 5.29287047e-02 -2.44100559e-03 9.98595310e-01 2.24313385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.73, Y:41.59, Z:22.43 [[ 9.87069394e-01 -1.51333186e-01 -5.28420061e-02 4.74725083e+02] [ 1.51242500e-01 9.88480059e-01 -5.73395984e-03 4.15857388e+01] [ 5.31010077e-02 -2.33214085e-03 9.98586423e-01 2.24325056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.76, Y:41.59, Z:22.43 [[ 9.87370014e-01 -1.49087971e-01 -5.36025338e-02 4.74755817e+02] [ 1.48991506e-01 9.88821385e-01 -5.81369731e-03 4.15927778e+01] [ 5.38700841e-02 -2.24605181e-03 9.98545427e-01 2.24340865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.79, Y:41.60, Z:22.43 [[ 9.87761437e-01 -1.46309799e-01 -5.40443076e-02 4.74786222e+02] [ 1.46207688e-01 9.89236562e-01 -5.85975376e-03 4.15956965e+01] [ 5.43199444e-02 -2.11365449e-03 9.98521345e-01 2.24345631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.82, Y:41.61, Z:22.44 [[ 9.88631377e-01 -1.39916402e-01 -5.50581607e-02 4.74816363e+02] [ 1.39800578e-01 9.90161691e-01 -5.96866474e-03 4.16072854e+01] [ 5.53515956e-02 -1.79635344e-03 9.98465309e-01 2.24363075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.85, Y:41.61, Z:22.44 [[ 9.89134999e-01 -1.36305943e-01 -5.50694467e-02 4.74847058e+02] [ 1.36184546e-01 9.90665505e-01 -5.96874500e-03 4.16138464e+01] [ 5.53689766e-02 -1.59571302e-03 9.98464686e-01 2.24379725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.88, Y:41.62, Z:22.44 [[ 9.89588542e-01 -1.32834119e-01 -5.54040928e-02 4.74877841e+02] [ 1.32705921e-01 9.91137278e-01 -6.00296379e-03 4.16204401e+01] [ 5.57104601e-02 -1.41198696e-03 9.98445968e-01 2.24397157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.91, Y:41.63, Z:22.44 [[ 9.90444041e-01 -1.26150303e-01 -5.57377956e-02 4.74908192e+02] [ 1.26010092e-01 9.92010590e-01 -6.03703739e-03 4.16275442e+01] [ 5.60540576e-02 -1.04417705e-03 9.98427189e-01 2.24415042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.94, Y:41.63, Z:22.44 [[ 9.90790839e-01 -1.23521777e-01 -5.54606467e-02 4.74937830e+02] [ 1.23378948e-01 9.92341460e-01 -6.00513793e-03 4.16318496e+01] [ 5.57776645e-02 -8.92840596e-04 9.98442815e-01 2.24427236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:474.97, Y:41.64, Z:22.44 [[ 9.91053062e-01 -1.21341781e-01 -5.55877768e-02 4.74969085e+02] [ 1.21194935e-01 9.92610485e-01 -6.01774810e-03 4.16369823e+01] [ 5.59072144e-02 -7.73049310e-04 9.98435669e-01 2.24447782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.00, Y:41.64, Z:22.45 [[ 9.91438172e-01 -1.18264012e-01 -5.53531769e-02 4.75000121e+02] [ 1.18113720e-01 9.92982006e-01 -5.99035396e-03 4.16415915e+01] [ 5.56731519e-02 -5.98904048e-04 9.98448868e-01 2.24463474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.03, Y:41.65, Z:22.45 [[ 9.91558756e-01 -1.17335339e-01 -5.51692952e-02 4.75030823e+02] [ 1.17184718e-01 9.93092201e-01 -5.96847068e-03 4.16450828e+01] [ 5.54885093e-02 -5.46908953e-04 9.98459176e-01 2.24477970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.06, Y:41.65, Z:22.45 [[ 9.91603353e-01 -1.17153026e-01 -5.47536268e-02 4.75062034e+02] [ 1.17004498e-01 9.93113731e-01 -5.92153539e-03 4.16479058e+01] [ 5.50703043e-02 -5.34606282e-04 9.98482336e-01 2.24493617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.09, Y:41.65, Z:22.45 [[ 9.91539025e-01 -1.17648001e-01 -5.48571730e-02 4.75092739e+02] [ 1.17499771e-01 9.93055199e-01 -5.93088265e-03 4.16501419e+01] [ 5.51739573e-02 -5.65003640e-04 9.98476597e-01 2.24506137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.12, Y:41.65, Z:22.45 [[ 9.91376765e-01 -1.19462822e-01 -5.38585520e-02 4.75122761e+02] [ 1.19322656e-01 9.92838459e-01 -5.82220137e-03 4.16499590e+01] [ 5.41683784e-02 -6.54550326e-04 9.98531601e-01 2.24520949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.15, Y:41.65, Z:22.45 [[ 9.91189928e-01 -1.21202125e-01 -5.34094667e-02 4.75154051e+02] [ 1.21066777e-01 9.92627570e-01 -5.77426530e-03 4.16516017e+01] [ 5.37155624e-02 -7.42718388e-04 9.98556001e-01 2.24536744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.19, Y:41.65, Z:22.46 [[ 9.90943291e-01 -1.23290751e-01 -5.32051116e-02 4.75186431e+02] [ 1.23159559e-01 9.92370223e-01 -5.75003214e-03 4.16532700e+01] [ 5.35080943e-02 -8.54762326e-04 9.98567050e-01 2.24554045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.22, Y:41.65, Z:22.46 [[ 9.90604888e-01 -1.26000508e-01 -5.31585120e-02 4.75217791e+02] [ 1.25873640e-01 9.92029669e-01 -5.74130125e-03 4.16542797e+01] [ 5.34582279e-02 -1.00389434e-03 9.98569582e-01 2.24567913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.25, Y:41.65, Z:22.46 [[ 9.89777891e-01 -1.32435763e-01 -5.29196981e-02 4.75248716e+02] [ 1.32319310e-01 9.91190675e-01 -5.71366093e-03 4.16508594e+01] [ 5.32102044e-02 -1.34704268e-03 9.98582425e-01 2.24574243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.28, Y:41.65, Z:22.46 [[ 9.89269337e-01 -1.36094103e-01 -5.31467283e-02 4.75279983e+02] [ 1.35981976e-01 9.90694700e-01 -5.73708330e-03 4.16512848e+01] [ 5.34329652e-02 -1.55147654e-03 9.98570233e-01 2.24585583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.31, Y:41.65, Z:22.46 [[ 9.88742883e-01 -1.39774697e-01 -5.33905007e-02 4.75311386e+02] [ 1.39666999e-01 9.90181769e-01 -5.76142991e-03 4.16507560e+01] [ 5.36716025e-02 -1.76031819e-03 9.98557089e-01 2.24594706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.34, Y:41.64, Z:22.46 [[ 9.87695522e-01 -1.46915051e-01 -5.36052584e-02 4.75341619e+02] [ 1.46817056e-01 9.89146758e-01 -5.78296614e-03 4.16440450e+01] [ 5.38730723e-02 -2.15835648e-03 9.98545459e-01 2.24592934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.37, Y:41.64, Z:22.46 [[ 9.87129664e-01 -1.50541295e-01 -5.39661526e-02 4.75371859e+02] [ 1.50447340e-01 9.88600877e-01 -5.82261147e-03 4.16432605e+01] [ 5.42275293e-02 -2.37139163e-03 9.98525789e-01 2.24601857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.40, Y:41.64, Z:22.46 [[ 9.86620757e-01 -1.53861407e-01 -5.39087103e-02 4.75402817e+02] [ 1.53772591e-01 9.88089146e-01 -5.81641380e-03 4.16430756e+01] [ 5.41615331e-02 -2.55108750e-03 9.98528928e-01 2.24608219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.43, Y:41.64, Z:22.46 [[ 9.85675508e-01 -1.59899740e-01 -5.36271085e-02 4.75433117e+02] [ 1.59820751e-01 9.87129095e-01 -5.78598729e-03 4.16427305e+01] [ 5.38620569e-02 -2.86761880e-03 9.98544268e-01 2.24621986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.46, Y:41.64, Z:22.46 [[ 9.85299869e-01 -1.62444149e-01 -5.28778406e-02 4.75464545e+02] [ 1.62371027e-01 9.86713285e-01 -5.70463001e-03 4.16436374e+01] [ 5.31019516e-02 -2.96505808e-03 9.98584694e-01 2.24638247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.49, Y:41.64, Z:22.47 [[ 9.84909091e-01 -1.64793973e-01 -5.28869385e-02 4.75494914e+02] [ 1.64724288e-01 9.86323159e-01 -5.70393755e-03 4.16445038e+01] [ 5.31035868e-02 -3.09390332e-03 9.98584216e-01 2.24652360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.53, Y:41.65, Z:22.47 [[ 9.84582750e-01 -1.66810557e-01 -5.26407395e-02 4.75526305e+02] [ 1.66744397e-01 9.85983811e-01 -5.67719274e-03 4.16466580e+01] [ 5.28499326e-02 -3.18788232e-03 9.98597377e-01 2.24666627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.56, Y:41.65, Z:22.47 [[ 9.84047153e-01 -1.70012055e-01 -5.24128103e-02 4.75557340e+02] [ 1.69951077e-01 9.85436299e-01 -5.65084401e-03 4.16497470e+01] [ 5.26101974e-02 -3.34691661e-03 9.98609516e-01 2.24678752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.59, Y:41.65, Z:22.47 [[ 9.83786128e-01 -1.71398149e-01 -5.27970552e-02 4.75588355e+02] [ 1.71338312e-01 9.85195814e-01 -5.69130572e-03 4.16454857e+01] [ 5.29909170e-02 -3.44713069e-03 9.98589045e-01 2.24686819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.62, Y:41.65, Z:22.47 [[ 9.83636081e-01 -1.72225787e-01 -5.28993305e-02 4.75619371e+02] [ 1.72166965e-01 9.85051284e-01 -5.70127603e-03 4.16518244e+01] [ 5.30904601e-02 -3.49953635e-03 9.98583575e-01 2.24704888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.65, Y:41.66, Z:22.47 [[ 9.83504974e-01 -1.73010297e-01 -5.27769258e-02 4.75649917e+02] [ 1.72952964e-01 9.84913670e-01 -5.68631493e-03 4.16562988e+01] [ 5.29645067e-02 -3.53540675e-03 9.98590137e-01 2.24723304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.68, Y:41.66, Z:22.47 [[ 9.83392221e-01 -1.73539708e-01 -5.31385862e-02 4.75680071e+02] [ 1.73482408e-01 9.84820332e-01 -5.72432464e-03 4.16581036e+01] [ 5.33253577e-02 -3.58935358e-03 9.98570740e-01 2.24735995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.71, Y:41.66, Z:22.47 [[ 9.83401066e-01 -1.73445791e-01 -5.32813467e-02 4.75711001e+02] [ 1.73388102e-01 9.84836857e-01 -5.73865034e-03 4.16611595e+01] [ 5.34687788e-02 -3.59495672e-03 9.98563051e-01 2.24749872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.335099893 meters Centerline goodness [0,1] 0.99997933500031 Centerline is valid? [True, True] Translation: X:475.74, Y:41.66, Z:22.48 [[ 9.83516785e-01 -1.72640286e-01 -5.37593285e-02 4.75740962e+02] [ 1.72580447e-01 9.84978417e-01 -5.78856811e-03 4.16579902e+01] [ 5.39511184e-02 -3.58465504e-03 9.98537144e-01 2.24755517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.77, Y:41.67, Z:22.48 [[ 9.83929024e-01 -1.70387973e-01 -5.34005010e-02 4.75770781e+02] [ 1.70325589e-01 9.85371059e-01 -5.75064342e-03 4.16703871e+01] [ 5.35991487e-02 -3.43724681e-03 9.98556617e-01 2.24781225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.80, Y:41.67, Z:22.48 [[ 9.84218150e-01 -1.68738634e-01 -5.33095317e-02 4.75800087e+02] [ 1.68674091e-01 9.85655164e-01 -5.74013187e-03 4.16746441e+01] [ 5.35133972e-02 -3.34239484e-03 9.98561538e-01 2.24796379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.83, Y:41.68, Z:22.48 [[ 9.84593902e-01 -1.66491698e-01 -5.34355940e-02 4.75830224e+02] [ 1.66423511e-01 9.86037576e-01 -5.75452269e-03 4.16799854e+01] [ 5.36475838e-02 -3.22707122e-03 9.98554717e-01 2.24812020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.86, Y:41.68, Z:22.48 [[ 9.85010743e-01 -1.64046394e-01 -5.33162037e-02 4.75859796e+02] [ 1.63974943e-01 9.86447795e-01 -5.74166545e-03 4.16848507e+01] [ 5.35355510e-02 -3.08691928e-03 9.98561173e-01 2.24823384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.89, Y:41.69, Z:22.48 [[ 9.85010743e-01 -1.64046394e-01 -5.33162037e-02 4.75889640e+02] [ 1.63974943e-01 9.86447795e-01 -5.74166545e-03 4.16880646e+01] [ 5.35355510e-02 -3.08691928e-03 9.98561173e-01 2.24837664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.92, Y:41.70, Z:22.49 [[ 9.85914130e-01 -1.58484679e-01 -5.34409447e-02 4.75917818e+02] [ 1.58404740e-01 9.87357491e-01 -5.75521567e-03 4.16977002e+01] [ 5.36774306e-02 -2.79115047e-03 9.98554427e-01 2.24854355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.95, Y:41.70, Z:22.49 [[ 9.86415463e-01 -1.55414201e-01 -5.32067814e-02 4.75947080e+02] [ 1.55330453e-01 9.87845943e-01 -5.73098409e-03 4.17045253e+01] [ 5.34507794e-02 -2.61150212e-03 9.98567070e-01 2.24873466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:475.98, Y:41.71, Z:22.49 [[ 9.86906380e-01 -1.52419415e-01 -5.27647474e-02 4.75977604e+02] [ 1.52332746e-01 9.88312919e-01 -5.68406206e-03 4.17114290e+01] [ 5.30144429e-02 -2.42816176e-03 9.98590794e-01 2.24897476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.01, Y:41.72, Z:22.49 [[ 9.87408329e-01 -1.49280625e-01 -5.23458378e-02 4.76007853e+02] [ 1.49190970e-01 9.88792327e-01 -5.63807441e-03 4.17184389e+01] [ 5.26008180e-02 -2.24244469e-03 9.98613101e-01 2.24919261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.04, Y:41.73, Z:22.49 [[ 9.88347522e-01 -1.43264808e-01 -5.14234512e-02 4.76036309e+02] [ 1.43170190e-01 9.89682589e-01 -5.53801822e-03 4.17282796e+01] [ 5.16862974e-02 -1.88881868e-03 9.98661584e-01 2.24949030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.07, Y:41.73, Z:22.50 [[ 9.88722204e-01 -1.40653113e-01 -5.14305829e-02 4.76066436e+02] [ 1.40554908e-01 9.90057389e-01 -5.53942327e-03 4.17347941e+01] [ 5.16983658e-02 -1.75187005e-03 9.98661209e-01 2.24966383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.10, Y:41.75, Z:22.50 [[ 9.89110618e-01 -1.37947154e-01 -5.12910224e-02 4.76096589e+02] [ 1.37845855e-01 9.90438288e-01 -5.52424459e-03 4.17479980e+01] [ 5.15626463e-02 -1.60616586e-03 9.98668470e-01 2.24993785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.13, Y:41.75, Z:22.50 [[ 9.89462769e-01 -1.35249378e-01 -5.16820599e-02 4.76128274e+02] [ 1.35142960e-01 9.90810486e-01 -5.56430722e-03 4.17539149e+01] [ 5.19596959e-02 -1.47879172e-03 9.98648088e-01 2.25006304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.16, Y:41.76, Z:22.50 [[ 9.89738457e-01 -1.32907311e-01 -5.24731652e-02 4.76159746e+02] [ 1.32794525e-01 9.91127510e-01 -5.64561783e-03 4.17597926e+01] [ 5.27579414e-02 -1.38046399e-03 9.98606376e-01 2.25020775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.19, Y:41.77, Z:22.50 [[ 9.90022357e-01 -1.30631442e-01 -5.28314264e-02 4.76191858e+02] [ 1.30514079e-01 9.91430184e-01 -5.68029968e-03 4.17655668e+01] [ 5.31206965e-02 -1.27162131e-03 9.98587289e-01 2.25034580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.22, Y:41.77, Z:22.51 [[ 9.90477830e-01 -1.26822635e-01 -5.35694688e-02 4.76223094e+02] [ 1.26696610e-01 9.91924816e-01 -5.75581448e-03 4.17728247e+01] [ 5.38668530e-02 -1.08606344e-03 9.98547536e-01 2.25051688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.25, Y:41.78, Z:22.51 [[ 9.90665503e-01 -1.25197635e-01 -5.39204335e-02 4.76254077e+02] [ 1.25067710e-01 9.92131311e-01 -5.79053016e-03 4.17763521e+01] [ 5.42211110e-02 -1.00722665e-03 9.98528446e-01 2.25066171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.29, Y:41.78, Z:22.51 [[ 9.90932154e-01 -1.23164986e-01 -5.37015042e-02 4.76285488e+02] [ 1.23033296e-01 9.92385804e-01 -5.76397494e-03 4.17808794e+01] [ 5.40025303e-02 -8.95364967e-04 9.98540397e-01 2.25088999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.32, Y:41.78, Z:22.51 [[ 9.91072608e-01 -1.22067015e-01 -5.36164987e-02 4.76317190e+02] [ 1.21934346e-01 9.92521507e-01 -5.75097927e-03 4.17846469e+01] [ 5.39175329e-02 -8.38054668e-04 9.98545040e-01 2.25109077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.35, Y:41.79, Z:22.51 [[ 9.91181345e-01 -1.21153821e-01 -5.36776793e-02 4.76349093e+02] [ 1.21019722e-01 9.92633428e-01 -5.75363768e-03 4.17887075e+01] [ 5.39793340e-02 -7.93159472e-04 9.98541738e-01 2.25133051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.38, Y:41.79, Z:22.52 [[ 9.91319880e-01 -1.20077113e-01 -5.35386050e-02 4.76381347e+02] [ 1.19942350e-01 9.92764294e-01 -5.73482602e-03 4.17927742e+01] [ 5.38398367e-02 -7.36499068e-04 9.98549313e-01 2.25152113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.41, Y:41.80, Z:22.52 [[ 9.91596455e-01 -1.17874178e-01 -5.33118035e-02 4.76412805e+02] [ 1.17737582e-01 9.93028346e-01 -5.70664316e-03 4.17961061e+01] [ 5.36127979e-02 -6.18115708e-04 9.98561608e-01 2.25173434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.44, Y:41.80, Z:22.52 [[ 9.91724764e-01 -1.16599362e-01 -5.37269109e-02 4.76444300e+02] [ 1.16458959e-01 9.93178875e-01 -5.74738603e-03 4.17994322e+01] [ 5.40305745e-02 -5.57155077e-04 9.98539126e-01 2.25189194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.47, Y:41.80, Z:22.52 [[ 9.91833105e-01 -1.15613788e-01 -5.38566898e-02 4.76474841e+02] [ 1.15471366e-01 9.93294113e-01 -5.75920066e-03 4.18021963e+01] [ 5.41613759e-02 -5.06739635e-04 9.98532067e-01 2.25204759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.51, Y:41.81, Z:22.52 [[ 9.91968496e-01 -1.14522807e-01 -5.36938435e-02 4.76506779e+02] [ 1.14379811e-01 9.93420518e-01 -5.73876700e-03 4.18055335e+01] [ 5.39977855e-02 -4.48815610e-04 9.98540954e-01 2.25226459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.54, Y:41.81, Z:22.52 [[ 9.92009223e-01 -1.13940835e-01 -5.41773739e-02 4.76537742e+02] [ 1.13794598e-01 9.93487446e-01 -5.78652987e-03 4.18073207e+01] [ 5.44838629e-02 -4.24801475e-04 9.98514561e-01 2.25238145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.57, Y:41.81, Z:22.53 [[ 9.92004120e-01 -1.13990223e-01 -5.41669213e-02 4.76568582e+02] [ 1.13844272e-01 9.93481778e-01 -5.78255103e-03 4.18098388e+01] [ 5.44730036e-02 -4.30279283e-04 9.98515151e-01 2.25259063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.60, Y:41.81, Z:22.53 [[ 9.91921930e-01 -1.14623487e-01 -5.43354456e-02 4.76599299e+02] [ 1.14477676e-01 9.93408897e-01 -5.79867868e-03 4.18096674e+01] [ 5.46419798e-02 -4.68358995e-04 9.98505901e-01 2.25276335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.63, Y:41.81, Z:22.53 [[ 9.91795799e-01 -1.15526054e-01 -5.47249798e-02 4.76630181e+02] [ 1.15379580e-01 9.93304313e-01 -5.83911113e-03 4.18110982e+01] [ 5.50331279e-02 -5.22939285e-04 9.98484392e-01 2.25295712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.66, Y:41.81, Z:22.53 [[ 9.91644679e-01 -1.16788783e-01 -5.47833168e-02 4.76660328e+02] [ 1.16644024e-01 9.93156597e-01 -5.84346598e-03 4.18118552e+01] [ 5.50908638e-02 -5.95504576e-04 9.98481168e-01 2.25307795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.69, Y:41.81, Z:22.53 [[ 9.91476510e-01 -1.17976915e-01 -5.52790961e-02 4.76691741e+02] [ 1.17831431e-01 9.93016113e-01 -5.89519090e-03 4.18129445e+01] [ 5.55885296e-02 -6.68671726e-04 9.98453538e-01 2.25322451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.72, Y:41.81, Z:22.53 [[ 9.91136345e-01 -1.20286657e-01 -5.63902921e-02 4.76722772e+02] [ 1.20139095e-01 9.92738865e-01 -6.01195435e-03 4.18120688e+01] [ 5.67039924e-02 -8.16012177e-04 9.98390701e-01 2.25338871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.75, Y:41.81, Z:22.53 [[ 9.91021612e-01 -1.21201753e-01 -5.64473195e-02 4.76752162e+02] [ 1.21055365e-01 9.92627513e-01 -6.01820115e-03 4.18118685e+01] [ 5.67605789e-02 -8.69083463e-04 9.98387441e-01 2.25344867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.78, Y:41.81, Z:22.54 [[ 9.90919812e-01 -1.21949586e-01 -5.66235308e-02 4.76782180e+02] [ 1.21803453e-01 9.92535875e-01 -6.03784854e-03 4.18139158e+01] [ 5.69371988e-02 -9.13917854e-04 9.98377344e-01 2.25365117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.81, Y:41.82, Z:22.54 [[ 9.90823562e-01 -1.22640146e-01 -5.68160462e-02 4.76812767e+02] [ 1.22494151e-01 9.92450744e-01 -6.05837673e-03 4.18158675e+01] [ 5.71301275e-02 -9.56850950e-04 9.98366282e-01 2.25383934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.84, Y:41.82, Z:22.54 [[ 9.90780515e-01 -1.22994555e-01 -5.68006129e-02 4.76842400e+02] [ 1.22849221e-01 9.92406865e-01 -6.05673833e-03 4.18157112e+01] [ 5.71142640e-02 -9.77012706e-04 9.98367170e-01 2.25391170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.87, Y:41.82, Z:22.54 [[ 9.90748654e-01 -1.23376861e-01 -5.65265868e-02 4.76872323e+02] [ 1.23233527e-01 9.92359392e-01 -6.02788206e-03 4.18168529e+01] [ 5.68383905e-02 -9.93854631e-04 9.98382897e-01 2.25404938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.90, Y:41.82, Z:22.54 [[ 9.90660775e-01 -1.23961543e-01 -5.67870079e-02 4.76903019e+02] [ 1.23817749e-01 9.92286488e-01 -6.05733009e-03 4.18160937e+01] [ 5.70998566e-02 -1.03048015e-03 9.98367940e-01 2.25421318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.93, Y:41.82, Z:22.54 [[ 9.90571158e-01 -1.24455474e-01 -5.72679286e-02 4.76932281e+02] [ 1.24310025e-01 9.92224620e-01 -6.10916351e-03 4.18161447e+01] [ 5.75829675e-02 -1.06741649e-03 9.98340154e-01 2.25430992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.96, Y:41.82, Z:22.55 [[ 9.90522695e-01 -1.24823921e-01 -5.73042631e-02 4.76962894e+02] [ 1.24678758e-01 9.92178314e-01 -6.11556380e-03 4.18189053e+01] [ 5.76194158e-02 -1.08701960e-03 9.98338030e-01 2.25456170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:476.99, Y:41.82, Z:22.55 [[ 9.90399782e-01 -1.25390872e-01 -5.81841950e-02 4.76992389e+02] [ 1.25242169e-01 9.92106767e-01 -6.20987061e-03 4.18183782e+01] [ 5.85035947e-02 -1.13686026e-03 9.98286551e-01 2.25470855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.02, Y:41.82, Z:22.55 [[ 9.90335671e-01 -1.25581272e-01 -5.88608792e-02 4.77021991e+02] [ 1.25429295e-01 9.92082658e-01 -6.28426386e-03 4.18198046e+01] [ 5.91840433e-02 -1.15934789e-03 9.98246415e-01 2.25481374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.05, Y:41.82, Z:22.55 [[ 9.90314695e-01 -1.25614029e-01 -5.91432276e-02 4.77051227e+02] [ 1.25460364e-01 9.92078508e-01 -6.31917872e-03 4.18209475e+01] [ 5.94685025e-02 -1.16215531e-03 9.98229506e-01 2.25486314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.08, Y:41.82, Z:22.55 [[ 9.90244567e-01 -1.25759982e-01 -6.00010369e-02 4.77080045e+02] [ 1.25601150e-01 9.92060004e-01 -6.42641909e-03 4.18236719e+01] [ 6.03328153e-02 -1.17247265e-03 9.98177628e-01 2.25505444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.11, Y:41.82, Z:22.55 [[ 9.90281503e-01 -1.25155911e-01 -6.06509961e-02 4.77108095e+02] [ 1.24991639e-01 9.92136438e-01 -6.50989602e-03 4.18232118e+01] [ 6.09888152e-02 -1.13423779e-03 9.98137805e-01 2.25500157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.14, Y:41.83, Z:22.55 [[ 9.90379251e-01 -1.24426593e-01 -6.05554417e-02 4.77137089e+02] [ 1.24261007e-01 9.92228228e-01 -6.50733182e-03 4.18252742e+01] [ 6.08945038e-02 -1.07995375e-03 9.98143623e-01 2.25513593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.17, Y:41.83, Z:22.55 [[ 9.90656412e-01 -1.22030551e-01 -6.08967764e-02 4.77165554e+02] [ 1.21857633e-01 9.92525916e-01 -6.55927549e-03 4.18283384e+01] [ 6.12420607e-02 -9.22748702e-04 9.98122517e-01 2.25543175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.19, Y:41.83, Z:22.56 [[ 9.90851245e-01 -1.20537458e-01 -6.07003428e-02 4.77194405e+02] [ 1.20361901e-01 9.92708447e-01 -6.55372781e-03 4.18311216e+01] [ 6.10477128e-02 -8.12239266e-04 9.98134519e-01 2.25558382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.22, Y:41.83, Z:22.56 [[ 9.91045055e-01 -1.18892931e-01 -6.07796813e-02 4.77223067e+02] [ 1.18712868e-01 9.92906837e-01 -6.57791408e-03 4.18342120e+01] [ 6.11306285e-02 -6.96321037e-04 9.98129531e-01 2.25579571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.25, Y:41.84, Z:22.56 [[ 9.91427434e-01 -1.15765546e-01 -6.05803763e-02 4.77251487e+02] [ 1.15579883e-01 9.93276448e-01 -6.57182684e-03 4.18368136e+01] [ 6.09338521e-02 -4.86383376e-04 9.98141688e-01 2.25600315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.28, Y:41.84, Z:22.56 [[ 9.91633799e-01 -1.14227284e-01 -6.01210175e-02 4.77279543e+02] [ 1.14040807e-01 9.93454572e-01 -6.53513143e-03 4.18383797e+01] [ 6.04739900e-02 -3.75792162e-04 9.98169703e-01 2.25594359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.31, Y:41.84, Z:22.56 [[ 9.91726964e-01 -1.13312838e-01 -6.03144206e-02 4.77306725e+02] [ 1.13122979e-01 9.93559310e-01 -6.56421173e-03 4.18416665e+01] [ 6.06697636e-02 -3.13041160e-04 9.98157844e-01 2.25626673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.33, Y:41.84, Z:22.56 [[ 9.91831936e-01 -1.12553547e-01 -6.00092498e-02 4.77334143e+02] [ 1.12363329e-01 9.93645629e-01 -6.54570225e-03 4.18435650e+01] [ 6.03646708e-02 -2.50602521e-04 9.98176359e-01 2.25640719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.36, Y:41.85, Z:22.57 [[ 9.91844427e-01 -1.12623847e-01 -5.96699386e-02 4.77361518e+02] [ 1.12435439e-01 9.93637665e-01 -6.51638921e-03 4.18450931e+01] [ 6.00241992e-02 -2.45771423e-04 9.98196892e-01 2.25654322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.39, Y:41.85, Z:22.57 [[ 9.91826258e-01 -1.13003786e-01 -5.92521606e-02 4.77389395e+02] [ 1.12817690e-01 9.93594526e-01 -6.48745930e-03 4.18466276e+01] [ 5.96057299e-02 -2.50259392e-04 9.98221966e-01 2.25677501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.42, Y:41.84, Z:22.57 [[ 9.91633109e-01 -1.14709039e-01 -5.92082188e-02 4.77417874e+02] [ 1.14525380e-01 9.93399075e-01 -6.49731789e-03 4.18446813e+01] [ 5.95626909e-02 -3.37888202e-04 9.98224510e-01 2.25682143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.45, Y:41.84, Z:22.57 [[ 9.91421331e-01 -1.16369242e-01 -5.95142343e-02 4.77446948e+02] [ 1.16186232e-01 9.93205926e-01 -6.53814001e-03 4.18448454e+01] [ 5.98707287e-02 -4.32683169e-04 9.98206045e-01 2.25693667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.48, Y:41.85, Z:22.57 [[ 9.91169300e-01 -1.18319996e-01 -5.98648215e-02 4.77475444e+02] [ 1.18137479e-01 9.92975371e-01 -6.59151836e-03 4.18453820e+01] [ 6.02242018e-02 -5.38968433e-04 9.98184730e-01 2.25714252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.50, Y:41.84, Z:22.57 [[ 9.90941795e-01 -1.20212946e-01 -5.98598905e-02 4.77503831e+02] [ 1.20033110e-01 9.92747922e-01 -6.60420956e-03 4.18442400e+01] [ 6.02196934e-02 -6.40781511e-04 9.98184942e-01 2.25712209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.53, Y:41.84, Z:22.57 [[ 9.90435355e-01 -1.24348782e-01 -5.97928763e-02 4.77532526e+02] [ 1.24176420e-01 9.92238177e-01 -6.60434614e-03 4.18427831e+01] [ 6.01500169e-02 -8.83687380e-04 9.98188957e-01 2.25741004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.56, Y:41.84, Z:22.57 [[ 9.90196108e-01 -1.26316323e-01 -5.96309893e-02 4.77560911e+02] [ 1.26147615e-01 9.91989523e-01 -6.60045696e-03 4.18425294e+01] [ 5.99870621e-02 -9.86560266e-04 9.98198667e-01 2.25747748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.59, Y:41.84, Z:22.58 [[ 9.89960260e-01 -1.28012440e-01 -5.99291117e-02 4.77588766e+02] [ 1.27844626e-01 9.91771967e-01 -6.64201322e-03 4.18422429e+01] [ 6.02862733e-02 -1.08628573e-03 9.98180537e-01 2.25757896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.62, Y:41.84, Z:22.58 [[ 9.89760773e-01 -1.29693318e-01 -5.96091855e-02 4.77617732e+02] [ 1.29529770e-01 9.91553462e-01 -6.61598105e-03 4.18434367e+01] [ 5.99637428e-02 -1.17292557e-03 9.98199867e-01 2.25775941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.65, Y:41.84, Z:22.58 [[ 9.89577720e-01 -1.31416320e-01 -5.88700849e-02 4.77646913e+02] [ 1.31258975e-01 9.91326483e-01 -6.54868533e-03 4.18434577e+01] [ 5.92200783e-02 -1.24679388e-03 9.98244172e-01 2.25793288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.67, Y:41.85, Z:22.58 [[ 9.89503417e-01 -1.31925316e-01 -5.89804899e-02 4.77674777e+02] [ 1.31767359e-01 9.91258853e-01 -6.57650392e-03 4.18452516e+01] [ 5.93325401e-02 -1.26423027e-03 9.98237472e-01 2.25808278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.70, Y:41.85, Z:22.58 [[ 9.89595753e-01 -1.31431628e-01 -5.85318132e-02 4.77702718e+02] [ 1.31274336e-01 9.91324499e-01 -6.54118586e-03 4.18472925e+01] [ 5.88837391e-02 -1.21059515e-03 9.98264113e-01 2.25819162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.73, Y:41.85, Z:22.58 [[ 9.89627950e-01 -1.31134105e-01 -5.86546383e-02 4.77730021e+02] [ 1.30975176e-01 9.91363927e-01 -6.56258422e-03 4.18506432e+01] [ 5.90086711e-02 -1.18778481e-03 9.98256764e-01 2.25839114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.76, Y:41.85, Z:22.58 [[ 9.89761771e-01 -1.30293895e-01 -5.82678066e-02 4.77758292e+02] [ 1.30134724e-01 9.91474789e-01 -6.53425191e-03 4.18518474e+01] [ 5.86224344e-02 -1.11531221e-03 9.98279603e-01 2.25846817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.79, Y:41.85, Z:22.59 [[ 9.89725130e-01 -1.30572304e-01 -5.82669767e-02 4.77785515e+02] [ 1.30413181e-01 9.91438152e-01 -6.54164351e-03 4.18549740e+01] [ 5.86222612e-02 -1.12435280e-03 9.98279603e-01 2.25859863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.81, Y:41.86, Z:22.59 [[ 9.89817649e-01 -1.30079056e-01 -5.77967175e-02 4.77814006e+02] [ 1.29920722e-01 9.91503048e-01 -6.50481271e-03 4.18574397e+01] [ 5.81517614e-02 -1.07041283e-03 9.98307181e-01 2.25875307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.84, Y:41.86, Z:22.59 [[ 9.90027420e-01 -1.28885798e-01 -5.68696684e-02 4.77842366e+02] [ 1.28729737e-01 9.91658968e-01 -6.41444903e-03 4.18596499e+01] [ 5.72220481e-02 -9.70337060e-04 9.98361005e-01 2.25902516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.87, Y:41.86, Z:22.59 [[ 9.90071733e-01 -1.28834333e-01 -5.62110146e-02 4.77870730e+02] [ 1.28680988e-01 9.91665683e-01 -6.35423437e-03 4.18620566e+01] [ 5.65611777e-02 -9.42141043e-04 9.98398691e-01 2.25919707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.90, Y:41.86, Z:22.59 [[ 9.90056341e-01 -1.29071134e-01 -5.59382230e-02 4.77898690e+02] [ 1.28918836e-01 9.91634895e-01 -6.33787883e-03 4.18639451e+01] [ 5.62883311e-02 -9.36633458e-04 9.98414116e-01 2.25939309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.93, Y:41.86, Z:22.60 [[ 9.90010769e-01 -1.29440750e-01 -5.58906954e-02 4.77926191e+02] [ 1.29288480e-01 9.91586710e-01 -6.34703922e-03 4.18635976e+01] [ 5.62420363e-02 -9.42385876e-04 9.98416719e-01 2.25954080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.95, Y:41.86, Z:22.60 [[ 9.89922017e-01 -1.30060957e-01 -5.60227443e-02 4.77954281e+02] [ 1.29908575e-01 9.91505522e-01 -6.36882801e-03 4.18648008e+01] [ 5.63751962e-02 -9.73191788e-04 9.98409180e-01 2.25961530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:477.98, Y:41.87, Z:22.60 [[ 9.89795395e-01 -1.30858647e-01 -5.64011488e-02 4.77982128e+02] [ 1.30704671e-01 9.91400520e-01 -6.42628268e-03 4.18658714e+01] [ 5.67570629e-02 -1.01118858e-03 9.98387507e-01 2.25968093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.01, Y:41.87, Z:22.60 [[ 9.89616838e-01 -1.31962911e-01 -5.69587918e-02 4.78010889e+02] [ 1.31807318e-01 9.91254068e-01 -6.49646821e-03 4.18670632e+01] [ 5.73179270e-02 -1.07857127e-03 9.98355394e-01 2.25977130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.04, Y:41.87, Z:22.60 [[ 9.89424201e-01 -1.33260845e-01 -5.72826065e-02 4.78039401e+02] [ 1.33104823e-01 9.91080337e-01 -6.54770871e-03 4.18685103e+01] [ 5.76442182e-02 -1.14612974e-03 9.98336532e-01 2.25989231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.07, Y:41.87, Z:22.60 [[ 9.89077556e-01 -1.35766681e-01 -5.73846334e-02 4.78067912e+02] [ 1.35613575e-01 9.90740009e-01 -6.57214217e-03 4.18666879e+01] [ 5.77455301e-02 -1.28177694e-03 9.98330512e-01 2.25994759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.10, Y:41.87, Z:22.60 [[ 9.88808421e-01 -1.37653199e-01 -5.75282793e-02 4.78096316e+02] [ 1.37502119e-01 9.90479514e-01 -6.59537658e-03 4.18678846e+01] [ 5.78884569e-02 -1.38869643e-03 9.98322091e-01 2.26008131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.13, Y:41.87, Z:22.60 [[ 9.88626719e-01 -1.39131902e-01 -5.70922522e-02 4.78125311e+02] [ 1.38984749e-01 9.90272796e-01 -6.55958805e-03 4.18693741e+01] [ 5.74495522e-02 -1.44996833e-03 9.98347358e-01 2.26023757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.15, Y:41.87, Z:22.60 [[ 9.88449675e-01 -1.40342880e-01 -5.71936740e-02 4.78153567e+02] [ 1.40196458e-01 9.90101811e-01 -6.58457480e-03 4.18703198e+01] [ 5.75516584e-02 -1.50982971e-03 9.98341388e-01 2.26038458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.18, Y:41.87, Z:22.61 [[ 9.88309076e-01 -1.41892735e-01 -5.57819101e-02 4.78181805e+02] [ 1.41755494e-01 9.89880821e-01 -6.42961421e-03 4.18700083e+01] [ 5.61297586e-02 -1.55294614e-03 9.98422275e-01 2.26056778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.21, Y:41.87, Z:22.61 [[ 9.88240419e-01 -1.42615736e-01 -5.51509409e-02 4.78210028e+02] [ 1.42482228e-01 9.89776892e-01 -6.36548395e-03 4.18728502e+01] [ 5.54949450e-02 -1.56740044e-03 9.98457738e-01 2.26074517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.24, Y:41.88, Z:22.61 [[ 9.88210818e-01 -1.42832084e-01 -5.51214554e-02 4.78237963e+02] [ 1.42698177e-01 9.89745701e-01 -6.37789688e-03 4.18756571e+01] [ 5.54671918e-02 -1.56302449e-03 9.98459287e-01 2.26089908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.27, Y:41.88, Z:22.61 [[ 9.88173801e-01 -1.43198776e-01 -5.48329178e-02 4.78265892e+02] [ 1.43065959e-01 9.89692719e-01 -6.36030139e-03 4.18791851e+01] [ 5.51785269e-02 -1.55964076e-03 9.98475286e-01 2.26104669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.29, Y:41.88, Z:22.61 [[ 9.88123051e-01 -1.43571623e-01 -5.47724761e-02 4.78293274e+02] [ 1.43438783e-01 9.89638695e-01 -6.36937201e-03 4.18815812e+01] [ 5.51194229e-02 -1.56277399e-03 9.98478546e-01 2.26116983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.32, Y:41.88, Z:22.61 [[ 9.88076702e-01 -1.43837918e-01 -5.49097763e-02 4.78321020e+02] [ 1.43704014e-01 9.89600019e-01 -6.39990873e-03 4.18834105e+01] [ 5.52592652e-02 -1.56715457e-03 9.98470810e-01 2.26127787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.35, Y:41.88, Z:22.61 [[ 9.87843534e-01 -1.45500484e-01 -5.47244216e-02 4.78348852e+02] [ 1.45369736e-01 9.89356806e-01 -6.38362543e-03 4.18835641e+01] [ 5.50707996e-02 -1.64925165e-03 9.98481090e-01 2.26135642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.38, Y:41.89, Z:22.61 [[ 9.87590409e-01 -1.47159738e-01 -5.48561305e-02 4.78377675e+02] [ 1.47030441e-01 9.89111213e-01 -6.40755778e-03 4.18861327e+01] [ 5.52017483e-02 -1.73747846e-03 9.98473709e-01 2.26148430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.41, Y:41.89, Z:22.62 [[ 9.87351437e-01 -1.48810211e-01 -5.47052148e-02 4.78406113e+02] [ 1.48683387e-01 9.88864117e-01 -6.40380893e-03 4.18877296e+01] [ 5.50489761e-02 -1.81094670e-03 9.98482013e-01 2.26159540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.43, Y:41.89, Z:22.62 [[ 9.87041026e-01 -1.50899631e-01 -5.45830896e-02 4.78434904e+02] [ 1.50775797e-01 9.88547245e-01 -6.40338207e-03 4.18890533e+01] [ 5.49242308e-02 -1.90940806e-03 9.98488700e-01 2.26173908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.46, Y:41.89, Z:22.62 [[ 9.86509431e-01 -1.54613219e-01 -5.37949370e-02 4.78464506e+02] [ 1.54497781e-01 9.87972901e-01 -6.32312234e-03 4.18886112e+01] [ 5.41255783e-02 -2.07337859e-03 9.98531984e-01 2.26184327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.49, Y:41.89, Z:22.62 [[ 9.86264679e-01 -1.56306557e-01 -5.33876785e-02 4.78492617e+02] [ 1.56195110e-01 9.87706260e-01 -6.27942735e-03 4.18938166e+01] [ 5.37128600e-02 -2.14571695e-03 9.98554117e-01 2.26203103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.52, Y:41.89, Z:22.62 [[ 9.86068073e-01 -1.57573558e-01 -5.32947338e-02 4.78520012e+02] [ 1.57463639e-01 9.87504807e-01 -6.28164839e-03 4.18945381e+01] [ 5.36186275e-02 -2.19784978e-03 9.98559068e-01 2.26210666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.55, Y:41.90, Z:22.62 [[ 9.85909780e-01 -1.58574890e-01 -5.32532651e-02 4.78547748e+02] [ 1.58466284e-01 9.87344401e-01 -6.28261821e-03 4.18960083e+01] [ 5.35755786e-02 -2.24475231e-03 9.98561274e-01 2.26220492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.58, Y:41.90, Z:22.62 [[ 9.85755085e-01 -1.59586810e-01 -5.30938993e-02 4.78576146e+02] [ 1.59480006e-01 9.87181250e-01 -6.26964382e-03 4.18990312e+01] [ 5.34138543e-02 -2.28708208e-03 9.98569842e-01 2.26234790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.60, Y:41.90, Z:22.62 [[ 9.85659358e-01 -1.60205686e-01 -5.30072482e-02 4.78604851e+02] [ 1.60099397e-01 9.87080966e-01 -6.27300351e-03 4.19039690e+01] [ 5.33274166e-02 -2.30338388e-03 9.98574424e-01 2.26249711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.63, Y:41.90, Z:22.63 [[ 9.85654147e-01 -1.60291546e-01 -5.28443316e-02 4.78631849e+02] [ 1.60185338e-01 9.87067062e-01 -6.26675500e-03 4.19022105e+01] [ 5.31654070e-02 -2.28803407e-03 9.98583098e-01 2.26250231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.66, Y:41.91, Z:22.63 [[ 9.85617338e-01 -1.60549587e-01 -5.27474405e-02 4.78659040e+02] [ 1.60443729e-01 9.87025119e-01 -6.26293544e-03 4.19077789e+01] [ 5.30685604e-02 -2.29013829e-03 9.98588245e-01 2.26266981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.69, Y:41.92, Z:22.63 [[ 9.85652134e-01 -1.60634751e-01 -5.18299859e-02 4.78686519e+02] [ 1.60531910e-01 9.87011376e-01 -6.16837679e-03 4.19166111e+01] [ 5.21476414e-02 -2.24049292e-03 9.98636873e-01 2.26287124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.71, Y:41.92, Z:22.63 [[ 9.85599133e-01 -1.61008127e-01 -5.16791200e-02 4.78714265e+02] [ 1.60905683e-01 9.86950538e-01 -6.16411038e-03 4.19206612e+01] [ 5.19972071e-02 -2.24012224e-03 9.98644718e-01 2.26299673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.74, Y:41.92, Z:22.63 [[ 9.85598939e-01 -1.61191231e-01 -5.11088803e-02 4.78741436e+02] [ 1.61090517e-01 9.86920717e-01 -6.11093398e-03 4.19212077e+01] [ 5.14254418e-02 -2.21022589e-03 9.98674391e-01 2.26311173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.77, Y:41.92, Z:22.63 [[ 9.85531160e-01 -1.61663557e-01 -5.09237392e-02 4.78769321e+02] [ 1.61563647e-01 9.86843444e-01 -6.09957365e-03 4.19243159e+01] [ 5.12398369e-02 -2.21610514e-03 9.98683918e-01 2.26325054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.80, Y:41.93, Z:22.63 [[ 9.85384609e-01 -1.62841088e-01 -4.99995270e-02 4.78797219e+02] [ 1.62745601e-01 9.86649806e-01 -6.00242478e-03 4.19294170e+01] [ 5.03094650e-02 -2.22250605e-03 9.98731204e-01 2.26338427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.83, Y:41.93, Z:22.64 [[ 9.85237518e-01 -1.63748896e-01 -4.99332686e-02 4.78825913e+02] [ 1.63654572e-01 9.86499461e-01 -5.99948301e-03 4.19326803e+01] [ 5.02415513e-02 -2.26089194e-03 9.98734537e-01 2.26351852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.85, Y:41.93, Z:22.64 [[ 9.85098197e-01 -1.64544342e-01 -5.00669726e-02 4.78853737e+02] [ 1.64449913e-01 9.86367016e-01 -6.02789358e-03 4.19345914e+01] [ 5.03762661e-02 -2.29544221e-03 9.98727672e-01 2.26364763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.88, Y:41.94, Z:22.64 [[ 9.84870515e-01 -1.65889726e-01 -5.01065576e-02 4.78882245e+02] [ 1.65796630e-01 9.86141483e-01 -6.03769160e-03 4.19406565e+01] [ 5.04137460e-02 -2.36115394e-03 9.98725628e-01 2.26378429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.91, Y:41.94, Z:22.64 [[ 9.84660142e-01 -1.67011657e-01 -5.05124840e-02 4.78910230e+02] [ 1.66917872e-01 9.85951937e-01 -6.09929470e-03 4.19406015e+01] [ 5.08215348e-02 -2.42570397e-03 9.98704805e-01 2.26386601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.94, Y:41.95, Z:22.64 [[ 9.84399919e-01 -1.68478658e-01 -5.07123375e-02 4.78938353e+02] [ 1.68385802e-01 9.85702116e-01 -6.12869151e-03 4.19452917e+01] [ 5.10198121e-02 -2.50615420e-03 9.98694497e-01 2.26402358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.97, Y:41.95, Z:22.64 [[ 9.84093996e-01 -1.70292860e-01 -5.05900010e-02 4.78967597e+02] [ 1.70202220e-01 9.85390113e-01 -6.12606652e-03 4.19478121e+01] [ 5.08941122e-02 -2.58190522e-03 9.98700717e-01 2.26414786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:478.99, Y:41.95, Z:22.64 [[ 9.83894207e-01 -1.71449348e-01 -5.05698611e-02 4.78994960e+02] [ 1.71360192e-01 9.85189403e-01 -6.12579578e-03 4.19499997e+01] [ 5.08711550e-02 -2.63852615e-03 9.98701739e-01 2.26429063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.02, Y:41.96, Z:22.64 [[ 9.83775030e-01 -1.72261013e-01 -5.01281637e-02 4.79023558e+02] [ 1.72174102e-01 9.85047776e-01 -6.07932653e-03 4.19562846e+01] [ 5.04258671e-02 -2.65008194e-03 9.98724291e-01 2.26446371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.05, Y:41.96, Z:22.65 [[ 9.83731660e-01 -1.72666465e-01 -4.95813854e-02 4.79051658e+02] [ 1.72581339e-01 9.84976841e-01 -6.02528258e-03 4.19591571e+01] [ 4.98768806e-02 -2.62956066e-03 9.98751912e-01 2.26462850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.08, Y:41.97, Z:22.65 [[ 9.83803825e-01 -1.72303930e-01 -4.94104102e-02 4.79080230e+02] [ 1.72218693e-01 9.85040410e-01 -6.00937247e-03 4.19652287e+01] [ 4.97066892e-02 -2.59735262e-03 9.98760481e-01 2.26482518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.11, Y:41.97, Z:22.65 [[ 9.83903186e-01 -1.71697950e-01 -4.95412350e-02 4.79108447e+02] [ 1.71610863e-01 9.85146311e-01 -6.03793860e-03 4.19676164e+01] [ 4.98420666e-02 -2.56106707e-03 9.98753828e-01 2.26492892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.14, Y:41.98, Z:22.65 [[ 9.84041701e-01 -1.70790884e-01 -4.99239808e-02 4.79136718e+02] [ 1.70700643e-01 9.85304072e-01 -6.09730104e-03 4.19760306e+01] [ 5.02316650e-02 -2.52205714e-03 9.98734409e-01 2.26508392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.16, Y:41.98, Z:22.65 [[ 9.84241639e-01 -1.69586701e-01 -5.00873907e-02 4.79164765e+02] [ 1.69493666e-01 9.85512211e-01 -6.13010710e-03 4.19831498e+01] [ 5.04013198e-02 -2.45598882e-03 9.98726026e-01 2.26524523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.19, Y:41.99, Z:22.65 [[ 9.84869074e-01 -1.65781591e-01 -5.04912994e-02 4.79192936e+02] [ 1.65681427e-01 9.86159888e-01 -6.19198490e-03 4.19902505e+01] [ 5.08190113e-02 -2.26717612e-03 9.98705306e-01 2.26533611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.22, Y:42.00, Z:22.65 [[ 9.85197913e-01 -1.63746717e-01 -5.07157200e-02 4.79221106e+02] [ 1.63642869e-01 9.86500028e-01 -6.22149998e-03 4.19968500e+01] [ 5.10498094e-02 -2.16985713e-03 9.98693751e-01 2.26545266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.25, Y:42.00, Z:22.66 [[ 9.85514112e-01 -1.61572184e-01 -5.15399384e-02 4.79248867e+02] [ 1.61461769e-01 9.86858690e-01 -6.32639328e-03 4.20013911e+01] [ 5.18848052e-02 -2.08697976e-03 9.98650896e-01 2.26558429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.28, Y:42.01, Z:22.66 [[ 9.85841407e-01 -1.59484269e-01 -5.17830859e-02 4.79277322e+02] [ 1.59369741e-01 9.87198479e-01 -6.35996683e-03 4.20077902e+01] [ 5.21344983e-02 -1.98273832e-03 9.98638104e-01 2.26571997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.31, Y:42.02, Z:22.66 [[ 9.86468985e-01 -1.55377179e-01 -5.23151421e-02 4.79305614e+02] [ 1.55254330e-01 9.87853614e-01 -6.42886220e-03 4.20186158e+01] [ 5.26786006e-02 -1.78027916e-03 9.98609932e-01 2.26590692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.33, Y:42.02, Z:22.66 [[ 9.86765372e-01 -1.53457325e-01 -5.23922715e-02 4.79333345e+02] [ 1.53331296e-01 9.88153851e-01 -6.44051789e-03 4.20223826e+01] [ 5.27599695e-02 -1.67809486e-03 9.98605813e-01 2.26605376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.36, Y:42.03, Z:22.66 [[ 9.87023397e-01 -1.51734520e-01 -5.25494954e-02 4.79361570e+02] [ 1.51605001e-01 9.88420013e-01 -6.46538676e-03 4.20316482e+01] [ 5.29219953e-02 -1.58527830e-03 9.98597391e-01 2.26629493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.39, Y:42.04, Z:22.66 [[ 9.87231609e-01 -1.50224828e-01 -5.29740564e-02 4.79388747e+02] [ 1.50090382e-01 9.88650716e-01 -6.52987502e-03 4.20353259e+01] [ 5.33537881e-02 -1.50439736e-03 9.98574539e-01 2.26641056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.42, Y:42.04, Z:22.67 [[ 9.87581374e-01 -1.47715043e-01 -5.35097703e-02 4.79416059e+02] [ 1.47573809e-01 9.89029005e-01 -6.60286055e-03 4.20418791e+01] [ 5.38980568e-02 -1.37577853e-03 9.98545496e-01 2.26651240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.44, Y:42.05, Z:22.67 [[ 9.87630163e-01 -1.47288682e-01 -5.37838738e-02 4.79443974e+02] [ 1.47145046e-01 9.89092620e-01 -6.64256822e-03 4.20488992e+01] [ 5.41756078e-02 -1.35362985e-03 9.98530506e-01 2.26670969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.47, Y:42.05, Z:22.67 [[ 9.87699752e-01 -1.46799342e-01 -5.38437870e-02 4.79471773e+02] [ 1.46653968e-01 9.89165417e-01 -6.66268946e-03 4.20531886e+01] [ 5.42384905e-02 -1.31566829e-03 9.98527143e-01 2.26681102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.50, Y:42.06, Z:22.67 [[ 9.87704403e-01 -1.46673760e-01 -5.41000938e-02 4.79499133e+02] [ 1.46526499e-01 9.89184055e-01 -6.70009138e-03 4.20551230e+01] [ 5.44976778e-02 -1.30938761e-03 9.98513039e-01 2.26687913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.53, Y:42.06, Z:22.67 [[ 9.87775180e-01 -1.46489800e-01 -5.33003925e-02 4.79527160e+02] [ 1.46346011e-01 9.89211367e-01 -6.61192460e-03 4.20646570e+01] [ 5.36939336e-02 -1.26920479e-03 9.98556634e-01 2.26712894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.56, Y:42.07, Z:22.67 [[ 9.87737740e-01 -1.46742650e-01 -5.32986977e-02 4.79555183e+02] [ 1.46598493e-01 9.89173890e-01 -6.62555965e-03 4.20681740e+01] [ 5.36939323e-02 -1.26919344e-03 9.98556634e-01 2.26726355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.58, Y:42.07, Z:22.67 [[ 9.87743904e-01 -1.46851753e-01 -5.28823570e-02 4.79582384e+02] [ 1.46709320e-01 9.89157719e-01 -6.58647528e-03 4.20713204e+01] [ 5.32762271e-02 -1.25258382e-03 9.98579028e-01 2.26743496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.61, Y:42.08, Z:22.68 [[ 9.87737650e-01 -1.47060319e-01 -5.24175353e-02 4.79610409e+02] [ 1.46920376e-01 9.89126740e-01 -6.53420536e-03 4.20762161e+01] [ 5.28085081e-02 -1.24712333e-03 9.98603879e-01 2.26761478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.64, Y:42.08, Z:22.68 [[ 9.87722680e-01 -1.47366108e-01 -5.18375998e-02 4.79639057e+02] [ 1.47228987e-01 9.89081241e-01 -6.47489264e-03 4.20811215e+01] [ 5.22257773e-02 -1.23659901e-03 9.98634537e-01 2.26779289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.67, Y:42.09, Z:22.68 [[ 9.87732311e-01 -1.47480823e-01 -5.13253225e-02 4.79667725e+02] [ 1.47345884e-01 9.89064166e-01 -6.42385422e-03 4.20856482e+01] [ 5.17114326e-02 -1.21752664e-03 9.98661327e-01 2.26794459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.70, Y:42.09, Z:22.68 [[ 9.87860629e-01 -1.47007492e-01 -5.02013468e-02 4.79696775e+02] [ 1.46877188e-01 9.89134705e-01 -6.29506705e-03 4.20913298e+01] [ 5.05813164e-02 -1.15478376e-03 9.98719278e-01 2.26813203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.73, Y:42.10, Z:22.68 [[ 9.87983355e-01 -1.46375307e-01 -4.96302227e-02 4.79725999e+02] [ 1.46247065e-01 9.89228509e-01 -6.22525527e-03 4.20963376e+01] [ 5.00068548e-02 -1.10782580e-03 9.98748260e-01 2.26827891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.75, Y:42.10, Z:22.68 [[ 9.88142328e-01 -1.45403546e-01 -4.93208681e-02 4.79754141e+02] [ 1.45275595e-01 9.89371875e-01 -6.18832536e-03 4.21002391e+01] [ 4.96964841e-02 -1.05017224e-03 9.98763814e-01 2.26839365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.78, Y:42.11, Z:22.69 [[ 9.88223063e-01 -1.44854065e-01 -4.93201475e-02 4.79783479e+02] [ 1.44725273e-01 9.89452506e-01 -6.19148376e-03 4.21057602e+01] [ 4.96968051e-02 -1.01930474e-03 9.98763830e-01 2.26851530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.81, Y:42.11, Z:22.69 [[ 9.88427077e-01 -1.43356837e-01 -4.96057449e-02 4.79812770e+02] [ 1.43224574e-01 9.89670611e-01 -6.22914827e-03 4.21115900e+01] [ 4.99863389e-02 -9.47702878e-04 9.98749452e-01 2.26855033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.84, Y:42.12, Z:22.69 [[ 9.88497466e-01 -1.42708040e-01 -5.00717085e-02 4.79842310e+02] [ 1.42572355e-01 9.89764399e-01 -6.28950519e-03 4.21161835e+01] [ 5.04567574e-02 -9.21681432e-04 9.98725821e-01 2.26862652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.87, Y:42.12, Z:22.69 [[ 9.88619819e-01 -1.41713720e-01 -5.04784684e-02 4.79870796e+02] [ 1.41574425e-01 9.89907296e-01 -6.34255953e-03 4.21200748e+01] [ 5.08678318e-02 -8.76080104e-04 9.98705010e-01 2.26865464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.90, Y:42.12, Z:22.69 [[ 9.88729712e-01 -1.40811105e-01 -5.08506671e-02 4.79898924e+02] [ 1.40668381e-01 9.90036131e-01 -6.39271102e-03 4.21237790e+01] [ 5.12441624e-02 -8.32417698e-04 9.98685808e-01 2.26868606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.93, Y:42.13, Z:22.69 [[ 9.89018893e-01 -1.38622411e-01 -5.12392046e-02 4.79927562e+02] [ 1.38474422e-01 9.90345044e-01 -6.44426045e-03 4.21301693e+01] [ 5.16378113e-02 -7.21823891e-04 9.98665617e-01 2.26879074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.96, Y:42.13, Z:22.69 [[ 9.89220350e-01 -1.37282408e-01 -5.09572340e-02 4.79955634e+02] [ 1.37134168e-01 9.90531737e-01 -6.41070962e-03 4.21341015e+01] [ 5.13548352e-02 -6.46373478e-04 9.98680261e-01 2.26892704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:479.98, Y:42.14, Z:22.69 [[ 9.89391855e-01 -1.35941133e-01 -5.12227059e-02 4.79984626e+02] [ 1.35789407e-01 9.90716748e-01 -6.44682317e-03 4.21399129e+01] [ 5.16235811e-02 -5.77066522e-04 9.98666447e-01 2.26910066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.01, Y:42.14, Z:22.69 [[ 9.89550911e-01 -1.34647507e-01 -5.15659073e-02 4.80013714e+02] [ 1.34491886e-01 9.90893429e-01 -6.49191477e-03 4.21441615e+01] [ 5.19704388e-02 -5.11115963e-04 9.98648493e-01 2.26922735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.04, Y:42.15, Z:22.69 [[ 9.89892044e-01 -1.32039736e-01 -5.17614630e-02 4.80042205e+02] [ 1.31879265e-01 9.91244354e-01 -6.51850220e-03 4.21488621e+01] [ 5.21689592e-02 -3.73650230e-04 9.98638203e-01 2.26931678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.07, Y:42.15, Z:22.69 [[ 9.90030095e-01 -1.31009032e-01 -5.17401644e-02 4.80071307e+02] [ 1.30847145e-01 9.91381124e-01 -6.51853371e-03 4.21534947e+01] [ 5.21482092e-02 -3.16508273e-04 9.98639306e-01 2.26947376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.10, Y:42.16, Z:22.70 [[ 9.90161070e-01 -1.29953485e-01 -5.18955371e-02 4.80099356e+02] [ 1.29789068e-01 9.91520057e-01 -6.54015379e-03 4.21574598e+01] [ 5.23053817e-02 -2.59667721e-04 9.98631103e-01 2.26958949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.13, Y:42.16, Z:22.70 [[ 9.90274776e-01 -1.29127503e-01 -5.17876106e-02 4.80128516e+02] [ 1.28962464e-01 9.91627976e-01 -6.52992285e-03 4.21617945e+01] [ 5.21972362e-02 -2.12239989e-04 9.98636773e-01 2.26974306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.16, Y:42.17, Z:22.70 [[ 9.90350079e-01 -1.28503709e-01 -5.18991184e-02 4.80157102e+02] [ 1.28336997e-01 9.91709012e-01 -6.54599467e-03 4.21657604e+01] [ 5.23100081e-02 -1.77750679e-04 9.98630878e-01 2.26987142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.19, Y:42.17, Z:22.70 [[ 9.90372726e-01 -1.28476136e-01 -5.15339227e-02 4.80185966e+02] [ 1.28311506e-01 9.91712586e-01 -6.50416795e-03 4.21695614e+01] [ 5.19424701e-02 -1.70844685e-04 9.98650064e-01 2.27001105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.21, Y:42.17, Z:22.70 [[ 9.90348953e-01 -1.28691501e-01 -5.14533572e-02 4.80213768e+02] [ 1.28527052e-01 9.91684662e-01 -6.50602248e-03 4.21726508e+01] [ 5.18627750e-02 -1.69915760e-04 9.98654206e-01 2.27017018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.24, Y:42.18, Z:22.70 [[ 9.90243251e-01 -1.29583067e-01 -5.12497138e-02 4.80242265e+02] [ 1.29420846e-01 9.91568547e-01 -6.48539511e-03 4.21755018e+01] [ 5.16580017e-02 -2.10662568e-04 9.98664812e-01 2.27032292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.27, Y:42.18, Z:22.71 [[ 9.90097788e-01 -1.30660493e-01 -5.13245070e-02 4.80271981e+02] [ 1.30498633e-01 9.91427138e-01 -6.50664450e-03 4.21787776e+01] [ 5.17346705e-02 -2.55563688e-04 9.98660833e-01 2.27050518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.30, Y:42.18, Z:22.71 [[ 9.89566487e-01 -1.34489605e-01 -5.16789578e-02 4.80301255e+02] [ 1.34330617e-01 9.90914899e-01 -6.55347449e-03 4.21803148e+01] [ 5.20908234e-02 -4.56967574e-04 9.98642247e-01 2.27067718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.33, Y:42.18, Z:22.71 [[ 9.89221888e-01 -1.36985118e-01 -5.17216953e-02 4.80330982e+02] [ 1.36829175e-01 9.90572932e-01 -6.56080190e-03 4.21822976e+01] [ 5.21328435e-02 -5.86948038e-04 9.98639986e-01 2.27080714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.36, Y:42.18, Z:22.71 [[ 9.88809892e-01 -1.39895053e-01 -5.18109235e-02 4.80360241e+02] [ 1.39742461e-01 9.90166060e-01 -6.57402495e-03 4.21840040e+01] [ 5.22210916e-02 -7.39725040e-04 9.98635274e-01 2.27094073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.39, Y:42.18, Z:22.71 [[ 9.87807391e-01 -1.46801680e-01 -5.18249426e-02 4.80389363e+02] [ 1.46658387e-01 9.89165330e-01 -6.57779699e-03 4.21821002e+01] [ 5.22290681e-02 -1.10296599e-03 9.98634522e-01 2.27106376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.42, Y:42.18, Z:22.71 [[ 9.87249223e-01 -1.50452724e-01 -5.19899018e-02 4.80418913e+02] [ 1.50313425e-01 9.88616354e-01 -6.60150783e-03 4.21841503e+01] [ 5.23912819e-02 -1.29744671e-03 9.98625791e-01 2.27121658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.45, Y:42.18, Z:22.71 [[ 9.86635326e-01 -1.54364340e-01 -5.21764676e-02 4.80447527e+02] [ 1.54229384e-01 9.88012842e-01 -6.62734915e-03 4.21842393e+01] [ 5.25740464e-02 -1.50836764e-03 9.98615889e-01 2.27133693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.48, Y:42.19, Z:22.71 [[ 9.85987000e-01 -1.58229502e-01 -5.28494099e-02 4.80477062e+02] [ 1.58096371e-01 9.87400842e-01 -6.71676325e-03 4.21850972e+01] [ 5.32463420e-02 -1.73265868e-03 9.98579904e-01 2.27148129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.51, Y:42.19, Z:22.72 [[ 9.84636364e-01 -1.66106300e-01 -5.38509844e-02 4.80507860e+02] [ 1.65979718e-01 9.86105404e-01 -6.84581604e-03 4.21850716e+01] [ 5.42398799e-02 -2.19753182e-03 9.98525516e-01 2.27163955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.54, Y:42.19, Z:22.72 [[ 9.83972493e-01 -1.69969717e-01 -5.39298545e-02 4.80537632e+02] [ 1.69848537e-01 9.85446330e-01 -6.85603822e-03 4.21864590e+01] [ 5.43102961e-02 -2.41375389e-03 9.98521189e-01 2.27179076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.57, Y:42.19, Z:22.72 [[ 9.83335300e-01 -1.73433918e-01 -5.45193982e-02 4.80567185e+02] [ 1.73315324e-01 9.84841990e-01 -6.93200421e-03 4.21862260e+01] [ 5.48952373e-02 -2.63256273e-03 9.98488649e-01 2.27193594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.60, Y:42.19, Z:22.72 [[ 9.82721187e-01 -1.76879212e-01 -5.45235130e-02 4.80597064e+02] [ 1.76765858e-01 9.84228513e-01 -6.93297719e-03 4.21882053e+01] [ 5.48898957e-02 -2.82471198e-03 9.98488418e-01 2.27211962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.63, Y:42.19, Z:22.72 [[ 9.82166996e-01 -1.79904164e-01 -5.46121274e-02 4.80626443e+02] [ 1.79795044e-01 9.83679575e-01 -6.94522444e-03 4.21895467e+01] [ 5.49703091e-02 -2.99761963e-03 9.98483490e-01 2.27232603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.66, Y:42.20, Z:22.73 [[ 9.81742679e-01 -1.82173628e-01 -5.47181974e-02 4.80655478e+02] [ 1.82067532e-01 9.83261397e-01 -6.95983236e-03 4.21960697e+01] [ 5.50701891e-02 -3.12964266e-03 9.98477581e-01 2.27257154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.69, Y:42.20, Z:22.73 [[ 9.81197346e-01 -1.85031805e-01 -5.49090114e-02 4.80685208e+02] [ 1.84929318e-01 9.82726993e-01 -6.98598497e-03 4.22005339e+01] [ 5.52531971e-02 -3.29965612e-03 9.98466923e-01 2.27286812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.71, Y:42.21, Z:22.73 [[ 9.81052829e-01 -1.85724092e-01 -5.51534996e-02 4.80713176e+02] [ 1.85621615e-01 9.82596222e-01 -7.02006298e-03 4.22069974e+01] [ 5.54974151e-02 -3.35062901e-03 9.98453209e-01 2.27306580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.74, Y:42.21, Z:22.73 [[ 9.81050932e-01 -1.85668221e-01 -5.53749126e-02 4.80741586e+02] [ 1.85564109e-01 9.82606789e-01 -7.06118193e-03 4.22106401e+01] [ 5.57228021e-02 -3.34821719e-03 9.98440664e-01 2.27319552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.77, Y:42.22, Z:22.73 [[ 9.81205026e-01 -1.84741971e-01 -5.57413683e-02 4.80770191e+02] [ 1.84634799e-01 9.82781471e-01 -7.11130266e-03 4.22175711e+01] [ 5.60953400e-02 -3.31415039e-03 9.98419916e-01 2.27336474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.80, Y:42.23, Z:22.74 [[ 9.81786855e-01 -1.81474563e-01 -5.62277068e-02 4.80798806e+02] [ 1.81360055e-01 9.83390585e-01 -7.17544246e-03 4.22255126e+01] [ 5.65959578e-02 -3.15270495e-03 9.98392186e-01 2.27350242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.83, Y:42.23, Z:22.74 [[ 9.82107468e-01 -1.79615322e-01 -5.65973329e-02 4.80827157e+02] [ 1.79496001e-01 9.83732160e-01 -7.22659640e-03 4.22329431e+01] [ 5.69746239e-02 -3.06170063e-03 9.98370932e-01 2.27368104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.86, Y:42.24, Z:22.74 [[ 9.82509568e-01 -1.77386938e-01 -5.66464664e-02 4.80855985e+02] [ 1.77263059e-01 9.84136843e-01 -7.24439682e-03 4.22406926e+01] [ 5.70329360e-02 -2.92363673e-03 9.98368017e-01 2.27385380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.89, Y:42.25, Z:22.74 [[ 9.82901176e-01 -1.75098335e-01 -5.69723773e-02 4.80885112e+02] [ 1.74969074e-01 9.84546955e-01 -7.28816755e-03 4.22476020e+01] [ 5.73681266e-02 -2.80485566e-03 9.98349153e-01 2.27400398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.91, Y:42.25, Z:22.74 [[ 9.83338759e-01 -1.72672410e-01 -5.68253777e-02 4.80913561e+02] [ 1.72539658e-01 9.84975732e-01 -7.27141923e-03 4.22534681e+01] [ 5.72271915e-02 -2.65436284e-03 9.98357653e-01 2.27415087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.94, Y:42.26, Z:22.74 [[ 9.84166726e-01 -1.68197203e-01 -5.59066748e-02 4.80942237e+02] [ 1.68061398e-01 9.85750558e-01 -7.15568743e-03 4.22647995e+01] [ 5.63136025e-02 -2.35336444e-03 9.98410356e-01 2.27441911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:480.97, Y:42.27, Z:22.75 [[ 9.84485040e-01 -1.66517084e-01 -5.53287233e-02 4.80971608e+02] [ 1.66381371e-01 9.86036041e-01 -7.08268303e-03 4.22724089e+01] [ 5.57355030e-02 -2.23287335e-03 9.98443072e-01 2.27461057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.00, Y:42.28, Z:22.75 [[ 9.84820319e-01 -1.64711726e-01 -5.47630074e-02 4.81001389e+02] [ 1.64575942e-01 9.86339497e-01 -7.01109225e-03 4.22803213e+01] [ 5.51697263e-02 -2.10800745e-03 9.98474766e-01 2.27480910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.03, Y:42.28, Z:22.75 [[ 9.85060874e-01 -1.63408924e-01 -5.43378094e-02 4.81031566e+02] [ 1.63273270e-01 9.86556357e-01 -6.95652709e-03 4.22842394e+01] [ 5.47440699e-02 -2.01930918e-03 9.98498377e-01 2.27490229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.06, Y:42.29, Z:22.75 [[ 9.85240593e-01 -1.62477710e-01 -5.38699134e-02 4.81062573e+02] [ 1.62343059e-01 9.86710284e-01 -6.89542741e-03 4.22925657e+01] [ 5.42743508e-02 -1.95175153e-03 9.98524154e-01 2.27508914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.09, Y:42.30, Z:22.75 [[ 9.85429347e-01 -1.61416025e-01 -5.36084737e-02 4.81093644e+02] [ 1.61281272e-01 9.86884647e-01 -6.85895499e-03 4.23022808e+01] [ 5.40125249e-02 -1.88702730e-03 9.98538475e-01 2.27521549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.13, Y:42.31, Z:22.75 [[ 9.85495364e-01 -1.60985276e-01 -5.36901118e-02 4.81125032e+02] [ 1.60849710e-01 9.86955035e-01 -6.86504824e-03 4.23059215e+01] [ 5.40948979e-02 -1.87056572e-03 9.98534047e-01 2.27530225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.16, Y:42.31, Z:22.75 [[ 9.85595598e-01 -1.60326545e-01 -5.38211472e-02 4.81156401e+02] [ 1.60189679e-01 9.87062305e-01 -6.87548899e-03 4.23115337e+01] [ 5.42271490e-02 -1.84514060e-03 9.98526921e-01 2.27543705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.19, Y:42.32, Z:22.76 [[ 9.85654122e-01 -1.59959737e-01 -5.38408314e-02 4.81188004e+02] [ 1.59822353e-01 9.87121847e-01 -6.87563270e-03 4.23198067e+01] [ 5.42472853e-02 -1.82797265e-03 9.98525859e-01 2.27562800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.22, Y:42.32, Z:22.76 [[ 9.85778161e-01 -1.59133571e-01 -5.40178081e-02 4.81219605e+02] [ 1.58994265e-01 9.87255435e-01 -6.89418484e-03 4.23249640e+01] [ 5.44264708e-02 -1.79238484e-03 9.98516172e-01 2.27574512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.25, Y:42.33, Z:22.76 [[ 9.86047116e-01 -1.57608305e-01 -5.35789765e-02 4.81250817e+02] [ 1.57469220e-01 9.87500247e-01 -6.83421875e-03 4.23326325e+01] [ 5.39863821e-02 -1.69817792e-03 9.98540228e-01 2.27590098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.28, Y:42.34, Z:22.76 [[ 9.86304340e-01 -1.56213358e-01 -5.29257541e-02 4.81281363e+02] [ 1.56075844e-01 9.87722030e-01 -6.74705702e-03 4.23365230e+01] [ 5.33299137e-02 -1.60578011e-03 9.98575657e-01 2.27601910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.31, Y:42.34, Z:22.76 [[ 9.86615821e-01 -1.54436336e-01 -5.23320089e-02 4.81312707e+02] [ 1.54299552e-01 9.88001610e-01 -6.66836454e-03 4.23417345e+01] [ 5.27339468e-02 -1.49569158e-03 9.98607477e-01 2.27617720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.34, Y:42.35, Z:22.76 [[ 9.86938936e-01 -1.52442452e-01 -5.20848822e-02 4.81344552e+02] [ 1.52304384e-01 9.88311377e-01 -6.63306152e-03 4.23481342e+01] [ 5.24872418e-02 -1.38632924e-03 9.98620632e-01 2.27636841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.38, Y:42.36, Z:22.77 [[ 9.87615858e-01 -1.48111227e-01 -5.17492095e-02 4.81375124e+02] [ 1.47969183e-01 9.88970038e-01 -6.58666293e-03 4.23553851e+01] [ 5.21539765e-02 -1.15219549e-03 9.98638391e-01 2.27651062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.41, Y:42.36, Z:22.77 [[ 9.87999079e-01 -1.45624635e-01 -5.14906417e-02 4.81406848e+02] [ 1.45480739e-01 9.89339391e-01 -6.55169617e-03 4.23610991e+01] [ 5.18958084e-02 -1.01782684e-03 9.98651986e-01 2.27661307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.44, Y:42.37, Z:22.77 [[ 9.88009663e-01 -1.45552639e-01 -5.14911184e-02 4.81438263e+02] [ 1.45408841e-01 9.89349985e-01 -6.54794763e-03 4.23650364e+01] [ 5.18958083e-02 -1.01782831e-03 9.98651986e-01 2.27676360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.47, Y:42.37, Z:22.77 [[ 9.88312372e-01 -1.43493385e-01 -5.14616690e-02 4.81470575e+02] [ 1.43347164e-01 9.89650855e-01 -6.54032246e-03 4.23699686e+01] [ 5.18675777e-02 -9.13002698e-04 9.98653554e-01 2.27688613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.50, Y:42.37, Z:22.77 [[ 9.88569310e-01 -1.41857464e-01 -5.10605525e-02 4.81502788e+02] [ 1.41711570e-01 9.89886751e-01 -6.48476432e-03 4.23748026e+01] [ 5.14640767e-02 -8.25232077e-04 9.98674505e-01 2.27701888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.53, Y:42.38, Z:22.77 [[ 9.88742653e-01 -1.40703709e-01 -5.08962942e-02 4.81533584e+02] [ 1.40557414e-01 9.90051453e-01 -6.46021997e-03 4.23784442e+01] [ 5.12989269e-02 -7.66356440e-04 9.98683049e-01 2.27717253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.57, Y:42.38, Z:22.77 [[ 9.88901656e-01 -1.39874941e-01 -5.00850790e-02 4.81565743e+02] [ 1.39732352e-01 9.90168920e-01 -6.35448363e-03 4.23816961e+01] [ 5.04815216e-02 -7.14546517e-04 9.98724740e-01 2.27731844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.60, Y:42.38, Z:22.77 [[ 9.88825387e-01 -1.40351969e-01 -5.02561373e-02 4.81597751e+02] [ 1.40209205e-01 9.90101394e-01 -6.37251457e-03 4.23844262e+01] [ 5.06530665e-02 -7.45068883e-04 9.98716032e-01 2.27743957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.63, Y:42.39, Z:22.78 [[ 9.88641000e-01 -1.41449756e-01 -5.08029415e-02 4.81629934e+02] [ 1.41305506e-01 9.89945102e-01 -6.43813388e-03 4.23872646e+01] [ 5.12027955e-02 -8.13732229e-04 9.98687945e-01 2.27758341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.66, Y:42.39, Z:22.78 [[ 9.88375781e-01 -1.43258919e-01 -5.08939895e-02 4.81661750e+02] [ 1.43116738e-01 9.89684823e-01 -6.44595462e-03 4.23895092e+01] [ 5.12924495e-02 -9.12756320e-04 9.98683259e-01 2.27771284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.69, Y:42.39, Z:22.78 [[ 9.87716375e-01 -1.47634451e-01 -5.11901533e-02 4.81693733e+02] [ 1.47496674e-01 9.89041327e-01 -6.47961863e-03 4.23881067e+01] [ 5.15857921e-02 -1.15035196e-03 9.98667904e-01 2.27773242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.73, Y:42.39, Z:22.78 [[ 9.87307915e-01 -1.50265982e-01 -5.14122046e-02 4.81725552e+02] [ 1.50130817e-01 9.88644754e-01 -6.50295580e-03 4.23893941e+01] [ 5.18055794e-02 -1.29813652e-03 9.98656346e-01 2.27782788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.76, Y:42.39, Z:22.78 [[ 9.86971373e-01 -1.52561974e-01 -5.11111837e-02 4.81757037e+02] [ 1.52431554e-01 9.88292897e-01 -6.46307988e-03 4.23902411e+01] [ 5.14988400e-02 -1.41208232e-03 9.98672056e-01 2.27789632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.79, Y:42.39, Z:22.78 [[ 9.86624199e-01 -1.54947413e-01 -5.06358421e-02 4.81788480e+02] [ 1.54822634e-01 9.87921544e-01 -6.40119733e-03 4.23928271e+01] [ 5.10160883e-02 -1.52399827e-03 9.98696669e-01 2.27800105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.82, Y:42.40, Z:22.78 [[ 9.86295280e-01 -1.57075636e-01 -5.04862899e-02 4.81820063e+02] [ 1.56954472e-01 9.87585229e-01 -6.38040626e-03 4.23950419e+01] [ 5.08617205e-02 -1.63108441e-03 9.98704373e-01 2.27814272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.85, Y:42.40, Z:22.78 [[ 9.86000752e-01 -1.59012252e-01 -5.01758921e-02 4.81850919e+02] [ 1.58895226e-01 9.87275106e-01 -6.33821184e-03 4.23960753e+01] [ 5.05452626e-02 -1.72322808e-03 9.98720285e-01 2.27825816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.88, Y:42.40, Z:22.78 [[ 9.85446477e-01 -1.62703125e-01 -4.92233015e-02 4.81881961e+02] [ 1.62595390e-01 9.86673275e-01 -6.21192375e-03 4.23967450e+01] [ 4.95780155e-02 -1.88196352e-03 9.98768481e-01 2.27837356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.91, Y:42.40, Z:22.78 [[ 9.85148598e-01 -1.64549526e-01 -4.90478654e-02 4.81912874e+02] [ 1.64444930e-01 9.86366856e-01 -6.18796912e-03 4.23978519e+01] [ 4.93974162e-02 -1.96960366e-03 9.98777260e-01 2.27849537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.94, Y:42.40, Z:22.79 [[ 9.84864483e-01 -1.66566383e-01 -4.79331958e-02 4.81943570e+02] [ 1.66468951e-01 9.86028163e-01 -6.04564416e-03 4.24000291e+01] [ 4.82704821e-02 -2.02524862e-03 9.98832248e-01 2.27864648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:481.97, Y:42.40, Z:22.79 [[ 9.84154937e-01 -1.70978349e-01 -4.69623602e-02 4.81974894e+02] [ 1.70889929e-01 9.85272334e-01 -5.92112222e-03 4.24010685e+01] [ 4.72830980e-02 -2.19809273e-03 9.98879110e-01 2.27874555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.01, Y:42.40, Z:22.79 [[ 9.83787401e-01 -1.73275742e-01 -4.62370724e-02 4.82005700e+02] [ 1.73192599e-01 9.84870727e-01 -5.82885475e-03 4.24004547e+01] [ 4.65475382e-02 -2.27356486e-03 9.98913489e-01 2.27889944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.04, Y:42.40, Z:22.79 [[ 9.83393050e-01 -1.75470450e-01 -4.63490060e-02 4.82036518e+02] [ 1.75389371e-01 9.84481812e-01 -5.84214668e-03 4.24045922e+01] [ 4.66548775e-02 -2.38399658e-03 9.98908223e-01 2.27900502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.07, Y:42.41, Z:22.79 [[ 9.83072335e-01 -1.77373741e-01 -4.59057642e-02 4.82067939e+02] [ 1.77296348e-01 9.84140510e-01 -5.78466759e-03 4.24100660e+01] [ 4.62037703e-02 -2.45217765e-03 9.98929026e-01 2.27912331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.10, Y:42.41, Z:22.79 [[ 9.82738617e-01 -1.79242361e-01 -4.57928585e-02 4.82099302e+02] [ 1.79167486e-01 9.83801679e-01 -5.76788660e-03 4.24094164e+01] [ 4.60849407e-02 -2.53626646e-03 9.98934305e-01 2.27924550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.13, Y:42.41, Z:22.79 [[ 9.82346423e-01 -1.81343545e-01 -4.59349959e-02 4.82129997e+02] [ 1.81270613e-01 9.83416249e-01 -5.78319105e-03 4.24099654e+01] [ 4.62219658e-02 -2.64556781e-03 9.98927691e-01 2.27932028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.16, Y:42.42, Z:22.79 [[ 9.82247649e-01 -1.81843397e-01 -4.60709765e-02 4.82161467e+02] [ 1.81770616e-01 9.83323857e-01 -5.79954985e-03 4.24184368e+01] [ 4.63573002e-02 -2.67775557e-03 9.98921333e-01 2.27939976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.19, Y:42.42, Z:22.80 [[ 9.82263475e-01 -1.81658441e-01 -4.64615633e-02 4.82192282e+02] [ 1.81584376e-01 9.83357995e-01 -5.84526350e-03 4.24210509e+01] [ 4.67501912e-02 -2.69510514e-03 9.98902976e-01 2.27950513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.22, Y:42.42, Z:22.80 [[ 9.82383596e-01 -1.80951528e-01 -4.66799101e-02 4.82222009e+02] [ 1.80876093e-01 9.83488373e-01 -5.87014771e-03 4.24249279e+01] [ 4.69713611e-02 -2.67654293e-03 9.98892651e-01 2.27958956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.25, Y:42.44, Z:22.80 [[ 9.82879419e-01 -1.78217178e-01 -4.67620106e-02 4.82252477e+02] [ 1.78138431e-01 9.83987870e-01 -5.87964805e-03 4.24363207e+01] [ 4.70611055e-02 -2.55112614e-03 9.98888755e-01 2.27971816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.28, Y:42.44, Z:22.80 [[ 9.83306407e-01 -1.75873569e-01 -4.66583079e-02 4.82283143e+02] [ 1.75792662e-01 9.84409749e-01 -5.86401590e-03 4.24390107e+01] [ 4.69622186e-02 -2.43606375e-03 9.98893696e-01 2.27986776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.31, Y:42.45, Z:22.80 [[ 9.83859953e-01 -1.72693690e-01 -4.68666412e-02 4.82313055e+02] [ 1.72608542e-01 9.84972902e-01 -5.88846946e-03 4.24513094e+01] [ 4.71792731e-02 -2.29615333e-03 9.98883799e-01 2.28003518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.34, Y:42.46, Z:22.80 [[ 9.84469326e-01 -1.69328533e-01 -4.63464665e-02 4.82343308e+02] [ 1.69241623e-01 9.85557398e-01 -5.82141566e-03 4.24552546e+01] [ 4.66628347e-02 -2.11274608e-03 9.98908462e-01 2.28022086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.37, Y:42.47, Z:22.80 [[ 9.85150734e-01 -1.65411736e-01 -4.60107385e-02 4.82372158e+02] [ 1.65321896e-01 9.86222739e-01 -5.77752574e-03 4.24682583e+01] [ 4.63325071e-02 -1.91484880e-03 9.98924237e-01 2.28041096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.40, Y:42.48, Z:22.81 [[ 9.85905695e-01 -1.61139455e-01 -4.49893035e-02 4.82401742e+02] [ 1.61049118e-01 9.86930224e-01 -5.64926510e-03 4.24758562e+01] [ 4.53116229e-02 -1.67584501e-03 9.98971495e-01 2.28060131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.43, Y:42.49, Z:22.81 [[ 9.87298029e-01 -1.52787112e-01 -4.35740724e-02 4.82430131e+02] [ 1.52694239e-01 9.88258333e-01 -5.47150327e-03 4.24860741e+01] [ 4.38984153e-02 -1.25150543e-03 9.99035216e-01 2.28086418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.46, Y:42.50, Z:22.81 [[ 9.87940355e-01 -1.48792584e-01 -4.28324923e-02 4.82460107e+02] [ 1.48699057e-01 9.88867865e-01 -5.37922690e-03 4.24961508e+01] [ 4.31560643e-02 -1.05479586e-03 9.99067786e-01 2.28100622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.49, Y:42.50, Z:22.81 [[ 9.88482301e-01 -1.45231248e-01 -4.25514411e-02 4.82490720e+02] [ 1.45135692e-01 9.89397334e-01 -5.34286118e-03 4.25022645e+01] [ 4.28762327e-02 -8.94409129e-04 9.99079991e-01 2.28121193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.52, Y:42.51, Z:22.81 [[ 9.88931640e-01 -1.42229742e-01 -4.22482271e-02 4.82522255e+02] [ 1.42133084e-01 9.89833377e-01 -5.29826467e-03 4.25107968e+01] [ 4.25722761e-02 -7.65249234e-04 9.99093097e-01 2.28133375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.55, Y:42.52, Z:22.81 [[ 9.89523167e-01 -1.38207745e-01 -4.17435123e-02 4.82553172e+02] [ 1.38109933e-01 9.90403086e-01 -5.23192065e-03 4.25178315e+01] [ 4.20659954e-02 -5.88087004e-04 9.99114661e-01 2.28149687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.58, Y:42.52, Z:22.82 [[ 9.89672932e-01 -1.37096275e-01 -4.18580750e-02 4.82584712e+02] [ 1.36997061e-01 9.90557577e-01 -5.24320043e-03 4.25243214e+01] [ 4.21816566e-02 -5.45379722e-04 9.99109809e-01 2.28156191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.62, Y:42.53, Z:22.82 [[ 9.89720234e-01 -1.36589337e-01 -4.23935325e-02 4.82616568e+02] [ 1.36487239e-01 9.90627613e-01 -5.30711285e-03 4.25291796e+01] [ 4.27210990e-02 -5.33619231e-04 9.99086895e-01 2.28167715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.65, Y:42.53, Z:22.82 [[ 9.89781325e-01 -1.36068985e-01 -4.26398968e-02 4.82648648e+02] [ 1.35965348e-01 9.90699230e-01 -5.33482484e-03 4.25338811e+01] [ 4.29692171e-02 -5.17238400e-04 9.99076263e-01 2.28178157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.68, Y:42.54, Z:22.82 [[ 9.89815350e-01 -1.35729735e-01 -4.29303084e-02 4.82679243e+02] [ 1.35624502e-01 9.90745770e-01 -5.36792202e-03 4.25380395e+01] [ 4.32616080e-02 -5.09150076e-04 9.99063649e-01 2.28192416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.71, Y:42.54, Z:22.82 [[ 9.89843360e-01 -1.35354054e-01 -4.34672661e-02 4.82710321e+02] [ 1.35245915e-01 9.90797168e-01 -5.43266195e-03 4.25423504e+01] [ 4.38025770e-02 -5.01285801e-04 9.99040081e-01 2.28206206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.74, Y:42.55, Z:22.82 [[ 9.89919019e-01 -1.34601653e-01 -4.40764102e-02 4.82741946e+02] [ 1.34489819e-01 9.90899676e-01 -5.50646392e-03 4.25481325e+01] [ 4.44164797e-02 -4.76875045e-04 9.99012987e-01 2.28212524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.77, Y:42.55, Z:22.82 [[ 9.89970231e-01 -1.34171746e-01 -4.42366805e-02 4.82773373e+02] [ 1.34058812e-01 9.90957985e-01 -5.52324120e-03 4.25530523e+01] [ 4.45777547e-02 -4.62472457e-04 9.99005811e-01 2.28221235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.80, Y:42.56, Z:22.82 [[ 9.90053178e-01 -1.33437449e-01 -4.45999186e-02 4.82804336e+02] [ 1.33322051e-01 9.91057141e-01 -5.56540489e-03 4.25568129e+01] [ 4.49437012e-02 -4.36105830e-04 9.98989426e-01 2.28233254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.84, Y:42.56, Z:22.82 [[ 9.90113406e-01 -1.32921216e-01 -4.48039460e-02 4.82836597e+02] [ 1.32804537e-01 9.91126517e-01 -5.58409507e-03 4.25613361e+01] [ 4.51486237e-02 -4.21279910e-04 9.98980192e-01 2.28242940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.87, Y:42.57, Z:22.83 [[ 9.90179417e-01 -1.32413141e-01 -4.48495563e-02 4.82868288e+02] [ 1.32295852e-01 9.91194531e-01 -5.58649146e-03 4.25656228e+01] [ 4.51943598e-02 -4.01781421e-04 9.98978132e-01 2.28253791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.90, Y:42.57, Z:22.83 [[ 9.90292788e-01 -1.31560339e-01 -4.48561229e-02 4.82899119e+02] [ 1.31442293e-01 9.91308097e-01 -5.58396152e-03 4.25692323e+01] [ 4.52008657e-02 -3.66234824e-04 9.98977851e-01 2.28260425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.93, Y:42.57, Z:22.83 [[ 9.90335765e-01 -1.31307272e-01 -4.46483344e-02 4.82930266e+02] [ 1.31190170e-01 9.91341654e-01 -5.55565046e-03 4.25721690e+01] [ 4.49912510e-02 -3.55463257e-04 9.98987318e-01 2.28272875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.96, Y:42.58, Z:22.83 [[ 9.90349717e-01 -1.31343757e-01 -4.42295867e-02 4.82962067e+02] [ 1.31228980e-01 9.91336820e-01 -5.50126585e-03 4.25761533e+01] [ 4.45689748e-02 -3.56026490e-04 9.99006246e-01 2.28288856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:482.99, Y:42.58, Z:22.83 [[ 9.90252258e-01 -1.32208811e-01 -4.38325899e-02 4.82994047e+02] [ 1.32097068e-01 9.91221809e-01 -5.44884886e-03 4.25790538e+01] [ 4.41682049e-02 -3.94421730e-04 9.99024031e-01 2.28304360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.03, Y:42.58, Z:22.83 [[ 9.90143249e-01 -1.33144068e-01 -4.34626647e-02 4.83026481e+02] [ 1.33035240e-01 9.91096599e-01 -5.39974845e-03 4.25817606e+01] [ 4.37946436e-02 -4.35541565e-04 9.99040459e-01 2.28320146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.06, Y:42.58, Z:22.83 [[ 9.89968690e-01 -1.34474736e-01 -4.33421184e-02 4.83058984e+02] [ 1.34367922e-01 9.90916898e-01 -5.38165596e-03 4.25842609e+01] [ 4.36721343e-02 -4.96119489e-04 9.99045794e-01 2.28336645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.09, Y:42.59, Z:22.83 [[ 9.89745560e-01 -1.36220622e-01 -4.29845249e-02 4.83090219e+02] [ 1.36117347e-01 9.90678361e-01 -5.33405960e-03 4.25856264e+01] [ 4.33104476e-02 -5.71577712e-04 9.99061499e-01 2.28349784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.12, Y:42.59, Z:22.84 [[ 9.89429060e-01 -1.38434392e-01 -4.31978467e-02 4.83122353e+02] [ 1.38332297e-01 9.90371377e-01 -5.35823811e-03 4.25874038e+01] [ 4.35236754e-02 -6.74060874e-04 9.99052168e-01 2.28358547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.15, Y:42.59, Z:22.84 [[ 9.89082344e-01 -1.40850869e-01 -4.33260819e-02 4.83153208e+02] [ 1.40750613e-01 9.90030512e-01 -5.37116427e-03 4.25880619e+01] [ 4.36506762e-02 -7.85648856e-04 9.99046546e-01 2.28369070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.19, Y:42.59, Z:22.84 [[ 9.88264577e-01 -1.46350639e-01 -4.37563230e-02 4.83185394e+02] [ 1.46254023e-01 9.89232227e-01 -5.41862282e-03 4.25864296e+01] [ 4.40781838e-02 -1.04450527e-03 9.99027539e-01 2.28374283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.22, Y:42.59, Z:22.84 [[ 9.87837159e-01 -1.49112648e-01 -4.40813538e-02 4.83217544e+02] [ 1.49017439e-01 9.88819513e-01 -5.45655850e-03 4.25889354e+01] [ 4.44021447e-02 -1.17869922e-03 9.99013043e-01 2.28384421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.25, Y:42.59, Z:22.84 [[ 9.87459878e-01 -1.51527120e-01 -4.43003606e-02 4.83249003e+02] [ 1.51433537e-01 9.88452250e-01 -5.48031771e-03 4.25871386e+01] [ 4.46192079e-02 -1.29696646e-03 9.99003225e-01 2.28396555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.28, Y:42.59, Z:22.84 [[ 9.87097058e-01 -1.53764064e-01 -4.46767415e-02 4.83281402e+02] [ 1.53671282e-01 9.88106582e-01 -5.52442670e-03 4.25883409e+01] [ 4.49948406e-02 -1.41238681e-03 9.98986221e-01 2.28408418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.31, Y:42.59, Z:22.84 [[ 9.86460958e-01 -1.57857580e-01 -4.44495597e-02 4.83312210e+02] [ 1.57770029e-01 9.87460603e-01 -5.49312940e-03 4.25919028e+01] [ 4.47593211e-02 -1.59405064e-03 9.98996528e-01 2.28416694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.34, Y:42.59, Z:22.84 [[ 9.86229785e-01 -1.59323418e-01 -4.43492962e-02 4.83344053e+02] [ 1.59237771e-01 9.87225051e-01 -5.48007585e-03 4.25936641e+01] [ 4.46558407e-02 -1.65746904e-03 9.99001055e-01 2.28429197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.38, Y:42.59, Z:22.84 [[ 9.86008694e-01 -1.60584211e-01 -4.47165250e-02 4.83375024e+02] [ 1.60498578e-01 9.87020624e-01 -5.52221492e-03 4.25944167e+01] [ 4.50229129e-02 -1.73198677e-03 9.98984453e-01 2.28438544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.41, Y:42.60, Z:22.85 [[ 9.86020111e-01 -1.60513917e-01 -4.47171406e-02 4.83406470e+02] [ 1.60428439e-01 9.87032054e-01 -5.51722542e-03 4.25982345e+01] [ 4.50228426e-02 -1.73380582e-03 9.98984453e-01 2.28453601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.44, Y:42.60, Z:22.85 [[ 9.85871394e-01 -1.61455734e-01 -4.46053929e-02 4.83438267e+02] [ 1.61371788e-01 9.86878358e-01 -5.50022530e-03 4.26009166e+01] [ 4.49081398e-02 -1.77553724e-03 9.98989543e-01 2.28467025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.47, Y:42.61, Z:22.85 [[ 9.85759972e-01 -1.62178756e-01 -4.44446649e-02 4.83470340e+02] [ 1.62096290e-01 9.86759744e-01 -5.47721848e-03 4.26068493e+01] [ 4.47444947e-02 -1.80509258e-03 9.98996833e-01 2.28477895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.50, Y:42.60, Z:22.85 [[ 9.85669300e-01 -1.62649964e-01 -4.47327696e-02 4.83502287e+02] [ 1.62567065e-01 9.86682116e-01 -5.50929825e-03 4.26044992e+01] [ 4.50331109e-02 -1.84172889e-03 9.98983797e-01 2.28497921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.53, Y:42.61, Z:22.85 [[ 9.85619047e-01 -1.63100368e-01 -4.41968919e-02 4.83533402e+02] [ 1.63020000e-01 9.86607762e-01 -5.44091299e-03 4.26122108e+01] [ 4.44924115e-02 -1.84230987e-03 9.99008024e-01 2.28507367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.57, Y:42.62, Z:22.85 [[ 9.85651716e-01 -1.62793821e-01 -4.45967032e-02 4.83565132e+02] [ 1.62711829e-01 9.86658378e-01 -5.48681755e-03 4.26156312e+01] [ 4.48949309e-02 -1.84832001e-03 9.98990004e-01 2.28521920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.60, Y:42.62, Z:22.85 [[ 9.85727041e-01 -1.62218789e-01 -4.50251654e-02 4.83595739e+02] [ 1.62134768e-01 9.86753094e-01 -5.53616442e-03 4.26188974e+01] [ 4.53267912e-02 -1.84299778e-03 9.98970513e-01 2.28529276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.63, Y:42.62, Z:22.85 [[ 9.85807463e-01 -1.61657424e-01 -4.52826976e-02 4.83628007e+02] [ 1.61571959e-01 9.86845240e-01 -5.56538332e-03 4.26235852e+01] [ 4.55867002e-02 -1.83001777e-03 9.98958710e-01 2.28542290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.66, Y:42.63, Z:22.86 [[ 9.86059249e-01 -1.59823916e-01 -4.62976646e-02 4.83659673e+02] [ 1.59732720e-01 9.87143920e-01 -5.68670079e-03 4.26298364e+01] [ 4.66113289e-02 -1.78782797e-03 9.98911501e-01 2.28552862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.69, Y:42.64, Z:22.86 [[ 9.86231969e-01 -1.58729227e-01 -4.63846517e-02 4.83691700e+02] [ 1.58636637e-01 9.87320614e-01 -5.69401486e-03 4.26352309e+01] [ 4.67003294e-02 -1.74268569e-03 9.98907424e-01 2.28565205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.72, Y:42.64, Z:22.86 [[ 9.86392381e-01 -1.57588071e-01 -4.68622578e-02 4.83722768e+02] [ 1.57492441e-01 9.87503457e-01 -5.74922094e-03 4.26396942e+01] [ 4.71826502e-02 -1.70946363e-03 9.98884816e-01 2.28580671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.75, Y:42.64, Z:22.86 [[ 9.86529898e-01 -1.56621054e-01 -4.72081070e-02 4.83754892e+02] [ 1.56523202e-01 9.87657338e-01 -5.78532824e-03 4.26448550e+01] [ 4.75315374e-02 -1.68176477e-03 9.98868322e-01 2.28597868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.79, Y:42.65, Z:22.86 [[ 9.86723331e-01 -1.55461800e-01 -4.69967724e-02 4.83786896e+02] [ 1.55363669e-01 9.87840573e-01 -5.75608631e-03 4.26494536e+01] [ 4.73201702e-02 -1.62192632e-03 9.98878456e-01 2.28610455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.82, Y:42.65, Z:22.86 [[ 9.86991086e-01 -1.53611177e-01 -4.74573837e-02 4.83817721e+02] [ 1.53509138e-01 9.88130153e-01 -5.80910676e-03 4.26545824e+01] [ 4.77864155e-02 -1.55160545e-03 9.98856372e-01 2.28618932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.85, Y:42.66, Z:22.86 [[ 9.87142120e-01 -1.52504503e-01 -4.78833165e-02 4.83849910e+02] [ 1.52399448e-01 9.88301616e-01 -5.85866449e-03 4.26601681e+01] [ 4.82166318e-02 -1.51405652e-03 9.98835754e-01 2.28631513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.88, Y:42.67, Z:22.86 [[ 9.87298876e-01 -1.51451918e-01 -4.79921467e-02 4.83881206e+02] [ 1.51345347e-01 9.88463533e-01 -5.86777373e-03 4.26682694e+01] [ 4.83271724e-02 -1.47014167e-03 9.98830478e-01 2.28646253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.91, Y:42.67, Z:22.87 [[ 9.87494621e-01 -1.50193336e-01 -4.79200953e-02 4.83912985e+02] [ 1.50085774e-01 9.88655640e-01 -5.85544398e-03 4.26748391e+01] [ 4.82559212e-02 -1.40990518e-03 9.98834009e-01 2.28662824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.94, Y:42.68, Z:22.87 [[ 9.87897494e-01 -1.47372035e-01 -4.83738078e-02 4.83943722e+02] [ 1.47259231e-01 9.89080292e-01 -5.90714277e-03 4.26815557e+01] [ 4.87161276e-02 -1.28783819e-03 9.98811834e-01 2.28679663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:483.98, Y:42.69, Z:22.87 [[ 9.88070619e-01 -1.46054422e-01 -4.88319376e-02 4.83975737e+02] [ 1.45938212e-01 9.89275778e-01 -5.95598513e-03 4.26873949e+01] [ 4.91781510e-02 -1.24151176e-03 9.98789251e-01 2.28694640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.01, Y:42.69, Z:22.87 [[ 9.88306739e-01 -1.44444830e-01 -4.88413869e-02 4.84007041e+02] [ 1.44326789e-01 9.89512169e-01 -5.95353906e-03 4.26923287e+01] [ 4.91891046e-02 -1.16519776e-03 9.98788804e-01 2.28711162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.04, Y:42.70, Z:22.87 [[ 9.88539987e-01 -1.42851443e-01 -4.88073796e-02 4.84038645e+02] [ 1.42731801e-01 9.89743543e-01 -5.94583053e-03 4.26981273e+01] [ 4.91561593e-02 -1.08867395e-03 9.98790512e-01 2.28728189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.07, Y:42.70, Z:22.87 [[ 9.88662973e-01 -1.41908308e-01 -4.90668698e-02 4.84070514e+02] [ 1.41786409e-01 9.89879249e-01 -5.97381889e-03 4.27033649e+01] [ 4.94180108e-02 -1.05092175e-03 9.98777631e-01 2.28746459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.10, Y:42.71, Z:22.88 [[ 9.88738893e-01 -1.41279439e-01 -4.93510081e-02 4.84102487e+02] [ 1.41155523e-01 9.89969222e-01 -6.00476963e-03 4.27088413e+01] [ 4.97043296e-02 -1.02901807e-03 9.98763446e-01 2.28764243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.13, Y:42.71, Z:22.88 [[ 9.88662448e-01 -1.41678872e-01 -4.97359152e-02 4.84134563e+02] [ 1.41553705e-01 9.89912103e-01 -6.04789737e-03 4.27144412e+01] [ 5.00910437e-02 -1.06097402e-03 9.98744092e-01 2.28785658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.17, Y:42.72, Z:22.88 [[ 9.88549193e-01 -1.42608306e-01 -4.93291368e-02 4.84165532e+02] [ 1.42486519e-01 9.89778589e-01 -5.99474271e-03 4.27180628e+01] [ 4.96798235e-02 -1.10263889e-03 9.98764587e-01 2.28803119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.20, Y:42.72, Z:22.88 [[ 9.88328635e-01 -1.43997766e-01 -4.97107001e-02 4.84197140e+02] [ 1.43876124e-01 9.89577301e-01 -6.03545630e-03 4.27215128e+01] [ 5.00616726e-02 -1.18716858e-03 9.98745423e-01 2.28817595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.23, Y:42.73, Z:22.88 [[ 9.87804658e-01 -1.47013625e-01 -5.12733005e-02 4.84229453e+02] [ 1.46888467e-01 9.89133496e-01 -6.22134573e-03 4.27250990e+01] [ 5.16307615e-02 -1.38598220e-03 9.98665281e-01 2.28832036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.26, Y:42.73, Z:22.88 [[ 9.87576092e-01 -1.48446483e-01 -5.15471107e-02 4.84261052e+02] [ 1.48322129e-01 9.88919346e-01 -6.25078401e-03 4.27295288e+01] [ 5.19038420e-02 -1.47245237e-03 9.98651002e-01 2.28847933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.29, Y:42.73, Z:22.89 [[ 9.87394030e-01 -1.49547129e-01 -5.18525377e-02 4.84292512e+02] [ 1.49423022e-01 9.88753394e-01 -6.28379118e-03 4.27319731e+01] [ 5.22090955e-02 -1.54338501e-03 9.98634983e-01 2.28862358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.32, Y:42.74, Z:22.89 [[ 9.87183597e-01 -1.50754293e-01 -5.23611506e-02 4.84323900e+02] [ 1.50629729e-01 9.88569922e-01 -6.33985139e-03 4.27377704e+01] [ 5.27184184e-02 -1.62854862e-03 9.98608089e-01 2.28886964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.36, Y:42.74, Z:22.89 [[ 9.87042649e-01 -1.51467043e-01 -5.29579439e-02 4.84355501e+02] [ 1.51340869e-01 9.88460864e-01 -6.40794915e-03 4.27390756e+01] [ 5.33174481e-02 -1.68978214e-03 9.98576184e-01 2.28901826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.39, Y:42.75, Z:22.89 [[ 9.86726617e-01 -1.53456151e-01 -5.31205506e-02 4.84386753e+02] [ 1.53332373e-01 9.88153804e-01 -6.42210174e-03 4.27456434e+01] [ 5.34767851e-02 -1.80824132e-03 9.98567456e-01 2.28928502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.42, Y:42.75, Z:22.89 [[ 9.86558139e-01 -1.54306538e-01 -5.37822556e-02 4.84419053e+02] [ 1.54181131e-01 9.88021231e-01 -6.49816842e-03 4.27494756e+01] [ 5.41407203e-02 -1.88138803e-03 9.98531543e-01 2.28944959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.45, Y:42.75, Z:22.90 [[ 9.86350422e-01 -1.55396451e-01 -5.44498764e-02 4.84450941e+02] [ 1.55269785e-01 9.87850224e-01 -6.57487162e-03 4.27537815e+01] [ 5.48100343e-02 -1.96929319e-03 9.98494858e-01 2.28960869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.48, Y:42.76, Z:22.90 [[ 9.86114129e-01 -1.56596950e-01 -5.52839902e-02 4.84482725e+02] [ 1.56468482e-01 9.87660420e-01 -6.67153603e-03 4.27588892e+01] [ 5.56465512e-02 -2.07130607e-03 9.98448382e-01 2.28976257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.51, Y:42.76, Z:22.90 [[ 9.85886327e-01 -1.57865109e-01 -5.57383025e-02 4.84513850e+02] [ 1.57736764e-01 9.87458314e-01 -6.72239844e-03 4.27619490e+01] [ 5.61004824e-02 -2.16445879e-03 9.98422782e-01 2.28988274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.55, Y:42.77, Z:22.90 [[ 9.85518498e-01 -1.60133109e-01 -5.57734513e-02 4.84545768e+02] [ 1.60008405e-01 9.87092754e-01 -6.72342356e-03 4.27661077e+01] [ 5.61302124e-02 -2.29816270e-03 9.98420812e-01 2.29003633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.58, Y:42.77, Z:22.90 [[ 9.85334915e-01 -1.61024007e-01 -5.64479848e-02 4.84577524e+02] [ 1.60897964e-01 9.86947616e-01 -6.80056207e-03 4.27701788e+01] [ 5.68062578e-02 -2.38153459e-03 9.98382380e-01 2.29020128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.61, Y:42.78, Z:22.90 [[ 9.85213949e-01 -1.61685491e-01 -5.66681213e-02 4.84609341e+02] [ 1.61559793e-01 9.86839339e-01 -6.82291523e-03 4.27758333e+01] [ 5.70254978e-02 -2.43325866e-03 9.98369757e-01 2.29039280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.64, Y:42.78, Z:22.90 [[ 9.85171760e-01 -1.61754420e-01 -5.72023690e-02 4.84639820e+02] [ 1.61626692e-01 9.86827966e-01 -6.88314787e-03 4.27798377e+01] [ 5.75622770e-02 -2.46434677e-03 9.98338876e-01 2.29048399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.67, Y:42.79, Z:22.91 [[ 9.85113523e-01 -1.61751304e-01 -5.82053425e-02 4.84671697e+02] [ 1.61619258e-01 9.86828359e-01 -7.00035231e-03 4.27867651e+01] [ 5.85709988e-02 -2.51096252e-03 9.98280088e-01 2.29068213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.70, Y:42.79, Z:22.91 [[ 9.85257050e-01 -1.61001020e-01 -5.78551442e-02 4.84703137e+02] [ 1.60869507e-01 9.86951185e-01 -6.95411801e-03 4.27893204e+01] [ 5.82198233e-02 -2.45553474e-03 9.98300768e-01 2.29075702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.73, Y:42.79, Z:22.91 [[ 9.85448549e-01 -1.59440082e-01 -5.89068639e-02 4.84733614e+02] [ 1.59301159e-01 9.87204667e-01 -7.07721651e-03 4.27941217e+01] [ 5.92815229e-02 -2.40969897e-03 9.98238396e-01 2.29079682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.77, Y:42.80, Z:22.91 [[ 9.85600955e-01 -1.58509680e-01 -5.88679857e-02 4.84765307e+02] [ 1.58369486e-01 9.87354614e-01 -7.06917020e-03 4.28014175e+01] [ 5.92441092e-02 -2.35551173e-03 9.98240746e-01 2.29103404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.80, Y:42.81, Z:22.91 [[ 9.85699663e-01 -1.57823508e-01 -5.90585672e-02 4.84796660e+02] [ 1.57681430e-01 9.87464597e-01 -7.08778367e-03 4.28083721e+01] [ 5.94368632e-02 -2.32601336e-03 9.98229357e-01 2.29125684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.83, Y:42.81, Z:22.91 [[ 9.85901942e-01 -1.56701114e-01 -5.86696042e-02 4.84828780e+02] [ 1.56559173e-01 9.87643513e-01 -7.03680774e-03 4.28131398e+01] [ 5.90473296e-02 -2.24766228e-03 9.98252654e-01 2.29140339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.86, Y:42.82, Z:22.92 [[ 9.86143619e-01 -1.55346617e-01 -5.82081812e-02 4.84860234e+02] [ 1.55204792e-01 9.87857677e-01 -6.97724094e-03 4.28186904e+01] [ 5.85852895e-02 -2.15362704e-03 9.98280084e-01 2.29161145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.89, Y:42.82, Z:22.92 [[ 9.86422865e-01 -1.53725342e-01 -5.77793209e-02 4.84891081e+02] [ 1.53583057e-01 9.88111498e-01 -6.92183514e-03 4.28228983e+01] [ 5.81564728e-02 -2.04606827e-03 9.98305383e-01 2.29172787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.92, Y:42.83, Z:22.92 [[ 9.87161817e-01 -1.48629837e-01 -5.84869183e-02 4.84921866e+02] [ 1.48475301e-01 9.88891317e-01 -7.00338622e-03 4.28338570e+01] [ 5.88781179e-02 -1.77038737e-03 9.98263609e-01 2.29194077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.95, Y:42.84, Z:22.92 [[ 9.87621992e-01 -1.45564105e-01 -5.84285252e-02 4.84951915e+02] [ 1.45404744e-01 9.89347545e-01 -6.99260037e-03 4.28393983e+01] [ 5.88239895e-02 -1.58973881e-03 9.98267104e-01 2.29206037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:484.98, Y:42.85, Z:22.92 [[ 9.88130741e-01 -1.42027707e-01 -5.85300692e-02 4.84982553e+02] [ 1.41861915e-01 9.89861711e-01 -6.99931371e-03 4.28461284e+01] [ 5.89307709e-02 -1.38695065e-03 9.98261108e-01 2.29225825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.01, Y:42.86, Z:22.93 [[ 9.89139731e-01 -1.34737241e-01 -5.87236678e-02 4.85012949e+02] [ 1.34557643e-01 9.90880900e-01 -7.02013992e-03 4.28568677e+01] [ 5.91340351e-02 -9.57818993e-04 9.98249592e-01 2.29254672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.665099893 meters Centerline goodness [0,1] 0.9998508575689784 Centerline is valid? [True, True] Translation: X:485.04, Y:42.86, Z:22.93 [[ 9.89638757e-01 -1.31100559e-01 -5.85471978e-02 4.85043282e+02] [ 1.30915867e-01 9.91368798e-01 -6.99585074e-03 4.28625360e+01] [ 5.89590250e-02 -7.41392130e-04 9.98260128e-01 2.29271487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.08, Y:42.87, Z:22.93 [[ 9.90087513e-01 -1.27945562e-01 -5.79366026e-02 4.85075467e+02] [ 1.27759519e-01 9.91781039e-01 -6.91924732e-03 4.28686025e+01] [ 5.83457109e-02 -5.51292127e-04 9.98296286e-01 2.29295445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.11, Y:42.87, Z:22.93 [[ 9.90449232e-01 -1.25211103e-01 -5.77277888e-02 4.85107353e+02] [ 1.25022085e-01 9.92130044e-01 -6.88870062e-03 4.28741068e+01] [ 5.81360155e-02 -3.94340278e-04 9.98308594e-01 2.29315887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.14, Y:42.88, Z:22.93 [[ 9.90693638e-01 -1.23322755e-01 -5.75987307e-02 4.85137958e+02] [ 1.23131663e-01 9.92366573e-01 -6.86863979e-03 4.28786708e+01] [ 5.80061146e-02 -2.87509752e-04 9.98316186e-01 2.29326944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.17, Y:42.88, Z:22.93 [[ 9.90816119e-01 -1.22121581e-01 -5.80494419e-02 4.85169691e+02] [ 1.21925804e-01 9.92515123e-01 -6.91588279e-03 4.28830206e+01] [ 5.84595275e-02 -2.25356753e-04 9.98289754e-01 2.29340698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.20, Y:42.89, Z:22.94 [[ 9.90844561e-01 -1.21751826e-01 -5.83399354e-02 4.85201923e+02] [ 1.21553690e-01 9.92560552e-01 -6.94630464e-03 4.28860176e+01] [ 5.87516438e-02 -2.08726242e-04 9.98272608e-01 2.29351494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.23, Y:42.89, Z:22.94 [[ 9.90738803e-01 -1.22451616e-01 -5.86704898e-02 4.85233565e+02] [ 1.22252738e-01 9.92474451e-01 -6.98083552e-03 4.28884015e+01] [ 5.90837768e-02 -2.56443387e-04 9.98252995e-01 2.29364323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.27, Y:42.89, Z:22.94 [[ 9.90539446e-01 -1.23849381e-01 -5.91010764e-02 4.85265947e+02] [ 1.23650450e-01 9.92300967e-01 -7.02546023e-03 4.28905536e+01] [ 5.95161542e-02 -3.48879212e-04 9.98227282e-01 2.29377001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.30, Y:42.89, Z:22.94 [[ 9.90029490e-01 -1.28042151e-01 -5.87095975e-02 4.85297049e+02] [ 1.27853438e-01 9.91768545e-01 -6.97506319e-03 4.28893254e+01] [ 5.91194342e-02 -6.00705648e-04 9.98250736e-01 2.29385163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.33, Y:42.89, Z:22.94 [[ 9.89730354e-01 -1.30615394e-01 -5.80813674e-02 4.85329471e+02] [ 1.30435273e-01 9.91432831e-01 -6.89792819e-03 4.28908624e+01] [ 5.84847501e-02 -7.48770114e-04 9.98288021e-01 2.29402038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.36, Y:42.89, Z:22.94 [[ 9.89378655e-01 -1.33465221e-01 -5.75926447e-02 4.85361619e+02] [ 1.33293183e-01 9.91053076e-01 -6.83573413e-03 4.28919402e+01] [ 5.79897004e-02 -9.13577462e-04 9.98316763e-01 2.29418903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.39, Y:42.89, Z:22.94 [[ 9.89020121e-01 -1.36449412e-01 -5.67517290e-02 4.85394019e+02] [ 1.36287501e-01 9.90646455e-01 -6.73186354e-03 4.28934191e+01] [ 5.71394579e-02 -1.07660285e-03 9.98365626e-01 2.29437052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.43, Y:42.90, Z:22.95 [[ 9.89029954e-01 -1.36377916e-01 -5.67522146e-02 4.85425470e+02] [ 1.36216123e-01 9.90656300e-01 -6.72776736e-03 4.28970894e+01] [ 5.71394578e-02 -1.07660322e-03 9.98365626e-01 2.29452106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.46, Y:42.90, Z:22.95 [[ 9.88605714e-01 -1.39449183e-01 -5.66803911e-02 4.85457775e+02] [ 1.39293076e-01 9.90228431e-01 -6.71510506e-03 4.28982990e+01] [ 5.70629507e-02 -1.25659482e-03 9.98369792e-01 2.29470842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.49, Y:42.90, Z:22.95 [[ 9.88154962e-01 -1.42761657e-01 -5.62928100e-02 4.85489424e+02] [ 1.42613268e-01 9.89756046e-01 -6.66523631e-03 4.28982622e+01] [ 5.66676892e-02 -1.44181526e-03 9.98392054e-01 2.29484945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.52, Y:42.89, Z:22.95 [[ 9.87114779e-01 -1.49730480e-01 -5.64375449e-02 4.85519842e+02] [ 1.49592834e-01 9.88725121e-01 -6.67977397e-03 4.28931895e+01] [ 5.68013842e-02 -1.84894867e-03 9.98383786e-01 2.29489590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.55, Y:42.90, Z:22.95 [[ 9.86585588e-01 -1.53180766e-01 -5.64316390e-02 4.85550734e+02] [ 1.53048806e-01 9.88196063e-01 -6.67858135e-03 4.28950793e+01] [ 5.67885537e-02 -2.04780286e-03 9.98384128e-01 2.29507277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.58, Y:42.89, Z:22.95 [[ 9.86069435e-01 -1.56598973e-01 -5.60698842e-02 4.85581172e+02] [ 1.56474361e-01 9.87659747e-01 -6.63310550e-03 4.28949303e+01] [ 5.64167051e-02 -2.23279670e-03 9.98404813e-01 2.29521392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.61, Y:42.90, Z:22.95 [[ 9.85108601e-01 -1.62927298e-01 -5.49157561e-02 4.85611941e+02] [ 1.62817609e-01 9.86634802e-01 -6.49568054e-03 4.28959248e+01] [ 5.52401199e-02 -2.54230134e-03 9.98469862e-01 2.29548909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.64, Y:42.90, Z:22.96 [[ 9.84759044e-01 -1.65273948e-01 -5.41677648e-02 4.85643353e+02] [ 1.65170807e-01 9.86244170e-01 -6.40642231e-03 4.28959057e+01] [ 5.44814570e-02 -2.63815111e-03 9.98511297e-01 2.29565084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.67, Y:42.90, Z:22.96 [[ 9.84439036e-01 -1.67347439e-01 -5.36154667e-02 4.85674975e+02] [ 1.67249613e-01 9.85894211e-01 -6.33814950e-03 4.28989491e+01] [ 5.39198513e-02 -2.72764429e-03 9.98541541e-01 2.29588314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.71, Y:42.90, Z:22.96 [[ 9.84189398e-01 -1.69090006e-01 -5.27237908e-02 4.85706118e+02] [ 1.68998073e-01 9.85596695e-01 -6.22943504e-03 4.28976718e+01] [ 5.30177292e-02 -2.77927512e-03 9.98589704e-01 2.29603854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.74, Y:42.90, Z:22.96 [[ 9.83978504e-01 -1.70523825e-01 -5.20377546e-02 4.85737924e+02] [ 1.70436599e-01 9.85349502e-01 -6.14200955e-03 4.29033469e+01] [ 5.23227346e-02 -2.82553254e-03 9.98626230e-01 2.29625845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.77, Y:42.91, Z:22.96 [[ 9.83852675e-01 -1.71385363e-01 -5.15845924e-02 4.85769738e+02] [ 1.71301026e-01 9.85199947e-01 -6.08472700e-03 4.29062025e+01] [ 5.18639708e-02 -2.85001866e-03 9.98650092e-01 2.29643951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.80, Y:42.91, Z:22.97 [[ 9.83701244e-01 -1.72330568e-01 -5.13228800e-02 4.85801207e+02] [ 1.72248573e-01 9.85034938e-01 -6.04983420e-03 4.29081118e+01] [ 5.15974013e-02 -2.88906343e-03 9.98663788e-01 2.29657946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.83, Y:42.91, Z:22.97 [[ 9.83670006e-01 -1.72521571e-01 -5.12798938e-02 4.85832831e+02] [ 1.72440298e-01 9.85001462e-01 -6.03845387e-03 4.29088518e+01] [ 5.15525339e-02 -2.90287420e-03 9.98666065e-01 2.29670567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.86, Y:42.91, Z:22.97 [[ 9.83754016e-01 -1.71978700e-01 -5.14913784e-02 4.85864789e+02] [ 1.71896165e-01 9.85096431e-01 -6.06044892e-03 4.29123417e+01] [ 5.17662412e-02 -2.88917953e-03 9.98655050e-01 2.29683989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.90, Y:42.92, Z:22.97 [[ 9.83971152e-01 -1.70876501e-01 -5.10097430e-02 4.85896011e+02] [ 1.70794212e-01 9.85288453e-01 -6.00015307e-03 4.29189503e+01] [ 5.12845959e-02 -2.80819131e-03 9.98680131e-01 2.29698963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.93, Y:42.93, Z:22.97 [[ 9.84469469e-01 -1.67918704e-01 -5.12169175e-02 4.85926504e+02] [ 1.67831940e-01 9.85797235e-01 -6.02092622e-03 4.29262369e+01] [ 5.15005218e-02 -2.66841660e-03 9.98669403e-01 2.29708062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.96, Y:42.93, Z:22.97 [[ 9.84701184e-01 -1.66400012e-01 -5.17166693e-02 4.85957896e+02] [ 1.66309567e-01 9.86054862e-01 -6.07759228e-03 4.29301295e+01] [ 5.20067846e-02 -2.61636458e-03 9.98643304e-01 2.29718891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:485.99, Y:42.94, Z:22.97 [[ 9.85010253e-01 -1.64480130e-01 -5.19719953e-02 4.85989189e+02] [ 1.64386320e-01 9.86377149e-01 -6.10389250e-03 4.29355889e+01] [ 5.22679576e-02 -2.53108834e-03 9.98629889e-01 2.29728811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.02, Y:42.94, Z:22.97 [[ 9.85280472e-01 -1.62671593e-01 -5.25389788e-02 4.86021039e+02] [ 1.62573323e-01 9.86677190e-01 -6.16742363e-03 4.29433760e+01] [ 5.28422766e-02 -2.46479432e-03 9.98599829e-01 2.29741386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.05, Y:42.95, Z:22.98 [[ 9.85611332e-01 -1.60732101e-01 -5.23019443e-02 4.86051962e+02] [ 1.60632228e-01 9.86995262e-01 -6.13509478e-03 4.29485015e+01] [ 5.26078779e-02 -2.35455892e-03 9.98612471e-01 2.29750698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.08, Y:42.95, Z:22.98 [[ 9.86290010e-01 -1.56353132e-01 -5.27798610e-02 4.86081119e+02] [ 1.56245256e-01 9.87698896e-01 -6.18950651e-03 4.29530014e+01] [ 5.30983592e-02 -2.14195446e-03 9.98586990e-01 2.29750198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.11, Y:42.96, Z:22.98 [[ 9.86705644e-01 -1.53821076e-01 -5.24504342e-02 4.86111529e+02] [ 1.53710936e-01 9.88096709e-01 -6.15153306e-03 4.29608775e+01] [ 5.27723368e-02 -1.99245293e-03 9.98604582e-01 2.29768524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.14, Y:42.97, Z:22.98 [[ 9.87174649e-01 -1.51244189e-01 -5.11019274e-02 4.86141950e+02] [ 1.51136286e-01 9.88494777e-01 -5.99157445e-03 4.29676478e+01] [ 5.14201792e-02 -1.80862512e-03 9.98675470e-01 2.29788587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.17, Y:42.97, Z:22.98 [[ 9.87665488e-01 -1.48207080e-01 -5.05128222e-02 4.86172282e+02] [ 1.48097777e-01 9.88955001e-01 -5.92067193e-03 4.29722726e+01] [ 5.08323936e-02 -1.63319332e-03 9.98705863e-01 2.29806971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.20, Y:42.98, Z:22.98 [[ 9.88152191e-01 -1.45116099e-01 -4.99656500e-02 4.86203594e+02] [ 1.45005298e-01 9.89413557e-01 -5.85469013e-03 4.29792750e+01] [ 5.02863013e-02 -1.45995907e-03 9.98733777e-01 2.29826792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.23, Y:42.99, Z:22.98 [[ 9.89168653e-01 -1.38461443e-01 -4.87217084e-02 4.86233441e+02] [ 1.38348145e-01 9.90367219e-01 -5.70642183e-03 4.29884694e+01] [ 4.90425022e-02 -1.09594437e-03 9.98796091e-01 2.29846490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.26, Y:42.99, Z:22.99 [[ 9.89632521e-01 -1.35265437e-01 -4.82776821e-02 4.86264062e+02] [ 1.35150448e-01 9.90808961e-01 -5.65330771e-03 4.29949572e+01] [ 4.85986572e-02 -9.30053183e-04 9.98817954e-01 2.29861128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.30, Y:43.00, Z:22.99 [[ 9.90096448e-01 -1.32011275e-01 -4.77707849e-02 4.86295548e+02] [ 1.31895222e-01 9.91247917e-01 -5.58730889e-03 4.30015816e+01] [ 4.80902788e-02 -7.68763598e-04 9.98842697e-01 2.29872392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.33, Y:43.01, Z:22.99 [[ 9.90407085e-01 -1.29368864e-01 -4.85541229e-02 4.86327315e+02] [ 1.29245968e-01 9.91596324e-01 -5.67547600e-03 4.30081568e+01] [ 4.88803197e-02 -6.54392968e-04 9.98804428e-01 2.29886930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.36, Y:43.01, Z:22.99 [[ 9.90734451e-01 -1.26986065e-01 -4.81641634e-02 4.86359193e+02] [ 1.26862483e-01 9.91904356e-01 -5.62656628e-03 4.30141478e+01] [ 4.84887390e-02 -5.35792281e-04 9.98823586e-01 2.29897435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.39, Y:43.02, Z:22.99 [[ 9.90985246e-01 -1.24732022e-01 -4.88893094e-02 4.86391250e+02] [ 1.24602116e-01 9.92190371e-01 -5.70784052e-03 4.30209324e+01] [ 4.92194526e-02 -4.35325672e-04 9.98787893e-01 2.29907228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.42, Y:43.03, Z:22.99 [[ 9.91454957e-01 -1.20925308e-01 -4.89299282e-02 4.86422238e+02] [ 1.20790728e-01 9.92661577e-01 -5.70900617e-03 4.30273622e+01] [ 4.92612230e-02 -2.50059166e-04 9.98785898e-01 2.29911790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.45, Y:43.03, Z:22.99 [[ 9.91750723e-01 -1.18718547e-01 -4.83364236e-02 4.86453726e+02] [ 1.18584722e-01 9.92927936e-01 -5.63710996e-03 4.30328901e+01] [ 4.86638148e-02 -1.41353477e-04 9.98815205e-01 2.29926833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.48, Y:43.04, Z:22.99 [[ 9.92226910e-01 -1.14823167e-01 -4.79728962e-02 4.86484648e+02] [ 1.14686967e-01 9.93385946e-01 -5.59117410e-03 4.30393965e+01] [ 4.82975972e-02 4.58474246e-05 9.98832989e-01 2.29939051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.52, Y:43.04, Z:23.00 [[ 9.92407642e-01 -1.13341029e-01 -4.77585883e-02 4.86517695e+02] [ 1.13204457e-01 9.93556137e-01 -5.56352660e-03 4.30445022e+01] [ 4.80814144e-02 1.14801247e-04 9.98843413e-01 2.29954762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.55, Y:43.05, Z:23.00 [[ 9.92593624e-01 -1.11750502e-01 -4.76415995e-02 4.86548109e+02] [ 1.11613022e-01 9.93736278e-01 -5.54461187e-03 4.30494498e+01] [ 4.79627989e-02 1.86123494e-04 9.98849105e-01 2.29965358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.58, Y:43.05, Z:23.00 [[ 9.92686674e-01 -1.10929538e-01 -4.76214679e-02 4.86580307e+02] [ 1.10791499e-01 9.93828249e-01 -5.53665619e-03 4.30533096e+01] [ 4.79417388e-02 2.20111008e-04 9.98850109e-01 2.29977754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.61, Y:43.06, Z:23.00 [[ 9.92792649e-01 -1.10124598e-01 -4.72792735e-02 4.86613637e+02] [ 1.09987786e-01 9.93917757e-01 -5.49347708e-03 4.30568966e+01] [ 4.75966765e-02 2.53741030e-04 9.98866604e-01 2.29988702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.65, Y:43.06, Z:23.00 [[ 9.92822953e-01 -1.09890105e-01 -4.71884388e-02 4.86645017e+02] [ 1.09753802e-01 9.93943709e-01 -5.47771990e-03 4.30605789e+01] [ 4.75045991e-02 2.59295489e-04 9.98870986e-01 2.30000823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.68, Y:43.06, Z:23.00 [[ 9.92725336e-01 -1.10871925e-01 -4.69449018e-02 4.86677655e+02] [ 1.10738526e-01 9.93834682e-01 -5.44091506e-03 4.30628815e+01] [ 4.72587163e-02 2.02724981e-04 9.98882662e-01 2.30009716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.71, Y:43.06, Z:23.00 [[ 9.92513581e-01 -1.12562900e-01 -4.73960443e-02 4.86709721e+02] [ 1.12429058e-01 9.93644594e-01 -5.48885710e-03 4.30649020e+01] [ 4.77126649e-02 1.19072598e-04 9.98861095e-01 2.30021539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.74, Y:43.07, Z:23.00 [[ 9.92286167e-01 -1.14519201e-01 -4.74712061e-02 4.86741453e+02] [ 1.14387338e-01 9.93421035e-01 -5.49404882e-03 4.30664085e+01] [ 4.77880688e-02 2.15637176e-05 9.98857497e-01 2.30029685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.77, Y:43.07, Z:23.00 [[ 9.91984614e-01 -1.16980925e-01 -4.77701709e-02 4.86774903e+02] [ 1.16850461e-01 9.93134157e-01 -5.52421818e-03 4.30677739e+01] [ 4.80884165e-02 -1.02027043e-04 9.98843078e-01 2.30042441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.81, Y:43.07, Z:23.00 [[ 9.91138634e-01 -1.23628849e-01 -4.85810315e-02 4.86806710e+02] [ 1.23502153e-01 9.92328432e-01 -5.61261113e-03 4.30655037e+01] [ 4.89022194e-02 -4.36986261e-04 9.98803475e-01 2.30045261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.84, Y:43.07, Z:23.01 [[ 9.90629884e-01 -1.27413800e-01 -4.91747603e-02 4.86838204e+02] [ 1.27288779e-01 9.91849445e-01 -5.67848692e-03 4.30653617e+01] [ 4.94974763e-02 -6.34116340e-04 9.98774047e-01 2.30052271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.87, Y:43.07, Z:23.01 [[ 9.90117886e-01 -1.31194029e-01 -4.95449223e-02 4.86870776e+02] [ 1.31071980e-01 9.91356361e-01 -5.71851675e-03 4.30655545e+01] [ 4.98669091e-02 -8.31945377e-04 9.98755525e-01 2.30060748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.90, Y:43.07, Z:23.01 [[ 9.89568981e-01 -1.34987204e-01 -5.03158726e-02 4.86902641e+02] [ 1.34866403e-01 9.90846793e-01 -5.80391484e-03 4.30658139e+01] [ 5.06387752e-02 -1.04254667e-03 9.98716490e-01 2.30069904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.93, Y:43.07, Z:23.01 [[ 9.89078259e-01 -1.38549938e-01 -5.02803462e-02 4.86934466e+02] [ 1.38434041e-01 9.90354689e-01 -5.79710518e-03 4.30669604e+01] [ 5.05985652e-02 -1.22672082e-03 9.98718319e-01 2.30081770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:486.97, Y:43.07, Z:23.01 [[ 9.88169565e-01 -1.44828236e-01 -5.04548567e-02 4.86965926e+02] [ 1.44719833e-01 9.89455588e-01 -5.81456625e-03 4.30653557e+01] [ 5.07649533e-02 -1.55604104e-03 9.98709416e-01 2.30091187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.00, Y:43.07, Z:23.01 [[ 9.87819728e-01 -1.47174903e-01 -5.05146809e-02 4.86996749e+02] [ 1.47069371e-01 9.89109057e-01 -5.82016688e-03 4.30660693e+01] [ 5.08211109e-02 -1.67988667e-03 9.98706360e-01 2.30104806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.03, Y:43.07, Z:23.01 [[ 9.87502888e-01 -1.49370381e-01 -5.02646468e-02 4.87028272e+02] [ 1.49269043e-01 9.88779695e-01 -5.78516889e-03 4.30665225e+01] [ 5.05647950e-02 -1.79008471e-03 9.98719178e-01 2.30118494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.06, Y:43.07, Z:23.01 [[ 9.87221668e-01 -1.51156347e-01 -5.04493434e-02 4.87060071e+02] [ 1.51056732e-01 9.88508059e-01 -5.80361062e-03 4.30691017e+01] [ 5.07468351e-02 -1.89126278e-03 9.98709759e-01 2.30136486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.09, Y:43.07, Z:23.02 [[ 9.86975816e-01 -1.52844579e-01 -5.01724398e-02 4.87091328e+02] [ 1.52748408e-01 9.88248274e-01 -5.76823236e-03 4.30708520e+01] [ 5.04644701e-02 -1.97065449e-03 9.98723913e-01 2.30151296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.12, Y:43.07, Z:23.02 [[ 9.86454414e-01 -1.56155565e-01 -5.02307561e-02 4.87122374e+02] [ 1.56063585e-01 9.87730144e-01 -5.77230321e-03 4.30744474e+01] [ 5.05158092e-02 -2.14507788e-03 9.98720958e-01 2.30169604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.15, Y:43.07, Z:23.02 [[ 9.86199735e-01 -1.57755545e-01 -5.02321634e-02 4.87153736e+02] [ 1.57665724e-01 9.87475681e-01 -5.77058937e-03 4.30735397e+01] [ 5.05133822e-02 -2.22893671e-03 9.98720897e-01 2.30178643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.19, Y:43.08, Z:23.02 [[ 9.85914005e-01 -1.59530952e-01 -5.02339624e-02 4.87185292e+02] [ 1.59443562e-01 9.87190195e-01 -5.76801613e-03 4.30790174e+01] [ 5.05106522e-02 -2.32271403e-03 9.98720821e-01 2.30194021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.22, Y:43.08, Z:23.02 [[ 9.85345656e-01 -1.62923294e-01 -5.04969071e-02 4.87215809e+02] [ 1.62839604e-01 9.86635538e-01 -5.79471568e-03 4.30797176e+01] [ 5.07661373e-02 -2.51309844e-03 9.98707406e-01 2.30205610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.25, Y:43.09, Z:23.02 [[ 9.85048748e-01 -1.64484148e-01 -5.12243058e-02 4.87247200e+02] [ 1.64400189e-01 9.86376215e-01 -5.87710932e-03 4.30852009e+01] [ 5.14931282e-02 -2.63204638e-03 9.98669880e-01 2.30222980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.28, Y:43.09, Z:23.02 [[ 9.84840335e-01 -1.65548478e-01 -5.17997770e-02 4.87278296e+02] [ 1.65464240e-01 9.86197900e-01 -5.94024865e-03 4.30870625e+01] [ 5.20682304e-02 -2.72081426e-03 9.98639823e-01 2.30235485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.31, Y:43.09, Z:23.03 [[ 9.84647603e-01 -1.66594955e-01 -5.21077681e-02 4.87309567e+02] [ 1.66511323e-01 9.86021453e-01 -5.97270911e-03 4.30880940e+01] [ 5.23744004e-02 -2.79551968e-03 9.98623606e-01 2.30251051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.34, Y:43.09, Z:23.03 [[ 9.84505488e-01 -1.67217808e-01 -5.27934521e-02 4.87341518e+02] [ 1.67133012e-01 9.85915805e-01 -6.04832725e-03 4.30940378e+01] [ 5.30612869e-02 -2.86891729e-03 9.98587136e-01 2.30267944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.37, Y:43.10, Z:23.03 [[ 9.84447016e-01 -1.67540306e-01 -5.28613152e-02 4.87373749e+02] [ 1.67455957e-01 9.85860980e-01 -6.05231687e-03 4.30978857e+01] [ 5.31279150e-02 -2.89375681e-03 9.98583522e-01 2.30284686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.41, Y:43.10, Z:23.03 [[ 9.84464738e-01 -1.67435997e-01 -5.28617639e-02 4.87406098e+02] [ 1.67351708e-01 9.85878706e-01 -6.04839514e-03 4.31014941e+01] [ 5.31280065e-02 -2.89207473e-03 9.98583522e-01 2.30300162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.44, Y:43.11, Z:23.03 [[ 9.84415025e-01 -1.67595820e-01 -5.32794436e-02 4.87438054e+02] [ 1.67510725e-01 9.85851440e-01 -6.09064761e-03 4.31067371e+01] [ 5.35463833e-02 -2.92915317e-03 9.98561067e-01 2.30313451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.47, Y:43.11, Z:23.03 [[ 9.84418226e-01 -1.67323492e-01 -5.40703816e-02 4.87469365e+02] [ 1.67235657e-01 9.85897600e-01 -6.17713388e-03 4.31142864e+01] [ 5.43414390e-02 -2.96161264e-03 9.98518020e-01 2.30330822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.50, Y:43.12, Z:23.03 [[ 9.84487071e-01 -1.66810942e-01 -5.43996078e-02 4.87500256e+02] [ 1.66721469e-01 9.85984471e-01 -6.21084928e-03 4.31155559e+01] [ 5.46732061e-02 -2.95508170e-03 9.98499929e-01 2.30337337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.53, Y:43.12, Z:23.03 [[ 9.84613770e-01 -1.65648255e-01 -5.56451156e-02 4.87531684e+02] [ 1.65552972e-01 9.86180457e-01 -6.34980024e-03 4.31213041e+01] [ 5.59279589e-02 -2.96011352e-03 9.98430419e-01 2.30346313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.56, Y:43.12, Z:23.04 [[ 9.84753609e-01 -1.64803221e-01 -5.56796897e-02 4.87562971e+02] [ 1.64706688e-01 9.86322151e-01 -6.34994230e-03 4.31226479e+01] [ 5.59646022e-02 -2.91768865e-03 9.98428490e-01 2.30354442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.59, Y:43.13, Z:23.04 [[ 9.84901924e-01 -1.63864623e-01 -5.58263879e-02 4.87594717e+02] [ 1.63766261e-01 9.86478646e-01 -6.36340169e-03 4.31323280e+01] [ 5.61142760e-02 -2.87515227e-03 9.98420213e-01 2.30378540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.63, Y:43.14, Z:23.04 [[ 9.85125936e-01 -1.62638528e-01 -5.54580844e-02 4.87626470e+02] [ 1.62539788e-01 9.86681771e-01 -6.31665911e-03 4.31378048e+01] [ 5.57468131e-02 -2.79144055e-03 9.98441035e-01 2.30395078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.66, Y:43.15, Z:23.04 [[ 9.85677893e-01 -1.59403272e-01 -5.50426110e-02 4.87656838e+02] [ 1.59301167e-01 9.87210149e-01 -6.26586564e-03 4.31460441e+01] [ 5.53374237e-02 -2.59222691e-03 9.98464346e-01 2.30418137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.69, Y:43.15, Z:23.04 [[ 9.85990325e-01 -1.57712655e-01 -5.43120353e-02 4.87686992e+02] [ 1.57610735e-01 9.87481971e-01 -6.18175003e-03 4.31506368e+01] [ 5.46070958e-02 -2.46501409e-03 9.98504877e-01 2.30437184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.72, Y:43.16, Z:23.05 [[ 9.86380886e-01 -1.55563983e-01 -5.34096896e-02 4.87718181e+02] [ 1.55462346e-01 9.87823122e-01 -6.07780138e-03 4.31576210e+01] [ 5.37048133e-02 -2.30816851e-03 9.98554188e-01 2.30460314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.75, Y:43.16, Z:23.05 [[ 9.86726481e-01 -1.53484704e-01 -5.30405274e-02 4.87749243e+02] [ 1.53381653e-01 9.88148612e-01 -6.03233737e-03 4.31640868e+01] [ 5.33377951e-02 -2.18317675e-03 9.98574140e-01 2.30479279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.78, Y:43.17, Z:23.05 [[ 9.87050376e-01 -1.51621206e-01 -5.23695141e-02 4.87781151e+02] [ 1.51518234e-01 9.88436530e-01 -5.95403293e-03 4.31702523e+01] [ 5.26666984e-02 -2.05800582e-03 9.98610026e-01 2.30499894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.81, Y:43.18, Z:23.05 [[ 9.87361803e-01 -1.49717176e-01 -5.19753494e-02 4.87812889e+02] [ 1.49613301e-01 9.88726951e-01 -5.90564032e-03 4.31765048e+01] [ 5.22736046e-02 -1.94519994e-03 9.98630906e-01 2.30519669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.84, Y:43.19, Z:23.05 [[ 9.87858613e-01 -1.46386121e-01 -5.20236940e-02 4.87842991e+02] [ 1.46277622e-01 9.89225938e-01 -5.90768710e-03 4.31866669e+01] [ 5.23279909e-02 -1.77394264e-03 9.98628377e-01 2.30533406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.87, Y:43.19, Z:23.05 [[ 9.88121576e-01 -1.44495621e-01 -5.23141093e-02 4.87874202e+02] [ 1.44383389e-01 9.89504004e-01 -5.93822892e-03 4.31885455e+01] [ 5.26230687e-02 -1.68559628e-03 9.98613024e-01 2.30536747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.91, Y:43.20, Z:23.06 [[ 9.88346167e-01 -1.42738151e-01 -5.28930569e-02 4.87905632e+02] [ 1.42621292e-01 9.89759166e-01 -5.99673751e-03 4.31970800e+01] [ 5.32073511e-02 -1.61682357e-03 9.98582177e-01 2.30550605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.94, Y:43.20, Z:23.06 [[ 9.88642854e-01 -1.40498718e-01 -5.33424613e-02 4.87937110e+02] [ 1.40376809e-01 9.90079705e-01 -6.04398605e-03 4.31991745e+01] [ 5.36624606e-02 -1.51270086e-03 9.98557986e-01 2.30550805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:487.97, Y:43.21, Z:23.06 [[ 9.89265026e-01 -1.35734244e-01 -5.41379971e-02 4.87966854e+02] [ 1.35601685e-01 9.90744462e-01 -6.13147592e-03 4.32076116e+01] [ 5.44691721e-02 -1.27554895e-03 9.98514638e-01 2.30556340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.00, Y:43.22, Z:23.06 [[ 9.89641358e-01 -1.32782891e-01 -5.45773421e-02 4.87997963e+02] [ 1.32643759e-01 9.91144511e-01 -6.17991569e-03 4.32180875e+01] [ 5.49146201e-02 -1.12344369e-03 9.98490422e-01 2.30583756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.03, Y:43.22, Z:23.06 [[ 9.90036645e-01 -1.29592839e-01 -5.50739350e-02 4.88028612e+02] [ 1.29446481e-01 9.91566829e-01 -6.23163186e-03 4.32216200e+01] [ 5.54170620e-02 -9.59583177e-04 9.98462833e-01 2.30584933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.06, Y:43.23, Z:23.06 [[ 9.90432595e-01 -1.26385365e-01 -5.54077126e-02 4.88060076e+02] [ 1.26232620e-01 9.91980903e-01 -6.26206577e-03 4.32321133e+01] [ 5.57548262e-02 -7.92106678e-04 9.98444176e-01 2.30619142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.09, Y:43.24, Z:23.06 [[ 9.90807747e-01 -1.23323019e-01 -5.56007413e-02 4.88091435e+02] [ 1.23164617e-01 9.92366385e-01 -6.27980574e-03 4.32382499e+01] [ 5.59507512e-02 -6.25963842e-04 9.98433334e-01 2.30638235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.12, Y:43.24, Z:23.07 [[ 9.91156185e-01 -1.20445063e-01 -5.56992214e-02 4.88122705e+02] [ 1.20281788e-01 9.92719884e-01 -6.28681751e-03 4.32439445e+01] [ 5.60509407e-02 -4.68383893e-04 9.98427800e-01 2.30653520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.15, Y:43.25, Z:23.07 [[ 9.91779247e-01 -1.15372706e-01 -5.53449607e-02 4.88152835e+02] [ 1.15203825e-01 9.93322256e-01 -6.24291033e-03 4.32512133e+01] [ 5.56956426e-02 -1.84362274e-04 9.98447776e-01 2.30668178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.18, Y:43.26, Z:23.07 [[ 9.92013919e-01 -1.13188996e-01 -5.56474186e-02 4.88184259e+02] [ 1.13015010e-01 9.93573473e-01 -6.27379981e-03 4.32564267e+01] [ 5.59999241e-02 -6.52968251e-05 9.98430771e-01 2.30684253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.22, Y:43.26, Z:23.07 [[ 9.92246764e-01 -1.11275078e-01 -5.53553692e-02 4.88215809e+02] [ 1.11100161e-01 9.93789644e-01 -6.23687833e-03 4.32612986e+01] [ 5.57056018e-02 3.85318963e-05 9.98447237e-01 2.30697396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.25, Y:43.27, Z:23.07 [[ 9.92386989e-01 -1.09993966e-01 -5.54020844e-02 4.88246926e+02] [ 1.09816973e-01 9.93932249e-01 -6.23830056e-03 4.32659420e+01] [ 5.57520937e-02 1.06719088e-04 9.98444637e-01 2.30712950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.28, Y:43.27, Z:23.07 [[ 9.92468678e-01 -1.08891306e-01 -5.61124488e-02 4.88278254e+02] [ 1.08708162e-01 9.94053648e-01 -6.31506728e-03 4.32711363e+01] [ 5.64664404e-02 1.67625276e-04 9.98404484e-01 2.30736045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.31, Y:43.28, Z:23.07 [[ 9.92427168e-01 -1.09181336e-01 -5.62827801e-02 4.88309193e+02] [ 1.08997805e-01 9.94021838e-01 -6.32962535e-03 4.32750345e+01] [ 5.66373895e-02 1.46992675e-04 9.98394804e-01 2.30744585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.34, Y:43.28, Z:23.08 [[ 9.92335203e-01 -1.09865074e-01 -5.65730541e-02 4.88340227e+02] [ 1.09681115e-01 9.93946505e-01 -6.35594240e-03 4.32779690e+01] [ 5.69288855e-02 1.02229762e-04 9.98378231e-01 2.30758142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.37, Y:43.28, Z:23.08 [[ 9.92146816e-01 -1.11312339e-01 -5.70461140e-02 4.88372074e+02] [ 1.11127861e-01 9.93785471e-01 -6.40590552e-03 4.32802921e+01] [ 5.74046556e-02 1.61861297e-05 9.98350993e-01 2.30777619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.40, Y:43.28, Z:23.08 [[ 9.91599096e-01 -1.15902595e-01 -5.74266596e-02 4.88403826e+02] [ 1.15723557e-01 9.93260552e-01 -6.44476795e-03 4.32801904e+01] [ 5.77866009e-02 -2.54991229e-04 9.98328926e-01 2.30797776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.44, Y:43.28, Z:23.08 [[ 9.91237446e-01 -1.19038931e-01 -5.72543275e-02 4.88435464e+02] [ 1.18866365e-01 9.92889490e-01 -6.42241543e-03 4.32817687e+01] [ 5.76117376e-02 -4.39475152e-04 9.98338968e-01 2.30822135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.47, Y:43.28, Z:23.08 [[ 9.90857378e-01 -1.22033000e-01 -5.75291554e-02 4.88467267e+02] [ 1.21864023e-01 9.92525850e-01 -6.44962110e-03 4.32817063e+01] [ 5.78862405e-02 -6.20079655e-04 9.98322993e-01 2.30828401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.50, Y:43.28, Z:23.09 [[ 9.90438221e-01 -1.25499331e-01 -5.72891625e-02 4.88498958e+02] [ 1.25337863e-01 9.92093362e-01 -6.41733183e-03 4.32833724e+01] [ 5.76415687e-02 -8.24530471e-04 9.98337002e-01 2.30852670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.53, Y:43.28, Z:23.09 [[ 9.90030710e-01 -1.28747794e-01 -5.71244104e-02 4.88531346e+02] [ 1.28592841e-01 9.91676851e-01 -6.39561717e-03 4.32843565e+01] [ 5.74723770e-02 -1.01393279e-03 9.98346582e-01 2.30867456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.56, Y:43.28, Z:23.09 [[ 9.89295441e-01 -1.34645966e-01 -5.62582798e-02 4.88563147e+02] [ 1.34505413e-01 9.90892865e-01 -6.29480259e-03 4.32821561e+01] [ 5.65934978e-02 -1.33962365e-03 9.98396405e-01 2.30880880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.60, Y:43.28, Z:23.09 [[ 9.88946704e-01 -1.37316227e-01 -5.59345217e-02 4.88595304e+02] [ 1.37181727e-01 9.90526145e-01 -6.25545158e-03 4.32836439e+01] [ 5.62635812e-02 -1.48688609e-03 9.98414843e-01 2.30898434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.63, Y:43.28, Z:23.09 [[ 9.88666479e-01 -1.39576134e-01 -5.52910196e-02 4.88627752e+02] [ 1.39448461e-01 9.90210049e-01 -6.17951776e-03 4.32849477e+01] [ 5.56122364e-02 -1.60076553e-03 9.98451159e-01 2.30913255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.66, Y:43.29, Z:23.09 [[ 9.88369731e-01 -1.41534483e-01 -5.56171284e-02 4.88658601e+02] [ 1.41408603e-01 9.89931824e-01 -6.21222898e-03 4.32857380e+01] [ 5.59364100e-02 -1.72476132e-03 9.98432844e-01 2.30924356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.69, Y:43.29, Z:23.09 [[ 9.88110143e-01 -1.43234387e-01 -5.58771511e-02 4.88690172e+02] [ 1.43110161e-01 9.89687100e-01 -6.23909493e-03 4.32886431e+01] [ 5.61945486e-02 -1.83167513e-03 9.98418158e-01 2.30940016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.72, Y:43.29, Z:23.09 [[ 9.87614482e-01 -1.46661627e-01 -5.57494577e-02 4.88720392e+02] [ 1.46543559e-01 9.89184648e-01 -6.22228040e-03 4.32885010e+01] [ 5.60590775e-02 -2.02450970e-03 9.98425401e-01 2.30948416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.75, Y:43.29, Z:23.10 [[ 9.87341518e-01 -1.48434726e-01 -5.58914952e-02 4.88752291e+02] [ 1.48318924e-01 9.88919911e-01 -6.23750708e-03 4.32919216e+01] [ 5.61980752e-02 -2.13121675e-03 9.98417365e-01 2.30964016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.78, Y:43.29, Z:23.10 [[ 9.87094688e-01 -1.50145830e-01 -5.56803992e-02 4.88784677e+02] [ 1.50033843e-01 9.88661359e-01 -6.20993038e-03 4.32948521e+01] [ 5.59814543e-02 -2.22415495e-03 9.98429331e-01 2.30978992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.82, Y:43.30, Z:23.10 [[ 9.86857854e-01 -1.51648176e-01 -5.58068718e-02 4.88816761e+02] [ 1.51538305e-01 9.88431816e-01 -6.21993902e-03 4.32981947e+01] [ 5.61045301e-02 -2.31868312e-03 9.98422208e-01 2.30991460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.85, Y:43.30, Z:23.10 [[ 9.86340935e-01 -1.54920752e-01 -5.59564177e-02 4.88847235e+02] [ 1.54815749e-01 9.87923699e-01 -6.23292464e-03 4.32975164e+01] [ 5.62462806e-02 -2.51514600e-03 9.98413757e-01 2.30989800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.88, Y:43.30, Z:23.10 [[ 9.86123423e-01 -1.56181113e-01 -5.62854675e-02 4.88879500e+02] [ 1.56077005e-01 9.87725002e-01 -6.26804630e-03 4.32996277e+01] [ 5.65735140e-02 -2.60379992e-03 9.98395041e-01 2.30999747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.91, Y:43.30, Z:23.10 [[ 9.85931577e-01 -1.57354075e-01 -5.63792609e-02 4.88911758e+02] [ 1.57251764e-01 9.87538614e-01 -6.27439562e-03 4.33023391e+01] [ 5.66639989e-02 -2.67961347e-03 9.98389709e-01 2.31007595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.94, Y:43.31, Z:23.10 [[ 9.85746684e-01 -1.58320882e-01 -5.69032001e-02 4.88943150e+02] [ 1.58218494e-01 9.87383844e-01 -6.32872344e-03 4.33067055e+01] [ 5.71872695e-02 -2.76462051e-03 9.98359641e-01 2.31022466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:488.98, Y:43.31, Z:23.10 [[ 9.85586979e-01 -1.59260724e-01 -5.70467177e-02 4.88975306e+02] [ 1.59159578e-01 9.87232503e-01 -6.34138282e-03 4.33097108e+01] [ 5.73283071e-02 -2.82954719e-03 9.98351370e-01 2.31035940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.01, Y:43.31, Z:23.11 [[ 9.85483097e-01 -1.59944655e-01 -5.69277823e-02 4.89006748e+02] [ 1.59845293e-01 9.87121819e-01 -6.32423167e-03 4.33136722e+01] [ 5.72061831e-02 -2.86721465e-03 9.98358268e-01 2.31052709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.04, Y:43.32, Z:23.11 [[ 9.85429203e-01 -1.60427502e-01 -5.65004741e-02 4.89037245e+02] [ 1.60330589e-01 9.87043435e-01 -6.27371406e-03 4.33174340e+01] [ 5.67748983e-02 -2.87645326e-03 9.98382861e-01 2.31066629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.07, Y:43.32, Z:23.11 [[ 9.85427730e-01 -1.60546018e-01 -5.61886500e-02 4.89068706e+02] [ 1.60450542e-01 9.87024182e-01 -6.23592270e-03 4.33213891e+01] [ 5.64607089e-02 -2.87044821e-03 9.98400696e-01 2.31082492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.10, Y:43.33, Z:23.11 [[ 9.85359480e-01 -1.61094615e-01 -5.58141612e-02 4.89099831e+02] [ 1.61001498e-01 9.86934747e-01 -6.19056969e-03 4.33260450e+01] [ 5.60822025e-02 -2.88622702e-03 9.98421983e-01 2.31100467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.13, Y:43.33, Z:23.11 [[ 9.85463310e-01 -1.60691638e-01 -5.51385676e-02 4.89130631e+02] [ 1.60600291e-01 9.87000598e-01 -6.11274574e-03 4.33295837e+01] [ 5.54040663e-02 -2.83138337e-03 9.98460001e-01 2.31114897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.16, Y:43.33, Z:23.11 [[ 9.85550490e-01 -1.60429725e-01 -5.43372337e-02 4.89162292e+02] [ 1.60340777e-01 9.87043354e-01 -6.02096735e-03 4.33349486e+01] [ 5.45991475e-02 -2.77850694e-03 9.98504488e-01 2.31135614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.19, Y:43.34, Z:23.12 [[ 9.85654664e-01 -1.59973930e-01 -5.37887021e-02 4.89194241e+02] [ 1.59886293e-01 9.87117467e-01 -5.95645676e-03 4.33394145e+01] [ 5.40486452e-02 -2.72906679e-03 9.98534574e-01 2.31154946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.23, Y:43.34, Z:23.12 [[ 9.85902780e-01 -1.58970084e-01 -5.21940681e-02 4.89225130e+02] [ 1.58886342e-01 9.87279982e-01 -5.77642534e-03 4.33444000e+01] [ 5.24484375e-02 -2.59793077e-03 9.98620254e-01 2.31176030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.26, Y:43.35, Z:23.12 [[ 9.85919012e-01 -1.58869276e-01 -5.21943918e-02 4.89257487e+02] [ 1.58785548e-01 9.87296215e-01 -5.77349895e-03 4.33478819e+01] [ 5.24485571e-02 -2.59551274e-03 9.98620254e-01 2.31191504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.29, Y:43.36, Z:23.12 [[ 9.86020780e-01 -1.58450945e-01 -5.15394853e-02 4.89288684e+02] [ 1.58369001e-01 9.87363568e-01 -5.69591358e-03 4.33604367e+01] [ 5.17907330e-02 -2.54596766e-03 9.98654714e-01 2.31220283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.32, Y:43.36, Z:23.12 [[ 9.86118427e-01 -1.57870379e-01 -5.14528089e-02 4.89319515e+02] [ 1.57788154e-01 9.87456640e-01 -5.68186935e-03 4.33622023e+01] [ 5.17044166e-02 -2.51564765e-03 9.98659264e-01 2.31232457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.35, Y:43.37, Z:23.12 [[ 9.86139514e-01 -1.57683293e-01 -5.16220679e-02 4.89352264e+02] [ 1.57600877e-01 9.87486506e-01 -5.68889058e-03 4.33689924e+01] [ 5.18731384e-02 -2.52564336e-03 9.98650489e-01 2.31248895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.38, Y:43.37, Z:23.13 [[ 9.86156572e-01 -1.57576373e-01 -5.16226828e-02 4.89384624e+02] [ 1.57494102e-01 9.87503574e-01 -5.68330546e-03 4.33724650e+01] [ 5.18731384e-02 -2.52563904e-03 9.98650489e-01 2.31264361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.42, Y:43.38, Z:23.13 [[ 9.86171733e-01 -1.57520224e-01 -5.15042923e-02 4.89417150e+02] [ 1.57438546e-01 9.87512540e-01 -5.66463118e-03 4.33784650e+01] [ 5.17534285e-02 -2.52246174e-03 9.98656708e-01 2.31281676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.45, Y:43.38, Z:23.13 [[ 9.86042399e-01 -1.58034917e-01 -5.23961204e-02 4.89447988e+02] [ 1.57951448e-01 9.87430101e-01 -5.75631521e-03 4.33789293e+01] [ 5.26472053e-02 -2.60007226e-03 9.98609789e-01 2.31286275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.48, Y:43.38, Z:23.13 [[ 9.85955393e-01 -1.58338289e-01 -5.31126168e-02 4.89480254e+02] [ 1.58253504e-01 9.87381334e-01 -5.82491211e-03 4.33841662e+01] [ 5.33647131e-02 -2.66215418e-03 9.98571540e-01 2.31297526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.51, Y:43.39, Z:23.13 [[ 9.85945525e-01 -1.58257348e-01 -5.35353569e-02 4.89512654e+02] [ 1.58171309e-01 9.87394254e-01 -5.86719150e-03 4.33894265e+01] [ 5.37890300e-02 -2.68302626e-03 9.98548718e-01 2.31310287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.55, Y:43.39, Z:23.13 [[ 9.85951770e-01 -1.58200850e-01 -5.35872915e-02 4.89545208e+02] [ 1.58114876e-01 9.87403294e-01 -5.86703263e-03 4.33941549e+01] [ 5.38404377e-02 -2.68833672e-03 9.98545933e-01 2.31323582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.58, Y:43.40, Z:23.13 [[ 9.86155674e-01 -1.56960456e-01 -5.34827268e-02 4.89576347e+02] [ 1.56873356e-01 9.87601407e-01 -5.84893372e-03 4.33969709e+01] [ 5.37376676e-02 -2.62205569e-03 9.98551645e-01 2.31331926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.61, Y:43.40, Z:23.14 [[ 9.86318605e-01 -1.55971228e-01 -5.33721401e-02 4.89608524e+02] [ 1.55883668e-01 9.87758244e-01 -5.82520240e-03 4.34032889e+01] [ 5.36273353e-02 -2.57433949e-03 9.98557701e-01 2.31352911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.64, Y:43.41, Z:23.14 [[ 9.86545509e-01 -1.54666398e-01 -5.29741858e-02 4.89639968e+02] [ 1.54578513e-01 9.87963617e-01 -5.77709682e-03 4.34068620e+01] [ 5.32300910e-02 -2.48930192e-03 9.98579171e-01 2.31367587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.67, Y:43.41, Z:23.14 [[ 9.86784672e-01 -1.53325710e-01 -5.24141049e-02 4.89671502e+02] [ 1.53237983e-01 9.88172804e-01 -5.71228166e-03 4.34116048e+01] [ 5.26700326e-02 -2.39503971e-03 9.98609098e-01 2.31389111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.70, Y:43.42, Z:23.14 [[ 9.86989172e-01 -1.52151430e-01 -5.19838057e-02 4.89703322e+02] [ 1.52063706e-01 9.88354478e-01 -5.66167755e-03 4.34172129e+01] [ 5.22398595e-02 -2.31683573e-03 9.98631879e-01 2.31408065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.73, Y:43.42, Z:23.14 [[ 9.87140093e-01 -1.51254417e-01 -5.17352637e-02 4.89734341e+02] [ 1.51166535e-01 9.88492276e-01 -5.63012910e-03 4.34207454e+01] [ 5.19914904e-02 -2.26291436e-03 9.98644964e-01 2.31425045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.77, Y:43.42, Z:23.14 [[ 9.87106422e-01 -1.51469396e-01 -5.17487559e-02 4.89766304e+02] [ 1.51382357e-01 9.88459304e-01 -5.62018154e-03 4.34232340e+01] [ 5.20028248e-02 -2.28613136e-03 9.98644321e-01 2.31437921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.80, Y:43.43, Z:23.14 [[ 9.87075079e-01 -1.51660645e-01 -5.17864558e-02 4.89798004e+02] [ 1.51573934e-01 9.88429943e-01 -5.62056282e-03 4.34256817e+01] [ 5.20397017e-02 -2.30155936e-03 9.98642365e-01 2.31449508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.83, Y:43.42, Z:23.14 [[ 9.86926870e-01 -1.52442855e-01 -5.23118460e-02 4.89830037e+02] [ 1.52355666e-01 9.88309444e-01 -5.67390436e-03 4.34236882e+01] [ 5.25652376e-02 -2.37027749e-03 9.98614679e-01 2.31449670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.86, Y:43.43, Z:23.15 [[ 9.86767849e-01 -1.53471250e-01 -5.23047492e-02 4.89861562e+02] [ 1.53385676e-01 9.88150132e-01 -5.67026065e-03 4.34287345e+01] [ 5.25551668e-02 -2.42756842e-03 9.98615072e-01 2.31468164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.89, Y:43.43, Z:23.15 [[ 9.86612985e-01 -1.54272574e-01 -5.28657886e-02 4.89892828e+02] [ 1.54186524e-01 9.88025161e-01 -5.72693150e-03 4.34288440e+01] [ 5.31162378e-02 -2.50092720e-03 9.98585205e-01 2.31479282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.92, Y:43.43, Z:23.15 [[ 9.86472698e-01 -1.55107179e-01 -5.30412957e-02 4.89924846e+02] [ 1.55022113e-01 9.87894329e-01 -5.73932044e-03 4.34337615e+01] [ 5.32894050e-02 -2.56089079e-03 9.98575826e-01 2.31496594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.96, Y:43.44, Z:23.15 [[ 9.86251885e-01 -1.56426034e-01 -5.32739649e-02 4.89957119e+02] [ 1.56342345e-01 9.87686128e-01 -5.76060878e-03 4.34375365e+01] [ 5.35190653e-02 -2.64756536e-03 9.98563318e-01 2.31516488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:489.99, Y:43.44, Z:23.15 [[ 9.86071470e-01 -1.57373941e-01 -5.38191339e-02 4.89988741e+02] [ 1.57290151e-01 9.87535309e-01 -5.81565999e-03 4.34376168e+01] [ 5.40635284e-02 -2.73056330e-03 9.98533765e-01 2.31529719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.02, Y:43.44, Z:23.15 [[ 9.85889230e-01 -1.58380711e-01 -5.42031110e-02 4.90019925e+02] [ 1.58297401e-01 9.87374125e-01 -5.85414462e-03 4.34371139e+01] [ 5.44459329e-02 -2.80867347e-03 9.98512770e-01 2.31538265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.05, Y:43.44, Z:23.16 [[ 9.85523703e-01 -1.60675435e-01 -5.40965352e-02 4.90051322e+02] [ 1.60596048e-01 9.87002941e-01 -5.83982958e-03 4.34400916e+01] [ 5.43317565e-02 -2.93239929e-03 9.98518633e-01 2.31557408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.08, Y:43.44, Z:23.16 [[ 9.85345058e-01 -1.61836195e-01 -5.38902873e-02 4.90082395e+02] [ 1.61759255e-01 9.86813115e-01 -5.81546445e-03 4.34401112e+01] [ 5.41207949e-02 -2.98701358e-03 9.98529928e-01 2.31573343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.11, Y:43.44, Z:23.16 [[ 9.85191362e-01 -1.62791305e-01 -5.38235188e-02 4.90113872e+02] [ 1.62716136e-01 9.86655846e-01 -5.80530122e-03 4.34428203e+01] [ 5.40503420e-02 -3.03862237e-03 9.98533588e-01 2.31591684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.14, Y:43.44, Z:23.16 [[ 9.84994019e-01 -1.64103132e-01 -5.34503947e-02 4.90144826e+02] [ 1.64031105e-01 9.86438341e-01 -5.76168688e-03 4.34424566e+01] [ 5.36710295e-02 -3.09230017e-03 9.98553884e-01 2.31614844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.18, Y:43.44, Z:23.16 [[ 9.84935362e-01 -1.64712771e-01 -5.26501209e-02 4.90176831e+02] [ 1.64644084e-01 9.86336751e-01 -5.66911333e-03 4.34449341e+01] [ 5.28645246e-02 -3.08482072e-03 9.98596929e-01 2.31635053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.21, Y:43.45, Z:23.17 [[ 9.84901187e-01 -1.64953647e-01 -5.25351909e-02 4.90207859e+02] [ 1.64885796e-01 9.86296465e-01 -5.65302562e-03 4.34456104e+01] [ 5.27477603e-02 -3.09463513e-03 9.98603073e-01 2.31654104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.24, Y:43.45, Z:23.17 [[ 9.84872837e-01 -1.65282207e-01 -5.20316017e-02 4.90239608e+02] [ 1.65216257e-01 9.86241489e-01 -5.59595907e-03 4.34471778e+01] [ 5.22406367e-02 -3.08515838e-03 9.98629760e-01 2.31671666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.27, Y:43.45, Z:23.17 [[ 9.84860408e-01 -1.65474368e-01 -5.16547150e-02 4.90271710e+02] [ 1.65409823e-01 9.86209293e-01 -5.55174016e-03 4.34485283e+01] [ 5.18610307e-02 -3.07650817e-03 9.98649572e-01 2.31689316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.30, Y:43.45, Z:23.17 [[ 9.84828986e-01 -1.65705672e-01 -5.15121302e-02 4.90303699e+02] [ 1.65641988e-01 9.86170432e-01 -5.53273217e-03 4.34492992e+01] [ 5.17165448e-02 -3.08377665e-03 9.98657043e-01 2.31703508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.34, Y:43.45, Z:23.17 [[ 9.84583323e-01 -1.67035791e-01 -5.19107379e-02 4.90336143e+02] [ 1.66973154e-01 9.85945699e-01 -5.57181891e-03 4.34484257e+01] [ 5.21118620e-02 -3.18177965e-03 9.98636185e-01 2.31713583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.37, Y:43.45, Z:23.17 [[ 9.84424271e-01 -1.67870862e-01 -5.22324384e-02 4.90368349e+02] [ 1.67808813e-01 9.85803638e-01 -5.60261303e-03 4.34508391e+01] [ 5.24314433e-02 -3.24971522e-03 9.98619238e-01 2.31721464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.40, Y:43.45, Z:23.17 [[ 9.84322507e-01 -1.68264164e-01 -5.28807459e-02 4.90399689e+02] [ 1.68201330e-01 9.85736365e-01 -5.66842001e-03 4.34507326e+01] [ 5.30802662e-02 -3.31505843e-03 9.98584746e-01 2.31728577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.43, Y:43.45, Z:23.17 [[ 9.84239108e-01 -1.68603333e-01 -5.33506789e-02 4.90431771e+02] [ 1.68540035e-01 9.85678237e-01 -5.71581048e-03 4.34543134e+01] [ 5.35503078e-02 -3.36600107e-03 9.98559480e-01 2.31737958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.46, Y:43.46, Z:23.17 [[ 9.84128990e-01 -1.68970117e-01 -5.42146744e-02 4.90463748e+02] [ 1.68905525e-01 9.85615154e-01 -5.80441155e-03 4.34557598e+01] [ 5.44155767e-02 -3.44486836e-03 9.98512433e-01 2.31744813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.50, Y:43.45, Z:23.18 [[ 9.84206931e-01 -1.68521816e-01 -5.41951521e-02 4.90495787e+02] [ 1.68456809e-01 9.85691981e-01 -5.79838146e-03 4.34539902e+01] [ 5.43968807e-02 -3.42273516e-03 9.98513527e-01 2.31753542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.53, Y:43.46, Z:23.18 [[ 9.84324017e-01 -1.67849459e-01 -5.41552292e-02 4.90526834e+02] [ 1.67783739e-01 9.85806821e-01 -5.79033673e-03 4.34555885e+01] [ 5.43584992e-02 -3.38679934e-03 9.98515740e-01 2.31767690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.56, Y:43.46, Z:23.18 [[ 9.84488331e-01 -1.66976522e-01 -5.38661903e-02 4.90558372e+02] [ 1.66910361e-01 9.85955270e-01 -5.75646428e-03 4.34622252e+01] [ 5.40708486e-02 -3.32365335e-03 9.98531570e-01 2.31789030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.59, Y:43.47, Z:23.18 [[ 9.84791278e-01 -1.65259932e-01 -5.36217656e-02 4.90590058e+02] [ 1.65192037e-01 9.86244796e-01 -5.72659352e-03 4.34657324e+01] [ 5.38305637e-02 -3.21838933e-03 9.98544898e-01 2.31810456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.62, Y:43.47, Z:23.18 [[ 9.84921551e-01 -1.64483344e-01 -5.36168615e-02 4.90621498e+02] [ 1.64414475e-01 9.86374739e-01 -5.72313186e-03 4.34657712e+01] [ 5.38276777e-02 -3.17855221e-03 9.98545181e-01 2.31822438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.65, Y:43.47, Z:23.18 [[ 9.85031251e-01 -1.63689894e-01 -5.40282573e-02 4.90653120e+02] [ 1.63618943e-01 9.86506776e-01 -5.76397310e-03 4.34686836e+01] [ 5.42427461e-02 -3.16235273e-03 9.98522771e-01 2.31835753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.69, Y:43.47, Z:23.18 [[ 9.85125381e-01 -1.62988020e-01 -5.44324358e-02 4.90685548e+02] [ 1.62915158e-01 9.86623016e-01 -5.80305508e-03 4.34727162e+01] [ 5.46501224e-02 -3.15113205e-03 9.98500593e-01 2.31848452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.72, Y:43.48, Z:23.19 [[ 9.85232964e-01 -1.62272280e-01 -5.46233715e-02 4.90717171e+02] [ 1.62198076e-01 9.86741064e-01 -5.81860279e-03 4.34764058e+01] [ 5.48433217e-02 -3.12712647e-03 9.98490076e-01 2.31864559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.75, Y:43.48, Z:23.19 [[ 9.85502759e-01 -1.60630179e-01 -5.46100534e-02 4.90747920e+02] [ 1.60553696e-01 9.87009986e-01 -5.81359778e-03 4.34755717e+01] [ 5.48345073e-02 -3.03852924e-03 9.98490833e-01 2.31874857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.78, Y:43.48, Z:23.19 [[ 9.85692213e-01 -1.59572478e-01 -5.42907572e-02 4.90779491e+02] [ 1.59495361e-01 9.87181767e-01 -5.77824457e-03 4.34795992e+01] [ 5.45168944e-02 -2.96355325e-03 9.98508450e-01 2.31896926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.81, Y:43.48, Z:23.19 [[ 9.85944035e-01 -1.58105815e-01 -5.40084428e-02 4.90811156e+02] [ 1.58027517e-01 9.87418000e-01 -5.74428073e-03 4.34838123e+01] [ 5.42371128e-02 -2.87128079e-03 9.98523956e-01 2.31916213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.84, Y:43.49, Z:23.19 [[ 9.86397351e-01 -1.55287399e-01 -5.39081688e-02 4.90843194e+02] [ 1.55205403e-01 9.87865605e-01 -5.72977238e-03 4.34851499e+01] [ 5.41437872e-02 -2.71500678e-03 9.98529458e-01 2.31934846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.87, Y:43.49, Z:23.19 [[ 9.86610982e-01 -1.53918874e-01 -5.39235574e-02 4.90874653e+02] [ 1.53834954e-01 9.88079952e-01 -5.72844765e-03 4.34871742e+01] [ 5.41625022e-02 -2.64357861e-03 9.98528635e-01 2.31948537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.91, Y:43.49, Z:23.20 [[ 9.86873976e-01 -1.52262084e-01 -5.38146251e-02 4.90907109e+02] [ 1.52176218e-01 9.88336862e-01 -5.71371281e-03 4.34897411e+01] [ 5.40569595e-02 -2.55059163e-03 9.98534596e-01 2.31964101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.94, Y:43.49, Z:23.20 [[ 9.87133957e-01 -1.50553126e-01 -5.38545089e-02 4.90939368e+02] [ 1.50464851e-01 9.88598851e-01 -5.71323639e-03 4.34923097e+01] [ 5.41006512e-02 -2.46348100e-03 9.98532449e-01 2.31980384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:490.97, Y:43.49, Z:23.20 [[ 9.87694217e-01 -1.46971481e-01 -5.34744489e-02 4.90969523e+02] [ 1.46879389e-01 9.89138161e-01 -5.66956795e-03 4.34931095e+01] [ 5.37268829e-02 -2.25449491e-03 9.98553123e-01 2.31996472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.00, Y:43.50, Z:23.20 [[ 9.87952152e-01 -1.45360821e-01 -5.31109823e-02 4.91002092e+02] [ 1.45267681e-01 9.89376368e-01 -5.63052132e-03 4.34959275e+01] [ 5.33652080e-02 -2.15262358e-03 9.98572742e-01 2.32015242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.03, Y:43.50, Z:23.20 [[ 9.88197536e-01 -1.43762914e-01 -5.28947587e-02 4.91034551e+02] [ 1.43668491e-01 9.89610010e-01 -5.60300591e-03 4.34986920e+01] [ 5.31506871e-02 -2.06243352e-03 9.98584373e-01 2.32032453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.07, Y:43.51, Z:23.21 [[ 9.88450122e-01 -1.42083692e-01 -5.27122453e-02 4.91066331e+02] [ 1.41987775e-01 9.89852688e-01 -5.57918426e-03 4.35053978e+01] [ 5.29700688e-02 -1.96974904e-03 9.98594158e-01 2.32054629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.10, Y:43.51, Z:23.21 [[ 9.88904391e-01 -1.39024873e-01 -5.23468238e-02 4.91097156e+02] [ 1.38926193e-01 9.90287259e-01 -5.53688849e-03 4.35085228e+01] [ 5.26081579e-02 -1.79689158e-03 9.98613615e-01 2.32072275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.13, Y:43.51, Z:23.21 [[ 9.89072712e-01 -1.37787169e-01 -5.24391701e-02 4.91128899e+02] [ 1.37686517e-01 9.90460338e-01 -5.54451995e-03 4.35093445e+01] [ 5.27028819e-02 -1.73623330e-03 9.98608728e-01 2.32084466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.16, Y:43.51, Z:23.21 [[ 9.89277789e-01 -1.36306342e-01 -5.24407981e-02 4.91160760e+02] [ 1.36203809e-01 9.90665343e-01 -5.54084449e-03 4.35145338e+01] [ 5.27065335e-02 -1.66120205e-03 9.98608663e-01 2.32099099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.19, Y:43.52, Z:23.21 [[ 9.89385183e-01 -1.35508493e-01 -5.24824614e-02 4.91192437e+02] [ 1.35404881e-01 9.90774854e-01 -5.54136869e-03 4.35156614e+01] [ 5.27492056e-02 -1.62383338e-03 9.98606471e-01 2.32112348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.22, Y:43.52, Z:23.21 [[ 9.89505717e-01 -1.34673431e-01 -5.23593594e-02 4.91224245e+02] [ 1.34569338e-01 9.90888779e-01 -5.52454778e-03 4.35186313e+01] [ 5.26263116e-02 -1.57939272e-03 9.98613027e-01 2.32125134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.26, Y:43.52, Z:23.21 [[ 9.89479716e-01 -1.34766346e-01 -5.26110570e-02 4.91255338e+02] [ 1.34661578e-01 9.90876120e-01 -5.54738803e-03 4.35185377e+01] [ 5.28786412e-02 -1.59566001e-03 9.98599671e-01 2.32130119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.29, Y:43.52, Z:23.21 [[ 9.89400833e-01 -1.35415058e-01 -5.24285550e-02 4.91287682e+02] [ 1.35312078e-01 9.90787623e-01 -5.52523832e-03 4.35209864e+01] [ 5.26937638e-02 -1.62754133e-03 9.98609392e-01 2.32144808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.32, Y:43.52, Z:23.22 [[ 9.89268135e-01 -1.36165481e-01 -5.29860306e-02 4.91319936e+02] [ 1.36061581e-01 9.90684667e-01 -5.58010897e-03 4.35222064e+01] [ 5.32522663e-02 -1.68913912e-03 9.98579663e-01 2.32155726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.35, Y:43.52, Z:23.22 [[ 9.89127869e-01 -1.37167929e-01 -5.30190416e-02 4.91351274e+02] [ 1.37065535e-01 9.90546266e-01 -5.57986248e-03 4.35220290e+01] [ 5.32831919e-02 -1.74788583e-03 9.98577912e-01 2.32164893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.38, Y:43.52, Z:23.22 [[ 9.88728402e-01 -1.39693860e-01 -5.38681007e-02 4.91381532e+02] [ 1.39592072e-01 9.90192885e-01 -5.66606170e-03 4.35197991e+01] [ 5.41313241e-02 -1.91736365e-03 9.98531984e-01 2.32172368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.41, Y:43.52, Z:23.22 [[ 9.88733194e-01 -1.39659764e-01 -5.38685537e-02 4.91412197e+02] [ 1.39558160e-01 9.90197690e-01 -5.66175174e-03 4.35229889e+01] [ 5.41312363e-02 -1.91983435e-03 9.98531984e-01 2.32187024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.44, Y:43.52, Z:23.22 [[ 9.88581912e-01 -1.40800369e-01 -5.36754945e-02 4.91443291e+02] [ 1.40701269e-01 9.90036034e-01 -5.63960474e-03 4.35243183e+01] [ 5.39347321e-02 -1.97699897e-03 9.98542506e-01 2.32200282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.48, Y:43.53, Z:23.22 [[ 9.88452485e-01 -1.41519260e-01 -5.41662640e-02 4.91475041e+02] [ 1.41419535e-01 9.89933407e-01 -5.68901886e-03 4.35289015e+01] [ 5.44261000e-02 -2.03684303e-03 9.98515724e-01 2.32222855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.51, Y:43.53, Z:23.22 [[ 9.88334411e-01 -1.42420849e-01 -5.39573369e-02 4.91506177e+02] [ 1.42323430e-01 9.89804004e-01 -5.66343266e-03 4.35303653e+01] [ 5.42137791e-02 -2.08202786e-03 9.98527181e-01 2.32238053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.54, Y:43.53, Z:23.23 [[ 9.88235235e-01 -1.43383328e-01 -5.32197541e-02 4.91537287e+02] [ 1.43290047e-01 9.89664984e-01 -5.58413095e-03 4.35318004e+01] [ 5.34703984e-02 -2.10742611e-03 9.98567211e-01 2.32258443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.57, Y:43.53, Z:23.23 [[ 9.88122738e-01 -1.44310371e-01 -5.28012484e-02 4.91568751e+02] [ 1.44219970e-01 9.89530155e-01 -5.53835115e-03 4.35339529e+01] [ 5.30476690e-02 -2.14242377e-03 9.98589683e-01 2.32279668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.60, Y:43.53, Z:23.23 [[ 9.87876712e-01 -1.46424726e-01 -5.15693911e-02 4.91598911e+02] [ 1.46341452e-01 9.89219358e-01 -5.40748611e-03 4.35325722e+01] [ 5.18052297e-02 -2.20480999e-03 9.98654774e-01 2.32299978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.63, Y:43.53, Z:23.23 [[ 9.87776310e-01 -1.47359987e-01 -5.08231886e-02 4.91630566e+02] [ 1.47280350e-01 9.89080431e-01 -5.32905230e-03 4.35341258e+01] [ 5.10535104e-02 -2.22134538e-03 9.98693449e-01 2.32324205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.66, Y:43.54, Z:23.23 [[ 9.87613502e-01 -1.48600751e-01 -5.03724815e-02 4.91662734e+02] [ 1.48524265e-01 9.88894673e-01 -5.27910064e-03 4.35358957e+01] [ 5.05975570e-02 -2.26782475e-03 9.98716548e-01 2.32345102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.69, Y:43.54, Z:23.24 [[ 9.87234605e-01 -1.51132622e-01 -5.02669399e-02 4.91694015e+02] [ 1.51059900e-01 9.88510592e-01 -5.26462539e-03 4.35399948e+01] [ 5.04850592e-02 -2.39589855e-03 9.98721943e-01 2.32356516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.73, Y:43.54, Z:23.24 [[ 9.87013613e-01 -1.52296956e-01 -5.10858553e-02 4.91725795e+02] [ 1.52223506e-01 9.88331624e-01 -5.34835806e-03 4.35443856e+01] [ 5.13043050e-02 -2.49756576e-03 9.98679944e-01 2.32366492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.76, Y:43.55, Z:23.24 [[ 9.86755919e-01 -1.53729130e-01 -5.17697915e-02 4.91756655e+02] [ 1.53655882e-01 9.88109578e-01 -5.41579046e-03 4.35457579e+01] [ 5.19867916e-02 -2.61066969e-03 9.98644360e-01 2.32373113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.79, Y:43.55, Z:23.24 [[ 9.86537821e-01 -1.54796054e-01 -5.27381262e-02 4.91788952e+02] [ 1.54721914e-01 9.87942693e-01 -5.51043940e-03 4.35484189e+01] [ 5.29552407e-02 -2.72348695e-03 9.98593173e-01 2.32382143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.82, Y:43.55, Z:23.24 [[ 9.86133714e-01 -1.56968830e-01 -5.38617216e-02 4.91819188e+02] [ 1.56894923e-01 9.87599287e-01 -5.62424748e-03 4.35473125e+01] [ 5.40766294e-02 -2.90437060e-03 9.98532565e-01 2.32380699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.85, Y:43.55, Z:23.24 [[ 9.85979512e-01 -1.57694302e-01 -5.45610503e-02 4.91849876e+02] [ 1.57619579e-01 9.87483474e-01 -5.69714128e-03 4.35489085e+01] [ 5.47765422e-02 -2.98262520e-03 9.98494183e-01 2.32392181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.88, Y:43.55, Z:23.24 [[ 9.85903191e-01 -1.58203754e-01 -5.44653175e-02 4.91881173e+02] [ 1.58130141e-01 9.87401909e-01 -5.68578054e-03 4.35545252e+01] [ 5.46786704e-02 -3.00697918e-03 9.98499475e-01 2.32410372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.91, Y:43.56, Z:23.24 [[ 9.85876155e-01 -1.58417195e-01 -5.43341529e-02 4.91912282e+02] [ 1.58344466e-01 9.87367662e-01 -5.66828222e-03 4.35569202e+01] [ 5.45457389e-02 -3.01528818e-03 9.98506720e-01 2.32423869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.94, Y:43.56, Z:23.24 [[ 9.85877982e-01 -1.58467702e-01 -5.41534212e-02 4.91943125e+02] [ 1.58395678e-01 9.87359572e-01 -5.64675463e-03 4.35575122e+01] [ 5.43637269e-02 -3.01065679e-03 9.98516660e-01 2.32435228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:491.97, Y:43.57, Z:23.25 [[ 9.85944523e-01 -1.58012071e-01 -5.42732311e-02 4.91973798e+02] [ 1.57939114e-01 9.87432643e-01 -5.65789384e-03 4.35683926e+01] [ 5.44851755e-02 -2.99349662e-03 9.98510092e-01 2.32461478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.01, Y:43.57, Z:23.25 [[ 9.86058446e-01 -1.57431635e-01 -5.38889811e-02 4.92005163e+02] [ 1.57359049e-01 9.87525500e-01 -5.61403836e-03 4.35710615e+01] [ 5.41005702e-02 -2.94414890e-03 9.98531151e-01 2.32476820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.04, Y:43.57, Z:23.25 [[ 9.86209541e-01 -1.56656450e-01 -5.33806876e-02 4.92036528e+02] [ 1.56584274e-01 9.87648964e-01 -5.55773998e-03 4.35717894e+01] [ 5.35920367e-02 -2.87748001e-03 9.98558768e-01 2.32492023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.07, Y:43.58, Z:23.25 [[ 9.86360178e-01 -1.56012483e-01 -5.24757548e-02 4.92067948e+02] [ 1.55942159e-01 9.87751114e-01 -5.45715124e-03 4.35795662e+01] [ 5.26843690e-02 -2.80046582e-03 9.98607288e-01 2.32514793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.10, Y:43.59, Z:23.25 [[ 9.86486765e-01 -1.55463327e-01 -5.17205699e-02 4.92099361e+02] [ 1.55394449e-01 9.87837879e-01 -5.37495392e-03 4.35863814e+01] [ 5.19271463e-02 -2.73476858e-03 9.98647131e-01 2.32539089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.13, Y:43.59, Z:23.26 [[ 9.86599661e-01 -1.54939012e-01 -5.11371848e-02 4.92131301e+02] [ 1.54871167e-01 9.87920401e-01 -5.31060988e-03 4.35930555e+01] [ 5.13422888e-02 -2.68022958e-03 9.98677518e-01 2.32563933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.16, Y:43.60, Z:23.26 [[ 9.86567283e-01 -1.55045098e-01 -5.14394275e-02 4.92161956e+02] [ 1.54976803e-01 9.87903688e-01 -5.33793470e-03 4.35950363e+01] [ 5.16448208e-02 -2.70568631e-03 9.98661851e-01 2.32577113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.19, Y:43.60, Z:23.26 [[ 9.86522847e-01 -1.55301232e-01 -5.15189328e-02 4.92193383e+02] [ 1.55233406e-01 9.87863390e-01 -5.33978334e-03 4.36009489e+01] [ 5.17229425e-02 -2.72964114e-03 9.98657742e-01 2.32593880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.23, Y:43.60, Z:23.26 [[ 9.86172362e-01 -1.57216540e-01 -5.24121365e-02 4.92225199e+02] [ 1.57149246e-01 9.87559946e-01 -5.42842361e-03 4.36041708e+01] [ 5.26135647e-02 -2.88316638e-03 9.98610785e-01 2.32600918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.26, Y:43.60, Z:23.26 [[ 9.85931788e-01 -1.58424975e-01 -5.32920015e-02 4.92256461e+02] [ 1.58357370e-01 9.87366457e-01 -5.51567679e-03 4.36038815e+01] [ 5.34925557e-02 -3.00110010e-03 9.98563739e-01 2.32608201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.29, Y:43.61, Z:23.26 [[ 9.85731541e-01 -1.59547405e-01 -5.36465695e-02 4.92288333e+02] [ 1.59480719e-01 9.87185446e-01 -5.54930080e-03 4.36068897e+01] [ 5.38444892e-02 -3.08547265e-03 9.98544566e-01 2.32619588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.32, Y:43.61, Z:23.26 [[ 9.85491350e-01 -1.60945319e-01 -5.38832457e-02 4.92319484e+02] [ 1.60880345e-01 9.86958202e-01 -5.56971641e-03 4.36122958e+01] [ 5.40769311e-02 -3.17984779e-03 9.98531709e-01 2.32634116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.35, Y:43.61, Z:23.26 [[ 9.85339925e-01 -1.61851018e-01 -5.39396027e-02 4.92351026e+02] [ 1.61787538e-01 9.86809892e-01 -5.57041336e-03 4.36105762e+01] [ 5.41297106e-02 -3.23800482e-03 9.98528662e-01 2.32642847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.38, Y:43.62, Z:23.27 [[ 9.85073394e-01 -1.63468834e-01 -5.39291037e-02 4.92382421e+02] [ 1.63407958e-01 9.86542881e-01 -5.56625955e-03 4.36178717e+01] [ 5.41132833e-02 -3.32927051e-03 9.98529253e-01 2.32664531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.41, Y:43.62, Z:23.27 [[ 9.85053729e-01 -1.63597309e-01 -5.38987110e-02 4.92413325e+02] [ 1.63536919e-01 9.86521553e-01 -5.55893092e-03 4.36203189e+01] [ 5.40816662e-02 -3.33858353e-03 9.98530935e-01 2.32676626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.45, Y:43.62, Z:23.27 [[ 9.85057447e-01 -1.63360732e-01 -5.45444518e-02 4.92445066e+02] [ 1.63298863e-01 9.86560644e-01 -5.61941400e-03 4.36243861e+01] [ 5.47294011e-02 -3.37160135e-03 9.98495531e-01 2.32692597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.48, Y:43.63, Z:23.27 [[ 9.85165911e-01 -1.62672624e-01 -5.46419697e-02 4.92476717e+02] [ 1.62609695e-01 9.86674435e-01 -5.62554805e-03 4.36286662e+01] [ 5.48289572e-02 -3.34321584e-03 9.98490164e-01 2.32705336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.51, Y:43.63, Z:23.27 [[ 9.85569797e-01 -1.60319530e-01 -5.43122749e-02 4.92506851e+02] [ 1.60253988e-01 9.87059994e-01 -5.58812950e-03 4.36329652e+01] [ 5.45053600e-02 -3.19626696e-03 9.98508362e-01 2.32715454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.54, Y:43.64, Z:23.27 [[ 9.85850215e-01 -1.58562569e-01 -5.43807457e-02 4.92537827e+02] [ 1.58494266e-01 9.87344051e-01 -5.59394321e-03 4.36422332e+01] [ 5.45794958e-02 -3.10424625e-03 9.98504603e-01 2.32737634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.57, Y:43.65, Z:23.28 [[ 9.86172066e-01 -1.56610163e-01 -5.42025156e-02 4.92568855e+02] [ 1.56539533e-01 9.87655973e-01 -5.57257116e-03 4.36494428e+01] [ 5.44061596e-02 -2.98932249e-03 9.98514413e-01 2.32758120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.60, Y:43.65, Z:23.28 [[ 9.86467504e-01 -1.54743895e-01 -5.41866357e-02 4.92600001e+02] [ 1.54670692e-01 9.87950394e-01 -5.56742653e-03 4.36549463e+01] [ 5.43952334e-02 -2.88899909e-03 9.98515304e-01 2.32774891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.63, Y:43.66, Z:23.28 [[ 9.86979462e-01 -1.51730147e-01 -5.33807543e-02 4.92631223e+02] [ 1.51654819e-01 9.88418311e-01 -5.48257784e-03 4.36636848e+01] [ 5.35943873e-02 -2.68425688e-03 9.98559180e-01 2.32797939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.66, Y:43.67, Z:23.28 [[ 9.87177523e-01 -1.50647722e-01 -5.27806969e-02 4.92662227e+02] [ 1.50572688e-01 9.88584094e-01 -5.41803948e-03 4.36652301e+01] [ 5.29943727e-02 -2.59876464e-03 9.98591429e-01 2.32813081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.69, Y:43.67, Z:23.28 [[ 9.87284717e-01 -1.50215154e-01 -5.20028473e-02 4.92693468e+02] [ 1.50141879e-01 9.88650066e-01 -5.33506822e-03 4.36682925e+01] [ 5.22140265e-02 -2.54057390e-03 9.98632686e-01 2.32833094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.73, Y:43.67, Z:23.29 [[ 9.87303338e-01 -1.50471856e-01 -5.08953754e-02 4.92725700e+02] [ 1.50402296e-01 9.88611119e-01 -5.21581537e-03 4.36718198e+01] [ 5.11005674e-02 -2.50518940e-03 9.98690370e-01 2.32854669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.76, Y:43.68, Z:23.29 [[ 9.87240416e-01 -1.50933076e-01 -5.07500575e-02 4.92757497e+02] [ 1.50864704e-01 9.88540757e-01 -5.19732281e-03 4.36764728e+01] [ 5.09529481e-02 -2.52538527e-03 9.98697862e-01 2.32871412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.79, Y:43.68, Z:23.29 [[ 9.87087975e-01 -1.51834198e-01 -5.10265280e-02 4.92788922e+02] [ 1.51766466e-01 9.88402585e-01 -5.22199459e-03 4.36771267e+01] [ 5.12276296e-02 -2.58954780e-03 9.98683646e-01 2.32883512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.82, Y:43.68, Z:23.29 [[ 9.86997389e-01 -1.52402448e-01 -5.10847079e-02 4.92820317e+02] [ 1.52335465e-01 9.88315033e-01 -5.22511491e-03 4.36841071e+01] [ 5.12841051e-02 -2.62483799e-03 9.98680655e-01 2.32898751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.85, Y:43.68, Z:23.29 [[ 9.86853680e-01 -1.53191369e-01 -5.14997012e-02 4.92851490e+02] [ 1.53124560e-01 9.88192877e-01 -5.26379846e-03 4.36848761e+01] [ 5.16980064e-02 -2.69127020e-03 9.98659138e-01 2.32906794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.88, Y:43.69, Z:23.29 [[ 9.86542125e-01 -1.54716476e-01 -5.28909006e-02 4.92883176e+02] [ 1.54648354e-01 9.87954804e-01 -5.40300681e-03 4.36883903e+01] [ 5.30897535e-02 -2.84919691e-03 9.98585680e-01 2.32909141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.91, Y:43.69, Z:23.29 [[ 9.86442594e-01 -1.55131617e-01 -5.35274745e-02 4.92914312e+02] [ 1.55062617e-01 9.87889527e-01 -5.46505333e-03 4.36895866e+01] [ 5.37270341e-02 -2.90914888e-03 9.98551422e-01 2.32917931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.95, Y:43.70, Z:23.29 [[ 9.86369239e-01 -1.55505067e-01 -5.37949776e-02 4.92945714e+02] [ 1.55436095e-01 9.87830698e-01 -5.48928410e-03 4.36952456e+01] [ 5.39939418e-02 -2.94722027e-03 9.98536914e-01 2.32935377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:492.98, Y:43.70, Z:23.29 [[ 9.86316401e-01 -1.55809985e-01 -5.38814016e-02 4.92976378e+02] [ 1.55741448e-01 9.87782574e-01 -5.49434964e-03 4.36972080e+01] [ 5.40791841e-02 -2.97240035e-03 9.98532226e-01 2.32945264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.01, Y:43.70, Z:23.30 [[ 9.86294700e-01 -1.55839528e-01 -5.41923145e-02 4.93007538e+02] [ 1.55770360e-01 9.87777850e-01 -5.52392006e-03 4.36968212e+01] [ 5.43908130e-02 -2.99334324e-03 9.98515237e-01 2.32955011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.04, Y:43.71, Z:23.30 [[ 9.86304349e-01 -1.55861951e-01 -5.39516861e-02 4.93038752e+02] [ 1.55793595e-01 9.87774340e-01 -5.49632260e-03 4.37058164e+01] [ 5.41487587e-02 -2.98428022e-03 9.98528420e-01 2.32983497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.07, Y:43.71, Z:23.30 [[ 9.86411464e-01 -1.55405168e-01 -5.33071945e-02 4.93071257e+02] [ 1.55337984e-01 9.87846477e-01 -5.42664954e-03 4.37092755e+01] [ 5.35026537e-02 -2.92772283e-03 9.98563415e-01 2.33001054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.10, Y:43.71, Z:23.30 [[ 9.86468395e-01 -1.55125858e-01 -5.30666962e-02 4.93102301e+02] [ 1.55059123e-01 9.87890447e-01 -5.39751320e-03 4.37114261e+01] [ 5.32613761e-02 -2.90399922e-03 9.98576383e-01 2.33015427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.13, Y:43.71, Z:23.30 [[ 9.86664755e-01 -1.54057868e-01 -5.25246092e-02 4.93133459e+02] [ 1.53991132e-01 9.88057802e-01 -5.33951982e-03 4.37118938e+01] [ 5.27199450e-02 -2.82000800e-03 9.98605355e-01 2.33030471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.17, Y:43.72, Z:23.30 [[ 9.86823609e-01 -1.53232984e-01 -5.19501438e-02 4.93165529e+02] [ 1.53166708e-01 9.88186268e-01 -5.27825390e-03 4.37172057e+01] [ 5.21452213e-02 -2.74832697e-03 9.98635731e-01 2.33048257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.20, Y:43.72, Z:23.31 [[ 9.86965845e-01 -1.52406465e-01 -5.16787126e-02 4.93197286e+02] [ 1.52339941e-01 9.88314227e-01 -5.24700991e-03 4.37217451e+01] [ 5.18744851e-02 -2.69411247e-03 9.98649979e-01 2.33066987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.23, Y:43.72, Z:23.31 [[ 9.87081458e-01 -1.51744088e-01 -5.14191251e-02 4.93229571e+02] [ 1.51677524e-01 9.88416264e-01 -5.21699515e-03 4.37249458e+01] [ 5.16151477e-02 -2.64952640e-03 9.98663535e-01 2.33087437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.26, Y:43.73, Z:23.31 [[ 9.87215285e-01 -1.50859892e-01 -5.14516637e-02 4.93261987e+02] [ 1.50792239e-01 9.88551712e-01 -5.21657426e-03 4.37289899e+01] [ 5.16496021e-02 -2.60862974e-03 9.98661862e-01 2.33102659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.29, Y:43.73, Z:23.31 [[ 9.87326862e-01 -1.49952271e-01 -5.19613647e-02 4.93293547e+02] [ 1.49882257e-01 9.88689841e-01 -5.26369510e-03 4.37310851e+01] [ 5.21629765e-02 -2.59109903e-03 9.98635224e-01 2.33110135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.33, Y:43.74, Z:23.31 [[ 9.87315548e-01 -1.49796389e-01 -5.26217737e-02 4.93325575e+02] [ 1.49724574e-01 9.88713396e-01 -5.32663243e-03 4.37403567e+01] [ 5.28257628e-02 -2.61970564e-03 9.98600308e-01 2.33126138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.36, Y:43.74, Z:23.31 [[ 9.87261032e-01 -1.49862669e-01 -5.34493689e-02 4.93357186e+02] [ 1.49788982e-01 9.88703216e-01 -5.40470442e-03 4.37392905e+01] [ 5.36555264e-02 -2.67027250e-03 9.98555934e-01 2.33129224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.39, Y:43.74, Z:23.31 [[ 9.87271517e-01 -1.49793475e-01 -5.34496736e-02 4.93388727e+02] [ 1.49719849e-01 9.88713704e-01 -5.40168927e-03 4.37424158e+01] [ 5.36555626e-02 -2.66954313e-03 9.98555934e-01 2.33144296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.42, Y:43.75, Z:23.32 [[ 9.87186607e-01 -1.50099346e-01 -5.41552342e-02 4.93420639e+02] [ 1.50024436e-01 9.88667162e-01 -5.46909287e-03 4.37497152e+01] [ 5.43624089e-02 -2.72559324e-03 9.98517551e-01 2.33160019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.45, Y:43.75, Z:23.32 [[ 9.87102847e-01 -1.50431393e-01 -5.47573396e-02 4.93452116e+02] [ 1.50355538e-01 9.88616547e-01 -5.52591827e-03 4.37464071e+01] [ 5.49652836e-02 -2.77841960e-03 9.98484400e-01 2.33162133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.48, Y:43.75, Z:23.32 [[ 9.86991762e-01 -1.50789061e-01 -5.57666710e-02 4.93483342e+02] [ 1.50711140e-01 9.88561843e-01 -5.62448612e-03 4.37532476e+01] [ 5.59769141e-02 -2.85333710e-03 9.98427986e-01 2.33173561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.52, Y:43.76, Z:23.32 [[ 9.86984509e-01 -1.50532491e-01 -5.65822283e-02 4.93515507e+02] [ 1.50452145e-01 9.88600851e-01 -5.70164499e-03 4.37584717e+01] [ 5.67955219e-02 -2.88548235e-03 9.98381662e-01 2.33189626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.55, Y:43.76, Z:23.32 [[ 9.87045224e-01 -1.50131250e-01 -5.65891625e-02 4.93546467e+02] [ 1.50050762e-01 9.88661903e-01 -5.69294747e-03 4.37612890e+01] [ 5.68022384e-02 -2.87205036e-03 9.98381318e-01 2.33205512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.58, Y:43.77, Z:23.32 [[ 9.87138553e-01 -1.49405251e-01 -5.68818843e-02 4.93578859e+02] [ 1.49323120e-01 9.88771935e-01 -5.71554101e-03 4.37651659e+01] [ 5.70971426e-02 -2.85174953e-03 9.98364555e-01 2.33223574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.61, Y:43.77, Z:23.32 [[ 9.87239199e-01 -1.48834786e-01 -5.66301168e-02 4.93611000e+02] [ 1.48752727e-01 9.88858081e-01 -5.68528622e-03 4.37690134e+01] [ 5.68453170e-02 -2.81114687e-03 9.98379040e-01 2.33241289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.64, Y:43.78, Z:23.33 [[ 9.87391583e-01 -1.47893218e-01 -5.64398669e-02 4.93643156e+02] [ 1.47810417e-01 9.88999506e-01 -5.66192281e-03 4.37753668e+01] [ 5.66563604e-02 -2.75186531e-03 9.98389946e-01 2.33268150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.67, Y:43.78, Z:23.33 [[ 9.87809627e-01 -1.45475780e-01 -5.53980015e-02 4.93673172e+02] [ 1.45392461e-01 9.89358477e-01 -5.55296061e-03 4.37791538e+01] [ 5.56163037e-02 -2.56918383e-03 9.98448910e-01 2.33290170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.70, Y:43.78, Z:23.33 [[ 9.87991616e-01 -1.44431750e-01 -5.48820265e-02 4.93704348e+02] [ 1.44348473e-01 9.89511635e-01 -5.49936830e-03 4.37824248e+01] [ 5.51006871e-02 -2.48880691e-03 9.98477701e-01 2.33310164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.74, Y:43.79, Z:23.33 [[ 9.88167376e-01 -1.43391471e-01 -5.44437663e-02 4.93736362e+02] [ 1.43308317e-01 9.89663094e-01 -5.44861436e-03 4.37894268e+01] [ 5.46622710e-02 -2.41810158e-03 9.98501972e-01 2.33336966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.77, Y:43.79, Z:23.34 [[ 9.88460624e-01 -1.41621173e-01 -5.37497765e-02 4.93768092e+02] [ 1.41537771e-01 9.89918267e-01 -5.37440272e-03 4.37945685e+01] [ 5.39690148e-02 -2.29523810e-03 9.98539973e-01 2.33359526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.80, Y:43.80, Z:23.34 [[ 9.88575415e-01 -1.40849346e-01 -5.36666677e-02 4.93799159e+02] [ 1.40765302e-01 9.90028475e-01 -5.36172984e-03 4.37960573e+01] [ 5.38867254e-02 -2.25393040e-03 9.98544511e-01 2.33371271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.83, Y:43.80, Z:23.34 [[ 9.88665054e-01 -1.40204879e-01 -5.37029193e-02 4.93830537e+02] [ 1.40120152e-01 9.90120008e-01 -5.35833107e-03 4.37981262e+01] [ 5.39235991e-02 -2.22726656e-03 9.98542580e-01 2.33384615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.86, Y:43.80, Z:23.34 [[ 9.88739346e-01 -1.39525064e-01 -5.41041713e-02 4.93861838e+02] [ 1.39438208e-01 9.90216075e-01 -5.39548877e-03 4.38006246e+01] [ 5.43276261e-02 -2.20945667e-03 9.98520720e-01 2.33392995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.89, Y:43.81, Z:23.34 [[ 9.88793278e-01 -1.39006414e-01 -5.44524615e-02 4.93893094e+02] [ 1.38917816e-01 9.90289041e-01 -5.42721242e-03 4.38097992e+01] [ 5.46780932e-02 -2.19802589e-03 9.98501615e-01 2.33414772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.92, Y:43.81, Z:23.34 [[ 9.89075420e-01 -1.36606693e-01 -5.53933733e-02 4.93923651e+02] [ 1.36511469e-01 9.90623127e-01 -5.51710960e-03 4.38135614e+01] [ 5.56276308e-02 -2.10499327e-03 9.98449366e-01 2.33423323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.96, Y:43.82, Z:23.34 [[ 9.89241667e-01 -1.35256678e-01 -5.57364788e-02 4.93955055e+02] [ 1.35158257e-01 9.90808485e-01 -5.54905698e-03 4.38165653e+01] [ 5.59747231e-02 -2.04388692e-03 9.98430094e-01 2.33434703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:493.99, Y:43.82, Z:23.35 [[ 9.89416636e-01 -1.33909127e-01 -5.58843928e-02 4.93986812e+02] [ 1.33808219e-01 9.90991645e-01 -5.56056058e-03 4.38214976e+01] [ 5.61255762e-02 -1.97607992e-03 9.98421762e-01 2.33454005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.02, Y:43.83, Z:23.35 [[ 9.89588007e-01 -1.32667009e-01 -5.58125466e-02 4.94018912e+02] [ 1.32564617e-01 9.91158831e-01 -5.54933328e-03 4.38254352e+01] [ 5.60553119e-02 -1.90721520e-03 9.98425843e-01 2.33468860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.05, Y:43.83, Z:23.35 [[ 9.89861200e-01 -1.30610708e-01 -5.58179951e-02 4.94050205e+02] [ 1.30505260e-01 9.91432106e-01 -5.54580628e-03 4.38293723e+01] [ 5.60640942e-02 -1.79496353e-03 9.98425558e-01 2.33484239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.08, Y:43.83, Z:23.35 [[ 9.89978030e-01 -1.29810002e-01 -5.56135199e-02 4.94081237e+02] [ 1.29704280e-01 9.91537347e-01 -5.52163384e-03 4.38321917e+01] [ 5.58596453e-02 -1.74701539e-03 9.98437103e-01 2.33498895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.11, Y:43.84, Z:23.35 [[ 9.90054184e-01 -1.29268020e-01 -5.55201934e-02 4.94113274e+02] [ 1.29161977e-01 9.91608205e-01 -5.50923571e-03 4.38360078e+01] [ 5.57664473e-02 -1.71665608e-03 9.98442365e-01 2.33518268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.14, Y:43.84, Z:23.35 [[ 9.90076625e-01 -1.29143590e-01 -5.54094724e-02 4.94144420e+02] [ 1.29037988e-01 9.91624429e-01 -5.49441780e-03 4.38385333e+01] [ 5.56549553e-02 -1.71003222e-03 9.98448597e-01 2.33529875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.18, Y:43.84, Z:23.35 [[ 9.89927396e-01 -1.30258466e-01 -5.54660529e-02 4.94175186e+02] [ 1.30154593e-01 9.91478477e-01 -5.49648698e-03 4.38397641e+01] [ 5.57093616e-02 -1.77803849e-03 9.98445444e-01 2.33540475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.21, Y:43.84, Z:23.36 [[ 9.89788640e-01 -1.31330037e-01 -5.54154223e-02 4.94207191e+02] [ 1.31228385e-01 9.91336989e-01 -5.48509748e-03 4.38413458e+01] [ 5.56557159e-02 -1.84298918e-03 9.98448318e-01 2.33551425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.24, Y:43.84, Z:23.36 [[ 9.89598410e-01 -1.32783910e-01 -5.53481644e-02 4.94239397e+02] [ 1.32684988e-01 9.91143139e-01 -5.47458419e-03 4.38425211e+01] [ 5.55848901e-02 -1.92623072e-03 9.98452107e-01 2.33564194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.27, Y:43.84, Z:23.36 [[ 9.89017062e-01 -1.36981796e-01 -5.55089123e-02 4.94270143e+02] [ 1.36889084e-01 9.90571184e-01 -5.48704955e-03 4.38435566e+01] [ 5.57371549e-02 -2.17177853e-03 9.98443115e-01 2.33574954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.30, Y:43.84, Z:23.36 [[ 9.88645976e-01 -1.39527084e-01 -5.57792748e-02 4.94302571e+02] [ 1.39437588e-01 9.90215519e-01 -5.51232880e-03 4.38442955e+01] [ 5.60026227e-02 -2.32798583e-03 9.98427908e-01 2.33590593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.33, Y:43.84, Z:23.36 [[ 9.88278753e-01 -1.42072076e-01 -5.58626082e-02 4.94333263e+02] [ 1.41986571e-01 9.89853210e-01 -5.51690243e-03 4.38442011e+01] [ 5.60795798e-02 -2.47950273e-03 9.98423223e-01 2.33601719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.36, Y:43.85, Z:23.36 [[ 9.87838300e-01 -1.45171271e-01 -5.56847800e-02 4.94364367e+02] [ 1.45091326e-01 9.89402995e-01 -5.49739298e-03 4.38487358e+01] [ 5.58927517e-02 -2.64884326e-03 9.98433265e-01 2.33625995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.40, Y:43.84, Z:23.36 [[ 9.87363528e-01 -1.48351769e-01 -5.57226690e-02 4.94395005e+02] [ 1.48276899e-01 9.88930597e-01 -5.49868858e-03 4.38443331e+01] [ 5.59215925e-02 -2.83317998e-03 9.98431144e-01 2.33635336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.42, Y:43.85, Z:23.37 [[ 9.86453923e-01 -1.54425248e-01 -5.53308362e-02 4.94424953e+02] [ 1.54361157e-01 9.87999426e-01 -5.45604083e-03 4.38464803e+01] [ 5.55093848e-02 -3.15879900e-03 9.98453169e-01 2.33657015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.46, Y:43.85, Z:23.37 [[ 9.86018473e-01 -1.57192170e-01 -5.53009345e-02 4.94456011e+02] [ 1.57132508e-01 9.87562476e-01 -5.45259129e-03 4.38464560e+01] [ 5.54702325e-02 -3.31321878e-03 9.98454844e-01 2.33673211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.49, Y:43.84, Z:23.37 [[ 9.85696878e-01 -1.59437396e-01 -5.46020211e-02 4.94486861e+02] [ 1.59382725e-01 9.87202196e-01 -5.38246044e-03 4.38446886e+01] [ 5.47614006e-02 -3.39714447e-03 9.98493690e-01 2.33687593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.52, Y:43.85, Z:23.37 [[ 9.85415774e-01 -1.61377096e-01 -5.39739349e-02 4.94517990e+02] [ 1.61326709e-01 9.86886727e-01 -5.31794901e-03 4.38458128e+01] [ 5.41243551e-02 -3.46704646e-03 9.98528184e-01 2.33703739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.55, Y:43.85, Z:23.37 [[ 9.85151600e-01 -1.62996347e-01 -5.39306648e-02 4.94550259e+02] [ 1.62948571e-01 9.86620267e-01 -5.31152283e-03 4.38492149e+01] [ 5.40748457e-02 -3.55526953e-03 9.98530556e-01 2.33722845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.58, Y:43.85, Z:23.37 [[ 9.84908911e-01 -1.64588863e-01 -5.35251730e-02 4.94582038e+02] [ 1.64544349e-01 9.86355620e-01 -5.26771137e-03 4.38539871e+01] [ 5.36618618e-02 -3.61904885e-03 9.98552606e-01 2.33742423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.61, Y:43.85, Z:23.38 [[ 9.84853775e-01 -1.64845010e-01 -5.37509520e-02 4.94613439e+02] [ 1.64800710e-01 9.86312721e-01 -5.28602226e-03 4.38549824e+01] [ 5.38866222e-02 -3.65223609e-03 9.98540381e-01 2.33751377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.65, Y:43.86, Z:23.38 [[ 9.84753087e-01 -1.65201352e-01 -5.44965190e-02 4.94645660e+02] [ 1.65156536e-01 9.86252823e-01 -5.35614462e-03 4.38584385e+01] [ 5.46321880e-02 -3.72597633e-03 9.98499595e-01 2.33762683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.68, Y:43.86, Z:23.38 [[ 9.84605992e-01 -1.65707498e-01 -5.56063471e-02 4.94678181e+02] [ 1.65661880e-01 9.86167490e-01 -5.46102374e-03 4.38593468e+01] [ 5.57421044e-02 -3.83489531e-03 9.98437836e-01 2.33766739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.71, Y:43.86, Z:23.38 [[ 9.84468155e-01 -1.66304190e-01 -5.62615972e-02 4.94709422e+02] [ 1.66258690e-01 9.86066713e-01 -5.52134974e-03 4.38577688e+01] [ 5.63959119e-02 -3.91838648e-03 9.98400795e-01 2.33773406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.74, Y:43.86, Z:23.38 [[ 9.84285988e-01 -1.67225636e-01 -5.67157964e-02 4.94741729e+02] [ 1.67181110e-01 9.85910510e-01 -5.56261812e-03 4.38607949e+01] [ 5.68469121e-02 -4.00660271e-03 9.98374867e-01 2.33786694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.77, Y:43.86, Z:23.38 [[ 9.84100214e-01 -1.68216137e-01 -5.70096472e-02 4.94773926e+02] [ 1.68173040e-01 9.85741655e-01 -5.58727819e-03 4.38645357e+01] [ 5.71366543e-02 -4.08904398e-03 9.98357993e-01 2.33803192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.965099893 meters Centerline goodness [0,1] 0.9999788855809633 Centerline is valid? [True, True] Translation: X:494.81, Y:43.86, Z:23.38 [[ 9.83846021e-01 -1.69530311e-01 -5.75020041e-02 4.94805136e+02] [ 1.69488924e-01 9.85516002e-01 -5.63164586e-03 4.38608631e+01] [ 5.76238798e-02 -4.20528042e-03 9.98329507e-01 2.33807774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.84, Y:43.87, Z:23.38 [[ 9.83753270e-01 -1.69994796e-01 -5.77171747e-02 4.94836829e+02] [ 1.69954040e-01 9.85435792e-01 -5.65020588e-03 4.38670291e+01] [ 5.78370753e-02 -4.25085849e-03 9.98316985e-01 2.33829585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.87, Y:43.87, Z:23.38 [[ 9.83722146e-01 -1.70072353e-01 -5.80183866e-02 4.94868498e+02] [ 1.70031545e-01 9.85422276e-01 -5.67558907e-03 4.38672581e+01] [ 5.81378713e-02 -4.28175327e-03 9.98299381e-01 2.33841743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.90, Y:43.87, Z:23.39 [[ 9.83812643e-01 -1.69641169e-01 -5.77456331e-02 4.94900398e+02] [ 1.69600199e-01 9.85496778e-01 -5.64554051e-03 4.38722908e+01] [ 5.78658514e-02 -4.23951674e-03 9.98315366e-01 2.33863846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.93, Y:43.88, Z:23.39 [[ 9.83928153e-01 -1.68979754e-01 -5.77168284e-02 4.94932194e+02] [ 1.68937942e-01 9.85610562e-01 -5.63843470e-03 4.38756041e+01] [ 5.78390970e-02 -4.20274757e-03 9.98317072e-01 2.33879381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.96, Y:43.88, Z:23.39 [[ 9.84081880e-01 -1.68158649e-01 -5.74936678e-02 4.94963430e+02] [ 1.68116001e-01 9.85751241e-01 -5.61255114e-03 4.38750480e+01] [ 5.76182534e-02 -4.14239565e-03 9.98330094e-01 2.33894897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:494.99, Y:43.88, Z:23.39 [[ 9.84292090e-01 -1.67010318e-01 -5.72419024e-02 4.94993776e+02] [ 1.66966272e-01 9.85946789e-01 -5.58517930e-03 4.38763538e+01] [ 5.73702524e-02 -4.06001923e-03 9.98344715e-01 2.33915272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.03, Y:43.88, Z:23.39 [[ 9.84364232e-01 -1.66701162e-01 -5.69015158e-02 4.95025280e+02] [ 1.66657210e-01 9.85999273e-01 -5.55042220e-03 4.38797183e+01] [ 5.70301151e-02 -4.01941080e-03 9.98364368e-01 2.33935737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.06, Y:43.88, Z:23.40 [[ 9.84390707e-01 -1.66531722e-01 -5.69396227e-02 4.95057882e+02] [ 1.66487667e-01 9.86027918e-01 -5.55000070e-03 4.38813252e+01] [ 5.70683088e-02 -4.01637582e-03 9.98362197e-01 2.33952899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.09, Y:43.89, Z:23.40 [[ 9.84393077e-01 -1.66546444e-01 -5.68555300e-02 4.95089429e+02] [ 1.66502778e-01 9.86025435e-01 -5.53767786e-03 4.38861735e+01] [ 5.69832792e-02 -4.01535195e-03 9.98367058e-01 2.33972739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.12, Y:43.88, Z:23.40 [[ 9.84274970e-01 -1.67132864e-01 -5.71785741e-02 4.95120666e+02] [ 1.67089919e-01 9.85925955e-01 -5.56507906e-03 4.38849264e+01] [ 5.73039479e-02 -4.07639529e-03 9.98348456e-01 2.33989480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.15, Y:43.89, Z:23.40 [[ 9.84246876e-01 -1.67283716e-01 -5.72210219e-02 4.95152636e+02] [ 1.67241153e-01 9.85900308e-01 -5.56588434e-03 4.38856673e+01] [ 5.73453049e-02 -4.09150538e-03 9.98346020e-01 2.34006265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.18, Y:43.89, Z:23.40 [[ 9.84242286e-01 -1.67386092e-01 -5.70001642e-02 4.95184623e+02] [ 1.67344261e-01 9.85882956e-01 -5.54027688e-03 4.38873969e+01] [ 5.71228557e-02 -4.08567559e-03 9.98358797e-01 2.34023495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.22, Y:43.89, Z:23.40 [[ 9.84174182e-01 -1.67863577e-01 -5.67714704e-02 4.95216103e+02] [ 1.67823094e-01 9.85801706e-01 -5.51411349e-03 4.38864314e+01] [ 5.68910312e-02 -4.10071569e-03 9.98371972e-01 2.34036585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.25, Y:43.89, Z:23.41 [[ 9.83821324e-01 -1.69919792e-01 -5.67703018e-02 4.95247369e+02] [ 1.69882867e-01 9.85448851e-01 -5.51127143e-03 4.38863303e+01] [ 5.68807027e-02 -4.22219527e-03 9.98372054e-01 2.34055316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.28, Y:43.89, Z:23.41 [[ 9.83603738e-01 -1.71109743e-01 -5.69661508e-02 4.95277985e+02] [ 1.71074605e-01 9.85242562e-01 -5.52925805e-03 4.38884952e+01] [ 5.70715863e-02 -4.30686285e-03 9.98360799e-01 2.34073907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.31, Y:43.88, Z:23.41 [[ 9.83463207e-01 -1.72105973e-01 -5.63884316e-02 4.95308518e+02] [ 1.72073215e-01 9.85068963e-01 -5.47233649e-03 4.38838908e+01] [ 5.64883156e-02 -4.32109712e-03 9.98393909e-01 2.34080586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.34, Y:43.89, Z:23.41 [[ 9.83257791e-01 -1.73219009e-01 -5.65622734e-02 4.95339444e+02] [ 1.73187898e-01 9.84873507e-01 -5.48887035e-03 4.38905599e+01] [ 5.66574612e-02 -4.39892670e-03 9.98383985e-01 2.34104817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.37, Y:43.89, Z:23.41 [[ 9.82847835e-01 -1.75665904e-01 -5.61393166e-02 4.95370221e+02] [ 1.75639334e-01 9.84439520e-01 -5.44572337e-03 4.38860664e+01] [ 5.62223898e-02 -4.50795475e-03 9.98408094e-01 2.34119837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.40, Y:43.89, Z:23.41 [[ 9.82854076e-01 -1.75630909e-01 -5.61395502e-02 4.95400989e+02] [ 1.75604419e-01 9.84445762e-01 -5.44331402e-03 4.38890181e+01] [ 5.62223565e-02 -4.50836971e-03 9.98408094e-01 2.34134537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.43, Y:43.90, Z:23.42 [[ 9.82674100e-01 -1.76774218e-01 -5.56999914e-02 4.95432290e+02] [ 1.76750101e-01 9.84240957e-01 -5.39818908e-03 4.38956689e+01] [ 5.57764735e-02 -4.54031850e-03 9.98432957e-01 2.34157131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.46, Y:43.90, Z:23.42 [[ 9.82475612e-01 -1.78025794e-01 -5.52131123e-02 4.95464782e+02] [ 1.78004342e-01 9.84015181e-01 -5.34581811e-03 4.38969328e+01] [ 5.52822342e-02 -4.57603779e-03 9.98460282e-01 2.34175561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.50, Y:43.90, Z:23.42 [[ 9.82299071e-01 -1.79153960e-01 -5.47027776e-02 4.95496928e+02] [ 1.79134859e-01 9.83810294e-01 -5.29231831e-03 4.38969784e+01] [ 5.47652955e-02 -4.60053500e-03 9.98488657e-01 2.34194035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.53, Y:43.89, Z:23.42 [[ 9.81879976e-01 -1.81426180e-01 -5.47380490e-02 4.95527369e+02] [ 1.81410769e-01 9.83393171e-01 -5.29183385e-03 4.38914391e+01] [ 5.47891008e-02 -4.73412589e-03 9.98486726e-01 2.34208243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.56, Y:43.90, Z:23.42 [[ 9.81638217e-01 -1.82731374e-01 -5.47325815e-02 4.95558022e+02] [ 1.82718115e-01 9.83151117e-01 -5.28879165e-03 4.38972136e+01] [ 5.47768268e-02 -4.80895413e-03 9.98487042e-01 2.34228843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.59, Y:43.90, Z:23.42 [[ 9.81445803e-01 -1.83714422e-01 -5.48921302e-02 4.95590290e+02] [ 1.83702741e-01 9.82967544e-01 -5.30185596e-03 4.38986019e+01] [ 5.49312098e-02 -4.88035051e-03 9.98478214e-01 2.34241010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.62, Y:43.90, Z:23.43 [[ 9.81338455e-01 -1.84283816e-01 -5.49027583e-02 4.95622953e+02] [ 1.84273241e-01 9.82860771e-01 -5.29874086e-03 4.38990614e+01] [ 5.49382395e-02 -4.91725107e-03 9.98477646e-01 2.34253980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.775099893 meters Centerline goodness [0,1] 0.9999791479867381 Centerline is valid? [True, True] Translation: X:495.65, Y:43.90, Z:23.43 [[ 9.81167845e-01 -1.85071233e-01 -5.53018876e-02 4.95653965e+02] [ 1.85061954e-01 9.82712383e-01 -5.33353392e-03 4.38960331e+01] [ 5.53329334e-02 -5.00118337e-03 9.98455434e-01 2.34262504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.805099893 meters Centerline goodness [0,1] 0.9999791553758286 Centerline is valid? [True, True] Translation: X:495.69, Y:43.90, Z:23.43 [[ 9.80927474e-01 -1.86034998e-01 -5.63229115e-02 4.95685004e+02] [ 1.86027024e-01 9.82529619e-01 -5.43077871e-03 4.38982024e+01] [ 5.63492437e-02 -5.15038354e-03 9.98397835e-01 2.34275258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.72, Y:43.90, Z:23.43 [[ 9.80857970e-01 -1.86309672e-01 -5.66246240e-02 4.95716464e+02] [ 1.86302187e-01 9.82477332e-01 -5.45777659e-03 4.38996626e+01] [ 5.66492461e-02 -5.19598763e-03 9.98380621e-01 2.34288997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.75, Y:43.90, Z:23.43 [[ 9.80786176e-01 -1.86511094e-01 -5.72021734e-02 4.95746315e+02] [ 1.86503890e-01 9.82438761e-01 -5.51186770e-03 4.38992471e+01] [ 5.72256568e-02 -5.26246422e-03 9.98347400e-01 2.34299355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.78, Y:43.90, Z:23.43 [[ 9.80813488e-01 -1.86335075e-01 -5.73074246e-02 4.95775367e+02] [ 1.86327477e-01 9.82472170e-01 -5.52323815e-03 4.39025125e+01] [ 5.73321228e-02 -5.26068136e-03 9.98341301e-01 2.34314765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.80, Y:43.91, Z:23.43 [[ 9.80938300e-01 -1.85794258e-01 -5.69257947e-02 4.95804871e+02] [ 1.85785758e-01 9.82574950e-01 -5.48816160e-03 4.39092340e+01] [ 5.69535288e-02 -5.19245401e-03 9.98363328e-01 2.34337613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.84, Y:43.91, Z:23.44 [[ 9.81224271e-01 -1.84591373e-01 -5.59013036e-02 4.95835596e+02] [ 1.84581242e-01 9.82802483e-01 -5.38923155e-03 4.39107603e+01] [ 5.59347456e-02 -5.03028725e-03 9.98421755e-01 2.34357482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.87, Y:43.92, Z:23.44 [[ 9.81503414e-01 -1.83245224e-01 -5.54277624e-02 4.95866914e+02] [ 1.83233206e-01 9.83054959e-01 -5.34225305e-03 4.39159316e+01] [ 5.54674791e-02 -4.91276701e-03 9.98448408e-01 2.34378667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.90, Y:43.92, Z:23.44 [[ 9.81802640e-01 -1.81749047e-01 -5.50532539e-02 4.95897048e+02] [ 1.81735006e-01 9.83333240e-01 -5.30341418e-03 4.39176458e+01] [ 5.50995850e-02 -4.79819740e-03 9.98469335e-01 2.34393492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.93, Y:43.92, Z:23.44 [[ 9.82421673e-01 -1.78408686e-01 -5.49362981e-02 4.95927084e+02] [ 1.78389558e-01 9.83945713e-01 -5.29147167e-03 4.39184014e+01] [ 5.49983795e-02 -4.60160547e-03 9.98475840e-01 2.34406956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.96, Y:43.92, Z:23.44 [[ 9.82742402e-01 -1.76669076e-01 -5.48216022e-02 4.95957365e+02] [ 1.76647341e-01 9.84260044e-01 -5.28041883e-03 4.39241503e+01] [ 5.48915993e-02 -4.49479874e-03 9.98482203e-01 2.34423163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:495.99, Y:43.93, Z:23.44 [[ 9.83074643e-01 -1.74854281e-01 -5.46829730e-02 4.95988147e+02] [ 1.74829922e-01 9.84584566e-01 -5.26605833e-03 4.39268408e+01] [ 5.47608041e-02 -4.38329148e-03 9.98489880e-01 2.34437420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.02, Y:43.93, Z:23.44 [[ 9.83787840e-01 -1.70757438e-01 -5.48031320e-02 4.96017328e+02] [ 1.70726694e-01 9.85304293e-01 -5.27691493e-03 4.39285681e+01] [ 5.48988338e-02 -4.16499279e-03 9.98483235e-01 2.34445473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.05, Y:43.93, Z:23.45 [[ 9.84115750e-01 -1.68912225e-01 -5.46337824e-02 4.96047497e+02] [ 1.68878790e-01 9.85622783e-01 -5.26158491e-03 4.39345258e+01] [ 5.47370467e-02 -4.04847847e-03 9.98492597e-01 2.34462994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.08, Y:43.93, Z:23.45 [[ 9.84520210e-01 -1.66459438e-01 -5.48745142e-02 4.96076962e+02] [ 1.66421913e-01 9.86040474e-01 -5.28490670e-03 4.39340961e+01] [ 5.49882146e-02 -3.92922415e-03 9.98479272e-01 2.34472633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.11, Y:43.94, Z:23.45 [[ 9.84951497e-01 -1.63908718e-01 -5.48131432e-02 4.96106920e+02] [ 1.63867293e-01 9.86468262e-01 -5.27998881e-03 4.39384661e+01] [ 5.49368623e-02 -3.78154849e-03 9.98482669e-01 2.34490332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.14, Y:43.95, Z:23.45 [[ 9.85895810e-01 -1.57846943e-01 -5.56218864e-02 4.96136774e+02] [ 1.57794643e-01 9.87457410e-01 -5.35861207e-03 4.39499163e+01] [ 5.57700844e-02 -3.49380252e-03 9.98437525e-01 2.34515229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.17, Y:43.95, Z:23.45 [[ 9.86433827e-01 -1.54368961e-01 -5.58437901e-02 4.96165967e+02] [ 1.54310718e-01 9.88007724e-01 -5.37955009e-03 4.39484606e+01] [ 5.60045315e-02 -3.31072513e-03 9.98425026e-01 2.34520065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.20, Y:43.96, Z:23.45 [[ 9.86978131e-01 -1.50716978e-01 -5.62010859e-02 4.96195765e+02] [ 1.50651981e-01 9.88572025e-01 -5.41585821e-03 4.39564268e+01] [ 5.63750831e-02 -3.12147133e-03 9.98404781e-01 2.34540254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.23, Y:43.96, Z:23.46 [[ 9.87599640e-01 -1.46593713e-01 -5.61892768e-02 4.96225096e+02] [ 1.46522034e-01 9.89192582e-01 -5.41571597e-03 4.39627679e+01] [ 5.63759257e-02 -2.88440801e-03 9.98405446e-01 2.34559555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.25, Y:43.97, Z:23.46 [[ 9.88149933e-01 -1.43003227e-01 -5.57654563e-02 4.96254287e+02] [ 1.42926860e-01 9.89718653e-01 -5.37599286e-03 4.39656162e+01] [ 5.59608966e-02 -2.65809457e-03 9.98429423e-01 2.34578505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.28, Y:43.98, Z:23.46 [[ 9.89147699e-01 -1.36209316e-01 -5.50804076e-02 4.96283415e+02] [ 1.36124204e-01 9.90677540e-01 -5.31163983e-03 4.39761780e+01] [ 5.52904175e-02 -2.24378031e-03 9.98467794e-01 2.34618870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.31, Y:43.98, Z:23.46 [[ 9.89568492e-01 -1.33088585e-01 -5.51509673e-02 4.96312414e+02] [ 1.32998392e-01 9.91101981e-01 -5.31888693e-03 4.39792806e+01] [ 5.53681161e-02 -2.07158705e-03 9.98463860e-01 2.34638311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.34, Y:43.98, Z:23.47 [[ 9.89927020e-01 -1.30416283e-01 -5.51007129e-02 4.96342542e+02] [ 1.30322027e-01 9.91457469e-01 -5.31575950e-03 4.39844951e+01] [ 5.53232750e-02 -1.91862261e-03 9.98466651e-01 2.34662825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.37, Y:43.99, Z:23.47 [[ 9.90297578e-01 -1.27704804e-01 -5.47922370e-02 4.96371672e+02] [ 1.27607442e-01 9.91810666e-01 -5.28627231e-03 4.39865731e+01] [ 5.50186074e-02 -1.75691451e-03 9.98483784e-01 2.34679864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.40, Y:43.99, Z:23.47 [[ 9.90487523e-01 -1.26043782e-01 -5.52035469e-02 4.96400093e+02] [ 1.25942171e-01 9.92023268e-01 -5.32964941e-03 4.39892596e+01] [ 5.54349722e-02 -1.67350329e-03 9.98460897e-01 2.34695695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.43, Y:43.99, Z:23.47 [[ 9.90764065e-01 -1.23389942e-01 -5.62271328e-02 4.96428713e+02] [ 1.23279458e-01 9.92357069e-01 -5.44264178e-03 4.39918002e+01] [ 5.64689600e-02 -1.53927659e-03 9.98403169e-01 2.34707944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.46, Y:43.99, Z:23.47 [[ 9.90830043e-01 -1.22707400e-01 -5.65572204e-02 4.96457059e+02] [ 1.22593700e-01 9.92441766e-01 -5.48874835e-03 4.39942647e+01] [ 5.68032577e-02 -1.49514212e-03 9.98384272e-01 2.34720534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.49, Y:44.00, Z:23.47 [[ 9.90830297e-01 -1.22400770e-01 -5.72134179e-02 4.96485260e+02] [ 1.22283065e-01 9.92479652e-01 -5.56701234e-03 4.39962432e+01] [ 5.74645598e-02 -1.48026761e-03 9.98346449e-01 2.34731740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.51, Y:44.00, Z:23.48 [[ 9.90781177e-01 -1.22458206e-01 -5.79365748e-02 4.96512742e+02] [ 1.22336718e-01 9.92472557e-01 -5.65256984e-03 4.39974663e+01] [ 5.81926641e-02 -1.48731064e-03 9.98304263e-01 2.34751933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.54, Y:44.00, Z:23.48 [[ 9.90732421e-01 -1.22937379e-01 -5.77552593e-02 4.96540542e+02] [ 1.22816483e-01 9.92413306e-01 -5.65177840e-03 4.39988618e+01] [ 5.80119026e-02 -1.49389770e-03 9.98314774e-01 2.34767749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.57, Y:44.00, Z:23.48 [[ 9.90549800e-01 -1.24144139e-01 -5.83037445e-02 4.96569544e+02] [ 1.24022032e-01 9.92262965e-01 -5.72231492e-03 4.40000508e+01] [ 5.85630383e-02 -1.56271094e-03 9.98282489e-01 2.34781821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.60, Y:44.00, Z:23.48 [[ 9.90418571e-01 -1.25173669e-01 -5.83318619e-02 4.96597038e+02] [ 1.25052412e-01 9.92133539e-01 -5.73895539e-03 4.39994294e+01] [ 5.85913627e-02 -1.61057203e-03 9.98280751e-01 2.34789755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.62, Y:44.00, Z:23.48 [[ 9.90274079e-01 -1.26252426e-01 -5.84600208e-02 4.96624784e+02] [ 1.26132015e-01 9.91996742e-01 -5.76000506e-03 4.39991003e+01] [ 5.87193648e-02 -1.66969653e-03 9.98273133e-01 2.34800110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.65, Y:44.00, Z:23.48 [[ 9.89992050e-01 -1.28426964e-01 -5.85000476e-02 4.96653455e+02] [ 1.28309766e-01 9.91717349e-01 -5.77092966e-03 4.40004967e+01] [ 5.87566551e-02 -1.79295293e-03 9.98270725e-01 2.34821345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.68, Y:44.00, Z:23.48 [[ 9.89883931e-01 -1.29395240e-01 -5.81951400e-02 4.96681999e+02] [ 1.29280075e-01 9.91591416e-01 -5.75547413e-03 4.40025847e+01] [ 5.84505323e-02 -1.82622069e-03 9.98288636e-01 2.34841451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.71, Y:44.00, Z:23.49 [[ 9.89784857e-01 -1.30336817e-01 -5.77775927e-02 4.96710606e+02] [ 1.30224049e-01 9.91468042e-01 -5.72882296e-03 4.40039385e+01] [ 5.80313133e-02 -1.85372983e-03 9.98313042e-01 2.34854838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.74, Y:44.00, Z:23.49 [[ 9.89712622e-01 -1.30920819e-01 -5.76945842e-02 4.96738769e+02] [ 1.30808615e-01 9.91391060e-01 -5.73350949e-03 4.40037814e+01] [ 5.79485308e-02 -1.87242192e-03 9.98317816e-01 2.34864477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.77, Y:44.01, Z:23.49 [[ 9.89554347e-01 -1.32129597e-01 -5.76538317e-02 4.96766895e+02] [ 1.32019198e-01 9.91230561e-01 -5.73636569e-03 4.40069666e+01] [ 5.79061836e-02 -1.93496699e-03 9.98320154e-01 2.34884697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.79, Y:44.01, Z:23.49 [[ 9.89497422e-01 -1.32371199e-01 -5.80750966e-02 4.96794452e+02] [ 1.32258823e-01 9.91198296e-01 -5.79149942e-03 4.40077385e+01] [ 5.83305645e-02 -1.95027019e-03 9.98295418e-01 2.34892234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.82, Y:44.01, Z:23.49 [[ 9.89414781e-01 -1.32891710e-01 -5.82939413e-02 4.96823478e+02] [ 1.32778970e-01 9.91128583e-01 -5.82044268e-03 4.40103034e+01] [ 5.85502800e-02 -1.98137748e-03 9.98282495e-01 2.34906947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.85, Y:44.01, Z:23.49 [[ 9.89328540e-01 -1.33655185e-01 -5.80114811e-02 4.96852085e+02] [ 1.33543984e-01 9.91025874e-01 -5.80698500e-03 4.40123359e+01] [ 5.82670124e-02 -2.00206831e-03 9.98299027e-01 2.34920689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.88, Y:44.01, Z:23.49 [[ 9.89263212e-01 -1.34091417e-01 -5.81187546e-02 4.96880114e+02] [ 1.33979789e-01 9.90966910e-01 -5.83083724e-03 4.40117057e+01] [ 5.83756279e-02 -2.01850568e-03 9.98292648e-01 2.34927230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.91, Y:44.01, Z:23.50 [[ 9.89209466e-01 -1.34443333e-01 -5.82204652e-02 4.96908327e+02] [ 1.34331614e-01 9.90919189e-01 -5.84630886e-03 4.40132734e+01] [ 5.84777734e-02 -2.03762499e-03 9.98286631e-01 2.34950491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.94, Y:44.02, Z:23.50 [[ 9.89225171e-01 -1.34448626e-01 -5.79407213e-02 4.96936751e+02] [ 1.34337584e-01 9.90918504e-01 -5.82512267e-03 4.40171942e+01] [ 5.81977126e-02 -2.02125856e-03 9.98303031e-01 2.34973537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.97, Y:44.02, Z:23.50 [[ 9.89302701e-01 -1.33938999e-01 -5.77971511e-02 4.96965164e+02] [ 1.33826782e-01 9.90987617e-01 -5.82541645e-03 4.40193680e+01] [ 5.80565115e-02 -1.97170653e-03 9.98311351e-01 2.34985880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:496.99, Y:44.02, Z:23.50 [[ 9.89432296e-01 -1.33013664e-01 -5.77156501e-02 4.96992747e+02] [ 1.32899441e-01 9.91112379e-01 -5.83012685e-03 4.40217896e+01] [ 5.79781818e-02 -1.90186183e-03 9.98316039e-01 2.34999489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.02, Y:44.03, Z:23.50 [[ 9.89901804e-01 -1.29558802e-01 -5.75233429e-02 4.97020239e+02] [ 1.29439217e-01 9.91570303e-01 -5.81584235e-03 4.40255345e+01] [ 5.77919321e-02 -1.68866361e-03 9.98327221e-01 2.35011614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.05, Y:44.03, Z:23.50 [[ 9.90104696e-01 -1.27875031e-01 -5.77985012e-02 4.97048980e+02] [ 1.27751037e-01 9.91789012e-01 -5.85049260e-03 4.40295566e+01] [ 5.80720504e-02 -1.59121826e-03 9.98311126e-01 2.35027809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.08, Y:44.04, Z:23.50 [[ 9.90320831e-01 -1.26056046e-01 -5.80906552e-02 4.97076839e+02] [ 1.25926817e-01 9.92022021e-01 -5.89463950e-03 4.40352733e+01] [ 5.83702642e-02 -1.47758701e-03 9.98293909e-01 2.35048542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.10, Y:44.04, Z:23.51 [[ 9.90737255e-01 -1.22416684e-01 -5.87694461e-02 4.97104640e+02] [ 1.22277230e-01 9.92477988e-01 -5.97686109e-03 4.40396066e+01] [ 5.90590492e-02 -1.26466615e-03 9.98253690e-01 2.35059091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.13, Y:44.04, Z:23.51 [[ 9.90881478e-01 -1.21190539e-01 -5.88791142e-02 4.97133170e+02] [ 1.21047971e-01 9.92628554e-01 -5.99528802e-03 4.40436658e+01] [ 5.91716622e-02 -1.18657745e-03 9.98247117e-01 2.35073571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.16, Y:44.05, Z:23.51 [[ 9.90973107e-01 -1.20372029e-01 -5.90159004e-02 4.97161357e+02] [ 1.20226448e-01 9.92728215e-01 -6.02436794e-03 4.40474918e+01] [ 5.93119148e-02 -1.12528543e-03 9.98238864e-01 2.35092712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.19, Y:44.05, Z:23.51 [[ 9.91183141e-01 -1.19126671e-01 -5.80070484e-02 4.97189338e+02] [ 1.18983137e-01 9.92878541e-01 -5.93438673e-03 4.40493859e+01] [ 5.83008973e-02 -1.01979650e-03 9.98298535e-01 2.35111909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.22, Y:44.05, Z:23.51 [[ 9.91199360e-01 -1.19401416e-01 -5.71588240e-02 4.97217062e+02] [ 1.19262096e-01 9.92845544e-01 -5.85474488e-03 4.40516827e+01] [ 5.74489486e-02 -1.01366179e-03 9.98347931e-01 2.35131996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.24, Y:44.05, Z:23.51 [[ 9.91165016e-01 -1.19686978e-01 -5.71571364e-02 4.97244304e+02] [ 1.19547185e-01 9.92811160e-01 -5.87117792e-03 4.40545472e+01] [ 5.74489465e-02 -1.01366862e-03 9.98347931e-01 2.35145059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.27, Y:44.06, Z:23.52 [[ 9.91124948e-01 -1.20389125e-01 -5.63719457e-02 4.97271731e+02] [ 1.20253365e-01 9.92726252e-01 -5.80671009e-03 4.40564663e+01] [ 5.66609751e-02 -1.02374090e-03 9.98392952e-01 2.35159957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.30, Y:44.06, Z:23.52 [[ 9.91066952e-01 -1.20997731e-01 -5.60878387e-02 4.97299719e+02] [ 1.20863496e-01 9.92652240e-01 -5.79185451e-03 4.40577113e+01] [ 5.63765200e-02 -1.03885666e-03 9.98409039e-01 2.35175509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.33, Y:44.06, Z:23.52 [[ 9.90763493e-01 -1.23673785e-01 -5.56102156e-02 4.97328244e+02] [ 1.23545734e-01 9.92322232e-01 -5.74792052e-03 4.40568972e+01] [ 5.58941203e-02 -1.17557510e-03 9.98436010e-01 2.35185985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.36, Y:44.06, Z:23.52 [[ 9.90526803e-01 -1.25698603e-01 -5.52857555e-02 4.97356624e+02] [ 1.25574781e-01 9.92067657e-01 -5.72177074e-03 4.40578033e+01] [ 5.55664286e-02 -1.27492936e-03 9.98454179e-01 2.35195607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.39, Y:44.06, Z:23.52 [[ 9.90302317e-01 -1.27442027e-01 -5.53159245e-02 4.97385230e+02] [ 1.27320437e-01 9.91845079e-01 -5.73113853e-03 4.40587387e+01] [ 5.55952154e-02 -1.36728794e-03 9.98452454e-01 2.35205813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.41, Y:44.06, Z:23.52 [[ 9.89670046e-01 -1.32151986e-01 -5.55792375e-02 4.97413705e+02] [ 1.32035945e-01 9.91228130e-01 -5.77097194e-03 4.40565900e+01] [ 5.58543491e-02 -1.62709909e-03 9.98437602e-01 2.35216277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.44, Y:44.06, Z:23.52 [[ 9.89632760e-01 -1.32431167e-01 -5.55786468e-02 4.97440956e+02] [ 1.32315246e-01 9.91190852e-01 -5.77665469e-03 4.40594937e+01] [ 5.58540554e-02 -1.63713561e-03 9.98437602e-01 2.35229322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.47, Y:44.06, Z:23.52 [[ 9.88945629e-01 -1.37506213e-01 -5.54849899e-02 4.97470886e+02] [ 1.37397891e-01 9.90499069e-01 -5.78052221e-03 4.40570067e+01] [ 5.57526886e-02 -1.90689843e-03 9.98442788e-01 2.35241927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.50, Y:44.06, Z:23.53 [[ 9.88547678e-01 -1.40414987e-01 -5.52912313e-02 4.97500049e+02] [ 1.40311889e-01 9.90090591e-01 -5.76158832e-03 4.40565438e+01] [ 5.55523412e-02 -2.06241236e-03 9.98453646e-01 2.35254080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.53, Y:44.06, Z:23.53 [[ 9.88124962e-01 -1.43402751e-01 -5.51788958e-02 4.97529634e+02] [ 1.43304564e-01 9.89661917e-01 -5.75263889e-03 4.40589174e+01] [ 5.54333961e-02 -2.22306154e-03 9.98459912e-01 2.35272399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.56, Y:44.05, Z:23.53 [[ 9.87270092e-01 -1.49068448e-01 -5.54649775e-02 4.97559933e+02] [ 1.48978054e-01 9.88823585e-01 -5.78419303e-03 4.40531863e+01] [ 5.57073186e-02 -2.55250365e-03 9.98443879e-01 2.35277530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.59, Y:44.06, Z:23.53 [[ 9.86817646e-01 -1.51944259e-01 -5.57124375e-02 4.97589420e+02] [ 1.51857598e-01 9.88385304e-01 -5.81045323e-03 4.40577422e+01] [ 5.59482194e-02 -2.72649917e-03 9.98429949e-01 2.35299794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.62, Y:44.06, Z:23.53 [[ 9.86422632e-01 -1.54589419e-01 -5.54301620e-02 4.97618812e+02] [ 1.54507676e-01 9.87974662e-01 -5.78313964e-03 4.40592734e+01] [ 5.56576078e-02 -2.85976568e-03 9.98445818e-01 2.35312367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.65, Y:44.06, Z:23.53 [[ 9.86017510e-01 -1.57149689e-01 -5.54386616e-02 4.97648267e+02] [ 1.57071793e-01 9.87570232e-01 -5.78688255e-03 4.40617266e+01] [ 5.56589787e-02 -3.00188243e-03 9.98445325e-01 2.35330468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.68, Y:44.06, Z:23.53 [[ 9.85377374e-01 -1.61016538e-01 -5.57234711e-02 4.97677934e+02] [ 1.60943888e-01 9.86946407e-01 -5.81850281e-03 4.40645396e+01] [ 5.59329547e-02 -3.23493109e-03 9.98429286e-01 2.35348925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.71, Y:44.07, Z:23.54 [[ 9.85087920e-01 -1.62676987e-01 -5.60177466e-02 4.97707211e+02] [ 1.62606173e-01 9.86673707e-01 -5.85044248e-03 4.40672893e+01] [ 5.62229701e-02 -3.34563120e-03 9.98412632e-01 2.35363175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.73, Y:44.07, Z:23.54 [[ 9.84872866e-01 -1.63806426e-01 -5.65056966e-02 4.97734888e+02] [ 1.63736075e-01 9.86486513e-01 -5.90404032e-03 4.40677495e+01] [ 5.67092274e-02 -3.43729189e-03 9.98384820e-01 2.35373480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.76, Y:44.07, Z:23.54 [[ 9.84726924e-01 -1.64634497e-01 -5.66424596e-02 4.97762837e+02] [ 1.64564870e-01 9.86348475e-01 -5.92358914e-03 4.40723680e+01] [ 5.68444308e-02 -3.48824130e-03 9.98376954e-01 2.35391325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.79, Y:44.08, Z:23.54 [[ 9.84591701e-01 -1.65445467e-01 -5.66302097e-02 4.97791380e+02] [ 1.65376816e-01 9.86212631e-01 -5.92913194e-03 4.40761652e+01] [ 5.68303762e-02 -3.52754969e-03 9.98377616e-01 2.35405837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.82, Y:44.08, Z:23.54 [[ 9.84510717e-01 -1.65744218e-01 -5.71620697e-02 4.97818435e+02] [ 1.65673891e-01 9.86162339e-01 -6.00021591e-03 4.40815441e+01] [ 5.73655815e-02 -3.56298564e-03 9.98346881e-01 2.35422547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.85, Y:44.08, Z:23.54 [[ 9.84555025e-01 -1.65599663e-01 -5.68168442e-02 4.97846592e+02] [ 1.65529060e-01 9.86186786e-01 -5.97940990e-03 4.40828055e+01] [ 5.70222093e-02 -3.51778076e-03 9.98366713e-01 2.35435065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.87, Y:44.09, Z:23.54 [[ 9.84575415e-01 -1.65445197e-01 -5.69134323e-02 4.97874883e+02] [ 1.65373580e-01 9.86212754e-01 -5.99863202e-03 4.40869281e+01] [ 5.71211977e-02 -3.50587243e-03 9.98361096e-01 2.35449516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.90, Y:44.09, Z:23.55 [[ 9.84674172e-01 -1.65034657e-01 -5.63944810e-02 4.97903329e+02] [ 1.64962855e-01 9.86281783e-01 -5.95825570e-03 4.40918915e+01] [ 5.66041680e-02 -3.43605411e-03 9.98390786e-01 2.35467478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.93, Y:44.10, Z:23.55 [[ 9.84770724e-01 -1.64455738e-01 -5.63997495e-02 4.97931819e+02] [ 1.64382157e-01 9.86378642e-01 -5.97330319e-03 4.40963362e+01] [ 5.66138523e-02 -3.38877834e-03 9.98390399e-01 2.35479597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.96, Y:44.11, Z:23.55 [[ 9.85122054e-01 -1.62126187e-01 -5.70055978e-02 4.97961161e+02] [ 1.62046421e-01 9.86764590e-01 -6.04988856e-03 4.41067868e+01] [ 5.72319507e-02 -3.27767443e-03 9.98355528e-01 2.35494505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:497.99, Y:44.11, Z:23.55 [[ 9.85272319e-01 -1.61048646e-01 -5.74612171e-02 4.97989161e+02] [ 1.60965571e-01 9.86941160e-01 -6.10177646e-03 4.41102139e+01] [ 5.76935231e-02 -3.23736619e-03 9.98329092e-01 2.35502112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.02, Y:44.12, Z:23.55 [[ 9.85493283e-01 -1.59657611e-01 -5.75537668e-02 4.98017929e+02] [ 1.59571053e-01 9.87167436e-01 -6.12633205e-03 4.41170540e+01] [ 5.77933200e-02 -3.14645609e-03 9.98323611e-01 2.35518501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.05, Y:44.13, Z:23.55 [[ 9.85888448e-01 -1.57530697e-01 -5.66396341e-02 4.98045536e+02] [ 1.57442709e-01 9.87509648e-01 -6.04055101e-03 4.41252056e+01] [ 5.68837573e-02 -2.96218797e-03 9.98376414e-01 2.35548983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.07, Y:44.13, Z:23.56 [[ 9.85977520e-01 -1.56881148e-01 -5.68914441e-02 4.98074080e+02] [ 1.56791045e-01 9.87613133e-01 -6.07186120e-03 4.41306882e+01] [ 5.71392979e-02 -2.93335031e-03 9.98361906e-01 2.35564814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.10, Y:44.14, Z:23.56 [[ 9.86057246e-01 -1.55974598e-01 -5.79916501e-02 4.98103426e+02] [ 1.55878682e-01 9.87756738e-01 -6.20186136e-03 4.41385870e+01] [ 5.82489760e-02 -2.92427167e-03 9.98297804e-01 2.35574345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.13, Y:44.14, Z:23.56 [[ 9.86104730e-01 -1.55205920e-01 -5.92333014e-02 4.98131596e+02] [ 1.55104318e-01 9.87877771e-01 -6.33724437e-03 4.41428984e+01] [ 5.94988396e-02 -2.93815421e-03 9.98224051e-01 2.35573966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.16, Y:44.15, Z:23.56 [[ 9.86184662e-01 -1.54640973e-01 -5.93799841e-02 4.98160894e+02] [ 1.54537627e-01 9.87966454e-01 -6.35662728e-03 4.41503732e+01] [ 5.96484274e-02 -2.90763353e-03 9.98215213e-01 2.35592322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.19, Y:44.16, Z:23.56 [[ 9.86705612e-01 -1.51948330e-01 -5.76518949e-02 4.98189680e+02] [ 1.51846204e-01 9.88384852e-01 -6.17371173e-03 4.41570861e+01] [ 5.79203447e-02 -2.66258539e-03 9.98317657e-01 2.35608793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.22, Y:44.17, Z:23.56 [[ 9.86909709e-01 -1.50681791e-01 -5.74823852e-02 4.98218958e+02] [ 1.50577979e-01 9.88578955e-01 -6.15803108e-03 4.41651781e+01] [ 5.77537794e-02 -2.57816074e-03 9.98327528e-01 2.35631655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.25, Y:44.17, Z:23.56 [[ 9.87197992e-01 -1.48748967e-01 -5.75662137e-02 4.98248211e+02] [ 1.48641363e-01 9.88871917e-01 -6.17064286e-03 4.41701478e+01] [ 5.78434889e-02 -2.46507423e-03 9.98322620e-01 2.35646048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.28, Y:44.18, Z:23.57 [[ 9.87509592e-01 -1.46379370e-01 -5.82913918e-02 4.98277099e+02] [ 1.46264857e-01 9.89225725e-01 -6.24945408e-03 4.41761033e+01] [ 5.85781355e-02 -2.35458625e-03 9.98280050e-01 2.35659065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.31, Y:44.19, Z:23.57 [[ 9.88275682e-01 -1.40684521e-01 -5.93215146e-02 4.98305915e+02] [ 1.40555617e-01 9.90052350e-01 -6.36098167e-03 4.41872155e+01] [ 5.96262966e-02 -2.05156856e-03 9.98218661e-01 2.35670098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.34, Y:44.19, Z:23.57 [[ 9.88652840e-01 -1.37767670e-01 -5.98801412e-02 4.98335051e+02] [ 1.37630905e-01 9.90462765e-01 -6.42220499e-03 4.41946674e+01] [ 6.01938224e-02 -1.89202682e-03 9.98184915e-01 2.35685600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.36, Y:44.20, Z:23.57 [[ 9.89022652e-01 -1.34965613e-01 -6.01537829e-02 4.98363545e+02] [ 1.34822286e-01 9.90848778e-01 -6.45375529e-03 4.42029182e+01] [ 6.04743373e-02 -1.72716038e-03 9.98168258e-01 2.35708759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.39, Y:44.21, Z:23.57 [[ 9.89429305e-01 -1.31846067e-01 -6.03843173e-02 4.98391340e+02] [ 1.31695686e-01 9.91269007e-01 -6.48096383e-03 4.42092293e+01] [ 6.07115918e-02 -1.53989857e-03 9.98154162e-01 2.35721878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.42, Y:44.22, Z:23.57 [[ 9.90187725e-01 -1.26487899e-01 -5.94060573e-02 4.98420058e+02] [ 1.26332538e-01 9.91967438e-01 -6.37896713e-03 4.42188901e+01] [ 5.97357367e-02 -1.18854303e-03 9.98213519e-01 2.35747961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.45, Y:44.22, Z:23.58 [[ 9.90488246e-01 -1.24304714e-01 -5.90031627e-02 4.98449201e+02] [ 1.24147470e-01 9.92243539e-01 -6.33762428e-03 4.42242127e+01] [ 5.93333036e-02 -1.04775102e-03 9.98237678e-01 2.35768518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.48, Y:44.23, Z:23.58 [[ 9.90752317e-01 -1.22570787e-01 -5.81914765e-02 4.98478179e+02] [ 1.22414781e-01 9.92459338e-01 -6.25167257e-03 4.42296359e+01] [ 5.85189467e-02 -9.29637776e-04 9.98285865e-01 2.35788340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.51, Y:44.23, Z:23.58 [[ 9.90962985e-01 -1.21328193e-01 -5.71999359e-02 4.98507879e+02] [ 1.21175287e-01 9.92612092e-01 -6.14699481e-03 4.42345475e+01] [ 5.75231518e-02 -8.39774331e-04 9.98343819e-01 2.35807582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.54, Y:44.24, Z:23.58 [[ 9.91137347e-01 -1.20490950e-01 -5.59347034e-02 4.98538479e+02] [ 1.20343367e-01 9.92714125e-01 -6.01169921e-03 4.42396325e+01] [ 5.62515255e-02 -7.72950942e-04 9.98416330e-01 2.35827180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.57, Y:44.24, Z:23.58 [[ 9.91083586e-01 -1.21066331e-01 -5.56441291e-02 4.98567738e+02] [ 1.20921224e-01 9.92644095e-01 -5.97976805e-03 4.42420529e+01] [ 5.59587648e-02 -8.02106208e-04 9.98432759e-01 2.35832286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.60, Y:44.25, Z:23.58 [[ 9.90916927e-01 -1.22322076e-01 -5.58654966e-02 4.98598030e+02] [ 1.22177756e-01 9.92490072e-01 -6.00441067e-03 4.42454879e+01] [ 5.61804227e-02 -8.75648843e-04 9.98420249e-01 2.35848321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.63, Y:44.25, Z:23.59 [[ 9.90711221e-01 -1.23848763e-01 -5.61494411e-02 4.98628034e+02] [ 1.23705420e-01 9.92300634e-01 -6.03492897e-03 4.42477363e+01] [ 5.64645445e-02 -9.67118363e-04 9.98404137e-01 2.35853426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.66, Y:44.25, Z:23.59 [[ 9.90087453e-01 -1.28631183e-01 -5.63990548e-02 4.98658679e+02] [ 1.28494308e-01 9.91691720e-01 -6.06175738e-03 4.42481551e+01] [ 5.67102067e-02 -1.24528756e-03 9.98389905e-01 2.35855285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.925099893 meters Centerline goodness [0,1] 0.9999584924456251 Centerline is valid? [True, True] Translation: X:498.69, Y:44.25, Z:23.59 [[ 9.89723165e-01 -1.31433865e-01 -5.63311313e-02 4.98689297e+02] [ 1.31301851e-01 9.91323947e-01 -6.05445698e-03 4.42490673e+01] [ 5.66381601e-02 -1.40414548e-03 9.98393784e-01 2.35863332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.72, Y:44.25, Z:23.59 [[ 9.89394278e-01 -1.34103602e-01 -5.58138487e-02 4.98719983e+02] [ 1.33978251e-01 9.90966116e-01 -5.99870434e-03 4.42511425e+01] [ 5.61140807e-02 -1.54275807e-03 9.98423172e-01 2.35879336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.75, Y:44.25, Z:23.59 [[ 9.89111254e-01 -1.36745442e-01 -5.44023140e-02 4.98750198e+02] [ 1.36630406e-01 9.90604845e-01 -5.84580907e-03 4.42513254e+01] [ 5.46905835e-02 -1.65085470e-03 9.98501985e-01 2.35890905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.78, Y:44.25, Z:23.59 [[ 9.88592453e-01 -1.41161509e-01 -5.25203834e-02 4.98781056e+02] [ 1.41060637e-01 9.89984885e-01 -5.64123671e-03 4.42523248e+01] [ 5.27907112e-02 -1.83167468e-03 9.98603918e-01 2.35915586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.81, Y:44.25, Z:23.59 [[ 9.88371950e-01 -1.43036849e-01 -5.15882541e-02 4.98812441e+02] [ 1.42942131e-01 9.89715543e-01 -5.54002701e-03 4.42522793e+01] [ 5.18501250e-02 -1.89852767e-03 9.98653073e-01 2.35931546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.84, Y:44.26, Z:23.59 [[ 9.88034797e-01 -1.45412484e-01 -5.14047532e-02 4.98844359e+02] [ 1.45321795e-01 9.89369058e-01 -5.51742700e-03 4.42564662e+01] [ 5.16605751e-02 -2.01882115e-03 9.98662660e-01 2.35941848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.88, Y:44.25, Z:23.59 [[ 9.87951669e-01 -1.46038254e-01 -5.12282014e-02 4.98875490e+02] [ 1.45949233e-01 9.89276823e-01 -5.49446324e-03 4.42547352e+01] [ 5.14812742e-02 -2.04845257e-03 9.98671859e-01 2.35945072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.91, Y:44.26, Z:23.60 [[ 9.87855881e-01 -1.46631658e-01 -5.13801050e-02 4.98906774e+02] [ 1.46543237e-01 9.89188951e-01 -5.50441181e-03 4.42603565e+01] [ 5.16317532e-02 -2.09184133e-03 9.98664001e-01 2.35956012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.94, Y:44.26, Z:23.60 [[ 9.87809562e-01 -1.47019016e-01 -5.11632456e-02 4.98938655e+02] [ 1.46932006e-01 9.89131424e-01 -5.47830294e-03 4.42627119e+01] [ 5.14125887e-02 -2.10599828e-03 9.98675278e-01 2.35965678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:498.97, Y:44.26, Z:23.60 [[ 9.87754494e-01 -1.47419937e-01 -5.10727146e-02 4.98970127e+02] [ 1.47333967e-01 9.89071705e-01 -5.46475854e-03 4.42627895e+01] [ 5.13201913e-02 -2.12690587e-03 9.98679986e-01 2.35971811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.00, Y:44.27, Z:23.60 [[ 9.87555602e-01 -1.48737528e-01 -5.10987402e-02 4.99001671e+02] [ 1.48653501e-01 9.88874259e-01 -5.46226396e-03 4.42657850e+01] [ 5.13426725e-02 -2.20171725e-03 9.98678668e-01 2.35987012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.03, Y:44.27, Z:23.60 [[ 9.87410007e-01 -1.49728582e-01 -5.10179383e-02 4.99032135e+02] [ 1.49646230e-01 9.88724574e-01 -5.45188722e-03 4.42675758e+01] [ 5.12589927e-02 -2.25139413e-03 9.98682856e-01 2.36001624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.06, Y:44.27, Z:23.60 [[ 9.86683903e-01 -1.53873416e-01 -5.27052969e-02 4.99062554e+02] [ 1.53791471e-01 9.88087280e-01 -5.63124253e-03 4.42739334e+01] [ 5.29439320e-02 -2.54936877e-03 9.98594232e-01 2.36014027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.09, Y:44.27, Z:23.60 [[ 9.86412275e-01 -1.55392792e-01 -5.33282590e-02 4.99093790e+02] [ 1.55311193e-01 9.87849171e-01 -5.69629858e-03 4.42745815e+01] [ 5.35654402e-02 -2.66357671e-03 9.98560789e-01 2.36023381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.13, Y:44.28, Z:23.60 [[ 9.86423499e-01 -1.55321338e-01 -5.33288113e-02 4.99125310e+02] [ 1.55239914e-01 9.87860405e-01 -5.69112336e-03 4.42778848e+01] [ 5.35653741e-02 -2.66490225e-03 9.98560789e-01 2.36038447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.16, Y:44.28, Z:23.61 [[ 9.86125173e-01 -1.57006687e-01 -5.39077315e-02 4.99156858e+02] [ 1.56926198e-01 9.87593598e-01 -5.74917056e-03 4.42803166e+01] [ 5.41415887e-02 -2.79013352e-03 9.98529370e-01 2.36051912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.19, Y:44.28, Z:23.61 [[ 9.86136515e-01 -1.56935357e-01 -5.39079643e-02 4.99188382e+02] [ 1.56854880e-01 9.87604941e-01 -5.74698671e-03 4.42836182e+01] [ 5.41416773e-02 -2.78841386e-03 9.98529370e-01 2.36066988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.22, Y:44.29, Z:23.61 [[ 9.86147854e-01 -1.56863944e-01 -5.39083796e-02 4.99219906e+02] [ 1.56783574e-01 9.87616286e-01 -5.74308870e-03 4.42869168e+01] [ 5.41416772e-02 -2.78841385e-03 9.98529370e-01 2.36082058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.25, Y:44.29, Z:23.61 [[ 9.85914557e-01 -1.58320651e-01 -5.39171424e-02 4.99251265e+02] [ 1.58242626e-01 9.87383573e-01 -5.74032086e-03 4.42905674e+01] [ 5.41457120e-02 -2.87252430e-03 9.98528913e-01 2.36097614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.28, Y:44.29, Z:23.61 [[ 9.85683716e-01 -1.59776193e-01 -5.38440327e-02 4.99282656e+02] [ 1.59700656e-01 9.87148855e-01 -5.73043294e-03 4.42938188e+01] [ 5.40676620e-02 -2.95053292e-03 9.98532915e-01 2.36114093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.31, Y:44.29, Z:23.61 [[ 9.85399420e-01 -1.61550645e-01 -5.37528796e-02 4.99312779e+02] [ 1.61478149e-01 9.86859723e-01 -5.71783996e-03 4.42944367e+01] [ 5.39702726e-02 -3.04555933e-03 9.98537898e-01 2.36133111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.34, Y:44.30, Z:23.62 [[ 9.85323807e-01 -1.62053276e-01 -5.36258496e-02 4.99343822e+02] [ 1.61981986e-01 9.86777241e-01 -5.70205960e-03 4.43015774e+01] [ 5.38408054e-02 -3.06804654e-03 9.98544819e-01 2.36157361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.38, Y:44.31, Z:23.62 [[ 9.85280821e-01 -1.62531250e-01 -5.29650438e-02 4.99375279e+02] [ 1.62462554e-01 9.86698655e-01 -5.62875965e-03 4.43053354e+01] [ 5.31753868e-02 -3.05892735e-03 9.98580503e-01 2.36181234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.41, Y:44.31, Z:23.62 [[ 9.85270917e-01 -1.62624813e-01 -5.28619913e-02 4.99406412e+02] [ 1.62556719e-01 9.86683230e-01 -5.61401153e-03 4.43057699e+01] [ 5.30710179e-02 -3.06174960e-03 9.98586047e-01 2.36196050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.44, Y:44.31, Z:23.62 [[ 9.85310689e-01 -1.62610043e-01 -5.21614805e-02 4.99437931e+02] [ 1.62543874e-01 9.86685783e-01 -5.53668285e-03 4.43124047e+01] [ 5.23673115e-02 -3.02317630e-03 9.98623315e-01 2.36217161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.47, Y:44.32, Z:23.62 [[ 9.85347406e-01 -1.62449343e-01 -5.19682598e-02 4.99469575e+02] [ 1.62383640e-01 9.86712302e-01 -5.51235112e-03 4.43159780e+01] [ 5.21731991e-02 -3.00721429e-03 9.98633523e-01 2.36238378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.50, Y:44.32, Z:23.63 [[ 9.85477625e-01 -1.61919052e-01 -5.11475515e-02 4.99501029e+02] [ 1.61854885e-01 9.86799677e-01 -5.42159404e-03 4.43191979e+01] [ 5.13502467e-02 -2.93562143e-03 9.98676391e-01 2.36254516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.53, Y:44.32, Z:23.63 [[ 9.85572625e-01 -1.61264164e-01 -5.13855024e-02 4.99532237e+02] [ 1.61198702e-01 9.86906962e-01 -5.44313233e-03 4.43197840e+01] [ 5.15904922e-02 -2.91867405e-03 9.98664059e-01 2.36266999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.56, Y:44.33, Z:23.63 [[ 9.85975306e-01 -1.58857252e-01 -5.11573093e-02 4.99562809e+02] [ 1.58789279e-01 9.87297639e-01 -5.41626967e-03 4.43283393e+01] [ 5.13679044e-02 -2.78292413e-03 9.98675920e-01 2.36284473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.59, Y:44.33, Z:23.63 [[ 9.86273627e-01 -1.56953394e-01 -5.12831843e-02 4.99592536e+02] [ 1.56882613e-01 9.87602341e-01 -5.42782405e-03 4.43327530e+01] [ 5.14993083e-02 -2.69212023e-03 9.98669402e-01 2.36298868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.62, Y:44.34, Z:23.63 [[ 9.86609931e-01 -1.54775632e-01 -5.14329498e-02 4.99623832e+02] [ 1.54701541e-01 9.87946259e-01 -5.44261588e-03 4.43383236e+01] [ 5.16553747e-02 -2.58701773e-03 9.98661619e-01 2.36313188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.65, Y:44.34, Z:23.63 [[ 9.87027681e-01 -1.51962208e-01 -5.18058328e-02 4.99654692e+02] [ 1.51883314e-01 9.88383243e-01 -5.47938845e-03 4.43441065e+01] [ 5.20366770e-02 -2.46013351e-03 9.98642144e-01 2.36325376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.68, Y:44.35, Z:23.63 [[ 9.87972580e-01 -1.45402862e-01 -5.26135856e-02 4.99683360e+02] [ 1.45312289e-01 9.89370198e-01 -5.56321472e-03 4.43529811e+01] [ 5.28632210e-02 -2.14909698e-03 9.98599450e-01 2.36334240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.71, Y:44.36, Z:23.64 [[ 9.88464114e-01 -1.41806990e-01 -5.31927947e-02 4.99714119e+02] [ 1.41709183e-01 9.89892351e-01 -5.62504714e-03 4.43611374e+01] [ 5.34528116e-02 -1.97775025e-03 9.98568418e-01 2.36350243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.75, Y:44.37, Z:23.64 [[ 9.89029703e-01 -1.37735208e-01 -5.33784501e-02 4.99745415e+02] [ 1.37630903e-01 9.90467513e-01 -5.64267934e-03 4.43682739e+01] [ 5.36468163e-02 -1.76574682e-03 9.98558412e-01 2.36364057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.77, Y:44.38, Z:23.64 [[ 9.90161545e-01 -1.29184417e-01 -5.37726888e-02 4.99774597e+02] [ 1.29066094e-01 9.91619715e-01 -5.68190839e-03 4.43784837e+01] [ 5.40560724e-02 -1.31422373e-03 9.98537037e-01 2.36375118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.81, Y:44.39, Z:23.64 [[ 9.90663418e-01 -1.25091338e-01 -5.42046949e-02 4.99805659e+02] [ 1.24964977e-01 9.92144621e-01 -5.72766662e-03 4.43868610e+01] [ 5.44953780e-02 -1.09949867e-03 9.98513417e-01 2.36392272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.84, Y:44.39, Z:23.64 [[ 9.91223419e-01 -1.20607746e-01 -5.41285958e-02 4.99835904e+02] [ 1.20475211e-01 9.92699875e-01 -5.71682240e-03 4.43929088e+01] [ 5.44229433e-02 -8.54505742e-04 9.98517608e-01 2.36402695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.87, Y:44.40, Z:23.64 [[ 9.91706903e-01 -1.16414860e-01 -5.44517964e-02 4.99866988e+02] [ 1.16274528e-01 9.93200475e-01 -5.74898820e-03 4.44000829e+01] [ 5.47508177e-02 -6.30045620e-04 9.98499850e-01 2.36422020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.90, Y:44.41, Z:23.64 [[ 9.92559566e-01 -1.09034009e-01 -5.41949589e-02 4.99898012e+02] [ 1.08884110e-01 9.94037995e-01 -5.71977366e-03 4.44093074e+01] [ 5.44954982e-02 -2.23753803e-04 9.98513991e-01 2.36443955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.93, Y:44.41, Z:23.65 [[ 9.92879253e-01 -1.06045342e-01 -5.42694691e-02 4.99928433e+02] [ 1.05890723e-01 9.94361293e-01 -5.72479473e-03 4.44149151e+01] [ 5.45705473e-02 -6.26034253e-05 9.98509916e-01 2.36461605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.96, Y:44.42, Z:23.65 [[ 9.93130693e-01 -1.03574094e-01 -5.44411016e-02 4.99959241e+02] [ 1.03414892e-01 9.94621738e-01 -5.74092888e-03 4.44198580e+01] [ 5.47429146e-02 7.14720480e-05 9.98500480e-01 2.36477042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:499.99, Y:44.42, Z:23.65 [[ 9.93271186e-01 -1.02243019e-01 -5.43940881e-02 4.99990429e+02] [ 1.02082204e-01 9.94759441e-01 -5.73401432e-03 4.44238109e+01] [ 5.46952955e-02 1.42762800e-04 9.98503082e-01 2.36491983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.02, Y:44.43, Z:23.65 [[ 9.93327761e-01 -1.01610458e-01 -5.45460701e-02 5.00021180e+02] [ 1.01447883e-01 9.94824248e-01 -5.74833505e-03 4.44270083e+01] [ 5.48478441e-02 1.76397455e-04 9.98494708e-01 2.36506075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.05, Y:44.43, Z:23.65 [[ 9.93326613e-01 -1.01777899e-01 -5.42540170e-02 5.00052151e+02] [ 1.01617325e-01 9.94807133e-01 -5.71730709e-03 4.44295606e+01] [ 5.45541786e-02 1.66005218e-04 9.98510798e-01 2.36518407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.08, Y:44.43, Z:23.65 [[ 9.93034795e-01 -1.04277214e-01 -5.48466742e-02 5.00083444e+02] [ 1.04117027e-01 9.94548270e-01 -5.77778050e-03 4.44298250e+01] [ 5.51501559e-02 2.70644096e-05 9.98478072e-01 2.36537473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.11, Y:44.43, Z:23.66 [[ 9.92848725e-01 -1.06022964e-01 -5.48683954e-02 5.00113331e+02] [ 1.05865416e-01 9.94363679e-01 -5.77822448e-03 4.44309325e+01] [ 5.51717640e-02 -7.17626730e-05 9.98476876e-01 2.36550141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.14, Y:44.43, Z:23.66 [[ 9.92619783e-01 -1.08178040e-01 -5.48039902e-02 5.00144309e+02] [ 1.08024204e-01 9.94131518e-01 -5.77032415e-03 4.44317406e+01] [ 5.51065963e-02 -1.92419514e-04 9.98480459e-01 2.36568411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.18, Y:44.43, Z:23.66 [[ 9.92116850e-01 -1.12866511e-01 -5.44546309e-02 5.00176405e+02] [ 1.12721792e-01 9.93610058e-01 -5.73159711e-03 4.44295374e+01] [ 5.47535743e-02 -4.51809475e-04 9.98499796e-01 2.36589376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.21, Y:44.43, Z:23.66 [[ 9.91831127e-01 -1.15323264e-01 -5.45120264e-02 5.00207772e+02] [ 1.15182054e-01 9.93327839e-01 -5.73565466e-03 4.44300305e+01] [ 5.48097679e-02 -5.90006366e-04 9.98496641e-01 2.36604020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.24, Y:44.43, Z:23.66 [[ 9.91537356e-01 -1.17735956e-01 -5.46984042e-02 5.00237979e+02] [ 1.17597547e-01 9.93044669e-01 -5.75340410e-03 4.44299400e+01] [ 5.49953413e-02 -7.27683098e-04 9.98486346e-01 2.36615679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.27, Y:44.43, Z:23.66 [[ 9.91292452e-01 -1.19608324e-01 -5.50737991e-02 5.00267738e+02] [ 1.19470934e-01 9.92820803e-01 -5.79217020e-03 4.44292329e+01] [ 5.53712052e-02 -8.37983603e-04 9.98465486e-01 2.36623996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.30, Y:44.43, Z:23.66 [[ 9.90869397e-01 -1.22751735e-01 -5.57660309e-02 5.00299294e+02] [ 1.22615809e-01 9.92436879e-01 -5.86551818e-03 4.44289393e+01] [ 5.60642682e-02 -1.02583451e-03 9.98426635e-01 2.36642958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.33, Y:44.43, Z:23.67 [[ 9.90723726e-01 -1.23794608e-01 -5.60481378e-02 5.00330981e+02] [ 1.23659084e-01 9.92307262e-01 -5.89315725e-03 4.44306195e+01] [ 5.63465153e-02 -1.09237065e-03 9.98410675e-01 2.36661178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.36, Y:44.43, Z:23.67 [[ 9.90665374e-01 -1.24243977e-01 -5.60852145e-02 5.00360717e+02] [ 1.24109081e-01 9.92251067e-01 -5.89549262e-03 4.44309556e+01] [ 5.63830934e-02 -1.12022403e-03 9.98408580e-01 2.36671645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.39, Y:44.43, Z:23.67 [[ 9.90576399e-01 -1.24750599e-01 -5.65303959e-02 5.00391948e+02] [ 1.24614346e-01 9.92187456e-01 -5.94280579e-03 4.44341917e+01] [ 5.68301183e-02 -1.15769515e-03 9.98383192e-01 2.36695685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.42, Y:44.44, Z:23.67 [[ 9.90608533e-01 -1.24579439e-01 -5.63444548e-02 5.00422388e+02] [ 1.24443934e-01 9.92208975e-01 -5.92098386e-03 4.44350049e+01] [ 5.66431066e-02 -1.14634849e-03 9.98393832e-01 2.36706869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.45, Y:44.44, Z:23.67 [[ 9.90733537e-01 -1.23706266e-01 -5.60697604e-02 5.00453381e+02] [ 1.23570836e-01 9.92318277e-01 -5.88941140e-03 4.44356916e+01] [ 5.63676052e-02 -1.09374977e-03 9.98409484e-01 2.36726402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.48, Y:44.44, Z:23.67 [[ 9.90819292e-01 -1.22971912e-01 -5.61697399e-02 5.00483057e+02] [ 1.22834810e-01 9.92409592e-01 -5.90007511e-03 4.44373544e+01] [ 5.64689322e-02 -1.05369108e-03 9.98403801e-01 2.36739197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.51, Y:44.44, Z:23.68 [[ 9.90884768e-01 -1.22401983e-01 -5.62595069e-02 5.00513831e+02] [ 1.22263494e-01 9.92480080e-01 -5.91003061e-03 4.44404208e+01] [ 5.65598394e-02 -1.02232458e-03 9.98398688e-01 2.36759141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.54, Y:44.44, Z:23.68 [[ 9.90981992e-01 -1.21544493e-01 -5.64059262e-02 5.00544365e+02] [ 1.21404026e-01 9.92585502e-01 -5.92310584e-03 4.44421341e+01] [ 5.67076255e-02 -9.78215311e-04 9.98390349e-01 2.36771601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.57, Y:44.44, Z:23.68 [[ 9.91025080e-01 -1.21076561e-01 -5.66547204e-02 5.00574403e+02] [ 1.20934248e-01 9.92642709e-01 -5.94641435e-03 4.44445416e+01] [ 5.69578665e-02 -9.58450251e-04 9.98376123e-01 2.36783676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.60, Y:44.44, Z:23.68 [[ 9.91024530e-01 -1.20459719e-01 -5.79640996e-02 5.00604179e+02] [ 1.20309683e-01 9.92717767e-01 -6.08404306e-03 4.44448514e+01] [ 5.82748736e-02 -9.44206517e-04 9.98300129e-01 2.36787662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.63, Y:44.45, Z:23.68 [[ 9.90994721e-01 -1.20600126e-01 -5.81813688e-02 5.00633173e+02] [ 1.20449118e-01 9.92700709e-01 -6.10832076e-03 4.44461126e+01] [ 5.84933504e-02 -9.54580945e-04 9.98287342e-01 2.36797767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.66, Y:44.45, Z:23.68 [[ 9.90769406e-01 -1.22360660e-01 -5.83425578e-02 5.00662408e+02] [ 1.22211544e-01 9.92485140e-01 -6.13064928e-03 4.44460082e+01] [ 5.86542720e-02 -1.05607434e-03 9.98277798e-01 2.36814383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.69, Y:44.45, Z:23.68 [[ 9.90579370e-01 -1.23997427e-01 -5.81132488e-02 5.00691218e+02] [ 1.23851432e-01 9.92281892e-01 -6.12129902e-03 4.44474634e+01] [ 5.84237498e-02 -1.13377654e-03 9.98291230e-01 2.36831628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.72, Y:44.45, Z:23.69 [[ 9.90358118e-01 -1.25881610e-01 -5.78326839e-02 5.00720406e+02] [ 1.25739372e-01 9.92044516e-01 -6.10645062e-03 4.44482438e+01] [ 5.81412868e-02 -1.22427243e-03 9.98307614e-01 2.36850010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.75, Y:44.45, Z:23.69 [[ 9.90157352e-01 -1.27687910e-01 -5.73080789e-02 5.00749058e+02] [ 1.27550546e-01 9.91813537e-01 -6.06348321e-03 4.44484895e+01] [ 5.76131619e-02 -1.30587426e-03 9.98338128e-01 2.36865188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.78, Y:44.45, Z:23.69 [[ 9.89941518e-01 -1.29636146e-01 -5.66591651e-02 5.00779114e+02] [ 1.29504899e-01 9.91560643e-01 -5.99767893e-03 4.44494226e+01] [ 5.69585141e-02 -1.40028807e-03 9.98375564e-01 2.36881255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.81, Y:44.45, Z:23.69 [[ 9.89402417e-01 -1.34134325e-01 -5.55953268e-02 5.00809074e+02] [ 1.34014939e-01 9.90961825e-01 -5.88701317e-03 4.44480111e+01] [ 5.58824971e-02 -1.62597928e-03 9.98436028e-01 2.36901813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.84, Y:44.45, Z:23.69 [[ 9.89085758e-01 -1.36717729e-01 -5.49329147e-02 5.00840024e+02] [ 1.36605056e-01 9.90608502e-01 -5.81853963e-03 4.44485791e+01] [ 5.52125098e-02 -1.74907921e-03 9.98473094e-01 2.36915292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.87, Y:44.45, Z:23.69 [[ 9.88721275e-01 -1.39439000e-01 -5.46535138e-02 5.00869923e+02] [ 1.39331604e-01 9.90228857e-01 -5.78920862e-03 4.44488289e+01] [ 5.49267279e-02 -1.89104800e-03 9.98488597e-01 2.36928907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.90, Y:44.45, Z:23.69 [[ 9.87932833e-01 -1.44950542e-01 -5.45715752e-02 5.00899861e+02] [ 1.44851752e-01 9.89436473e-01 -5.78234343e-03 4.44492011e+01] [ 5.48332607e-02 -2.19222135e-03 9.98493119e-01 2.36947952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.93, Y:44.45, Z:23.70 [[ 9.87548171e-01 -1.47688972e-01 -5.41901978e-02 5.00929633e+02] [ 1.47595614e-01 9.89031119e-01 -5.74292260e-03 4.44482015e+01] [ 5.44439583e-02 -2.32682282e-03 9.98514117e-01 2.36957785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.96, Y:44.45, Z:23.70 [[ 9.87182516e-01 -1.50299986e-01 -5.36711689e-02 5.00958755e+02] [ 1.50212190e-01 9.88637412e-01 -5.68911640e-03 4.44484927e+01] [ 5.39163996e-02 -2.44586760e-03 9.98542458e-01 2.36970256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:500.99, Y:44.45, Z:23.70 [[ 9.86809628e-01 -1.52999968e-01 -5.28939243e-02 5.00988890e+02] [ 1.52918423e-01 9.88222896e-01 -5.60932465e-03 4.44499613e+01] [ 5.31292135e-02 -2.55311994e-03 9.98584382e-01 2.36987548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.02, Y:44.45, Z:23.70 [[ 9.86462705e-01 -1.55356545e-01 -5.24945300e-02 5.01019413e+02] [ 1.55279519e-01 9.87854885e-01 -5.56758716e-03 4.44538013e+01] [ 5.27219390e-02 -2.65910828e-03 9.98605691e-01 2.37005607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.05, Y:44.46, Z:23.70 [[ 9.86468367e-01 -1.55320508e-01 -5.24947606e-02 5.01050092e+02] [ 1.55243546e-01 9.87860551e-01 -5.56541204e-03 4.44570243e+01] [ 5.27219258e-02 -2.65936986e-03 9.98605691e-01 2.37020278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.08, Y:44.45, Z:23.70 [[ 9.85911807e-01 -1.59204555e-01 -5.13012579e-02 5.01080161e+02] [ 1.59136368e-01 9.87241638e-01 -5.43732385e-03 4.44494208e+01] [ 5.15123846e-02 -2.80317406e-03 9.98668422e-01 2.37029072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.11, Y:44.46, Z:23.70 [[ 9.85671663e-01 -1.60631222e-01 -5.14682769e-02 5.01110144e+02] [ 1.60564442e-01 9.87010276e-01 -5.45668556e-03 4.44583144e+01] [ 5.16762323e-02 -2.88547485e-03 9.98659722e-01 2.37049069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.14, Y:44.46, Z:23.71 [[ 9.85468142e-01 -1.62066762e-01 -5.08616262e-02 5.01141413e+02] [ 1.62003500e-01 9.86775455e-01 -5.39139066e-03 4.44599833e+01] [ 5.10627696e-02 -2.92671770e-03 9.98691157e-01 2.37061637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.17, Y:44.46, Z:23.71 [[ 9.85259529e-01 -1.63198297e-01 -5.12832979e-02 5.01172084e+02] [ 1.63135597e-01 9.86588691e-01 -5.43436967e-03 4.44617177e+01] [ 5.14824016e-02 -3.01186693e-03 9.98669360e-01 2.37070528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.20, Y:44.46, Z:23.71 [[ 9.84869555e-01 -1.65362408e-01 -5.18385344e-02 5.01202142e+02] [ 1.65301324e-01 9.86227811e-01 -5.49328834e-03 4.44624936e+01] [ 5.20329877e-02 -3.15880593e-03 9.98640371e-01 2.37070043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.23, Y:44.46, Z:23.71 [[ 9.84668593e-01 -1.66453520e-01 -5.21630915e-02 5.01231184e+02] [ 1.66393129e-01 9.86043994e-01 -5.52890612e-03 4.44639326e+01] [ 5.23554090e-02 -3.23543981e-03 9.98623274e-01 2.37073872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.445099893 meters Centerline goodness [0,1] 0.9999792599966816 Centerline is valid? [True, True] Translation: X:501.26, Y:44.47, Z:23.71 [[ 9.84467104e-01 -1.67526661e-01 -5.25294148e-02 5.01260133e+02] [ 1.67466733e-01 9.85861983e-01 -5.57167931e-03 4.44654814e+01] [ 5.27201579e-02 -3.31179446e-03 9.98603834e-01 2.37079602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.29, Y:44.47, Z:23.71 [[ 9.84298521e-01 -1.68584331e-01 -5.23043430e-02 5.01289754e+02] [ 1.68526261e-01 9.85681537e-01 -5.55046131e-03 4.44701449e+01] [ 5.24911460e-02 -3.35134449e-03 9.98615766e-01 2.37090915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.32, Y:44.47, Z:23.71 [[ 9.83997894e-01 -1.70236009e-01 -5.26103201e-02 5.01317795e+02] [ 1.70179498e-01 9.85397253e-01 -5.58500418e-03 4.44716634e+01] [ 5.27928337e-02 -3.45756549e-03 9.98599500e-01 2.37099583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.35, Y:44.47, Z:23.71 [[ 9.83958654e-01 -1.70552464e-01 -5.23184801e-02 5.01345386e+02] [ 1.70496810e-01 9.85342553e-01 -5.55803787e-03 4.44740860e+01] [ 5.24995618e-02 -3.45125452e-03 9.98614983e-01 2.37113298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.37, Y:44.48, Z:23.71 [[ 9.83880860e-01 -1.71196723e-01 -5.16733571e-02 5.01373815e+02] [ 1.71142940e-01 9.85230877e-01 -5.49672140e-03 4.44775263e+01] [ 5.18512076e-02 -3.43541129e-03 9.98648912e-01 2.37128209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.595099893 meters Centerline goodness [0,1] 0.9999792947802141 Centerline is valid? [True, True] Translation: X:501.40, Y:44.48, Z:23.71 [[ 9.84023861e-01 -1.70687507e-01 -5.06242559e-02 5.01402340e+02] [ 1.70634628e-01 9.85319593e-01 -5.39660642e-03 4.44807482e+01] [ 5.08022045e-02 -3.32786160e-03 9.98703190e-01 2.37147085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.43, Y:44.49, Z:23.72 [[ 9.84180555e-01 -1.70064241e-01 -4.96667746e-02 5.01431930e+02] [ 1.70012412e-01 9.85427683e-01 -5.29730581e-03 4.44899285e+01] [ 4.98438969e-02 -3.23046280e-03 9.98751796e-01 2.37167589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.46, Y:44.50, Z:23.72 [[ 9.84390820e-01 -1.69095644e-01 -4.87993532e-02 5.01462811e+02] [ 1.69044427e-01 9.85594690e-01 -5.20470435e-03 4.44989560e+01] [ 4.89764762e-02 -3.12579552e-03 9.98795041e-01 2.37189267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.49, Y:44.50, Z:23.72 [[ 9.84601434e-01 -1.68039616e-01 -4.81944335e-02 5.01492845e+02] [ 1.67988525e-01 9.85775563e-01 -5.13760602e-03 4.45025738e+01] [ 4.83722161e-02 -3.03761754e-03 9.98824760e-01 2.37207792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.52, Y:44.51, Z:23.72 [[ 9.84806459e-01 -1.67022429e-01 -4.75367910e-02 5.01524568e+02] [ 1.66971583e-01 9.85948690e-01 -5.06663618e-03 4.45116863e+01] [ 4.77150787e-02 -2.94763721e-03 9.98856638e-01 2.37226355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.55, Y:44.51, Z:23.72 [[ 9.85237767e-01 -1.64741314e-01 -4.65493514e-02 5.01554861e+02] [ 1.64690181e-01 9.86332887e-01 -4.95794295e-03 4.45146183e+01] [ 4.67299342e-02 -2.78146848e-03 9.98903687e-01 2.37242409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.59, Y:44.53, Z:23.73 [[ 9.85409532e-01 -1.63706835e-01 -4.65631483e-02 5.01585862e+02] [ 1.63654561e-01 9.86505244e-01 -4.95857942e-03 4.45256841e+01] [ 4.67465434e-02 -2.73404016e-03 9.98903041e-01 2.37253681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.62, Y:44.53, Z:23.73 [[ 9.85577604e-01 -1.62639415e-01 -4.67462025e-02 5.01617165e+02] [ 1.62585700e-01 9.86681886e-01 -4.97453234e-03 4.45284210e+01] [ 4.69326863e-02 -2.69747638e-03 9.98894412e-01 2.37268785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.65, Y:44.53, Z:23.73 [[ 9.85701097e-01 -1.61821038e-01 -4.69819023e-02 5.01648971e+02] [ 1.61766168e-01 9.86816486e-01 -4.99296681e-03 4.45280986e+01] [ 4.71704828e-02 -2.67850943e-03 9.98883262e-01 2.37280561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.68, Y:44.54, Z:23.73 [[ 9.85843518e-01 -1.60882829e-01 -4.72151732e-02 5.01679883e+02] [ 1.60826507e-01 9.86969955e-01 -5.01425248e-03 4.45382287e+01] [ 4.74066645e-02 -2.65018308e-03 9.98872156e-01 2.37293385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.71, Y:44.54, Z:23.73 [[ 9.86046846e-01 -1.59320344e-01 -4.82560312e-02 5.01710984e+02] [ 1.59259826e-01 9.87223420e-01 -5.12114753e-03 4.45435107e+01] [ 4.84553872e-02 -2.63555576e-03 9.98821871e-01 2.37299028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.74, Y:44.55, Z:23.73 [[ 9.86129740e-01 -1.58679638e-01 -4.86714398e-02 5.01742746e+02] [ 1.58617429e-01 9.87326623e-01 -5.16252844e-03 4.45495568e+01] [ 4.88737964e-02 -2.62921580e-03 9.98801501e-01 2.37308056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.78, Y:44.55, Z:23.73 [[ 9.86269461e-01 -1.57725260e-01 -4.89417232e-02 5.01775132e+02] [ 1.57661366e-01 9.87479611e-01 -5.18755221e-03 4.45545873e+01] [ 4.91471618e-02 -2.59989460e-03 9.98788164e-01 2.37319657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.81, Y:44.56, Z:23.73 [[ 9.86410595e-01 -1.56791427e-01 -4.90977255e-02 5.01805973e+02] [ 1.56726192e-01 9.87628404e-01 -5.19964441e-03 4.45585951e+01] [ 4.93055680e-02 -2.56591520e-03 9.98780445e-01 2.37329074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.84, Y:44.57, Z:23.73 [[ 9.86756299e-01 -1.54496613e-01 -4.94247137e-02 5.01837068e+02] [ 1.54427771e-01 9.87990230e-01 -5.23155393e-03 4.45671252e+01] [ 4.96393917e-02 -2.47027957e-03 9.98764151e-01 2.37343564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.87, Y:44.57, Z:23.74 [[ 9.87046628e-01 -1.52703125e-01 -4.92007054e-02 5.01867585e+02] [ 1.52632815e-01 9.88269260e-01 -5.20518000e-03 4.45713472e+01] [ 4.94183920e-02 -2.37188681e-03 9.98775348e-01 2.37356645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.90, Y:44.58, Z:23.74 [[ 9.87331137e-01 -1.50910974e-01 -4.90214705e-02 5.01899257e+02] [ 1.50839064e-01 9.88544738e-01 -5.18436963e-03 4.45789241e+01] [ 4.92422949e-02 -2.27566314e-03 9.98784270e-01 2.37371554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.93, Y:44.58, Z:23.74 [[ 9.87641484e-01 -1.49050104e-01 -4.84599322e-02 5.01930396e+02] [ 1.48977767e-01 9.88827283e-01 -5.12147377e-03 4.45835944e+01] [ 4.86818592e-02 -2.16127252e-03 9.98811997e-01 2.37388262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.96, Y:44.59, Z:23.74 [[ 9.87961628e-01 -1.46950255e-01 -4.83471193e-02 5.01960982e+02] [ 1.46875913e-01 9.89141746e-01 -5.10610639e-03 4.45896432e+01] [ 4.85724977e-02 -2.05639012e-03 9.98817543e-01 2.37404914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:501.99, Y:44.60, Z:23.74 [[ 9.88642934e-01 -1.42568810e-01 -4.75319219e-02 5.01990664e+02] [ 1.42491978e-01 9.89783235e-01 -5.01832554e-03 4.46009212e+01] [ 4.77617562e-02 -1.81158551e-03 9.98857113e-01 2.37421312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.02, Y:44.60, Z:23.74 [[ 9.88926001e-01 -1.40649057e-01 -4.73625093e-02 5.02022087e+02] [ 1.40570616e-01 9.90058032e-01 -4.99955988e-03 4.46034092e+01] [ 4.75948162e-02 -1.71358234e-03 9.98865255e-01 2.37438133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.05, Y:44.61, Z:23.75 [[ 9.89216685e-01 -1.38765710e-01 -4.68447236e-02 5.02053802e+02] [ 1.38687027e-01 9.90323932e-01 -4.94149359e-03 4.46119162e+01] [ 4.70771607e-02 -1.60854753e-03 9.98889961e-01 2.37454905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.08, Y:44.62, Z:23.75 [[ 9.89765321e-01 -1.34788582e-01 -4.68684133e-02 5.02084256e+02] [ 1.34705529e-01 9.90873358e-01 -4.94051309e-03 4.46195340e+01] [ 4.71065869e-02 -1.42348587e-03 9.98888854e-01 2.37466540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.12, Y:44.63, Z:23.75 [[ 9.90033013e-01 -1.32703780e-01 -4.71629023e-02 5.02116434e+02] [ 1.32617400e-01 9.91154845e-01 -4.96979290e-03 4.46250063e+01] [ 4.74052495e-02 -1.33436246e-03 9.98874848e-01 2.37477814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.15, Y:44.63, Z:23.75 [[ 9.90244172e-01 -1.30972964e-01 -4.75663969e-02 5.02148467e+02] [ 1.30883319e-01 9.91385131e-01 -5.00786604e-03 4.46300177e+01] [ 4.78125137e-02 -1.26663772e-03 9.98855525e-01 2.37493082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.18, Y:44.64, Z:23.75 [[ 9.90479591e-01 -1.29130995e-01 -4.77007897e-02 5.02180747e+02] [ 1.29038878e-01 9.91626837e-01 -5.01846257e-03 4.46355523e+01] [ 4.79494223e-02 -1.18457162e-03 9.98849063e-01 2.37505388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.21, Y:44.64, Z:23.75 [[ 9.90687987e-01 -1.27502143e-01 -4.77547578e-02 5.02212189e+02] [ 1.27408141e-01 9.91837672e-01 -5.01968927e-03 4.46397914e+01] [ 4.80049890e-02 -1.11139906e-03 9.98846478e-01 2.37518571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.24, Y:44.65, Z:23.75 [[ 9.91071652e-01 -1.24500051e-01 -4.77149725e-02 5.02242965e+02] [ 1.24402898e-01 9.92219129e-01 -5.01198239e-03 4.46450375e+01] [ 4.79677005e-02 -9.68647168e-04 9.98848418e-01 2.37528774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.28, Y:44.65, Z:23.75 [[ 9.91267141e-01 -1.22947920e-01 -4.76787624e-02 5.02275256e+02] [ 1.22849246e-01 9.92412720e-01 -5.00556731e-03 4.46496777e+01] [ 4.79324344e-02 -8.95445607e-04 9.98850179e-01 2.37542463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.31, Y:44.65, Z:23.76 [[ 9.91457109e-01 -1.21358827e-01 -4.77999617e-02 5.02306590e+02] [ 1.21257975e-01 9.92608360e-01 -5.01475215e-03 4.46535877e+01] [ 4.80552260e-02 -8.24214906e-04 9.98844340e-01 2.37557764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.34, Y:44.66, Z:23.76 [[ 9.91661366e-01 -1.19706608e-01 -4.77290538e-02 5.02338351e+02] [ 1.19604435e-01 9.92809028e-01 -5.00120947e-03 4.46577467e+01] [ 4.79845133e-02 -7.49100315e-04 9.98847799e-01 2.37573663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.37, Y:44.66, Z:23.76 [[ 9.91829374e-01 -1.18321352e-01 -4.76922420e-02 5.02370462e+02] [ 1.18217902e-01 9.92975120e-01 -4.99391729e-03 4.46620716e+01] [ 4.79480968e-02 -6.84962919e-04 9.98849594e-01 2.37587510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.40, Y:44.67, Z:23.76 [[ 9.92147128e-01 -1.15766477e-01 -4.73518611e-02 5.02402543e+02] [ 1.15661752e-01 9.93276300e-01 -4.95487810e-03 4.46666342e+01] [ 4.76070902e-02 -5.60831150e-04 9.98865982e-01 2.37602884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.43, Y:44.67, Z:23.76 [[ 9.92253177e-01 -1.14916979e-01 -4.71987358e-02 5.02434653e+02] [ 1.14812131e-01 9.93374962e-01 -4.93545514e-03 4.46701996e+01] [ 4.74532100e-02 -5.21766415e-04 9.98873326e-01 2.37617357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.47, Y:44.67, Z:23.76 [[ 9.92329765e-01 -1.14216054e-01 -4.72898657e-02 5.02465916e+02] [ 1.14110170e-01 9.93455812e-01 -4.94153426e-03 4.46727080e+01] [ 4.75447944e-02 -4.92623066e-04 9.98868985e-01 2.37631800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.50, Y:44.68, Z:23.76 [[ 9.92320517e-01 -1.14371350e-01 -4.71082435e-02 5.02498054e+02] [ 1.14266726e-01 9.93437940e-01 -4.91679335e-03 4.46751145e+01] [ 4.73614567e-02 -5.03869832e-04 9.98877689e-01 2.37639353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.53, Y:44.68, Z:23.77 [[ 9.92200544e-01 -1.15149636e-01 -4.77351218e-02 5.02530581e+02] [ 1.15043279e-01 9.93348004e-01 -4.97865264e-03 4.46771194e+01] [ 4.79908780e-02 -5.51783091e-04 9.98847622e-01 2.37650734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.56, Y:44.68, Z:23.77 [[ 9.92058527e-01 -1.16233112e-01 -4.80597865e-02 5.02562129e+02] [ 1.16126745e-01 9.93221772e-01 -5.00898155e-03 4.46784684e+01] [ 4.83162358e-02 -6.11823696e-04 9.98831901e-01 2.37661297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.59, Y:44.68, Z:23.77 [[ 9.91872496e-01 -1.17710518e-01 -4.83030661e-02 5.02594404e+02] [ 1.17604950e-01 9.93047712e-01 -5.03166606e-03 4.46801798e+01] [ 4.85595293e-02 -6.89908498e-04 9.98820052e-01 2.37674125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.63, Y:44.68, Z:23.77 [[ 9.91429854e-01 -1.21062849e-01 -4.90981707e-02 5.02626909e+02] [ 1.20958060e-01 9.92644461e-01 -5.11087138e-03 4.46805535e+01] [ 4.93557639e-02 -8.71749016e-04 9.98780881e-01 2.37686403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.66, Y:44.68, Z:23.77 [[ 9.91269880e-01 -1.22671673e-01 -4.83289323e-02 5.02657869e+02] [ 1.22572225e-01 9.92446863e-01 -5.02726252e-03 4.46809188e+01] [ 4.85806000e-02 -9.40410866e-04 9.98818823e-01 2.37698483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.69, Y:44.68, Z:23.77 [[ 9.91066825e-01 -1.24146358e-01 -4.87260631e-02 5.02689978e+02] [ 1.24047187e-01 9.92263389e-01 -5.06574881e-03 4.46772432e+01] [ 4.89779828e-02 -1.02383548e-03 9.98799334e-01 2.37709793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.72, Y:44.68, Z:23.77 [[ 9.90738176e-01 -1.26546523e-01 -4.92325571e-02 5.02721621e+02] [ 1.26448517e-01 9.91959995e-01 -5.11277201e-03 4.46798229e+01] [ 4.94837306e-02 -1.15996544e-03 9.98774256e-01 2.37713932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.75, Y:44.68, Z:23.77 [[ 9.90611135e-01 -1.27368779e-01 -4.96666260e-02 5.02753860e+02] [ 1.27270208e-01 9.91854687e-01 -5.15507499e-03 4.46817593e+01] [ 4.99186714e-02 -1.21440716e-03 9.98752548e-01 2.37726750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.79, Y:44.68, Z:23.77 [[ 9.90559667e-01 -1.27881056e-01 -4.93759197e-02 5.02786206e+02] [ 1.27784449e-01 9.91788741e-01 -5.12130954e-03 4.46843504e+01] [ 4.96253997e-02 -1.23651204e-03 9.98767135e-01 2.37740758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.82, Y:44.69, Z:23.78 [[ 9.90460843e-01 -1.28503528e-01 -4.97409370e-02 5.02817336e+02] [ 1.28406455e-01 9.91708225e-01 -5.15550566e-03 4.46859276e+01] [ 4.99909970e-02 -1.28073092e-03 9.98748847e-01 2.37754005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.85, Y:44.69, Z:23.78 [[ 9.90403244e-01 -1.28824806e-01 -5.00558135e-02 5.02848202e+02] [ 1.28727050e-01 9.91666506e-01 -5.18536366e-03 4.46860269e+01] [ 5.03066772e-02 -1.30793623e-03 9.98732961e-01 2.37765901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.88, Y:44.69, Z:23.78 [[ 9.90370514e-01 -1.29027875e-01 -5.01802035e-02 5.02880291e+02] [ 1.28930034e-01 9.91640083e-01 -5.19544223e-03 4.46885582e+01] [ 5.04310580e-02 -1.32432256e-03 9.98726667e-01 2.37782626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.91, Y:44.69, Z:23.78 [[ 9.90332978e-01 -1.29393212e-01 -4.99798845e-02 5.02912157e+02] [ 1.29296798e-01 9.91592456e-01 -5.17108879e-03 4.46914496e+01] [ 5.02287802e-02 -1.34113925e-03 9.98736838e-01 2.37798101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.94, Y:44.69, Z:23.78 [[ 9.90254563e-01 -1.30052156e-01 -4.98230661e-02 5.02943906e+02] [ 1.29957360e-01 9.91506202e-01 -5.15123321e-03 4.46897286e+01] [ 5.00698080e-02 -1.37384194e-03 9.98744776e-01 2.37813065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:502.98, Y:44.69, Z:23.78 [[ 9.90148112e-01 -1.31000684e-01 -4.94523671e-02 5.02975562e+02] [ 1.30908612e-01 9.91381270e-01 -5.11016235e-03 4.46939308e+01] [ 4.96955853e-02 -1.41392314e-03 9.98763410e-01 2.37834568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.01, Y:44.69, Z:23.79 [[ 9.89668373e-01 -1.34585836e-01 -4.94283835e-02 5.03006497e+02] [ 1.34498489e-01 9.90900653e-01 -5.10419376e-03 4.46916960e+01] [ 4.96655697e-02 -1.59658379e-03 9.98764628e-01 2.37855470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.04, Y:44.69, Z:23.79 [[ 9.89677904e-01 -1.34515692e-01 -4.94284865e-02 5.03038006e+02] [ 1.34428307e-01 9.90910181e-01 -5.10319661e-03 4.46948895e+01] [ 4.96656505e-02 -1.59406684e-03 9.98764628e-01 2.37870535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.07, Y:44.70, Z:23.79 [[ 9.89344077e-01 -1.36934821e-01 -4.94686917e-02 5.03069698e+02] [ 1.36850487e-01 9.90578566e-01 -5.10383846e-03 4.46955597e+01] [ 4.97015189e-02 -1.72036220e-03 9.98762634e-01 2.37886191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.10, Y:44.70, Z:23.79 [[ 9.88977378e-01 -1.39393352e-01 -4.99323364e-02 5.03101320e+02] [ 1.39310690e-01 9.90235335e-01 -5.14900015e-03 4.46960319e+01] [ 5.01625003e-02 -1.86386359e-03 9.98739330e-01 2.37897402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.13, Y:44.70, Z:23.79 [[ 9.88546277e-01 -1.42174920e-01 -5.06216374e-02 5.03132198e+02] [ 1.42093689e-01 9.89839458e-01 -5.21829704e-03 4.46978500e+01] [ 5.08492051e-02 -2.03448710e-03 9.98704270e-01 2.37912318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.16, Y:44.70, Z:23.79 [[ 9.88120717e-01 -1.44812851e-01 -5.14459617e-02 5.03162693e+02] [ 1.44732572e-01 9.89456603e-01 -5.30224276e-03 4.46970205e+01] [ 5.16713793e-02 -2.20665042e-03 9.98661704e-01 2.37919806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.19, Y:44.70, Z:23.79 [[ 9.87308141e-01 -1.49894687e-01 -5.24806429e-02 5.03193232e+02] [ 1.49818393e-01 9.88698747e-01 -5.40712519e-03 4.46951490e+01] [ 5.26980452e-02 -2.52406687e-03 9.98607303e-01 2.37932019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.22, Y:44.70, Z:23.79 [[ 9.86917748e-01 -1.52297747e-01 -5.29032517e-02 5.03224819e+02] [ 1.52223686e-01 9.88331040e-01 -5.45019450e-03 4.46956634e+01] [ 5.31159781e-02 -2.67423429e-03 9.98584769e-01 2.37947689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.26, Y:44.70, Z:23.80 [[ 9.86572189e-01 -1.54360041e-01 -5.33694160e-02 5.03255144e+02] [ 1.54287773e-01 9.88010664e-01 -5.49640630e-03 4.46954552e+01] [ 5.35779776e-02 -2.81164676e-03 9.98559710e-01 2.37962667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.29, Y:44.70, Z:23.80 [[ 9.86305685e-01 -1.56062993e-01 -5.33426395e-02 5.03285435e+02] [ 1.55993324e-01 9.87742837e-01 -5.49281010e-03 4.46972298e+01] [ 5.35460344e-02 -2.90350580e-03 9.98561161e-01 2.37977509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.32, Y:44.70, Z:23.80 [[ 9.85923493e-01 -1.58327458e-01 -5.37334266e-02 5.03316007e+02] [ 1.58260121e-01 9.87381953e-01 -5.53293300e-03 4.47001342e+01] [ 5.39314309e-02 -3.04880996e-03 9.98539987e-01 2.37995620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.35, Y:44.70, Z:23.80 [[ 9.85827865e-01 -1.58901703e-01 -5.37928313e-02 5.03346204e+02] [ 1.58835134e-01 9.87289589e-01 -5.53784213e-03 4.46988781e+01] [ 5.39890748e-02 -3.08483248e-03 9.98536761e-01 2.38010424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.38, Y:44.70, Z:23.80 [[ 9.85769682e-01 -1.59446887e-01 -5.32430613e-02 5.03376594e+02] [ 1.59382602e-01 9.87201687e-01 -5.47863570e-03 4.47039752e+01] [ 5.34351913e-02 -3.08534465e-03 9.98566553e-01 2.38034044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.41, Y:44.71, Z:23.81 [[ 9.85793496e-01 -1.59323630e-01 -5.31710886e-02 5.03406749e+02] [ 1.59259385e-01 9.87221618e-01 -5.47038176e-03 4.47070342e+01] [ 5.33632092e-02 -3.07532809e-03 9.98570433e-01 2.38052630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.44, Y:44.71, Z:23.81 [[ 9.85999157e-01 -1.57935192e-01 -5.34989481e-02 5.03436981e+02] [ 1.57868117e-01 9.87444866e-01 -5.50411281e-03 4.47111029e+01] [ 5.36965547e-02 -3.01872759e-03 9.98552736e-01 2.38067535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.47, Y:44.72, Z:23.81 [[ 9.86129003e-01 -1.57025801e-01 -5.37818434e-02 5.03467256e+02] [ 1.56956668e-01 9.87589990e-01 -5.53321783e-03 4.47155489e+01] [ 5.39832681e-02 -2.98495234e-03 9.98537379e-01 2.38083292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.50, Y:44.72, Z:23.81 [[ 9.86297721e-01 -1.55864939e-01 -5.40640866e-02 5.03497179e+02] [ 1.55793342e-01 9.87774011e-01 -5.56225575e-03 4.47192761e+01] [ 5.42700603e-02 -2.93678455e-03 9.98521976e-01 2.38097572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.53, Y:44.72, Z:23.81 [[ 9.86456997e-01 -1.54897475e-01 -5.39385374e-02 5.03527136e+02] [ 1.54824768e-01 9.87926362e-01 -5.54933891e-03 4.47240895e+01] [ 5.41468815e-02 -2.87683736e-03 9.98528837e-01 2.38115343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.56, Y:44.73, Z:23.81 [[ 9.86667427e-01 -1.53699643e-01 -5.35145615e-02 5.03556596e+02] [ 1.53626311e-01 9.88113679e-01 -5.50583133e-03 4.47262507e+01] [ 5.37247145e-02 -2.78882023e-03 9.98551890e-01 2.38129937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.59, Y:44.73, Z:23.81 [[ 9.86951504e-01 -1.51687965e-01 -5.40137940e-02 5.03586374e+02] [ 1.51610210e-01 9.88424733e-01 -5.55805192e-03 4.47301497e+01] [ 5.42316595e-02 -2.70351493e-03 9.98524721e-01 2.38142535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.62, Y:44.74, Z:23.82 [[ 9.87052693e-01 -1.50792368e-01 -5.46684797e-02 5.03617102e+02] [ 1.50711363e-01 9.88561805e-01 -5.62514833e-03 4.47390920e+01] [ 5.48914004e-02 -2.68684330e-03 9.98488716e-01 2.38162591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.65, Y:44.74, Z:23.82 [[ 9.87187831e-01 -1.49757263e-01 -5.50722060e-02 5.03648253e+02] [ 1.49673565e-01 9.88719240e-01 -5.66465938e-03 4.47432189e+01] [ 5.52992735e-02 -2.65077061e-03 9.98466306e-01 2.38174675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.68, Y:44.75, Z:23.82 [[ 9.87462822e-01 -1.47547774e-01 -5.60966163e-02 5.03678972e+02] [ 1.47457487e-01 9.89051575e-01 -5.76810685e-03 4.47486620e+01] [ 5.63335181e-02 -2.57607503e-03 9.98408683e-01 2.38182213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.71, Y:44.75, Z:23.82 [[ 9.87698444e-01 -1.45845398e-01 -5.63994921e-02 5.03709724e+02] [ 1.45751435e-01 9.89304251e-01 -5.79804780e-03 4.47543318e+01] [ 5.66418759e-02 -2.49358409e-03 9.98391446e-01 2.38198597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.74, Y:44.76, Z:23.82 [[ 9.87994118e-01 -1.43617946e-01 -5.69342467e-02 5.03740434e+02] [ 1.43518625e-01 9.89630321e-01 -5.85090504e-03 4.47600387e+01] [ 5.71841517e-02 -2.39046503e-03 9.98360786e-01 2.38215065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.77, Y:44.77, Z:23.82 [[ 9.88810117e-01 -1.37829927e-01 -5.70741911e-02 5.03769280e+02] [ 1.37720582e-01 9.90453764e-01 -5.86369882e-03 4.47675457e+01] [ 5.73375406e-02 -2.06220608e-03 9.98352720e-01 2.38231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.80, Y:44.77, Z:23.83 [[ 9.89290625e-01 -1.34240644e-01 -5.73019015e-02 5.03798995e+02] [ 1.34124362e-01 9.90947015e-01 -5.88796537e-03 4.47749921e+01] [ 5.75735525e-02 -1.86067203e-03 9.98339533e-01 2.38253024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.83, Y:44.78, Z:23.83 [[ 9.89812983e-01 -1.30413701e-01 -5.71185131e-02 5.03828190e+02] [ 1.30291788e-01 9.91458320e-01 -5.86930398e-03 4.47800237e+01] [ 5.73960627e-02 -1.63255992e-03 9.98350152e-01 2.38267994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.86, Y:44.79, Z:23.83 [[ 9.90266018e-01 -1.26936107e-01 -5.71002480e-02 5.03858074e+02] [ 1.26808447e-01 9.91909865e-01 -5.86830229e-03 4.47862219e+01] [ 5.73831988e-02 -1.42961343e-03 9.98351203e-01 2.38285973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.89, Y:44.79, Z:23.83 [[ 9.90687833e-01 -1.23582586e-01 -5.71398384e-02 5.03888034e+02] [ 1.23449176e-01 9.92333521e-01 -5.87237107e-03 4.47922771e+01] [ 5.74274998e-02 -1.23617940e-03 9.98348914e-01 2.38303660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.92, Y:44.80, Z:23.83 [[ 9.91073348e-01 -1.20623735e-01 -5.67761614e-02 5.03917488e+02] [ 1.20487157e-01 9.92697736e-01 -5.83516988e-03 4.47966820e+01] [ 5.70654269e-02 -1.05771694e-03 9.98369881e-01 2.38313363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.95, Y:44.80, Z:23.83 [[ 9.91593161e-01 -1.16034136e-01 -5.72632654e-02 5.03946973e+02] [ 1.15887465e-01 9.93244905e-01 -5.88678421e-03 4.48034793e+01] [ 5.75595145e-02 -7.98799682e-04 9.98341757e-01 2.38329602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:503.98, Y:44.81, Z:23.83 [[ 9.91685730e-01 -1.15103951e-01 -5.75368915e-02 5.03977511e+02] [ 1.14954124e-01 9.93353172e-01 -5.91812921e-03 4.48075227e+01] [ 5.78356538e-02 -7.45178668e-04 9.98325840e-01 2.38343179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.01, Y:44.81, Z:23.84 [[ 9.91771050e-01 -1.14376556e-01 -5.75168510e-02 5.04007420e+02] [ 1.14225611e-01 9.93437220e-01 -5.91606788e-03 4.48111400e+01] [ 5.78160400e-02 -7.02512625e-04 9.98327007e-01 2.38357772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.04, Y:44.81, Z:23.84 [[ 9.91747019e-01 -1.14575049e-01 -5.75361448e-02 5.04037120e+02] [ 1.14424326e-01 9.93414339e-01 -5.91823941e-03 4.48137664e+01] [ 5.78353138e-02 -7.14138290e-04 9.98325882e-01 2.38367428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.07, Y:44.81, Z:23.84 [[ 9.91523857e-01 -1.16494784e-01 -5.75274320e-02 5.04067124e+02] [ 1.16347262e-01 9.93190961e-01 -5.91857504e-03 4.48149116e+01] [ 5.78252086e-02 -8.24750851e-04 9.98326382e-01 2.38380556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.10, Y:44.82, Z:23.84 [[ 9.91332129e-01 -1.18112485e-01 -5.75330336e-02 5.04097096e+02] [ 1.17967535e-01 9.92999798e-01 -5.92123054e-03 4.48164920e+01] [ 5.78296621e-02 -9.17124064e-04 9.98326043e-01 2.38395232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.13, Y:44.82, Z:23.84 [[ 9.91165118e-01 -1.19590761e-01 -5.73564226e-02 5.04127062e+02] [ 1.19449074e-01 9.92822770e-01 -5.90475112e-03 4.48188300e+01] [ 5.76509161e-02 -9.98588210e-04 9.98336303e-01 2.38414377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.16, Y:44.82, Z:23.84 [[ 9.90750210e-01 -1.23131107e-01 -5.70328976e-02 5.04157058e+02] [ 1.22996861e-01 9.92389690e-01 -5.87162267e-03 4.48182726e+01] [ 5.73218390e-02 -1.19755597e-03 9.98355033e-01 2.38424038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.19, Y:44.82, Z:23.84 [[ 9.90500476e-01 -1.24845699e-01 -5.76399116e-02 5.04187522e+02] [ 1.24711426e-01 9.92175305e-01 -5.93498621e-03 4.48196234e+01] [ 5.79298544e-02 -1.30974892e-03 9.98319797e-01 2.38435770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.22, Y:44.82, Z:23.85 [[ 9.90267382e-01 -1.26576276e-01 -5.78701898e-02 5.04217632e+02] [ 1.26443878e-01 9.91955866e-01 -5.95869718e-03 4.48217877e+01] [ 5.81589039e-02 -1.41662777e-03 9.98306333e-01 2.38453120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.25, Y:44.82, Z:23.85 [[ 9.90087265e-01 -1.28104229e-01 -5.75891837e-02 5.04247723e+02] [ 1.27975684e-01 9.91759578e-01 -5.92995090e-03 4.48216142e+01] [ 5.78742763e-02 -1.49884628e-03 9.98322754e-01 2.38461878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.28, Y:44.82, Z:23.85 [[ 9.89670561e-01 -1.31577066e-01 -5.69179841e-02 5.04277157e+02] [ 1.31457164e-01 9.91304520e-01 -5.86202798e-03 4.48199534e+01] [ 5.71943634e-02 -1.68080029e-03 9.98361648e-01 2.38475194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.31, Y:44.82, Z:23.85 [[ 9.89494046e-01 -1.33046377e-01 -5.65702680e-02 5.04306256e+02] [ 1.32930220e-01 9.91108263e-01 -5.82820073e-03 4.48223984e+01] [ 5.68426811e-02 -1.75292825e-03 9.98381609e-01 2.38496905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.34, Y:44.82, Z:23.85 [[ 9.89351317e-01 -1.34315862e-01 -5.60644331e-02 5.04335545e+02] [ 1.34203704e-01 9.90936921e-01 -5.77791027e-03 4.48230449e+01] [ 5.63323817e-02 -1.80767146e-03 9.98410434e-01 2.38511516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.37, Y:44.83, Z:23.85 [[ 9.89215182e-01 -1.35520826e-01 -5.55646475e-02 5.04366073e+02] [ 1.35412510e-01 9.90772754e-01 -5.72723104e-03 4.48266271e+01] [ 5.58280980e-02 -1.85868451e-03 9.98438666e-01 2.38537384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.40, Y:44.83, Z:23.86 [[ 9.89023567e-01 -1.37176772e-01 -5.49082632e-02 5.04396282e+02] [ 1.37073547e-01 9.90544705e-01 -5.65957534e-03 4.48284173e+01] [ 5.51654516e-02 -1.92901698e-03 9.98475364e-01 2.38555329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.43, Y:44.83, Z:23.86 [[ 9.88907218e-01 -1.37948046e-01 -5.50713295e-02 5.04425882e+02] [ 1.37845391e-01 9.90437492e-01 -5.67652642e-03 4.48282757e+01] [ 5.53277752e-02 -1.97777103e-03 9.98466287e-01 2.38561474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.46, Y:44.83, Z:23.86 [[ 9.88726103e-01 -1.39083448e-01 -5.54660908e-02 5.04456436e+02] [ 1.38981051e-01 9.90278532e-01 -5.71809112e-03 4.48300728e+01] [ 5.57221708e-02 -2.05510965e-03 9.98444198e-01 2.38568578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.49, Y:44.83, Z:23.86 [[ 9.88525072e-01 -1.40310199e-01 -5.59573989e-02 5.04487056e+02] [ 1.40207941e-01 9.90105275e-01 -5.76874088e-03 4.48318438e+01] [ 5.62131290e-02 -2.14312666e-03 9.98416492e-01 2.38579055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.52, Y:44.83, Z:23.86 [[ 9.88307199e-01 -1.41766611e-01 -5.61347378e-02 5.04517399e+02] [ 1.41666046e-01 9.89897592e-01 -5.78702304e-03 4.48341493e+01] [ 5.63880484e-02 -2.23302982e-03 9.98406431e-01 2.38588552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.55, Y:44.83, Z:23.86 [[ 9.87775938e-01 -1.45333164e-01 -5.63645979e-02 5.04547558e+02] [ 1.45237554e-01 9.89379748e-01 -5.81088570e-03 4.48306400e+01] [ 5.66105061e-02 -2.44640326e-03 9.98393342e-01 2.38586431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.58, Y:44.83, Z:23.86 [[ 9.87457890e-01 -1.47463009e-01 -5.64054695e-02 5.04577528e+02] [ 1.47370657e-01 9.89064235e-01 -5.81628761e-03 4.48320280e+01] [ 5.66463198e-02 -2.56917202e-03 9.98391002e-01 2.38597418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.61, Y:44.84, Z:23.86 [[ 9.87112081e-01 -1.49805238e-01 -5.62861470e-02 5.04607157e+02] [ 1.49716967e-01 9.88711850e-01 -5.80582781e-03 4.48361131e+01] [ 5.65205239e-02 -2.69598843e-03 9.98397797e-01 2.38614233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.64, Y:44.84, Z:23.86 [[ 9.86742486e-01 -1.52252878e-01 -5.61990006e-02 5.04637610e+02] [ 1.52168786e-01 9.88337517e-01 -5.79770798e-03 4.48386177e+01] [ 5.64262985e-02 -2.83088892e-03 9.98402754e-01 2.38630310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.67, Y:44.84, Z:23.86 [[ 9.86079517e-01 -1.56634116e-01 -5.57937304e-02 5.04666983e+02] [ 1.56558202e-01 9.87651961e-01 -5.75610869e-03 4.48374279e+01] [ 5.60063902e-02 -3.05898526e-03 9.98425724e-01 2.38635626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.70, Y:44.84, Z:23.86 [[ 9.85735782e-01 -1.58789832e-01 -5.57741624e-02 5.04696098e+02] [ 1.58717316e-01 9.87307290e-01 -5.75572022e-03 4.48354134e+01] [ 5.59801870e-02 -3.17870600e-03 9.98426820e-01 2.38641990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.73, Y:44.84, Z:23.87 [[ 9.85479743e-01 -1.60480831e-01 -5.54579051e-02 5.04726061e+02] [ 1.60411657e-01 9.87033595e-01 -5.72566121e-03 4.48421148e+01] [ 5.56576743e-02 -3.25357131e-03 9.98444609e-01 2.38661850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.76, Y:44.84, Z:23.87 [[ 9.85273199e-01 -1.61890771e-01 -5.50281968e-02 5.04756982e+02] [ 1.61824869e-01 9.86803140e-01 -5.68100910e-03 4.48446021e+01] [ 5.52217003e-02 -3.30758471e-03 9.98468639e-01 2.38679211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.79, Y:44.85, Z:23.87 [[ 9.84970183e-01 -1.63877548e-01 -5.45700273e-02 5.04787411e+02] [ 1.63815873e-01 9.86474856e-01 -5.63183716e-03 4.48450600e+01] [ 5.47548915e-02 -3.39224501e-03 9.98494063e-01 2.38692261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.82, Y:44.85, Z:23.87 [[ 9.84927946e-01 -1.64417636e-01 -5.37008526e-02 5.04818121e+02] [ 1.64358766e-01 9.86385063e-01 -5.54104261e-03 4.48499161e+01] [ 5.38807641e-02 -3.36867815e-03 9.98541694e-01 2.38709031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.85, Y:44.85, Z:23.87 [[ 9.84885775e-01 -1.64745263e-01 -5.34697005e-02 5.04848642e+02] [ 1.64687478e-01 9.86330379e-01 -5.51534349e-03 4.48500099e+01] [ 5.36474167e-02 -3.37380678e-03 9.98554241e-01 2.38721409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.88, Y:44.85, Z:23.87 [[ 9.84830101e-01 -1.65163656e-01 -5.32037533e-02 5.04878387e+02] [ 1.65107091e-01 9.86260381e-01 -5.48715682e-03 4.48511958e+01] [ 5.33790329e-02 -3.38039973e-03 9.98568601e-01 2.38734137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.91, Y:44.86, Z:23.88 [[ 9.84893365e-01 -1.64967102e-01 -5.26394711e-02 5.04908689e+02] [ 1.64911406e-01 9.86293438e-01 -5.42979250e-03 4.48572271e+01] [ 5.28137020e-02 -3.33308255e-03 9.98598820e-01 2.38755901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.94, Y:44.86, Z:23.88 [[ 9.84899244e-01 -1.64931998e-01 -5.26394908e-02 5.04939400e+02] [ 1.64876261e-01 9.86299315e-01 -5.42960094e-03 4.48603647e+01] [ 5.28138086e-02 -3.33139259e-03 9.98598820e-01 2.38770587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:504.97, Y:44.86, Z:23.88 [[ 9.84947803e-01 -1.64807405e-01 -5.21185705e-02 5.04970270e+02] [ 1.64752688e-01 9.86320268e-01 -5.37400675e-03 4.48647428e+01] [ 5.22912785e-02 -3.29355844e-03 9.98626444e-01 2.38786961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.00, Y:44.87, Z:23.88 [[ 9.85248903e-01 -1.63590590e-01 -5.02266607e-02 5.05000974e+02] [ 1.63538283e-01 9.86523404e-01 -5.17717177e-03 4.48710672e+01] [ 5.03967128e-02 -3.11317902e-03 9.98724426e-01 2.38805586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.03, Y:44.88, Z:23.88 [[ 9.85447506e-01 -1.62619656e-01 -4.94778808e-02 5.05031668e+02] [ 1.62567766e-01 9.86684210e-01 -5.09819394e-03 4.48768661e+01] [ 4.96481102e-02 -3.01950602e-03 9.98762208e-01 2.38823724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.06, Y:44.88, Z:23.88 [[ 9.85921603e-01 -1.60036233e-01 -4.84458092e-02 5.05061656e+02] [ 1.59983465e-01 9.87107082e-01 -4.99000971e-03 4.48809109e+01] [ 4.86197837e-02 -2.83077003e-03 9.98813348e-01 2.38839687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.09, Y:44.89, Z:23.89 [[ 9.86185408e-01 -1.58444819e-01 -4.83071563e-02 5.05092432e+02] [ 1.58390703e-01 9.87364006e-01 -4.97050203e-03 4.48881026e+01] [ 4.84842976e-02 -2.74956786e-03 9.98820160e-01 2.38851166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.12, Y:44.89, Z:23.89 [[ 9.86476561e-01 -1.56523507e-01 -4.86249630e-02 5.05122607e+02] [ 1.56466439e-01 9.87670613e-01 -5.00143087e-03 4.48886512e+01] [ 4.88082885e-02 -2.67438047e-03 9.98804585e-01 2.38858678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.15, Y:44.89, Z:23.89 [[ 9.86776132e-01 -1.54680147e-01 -4.84450016e-02 5.05153869e+02] [ 1.54621330e-01 9.87961246e-01 -4.98200032e-03 4.48944033e+01] [ 4.86324007e-02 -2.57451157e-03 9.98813427e-01 2.38868360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.18, Y:44.91, Z:23.89 [[ 9.87150080e-01 -1.52446340e-01 -4.79044153e-02 5.05184501e+02] [ 1.52386317e-01 9.88308739e-01 -4.92407790e-03 4.49061197e+01] [ 4.80950099e-02 -2.43917352e-03 9.98839787e-01 2.38879671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.22, Y:44.90, Z:23.89 [[ 9.87527014e-01 -1.49893488e-01 -4.81906601e-02 5.05215658e+02] [ 1.49829861e-01 9.88699401e-01 -4.95047118e-03 4.49049111e+01] [ 4.83881201e-02 -2.33167587e-03 9.98825887e-01 2.38888793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.25, Y:44.92, Z:23.89 [[ 9.88409700e-01 -1.43947952e-01 -4.82208726e-02 5.05245372e+02] [ 1.43877268e-01 9.89583150e-01 -4.95180990e-03 4.49194626e+01] [ 4.84313659e-02 -2.04347046e-03 9.98824423e-01 2.38891808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.28, Y:44.93, Z:23.89 [[ 9.88901249e-01 -1.40528701e-01 -4.82286706e-02 5.05275990e+02] [ 1.40453947e-01 9.90074827e-01 -4.95236622e-03 4.49272299e+01] [ 4.84459422e-02 -1.87650599e-03 9.98824043e-01 2.38903990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.31, Y:44.93, Z:23.89 [[ 9.89449988e-01 -1.36673898e-01 -4.80517170e-02 5.05306170e+02] [ 1.36595239e-01 9.90614664e-01 -4.93239968e-03 4.49328287e+01] [ 4.82748657e-02 -1.68327297e-03 9.98832671e-01 2.38916306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.34, Y:44.94, Z:23.89 [[ 9.89991634e-01 -1.32642849e-01 -4.81916847e-02 5.05337311e+02] [ 1.32559048e-01 9.91162775e-01 -4.94494681e-03 4.49398781e+01] [ 4.84217157e-02 -1.49278786e-03 9.98825865e-01 2.38929468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.37, Y:44.95, Z:23.89 [[ 9.91063505e-01 -1.24407690e-01 -4.81233420e-02 5.05366630e+02] [ 1.24314567e-01 9.92230586e-01 -4.93490668e-03 4.49475772e+01] [ 4.83633922e-02 -1.09162653e-03 9.98829210e-01 2.38936462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.40, Y:44.96, Z:23.90 [[ 9.91590859e-01 -1.20207999e-01 -4.79333366e-02 5.05397861e+02] [ 1.20110708e-01 9.92748335e-01 -4.91538584e-03 4.49558813e+01] [ 4.81766088e-02 -8.83255313e-04 9.98838443e-01 2.38953266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.43, Y:44.96, Z:23.90 [[ 9.92063373e-01 -1.16406283e-01 -4.75377850e-02 5.05427968e+02] [ 1.16306352e-01 9.93201437e-01 -4.87223732e-03 4.49619742e+01] [ 4.77817554e-02 -6.95378187e-04 9.98857558e-01 2.38970504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.46, Y:44.97, Z:23.90 [[ 9.92489324e-01 -1.13016706e-01 -4.68205714e-02 5.05458504e+02] [ 1.12916037e-01 9.93592949e-01 -4.79790873e-03 4.49678311e+01] [ 4.70628335e-02 -5.24920171e-04 9.98891793e-01 2.38989943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.49, Y:44.97, Z:23.90 [[ 9.93138665e-01 -1.07680337e-01 -4.56128970e-02 5.05489244e+02] [ 1.07579278e-01 9.94185533e-01 -4.67176422e-03 4.49746517e+01] [ 4.58507395e-02 -2.67292837e-04 9.98948266e-01 2.39011187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.52, Y:44.98, Z:23.90 [[ 9.93324759e-01 -1.06093197e-01 -4.52786638e-02 5.05520954e+02] [ 1.05992073e-01 9.94356171e-01 -4.63518059e-03 4.49795867e+01] [ 4.55148799e-02 -1.94939808e-04 9.98963642e-01 2.39026734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.55, Y:44.98, Z:23.90 [[ 9.93427089e-01 -1.05319096e-01 -4.48386717e-02 5.05553080e+02] [ 1.05219286e-01 9.94438466e-01 -4.58690776e-03 4.49831828e+01] [ 4.50723888e-02 -1.61134598e-04 9.98983710e-01 2.39046329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.59, Y:44.99, Z:23.91 [[ 9.93449155e-01 -1.05282532e-01 -4.44338347e-02 5.05585413e+02] [ 1.05184624e-01 9.94442337e-01 -4.54229864e-03 4.49863551e+01] [ 4.46651111e-02 -1.61213433e-04 9.99002003e-01 2.39061750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.62, Y:44.99, Z:23.91 [[ 9.93373589e-01 -1.05872904e-01 -4.47195901e-02 5.05617096e+02] [ 1.05774480e-01 9.94379651e-01 -4.56817358e-03 4.49886212e+01] [ 4.49518962e-02 -1.92288403e-04 9.98989134e-01 2.39074955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.65, Y:44.99, Z:23.91 [[ 9.92917075e-01 -1.10085493e-01 -4.46863151e-02 5.05648631e+02] [ 1.09991627e-01 9.93922047e-01 -4.56144570e-03 4.49876475e+01] [ 4.49168628e-02 -3.85983189e-04 9.98990654e-01 2.39088499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.68, Y:44.99, Z:23.91 [[ 9.92585912e-01 -1.13102365e-01 -4.45091211e-02 5.05681060e+02] [ 1.13012379e-01 9.93583203e-01 -4.54097777e-03 4.49886205e+01] [ 4.47371105e-02 -5.22771115e-04 9.98998657e-01 2.39103636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.71, Y:44.99, Z:23.91 [[ 9.92161393e-01 -1.16716930e-01 -4.46422227e-02 5.05712768e+02] [ 1.16630205e-01 9.93164982e-01 -4.55130072e-03 4.49895659e+01] [ 4.48683061e-02 -6.91006743e-04 9.98992671e-01 2.39116921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.74, Y:44.99, Z:23.91 [[ 9.91658292e-01 -1.20836823e-01 -4.48586081e-02 5.05743819e+02] [ 1.20753571e-01 9.92671991e-01 -4.57103203e-03 4.49889126e+01] [ 4.50822328e-02 -8.83935311e-04 9.98982888e-01 2.39130318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.78, Y:44.99, Z:23.91 [[ 9.90534264e-01 -1.29677774e-01 -4.50060846e-02 5.05775800e+02] [ 1.29603351e-01 9.91555341e-01 -4.58005422e-03 4.49851068e+01] [ 4.52199548e-02 -1.29623873e-03 9.98976214e-01 2.39140470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.81, Y:44.98, Z:23.92 [[ 9.89968108e-01 -1.33911116e-01 -4.50661609e-02 5.05807392e+02] [ 1.33840946e-01 9.90992222e-01 -4.58452454e-03 4.49842007e+01] [ 4.52741337e-02 -1.49316451e-03 9.98973485e-01 2.39154030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.84, Y:44.98, Z:23.92 [[ 9.89395675e-01 -1.37927408e-01 -4.55217455e-02 5.05837649e+02] [ 1.37860131e-01 9.90440889e-01 -4.62914160e-03 4.49831304e+01] [ 4.57250836e-02 -1.69558114e-03 9.98952622e-01 2.39166644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.87, Y:44.98, Z:23.92 [[ 9.88308457e-01 -1.45416305e-01 -4.58311353e-02 5.05868596e+02] [ 1.45356137e-01 9.89368421e-01 -4.66060827e-03 4.49823167e+01] [ 4.60216064e-02 -2.05571822e-03 9.98938329e-01 2.39178135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.90, Y:44.98, Z:23.92 [[ 9.87808160e-01 -1.48598739e-01 -4.64053150e-02 5.05899036e+02] [ 1.48540561e-01 9.88895057e-01 -4.71884572e-03 4.49776450e+01] [ 4.65912011e-02 -2.23175722e-03 9.98911547e-01 2.39191039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.93, Y:44.98, Z:23.92 [[ 9.87383913e-01 -1.51367985e-01 -4.64837843e-02 5.05930198e+02] [ 1.51312668e-01 9.88474650e-01 -4.72685380e-03 4.49816546e+01] [ 4.66635367e-02 -2.36636600e-03 9.98907861e-01 2.39204068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.96, Y:44.99, Z:23.92 [[ 9.87009401e-01 -1.53772900e-01 -4.65439225e-02 5.05960942e+02] [ 1.53720183e-01 9.88103092e-01 -4.73126912e-03 4.49855176e+01] [ 4.67177347e-02 -2.48493320e-03 9.98905040e-01 2.39220579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:505.99, Y:44.98, Z:23.92 [[ 9.86347881e-01 -1.57967900e-01 -4.65188116e-02 5.05992538e+02] [ 1.57919925e-01 9.87440603e-01 -4.72786282e-03 4.49847029e+01] [ 4.66814140e-02 -2.68292978e-03 9.98906226e-01 2.39238693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.02, Y:44.99, Z:23.93 [[ 9.86110212e-01 -1.59474457e-01 -4.64171070e-02 5.06024785e+02] [ 1.59428431e-01 9.87198225e-01 -4.71587720e-03 4.49877277e+01] [ 4.65749476e-02 -2.74983185e-03 9.98911013e-01 2.39258080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.06, Y:44.99, Z:23.93 [[ 9.85864510e-01 -1.60915652e-01 -4.66617639e-02 5.06057189e+02] [ 1.60870913e-01 9.86964087e-01 -4.73719569e-03 4.49891259e+01] [ 4.68157742e-02 -2.83628745e-03 9.98899514e-01 2.39277437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.09, Y:44.99, Z:23.93 [[ 9.85616502e-01 -1.62332864e-01 -4.69909746e-02 5.06088435e+02] [ 1.62289263e-01 9.86731711e-01 -4.76707216e-03 4.49889546e+01] [ 4.71413373e-02 -2.92762565e-03 9.98883939e-01 2.39295361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.12, Y:44.99, Z:23.93 [[ 9.85241856e-01 -1.64374256e-01 -4.77450335e-02 5.06119809e+02] [ 1.64331760e-01 9.86393247e-01 -4.84087310e-03 4.49906632e+01] [ 4.78910935e-02 -3.07659459e-03 9.98847825e-01 2.39310839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.15, Y:44.99, Z:23.93 [[ 9.85045957e-01 -1.65331621e-01 -4.84759446e-02 5.06151574e+02] [ 1.65289059e-01 9.86232928e-01 -4.91314076e-03 4.49931231e+01] [ 4.86208703e-02 -3.17287384e-03 9.98812267e-01 2.39325394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.18, Y:44.99, Z:23.93 [[ 9.84915927e-01 -1.65930175e-01 -4.90692730e-02 5.06183276e+02] [ 1.65887483e-01 9.86132164e-01 -4.96968232e-03 4.49921359e+01] [ 4.92134086e-02 -3.24525891e-03 9.98783014e-01 2.39338408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.21, Y:45.00, Z:23.93 [[ 9.84669206e-01 -1.66761017e-01 -5.11597300e-02 5.06214113e+02] [ 1.66715877e-01 9.85991379e-01 -5.17857635e-03 4.49974175e+01] [ 5.13066373e-02 -3.42995460e-03 9.98677057e-01 2.39344682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.25, Y:45.00, Z:23.94 [[ 9.84681222e-01 -1.66463964e-01 -5.18906563e-02 5.06246540e+02] [ 1.66417224e-01 9.86041449e-01 -5.25050807e-03 4.50008411e+01] [ 5.20403583e-02 -3.46542227e-03 9.98638970e-01 2.39356027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.28, Y:45.01, Z:23.94 [[ 9.84731461e-01 -1.66029414e-01 -5.23276532e-02 5.06277790e+02] [ 1.65981475e-01 9.86114677e-01 -5.29092234e-03 4.50075668e+01] [ 5.24795156e-02 -3.47528340e-03 9.98615954e-01 2.39374005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.31, Y:45.01, Z:23.94 [[ 9.84855349e-01 -1.65028739e-01 -5.31550291e-02 5.06309345e+02] [ 1.64978030e-01 9.86282619e-01 -5.37072832e-03 4.50123167e+01] [ 5.33122058e-02 -3.48002148e-03 9.98571829e-01 2.39391794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.34, Y:45.01, Z:23.94 [[ 9.85022816e-01 -1.63981877e-01 -5.32916225e-02 5.06339450e+02] [ 1.63929529e-01 9.86457372e-01 -5.38180771e-03 4.50138627e+01] [ 5.34524328e-02 -3.43486718e-03 9.98564489e-01 2.39408320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.37, Y:45.02, Z:23.94 [[ 9.85603890e-01 -1.60270990e-01 -5.38347580e-02 5.06368284e+02] [ 1.60212099e-01 9.87067644e-01 -5.43590902e-03 4.50204256e+01] [ 5.40097663e-02 -3.26732647e-03 9.98535062e-01 2.39430403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.40, Y:45.03, Z:23.95 [[ 9.85955872e-01 -1.57797573e-01 -5.46895342e-02 5.06398827e+02] [ 1.57732984e-01 9.87466357e-01 -5.52266713e-03 4.50328042e+01] [ 5.48755386e-02 -3.18123736e-03 9.98488135e-01 2.39456686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.43, Y:45.03, Z:23.95 [[ 9.86434013e-01 -1.54725431e-01 -5.48450535e-02 5.06428839e+02] [ 1.54655891e-01 9.87952889e-01 -5.53569144e-03 4.50315424e+01] [ 5.50408413e-02 -3.02151628e-03 9.98479532e-01 2.39463538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.46, Y:45.04, Z:23.95 [[ 9.86976805e-01 -1.50983846e-01 -5.55037318e-02 5.06458403e+02] [ 1.50906729e-01 9.88532131e-01 -5.60217401e-03 4.50412054e+01] [ 5.57130601e-02 -2.84667082e-03 9.98442763e-01 2.39485471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.49, Y:45.05, Z:23.95 [[ 9.87579921e-01 -1.46901814e-01 -5.57293182e-02 5.06488190e+02] [ 1.46817596e-01 9.89147590e-01 -5.62478734e-03 4.50510836e+01] [ 5.59508123e-02 -2.62711749e-03 9.98430070e-01 2.39509539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.52, Y:45.06, Z:23.95 [[ 9.88868534e-01 -1.37915991e-01 -5.58408593e-02 5.06516845e+02] [ 1.37817167e-01 9.90441655e-01 -5.63533899e-03 4.50606125e+01] [ 5.60843165e-02 -2.12321964e-03 9.98423778e-01 2.39530611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.55, Y:45.07, Z:23.96 [[ 9.89553352e-01 -1.33166061e-01 -5.52355321e-02 5.06547440e+02] [ 1.33061936e-01 9.91092044e-01 -5.57502126e-03 4.50680275e+01] [ 5.54859001e-02 -1.83296586e-03 9.98457788e-01 2.39552778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.58, Y:45.07, Z:23.96 [[ 9.90187883e-01 -1.28389418e-01 -5.51734799e-02 5.06577805e+02] [ 1.28278175e-01 9.91722597e-01 -5.56775950e-03 4.50742959e+01] [ 5.54316282e-02 -1.56442533e-03 9.98461260e-01 2.39570048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.61, Y:45.08, Z:23.96 [[ 9.90762975e-01 -1.23883670e-01 -5.51503727e-02 5.06608476e+02] [ 1.23765608e-01 9.92295880e-01 -5.56429392e-03 4.50805735e+01] [ 5.54148127e-02 -1.31282302e-03 9.98462556e-01 2.39589830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.64, Y:45.09, Z:23.96 [[ 9.91833071e-01 -1.14987064e-01 -5.51827366e-02 5.06638155e+02] [ 1.14855190e-01 9.93366653e-01 -5.56585566e-03 4.50901245e+01] [ 5.54566917e-02 -8.17623979e-04 9.98460759e-01 2.39609991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.67, Y:45.10, Z:23.96 [[ 9.92287628e-01 -1.10912243e-01 -5.53510365e-02 5.06668332e+02] [ 1.10773234e-01 9.93830028e-01 -5.58268498e-03 4.50952249e+01] [ 5.56287102e-02 -5.91784077e-04 9.98451349e-01 2.39622583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.70, Y:45.10, Z:23.96 [[ 9.92654290e-01 -1.07228863e-01 -5.60306381e-02 5.06698548e+02] [ 1.07080602e-01 9.94234287e-01 -5.65036487e-03 4.51007137e+01] [ 5.63134637e-02 -3.90935532e-04 9.98413061e-01 2.39640264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.73, Y:45.11, Z:23.97 [[ 9.93013083e-01 -1.03712384e-01 -5.62917309e-02 5.06728568e+02] [ 1.03557089e-01 9.94607312e-01 -5.67669456e-03 4.51054039e+01] [ 5.65769106e-02 -1.92375832e-04 9.98398225e-01 2.39650701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.76, Y:45.11, Z:23.97 [[ 9.93334179e-01 -1.00281032e-01 -5.68412141e-02 5.06758808e+02] [ 1.00117073e-01 9.94959152e-01 -5.73210676e-03 4.51096617e+01] [ 5.71295078e-02 3.12155788e-06 9.98366776e-01 2.39661850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.79, Y:45.11, Z:23.97 [[ 9.93884530e-01 -9.44399810e-02 -5.72243840e-02 5.06787515e+02] [ 9.42640922e-02 9.95530498e-01 -5.77128749e-03 4.51148291e+01] [ 5.75136598e-02 3.41788749e-04 9.98344661e-01 2.39667168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.82, Y:45.12, Z:23.97 [[ 9.94103606e-01 -9.21488331e-02 -5.71542855e-02 5.06815662e+02] [ 9.19692990e-02 9.95745130e-01 -5.76929517e-03 4.51182459e+01] [ 5.74427353e-02 4.78837556e-04 9.98348688e-01 2.39680385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.84, Y:45.12, Z:23.97 [[ 9.94266967e-01 -9.03345083e-02 -5.72090514e-02 5.06844069e+02] [ 9.01507902e-02 9.95911300e-01 -5.78938015e-03 4.51215880e+01] [ 5.74981215e-02 5.98748255e-04 9.98345435e-01 2.39691685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.87, Y:45.12, Z:23.97 [[ 9.94466926e-01 -8.80853309e-02 -5.72407790e-02 5.06871463e+02] [ 8.78969429e-02 9.96112656e-01 -5.80548075e-03 4.51238830e+01] [ 5.75296421e-02 7.42069114e-04 9.98343523e-01 2.39690638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.90, Y:45.13, Z:23.97 [[ 9.94442179e-01 -8.83647362e-02 -5.72400681e-02 5.06898689e+02] [ 8.81764078e-02 9.96087916e-01 -5.81248072e-03 4.51267118e+01] [ 5.75297585e-02 7.32952406e-04 9.98343523e-01 2.39703673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.93, Y:45.13, Z:23.97 [[ 9.94450946e-01 -8.83514481e-02 -5.71081181e-02 5.06926599e+02] [ 8.81630343e-02 9.96089083e-01 -5.81528634e-03 4.51281264e+01] [ 5.73985620e-02 7.48192027e-04 9.98351063e-01 2.39714544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.95, Y:45.13, Z:23.97 [[ 9.94390734e-01 -8.92091677e-02 -5.68224712e-02 5.06954722e+02] [ 8.90232155e-02 9.96012661e-01 -5.80052015e-03 4.51296161e+01] [ 5.71133604e-02 7.09464387e-04 9.98367448e-01 2.39722919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:506.98, Y:45.13, Z:23.97 [[ 9.94304455e-01 -9.05160835e-02 -5.62626852e-02 5.06983470e+02] [ 9.03355042e-02 9.95894792e-01 -5.74984670e-03 4.51291664e+01] [ 5.65521688e-02 6.34580147e-04 9.98399444e-01 2.39744559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.01, Y:45.13, Z:23.98 [[ 9.94043387e-01 -9.43823275e-02 -5.44951506e-02 5.07012948e+02] [ 9.42179781e-02 9.95535938e-01 -5.58289962e-03 4.51260188e+01] [ 5.47788080e-02 4.15221540e-04 9.98498428e-01 2.39764114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.04, Y:45.13, Z:23.98 [[ 9.93865809e-01 -9.68782605e-02 -5.33418819e-02 5.07040915e+02] [ 9.67237079e-02 9.95296198e-01 -5.47746256e-03 4.51253100e+01] [ 5.36216193e-02 2.84438154e-04 9.98561286e-01 2.39780289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.07, Y:45.12, Z:23.98 [[ 9.93641126e-01 -9.95781579e-02 -5.25500111e-02 5.07068594e+02] [ 9.94315859e-02 9.95029733e-01 -5.40275625e-03 4.51242936e+01] [ 5.28268200e-02 1.43269861e-04 9.98603678e-01 2.39794618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.10, Y:45.12, Z:23.98 [[ 9.93381217e-01 -1.02500816e-01 -5.18395577e-02 5.07097476e+02] [ 1.02361879e-01 9.94732920e-01 -5.33508211e-03 4.51228473e+01] [ 5.21133649e-02 -6.62417899e-06 9.98641175e-01 2.39813215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.13, Y:45.12, Z:23.98 [[ 9.93159595e-01 -1.04917630e-01 -5.12475291e-02 5.07126072e+02] [ 1.04784438e-01 9.94480908e-01 -5.28630626e-03 4.51212557e+01] [ 5.15193160e-02 -1.19797728e-04 9.98671991e-01 2.39826114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.16, Y:45.12, Z:23.98 [[ 9.92672515e-01 -1.09747845e-01 -5.05637044e-02 5.07155887e+02] [ 1.09624246e-01 9.93959395e-01 -5.21965695e-03 4.51157834e+01] [ 5.08311152e-02 -3.61597980e-04 9.98707198e-01 2.39843431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.19, Y:45.12, Z:23.99 [[ 9.92410068e-01 -1.11912820e-01 -5.09684007e-02 5.07185349e+02] [ 1.11789462e-01 9.93717920e-01 -5.27361257e-03 4.51150019e+01] [ 5.12383980e-02 -4.64143869e-04 9.98686343e-01 2.39854705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.21, Y:45.11, Z:23.99 [[ 9.92206257e-01 -1.13467911e-01 -5.14954022e-02 5.07214685e+02] [ 1.13343981e-01 9.93541510e-01 -5.33004081e-03 4.51133963e+01] [ 5.17676083e-02 -5.48194030e-04 9.98659008e-01 2.39861175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.24, Y:45.11, Z:23.99 [[ 9.92074789e-01 -1.14318411e-01 -5.21432104e-02 5.07244475e+02] [ 1.14192415e-01 9.93443981e-01 -5.39900825e-03 4.51137911e+01] [ 5.24185646e-02 -5.98139134e-04 9.98625023e-01 2.39875379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.27, Y:45.11, Z:23.99 [[ 9.92003379e-01 -1.14698202e-01 -5.26651458e-02 5.07273222e+02] [ 1.14570086e-01 9.93400189e-01 -5.45528891e-03 4.51098471e+01] [ 5.29432776e-02 -6.22185225e-04 9.98597327e-01 2.39872933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.30, Y:45.11, Z:23.99 [[ 9.92014186e-01 -1.14341127e-01 -5.32349738e-02 5.07301797e+02] [ 1.14209392e-01 9.93441363e-01 -5.52019429e-03 4.51117384e+01] [ 5.35170102e-02 -6.03822967e-04 9.98566755e-01 2.39891877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.33, Y:45.11, Z:23.99 [[ 9.92114241e-01 -1.13229063e-01 -5.37448753e-02 5.07329415e+02] [ 1.13092462e-01 9.93568766e-01 -5.58597149e-03 4.51126405e+01] [ 5.40317237e-02 -5.36218422e-04 9.98539076e-01 2.39898412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.36, Y:45.11, Z:23.99 [[ 9.92231319e-01 -1.11859585e-01 -5.44466991e-02 5.07357403e+02] [ 1.11717056e-01 9.93723915e-01 -5.66392976e-03 4.51139111e+01] [ 5.47385518e-02 -4.62696454e-04 9.98500614e-01 2.39906331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.39, Y:45.12, Z:23.99 [[ 9.92591827e-01 -1.08301908e-01 -5.50650677e-02 5.07386668e+02] [ 1.08150311e-01 9.94118015e-01 -5.73435388e-03 4.51152035e+01] [ 5.53622173e-02 -2.63431410e-04 9.98466302e-01 2.39913560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.41, Y:45.12, Z:23.99 [[ 9.92753414e-01 -1.06559412e-01 -5.55495261e-02 5.07414132e+02] [ 1.06401662e-01 9.94306325e-01 -5.79812765e-03 4.51175065e+01] [ 5.58510902e-02 -1.54450905e-04 9.98439098e-01 2.39923575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.44, Y:45.12, Z:23.99 [[ 9.92913889e-01 -1.04792606e-01 -5.60403403e-02 5.07441869e+02] [ 1.04628340e-01 9.94494097e-01 -5.86534132e-03 4.51200432e+01] [ 5.63464320e-02 -3.96289197e-05 9.98411277e-01 2.39930833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.47, Y:45.12, Z:23.99 [[ 9.93351296e-01 -1.00399437e-01 -5.63307798e-02 5.07470172e+02] [ 1.00225514e-01 9.94947186e-01 -5.91137870e-03 4.51221081e+01] [ 5.66396499e-02 2.26294324e-04 9.98394661e-01 2.39946925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.50, Y:45.12, Z:24.00 [[ 9.93570081e-01 -9.83752559e-02 -5.60428641e-02 5.07498568e+02] [ 9.81991007e-02 9.95149327e-01 -5.89515270e-03 4.51242056e+01] [ 5.63509557e-02 3.53888488e-04 9.98410960e-01 2.39968488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.53, Y:45.13, Z:24.00 [[ 9.93824704e-01 -9.62444899e-02 -5.52218852e-02 5.07525730e+02] [ 9.60694598e-02 9.95357608e-01 -5.82165542e-03 4.51266985e+01] [ 5.55258258e-02 4.80568293e-04 9.98457136e-01 2.39981735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.55, Y:45.13, Z:24.00 [[ 9.94009189e-01 -9.42935778e-02 -5.52671158e-02 5.07554597e+02] [ 9.41148468e-02 9.95544255e-01 -5.83361729e-03 4.51287472e+01] [ 5.55709323e-02 5.97213053e-04 9.98454563e-01 2.40000175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.58, Y:45.13, Z:24.00 [[ 9.94334149e-01 -9.12341050e-02 -5.45521674e-02 5.07582407e+02] [ 9.10546711e-02 9.95829174e-01 -5.77088989e-03 4.51290290e+01] [ 5.48511418e-02 7.70963227e-04 9.98494245e-01 2.40017213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.61, Y:45.13, Z:24.00 [[ 9.94399210e-01 -9.06058864e-02 -5.44130879e-02 5.07611299e+02] [ 9.04259823e-02 9.95886497e-01 -5.76429972e-03 4.51298061e+01] [ 5.47115389e-02 8.11658163e-04 9.98501872e-01 2.40034377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.64, Y:45.13, Z:24.00 [[ 9.94410996e-01 -9.05027871e-02 -5.43692587e-02 5.07639616e+02] [ 9.03222584e-02 9.95895856e-01 -5.77355016e-03 4.51303655e+01] [ 5.46686418e-02 8.30527532e-04 9.98504206e-01 2.40049816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.67, Y:45.13, Z:24.01 [[ 9.94385775e-01 -9.07670981e-02 -5.43899280e-02 5.07667115e+02] [ 9.05860389e-02 9.95871801e-01 -5.79013430e-03 4.51307672e+01] [ 5.46909492e-02 8.30659056e-04 9.98502985e-01 2.40059803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.70, Y:45.13, Z:24.01 [[ 9.94213301e-01 -9.25417989e-02 -5.45520558e-02 5.07696104e+02] [ 9.23619030e-02 9.95708523e-01 -5.81509497e-03 4.51261321e+01] [ 5.48560863e-02 7.42913080e-04 9.98493995e-01 2.40077806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.73, Y:45.13, Z:24.01 [[ 9.94062926e-01 -9.40114181e-02 -5.47791219e-02 5.07725549e+02] [ 9.38314843e-02 9.95570888e-01 -5.85316333e-03 4.51251877e+01] [ 5.50867632e-02 6.78406346e-04 9.98481341e-01 2.40096329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.75, Y:45.12, Z:24.01 [[ 9.93945828e-01 -9.54487904e-02 -5.44170946e-02 5.07753410e+02] [ 9.52726871e-02 9.95434156e-01 -5.82714511e-03 4.51245844e+01] [ 5.47248286e-02 6.07403739e-04 9.98501289e-01 2.40109642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.78, Y:45.12, Z:24.01 [[ 9.93735954e-01 -9.71197374e-02 -5.52866222e-02 5.07781761e+02] [ 9.69402571e-02 9.95272564e-01 -5.92532536e-03 4.51242132e+01] [ 5.56007243e-02 5.28709481e-04 9.98452943e-01 2.40121241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.81, Y:45.12, Z:24.01 [[ 9.93397985e-01 -1.00755261e-01 -5.48527229e-02 5.07810856e+02] [ 1.00583786e-01 9.94911187e-01 -5.88496541e-03 4.51191477e+01] [ 5.51665288e-02 3.28818238e-04 9.98477113e-01 2.40140299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.84, Y:45.12, Z:24.01 [[ 9.93169194e-01 -1.02687145e-01 -5.54103038e-02 5.07838148e+02] [ 1.02514429e-01 9.94713674e-01 -5.95799320e-03 4.51186739e+01] [ 5.57291962e-02 2.36939622e-04 9.98445893e-01 2.40147421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.87, Y:45.12, Z:24.02 [[ 9.92904099e-01 -1.05140315e-01 -5.55604527e-02 5.07866126e+02] [ 1.04970027e-01 9.94457391e-01 -5.98254524e-03 4.51176293e+01] [ 5.58815096e-02 1.07911468e-04 9.98437402e-01 2.40168901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.89, Y:45.12, Z:24.02 [[ 9.92652882e-01 -1.07704378e-01 -5.51364012e-02 5.07894712e+02] [ 1.07539749e-01 9.94182964e-01 -5.95280589e-03 4.51168665e+01] [ 5.54568140e-02 -2.02848249e-05 9.98461087e-01 2.40185761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.92, Y:45.12, Z:24.02 [[ 9.92405592e-01 -1.10253104e-01 -5.45471683e-02 5.07922592e+02] [ 1.10094951e-01 9.93903533e-01 -5.90505871e-03 4.51163702e+01] [ 5.48656744e-02 -1.45154565e-04 9.98493734e-01 2.40202165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.95, Y:45.11, Z:24.02 [[ 9.91859640e-01 -1.15074037e-01 -5.45199118e-02 5.07950469e+02] [ 1.14922500e-01 9.93356839e-01 -5.91695084e-03 4.51125711e+01] [ 5.48386146e-02 -3.96779838e-04 9.98495152e-01 2.40211901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:507.98, Y:45.11, Z:24.02 [[ 9.91541272e-01 -1.17956421e-01 -5.41496881e-02 5.07979273e+02] [ 1.17810851e-01 9.93018623e-01 -5.88371384e-03 4.51123598e+01] [ 5.44656706e-02 -5.45475757e-04 9.98515495e-01 2.40225914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.01, Y:45.11, Z:24.02 [[ 9.91153644e-01 -1.21174414e-01 -5.41407070e-02 5.08008082e+02] [ 1.21032934e-01 9.92630979e-01 -5.89654629e-03 4.51122472e+01] [ 5.44562535e-02 -7.08425291e-04 9.98515906e-01 2.40242291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.04, Y:45.11, Z:24.02 [[ 9.90699342e-01 -1.24908945e-01 -5.39682172e-02 5.08035791e+02] [ 1.24773180e-01 9.92167803e-01 -5.89099908e-03 4.51096545e+01] [ 5.42813660e-02 -8.97577166e-04 9.98525276e-01 2.40243503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.07, Y:45.11, Z:24.03 [[ 9.89547900e-01 -1.33737296e-01 -5.39378307e-02 5.08066983e+02] [ 1.33614356e-01 9.91015868e-01 -5.89525175e-03 4.51052922e+01] [ 5.42416611e-02 -1.37323449e-03 9.98526893e-01 2.40252361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.10, Y:45.10, Z:24.03 [[ 9.88790245e-01 -1.39047252e-01 -5.44032474e-02 5.08097140e+02] [ 1.38930185e-01 9.90284325e-01 -5.94637931e-03 4.51044819e+01] [ 5.47015109e-02 -1.67853139e-03 9.98501341e-01 2.40266520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.13, Y:45.10, Z:24.03 [[ 9.88004518e-01 -1.44634433e-01 -5.41105633e-02 5.08127327e+02] [ 1.44526880e-01 9.89483188e-01 -5.91621178e-03 4.51040815e+01] [ 5.43971806e-02 -1.97518689e-03 9.98517424e-01 2.40280183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.16, Y:45.10, Z:24.03 [[ 9.87164743e-01 -1.50300960e-01 -5.39943720e-02 5.08157148e+02] [ 1.50202257e-01 9.88637657e-01 -5.90461961e-03 4.51006322e+01] [ 5.42683394e-02 -2.28124423e-03 9.98523782e-01 2.40293051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.19, Y:45.10, Z:24.03 [[ 9.85610161e-01 -1.60425180e-01 -5.32576023e-02 5.08188466e+02] [ 1.60343774e-01 9.87044039e-01 -5.82573643e-03 4.50959330e+01] [ 5.35021937e-02 -2.79761994e-03 9.98563813e-01 2.40312541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.22, Y:45.10, Z:24.03 [[ 9.84945937e-01 -1.64691594e-01 -5.25183882e-02 5.08218393e+02] [ 1.64618469e-01 9.86340588e-01 -5.74487565e-03 4.50973665e+01] [ 5.27471507e-02 -2.98710472e-03 9.98603432e-01 2.40330685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.25, Y:45.10, Z:24.04 [[ 9.84395873e-01 -1.68029229e-01 -5.22584220e-02 5.08248331e+02] [ 1.67961455e-01 9.85776983e-01 -5.71741048e-03 4.51002653e+01] [ 5.24758417e-02 -3.14920532e-03 9.98617228e-01 2.40351755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.28, Y:45.10, Z:24.04 [[ 9.84008100e-01 -1.70293284e-01 -5.22327190e-02 5.08277959e+02] [ 1.70228684e-01 9.85388007e-01 -5.71589191e-03 4.51031602e+01] [ 5.24428729e-02 -3.26702306e-03 9.98618582e-01 2.40369359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.31, Y:45.11, Z:24.04 [[ 9.83744271e-01 -1.71955268e-01 -5.17551396e-02 5.08306719e+02] [ 1.71893978e-01 9.85099158e-01 -5.66655951e-03 4.51071792e+01] [ 5.19583392e-02 -3.32195138e-03 9.98643728e-01 2.40383744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.33, Y:45.11, Z:24.04 [[ 9.83696665e-01 -1.72322241e-01 -5.14384661e-02 5.08334050e+02] [ 1.72261492e-01 9.85035079e-01 -5.64552854e-03 4.51115762e+01] [ 5.16415437e-02 -3.30737930e-03 9.98660209e-01 2.40398175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.36, Y:45.12, Z:24.04 [[ 9.83829648e-01 -1.71569948e-01 -5.14098858e-02 5.08362099e+02] [ 1.71507452e-01 9.85166577e-01 -5.65770970e-03 4.51152557e+01] [ 5.16179942e-02 -3.25095598e-03 9.98661611e-01 2.40411545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.39, Y:45.12, Z:24.04 [[ 9.84067934e-01 -1.70327811e-01 -5.09778296e-02 5.08391076e+02] [ 1.70264049e-01 9.85382432e-01 -5.62286073e-03 4.51206639e+01] [ 5.11903873e-02 -3.14641477e-03 9.98683956e-01 2.40425560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.42, Y:45.13, Z:24.04 [[ 9.84659819e-01 -1.66977282e-01 -5.06322930e-02 5.08420213e+02] [ 1.66909670e-01 9.85956342e-01 -5.59060292e-03 4.51319174e+01] [ 5.08547341e-02 -2.94617725e-03 9.98701715e-01 2.40442204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.45, Y:45.14, Z:24.05 [[ 9.84980484e-01 -1.65063295e-01 -5.06710400e-02 5.08447919e+02] [ 1.64992994e-01 9.86278863e-01 -5.59608787e-03 4.51363056e+01] [ 5.08994845e-02 -2.84832925e-03 9.98699719e-01 2.40455460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.48, Y:45.14, Z:24.05 [[ 9.85290818e-01 -1.63061554e-01 -5.11168615e-02 5.08476090e+02] [ 1.62987084e-01 9.86612025e-01 -5.65004141e-03 4.51398403e+01] [ 5.13538147e-02 -2.76445426e-03 9.98676696e-01 2.40466490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.50, Y:45.15, Z:24.05 [[ 9.85537723e-01 -1.61595277e-01 -5.10133538e-02 5.08504820e+02] [ 1.61518928e-01 9.86853481e-01 -5.64293633e-03 4.51473263e+01] [ 5.12545777e-02 -2.67829559e-03 9.98682029e-01 2.40477313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.53, Y:45.16, Z:24.05 [[ 9.85966047e-01 -1.58765430e-01 -5.16187156e-02 5.08534067e+02] [ 1.58682802e-01 9.87313038e-01 -5.72125645e-03 4.51568579e+01] [ 5.18721687e-02 -2.55003781e-03 9.98650477e-01 2.40482527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.56, Y:45.16, Z:24.05 [[ 9.86145743e-01 -1.57511279e-01 -5.20266301e-02 5.08562571e+02] [ 1.57425491e-01 9.87514019e-01 -5.76855155e-03 4.51632026e+01] [ 5.22856385e-02 -2.50168526e-03 9.98629037e-01 2.40493532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.59, Y:45.17, Z:24.05 [[ 9.86228313e-01 -1.56921865e-01 -5.22421576e-02 5.08591178e+02] [ 1.56833844e-01 9.87607938e-01 -5.80569454e-03 4.51701598e+01] [ 5.25058100e-02 -2.46759807e-03 9.98617570e-01 2.40507318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.62, Y:45.18, Z:24.05 [[ 9.86290918e-01 -1.56477036e-01 -5.23942924e-02 5.08619588e+02] [ 1.56387210e-01 9.87678587e-01 -5.83522443e-03 4.51782875e+01] [ 5.26617993e-02 -2.43856836e-03 9.98609427e-01 2.40520739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.65, Y:45.18, Z:24.05 [[ 9.86362481e-01 -1.55989530e-01 -5.25007016e-02 5.08647341e+02] [ 1.55897967e-01 9.87755782e-01 -5.86000005e-03 4.51831913e+01] [ 5.27719702e-02 -2.40466848e-03 9.98603694e-01 2.40531914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.67, Y:45.19, Z:24.05 [[ 9.86545598e-01 -1.55023082e-01 -5.19194385e-02 5.08674594e+02] [ 1.54931940e-01 9.87908120e-01 -5.80010384e-03 4.51897690e+01] [ 5.21907848e-02 -2.32191240e-03 9.98634433e-01 2.40544223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.70, Y:45.19, Z:24.06 [[ 9.86500771e-01 -1.55308374e-01 -5.19185709e-02 5.08701848e+02] [ 1.55217218e-01 9.87863292e-01 -5.80785956e-03 4.51928860e+01] [ 5.21904596e-02 -2.32919821e-03 9.98634433e-01 2.40557284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.73, Y:45.20, Z:24.06 [[ 9.86586312e-01 -1.54949237e-01 -5.13632474e-02 5.08730371e+02] [ 1.54858773e-01 9.87919823e-01 -5.76046930e-03 4.51980717e+01] [ 5.16353506e-02 -2.27084933e-03 9.98663424e-01 2.40571060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.76, Y:45.21, Z:24.06 [[ 9.86689168e-01 -1.54236404e-01 -5.15326851e-02 5.08758817e+02] [ 1.54143694e-01 9.88031461e-01 -5.79257049e-03 4.52060365e+01] [ 5.18093394e-02 -2.22797189e-03 9.98654509e-01 2.40587810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.79, Y:45.21, Z:24.06 [[ 9.86907166e-01 -1.52927691e-01 -5.12578431e-02 5.08786183e+02] [ 1.52833597e-01 9.88235073e-01 -5.77346907e-03 4.52091952e+01] [ 5.15377216e-02 -2.13604253e-03 9.98668764e-01 2.40595699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.81, Y:45.22, Z:24.06 [[ 9.87447215e-01 -1.49341461e-01 -5.14307905e-02 5.08814199e+02] [ 1.49241639e-01 9.88783759e-01 -5.79750557e-03 4.52165535e+01] [ 5.17197384e-02 -1.95088476e-03 9.98659733e-01 2.40608344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.84, Y:45.23, Z:24.06 [[ 9.87696387e-01 -1.47835802e-01 -5.09943369e-02 5.08842034e+02] [ 1.47735521e-01 9.89010182e-01 -5.75109805e-03 4.52256276e+01] [ 5.12841366e-02 -1.85333617e-03 9.98682383e-01 2.40631127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.87, Y:45.23, Z:24.06 [[ 9.88038881e-01 -1.45449878e-01 -5.12201320e-02 5.08869604e+02] [ 1.45344857e-01 9.89364118e-01 -5.78912325e-03 4.52299882e+01] [ 5.15173880e-02 -1.72470392e-03 9.98670608e-01 2.40643754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.90, Y:45.24, Z:24.07 [[ 9.88740193e-01 -1.40789288e-01 -5.07070712e-02 5.08898362e+02] [ 1.40680015e-01 9.90038503e-01 -5.73551544e-03 4.52406268e+01] [ 5.10094520e-02 -1.46253687e-03 9.98697100e-01 2.40662744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.93, Y:45.25, Z:24.07 [[ 9.89022625e-01 -1.38674894e-01 -5.10247105e-02 5.08926495e+02] [ 1.38561298e-01 9.90337026e-01 -5.77413972e-03 4.52478623e+01] [ 5.13323883e-02 -1.35929530e-03 9.98680699e-01 2.40682139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.95, Y:45.25, Z:24.07 [[ 9.89332077e-01 -1.36661349e-01 -5.04550924e-02 5.08953884e+02] [ 1.36547027e-01 9.90617064e-01 -5.72213885e-03 4.52527862e+01] [ 5.07636707e-02 -1.22839733e-03 9.98709938e-01 2.40696326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:508.98, Y:45.26, Z:24.07 [[ 9.89558097e-01 -1.34863075e-01 -5.08598481e-02 5.08981848e+02] [ 1.34744171e-01 9.90863591e-01 -5.77519519e-03 4.52586196e+01] [ 5.11740323e-02 -1.13817690e-03 9.98689102e-01 2.40710739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.01, Y:45.27, Z:24.07 [[ 9.89811453e-01 -1.33145931e-01 -5.04524371e-02 5.09010488e+02] [ 1.33026074e-01 9.91095910e-01 -5.74117859e-03 4.52658594e+01] [ 5.07676187e-02 -1.02880531e-03 9.98709963e-01 2.40724191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.04, Y:45.27, Z:24.07 [[ 9.89864924e-01 -1.32642471e-01 -5.07287649e-02 5.09039318e+02] [ 1.32520260e-01 9.91163444e-01 -5.77999672e-03 4.52702831e+01] [ 5.10471704e-02 -1.00117308e-03 9.98695741e-01 2.40739439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.07, Y:45.27, Z:24.07 [[ 9.89878052e-01 -1.32661505e-01 -5.04218846e-02 5.09065881e+02] [ 1.32540152e-01 9.91160914e-01 -5.75764519e-03 4.52727986e+01] [ 5.07400191e-02 -9.83557647e-04 9.98711411e-01 2.40749202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.09, Y:45.28, Z:24.08 [[ 9.89792225e-01 -1.33162277e-01 -5.07854163e-02 5.09093638e+02] [ 1.33039285e-01 9.91093737e-01 -5.80969962e-03 4.52764169e+01] [ 5.11067409e-02 -1.00605998e-03 9.98692690e-01 2.40762044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.12, Y:45.28, Z:24.08 [[ 9.89677477e-01 -1.34195827e-01 -5.02988140e-02 5.09122496e+02] [ 1.34075806e-01 9.90954292e-01 -5.76803630e-03 4.52805727e+01] [ 5.06178720e-02 -1.03535842e-03 9.98717557e-01 2.40774844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.15, Y:45.28, Z:24.08 [[ 9.89549256e-01 -1.35090621e-01 -5.04261268e-02 5.09150505e+02] [ 1.34970525e-01 9.90832668e-01 -5.79497515e-03 4.52843502e+01] [ 5.07467006e-02 -1.07162745e-03 9.98710981e-01 2.40788646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.18, Y:45.28, Z:24.08 [[ 9.89098357e-01 -1.38200994e-01 -5.08421663e-02 5.09177943e+02] [ 1.38082755e-01 9.90403431e-01 -5.84776084e-03 4.52837555e+01] [ 5.11624223e-02 -1.23641576e-03 9.98689580e-01 2.40795496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.21, Y:45.29, Z:24.08 [[ 9.88745835e-01 -1.40552749e-01 -5.12503443e-02 5.09206272e+02] [ 1.40435310e-01 9.90072257e-01 -5.90336692e-03 4.52878787e+01] [ 5.15712785e-02 -1.36042852e-03 9.98668390e-01 2.40812763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.23, Y:45.29, Z:24.08 [[ 9.88342536e-01 -1.43307898e-01 -5.13992027e-02 5.09234924e+02] [ 1.43192810e-01 9.89677023e-01 -5.93374129e-03 4.52907654e+01] [ 5.17189619e-02 -1.49542734e-03 9.98660559e-01 2.40826968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.26, Y:45.29, Z:24.08 [[ 9.87972592e-01 -1.45778406e-01 -5.15636832e-02 5.09262791e+02] [ 1.45665270e-01 9.89315946e-01 -5.96557760e-03 4.52877307e+01] [ 5.18824264e-02 -1.61721067e-03 9.98651891e-01 2.40830719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.29, Y:45.29, Z:24.09 [[ 9.87187752e-01 -1.51052553e-01 -5.14146812e-02 5.09292794e+02] [ 1.50946930e-01 9.88523939e-01 -5.95364457e-03 4.52915044e+01] [ 5.17239564e-02 -1.88352327e-03 9.98659644e-01 2.40850598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.32, Y:45.29, Z:24.09 [[ 9.86791081e-01 -1.53705211e-01 -5.11670887e-02 5.09322559e+02] [ 1.53604103e-01 9.88114701e-01 -5.92606691e-03 4.52940868e+01] [ 5.14698199e-02 -2.01168479e-03 9.98672524e-01 2.40862031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.35, Y:45.30, Z:24.09 [[ 9.86406260e-01 -1.56137655e-01 -5.12222869e-02 5.09351581e+02] [ 1.56039498e-01 9.87732989e-01 -5.93443388e-03 4.52953462e+01] [ 5.15205312e-02 -2.13893720e-03 9.98669645e-01 2.40877022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.38, Y:45.30, Z:24.09 [[ 9.85770869e-01 -1.60278642e-01 -5.06611351e-02 5.09381845e+02] [ 1.60187939e-01 9.87069067e-01 -5.87206584e-03 4.52970702e+01] [ 5.09472061e-02 -2.32679136e-03 9.98698637e-01 2.40891239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.41, Y:45.29, Z:24.09 [[ 9.85400873e-01 -1.62340135e-01 -5.12913327e-02 5.09410972e+02] [ 1.62249889e-01 9.86731785e-01 -5.94622572e-03 4.52944854e+01] [ 5.15760993e-02 -2.46259699e-03 9.98666031e-01 2.40900140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.44, Y:45.30, Z:24.09 [[ 9.85087573e-01 -1.64260446e-01 -5.11955036e-02 5.09439592e+02] [ 1.64172975e-01 9.86413694e-01 -5.93794170e-03 4.53002011e+01] [ 5.14753147e-02 -2.55552554e-03 9.98670998e-01 2.40914262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.47, Y:45.30, Z:24.09 [[ 9.84748004e-01 -1.66216866e-01 -5.14132441e-02 5.09469059e+02] [ 1.66131164e-01 9.86085617e-01 -5.96594843e-03 4.53027205e+01] [ 5.16895018e-02 -2.66638628e-03 9.98659645e-01 2.40925947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.50, Y:45.30, Z:24.09 [[ 9.84412025e-01 -1.68054505e-01 -5.18714678e-02 5.09498064e+02] [ 1.67969706e-01 9.85773769e-01 -6.02112122e-03 4.53047004e+01] [ 5.21454088e-02 -2.78557107e-03 9.98635618e-01 2.40936773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.53, Y:45.30, Z:24.09 [[ 9.83760025e-01 -1.71584199e-01 -5.26789977e-02 5.09527328e+02] [ 1.71501629e-01 9.85164842e-01 -6.11768915e-03 4.53031469e+01] [ 5.29471952e-02 -3.01619588e-03 9.98592758e-01 2.40938981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.56, Y:45.31, Z:24.10 [[ 9.83451047e-01 -1.73138646e-01 -5.33577226e-02 5.09556737e+02] [ 1.73056109e-01 9.84892462e-01 -6.19847138e-03 4.53096891e+01] [ 5.36248137e-02 -3.13798668e-03 9.98556224e-01 2.40955625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.58, Y:45.31, Z:24.10 [[ 9.83280414e-01 -1.74005225e-01 -5.36824932e-02 5.09584832e+02] [ 1.73922840e-01 9.84739522e-01 -6.23852910e-03 4.53125244e+01] [ 5.39488094e-02 -3.20238822e-03 9.98538567e-01 2.40967153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.61, Y:45.32, Z:24.10 [[ 9.83064861e-01 -1.75132681e-01 -5.39631644e-02 5.09613171e+02] [ 1.75050794e-01 9.84539393e-01 -6.27721620e-03 4.53172082e+01] [ 5.42282069e-02 -3.27538414e-03 9.98523196e-01 2.40980761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.64, Y:45.32, Z:24.10 [[ 9.82996483e-01 -1.75544379e-01 -5.38710020e-02 5.09640815e+02] [ 1.75462695e-01 9.84466055e-01 -6.27925913e-03 4.53184522e+01] [ 5.41364614e-02 -3.27986154e-03 9.98528160e-01 2.40993153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.67, Y:45.32, Z:24.10 [[ 9.83160723e-01 -1.74807394e-01 -5.32669529e-02 5.09668642e+02] [ 1.74726144e-01 9.84597457e-01 -6.21462463e-03 4.53236753e+01] [ 5.35328687e-02 -3.19715442e-03 9.98560970e-01 2.41010460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.70, Y:45.33, Z:24.10 [[ 9.83285642e-01 -1.74107430e-01 -5.32536238e-02 5.09695929e+02] [ 1.74024540e-01 9.84721638e-01 -6.22535699e-03 4.53277672e+01] [ 5.35238766e-02 -3.14613323e-03 9.98561614e-01 2.41023916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.72, Y:45.34, Z:24.10 [[ 9.83424281e-01 -1.73217798e-01 -5.35936289e-02 5.09724035e+02] [ 1.73132218e-01 9.84878627e-01 -6.27090646e-03 4.53365631e+01] [ 5.38694523e-02 -3.11182216e-03 9.98543138e-01 2.41041387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.75, Y:45.35, Z:24.11 [[ 9.83812159e-01 -1.70908838e-01 -5.38869711e-02 5.09752590e+02] [ 1.70818202e-01 9.85282310e-01 -6.31749057e-03 4.53478098e+01] [ 5.41735944e-02 -2.98965150e-03 9.98527057e-01 2.41057236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.78, Y:45.35, Z:24.11 [[ 9.83896888e-01 -1.70185570e-01 -5.46240393e-02 5.09780400e+02] [ 1.70091194e-01 9.85407502e-01 -6.40636058e-03 4.53493636e+01] [ 5.49172083e-02 -2.98786981e-03 9.98486441e-01 2.41063355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.81, Y:45.35, Z:24.11 [[ 9.84002281e-01 -1.69462264e-01 -5.49731956e-02 5.09808270e+02] [ 1.69365273e-01 9.85532227e-01 -6.45236804e-03 4.53533735e+01] [ 5.52712888e-02 -2.96140540e-03 9.98466982e-01 2.41071671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.84, Y:45.36, Z:24.11 [[ 9.84065613e-01 -1.69054551e-01 -5.50947237e-02 5.09835756e+02] [ 1.68956150e-01 9.85602314e-01 -6.47284691e-03 4.53621805e+01] [ 5.53957514e-02 -2.93888633e-03 9.98460151e-01 2.41090467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.86, Y:45.37, Z:24.11 [[ 9.84131208e-01 -1.68575614e-01 -5.53897757e-02 5.09864609e+02] [ 1.68474704e-01 9.85684414e-01 -6.51999622e-03 4.53687439e+01] [ 5.56959510e-02 -2.91524433e-03 9.98443520e-01 2.41104661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.89, Y:45.37, Z:24.11 [[ 9.84227888e-01 -1.68097753e-01 -5.51235919e-02 5.09893817e+02] [ 1.67996950e-01 9.85766146e-01 -6.49070418e-03 4.53730595e+01] [ 5.54300436e-02 -2.87226328e-03 9.98458442e-01 2.41119192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.92, Y:45.38, Z:24.11 [[ 9.84374639e-01 -1.67469965e-01 -5.44093908e-02 5.09922443e+02] [ 1.67370684e-01 9.85873208e-01 -6.40872696e-03 4.53767849e+01] [ 5.47140299e-02 -2.79794866e-03 9.98498145e-01 2.41138426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.95, Y:45.38, Z:24.12 [[ 9.84453160e-01 -1.67075500e-01 -5.42010490e-02 5.09950317e+02] [ 1.66976206e-01 9.85940235e-01 -6.38739624e-03 4.53808160e+01] [ 5.45061724e-02 -2.76219313e-03 9.98509613e-01 2.41151200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:509.98, Y:45.39, Z:24.12 [[ 9.84563780e-01 -1.66496881e-01 -5.39717652e-02 5.09979457e+02] [ 1.66397318e-01 9.86038246e-01 -6.36481215e-03 4.53881009e+01] [ 5.42779461e-02 -2.71419347e-03 9.98522177e-01 2.41171056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.01, Y:45.39, Z:24.12 [[ 9.84714366e-01 -1.65636801e-01 -5.38708422e-02 5.10008468e+02] [ 1.65536221e-01 9.86183236e-01 -6.35486232e-03 4.53914089e+01] [ 5.41791205e-02 -2.65985138e-03 9.98527690e-01 2.41183559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.04, Y:45.40, Z:24.12 [[ 9.85176333e-01 -1.62733190e-01 -5.42724827e-02 5.10037461e+02] [ 1.62626610e-01 9.86666901e-01 -6.40408381e-03 4.54025955e+01] [ 5.45910193e-02 -2.51699806e-03 9.98505626e-01 2.41200304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.07, Y:45.41, Z:24.12 [[ 9.85472627e-01 -1.60879240e-01 -5.44203231e-02 5.10066376e+02] [ 1.60769203e-01 9.86971132e-01 -6.42252665e-03 4.54072665e+01] [ 5.47445391e-02 -2.41988778e-03 9.98497461e-01 2.41211576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.10, Y:45.42, Z:24.12 [[ 9.85811474e-01 -1.58841628e-01 -5.42685513e-02 5.10096038e+02] [ 1.58729077e-01 9.87301398e-01 -6.40547023e-03 4.54154786e+01] [ 5.45968719e-02 -2.29941102e-03 9.98505831e-01 2.41230850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.13, Y:45.42, Z:24.12 [[ 9.86151641e-01 -1.56652615e-01 -5.44508836e-02 5.10126128e+02] [ 1.56535977e-01 9.87651346e-01 -6.42699143e-03 4.54221058e+01] [ 5.47852935e-02 -2.18553410e-03 9.98495766e-01 2.41246307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.16, Y:45.43, Z:24.13 [[ 9.86986550e-01 -1.51504900e-01 -5.38870597e-02 5.10156363e+02] [ 1.51383010e-01 9.88454719e-01 -6.36031777e-03 4.54309509e+01] [ 5.42285378e-02 -1.88003720e-03 9.98526780e-01 2.41267007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.19, Y:45.44, Z:24.13 [[ 9.87327927e-01 -1.49275679e-01 -5.38547738e-02 5.10185918e+02] [ 1.49150677e-01 9.88794055e-01 -6.35551184e-03 4.54368354e+01] [ 5.42000035e-02 -1.75750167e-03 9.98528553e-01 2.41278251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.22, Y:45.44, Z:24.13 [[ 9.87723819e-01 -1.46748815e-01 -5.35391735e-02 5.10216369e+02] [ 1.46621627e-01 9.89172478e-01 -6.31717663e-03 4.54421514e+01] [ 5.38865151e-02 -1.61037488e-03 9.98545768e-01 2.41290950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.25, Y:45.45, Z:24.13 [[ 9.88124836e-01 -1.44093897e-01 -5.33503320e-02 5.10247379e+02] [ 1.43963843e-01 9.89562939e-01 -6.29296035e-03 4.54488706e+01] [ 5.37002885e-02 -1.46228842e-03 9.98556028e-01 2.41305379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.28, Y:45.45, Z:24.13 [[ 9.88482131e-01 -1.41615883e-01 -5.33668210e-02 5.10277945e+02] [ 1.41482241e-01 9.89920791e-01 -6.29306113e-03 4.54548617e+01] [ 5.37201231e-02 -1.32987894e-03 9.98555146e-01 2.41318760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.31, Y:45.46, Z:24.13 [[ 9.89221931e-01 -1.36271677e-01 -5.35723884e-02 5.10307139e+02] [ 1.36129216e-01 9.90670954e-01 -6.31644205e-03 4.54623826e+01] [ 5.39333613e-02 -1.04440421e-03 9.98543991e-01 2.41324028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.34, Y:45.47, Z:24.13 [[ 9.89612503e-01 -1.33458125e-01 -5.34417780e-02 5.10337758e+02] [ 1.33312270e-01 9.91054054e-01 -6.30081006e-03 4.54700811e+01] [ 5.38045851e-02 -8.89084336e-04 9.98551088e-01 2.41343224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.37, Y:45.47, Z:24.14 [[ 9.89967716e-01 -1.30850982e-01 -5.33098726e-02 5.10368062e+02] [ 1.30702187e-01 9.91401766e-01 -6.28306690e-03 4.54746747e+01] [ 5.36736474e-02 -7.47683554e-04 9.98558251e-01 2.41356509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.40, Y:45.48, Z:24.14 [[ 9.90289426e-01 -1.28614068e-01 -5.27756917e-02 5.10398338e+02] [ 1.28465256e-01 9.91694526e-01 -6.21653808e-03 4.54812188e+01] [ 5.31368988e-02 -6.23670816e-04 9.98587042e-01 2.41377085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.43, Y:45.49, Z:24.14 [[ 9.90851708e-01 -1.24662707e-01 -5.16923881e-02 5.10428461e+02] [ 1.24514663e-01 9.92199096e-01 -6.08714734e-03 4.54870936e+01] [ 5.20479810e-02 -4.04999935e-04 9.98644503e-01 2.41394301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.46, Y:45.49, Z:24.14 [[ 9.91094190e-01 -1.22764451e-01 -5.15867826e-02 5.10458884e+02] [ 1.22614501e-01 9.92435789e-01 -6.07356799e-03 4.54914999e+01] [ 5.19421875e-02 -3.05809628e-04 9.98650047e-01 2.41409291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.49, Y:45.50, Z:24.14 [[ 9.91279107e-01 -1.21300544e-01 -5.14966913e-02 5.10488966e+02] [ 1.21149300e-01 9.92615799e-01 -6.05992919e-03 4.54961188e+01] [ 5.18515020e-02 -2.31706924e-04 9.98654779e-01 2.41425399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.52, Y:45.50, Z:24.14 [[ 9.91415059e-01 -1.20002562e-01 -5.19188330e-02 5.10519386e+02] [ 1.19847052e-01 9.92773568e-01 -6.10951899e-03 4.55001552e+01] [ 5.22768030e-02 -1.65249943e-04 9.98632619e-01 2.41435977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.55, Y:45.50, Z:24.15 [[ 9.91415059e-01 -1.20002521e-01 -5.19189329e-02 5.10549147e+02] [ 1.19847056e-01 9.92773573e-01 -6.10866976e-03 4.55036565e+01] [ 5.22768003e-02 -1.66104075e-04 9.98632619e-01 2.41450231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.58, Y:45.51, Z:24.15 [[ 9.91512544e-01 -1.18989646e-01 -5.23864436e-02 5.10579577e+02] [ 1.18829953e-01 9.92895489e-01 -6.16367606e-03 4.55078412e+01] [ 5.27476772e-02 -1.13716512e-04 9.98607866e-01 2.41462543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.61, Y:45.51, Z:24.15 [[ 9.91505411e-01 -1.19016461e-01 -5.24604847e-02 5.10609268e+02] [ 1.18856350e-01 9.92892274e-01 -6.17248231e-03 4.55108965e+01] [ 5.28222369e-02 -1.15212090e-04 9.98603924e-01 2.41472307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.64, Y:45.51, Z:24.15 [[ 9.91484338e-01 -1.19213483e-01 -5.24113919e-02 5.10640083e+02] [ 1.19053901e-01 9.92868637e-01 -6.16755441e-03 4.55138447e+01] [ 5.27728829e-02 -1.24747058e-04 9.98606533e-01 2.41486516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.67, Y:45.52, Z:24.15 [[ 9.91426450e-01 -1.19788604e-01 -5.21946813e-02 5.10670337e+02] [ 1.19631136e-01 9.92799409e-01 -6.14205280e-03 4.55165465e+01] [ 5.25545966e-02 -1.54715407e-04 9.98618040e-01 2.41504102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.70, Y:45.52, Z:24.15 [[ 9.91345829e-01 -1.20451110e-01 -5.22013144e-02 5.10699961e+02] [ 1.20294515e-01 9.92719242e-01 -6.14292459e-03 4.55185890e+01] [ 5.25611714e-02 -1.89769133e-04 9.98617688e-01 2.41514895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.73, Y:45.52, Z:24.15 [[ 9.91088651e-01 -1.23014228e-01 -5.10958402e-02 5.10730268e+02] [ 1.22867559e-01 9.92404856e-01 -6.01367681e-03 4.55191250e+01] [ 5.14475278e-02 -3.17934336e-04 9.98675648e-01 2.41534638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.76, Y:45.52, Z:24.15 [[ 9.90913294e-01 -1.24333323e-01 -5.13036931e-02 5.10759780e+02] [ 1.24187221e-01 9.92240432e-01 -6.03821263e-03 4.55207741e+01] [ 5.16563496e-02 -3.87917891e-04 9.98664844e-01 2.41547008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.79, Y:45.52, Z:24.16 [[ 9.90690425e-01 -1.26306990e-01 -5.07841104e-02 5.10790238e+02] [ 1.26166382e-01 9.91991083e-01 -5.97788753e-03 4.55224825e+01] [ 5.11324337e-02 -4.85011516e-04 9.98691764e-01 2.41563870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.82, Y:45.52, Z:24.16 [[ 9.90101833e-01 -1.31044753e-01 -5.02556667e-02 5.10820019e+02] [ 1.30913149e-01 9.91376191e-01 -5.91573730e-03 4.55203574e+01] [ 5.05974978e-02 -7.21945240e-04 9.98718865e-01 2.41576707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.85, Y:45.52, Z:24.16 [[ 9.89710769e-01 -1.33987407e-01 -5.01992934e-02 5.10849409e+02] [ 1.33859831e-01 9.90982652e-01 -5.91003486e-03 4.55190697e+01] [ 5.05384992e-02 -8.70443772e-04 9.98721734e-01 2.41587301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.88, Y:45.52, Z:24.16 [[ 9.89341436e-01 -1.36837736e-01 -4.97891199e-02 5.10879399e+02] [ 1.36715758e-01 9.90592965e-01 -5.86342148e-03 4.55207579e+01] [ 5.01230892e-02 -1.00603143e-03 9.98742541e-01 2.41604400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.91, Y:45.52, Z:24.16 [[ 9.88937683e-01 -1.39821342e-01 -4.95202085e-02 5.10910353e+02] [ 1.39704373e-01 9.90176080e-01 -5.83254746e-03 4.55212198e+01] [ 4.98492405e-02 -1.15016372e-03 9.98756092e-01 2.41620820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.94, Y:45.52, Z:24.16 [[ 9.88129254e-01 -1.45756823e-01 -4.85337709e-02 5.10940679e+02] [ 1.45651652e-01 9.89319427e-01 -5.71556354e-03 4.55174796e+01] [ 4.88484848e-02 -1.42130839e-03 9.98805189e-01 2.41638547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:510.97, Y:45.51, Z:24.17 [[ 9.87676565e-01 -1.48851368e-01 -4.83557024e-02 5.10970933e+02] [ 1.48750617e-01 9.88858338e-01 -5.69567469e-03 4.55144120e+01] [ 4.86647485e-02 -1.56745615e-03 9.98813939e-01 2.41650340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.00, Y:45.52, Z:24.17 [[ 9.87249796e-01 -1.51696552e-01 -4.82285928e-02 5.11002102e+02] [ 1.51599905e-01 9.88425638e-01 -5.67684407e-03 4.55185669e+01] [ 4.85315353e-02 -1.70698693e-03 9.98820192e-01 2.41666031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.03, Y:45.52, Z:24.17 [[ 9.86761857e-01 -1.54831032e-01 -4.82533806e-02 5.11032255e+02] [ 1.54738107e-01 9.87939208e-01 -5.67804947e-03 4.55169749e+01] [ 4.85505448e-02 -1.86375412e-03 9.98818988e-01 2.41679597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.06, Y:45.52, Z:24.17 [[ 9.85801630e-01 -1.60724753e-01 -4.86076065e-02 5.11063124e+02] [ 1.60637600e-01 9.86996883e-01 -5.71972434e-03 4.55173421e+01] [ 4.88948573e-02 -2.16969568e-03 9.98801575e-01 2.41691727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.09, Y:45.51, Z:24.17 [[ 9.85352504e-01 -1.63489251e-01 -4.84944078e-02 5.11093410e+02] [ 1.63405852e-01 9.86542430e-01 -5.70618039e-03 4.55127359e+01] [ 4.87746901e-02 -2.30167090e-03 9.98807155e-01 2.41702605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.12, Y:45.52, Z:24.17 [[ 9.84931911e-01 -1.65963246e-01 -4.86346850e-02 5.11123859e+02] [ 1.65882328e-01 9.86128944e-01 -5.72353605e-03 4.55165766e+01] [ 4.89099672e-02 -2.43034146e-03 9.98800235e-01 2.41717648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.15, Y:45.52, Z:24.17 [[ 9.84489393e-01 -1.68583504e-01 -4.85822786e-02 5.11153007e+02] [ 1.68505981e-01 9.85684055e-01 -5.71650333e-03 4.55162303e+01] [ 4.88504855e-02 -2.55856762e-03 9.98802825e-01 2.41734887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.18, Y:45.52, Z:24.18 [[ 9.84051784e-01 -1.71151957e-01 -4.84674492e-02 5.11183518e+02] [ 1.71077901e-01 9.85241000e-01 -5.70301887e-03 4.55199323e+01] [ 4.87282009e-02 -2.67964360e-03 9.98808481e-01 2.41753076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.21, Y:45.52, Z:24.18 [[ 9.83378198e-01 -1.74764732e-01 -4.92403128e-02 5.11213719e+02] [ 1.74692803e-01 9.84605938e-01 -5.79399713e-03 4.55156896e+01] [ 4.94948907e-02 -2.90423783e-03 9.98770154e-01 2.41764177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.24, Y:45.52, Z:24.18 [[ 9.83110402e-01 -1.76170453e-01 -4.95773046e-02 5.11243174e+02] [ 1.76099269e-01 9.84355121e-01 -5.83461462e-03 4.55210058e+01] [ 4.98295604e-02 -2.99445677e-03 9.98753247e-01 2.41775100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.27, Y:45.52, Z:24.18 [[ 9.82934401e-01 -1.77107313e-01 -4.97288976e-02 5.11273164e+02] [ 1.77036799e-01 9.84186822e-01 -5.85419881e-03 4.55238333e+01] [ 4.99793471e-02 -3.04955147e-03 9.98745596e-01 2.41788894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.30, Y:45.52, Z:24.18 [[ 9.82799661e-01 -1.77718506e-01 -5.02091519e-02 5.11301879e+02] [ 1.77647408e-01 9.84076450e-01 -5.91095667e-03 4.55203684e+01] [ 5.04601303e-02 -3.11023947e-03 9.98721233e-01 2.41798299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.33, Y:45.52, Z:24.18 [[ 9.82697527e-01 -1.78378038e-01 -4.98682924e-02 5.11330617e+02] [ 1.78308540e-01 9.83957087e-01 -5.87494000e-03 4.55248109e+01] [ 5.01162200e-02 -3.11865342e-03 9.98738524e-01 2.41812214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.36, Y:45.53, Z:24.18 [[ 9.82749859e-01 -1.77998661e-01 -5.01915453e-02 5.11359620e+02] [ 1.77927160e-01 9.84025823e-01 -5.92505828e-03 4.55317247e+01] [ 5.04444291e-02 -3.10758892e-03 9.98722035e-01 2.41826237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.39, Y:45.54, Z:24.18 [[ 9.82836312e-01 -1.77471468e-01 -5.03652952e-02 5.11389573e+02] [ 1.77398693e-01 9.84121097e-01 -5.94731516e-03 4.55378399e+01] [ 5.06210283e-02 -3.08950024e-03 9.98713155e-01 2.41843028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.42, Y:45.54, Z:24.19 [[ 9.83317247e-01 -1.74772466e-01 -5.04160459e-02 5.11418865e+02] [ 1.74696017e-01 9.84604419e-01 -5.95317468e-03 4.55419514e+01] [ 5.06803126e-02 -2.95362308e-03 9.98710560e-01 2.41859697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.45, Y:45.55, Z:24.19 [[ 9.83586242e-01 -1.73281431e-01 -5.03155068e-02 5.11449180e+02] [ 1.73203442e-01 9.84868160e-01 -5.93935504e-03 4.55475420e+01] [ 5.05833205e-02 -2.87295105e-03 9.98715712e-01 2.41877028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.48, Y:45.55, Z:24.19 [[ 9.83919551e-01 -1.71475769e-01 -4.99837736e-02 5.11478849e+02] [ 1.71396480e-01 9.85184467e-01 -5.90024818e-03 4.55521192e+01] [ 5.02549869e-02 -2.76167332e-03 9.98732602e-01 2.41892251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.51, Y:45.56, Z:24.19 [[ 9.84261338e-01 -1.69518050e-01 -4.99324480e-02 5.11509177e+02] [ 1.69436371e-01 9.85523498e-01 -5.89501118e-03 4.55582519e+01] [ 5.02089116e-02 -2.65814117e-03 9.98735200e-01 2.41909566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.54, Y:45.56, Z:24.19 [[ 9.84606689e-01 -1.67637650e-01 -4.94700505e-02 5.11538716e+02] [ 1.67555151e-01 9.85845409e-01 -5.83958812e-03 4.55614953e+01] [ 4.97487570e-02 -2.53926428e-03 9.98758536e-01 2.41922575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.57, Y:45.57, Z:24.19 [[ 9.84921098e-01 -1.65786547e-01 -4.94494899e-02 5.11568336e+02] [ 1.65701747e-01 9.86158632e-01 -5.83803719e-03 4.55660977e+01] [ 4.97329094e-02 -2.44386086e-03 9.98759563e-01 2.41936998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.60, Y:45.58, Z:24.20 [[ 9.85530897e-01 -1.62149442e-01 -4.93600037e-02 5.11598052e+02] [ 1.62060399e-01 9.86763633e-01 -5.82743238e-03 4.55757926e+01] [ 4.96515715e-02 -2.25618723e-03 9.98764052e-01 2.41954225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.63, Y:45.58, Z:24.20 [[ 9.85778954e-01 -1.60565157e-01 -4.95851191e-02 5.11629439e+02] [ 1.60473350e-01 9.87022819e-01 -5.85301817e-03 4.55818373e+01] [ 4.98814348e-02 -2.18730803e-03 9.98752751e-01 2.41968406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.66, Y:45.59, Z:24.20 [[ 9.86087522e-01 -1.58779495e-01 -4.91982897e-02 5.11660566e+02] [ 1.58687015e-01 9.87311872e-01 -5.80497797e-03 4.55881688e+01] [ 4.94957670e-02 -2.08291340e-03 9.98772161e-01 2.41984507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.69, Y:45.59, Z:24.20 [[ 9.86632518e-01 -1.55207011e-01 -4.96694989e-02 5.11689760e+02] [ 1.55108374e-01 9.87880094e-01 -5.85774993e-03 4.55942040e+01] [ 4.99766731e-02 -1.92470863e-03 9.98748531e-01 2.41994747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.72, Y:45.60, Z:24.20 [[ 9.86890445e-01 -1.53417901e-01 -5.01018614e-02 5.11721074e+02] [ 1.53315371e-01 9.88159661e-01 -5.90608861e-03 4.56001169e+01] [ 5.04147380e-02 -1.85272304e-03 9.98726650e-01 2.42007169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.75, Y:45.61, Z:24.20 [[ 9.87172616e-01 -1.51499341e-01 -5.03803149e-02 5.11751183e+02] [ 1.51393310e-01 9.88455779e-01 -5.93621716e-03 4.56053064e+01] [ 5.06980464e-02 -1.76717163e-03 9.98712464e-01 2.42018359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.78, Y:45.61, Z:24.20 [[ 9.87530897e-01 -1.49115385e-01 -5.04710845e-02 5.11779947e+02] [ 1.49005904e-01 9.88818428e-01 -5.94610670e-03 4.56108265e+01] [ 5.07933945e-02 -1.64852548e-03 9.98707822e-01 2.42032341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.81, Y:45.62, Z:24.20 [[ 9.87873588e-01 -1.46744018e-01 -5.07145708e-02 5.11810425e+02] [ 1.46630316e-01 9.89173313e-01 -5.97558801e-03 4.56173479e+01] [ 5.10423818e-02 -1.53316799e-03 9.98695311e-01 2.42049574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.84, Y:45.63, Z:24.21 [[ 9.88704039e-01 -1.40968195e-01 -5.09145552e-02 5.11839900e+02] [ 1.40845984e-01 9.90013348e-01 -5.99829845e-03 4.56264692e+01] [ 5.12516586e-02 -1.24056874e-03 9.98685000e-01 2.42068526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.87, Y:45.63, Z:24.21 [[ 9.89133006e-01 -1.37907880e-01 -5.09638392e-02 5.11869433e+02] [ 1.37781374e-01 9.90444468e-01 -6.00410466e-03 4.56319221e+01] [ 5.13048660e-02 -1.08300968e-03 9.98682451e-01 2.42081112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.90, Y:45.64, Z:24.21 [[ 9.89579900e-01 -1.34721373e-01 -5.08111533e-02 5.11898909e+02] [ 1.34591413e-01 9.90883098e-01 -5.98637002e-03 4.56383363e+01] [ 5.11544050e-02 -9.14753484e-04 9.98690337e-01 2.42094937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.93, Y:45.65, Z:24.21 [[ 9.90422951e-01 -1.28308399e-01 -5.09836630e-02 5.11927466e+02] [ 1.28168884e-01 9.91734146e-01 -6.01007992e-03 4.56459513e+01] [ 5.13333832e-02 -5.81998108e-04 9.98681403e-01 2.42108993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.96, Y:45.65, Z:24.21 [[ 9.90835338e-01 -1.25177617e-01 -5.07533022e-02 5.11956698e+02] [ 1.25035206e-01 9.92134260e-01 -5.98388301e-03 4.56528285e+01] [ 5.11031381e-02 -4.16906851e-04 9.98693294e-01 2.42127305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:511.99, Y:45.66, Z:24.21 [[ 9.91161876e-01 -1.22566555e-01 -5.07501216e-02 5.11986212e+02] [ 1.22420654e-01 9.92460257e-01 -5.98519920e-03 4.56585878e+01] [ 5.11010640e-02 -2.80561809e-04 9.98693448e-01 2.42145633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.02, Y:45.66, Z:24.22 [[ 9.91460194e-01 -1.20235544e-01 -5.04984891e-02 5.12015919e+02] [ 1.20088064e-01 9.92745380e-01 -5.95552300e-03 4.56635129e+01] [ 5.08482073e-02 -1.59601820e-04 9.98706380e-01 2.42163918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.05, Y:45.67, Z:24.22 [[ 9.91653259e-01 -1.18772227e-01 -5.01694400e-02 5.12046370e+02] [ 1.18624792e-01 9.92921523e-01 -5.91671670e-03 4.56677560e+01] [ 5.05170584e-02 -8.40079992e-05 9.98723195e-01 2.42179034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.08, Y:45.67, Z:24.22 [[ 9.91754233e-01 -1.17809846e-01 -5.04418644e-02 5.12076330e+02] [ 1.17659561e-01 9.93036172e-01 -5.94884498e-03 4.56714179e+01] [ 5.07914284e-02 -3.51754028e-05 9.98709282e-01 2.42191409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.11, Y:45.67, Z:24.22 [[ 9.91680478e-01 -1.18306029e-01 -5.07298073e-02 5.12107234e+02] [ 1.18154671e-01 9.92977180e-01 -5.98280344e-03 4.56736365e+01] [ 5.10813427e-02 -6.09343184e-05 9.98694494e-01 2.42202307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.14, Y:45.68, Z:24.22 [[ 9.91524165e-01 -1.19385109e-01 -5.12545199e-02 5.12136958e+02] [ 1.19232038e-01 9.92848016e-01 -6.04475946e-03 4.56754939e+01] [ 5.16096027e-02 -1.17655797e-04 9.98667330e-01 2.42212949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.17, Y:45.68, Z:24.22 [[ 9.91259530e-01 -1.21431146e-01 -5.15656893e-02 5.12166510e+02] [ 1.21278923e-01 9.92599832e-01 -6.08248380e-03 4.56771069e+01] [ 5.19226975e-02 -2.24511215e-04 9.98651082e-01 2.42224310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.20, Y:45.68, Z:24.22 [[ 9.90585677e-01 -1.26684830e-01 -5.18745684e-02 5.12196185e+02] [ 1.26537871e-01 9.91942893e-01 -6.12081243e-03 4.56757100e+01] [ 5.22320236e-02 -5.00908328e-04 9.98634851e-01 2.42237739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.23, Y:45.68, Z:24.22 [[ 9.90228762e-01 -1.29471559e-01 -5.18084452e-02 5.12225826e+02] [ 1.29328689e-01 9.91582926e-01 -6.11482592e-03 4.56754827e+01] [ 5.21640658e-02 -6.45241821e-04 9.98638320e-01 2.42247668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.26, Y:45.68, Z:24.23 [[ 9.89878446e-01 -1.32438983e-01 -5.09958517e-02 5.12256285e+02] [ 1.32304452e-01 9.91190847e-01 -6.01976478e-03 4.56767554e+01] [ 5.13438730e-02 -7.88142790e-04 9.98680723e-01 2.42268021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.29, Y:45.68, Z:24.23 [[ 9.89484232e-01 -1.35484826e-01 -5.06440235e-02 5.12286393e+02] [ 1.35356126e-01 9.90778976e-01 -5.97829730e-03 4.56778916e+01] [ 5.09870023e-02 -9.39547901e-04 9.98698875e-01 2.42285036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.32, Y:45.68, Z:24.23 [[ 9.88778588e-01 -1.40718364e-01 -5.01522376e-02 5.12317540e+02] [ 1.40598828e-01 9.90048943e-01 -5.92110817e-03 4.56765993e+01] [ 5.04863785e-02 -1.19668085e-03 9.98724033e-01 2.42298963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.35, Y:45.68, Z:24.23 [[ 9.88464210e-01 -1.42866046e-01 -5.02772256e-02 5.12346950e+02] [ 1.42748684e-01 9.89741167e-01 -5.93592126e-03 4.56769383e+01] [ 5.06094816e-02 -1.30956208e-03 9.98717661e-01 2.42312119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.38, Y:45.68, Z:24.23 [[ 9.88211906e-01 -1.44629615e-01 -5.01946584e-02 5.12377489e+02] [ 1.44514866e-01 9.89484878e-01 -5.92703878e-03 4.56791995e+01] [ 5.05240808e-02 -1.39670406e-03 9.98721866e-01 2.42327425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.41, Y:45.68, Z:24.23 [[ 9.87613701e-01 -1.48542673e-01 -5.05395998e-02 5.12407044e+02] [ 1.48431451e-01 9.88904692e-01 -5.96783054e-03 4.56781666e+01] [ 5.08653249e-02 -1.60775491e-03 9.98704227e-01 2.42340206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.44, Y:45.68, Z:24.24 [[ 9.87608429e-01 -1.48577762e-01 -5.05394860e-02 5.12435978e+02] [ 1.48466536e-01 9.88899419e-01 -5.96879378e-03 4.56816136e+01] [ 5.08652984e-02 -1.60859138e-03 9.98704227e-01 2.42354071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.47, Y:45.68, Z:24.24 [[ 9.87287782e-01 -1.50659413e-01 -5.06416581e-02 5.12465076e+02] [ 1.50550373e-01 9.88584236e-01 -5.98274863e-03 4.56812205e+01] [ 5.09649023e-02 -1.71742590e-03 9.98698968e-01 2.42360916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.49, Y:45.68, Z:24.24 [[ 9.86924075e-01 -1.53138313e-01 -5.02944062e-02 5.12494132e+02] [ 1.53033840e-01 9.88203070e-01 -5.94440266e-03 4.56823179e+01] [ 5.06114024e-02 -1.83007200e-03 9.98716745e-01 2.42376036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.52, Y:45.69, Z:24.24 [[ 9.86478718e-01 -1.55974305e-01 -5.03165542e-02 5.12523982e+02] [ 1.55873290e-01 9.87759141e-01 -5.94958829e-03 4.56858978e+01] [ 5.06286192e-02 -1.97386459e-03 9.98715599e-01 2.42390621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.56, Y:45.68, Z:24.24 [[ 9.85412579e-01 -1.62425795e-01 -5.07928166e-02 5.12555207e+02] [ 1.62331352e-01 9.86718020e-01 -6.00679581e-03 4.56838729e+01] [ 5.10938460e-02 -2.32609445e-03 9.98691148e-01 2.42400490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.58, Y:45.68, Z:24.24 [[ 9.84770785e-01 -1.66134854e-01 -5.12416874e-02 5.12584372e+02] [ 1.66043721e-01 9.86099770e-01 -6.06020358e-03 4.56826220e+01] [ 5.15362272e-02 -2.54044902e-03 9.98667894e-01 2.42406832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.61, Y:45.68, Z:24.24 [[ 9.84142849e-01 -1.69534161e-01 -5.21634138e-02 5.12614181e+02] [ 1.69444381e-01 9.85520431e-01 -6.17106938e-03 4.56839368e+01] [ 5.24543171e-02 -2.76558355e-03 9.98619495e-01 2.42416189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.64, Y:45.69, Z:24.24 [[ 9.83552217e-01 -1.72732523e-01 -5.28063597e-02 5.12644834e+02] [ 1.72645061e-01 9.84964286e-01 -6.24800028e-03 4.56852479e+01] [ 5.30916113e-02 -2.97152264e-03 9.98585225e-01 2.42421691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.67, Y:45.68, Z:24.24 [[ 9.82543520e-01 -1.77876743e-01 -5.44802283e-02 5.12674716e+02] [ 1.77791518e-01 9.84047064e-01 -6.44605762e-03 4.56843980e+01] [ 5.47577125e-02 -3.35259034e-03 9.98494043e-01 2.42420755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.70, Y:45.69, Z:24.24 [[ 9.82212232e-01 -1.79462248e-01 -5.52488272e-02 5.12703763e+02] [ 1.79377073e-01 9.83758673e-01 -6.53747945e-03 4.56873124e+01] [ 5.55247437e-02 -3.48918061e-03 9.98451215e-01 2.42428835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.73, Y:45.69, Z:24.24 [[ 9.81947367e-01 -1.80765272e-01 -5.57071290e-02 5.12732142e+02] [ 1.80680499e-01 9.83519722e-01 -6.59646774e-03 4.56912303e+01] [ 5.59814723e-02 -3.58780773e-03 9.98425361e-01 2.42442025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.76, Y:45.70, Z:24.25 [[ 9.81783032e-01 -1.81568278e-01 -5.59914069e-02 5.12760452e+02] [ 1.81483236e-01 9.83371604e-01 -6.64257161e-03 4.57007261e+01] [ 5.62664399e-02 -3.63993762e-03 9.98409154e-01 2.42465079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.79, Y:45.71, Z:24.25 [[ 9.81788635e-01 -1.81530057e-01 -5.60170929e-02 5.12790058e+02] [ 1.81444756e-01 9.83378670e-01 -6.64773797e-03 4.57056052e+01] [ 5.62927786e-02 -3.63733416e-03 9.98407679e-01 2.42480418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.82, Y:45.71, Z:24.25 [[ 9.81876028e-01 -1.81103542e-01 -5.58656711e-02 5.12818013e+02] [ 1.81017869e-01 9.83457443e-01 -6.63235295e-03 4.57055794e+01] [ 5.61426527e-02 -3.60053636e-03 9.98416265e-01 2.42491325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.85, Y:45.71, Z:24.25 [[ 9.82011231e-01 -1.80428002e-01 -5.56747575e-02 5.12846632e+02] [ 1.80341474e-01 9.83581812e-01 -6.61607514e-03 4.57119799e+01] [ 5.59544041e-02 -3.54340775e-03 9.98427037e-01 2.42509513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.87, Y:45.72, Z:24.25 [[ 9.82269083e-01 -1.79107316e-01 -5.53896982e-02 5.12874902e+02] [ 1.79018933e-01 9.83823533e-01 -6.59381670e-03 4.57177598e+01] [ 5.56746894e-02 -3.43890237e-03 9.98443039e-01 2.42526251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.90, Y:45.73, Z:24.25 [[ 9.82569037e-01 -1.77557021e-01 -5.50598892e-02 5.12903643e+02] [ 1.77467059e-01 9.84104889e-01 -6.55822813e-03 4.57266921e+01] [ 5.53491656e-02 -3.32740472e-03 9.98461516e-01 2.42548460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.93, Y:45.74, Z:24.26 [[ 9.83347738e-01 -1.73453024e-01 -5.42335161e-02 5.12933392e+02] [ 1.73359424e-01 9.84837427e-01 -6.46154913e-03 4.57362934e+01] [ 5.45319717e-02 -3.04794139e-03 9.98507373e-01 2.42574814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.96, Y:45.74, Z:24.26 [[ 9.83767434e-01 -1.71189686e-01 -5.38119611e-02 5.12962559e+02] [ 1.71094134e-01 9.85233823e-01 -6.41180226e-03 4.57431197e+01] [ 5.41149986e-02 -2.89918863e-03 9.98530501e-01 2.42592352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:512.99, Y:45.75, Z:24.26 [[ 9.84244688e-01 -1.68533839e-01 -5.34671694e-02 5.12991526e+02] [ 1.68435520e-01 9.85692077e-01 -6.37221726e-03 4.57485883e+01] [ 5.37760995e-02 -2.73394948e-03 9.98549276e-01 2.42606906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.02, Y:45.76, Z:24.26 [[ 9.84645996e-01 -1.66205471e-01 -5.33666903e-02 5.13021240e+02] [ 1.66104201e-01 9.86087706e-01 -6.35856158e-03 4.57555991e+01] [ 5.36810649e-02 -2.60349923e-03 9.98554738e-01 2.42624024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.05, Y:45.76, Z:24.26 [[ 9.85410048e-01 -1.61525213e-01 -5.36343523e-02 5.13049755e+02] [ 1.61416000e-01 9.86865764e-01 -6.39057685e-03 4.57633826e+01] [ 5.39621453e-02 -2.36010396e-03 9.98540193e-01 2.42631025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.08, Y:45.77, Z:24.26 [[ 9.85731002e-01 -1.59491789e-01 -5.38215613e-02 5.13080053e+02] [ 1.59378745e-01 9.87196678e-01 -6.41367217e-03 4.57707661e+01] [ 5.41553945e-02 -2.25585741e-03 9.98529972e-01 2.42642430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.11, Y:45.78, Z:24.26 [[ 9.86357698e-01 -1.55115951e-01 -5.51138229e-02 5.13109963e+02] [ 1.54990651e-01 9.87894112e-01 -6.56665372e-03 4.57796690e+01] [ 5.54652139e-02 -2.06505785e-03 9.98458485e-01 2.42647011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.14, Y:45.79, Z:24.27 [[ 9.86678277e-01 -1.52830591e-01 -5.57565132e-02 5.13139295e+02] [ 1.52698757e-01 9.88250458e-01 -6.64237470e-03 4.57856248e+01] [ 5.61165577e-02 -1.96006342e-03 9.98422300e-01 2.42653932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.17, Y:45.79, Z:24.27 [[ 9.87047907e-01 -1.50443328e-01 -5.57066790e-02 5.13169093e+02] [ 1.50307933e-01 9.88616955e-01 -6.63643785e-03 4.57926635e+01] [ 5.60709751e-02 -1.82267366e-03 9.98425122e-01 2.42666927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.20, Y:45.80, Z:24.27 [[ 9.87394650e-01 -1.47865210e-01 -5.64595944e-02 5.13197725e+02] [ 1.47721902e-01 9.89006064e-01 -6.72645951e-03 4.57983961e+01] [ 5.68334905e-02 -1.69864856e-03 9.98382226e-01 2.42673985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.23, Y:45.81, Z:24.27 [[ 9.87838248e-01 -1.44753863e-01 -5.67619125e-02 5.13227563e+02] [ 1.44603790e-01 9.89466518e-01 -6.76414173e-03 4.58072272e+01] [ 5.71431476e-02 -1.52610977e-03 9.98364829e-01 2.42689901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.26, Y:45.82, Z:24.27 [[ 9.88765949e-01 -1.38193782e-01 -5.69594261e-02 5.13256727e+02] [ 1.38031783e-01 9.90404541e-01 -6.78767882e-03 4.58198861e+01] [ 5.73508893e-02 -1.15078547e-03 9.98353420e-01 2.42711955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.29, Y:45.82, Z:24.27 [[ 9.89353697e-01 -1.34100223e-01 -5.65366484e-02 5.13286785e+02] [ 1.33933951e-01 9.90967360e-01 -6.73712545e-03 4.58246823e+01] [ 5.69294232e-02 -9.06776729e-04 9.98377793e-01 2.42710891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.32, Y:45.83, Z:24.27 [[ 9.89910299e-01 -1.30008268e-01 -5.63511283e-02 5.13317196e+02] [ 1.29836527e-01 9.91512683e-01 -6.71381450e-03 4.58346743e+01] [ 5.67457098e-02 -6.70360665e-04 9.98388439e-01 2.42743426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.35, Y:45.84, Z:24.28 [[ 9.90469574e-01 -1.25819406e-01 -5.60312480e-02 5.13346654e+02] [ 1.25643008e-01 9.92053069e-01 -6.67397604e-03 4.58423879e+01] [ 5.64256873e-02 -4.29564325e-04 9.98406709e-01 2.42761146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.38, Y:45.85, Z:24.28 [[ 9.91021728e-01 -1.21695968e-01 -5.53717144e-02 5.13376254e+02] [ 1.21517267e-01 9.92567405e-01 -6.59541788e-03 4.58501852e+01] [ 5.57627946e-02 -1.92416956e-04 9.98444026e-01 2.42780446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.41, Y:45.86, Z:24.28 [[ 9.91485917e-01 -1.18060948e-01 -5.49298492e-02 5.13406299e+02] [ 1.17879513e-01 9.93006351e-01 -6.54278658e-03 4.58575860e+01] [ 5.53181367e-02 1.19768887e-05 9.98468779e-01 2.42799966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.44, Y:45.87, Z:24.28 [[ 9.92183006e-01 -1.12347926e-01 -5.43215009e-02 5.13435949e+02] [ 1.12161929e-01 9.93668877e-01 -6.47032520e-03 4.58668812e+01] [ 5.47045124e-02 3.26942390e-04 9.98502534e-01 2.42822504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.47, Y:45.87, Z:24.28 [[ 9.92407504e-01 -1.10401237e-01 -5.42117501e-02 5.13466244e+02] [ 1.10213095e-01 9.93887005e-01 -6.45712541e-03 4.58724573e+01] [ 5.45932286e-02 4.33254947e-04 9.98508584e-01 2.42834378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.50, Y:45.88, Z:24.29 [[ 9.92582063e-01 -1.09140809e-01 -5.35642828e-02 5.13497457e+02] [ 1.08955362e-01 9.94026176e-01 -6.37892714e-03 4.58767441e+01] [ 5.39405004e-02 4.95492839e-04 9.98544029e-01 2.42851546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.53, Y:45.88, Z:24.29 [[ 9.92557931e-01 -1.09658530e-01 -5.29505489e-02 5.13527799e+02] [ 1.09478145e-01 9.93969212e-01 -6.30401472e-03 4.58808187e+01] [ 5.33225044e-02 4.60171936e-04 9.98577237e-01 2.42865513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.56, Y:45.88, Z:24.29 [[ 9.92380018e-01 -1.11223440e-01 -5.30211861e-02 5.13558576e+02] [ 1.11044852e-01 9.93795354e-01 -6.31156087e-03 4.58835669e+01] [ 5.33942019e-02 3.75737144e-04 9.98573441e-01 2.42879354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.59, Y:45.89, Z:24.29 [[ 9.92220215e-01 -1.12634592e-01 -5.30329470e-02 5.13589013e+02] [ 1.12457938e-01 9.93636432e-01 -6.31296087e-03 4.58860424e+01] [ 5.34065260e-02 2.99871514e-04 9.98572808e-01 2.42890324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.62, Y:45.89, Z:24.29 [[ 9.91729328e-01 -1.16577325e-01 -5.36904854e-02 5.13620069e+02] [ 1.16402043e-01 9.93181615e-01 -6.39099449e-03 4.58861876e+01] [ 5.40694480e-02 8.84544646e-05 9.98537174e-01 2.42901974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.65, Y:45.89, Z:24.29 [[ 9.91494241e-01 -1.18433410e-01 -5.39694095e-02 5.13651479e+02] [ 1.18259157e-01 9.92961997e-01 -6.42220404e-03 4.58878555e+01] [ 5.43501761e-02 -1.47985490e-05 9.98521937e-01 2.42914942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.68, Y:45.89, Z:24.29 [[ 9.91256746e-01 -1.20351957e-01 -5.40876216e-02 5.13682596e+02] [ 1.20179901e-01 9.92731279e-01 -6.43426711e-03 4.58894124e+01] [ 5.44688504e-02 -1.22234338e-04 9.98515463e-01 2.42930281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.71, Y:45.89, Z:24.29 [[ 9.91066507e-01 -1.21936328e-01 -5.40251022e-02 5.13712607e+02] [ 1.21767139e-01 9.92537902e-01 -6.42468478e-03 4.58907683e+01] [ 5.44053641e-02 -2.11192218e-04 9.98518909e-01 2.42941321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.74, Y:45.89, Z:24.30 [[ 9.90827274e-01 -1.23959610e-01 -5.38082467e-02 5.13743879e+02] [ 1.23794919e-01 9.92287212e-01 -6.39591843e-03 4.58909343e+01] [ 5.41860706e-02 -3.23937131e-04 9.98530803e-01 2.42957974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.77, Y:45.89, Z:24.30 [[ 9.90731400e-01 -1.24906741e-01 -5.33816300e-02 5.13774112e+02] [ 1.24746125e-01 9.92168416e-01 -6.34338086e-03 4.58925364e+01] [ 5.37558983e-02 -3.74564915e-04 9.98554036e-01 2.42972307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.045099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.81, Y:45.89, Z:24.30 [[ 9.90704154e-01 -1.25194937e-01 -5.32119053e-02 5.13805592e+02] [ 1.25035814e-01 9.92132086e-01 -6.32213502e-03 4.58949038e+01] [ 5.35847379e-02 -3.90028490e-04 9.98563230e-01 2.42989229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.075099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.84, Y:45.90, Z:24.30 [[ 9.90665740e-01 -1.25441046e-01 -5.33473027e-02 5.13835493e+02] [ 1.25281569e-01 9.92100992e-01 -6.33636526e-03 4.58965796e+01] [ 5.37207522e-02 -4.06213817e-04 9.98555915e-01 2.43001699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.87, Y:45.90, Z:24.30 [[ 9.90615945e-01 -1.25713674e-01 -5.36294862e-02 5.13865692e+02] [ 1.25552951e-01 9.92066476e-01 -6.36901452e-03 4.58972611e+01] [ 5.40046876e-02 -4.24092900e-04 9.98540592e-01 2.43008909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.90, Y:45.90, Z:24.30 [[ 9.90580921e-01 -1.25985265e-01 -5.36390956e-02 5.13896245e+02] [ 1.25824882e-01 9.92032016e-01 -6.37015573e-03 4.58993843e+01] [ 5.40142459e-02 -4.38978148e-04 9.98540069e-01 2.43020776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.165099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.93, Y:45.90, Z:24.30 [[ 9.90490311e-01 -1.26501252e-01 -5.40959939e-02 5.13926588e+02] [ 1.26338892e-01 9.91966336e-01 -6.42441677e-03 4.59014611e+01] [ 5.44741016e-02 -4.71105369e-04 9.98515073e-01 2.43033928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.195099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.96, Y:45.90, Z:24.30 [[ 9.90328757e-01 -1.27566426e-01 -5.45505220e-02 5.13956522e+02] [ 1.27402938e-01 9.91829885e-01 -6.47839633e-03 4.59037571e+01] [ 5.49312638e-02 -5.34154590e-04 9.98489995e-01 2.43049555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:513.99, Y:45.91, Z:24.31 [[ 9.90146263e-01 -1.28779153e-01 -5.50118943e-02 5.13986925e+02] [ 1.28614756e-01 9.91673112e-01 -6.53318871e-03 4.59056906e+01] [ 5.53951550e-02 -6.06528999e-04 9.98464325e-01 2.43065038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.02, Y:45.90, Z:24.31 [[ 9.89633268e-01 -1.32602867e-01 -5.51586266e-02 5.14017113e+02] [ 1.32443514e-01 9.91168908e-01 -6.55076154e-03 4.59039824e+01] [ 5.55401655e-02 -8.22550775e-04 9.98456115e-01 2.43073001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.285099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.05, Y:45.90, Z:24.31 [[ 9.89309793e-01 -1.34922528e-01 -5.53357551e-02 5.14046872e+02] [ 1.34765716e-01 9.90855691e-01 -6.57281929e-03 4.59038429e+01] [ 5.57165693e-02 -9.54808197e-04 9.98446169e-01 2.43081143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.315099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.08, Y:45.91, Z:24.31 [[ 9.88959637e-01 -1.37705905e-01 -5.47349969e-02 5.14077684e+02] [ 1.37556690e-01 9.90472552e-01 -6.50231270e-03 4.59052253e+01] [ 5.51089189e-02 -1.09864022e-03 9.98479744e-01 2.43099003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.11, Y:45.91, Z:24.31 [[ 9.88578111e-01 -1.40523005e-01 -5.44665417e-02 5.14107707e+02] [ 1.40379513e-01 9.90076625e-01 -6.47055337e-03 4.59054472e+01] [ 5.48353114e-02 -1.24933920e-03 9.98494631e-01 2.43114398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.14, Y:45.90, Z:24.31 [[ 9.87696641e-01 -1.46640122e-01 -5.43324913e-02 5.14138582e+02] [ 1.46506523e-01 9.89188640e-01 -6.45548287e-03 4.59039386e+01] [ 5.46917160e-02 -1.58400564e-03 9.98502032e-01 2.43125260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.405099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.17, Y:45.91, Z:24.31 [[ 9.87192573e-01 -1.50116981e-01 -5.39973614e-02 5.14168999e+02] [ 1.49990215e-01 9.88666665e-01 -6.41566461e-03 4.59057906e+01] [ 5.43484914e-02 -1.76557939e-03 9.98520468e-01 2.43139323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.43509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.20, Y:45.91, Z:24.31 [[ 9.86631333e-01 -1.53677871e-01 -5.42376610e-02 5.14198971e+02] [ 1.53555333e-01 9.88119036e-01 -6.44434620e-03 4.59064584e+01] [ 5.45836187e-02 -1.97028823e-03 9.98507259e-01 2.43149896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.23, Y:45.90, Z:24.32 [[ 9.85407690e-01 -1.61216594e-01 -5.45975693e-02 5.14229540e+02] [ 1.61103903e-01 9.86916125e-01 -6.48803944e-03 4.59042918e+01] [ 5.49292011e-02 -2.40251755e-03 9.98487361e-01 2.43155012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.49509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.26, Y:45.90, Z:24.32 [[ 9.84733267e-01 -1.65318740e-01 -5.44986827e-02 5.14258659e+02] [ 1.65212692e-01 9.86236695e-01 -6.47674593e-03 4.59040181e+01] [ 5.48193282e-02 -2.62600688e-03 9.98492837e-01 2.43165083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.29, Y:45.90, Z:24.32 [[ 9.84091863e-01 -1.69143107e-01 -5.43490008e-02 5.14287887e+02] [ 1.69043387e-01 9.85587439e-01 -6.46009530e-03 4.59029805e+01] [ 5.46583731e-02 -2.83001196e-03 9.98501103e-01 2.43174560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.555099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.32, Y:45.91, Z:24.32 [[ 9.84085814e-01 -1.69178375e-01 -5.43487675e-02 5.14316843e+02] [ 1.69078601e-01 9.85581386e-01 -6.46205708e-03 4.59064538e+01] [ 5.46583740e-02 -2.82999489e-03 9.98501103e-01 2.43188438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.585099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.35, Y:45.91, Z:24.32 [[ 9.83486888e-01 -1.72687660e-01 -5.41526914e-02 5.14346840e+02] [ 1.72593801e-01 9.84972030e-01 -6.44057611e-03 4.59075989e+01] [ 5.44510943e-02 -3.01219667e-03 9.98511895e-01 2.43206315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.38, Y:45.91, Z:24.32 [[ 9.82981239e-01 -1.75642176e-01 -5.38303869e-02 5.14376098e+02] [ 1.75553782e-01 9.84449017e-01 -6.40333242e-03 4.59082260e+01] [ 5.41179667e-02 -3.15577235e-03 9.98529562e-01 2.43220769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.41, Y:45.91, Z:24.32 [[ 9.82456174e-01 -1.78801897e-01 -5.30070605e-02 5.14406229e+02] [ 1.78720666e-01 9.83879639e-01 -6.30717173e-03 4.59104595e+01] [ 5.32803018e-02 -3.27693735e-03 9.98574219e-01 2.43242604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.675099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.44, Y:45.91, Z:24.33 [[ 9.82359420e-01 -1.79388420e-01 -5.28182321e-02 5.14435833e+02] [ 1.79308554e-01 9.83772805e-01 -6.28574396e-03 4.59139870e+01] [ 5.30887300e-02 -3.29590104e-03 9.98584360e-01 2.43258889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.705099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.47, Y:45.92, Z:24.33 [[ 9.82399329e-01 -1.79328298e-01 -5.22773377e-02 5.14465798e+02] [ 1.79249896e-01 9.83783894e-01 -6.22284740e-03 4.59237844e+01] [ 5.25455355e-02 -3.25738624e-03 9.98613216e-01 2.43281363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.50, Y:45.93, Z:24.33 [[ 9.82487613e-01 -1.79008762e-01 -5.17102872e-02 5.14497150e+02] [ 1.78931710e-01 9.83842253e-01 -6.15341735e-03 4.59292863e+01] [ 5.19762811e-02 -3.20695379e-03 9.98643170e-01 2.43301403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.53, Y:45.93, Z:24.33 [[ 9.82512327e-01 -1.79095065e-01 -5.09360908e-02 5.14527621e+02] [ 1.79020520e-01 9.83826681e-01 -6.05928954e-03 4.59300924e+01] [ 5.11974740e-02 -3.16527879e-03 9.98683533e-01 2.43321257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.795099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.56, Y:45.93, Z:24.33 [[ 9.82320380e-01 -1.79680235e-01 -5.25517219e-02 5.14558197e+02] [ 1.79601776e-01 9.83719540e-01 -6.25047754e-03 4.59327633e+01] [ 5.28192430e-02 -3.29841113e-03 9.98598642e-01 2.43325052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.825099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.59, Y:45.94, Z:24.33 [[ 9.82257471e-01 -1.79454038e-01 -5.44656593e-02 5.14588019e+02] [ 1.79369453e-01 9.83760459e-01 -6.47749689e-03 4.59363689e+01] [ 5.47435749e-02 -3.40690582e-03 9.98494634e-01 2.43313745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.62, Y:45.94, Z:24.33 [[ 9.82310818e-01 -1.78634080e-01 -5.61722562e-02 5.14618013e+02] [ 1.78542684e-01 9.83909477e-01 -6.68219359e-03 4.59440964e+01] [ 5.64620827e-02 -3.46515434e-03 9.98398731e-01 2.43316921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.65, Y:45.95, Z:24.33 [[ 9.82567856e-01 -1.77216033e-01 -5.61683700e-02 5.14647685e+02] [ 1.77122343e-01 9.84166160e-01 -6.68173128e-03 4.59509003e+01] [ 5.64631189e-02 -3.38341893e-03 9.98398953e-01 2.43328470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.915099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.68, Y:45.96, Z:24.34 [[ 9.83412029e-01 -1.72872270e-01 -5.49177497e-02 5.14677483e+02] [ 1.72775954e-01 9.84939486e-01 -6.53290509e-03 4.59598356e+01] [ 5.52200183e-02 -3.06392917e-03 9.98469510e-01 2.43354661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.945099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.71, Y:45.96, Z:24.34 [[ 9.83909895e-01 -1.70100385e-01 -5.46550687e-02 5.14707275e+02] [ 1.70000744e-01 9.85422488e-01 -6.50133091e-03 4.59643241e+01] [ 5.49642127e-02 -2.89467854e-03 9.98484129e-01 2.43370666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.74, Y:45.97, Z:24.34 [[ 9.84475531e-01 -1.66910959e-01 -5.43015745e-02 5.14737479e+02] [ 1.66807771e-01 9.85968279e-01 -6.45915244e-03 4.59711238e+01] [ 5.46177333e-02 -2.69904709e-03 9.98503690e-01 2.43390273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.77, Y:45.98, Z:24.34 [[ 9.85069278e-01 -1.63395913e-01 -5.42244695e-02 5.14767591e+02] [ 1.63287759e-01 9.86557407e-01 -6.44899186e-03 4.59795462e+01] [ 5.45492909e-02 -2.50148836e-03 9.98507946e-01 2.43412589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.035099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.80, Y:45.99, Z:24.34 [[ 9.85658046e-01 -1.59851640e-01 -5.40894560e-02 5.14798578e+02] [ 1.59738767e-01 9.87138369e-01 -6.43168882e-03 4.59874682e+01] [ 5.44218934e-02 -2.30073715e-03 9.98515380e-01 2.43432043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.065099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.83, Y:46.00, Z:24.34 [[ 9.86670943e-01 -1.53519584e-01 -5.39646972e-02 5.14827694e+02] [ 1.53397908e-01 9.88143683e-01 -6.41434606e-03 4.59955627e+01] [ 5.43096024e-02 -1.94922280e-03 9.98522242e-01 2.43446461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.86, Y:46.00, Z:24.35 [[ 9.87189469e-01 -1.50317049e-01 -5.34952095e-02 5.14858882e+02] [ 1.50192791e-01 9.88636281e-01 -6.35844342e-03 4.60017629e+01] [ 5.38430874e-02 -1.75760645e-03 9.98547862e-01 2.43466102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.89, Y:46.01, Z:24.35 [[ 9.87698917e-01 -1.47227534e-01 -5.26773408e-02 5.14889808e+02] [ 1.47102807e-01 9.89101408e-01 -6.25843638e-03 4.60076829e+01] [ 5.30246461e-02 -1.56753384e-03 9.98591974e-01 2.43483799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.155099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.92, Y:46.01, Z:24.35 [[ 9.88748754e-01 -1.40288486e-01 -5.19137991e-02 5.14920096e+02] [ 1.40157884e-01 9.90109968e-01 -6.16589227e-03 4.60149372e+01] [ 5.22653737e-02 -1.17960996e-03 9.98632535e-01 2.43504994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.18509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.95, Y:46.02, Z:24.35 [[ 9.89323893e-01 -1.36279879e-01 -5.16336141e-02 5.14951030e+02] [ 1.36145281e-01 9.90669908e-01 -6.13158327e-03 4.60208080e+01] [ 5.19874792e-02 -9.63551052e-04 9.98647272e-01 2.43522731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:514.98, Y:46.03, Z:24.35 [[ 9.89959911e-01 -1.31872744e-01 -5.08817620e-02 5.14981481e+02] [ 1.31736315e-01 9.91266390e-01 -6.04044449e-03 4.60263994e+01] [ 5.12339506e-02 -7.23177947e-04 9.98686417e-01 2.43540021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.24509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.01, Y:46.03, Z:24.36 [[ 9.90574214e-01 -1.27362996e-01 -5.04122434e-02 5.15012048e+02] [ 1.27223327e-01 9.91856053e-01 -5.98288425e-03 4.60335517e+01] [ 5.07636868e-02 -4.87122482e-04 9.98710574e-01 2.43562295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.04, Y:46.04, Z:24.36 [[ 9.91733843e-01 -1.18841799e-01 -4.83798579e-02 5.15042146e+02] [ 1.18703113e-01 9.92913201e-01 -5.73993213e-03 4.60414951e+01] [ 4.87191435e-02 -5.03547767e-05 9.98812516e-01 2.43594006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.305099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.07, Y:46.05, Z:24.36 [[ 9.92215389e-01 -1.15078363e-01 -4.75982359e-02 5.15073822e+02] [ 1.14939919e-01 9.93356408e-01 -5.64458869e-03 4.60464501e+01] [ 4.79315827e-02 1.29710369e-04 9.98850613e-01 2.43615276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.335099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.10, Y:46.05, Z:24.36 [[ 9.92580917e-01 -1.11871159e-01 -4.76231847e-02 5.15104702e+02] [ 1.11729047e-01 9.93722680e-01 -5.64404870e-03 4.60509082e+01] [ 4.79556450e-02 2.81281973e-04 9.98849427e-01 2.43630031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.14, Y:46.05, Z:24.36 [[ 9.92846614e-01 -1.09405283e-01 -4.78130214e-02 5.15136218e+02] [ 1.09259304e-01 9.93997145e-01 -5.66392743e-03 4.60545508e+01] [ 4.81456704e-02 3.99393748e-04 9.98840245e-01 2.43642416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.17, Y:46.06, Z:24.37 [[ 9.93008146e-01 -1.07703660e-01 -4.83191793e-02 5.15167720e+02] [ 1.07552644e-01 9.94182924e-01 -5.72211325e-03 4.60561300e+01] [ 4.86543955e-02 4.85249590e-04 9.98815556e-01 2.43652627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.425099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.20, Y:46.06, Z:24.37 [[ 9.92970353e-01 -1.08225746e-01 -4.79277061e-02 5.15198852e+02] [ 1.08077860e-01 9.94126240e-01 -5.67403252e-03 4.60572100e+01] [ 4.82602666e-02 4.54222183e-04 9.98834691e-01 2.43668269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.455099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.23, Y:46.06, Z:24.37 [[ 9.92805815e-01 -1.09744660e-01 -4.78823834e-02 5.15230480e+02] [ 1.09598904e-01 9.93959741e-01 -5.66689637e-03 4.60581936e+01] [ 4.82150730e-02 3.78270917e-04 9.98836905e-01 2.43688458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.26, Y:46.06, Z:24.37 [[ 9.92540210e-01 -1.12348359e-01 -4.73474079e-02 5.15261097e+02] [ 1.12208886e-01 9.93668851e-01 -5.60184952e-03 4.60587022e+01] [ 4.76770030e-02 2.47260992e-04 9.98862774e-01 2.43705054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.29, Y:46.06, Z:24.37 [[ 9.92129779e-01 -1.15744406e-01 -4.77675067e-02 5.15292985e+02] [ 1.15606422e-01 9.93279027e-01 -5.65065644e-03 4.60577245e+01] [ 4.81004944e-02 8.39540065e-05 9.98842498e-01 2.43719249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.545099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.32, Y:46.05, Z:24.37 [[ 9.90999748e-01 -1.24576292e-01 -4.89923201e-02 5.15324353e+02] [ 1.24441998e-01 9.92209968e-01 -5.79378067e-03 4.60508631e+01] [ 4.93324361e-02 -3.55066996e-04 9.98782351e-01 2.43728931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.575099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.35, Y:46.05, Z:24.37 [[ 9.90325764e-01 -1.29834341e-01 -4.89686079e-02 5.15353966e+02] [ 1.29706594e-01 9.91535508e-01 -5.79100888e-03 4.60483173e+01] [ 4.93059854e-02 -6.16566069e-04 9.98783530e-01 2.43739823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.39, Y:46.04, Z:24.38 [[ 9.88920996e-01 -1.39977194e-01 -4.94130369e-02 5.15385139e+02] [ 1.39859703e-01 9.90154082e-01 -5.84447520e-03 4.60403230e+01] [ 4.97446134e-02 -1.13116842e-03 9.98761330e-01 2.43753054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.42, Y:46.04, Z:24.38 [[ 9.88298473e-01 -1.44412452e-01 -4.91036866e-02 5.15415779e+02] [ 1.44301850e-01 9.89516667e-01 -5.80873862e-03 4.60391047e+01] [ 4.94277705e-02 -1.34498532e-03 9.98776795e-01 2.43767835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.665099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.45, Y:46.03, Z:24.38 [[ 9.87343783e-01 -1.50937121e-01 -4.86851086e-02 5.15446159e+02] [ 1.50836306e-01 9.88541977e-01 -5.75927781e-03 4.60303551e+01] [ 4.89965623e-02 -1.65709481e-03 9.98797573e-01 2.43783180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.695099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.48, Y:46.03, Z:24.38 [[ 9.86846492e-01 -1.54356350e-01 -4.80428910e-02 5.15476483e+02] [ 1.54262135e-01 9.88013600e-01 -5.68505260e-03 4.60269188e+01] [ 4.83445536e-02 -1.80092472e-03 9.98829095e-01 2.43804171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.51, Y:46.03, Z:24.38 [[ 9.86878412e-01 -1.54192174e-01 -4.79142312e-02 5.15505848e+02] [ 1.54098179e-01 9.88039262e-01 -5.67170538e-03 4.60253346e+01] [ 4.82156743e-02 -1.78621221e-03 9.98835351e-01 2.43816266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.54, Y:46.02, Z:24.38 [[ 9.87620527e-01 -1.49311891e-01 -4.80796659e-02 5.15535159e+02] [ 1.49210892e-01 9.88788948e-01 -5.70319696e-03 4.60245611e+01] [ 4.83921974e-02 -1.54141545e-03 9.98827222e-01 2.43832985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.785099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.56, Y:46.03, Z:24.38 [[ 9.87949688e-01 -1.47026575e-01 -4.83590793e-02 5.15564332e+02] [ 1.46921580e-01 9.89131500e-01 -5.73807028e-03 4.60303065e+01] [ 4.86771374e-02 -1.43606760e-03 9.98813533e-01 2.43847167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.815099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.59, Y:46.03, Z:24.39 [[ 9.87944320e-01 -1.47062710e-01 -4.83588695e-02 5.15593263e+02] [ 1.46957672e-01 9.89126128e-01 -5.73983766e-03 4.60337692e+01] [ 4.86771374e-02 -1.43606685e-03 9.98813533e-01 2.43861032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.62, Y:46.04, Z:24.39 [[ 9.87938951e-01 -1.47098845e-01 -4.83586597e-02 5.15622193e+02] [ 1.46993763e-01 9.89120755e-01 -5.74160429e-03 4.60372330e+01] [ 4.86771374e-02 -1.43606685e-03 9.98813533e-01 2.43874898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.65, Y:46.04, Z:24.39 [[ 9.87933580e-01 -1.47134979e-01 -4.83584499e-02 5.15651124e+02] [ 1.47029854e-01 9.89115380e-01 -5.74337091e-03 4.60406978e+01] [ 4.86771373e-02 -1.43606685e-03 9.98813533e-01 2.43888763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.905099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.68, Y:46.04, Z:24.39 [[ 9.88264328e-01 -1.44793736e-01 -4.86661234e-02 5.15679241e+02] [ 1.44684341e-01 9.89460971e-01 -5.78180735e-03 4.60405869e+01] [ 4.89903992e-02 -1.32727202e-03 9.98798368e-01 2.43897431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.93509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.71, Y:46.05, Z:24.39 [[ 9.88615852e-01 -1.42172203e-01 -4.92520228e-02 5.15707496e+02] [ 1.42056662e-01 9.89841203e-01 -5.85633420e-03 4.60460550e+01] [ 4.95842894e-02 -1.20691315e-03 9.98769213e-01 2.43909821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.74, Y:46.05, Z:24.39 [[ 9.88962423e-01 -1.39608244e-01 -4.96272575e-02 5.15735815e+02] [ 1.39487068e-01 9.90206234e-01 -5.91377984e-03 4.60470158e+01] [ 4.99668322e-02 -1.07385463e-03 9.98750300e-01 2.43918019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.99509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.76, Y:46.05, Z:24.39 [[ 9.89745310e-01 -1.33449455e-01 -5.09456977e-02 5.15764103e+02] [ 1.33312947e-01 9.91055321e-01 -6.08350386e-03 4.60539969e+01] [ 5.13018451e-02 -7.70601655e-04 9.98682896e-01 2.43937368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.79, Y:46.06, Z:24.39 [[ 9.90113004e-01 -1.30505493e-01 -5.14252487e-02 5.15791584e+02] [ 1.30362227e-01 9.91447392e-01 -6.14472692e-03 4.60569185e+01] [ 5.17873493e-02 -6.19935932e-04 9.98657943e-01 2.43943374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.055099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.82, Y:46.06, Z:24.40 [[ 9.90407523e-01 -1.27845036e-01 -5.24269519e-02 5.15820291e+02] [ 1.27692099e-01 9.91794037e-01 -6.27023085e-03 4.60604678e+01] [ 5.27983562e-02 -4.84423720e-04 9.98605077e-01 2.43953529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.085099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.85, Y:46.06, Z:24.40 [[ 9.90913949e-01 -1.23081139e-01 -5.42271096e-02 5.15847518e+02] [ 1.22909656e-01 9.92396585e-01 -6.49876988e-03 4.60636118e+01] [ 5.46146744e-02 -2.25313678e-04 9.98507479e-01 2.43960336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.88, Y:46.07, Z:24.40 [[ 9.91100715e-01 -1.21458945e-01 -5.44710690e-02 5.15875467e+02] [ 1.21283110e-01 9.92596448e-01 -6.53448406e-03 4.60669470e+01] [ 5.48614611e-02 -1.30088835e-04 9.98493968e-01 2.43975917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.90, Y:46.07, Z:24.40 [[ 9.91223216e-01 -1.20201165e-01 -5.50292244e-02 5.15903534e+02] [ 1.20018858e-01 9.92749554e-01 -6.61784463e-03 4.60699099e+01] [ 5.54257106e-02 -4.47834190e-05 9.98462813e-01 2.43992042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.175099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.93, Y:46.07, Z:24.40 [[ 9.91296103e-01 -1.19597676e-01 -5.50312017e-02 5.15930370e+02] [ 1.19413588e-01 9.92822439e-01 -6.63316852e-03 4.60721864e+01] [ 5.54295235e-02 3.96082215e-06 9.98462602e-01 2.43999555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.205099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.96, Y:46.07, Z:24.40 [[ 9.91188705e-01 -1.20183316e-01 -5.56859254e-02 5.15958274e+02] [ 1.19995257e-01 9.92751716e-01 -6.72073395e-03 4.60722085e+01] [ 5.60900181e-02 -2.05313538e-05 9.98425716e-01 2.44018811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:515.99, Y:46.07, Z:24.40 [[ 9.91031942e-01 -1.21402288e-01 -5.58316561e-02 5.15986510e+02] [ 1.21214254e-01 9.92603385e-01 -6.75466542e-03 4.60735758e+01] [ 5.62387226e-02 -7.35033783e-05 9.98417348e-01 2.44035720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.01, Y:46.07, Z:24.41 [[ 9.90796960e-01 -1.23257795e-01 -5.59365728e-02 5.16014261e+02] [ 1.23071087e-01 9.92374672e-01 -6.78366674e-03 4.60746468e+01] [ 5.63461779e-02 -1.62938429e-04 9.98411279e-01 2.44054875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.295099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.04, Y:46.08, Z:24.41 [[ 9.90587791e-01 -1.24987871e-01 -5.58019727e-02 5.16042337e+02] [ 1.24803984e-01 9.92158239e-01 -6.78188529e-03 4.60753250e+01] [ 5.62120404e-02 -2.46255752e-04 9.98418823e-01 2.44069936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.325099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.07, Y:46.07, Z:24.41 [[ 9.90000068e-01 -1.29572772e-01 -5.57742156e-02 5.16071793e+02] [ 1.29395973e-01 9.91569789e-01 -6.78493282e-03 4.60727576e+01] [ 5.61831698e-02 -4.99874947e-04 9.98420353e-01 2.44094765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.10, Y:46.07, Z:24.41 [[ 9.89646429e-01 -1.32240829e-01 -5.57880749e-02 5.16100178e+02] [ 1.32067465e-01 9.91217411e-01 -6.79924288e-03 4.60726391e+01] [ 5.61972487e-02 -6.38943222e-04 9.98419481e-01 2.44112429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.13, Y:46.07, Z:24.41 [[ 9.89207647e-01 -1.35366509e-01 -5.60726332e-02 5.16128722e+02] [ 1.35196019e-01 9.90795259e-01 -6.84040450e-03 4.60732337e+01] [ 5.64824608e-02 -8.14216360e-04 9.98403260e-01 2.44133829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.415099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.16, Y:46.07, Z:24.41 [[ 9.88731547e-01 -1.38628045e-01 -5.64995002e-02 5.16157366e+02] [ 1.38459443e-01 9.90344020e-01 -6.90688874e-03 4.60728274e+01] [ 5.69114306e-02 -9.93830550e-04 9.98378736e-01 2.44147650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.445099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.19, Y:46.07, Z:24.42 [[ 9.88199272e-01 -1.42390947e-01 -5.64536655e-02 5.16185421e+02] [ 1.42228025e-01 9.89809772e-01 -6.91399112e-03 4.60718940e+01] [ 5.68628796e-02 -1.19689238e-03 9.98381280e-01 2.44160328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.21, Y:46.08, Z:24.42 [[ 9.88159339e-01 -1.42668139e-01 -5.64528379e-02 5.16212623e+02] [ 1.42505283e-01 9.89769846e-01 -6.92074191e-03 4.60753017e+01] [ 5.68626860e-02 -1.20603191e-03 9.98381280e-01 2.44173377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.24, Y:46.07, Z:24.42 [[ 9.86977660e-01 -1.50277625e-01 -5.73736434e-02 5.16243647e+02] [ 1.50121444e-01 9.88642447e-01 -7.04727418e-03 4.60727528e+01] [ 5.77810668e-02 -1.65751199e-03 9.98327903e-01 2.44188962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.535099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.27, Y:46.07, Z:24.42 [[ 9.86345201e-01 -1.54224295e-01 -5.77755294e-02 5.16272591e+02] [ 1.54072619e-01 9.88034034e-01 -7.09753445e-03 4.60691774e+01] [ 5.81788017e-02 -1.90100811e-03 9.98304369e-01 2.44189362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.565099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.30, Y:46.07, Z:24.42 [[ 9.85154362e-01 -1.61547340e-01 -5.80804579e-02 5.16303357e+02] [ 1.61406505e-01 9.86862186e-01 -7.13903803e-03 4.60709886e+01] [ 5.84707003e-02 -2.34150928e-03 9.98286379e-01 2.44218280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.33, Y:46.07, Z:24.42 [[ 9.84586346e-01 -1.64898642e-01 -5.82937825e-02 5.16332448e+02] [ 1.64762580e-01 9.86307224e-01 -7.16604346e-03 4.60711208e+01] [ 5.86772496e-02 -2.54904544e-03 9.98273751e-01 2.44229362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.36, Y:46.07, Z:24.42 [[ 9.84093967e-01 -1.67716989e-01 -5.85668510e-02 5.16361868e+02] [ 1.67584445e-01 9.85831414e-01 -7.20263364e-03 4.60749921e+01] [ 5.89450456e-02 -2.72682489e-03 9.98257505e-01 2.44248102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.655099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.39, Y:46.08, Z:24.43 [[ 9.83607656e-01 -1.70513624e-01 -5.86607469e-02 5.16391480e+02] [ 1.70385480e-01 9.85351060e-01 -7.21638259e-03 4.60774321e+01] [ 5.90319207e-02 -2.89685032e-03 9.98251892e-01 2.44263743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.68509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.42, Y:46.08, Z:24.43 [[ 9.83250679e-01 -1.72658024e-01 -5.83721615e-02 5.16419938e+02] [ 1.72534761e-01 9.84977237e-01 -7.18327381e-03 4.60782920e+01] [ 5.87355002e-02 -3.00826807e-03 9.98269048e-01 2.44275496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.45, Y:46.08, Z:24.43 [[ 9.82921696e-01 -1.74556934e-01 -5.82650476e-02 5.16448771e+02] [ 1.74437119e-01 9.84642169e-01 -7.17563512e-03 4.60818320e+01] [ 5.86227797e-02 -3.11049962e-03 9.98275360e-01 2.44293124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.74509989300003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.48, Y:46.09, Z:24.43 [[ 9.82436391e-01 -1.77389026e-01 -5.78953466e-02 5.16478307e+02] [ 1.77274883e-01 9.84135456e-01 -7.14277692e-03 4.60860725e+01] [ 5.82439136e-02 -3.24606682e-03 9.98297105e-01 2.44312396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.51, Y:46.09, Z:24.43 [[ 9.82177753e-01 -1.78652999e-01 -5.83949305e-02 5.16506298e+02] [ 1.78538937e-01 9.83906451e-01 -7.20725463e-03 4.60896454e+01] [ 5.87427464e-02 -3.34696362e-03 9.98267543e-01 2.44323727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.805099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.53, Y:46.09, Z:24.43 [[ 9.81960663e-01 -1.79815082e-01 -5.84789994e-02 5.16534707e+02] [ 1.79702306e-01 9.83694505e-01 -7.22503180e-03 4.60934735e+01] [ 5.88246401e-02 -3.41411406e-03 9.98262493e-01 2.44337590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.835099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.56, Y:46.09, Z:24.43 [[ 9.81768939e-01 -1.80896192e-01 -5.83636774e-02 5.16562234e+02] [ 1.80784962e-01 9.83496114e-01 -7.22438440e-03 4.60940575e+01] [ 5.87073135e-02 -3.45859901e-03 9.98269247e-01 2.44343828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.59, Y:46.10, Z:24.44 [[ 9.81561041e-01 -1.82017317e-01 -5.83748207e-02 5.16590765e+02] [ 1.81907542e-01 9.83289031e-01 -7.23385914e-03 4.60973739e+01] [ 5.87160085e-02 -3.51834584e-03 9.98268527e-01 2.44354411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.62, Y:46.10, Z:24.44 [[ 9.81190298e-01 -1.83999192e-01 -5.83943202e-02 5.16619781e+02] [ 1.83892108e-01 9.82919707e-01 -7.24863954e-03 4.61037791e+01] [ 5.87306719e-02 -3.62595983e-03 9.98267279e-01 2.44371634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.925099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.65, Y:46.11, Z:24.44 [[ 9.81018701e-01 -1.84868038e-01 -5.85330360e-02 5.16647437e+02] [ 1.84761820e-01 9.82756448e-01 -7.26864474e-03 4.61051002e+01] [ 5.88674586e-02 -3.68399385e-03 9.98259010e-01 2.44381538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.955099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.68, Y:46.11, Z:24.44 [[ 9.80800684e-01 -1.85988084e-01 -5.86383116e-02 5.16675589e+02] [ 1.85883044e-01 9.82544841e-01 -7.28902906e-03 4.61124432e+01] [ 5.89704431e-02 -3.75078315e-03 9.98252683e-01 2.44398451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.70, Y:46.12, Z:24.44 [[ 9.80605717e-01 -1.86899350e-01 -5.90005090e-02 5.16703895e+02] [ 1.86793733e-01 9.82371664e-01 -7.34946852e-03 4.61168005e+01] [ 5.93340391e-02 -3.81399449e-03 9.98230898e-01 2.44410019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.73, Y:46.12, Z:24.44 [[ 9.80276212e-01 -1.88278931e-01 -6.00798770e-02 5.16733266e+02] [ 1.88171212e-01 9.82107627e-01 -7.49687780e-03 4.61231998e+01] [ 6.04164096e-02 -3.95629229e-03 9.98165420e-01 2.44419569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.76, Y:46.13, Z:24.44 [[ 9.80194154e-01 -1.88623864e-01 -6.03362032e-02 5.16761227e+02] [ 1.88515694e-01 9.82041295e-01 -7.53183913e-03 4.61254136e+01] [ 6.06733277e-02 -3.99165653e-03 9.98149695e-01 2.44427520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.79, Y:46.13, Z:24.44 [[ 9.80126598e-01 -1.88936557e-01 -6.04551803e-02 5.16788093e+02] [ 1.88828049e-01 9.81981105e-01 -7.55494547e-03 4.61317330e+01] [ 6.07932502e-02 -4.01083075e-03 9.98142322e-01 2.44443271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.82, Y:46.14, Z:24.45 [[ 9.80502622e-01 -1.87077865e-01 -6.01371804e-02 5.16817189e+02] [ 1.86966168e-01 9.82337500e-01 -7.52918637e-03 4.61415868e+01] [ 6.04835515e-02 -3.86123117e-03 9.98161726e-01 2.44466923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.84, Y:46.15, Z:24.45 [[ 9.80795432e-01 -1.85627393e-01 -5.98564174e-02 5.16844559e+02] [ 1.85513926e-01 9.82613043e-01 -7.49605232e-03 4.61470543e+01] [ 6.02071691e-02 -3.75210508e-03 9.98178851e-01 2.44482267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.87, Y:46.16, Z:24.45 [[ 9.81143176e-01 -1.83829632e-01 -5.97053971e-02 5.16872613e+02] [ 1.83712982e-01 9.82951435e-01 -7.48445690e-03 4.61579717e+01] [ 6.00633707e-02 -3.62533272e-03 9.98187983e-01 2.44511102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.90, Y:46.16, Z:24.45 [[ 9.81574010e-01 -1.81567125e-01 -5.95469766e-02 5.16901266e+02] [ 1.81446235e-01 9.83372446e-01 -7.47642691e-03 4.61644046e+01] [ 5.99143294e-02 -3.46590840e-03 9.98197506e-01 2.44525623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.93, Y:46.18, Z:24.45 [[ 9.82571980e-01 -1.76201397e-01 -5.92061892e-02 5.16929340e+02] [ 1.76072055e-01 9.84349198e-01 -7.43563078e-03 4.61752677e+01] [ 5.95897334e-02 -3.11851297e-03 9.98218082e-01 2.44547431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.96, Y:46.18, Z:24.46 [[ 9.83024603e-01 -1.73694735e-01 -5.90996516e-02 5.16958498e+02] [ 1.73561270e-01 9.84795094e-01 -7.42347892e-03 4.61828168e+01] [ 5.94904662e-02 -2.95994816e-03 9.98224485e-01 2.44564620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:516.99, Y:46.19, Z:24.46 [[ 9.83537635e-01 -1.70944843e-01 -5.85797016e-02 5.16987655e+02] [ 1.70808789e-01 9.85276712e-01 -7.35921822e-03 4.61905475e+01] [ 5.89752362e-02 -2.76785981e-03 9.98255609e-01 2.44581692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.02, Y:46.20, Z:24.46 [[ 9.83930975e-01 -1.68684519e-01 -5.85266562e-02 5.17015495e+02] [ 1.68544622e-01 9.85666589e-01 -7.35425431e-03 4.62006818e+01] [ 5.89283185e-02 -2.62827456e-03 9.98258757e-01 2.44605762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.04, Y:46.21, Z:24.46 [[ 9.84527946e-01 -1.64890654e-01 -5.92941398e-02 5.17044696e+02] [ 1.64739972e-01 9.86308863e-01 -7.45448729e-03 4.62106530e+01] [ 5.97115109e-02 -2.42896385e-03 9.98212721e-01 2.44616468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.07, Y:46.21, Z:24.46 [[ 9.84674734e-01 -1.63854017e-01 -5.97288048e-02 5.17072203e+02] [ 1.63699057e-01 9.86481724e-01 -7.51174246e-03 4.62139227e+01] [ 6.01522035e-02 -2.38092602e-03 9.98186377e-01 2.44620770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.10, Y:46.22, Z:24.46 [[ 9.84760089e-01 -1.63189766e-01 -6.01387377e-02 5.17100000e+02] [ 1.63030844e-01 9.86591908e-01 -7.57307076e-03 4.62205678e+01] [ 6.05682397e-02 -2.34681132e-03 9.98161300e-01 2.44636378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.13, Y:46.23, Z:24.46 [[ 9.84777009e-01 -1.63064165e-01 -6.02023259e-02 5.17128447e+02] [ 1.62903755e-01 9.86612723e-01 -7.59617836e-03 4.62258227e+01] [ 6.06350451e-02 -2.32664312e-03 9.98157291e-01 2.44647699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.16, Y:46.23, Z:24.47 [[ 9.84840487e-01 -1.62766782e-01 -5.99682416e-02 5.17156406e+02] [ 1.62606160e-01 9.86661926e-01 -7.58163489e-03 4.62331973e+01] [ 6.04024191e-02 -2.28450450e-03 9.98171493e-01 2.44666014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.18, Y:46.24, Z:24.47 [[ 9.84842451e-01 -1.62865658e-01 -5.96667689e-02 5.17183087e+02] [ 1.62705964e-01 9.86645655e-01 -7.55785636e-03 4.62372017e+01] [ 6.01008735e-02 -2.26484139e-03 9.98189739e-01 2.44679847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.21, Y:46.25, Z:24.47 [[ 9.84891337e-01 -1.62720312e-01 -5.92549919e-02 5.17210791e+02] [ 1.62561811e-01 9.86669720e-01 -7.51810488e-03 4.62450354e+01] [ 5.96884546e-02 -2.22808238e-03 9.98214568e-01 2.44706277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.24, Y:46.25, Z:24.47 [[ 9.85042329e-01 -1.61956052e-01 -5.88374699e-02 5.17238567e+02] [ 1.61797640e-01 9.86795622e-01 -7.47821141e-03 4.62475302e+01] [ 5.92716993e-02 -2.15340898e-03 9.98239565e-01 2.44711880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.27, Y:46.26, Z:24.47 [[ 9.85523435e-01 -1.59296977e-01 -5.80347521e-02 5.17266028e+02] [ 1.59137962e-01 9.87228761e-01 -7.38119024e-03 4.62576970e+01] [ 5.84693778e-02 -1.96119624e-03 9.98287276e-01 2.44737635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.29, Y:46.26, Z:24.48 [[ 9.85810249e-01 -1.57659947e-01 -5.76323965e-02 5.17294529e+02] [ 1.57499999e-01 9.87491740e-01 -7.33583971e-03 4.62646478e+01] [ 5.80680836e-02 -1.84535642e-03 9.98310920e-01 2.44757852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.32, Y:46.27, Z:24.48 [[ 9.86156814e-01 -1.55547417e-01 -5.74433590e-02 5.17322145e+02] [ 1.55384243e-01 9.87826958e-01 -7.32375893e-03 4.62697492e+01] [ 5.78832904e-02 -1.70341811e-03 9.98321904e-01 2.44767622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.35, Y:46.28, Z:24.48 [[ 9.86555936e-01 -1.52968826e-01 -5.75145564e-02 5.17350809e+02] [ 1.52800603e-01 9.88229800e-01 -7.33745473e-03 4.62781982e+01] [ 5.79600004e-02 -1.54944937e-03 9.98317704e-01 2.44787501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.38, Y:46.28, Z:24.48 [[ 9.87192244e-01 -1.48789399e-01 -5.75603087e-02 5.17379355e+02] [ 1.48613686e-01 9.88868048e-01 -7.34541515e-03 4.62848999e+01] [ 5.80124700e-02 -1.30291278e-03 9.98315008e-01 2.44794178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.41, Y:46.29, Z:24.48 [[ 9.87395088e-01 -1.47638504e-01 -5.70422048e-02 5.17407396e+02] [ 1.47463781e-01 9.89040638e-01 -7.28352057e-03 4.62913546e+01] [ 5.74923867e-02 -1.21994674e-03 9.98345199e-01 2.44812504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.44, Y:46.30, Z:24.48 [[ 9.87603471e-01 -1.46449744e-01 -5.64965271e-02 5.17436046e+02] [ 1.46275710e-01 9.89217469e-01 -7.22603987e-03 4.62978829e+01] [ 5.69456032e-02 -1.12760754e-03 9.98376646e-01 2.44835465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.47, Y:46.30, Z:24.48 [[ 9.87702759e-01 -1.45914702e-01 -5.61441034e-02 5.17465095e+02] [ 1.45741861e-01 9.89296576e-01 -7.18288337e-03 4.63022973e+01] [ 5.65912576e-02 -1.08799240e-03 9.98396838e-01 2.44846695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.49, Y:46.31, Z:24.49 [[ 9.87807918e-01 -1.45347399e-01 -5.57642369e-02 5.17494069e+02] [ 1.45175920e-01 9.89380128e-01 -7.13547164e-03 4.63066495e+01] [ 5.62091501e-02 -1.04714903e-03 9.98418467e-01 2.44858155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.52, Y:46.31, Z:24.49 [[ 9.87800406e-01 -1.45428103e-01 -5.56868437e-02 5.17522147e+02] [ 1.45257105e-01 9.89368267e-01 -7.12777467e-03 4.63092279e+01] [ 5.61313748e-02 -1.04809096e-03 9.98422841e-01 2.44865869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.55, Y:46.31, Z:24.49 [[ 9.87739605e-01 -1.45677973e-01 -5.61106133e-02 5.17551217e+02] [ 1.45504597e-01 9.89331486e-01 -7.18495149e-03 4.63133111e+01] [ 5.65586856e-02 -1.06749103e-03 9.98398706e-01 2.44880280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.58, Y:46.32, Z:24.49 [[ 9.87700982e-01 -1.45894492e-01 -5.62278087e-02 5.17580765e+02] [ 1.45720625e-01 9.89299566e-01 -7.20200633e-03 4.63168691e+01] [ 5.66768798e-02 -1.08012270e-03 9.98391989e-01 2.44889659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.61, Y:46.32, Z:24.49 [[ 9.87626641e-01 -1.46340411e-01 -5.63746542e-02 5.17609754e+02] [ 1.46166242e-01 9.89233673e-01 -7.22286977e-03 4.63213855e+01] [ 5.68247039e-02 -1.10657276e-03 9.98383558e-01 2.44907807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.64, Y:46.32, Z:24.49 [[ 9.87488036e-01 -1.47176001e-01 -5.66268757e-02 5.17638714e+02] [ 1.47001512e-01 9.89109642e-01 -7.25746572e-03 4.63234451e+01] [ 5.70783135e-02 -1.15757575e-03 9.98369033e-01 2.44915361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.67, Y:46.33, Z:24.49 [[ 9.87428650e-01 -1.47572443e-01 -5.66306856e-02 5.17668191e+02] [ 1.47398412e-01 9.89050548e-01 -7.26090783e-03 4.63276440e+01] [ 5.70821205e-02 -1.17764471e-03 9.98368792e-01 2.44931433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.70, Y:46.33, Z:24.49 [[ 9.87410202e-01 -1.47634177e-01 -5.67912129e-02 5.17696988e+02] [ 1.47459130e-01 9.89041330e-01 -7.28376289e-03 4.63294624e+01] [ 5.72441891e-02 -1.18232105e-03 9.98359507e-01 2.44936028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.73, Y:46.33, Z:24.50 [[ 9.87377686e-01 -1.47804579e-01 -5.69131855e-02 5.17725413e+02] [ 1.47628769e-01 9.89015870e-01 -7.30449885e-03 4.63336903e+01] [ 5.73676820e-02 -1.18972432e-03 9.98352410e-01 2.44950808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.75, Y:46.34, Z:24.50 [[ 9.87568597e-01 -1.46881736e-01 -5.59823407e-02 5.17754104e+02] [ 1.46709454e-01 9.89153443e-01 -7.19736112e-03 4.63354025e+01] [ 5.64322860e-02 -1.10525085e-03 9.98405817e-01 2.44963008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.78, Y:46.34, Z:24.50 [[ 9.87664991e-01 -1.46386634e-01 -5.55771369e-02 5.17782341e+02] [ 1.46215794e-01 9.89226880e-01 -7.14991933e-03 4.63402642e+01] [ 5.60250503e-02 -1.06453020e-03 9.98428796e-01 2.44986360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.81, Y:46.34, Z:24.50 [[ 9.87781786e-01 -1.45895526e-01 -5.47872084e-02 5.17811172e+02] [ 1.45728008e-01 9.89299489e-01 -7.06182321e-03 4.63441258e+01] [ 5.52312457e-02 -1.00849038e-03 9.98473080e-01 2.45005017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.84, Y:46.35, Z:24.50 [[ 9.88112556e-01 -1.43903897e-01 -5.40855379e-02 5.17840577e+02] [ 1.43737017e-01 9.89591282e-01 -6.98320655e-03 4.63488935e+01] [ 5.45274874e-02 -8.73899828e-04 9.98511887e-01 2.45030559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.87, Y:46.35, Z:24.50 [[ 9.88200229e-01 -1.43293004e-01 -5.41056611e-02 5.17869815e+02] [ 1.43124979e-01 9.89679954e-01 -6.98775740e-03 4.63526029e+01] [ 5.45485850e-02 -8.38568140e-04 9.98510765e-01 2.45047955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.90, Y:46.36, Z:24.51 [[ 9.88307629e-01 -1.42643162e-01 -5.38605481e-02 5.17899808e+02] [ 1.42475600e-01 9.89773859e-01 -6.95779146e-03 4.63570168e+01] [ 5.43022439e-02 -7.97375533e-04 9.98524226e-01 2.45066433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.93, Y:46.36, Z:24.51 [[ 9.88371004e-01 -1.42084831e-01 -5.41724980e-02 5.17928889e+02] [ 1.41914476e-01 9.89854184e-01 -6.99821902e-03 4.63594861e+01] [ 5.46172146e-02 -7.71024929e-04 9.98507068e-01 2.45073642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.96, Y:46.36, Z:24.51 [[ 9.88293962e-01 -1.42366116e-01 -5.48355067e-02 5.17958693e+02] [ 1.42191932e-01 9.89813749e-01 -7.08502838e-03 4.63631100e+01] [ 5.52856064e-02 -7.95075875e-04 9.98470265e-01 2.45085169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:517.99, Y:46.37, Z:24.51 [[ 9.88226640e-01 -1.42618930e-01 -5.53890599e-02 5.17988064e+02] [ 1.42441491e-01 9.89777337e-01 -7.15860065e-03 4.63661454e+01] [ 5.58437882e-02 -8.15380423e-04 9.98439185e-01 2.45095560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.02, Y:46.37, Z:24.51 [[ 9.88221524e-01 -1.42654475e-01 -5.53888027e-02 5.18016948e+02] [ 1.42476980e-01 9.89772214e-01 -7.16059049e-03 4.63699086e+01] [ 5.58437882e-02 -8.15379700e-04 9.98439185e-01 2.45109421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.05, Y:46.37, Z:24.51 [[ 9.88094482e-01 -1.43381030e-01 -5.57779078e-02 5.18046778e+02] [ 1.43202073e-01 9.89667186e-01 -7.21294026e-03 4.63728109e+01] [ 5.62357639e-02 -8.60445553e-04 9.98417147e-01 2.45122120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.07, Y:46.38, Z:24.51 [[ 9.87926117e-01 -1.44556259e-01 -5.57267923e-02 5.18074882e+02] [ 1.44379379e-01 9.89496151e-01 -7.20842972e-03 4.63750303e+01] [ 5.61834702e-02 -9.24403667e-04 9.98420033e-01 2.45133072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.10, Y:46.38, Z:24.51 [[ 9.87706223e-01 -1.46051778e-01 -5.57251743e-02 5.18103134e+02] [ 1.45877044e-01 9.89276436e-01 -7.21252075e-03 4.63773023e+01] [ 5.61810033e-02 -1.00517205e-03 9.98420094e-01 2.45146744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.13, Y:46.38, Z:24.52 [[ 9.87147016e-01 -1.49809280e-01 -5.56592168e-02 5.18132771e+02] [ 1.49640239e-01 9.88714178e-01 -7.21612485e-03 4.63789714e+01] [ 5.61120992e-02 -1.20548238e-03 9.98423747e-01 2.45169028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.16, Y:46.38, Z:24.52 [[ 9.86784317e-01 -1.52143031e-01 -5.57602935e-02 5.18161234e+02] [ 1.51976960e-01 9.88357581e-01 -7.23162231e-03 4.63791530e+01] [ 5.62113497e-02 -1.33822843e-03 9.98417995e-01 2.45177559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.19, Y:46.38, Z:24.52 [[ 9.86355020e-01 -1.54991962e-01 -5.55091554e-02 5.18189898e+02] [ 1.54831574e-01 9.87914610e-01 -7.20464784e-03 4.63808887e+01] [ 5.59549681e-02 -1.48822932e-03 9.98432184e-01 2.45194018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.22, Y:46.38, Z:24.52 [[ 9.85851151e-01 -1.58037339e-01 -5.58722501e-02 5.18219594e+02] [ 1.57879034e-01 9.87431742e-01 -7.26401694e-03 4.63827877e+01] [ 5.63180191e-02 -1.65981743e-03 9.98411501e-01 2.45210497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.25, Y:46.39, Z:24.52 [[ 9.85375029e-01 -1.61086087e-01 -5.55637033e-02 5.18248936e+02] [ 1.60934250e-01 9.86938678e-01 -7.22590319e-03 4.63863305e+01] [ 5.60019603e-02 -1.82187835e-03 9.98428997e-01 2.45231348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.28, Y:46.39, Z:24.52 [[ 9.84213877e-01 -1.67997211e-01 -5.56774763e-02 5.18279610e+02] [ 1.67855667e-01 9.85784976e-01 -7.24260155e-03 4.63856171e+01] [ 5.61027565e-02 -2.21751096e-03 9.98422537e-01 2.45244546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.31, Y:46.39, Z:24.53 [[ 9.83601153e-01 -1.71625827e-01 -5.54377815e-02 5.18308815e+02] [ 1.71491172e-01 9.85159253e-01 -7.21270846e-03 4.63864405e+01] [ 5.58529305e-02 -2.41266178e-03 9.98436092e-01 2.45261169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.34, Y:46.39, Z:24.53 [[ 9.82959282e-01 -1.75296032e-01 -5.53385129e-02 5.18339533e+02] [ 1.75167509e-01 9.84512300e-01 -7.20241208e-03 4.63881725e+01] [ 5.57440009e-02 -2.61383165e-03 9.98441673e-01 2.45276791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.37, Y:46.39, Z:24.53 [[ 9.81678462e-01 -1.82254924e-01 -5.55926231e-02 5.18370648e+02] [ 1.82136325e-01 9.83246666e-01 -7.23547757e-03 4.63871648e+01] [ 5.59799627e-02 -3.02252355e-03 9.98427317e-01 2.45288783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.40, Y:46.39, Z:24.53 [[ 9.81119901e-01 -1.85186831e-01 -5.57635851e-02 5.18399410e+02] [ 1.85072180e-01 9.82698125e-01 -7.25837888e-03 4.63880864e+01] [ 5.61429266e-02 -3.19894827e-03 9.98417617e-01 2.45299977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.43, Y:46.39, Z:24.53 [[ 9.80582491e-01 -1.87914174e-01 -5.60913615e-02 5.18429088e+02] [ 1.87802379e-01 9.82179668e-01 -7.30516180e-03 4.63904961e+01] [ 5.64645383e-02 -3.37077737e-03 9.98398915e-01 2.45314295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.46, Y:46.39, Z:24.53 [[ 9.80159477e-01 -1.89954625e-01 -5.66095333e-02 5.18458662e+02] [ 1.89844024e-01 9.81786565e-01 -7.37471778e-03 4.63932065e+01] [ 5.69793410e-02 -3.51858209e-03 9.98369157e-01 2.45327702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.845099893 meters Centerline goodness [0,1] 0.9999792470842154 Centerline is valid? [True, True] Translation: X:518.49, Y:46.39, Z:24.53 [[ 9.79674390e-01 -1.92431627e-01 -5.66406168e-02 5.18487118e+02] [ 1.92324874e-01 9.81303551e-01 -7.38136979e-03 4.63932251e+01] [ 5.70020474e-02 -3.66206053e-03 9.98367345e-01 2.45338903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.52, Y:46.40, Z:24.54 [[ 9.79595830e-01 -1.92863661e-01 -5.65298061e-02 5.18515595e+02] [ 1.92757660e-01 9.81218688e-01 -7.37362009e-03 4.63996123e+01] [ 5.68902056e-02 -3.67338565e-03 9.98373683e-01 2.45359185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters Centerline goodness [0,1] 0.9999792410528938 Centerline is valid? [True, True] Translation: X:518.54, Y:46.40, Z:24.54 [[ 9.79620464e-01 -1.92716046e-01 -5.66062923e-02 5.18543257e+02] [ 1.92608775e-01 9.81247752e-01 -7.39651946e-03 4.64011270e+01] [ 5.69702250e-02 -3.65708680e-03 9.98369180e-01 2.45371720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.57, Y:46.41, Z:24.54 [[ 9.79816469e-01 -1.91849680e-01 -5.61550331e-02 5.18571845e+02] [ 1.91742333e-01 9.81417823e-01 -7.34394499e-03 4.64063896e+01] [ 5.65204838e-02 -3.57157880e-03 9.98395051e-01 2.45390260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.60, Y:46.42, Z:24.54 [[ 9.80587080e-01 -1.87948123e-01 -5.58970622e-02 5.18600970e+02] [ 1.87834808e-01 9.82173345e-01 -7.32151813e-03 4.64195836e+01] [ 5.62766702e-02 -3.32002784e-03 9.98409692e-01 2.45419568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.63, Y:46.42, Z:24.54 [[ 9.81103573e-01 -1.85266192e-01 -5.57872481e-02 5.18629191e+02] [ 1.85148948e-01 9.82683295e-01 -7.30809519e-03 4.64240013e+01] [ 5.61751397e-02 -3.15895196e-03 9.98415933e-01 2.45432874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.66, Y:46.43, Z:24.55 [[ 9.81703865e-01 -1.82071446e-01 -5.57450436e-02 5.18658357e+02] [ 1.81949093e-01 9.83280815e-01 -7.30526002e-03 4.64348117e+01] [ 5.61431111e-02 -2.97115811e-03 9.98418311e-01 2.45452355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.69, Y:46.44, Z:24.55 [[ 9.82338890e-01 -1.78583916e-01 -5.58398563e-02 5.18687002e+02] [ 1.78455462e-01 9.83920770e-01 -7.31885486e-03 4.64445310e+01] [ 5.62490242e-02 -2.77533159e-03 9.98412913e-01 2.45472621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.72, Y:46.46, Z:24.55 [[ 9.83639378e-01 -1.71385644e-01 -5.55025707e-02 5.18715067e+02] [ 1.71247189e-01 9.85201224e-01 -7.27654425e-03 4.64552423e+01] [ 5.59282958e-02 -2.34716379e-03 9.98432029e-01 2.45481396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.74, Y:46.47, Z:24.55 [[ 9.84256738e-01 -1.67944979e-01 -5.50741173e-02 5.18744989e+02] [ 1.67803230e-01 9.85794061e-01 -7.22123036e-03 4.64664214e+01] [ 5.55045071e-02 -2.13407015e-03 9.98456156e-01 2.45505655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.77, Y:46.47, Z:24.55 [[ 9.84843748e-01 -1.64435021e-01 -5.51716880e-02 5.18774831e+02] [ 1.64287328e-01 9.86386009e-01 -7.23298506e-03 4.64718526e+01] [ 5.56099372e-02 -1.94064907e-03 9.98450684e-01 2.45514191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.80, Y:46.48, Z:24.55 [[ 9.85373100e-01 -1.61052001e-01 -5.56965522e-02 5.18804658e+02] [ 1.60896138e-01 9.86944340e-01 -7.30089603e-03 4.64793857e+01] [ 5.61452208e-02 -1.76725356e-03 9.98421049e-01 2.45525531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.83, Y:46.49, Z:24.55 [[ 9.86252554e-01 -1.55599522e-01 -5.56299192e-02 5.18833996e+02] [ 1.55435365e-01 9.87819149e-01 -7.29216155e-03 4.64904892e+01] [ 5.60869563e-02 -1.45494381e-03 9.98424828e-01 2.45541835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.86, Y:46.50, Z:24.56 [[ 9.86600300e-01 -1.53433396e-01 -5.54800973e-02 5.18864732e+02] [ 1.53266717e-01 9.88158099e-01 -7.27222068e-03 4.64977731e+01] [ 5.59389090e-02 -1.32847729e-03 9.98433310e-01 2.45555880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.89, Y:46.50, Z:24.56 [[ 9.86890941e-01 -1.51559559e-01 -5.54614372e-02 5.18894924e+02] [ 1.51390149e-01 9.88447370e-01 -7.26777246e-03 4.65049007e+01] [ 5.59222121e-02 -1.22381644e-03 9.98434379e-01 2.45574115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.93, Y:46.51, Z:24.56 [[ 9.87077401e-01 -1.50216683e-01 -5.57956423e-02 5.18925304e+02] [ 1.50043195e-01 9.88652421e-01 -7.30952807e-03 4.65114372e+01] [ 5.62605099e-02 -1.15668648e-03 9.98415453e-01 2.45590220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.96, Y:46.52, Z:24.56 [[ 9.87295355e-01 -1.48516958e-01 -5.64853551e-02 5.18955600e+02] [ 1.48336493e-01 9.88909277e-01 -7.39780574e-03 4.65191131e+01] [ 5.69575913e-02 -1.07502022e-03 9.98376020e-01 2.45598173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:518.99, Y:46.52, Z:24.56 [[ 9.87279371e-01 -1.48433598e-01 -5.69816622e-02 5.18986290e+02] [ 1.48249927e-01 9.88921785e-01 -7.46071893e-03 4.65243430e+01] [ 5.74578284e-02 -1.08171334e-03 9.98347348e-01 2.45608118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.02, Y:46.53, Z:24.56 [[ 9.87215365e-01 -1.48666295e-01 -5.74817953e-02 5.19017401e+02] [ 1.48479901e-01 9.88886802e-01 -7.52408540e-03 4.65294989e+01] [ 5.79615666e-02 -1.10699854e-03 9.98318201e-01 2.45618533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.05, Y:46.53, Z:24.56 [[ 9.87101430e-01 -1.49398241e-01 -5.75406960e-02 5.19048617e+02] [ 1.49212829e-01 9.88776434e-01 -7.52966871e-03 4.65337649e+01] [ 5.80198034e-02 -1.15326329e-03 9.98314766e-01 2.45629573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.08, Y:46.54, Z:24.56 [[ 9.86852082e-01 -1.51045006e-01 -5.75184755e-02 5.19078513e+02] [ 1.50862664e-01 9.88526094e-01 -7.52445267e-03 4.65381599e+01] [ 5.79950449e-02 -1.25186868e-03 9.98316086e-01 2.45642370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.11, Y:46.54, Z:24.57 [[ 9.86696527e-01 -1.52064936e-01 -5.74997310e-02 5.19109556e+02] [ 1.51884616e-01 9.88369631e-01 -7.51901767e-03 4.65425431e+01] [ 5.79743669e-02 -1.31433596e-03 9.98317207e-01 2.45660447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.14, Y:46.55, Z:24.57 [[ 9.86619218e-01 -1.52761847e-01 -5.69766375e-02 5.19139725e+02] [ 1.52586063e-01 9.88262116e-01 -7.44873644e-03 4.65459822e+01] [ 5.74457350e-02 -1.34477428e-03 9.98347725e-01 2.45672580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.17, Y:46.55, Z:24.57 [[ 9.86424983e-01 -1.54173543e-01 -5.65355749e-02 5.19169854e+02] [ 1.54002844e-01 9.88042768e-01 -7.39006287e-03 4.65494986e+01] [ 5.69989181e-02 -1.41689666e-03 9.98373235e-01 2.45689356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.20, Y:46.56, Z:24.57 [[ 9.86361044e-01 -1.54729249e-01 -5.61315508e-02 5.19200600e+02] [ 1.54561945e-01 9.87955863e-01 -7.33609885e-03 4.65555344e+01] [ 5.65906037e-02 -1.43975957e-03 9.98396430e-01 2.45713939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.23, Y:46.56, Z:24.57 [[ 9.86347242e-01 -1.54879916e-01 -5.59582855e-02 5.19231421e+02] [ 1.54713999e-01 9.87932245e-01 -7.31145209e-03 4.65603589e+01] [ 5.64153917e-02 -1.44589954e-03 9.98406337e-01 2.45734225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.26, Y:46.56, Z:24.58 [[ 9.86295672e-01 -1.55356471e-01 -5.55447089e-02 5.19263232e+02] [ 1.55193882e-01 9.87857390e-01 -7.25512071e-03 4.65648785e+01] [ 5.59973811e-02 -1.46450484e-03 9.98429842e-01 2.45753482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.29, Y:46.57, Z:24.58 [[ 9.86197399e-01 -1.56395900e-01 -5.43600214e-02 5.19294339e+02] [ 1.56241956e-01 9.87693317e-01 -7.09665474e-03 4.65675893e+01] [ 5.48009175e-02 -1.49461363e-03 9.98496182e-01 2.45774361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.33, Y:46.57, Z:24.58 [[ 9.86131631e-01 -1.57024019e-01 -5.37388436e-02 5.19326180e+02] [ 1.56874667e-01 9.87593622e-01 -7.01258480e-03 4.65716669e+01] [ 5.41732835e-02 -1.51493150e-03 9.98530400e-01 2.45794180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.36, Y:46.58, Z:24.58 [[ 9.86086318e-01 -1.57496784e-01 -5.31839873e-02 5.19358128e+02] [ 1.57351388e-01 9.87518317e-01 -6.93645471e-03 4.65783937e+01] [ 5.36126309e-02 -1.52863113e-03 9.98560639e-01 2.45819460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.39, Y:46.58, Z:24.58 [[ 9.86079584e-01 -1.57893704e-01 -5.21213175e-02 5.19389904e+02] [ 1.57754813e-01 9.87454940e-01 -6.79410243e-03 4.65826014e+01] [ 5.25401985e-02 -1.52286300e-03 9.98617649e-01 2.45837028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.42, Y:46.59, Z:24.59 [[ 9.86029967e-01 -1.58305949e-01 -5.18086039e-02 5.19420931e+02] [ 1.58169480e-01 9.87388909e-01 -6.74966433e-03 4.65852023e+01] [ 5.22237529e-02 -1.53916865e-03 9.98634223e-01 2.45854177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.45, Y:46.59, Z:24.59 [[ 9.86032850e-01 -1.58557274e-01 -5.09785226e-02 5.19452554e+02] [ 1.58425624e-01 9.87348596e-01 -6.63871367e-03 4.65933548e+01] [ 5.13861891e-02 -1.53031449e-03 9.98677685e-01 2.45881679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.48, Y:46.60, Z:24.59 [[ 9.86060802e-01 -1.58545267e-01 -5.04726959e-02 5.19482968e+02] [ 1.58416386e-01 9.87350543e-01 -6.56921638e-03 4.65974640e+01] [ 5.08757618e-02 -1.51805532e-03 9.98703836e-01 2.45898254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.51, Y:46.60, Z:24.59 [[ 9.86103402e-01 -1.58439438e-01 -4.99702333e-02 5.19513743e+02] [ 1.58313121e-01 9.87367557e-01 -6.50093136e-03 4.66004774e+01] [ 5.03689911e-02 -1.50035307e-03 9.98729550e-01 2.45911620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.55, Y:46.61, Z:24.59 [[ 9.86171018e-01 -1.58143475e-01 -4.95718150e-02 5.19545515e+02] [ 1.58019068e-01 9.87415037e-01 -6.44357777e-03 4.66085794e+01] [ 4.99669653e-02 -1.47882238e-03 9.98749776e-01 2.45932882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.58, Y:46.61, Z:24.60 [[ 9.86252711e-01 -1.57875638e-01 -4.87941908e-02 5.19576714e+02] [ 1.57754953e-01 9.87457945e-01 -6.33893728e-03 4.66133536e+01] [ 4.91829752e-02 -1.44573118e-03 9.98788739e-01 2.45952780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.61, Y:46.62, Z:24.60 [[ 9.86297777e-01 -1.57775555e-01 -4.82034209e-02 5.19608804e+02] [ 1.57657788e-01 9.87473970e-01 -6.25947085e-03 4.66186448e+01] [ 4.85872148e-02 -1.42594251e-03 9.98817926e-01 2.45972960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.64, Y:46.62, Z:24.60 [[ 9.86360847e-01 -1.57562219e-01 -4.76069927e-02 5.19640398e+02] [ 1.57447352e-01 9.87508065e-01 -6.17679955e-03 4.66234508e+01] [ 4.79855195e-02 -1.40304169e-03 9.98847046e-01 2.45990992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.67, Y:46.63, Z:24.60 [[ 9.86422598e-01 -1.57365835e-01 -4.69728763e-02 5.19672618e+02] [ 1.57253949e-01 9.87539414e-01 -6.09109601e-03 4.66282764e+01] [ 4.73460972e-02 -1.37827553e-03 9.98877594e-01 2.46013353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.70, Y:46.63, Z:24.60 [[ 9.86460804e-01 -1.57455107e-01 -4.58581626e-02 5.19703436e+02] [ 1.57348719e-01 9.87525219e-01 -5.94322131e-03 4.66319652e+01] [ 4.62218827e-02 -1.35296825e-03 9.98930281e-01 2.46037627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.74, Y:46.64, Z:24.61 [[ 9.86439470e-01 -1.57771595e-01 -4.52249510e-02 5.19735320e+02] [ 1.57668568e-01 9.87474708e-01 -5.85873474e-03 4.66366711e+01] [ 4.55828372e-02 -1.35126606e-03 9.98959648e-01 2.46055714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.77, Y:46.64, Z:24.61 [[ 9.86344750e-01 -1.58520497e-01 -4.46686165e-02 5.19766493e+02] [ 1.58420902e-01 9.87354733e-01 -5.78344005e-03 4.66403119e+01] [ 4.50205638e-02 -1.37197679e-03 9.98985118e-01 2.46070549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.80, Y:46.65, Z:24.61 [[ 9.86160459e-01 -1.59943731e-01 -4.36526202e-02 5.19798210e+02] [ 1.59850105e-01 9.87125131e-01 -5.64967982e-03 4.66468770e+01] [ 4.39942293e-02 -1.40638506e-03 9.99030795e-01 2.46086523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.83, Y:46.65, Z:24.61 [[ 9.86062086e-01 -1.60541496e-01 -4.36805508e-02 5.19829591e+02] [ 1.60448482e-01 9.87028045e-01 -5.64996150e-03 4.66503208e+01] [ 4.40209819e-02 -1.43726526e-03 9.99029573e-01 2.46102856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.86, Y:46.65, Z:24.61 [[ 9.85958952e-01 -1.61260724e-01 -4.33580832e-02 5.19860332e+02] [ 1.61169865e-01 9.86910759e-01 -5.60616764e-03 4.66531261e+01] [ 4.36946134e-02 -1.46056522e-03 9.99043867e-01 2.46116812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.89, Y:46.66, Z:24.61 [[ 9.85651013e-01 -1.63205822e-01 -4.30806319e-02 5.19892242e+02] [ 1.63118245e-01 9.86590837e-01 -5.56409712e-03 4.66590943e+01] [ 4.34110497e-02 -1.54297912e-03 9.99056105e-01 2.46127546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.92, Y:46.66, Z:24.61 [[ 9.85478083e-01 -1.64300999e-01 -4.28734210e-02 5.19923170e+02] [ 1.64215424e-01 9.86408974e-01 -5.53439965e-03 4.66610711e+01] [ 4.32000346e-02 -1.58644745e-03 9.99065183e-01 2.46145583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.96, Y:46.67, Z:24.62 [[ 9.85495826e-01 -1.64194336e-01 -4.28741886e-02 5.19955436e+02] [ 1.64108919e-01 9.86426733e-01 -5.52844612e-03 4.66651408e+01] [ 4.31999853e-02 -1.58777619e-03 9.99065183e-01 2.46161038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:519.99, Y:46.67, Z:24.62 [[ 9.85382428e-01 -1.64963559e-01 -4.25264024e-02 5.19987495e+02] [ 1.64880443e-01 9.86298343e-01 -5.47880518e-03 4.66699333e+01] [ 4.28475234e-02 -1.61305371e-03 9.99080321e-01 2.46173260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.02, Y:46.67, Z:24.62 [[ 9.85170141e-01 -1.66191602e-01 -4.26631578e-02 5.20018666e+02] [ 1.66109239e-01 9.86092057e-01 -5.49317373e-03 4.66722587e+01] [ 4.29827204e-02 -1.67503396e-03 9.99074412e-01 2.46187970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.05, Y:46.68, Z:24.62 [[ 9.85065493e-01 -1.66855990e-01 -4.24859070e-02 5.20050360e+02] [ 1.66775023e-01 9.85979813e-01 -5.46810963e-03 4.66778338e+01] [ 4.28026335e-02 -1.69914200e-03 9.99082102e-01 2.46196551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.08, Y:46.68, Z:24.62 [[ 9.84931271e-01 -1.67606579e-01 -4.26430074e-02 5.20081264e+02] [ 1.67525854e-01 9.85852424e-01 -5.48505857e-03 4.66810098e+01] [ 4.29590441e-02 -1.74140052e-03 9.99075317e-01 2.46202923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.11, Y:46.69, Z:24.62 [[ 9.84918704e-01 -1.67608197e-01 -4.29259607e-02 5.20113848e+02] [ 1.67526492e-01 9.85852125e-01 -5.51929501e-03 4.66857340e+01] [ 4.32437286e-02 -1.75517873e-03 9.99063011e-01 2.46209000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.15, Y:46.69, Z:24.62 [[ 9.84967143e-01 -1.67196271e-01 -4.34181260e-02 5.20145078e+02] [ 1.67112491e-01 9.85922057e-01 -5.57781623e-03 4.66889607e+01] [ 4.37394782e-02 -1.76174547e-03 9.99041418e-01 2.46218582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.18, Y:46.69, Z:24.62 [[ 9.85070841e-01 -1.66601668e-01 -4.33511637e-02 5.20177411e+02] [ 1.66517858e-01 9.86022748e-01 -5.56267133e-03 4.66928469e+01] [ 4.36719839e-02 -1.73911759e-03 9.99044410e-01 2.46223059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.21, Y:46.70, Z:24.62 [[ 9.85183245e-01 -1.65855562e-01 -4.36566796e-02 5.20209424e+02] [ 1.65769975e-01 9.86148554e-01 -5.59869419e-03 4.66987784e+01] [ 4.39805460e-02 -1.72122697e-03 9.99030905e-01 2.46230827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.24, Y:46.70, Z:24.62 [[ 9.85305560e-01 -1.65125231e-01 -4.36647538e-02 5.20241039e+02] [ 1.65039043e-01 9.86271157e-01 -5.59642269e-03 4.67005742e+01] [ 4.39893978e-02 -1.69220277e-03 9.99030565e-01 2.46242858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.27, Y:46.70, Z:24.63 [[ 9.85379163e-01 -1.64632969e-01 -4.38621885e-02 5.20271814e+02] [ 1.64545607e-01 9.86353468e-01 -5.61957970e-03 4.67039261e+01] [ 4.41887898e-02 -1.67991371e-03 9.99021786e-01 2.46254781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.30, Y:46.71, Z:24.63 [[ 9.85518652e-01 -1.63801306e-01 -4.38419654e-02 5.20302757e+02] [ 1.63713490e-01 9.86491974e-01 -5.61050918e-03 4.67072087e+01] [ 4.41687557e-02 -1.64825970e-03 9.99022725e-01 2.46265850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.33, Y:46.71, Z:24.63 [[ 9.85660260e-01 -1.62775708e-01 -4.44738298e-02 5.20334469e+02] [ 1.62684406e-01 9.86661755e-01 -5.68902426e-03 4.67118368e+01] [ 4.48066619e-02 -1.62775344e-03 9.98994351e-01 2.46267854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.37, Y:46.71, Z:24.63 [[ 9.85715686e-01 -1.62267323e-01 -4.50987983e-02 5.20365212e+02] [ 1.62173053e-01 9.86745488e-01 -5.76570768e-03 4.67144634e+01] [ 4.54366217e-02 -1.63046132e-03 9.98965893e-01 2.46274435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.40, Y:46.72, Z:24.63 [[ 9.85701245e-01 -1.62075571e-01 -4.60930118e-02 5.20396762e+02] [ 1.61977003e-01 9.86776953e-01 -5.89036032e-03 4.67232148e+01] [ 4.64382052e-02 -1.65987240e-03 9.98919786e-01 2.46277547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.43, Y:46.73, Z:24.63 [[ 9.85633086e-01 -1.62383785e-01 -4.64642461e-02 5.20428414e+02] [ 1.62284129e-01 9.86726226e-01 -5.93429459e-03 4.67262982e+01] [ 4.68111234e-02 -1.69137260e-03 9.98902327e-01 2.46282177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.46, Y:46.73, Z:24.63 [[ 9.85441037e-01 -1.63227794e-01 -4.75673281e-02 5.20460995e+02] [ 1.63124505e-01 9.86586809e-01 -6.07153462e-03 4.67278958e+01] [ 4.79203416e-02 -1.77625749e-03 9.98849581e-01 2.46280518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.49, Y:46.73, Z:24.63 [[ 9.85270464e-01 -1.64080611e-01 -4.81629168e-02 5.20491850e+02] [ 1.63975916e-01 9.86445210e-01 -6.14384339e-03 4.67283795e+01] [ 4.85181642e-02 -1.84421099e-03 9.98820598e-01 2.46285883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.52, Y:46.72, Z:24.63 [[ 9.85172276e-01 -1.64533560e-01 -4.86240010e-02 5.20523738e+02] [ 1.64427709e-01 9.86369674e-01 -6.19639194e-03 4.67238386e+01] [ 4.89807544e-02 -1.89061952e-03 9.98797933e-01 2.46290900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.55, Y:46.73, Z:24.63 [[ 9.85112218e-01 -1.64683082e-01 -4.93295169e-02 5.20554567e+02] [ 1.64574462e-01 9.86344648e-01 -6.28353583e-03 4.67342369e+01] [ 4.96906970e-02 -1.92839077e-03 9.98762793e-01 2.46302180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.59, Y:46.74, Z:24.63 [[ 9.85172949e-01 -1.64240645e-01 -4.95910334e-02 5.20586915e+02] [ 1.64130495e-01 9.86418433e-01 -6.31314966e-03 4.67374448e+01] [ 4.99543852e-02 -1.91985658e-03 9.98749655e-01 2.46313161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.62, Y:46.74, Z:24.63 [[ 9.85341728e-01 -1.63140325e-01 -4.98689581e-02 5.20617707e+02] [ 1.63027717e-01 9.86601088e-01 -6.34482832e-03 4.67400406e+01] [ 5.02358656e-02 -1.87819829e-03 9.98735616e-01 2.46324129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.65, Y:46.74, Z:24.63 [[ 9.85596501e-01 -1.61603908e-01 -4.98368649e-02 5.20649988e+02] [ 1.61489629e-01 9.86854058e-01 -6.33786794e-03 4.67449646e+01] [ 5.02059366e-02 -1.80155636e-03 9.98737262e-01 2.46339942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.68, Y:46.75, Z:24.64 [[ 9.86245404e-01 -1.57581717e-01 -4.98799125e-02 5.20681589e+02] [ 1.57462332e-01 9.87504650e-01 -6.33877457e-03 4.67496216e+01] [ 5.02555206e-02 -1.60262005e-03 9.98735107e-01 2.46353640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.71, Y:46.75, Z:24.64 [[ 9.86624554e-01 -1.55175139e-01 -4.99266068e-02 5.20712970e+02] [ 1.55052595e-01 9.87885861e-01 -6.34187499e-03 4.67504466e+01] [ 5.03058903e-02 -1.48420036e-03 9.98732754e-01 2.46364157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.74, Y:46.76, Z:24.64 [[ 9.86984397e-01 -1.52778828e-01 -5.02038842e-02 5.20744411e+02] [ 1.52651968e-01 9.88259453e-01 -6.37421134e-03 4.67551773e+01] [ 5.05883077e-02 -1.37247461e-03 9.98718649e-01 2.46378501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.78, Y:46.76, Z:24.64 [[ 9.87303133e-01 -1.50762362e-01 -5.00323361e-02 5.20775810e+02] [ 1.50633963e-01 9.88569219e-01 -6.34883060e-03 4.67602926e+01] [ 5.04175922e-02 -1.26834872e-03 9.98727419e-01 2.46393422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.81, Y:46.76, Z:24.64 [[ 9.87834316e-01 -1.47143148e-01 -5.03215535e-02 5.20807014e+02] [ 1.47008754e-01 9.89114603e-01 -6.38185034e-03 4.67610861e+01] [ 5.07128290e-02 -1.09349811e-03 9.98712678e-01 2.46397409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.84, Y:46.76, Z:24.64 [[ 9.88024534e-01 -1.45835554e-01 -5.03935639e-02 5.20839309e+02] [ 1.45699218e-01 9.89308308e-01 -6.38818616e-03 4.67649675e+01] [ 5.07863961e-02 -1.03061818e-03 9.98709007e-01 2.46410800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.87, Y:46.77, Z:24.64 [[ 9.88146001e-01 -1.44878275e-01 -5.07717085e-02 5.20871321e+02] [ 1.44738811e-01 9.89448988e-01 -6.43243158e-03 4.67678907e+01] [ 5.11679352e-02 -9.92455160e-04 9.98689570e-01 2.46419597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.90, Y:46.77, Z:24.64 [[ 9.88177057e-01 -1.44408705e-01 -5.14998074e-02 5.20903062e+02] [ 1.44264771e-01 9.89517637e-01 -6.52088074e-03 4.67708832e+01] [ 5.19016397e-02 -9.85823183e-04 9.98651715e-01 2.46431494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.93, Y:46.77, Z:24.64 [[ 9.88211329e-01 -1.43949664e-01 -5.21235409e-02 5.20933701e+02] [ 1.43801783e-01 9.89584529e-01 -6.59604483e-03 4.67709962e+01] [ 5.25301481e-02 -9.77171893e-04 9.98618861e-01 2.46437659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:520.96, Y:46.77, Z:24.64 [[ 9.88042937e-01 -1.44787330e-01 -5.29885299e-02 5.20964778e+02] [ 1.44635872e-01 9.89462250e-01 -6.70230357e-03 4.67728089e+01] [ 5.34005586e-02 -1.04187852e-03 9.98572629e-01 2.46447659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.00, Y:46.77, Z:24.65 [[ 9.87876910e-01 -1.45711018e-01 -5.35491418e-02 5.20995413e+02] [ 1.45557793e-01 9.89326578e-01 -6.77136452e-03 4.67729670e+01] [ 5.39642517e-02 -1.10522022e-03 9.98542257e-01 2.46454288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.03, Y:46.78, Z:24.65 [[ 9.87752493e-01 -1.46589602e-01 -5.34462405e-02 5.21026446e+02] [ 1.46438307e-01 9.89196725e-01 -6.75727348e-03 4.67759083e+01] [ 5.38593921e-02 -1.15206326e-03 9.98547865e-01 2.46475198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.06, Y:46.78, Z:24.65 [[ 9.87592247e-01 -1.47713055e-01 -5.33142363e-02 5.21058030e+02] [ 1.47564247e-01 9.89029516e-01 -6.73864614e-03 4.67772565e+01] [ 5.37247393e-02 -1.21224043e-03 9.98555047e-01 2.46490452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.09, Y:46.78, Z:24.65 [[ 9.87214644e-01 -1.50065421e-01 -5.37365477e-02 5.21089662e+02] [ 1.49917830e-01 9.88675144e-01 -6.79005142e-03 4.67779084e+01] [ 5.41469409e-02 -1.35282843e-03 9.98532062e-01 2.46511271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.12, Y:46.78, Z:24.65 [[ 9.87089664e-01 -1.50977574e-01 -5.34768023e-02 5.21120336e+02] [ 1.50832859e-01 9.88536199e-01 -6.75510185e-03 4.67780994e+01] [ 5.38836238e-02 -1.39816776e-03 9.98546243e-01 2.46524106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.15, Y:46.78, Z:24.65 [[ 9.86916579e-01 -1.52154559e-01 -5.33353123e-02 5.21150789e+02] [ 1.52012474e-01 9.88355632e-01 -6.73446142e-03 4.67803729e+01] [ 5.37389353e-02 -1.46128113e-03 9.98553950e-01 2.46541443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.18, Y:46.78, Z:24.66 [[ 9.86764485e-01 -1.53177939e-01 -5.32200099e-02 5.21181614e+02] [ 1.53037965e-01 9.88197464e-01 -6.71967597e-03 4.67834610e+01] [ 5.36211849e-02 -1.51394443e-03 9.98560202e-01 2.46563224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.21, Y:46.78, Z:24.66 [[ 9.86443480e-01 -1.55315774e-01 -5.29742501e-02 5.21212586e+02] [ 1.55180267e-01 9.87863539e-01 -6.68678694e-03 4.67824977e+01] [ 5.33698937e-02 -1.62442087e-03 9.98573490e-01 2.46578656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.24, Y:46.78, Z:24.66 [[ 9.86259650e-01 -1.56542232e-01 -5.27866793e-02 5.21242749e+02] [ 1.56409482e-01 9.87669828e-01 -6.66223955e-03 4.67846696e+01] [ 5.31787323e-02 -1.68563914e-03 9.98583587e-01 2.46597875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.27, Y:46.79, Z:24.66 [[ 9.86016865e-01 -1.58076342e-01 -5.27504683e-02 5.21272511e+02] [ 1.57945964e-01 9.87425312e-01 -6.65771357e-03 4.67852478e+01] [ 5.31395747e-02 -1.76710571e-03 9.98585531e-01 2.46614217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.30, Y:46.79, Z:24.66 [[ 9.85391070e-01 -1.62059409e-01 -5.23563535e-02 5.21302548e+02] [ 1.61936555e-01 9.86779044e-01 -6.60843681e-03 4.67862745e+01] [ 5.27351117e-02 -1.96651288e-03 9.98606600e-01 2.46642020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.33, Y:46.79, Z:24.67 [[ 9.84936664e-01 -1.64794714e-01 -5.23685973e-02 5.21332225e+02] [ 1.64675607e-01 9.86325626e-01 -6.61094559e-03 4.67864618e+01] [ 5.27419384e-02 -2.11246786e-03 9.98605941e-01 2.46658811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.36, Y:46.79, Z:24.67 [[ 9.84469879e-01 -1.67562846e-01 -5.23617217e-02 5.21362499e+02] [ 1.67447629e-01 9.85858807e-01 -6.61093917e-03 4.67886710e+01] [ 5.27290122e-02 -2.25957565e-03 9.98606302e-01 2.46679788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.39, Y:46.79, Z:24.67 [[ 9.83292834e-01 -1.74151062e-01 -5.29774499e-02 5.21393016e+02] [ 1.74042642e-01 9.84715401e-01 -6.68869538e-03 4.67860920e+01] [ 5.33325542e-02 -2.64338911e-03 9.98573308e-01 2.46695673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.42, Y:46.79, Z:24.67 [[ 9.82633614e-01 -1.77630536e-01 -5.36523348e-02 5.21423288e+02] [ 1.77524488e-01 9.84093068e-01 -6.77416428e-03 4.67861517e+01] [ 5.40021892e-02 -2.86808173e-03 9.98536698e-01 2.46708170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.45, Y:46.78, Z:24.67 [[ 9.82037207e-01 -1.80886362e-01 -5.36940175e-02 5.21452743e+02] [ 1.80784943e-01 9.83499279e-01 -6.78037736e-03 4.67849930e+01] [ 5.40345052e-02 -3.04848705e-03 9.98534416e-01 2.46719883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.48, Y:46.79, Z:24.67 [[ 9.81465013e-01 -1.83823928e-01 -5.41774055e-02 5.21482056e+02] [ 1.83725088e-01 9.82953853e-01 -6.84217679e-03 4.67902698e+01] [ 5.45116453e-02 -3.23839149e-03 9.98507883e-01 2.46737999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.51, Y:46.79, Z:24.67 [[ 9.80943033e-01 -1.86380160e-01 -5.48926454e-02 5.21510778e+02] [ 1.86282597e-01 9.82471737e-01 -6.93397624e-03 4.67895434e+01] [ 5.52228283e-02 -3.42370885e-03 9.98468186e-01 2.46748464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.54, Y:46.79, Z:24.68 [[ 9.80041435e-01 -1.90660204e-01 -5.62802951e-02 5.21541862e+02] [ 1.90564461e-01 9.81648915e-01 -7.11287218e-03 4.67899649e+01] [ 5.66036323e-02 -3.75411465e-03 9.98389671e-01 2.46757682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.57, Y:46.79, Z:24.68 [[ 9.79691012e-01 -1.92258784e-01 -5.69392802e-02 5.21570408e+02] [ 1.92163424e-01 9.81336549e-01 -7.19699397e-03 4.67900228e+01] [ 5.72602820e-02 -3.89081675e-03 9.98351702e-01 2.46765966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.60, Y:46.79, Z:24.68 [[ 9.79426806e-01 -1.93438955e-01 -5.74847942e-02 5.21598456e+02] [ 1.93343416e-01 9.81104193e-01 -7.27228410e-03 4.67946159e+01] [ 5.78053156e-02 -3.99163647e-03 9.98319895e-01 2.46779585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.63, Y:46.80, Z:24.68 [[ 9.79267090e-01 -1.93956633e-01 -5.84533273e-02 5.21626590e+02] [ 1.93857973e-01 9.81001633e-01 -7.40831605e-03 4.67964108e+01] [ 5.87797016e-02 -4.07692347e-03 9.98262654e-01 2.46787667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.65, Y:46.80, Z:24.68 [[ 9.79383550e-01 -1.93092787e-01 -5.93551846e-02 5.21654772e+02] [ 1.92989035e-01 9.81172018e-01 -7.53015407e-03 4.68001967e+01] [ 5.96916647e-02 -4.07999079e-03 9.98208525e-01 2.46803350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.68, Y:46.81, Z:24.68 [[ 9.79665206e-01 -1.91551585e-01 -5.96998716e-02 5.21683353e+02] [ 1.91442951e-01 9.81474413e-01 -7.58763287e-03 4.68073134e+01] [ 6.00473195e-02 -3.99577970e-03 9.98187534e-01 2.46826242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.71, Y:46.81, Z:24.68 [[ 9.80113797e-01 -1.89361347e-01 -5.93230522e-02 5.21712076e+02] [ 1.89249707e-01 9.81899997e-01 -7.54609827e-03 4.68116956e+01] [ 5.96782441e-02 -3.83083520e-03 9.98210314e-01 2.46842141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.74, Y:46.82, Z:24.69 [[ 9.80655964e-01 -1.86512943e-01 -5.93868927e-02 5.21741034e+02] [ 1.86395744e-01 9.82445688e-01 -7.55618294e-03 4.68196286e+01] [ 5.97537226e-02 -3.65944821e-03 9.98206442e-01 2.46866507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.77, Y:46.83, Z:24.69 [[ 9.82075194e-01 -1.79137877e-01 -5.86338993e-02 5.21769719e+02] [ 1.79010463e-01 9.83818877e-01 -7.46138018e-03 4.68284158e+01] [ 5.90217527e-02 -3.16844505e-03 9.98251669e-01 2.46891515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.80, Y:46.84, Z:24.69 [[ 9.82860645e-01 -1.74962059e-01 -5.80795127e-02 5.21798182e+02] [ 1.74829714e-01 9.84570938e-01 -7.39181586e-03 4.68383485e+01] [ 5.84766877e-02 -2.88889968e-03 9.98284594e-01 2.46916439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.83, Y:46.85, Z:24.69 [[ 9.83719956e-01 -1.70292811e-01 -5.74056333e-02 5.21827815e+02] [ 1.70155477e-01 9.85390130e-01 -7.30793867e-03 4.68464794e+01] [ 5.78114339e-02 -2.57891783e-03 9.98324189e-01 2.46937016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.86, Y:46.85, Z:24.69 [[ 9.85046394e-01 -1.62609932e-01 -5.69351609e-02 5.21856616e+02] [ 1.62461962e-01 9.86688178e-01 -7.24908892e-03 4.68540657e+01] [ 5.73560241e-02 -2.10910907e-03 9.98351560e-01 2.46948932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.88, Y:46.86, Z:24.70 [[ 9.85007000e-01 -1.62848538e-01 -5.69347326e-02 5.21884637e+02] [ 1.62700771e-01 9.86648803e-01 -7.25245051e-03 4.68576835e+01] [ 5.73556367e-02 -2.11961037e-03 9.98351560e-01 2.46962376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.91, Y:46.87, Z:24.70 [[ 9.85510796e-01 -1.59872694e-01 -5.66497441e-02 5.21913180e+02] [ 1.59720815e-01 9.87135764e-01 -7.22804777e-03 4.68674137e+01] [ 5.70765559e-02 -1.92482418e-03 9.98367949e-01 2.46989843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.94, Y:46.87, Z:24.70 [[ 9.85938289e-01 -1.57128939e-01 -5.68874873e-02 5.21942937e+02] [ 1.56971121e-01 9.87576507e-01 -7.26011894e-03 4.68746498e+01] [ 5.73215208e-02 -1.77166340e-03 9.98354198e-01 2.47009892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:521.97, Y:46.88, Z:24.70 [[ 9.86316249e-01 -1.54601116e-01 -5.72603834e-02 5.21972933e+02] [ 1.54436968e-01 9.87975617e-01 -7.30770884e-03 4.68804058e+01] [ 5.77016426e-02 -1.63540800e-03 9.98332533e-01 2.47022266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.00, Y:46.89, Z:24.70 [[ 9.87072600e-01 -1.49254201e-01 -5.84026109e-02 5.22001640e+02] [ 1.49074072e-01 9.88797939e-01 -7.45368803e-03 4.68869108e+01] [ 5.88608756e-02 -1.34898377e-03 9.98265284e-01 2.47019492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.03, Y:46.89, Z:24.70 [[ 9.87297756e-01 -1.47542715e-01 -5.89430864e-02 5.22029947e+02] [ 1.47355963e-01 9.89054889e-01 -7.52643931e-03 4.68925734e+01] [ 5.94084191e-02 -1.25477861e-03 9.98232971e-01 2.47029113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.06, Y:46.90, Z:24.71 [[ 9.87564425e-01 -1.45551203e-01 -5.94251885e-02 5.22058521e+02] [ 1.45357051e-01 9.89350072e-01 -7.60015165e-03 4.69007860e+01] [ 5.98985257e-02 -1.13223078e-03 9.98203829e-01 2.47056757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.09, Y:46.91, Z:24.71 [[ 9.87773294e-01 -1.43960398e-01 -5.98274485e-02 5.22087289e+02] [ 1.43760557e-01 9.89582903e-01 -7.65384265e-03 4.69055482e+01] [ 6.03060703e-02 -1.04056596e-03 9.98179390e-01 2.47064299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.12, Y:46.91, Z:24.71 [[ 9.88126170e-01 -1.41527593e-01 -5.98047863e-02 5.22116125e+02] [ 1.41323318e-01 9.89933911e-01 -7.65315918e-03 4.69121832e+01] [ 6.02859192e-02 -8.89523936e-04 9.98180754e-01 2.47087279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.15, Y:46.92, Z:24.71 [[ 9.88371935e-01 -1.39892246e-01 -5.95909266e-02 5.22145098e+02] [ 1.39686327e-01 9.90166422e-01 -7.62798750e-03 4.69174135e+01] [ 6.00720309e-02 -7.84748908e-04 9.98193736e-01 2.47107612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.17, Y:46.92, Z:24.71 [[ 9.88584452e-01 -1.38501843e-01 -5.93129108e-02 5.22174761e+02] [ 1.38295179e-01 9.90361933e-01 -7.59512955e-03 4.69224729e+01] [ 5.97931884e-02 -6.94262660e-04 9.98210545e-01 2.47124549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.20, Y:46.93, Z:24.71 [[ 9.88775232e-01 -1.37318583e-01 -5.88824896e-02 5.22202863e+02] [ 1.37112548e-01 9.90526744e-01 -7.54447671e-03 4.69265566e+01] [ 5.93606775e-02 -6.13736472e-04 9.98236412e-01 2.47136735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.23, Y:46.93, Z:24.72 [[ 9.89103458e-01 -1.35059265e-01 -5.85947448e-02 5.22232455e+02] [ 1.34851126e-01 9.90837409e-01 -7.51018965e-03 4.69326862e+01] [ 5.90721858e-02 -4.73212746e-04 9.98253602e-01 2.47160021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.26, Y:46.94, Z:24.72 [[ 9.89237269e-01 -1.34191941e-01 -5.83279339e-02 5.22261636e+02] [ 1.33984175e-01 9.90955270e-01 -7.47619712e-03 4.69369594e+01] [ 5.88036189e-02 -4.19287286e-04 9.98269482e-01 2.47169437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.29, Y:46.94, Z:24.72 [[ 9.89312598e-01 -1.33778528e-01 -5.79990350e-02 5.22290951e+02] [ 1.33572317e-01 9.91011177e-01 -7.43529452e-03 4.69416001e+01] [ 5.84723747e-02 -3.91234967e-04 9.98288950e-01 2.47191354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.32, Y:46.94, Z:24.72 [[ 9.89230308e-01 -1.34706697e-01 -5.72494936e-02 5.22319380e+02] [ 1.34507209e-01 9.90885419e-01 -7.34144646e-03 4.69445536e+01] [ 5.77166305e-02 -4.38088244e-04 9.98332910e-01 2.47207258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.35, Y:46.95, Z:24.72 [[ 9.89066369e-01 -1.35943406e-01 -5.71586266e-02 5.22349095e+02] [ 1.35746447e-01 9.90716475e-01 -7.33269760e-03 4.69471765e+01] [ 5.76248250e-02 -5.06555870e-04 9.98338181e-01 2.47221426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.38, Y:46.95, Z:24.72 [[ 9.88875375e-01 -1.37381274e-01 -5.70252381e-02 5.22379088e+02] [ 1.37187525e-01 9.90518067e-01 -7.31726524e-03 4.69500930e+01] [ 5.74897838e-02 -5.87287883e-04 9.98345922e-01 2.47242576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.41, Y:46.95, Z:24.72 [[ 9.88589784e-01 -1.39478608e-01 -5.68854661e-02 5.22408271e+02] [ 1.39289266e-01 9.90224832e-01 -7.29950809e-03 4.69515555e+01] [ 5.73475264e-02 -7.07315701e-04 9.98354026e-01 2.47249985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.44, Y:46.95, Z:24.72 [[ 9.87828511e-01 -1.44554270e-01 -5.74360180e-02 5.22437669e+02] [ 1.44369735e-01 9.89496358e-01 -7.37139064e-03 4.69501105e+01] [ 5.78982966e-02 -1.01035286e-03 9.98321975e-01 2.47246563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.47, Y:46.95, Z:24.73 [[ 9.87398338e-01 -1.47427297e-01 -5.75301164e-02 5.22466432e+02] [ 1.47246779e-01 9.89072196e-01 -7.38770139e-03 4.69518001e+01] [ 5.79905873e-02 -1.17652024e-03 9.98316437e-01 2.47259539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.49, Y:46.95, Z:24.73 [[ 9.86991145e-01 -1.50152719e-01 -5.74686020e-02 5.22494969e+02] [ 1.49976385e-01 9.88661932e-01 -7.39384564e-03 4.69530252e+01] [ 5.79272251e-02 -1.32127299e-03 9.98319934e-01 2.47268188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.52, Y:46.96, Z:24.73 [[ 9.86657709e-01 -1.52444615e-01 -5.71594662e-02 5.22524683e+02] [ 1.52273335e-01 9.88310971e-01 -7.36582114e-03 4.69562114e+01] [ 5.76142074e-02 -1.43631831e-03 9.98337889e-01 2.47286495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.55, Y:46.96, Z:24.73 [[ 9.86112125e-01 -1.55801813e-01 -5.75210609e-02 5.22554617e+02] [ 1.55633937e-01 9.87786973e-01 -7.41448650e-03 4.69571154e+01] [ 5.79737450e-02 -1.64071412e-03 9.98316760e-01 2.47302386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.58, Y:46.96, Z:24.73 [[ 9.85944064e-01 -1.57058894e-01 -5.69807543e-02 5.22584514e+02] [ 1.56896137e-01 9.87587781e-01 -7.34687124e-03 4.69601529e+01] [ 5.74273882e-02 -1.69645613e-03 9.98348244e-01 2.47317543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.61, Y:46.96, Z:24.73 [[ 9.85852883e-01 -1.57834843e-01 -5.64114746e-02 5.22614217e+02] [ 1.57676476e-01 9.87464023e-01 -7.27548554e-03 4.69630289e+01] [ 5.68526268e-02 -1.72220413e-03 9.98381096e-01 2.47330612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.64, Y:46.97, Z:24.73 [[ 9.85810830e-01 -1.58339244e-01 -5.57287355e-02 5.22643632e+02] [ 1.58185382e-01 9.87383258e-01 -7.18941047e-03 4.69666773e+01] [ 5.61639863e-02 -1.72807260e-03 9.98420062e-01 2.47348332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.67, Y:46.97, Z:24.74 [[ 9.85926328e-01 -1.58120285e-01 -5.42885948e-02 5.22673991e+02] [ 1.57973867e-01 9.87418446e-01 -7.00500319e-03 4.69735775e+01] [ 5.47131930e-02 -1.66976217e-03 9.98500715e-01 2.47376609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.70, Y:46.98, Z:24.74 [[ 9.85996670e-01 -1.57849042e-01 -5.37981984e-02 5.22704168e+02] [ 1.57704956e-01 9.87461890e-01 -6.93985565e-03 4.69772372e+01] [ 5.42191203e-02 -1.64156797e-03 9.98527712e-01 2.47390902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.73, Y:46.98, Z:24.74 [[ 9.86073728e-01 -1.57684660e-01 -5.28597343e-02 5.22734453e+02] [ 1.57545388e-01 9.87488213e-01 -6.81757674e-03 4.69791383e+01] [ 5.32733919e-02 -1.60517403e-03 9.98578674e-01 2.47403381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.77, Y:46.99, Z:24.74 [[ 9.86099469e-01 -1.57695128e-01 -5.23458166e-02 5.22765531e+02] [ 1.57558731e-01 9.87486561e-01 -6.74817032e-03 4.69851453e+01] [ 5.27549440e-02 -1.59317326e-03 9.98606218e-01 2.47421688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.80, Y:46.99, Z:24.74 [[ 9.86005378e-01 -1.58276948e-01 -5.23622178e-02 5.22795596e+02] [ 1.58141381e-01 9.87393418e-01 -6.74845531e-03 4.69865044e+01] [ 5.27702341e-02 -1.62662020e-03 9.98605356e-01 2.47424251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.83, Y:46.99, Z:24.74 [[ 9.85834114e-01 -1.59375665e-01 -5.22541536e-02 5.22826316e+02] [ 1.59242253e-01 9.87216575e-01 -6.73348046e-03 4.69925537e+01] [ 5.26593195e-02 -1.68297442e-03 9.98611117e-01 2.47437307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.86, Y:46.99, Z:24.74 [[ 9.85667741e-01 -1.60338818e-01 -5.24458489e-02 5.22856918e+02] [ 1.60205884e-01 9.87060498e-01 -6.75633620e-03 4.69941999e+01] [ 5.28505286e-02 -1.74263091e-03 9.98600914e-01 2.47439594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.89, Y:47.00, Z:24.74 [[ 9.85448315e-01 -1.61544969e-01 -5.28662529e-02 5.22888045e+02] [ 1.61411684e-01 9.86863668e-01 -6.80941253e-03 4.69988235e+01] [ 5.32718106e-02 -1.82290682e-03 9.98578385e-01 2.47447169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.92, Y:47.00, Z:24.75 [[ 9.85231559e-01 -1.62603636e-01 -5.36547554e-02 5.22917823e+02] [ 1.62468007e-01 9.86689622e-01 -6.90921827e-03 4.70008339e+01] [ 5.40640543e-02 -1.91000128e-03 9.98535643e-01 2.47451293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.95, Y:47.01, Z:24.75 [[ 9.84986877e-01 -1.64119909e-01 -5.35304430e-02 5.22948995e+02] [ 1.63987155e-01 9.86438391e-01 -6.89297065e-03 4.70060146e+01] [ 5.39357578e-02 -1.98881940e-03 9.98542427e-01 2.47459098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:522.98, Y:47.01, Z:24.75 [[ 9.84955360e-01 -1.64424916e-01 -5.31731759e-02 5.22979510e+02] [ 1.64294485e-01 9.86387586e-01 -6.84485082e-03 4.70088904e+01] [ 5.35748246e-02 -1.99418704e-03 9.98561847e-01 2.47468908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.01, Y:47.01, Z:24.75 [[ 9.85025753e-01 -1.63987799e-01 -5.32190641e-02 5.23009605e+02] [ 1.63856663e-01 9.86460390e-01 -6.84782014e-03 4.70127005e+01] [ 5.36214577e-02 -1.97501909e-03 9.98559382e-01 2.47480737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.04, Y:47.02, Z:24.75 [[ 9.85409468e-01 -1.61765906e-01 -5.29147684e-02 5.23039777e+02] [ 1.61633125e-01 9.86827437e-01 -6.80760023e-03 4.70205339e+01] [ 5.33189828e-02 -1.84450564e-03 9.98575828e-01 2.47497647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.07, Y:47.03, Z:24.75 [[ 9.85757002e-01 -1.59877256e-01 -5.21765750e-02 5.23071116e+02] [ 1.59745618e-01 9.87135403e-01 -6.71064254e-03 4.70268185e+01] [ 5.25782235e-02 -1.71991635e-03 9.98615327e-01 2.47516319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.10, Y:47.03, Z:24.75 [[ 9.86178640e-01 -1.57490017e-01 -5.14643974e-02 5.23101810e+02] [ 1.57358843e-01 9.87519326e-01 -6.61633745e-03 4.70348827e+01] [ 5.18640941e-02 -1.57348735e-03 9.98652913e-01 2.47538645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.13, Y:47.04, Z:24.76 [[ 9.87019983e-01 -1.52559712e-01 -5.01705797e-02 5.23131369e+02] [ 1.52428791e-01 9.88293422e-01 -6.44793824e-03 4.70427923e+01] [ 5.05669495e-02 -1.28319691e-03 9.98719849e-01 2.47558642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.16, Y:47.05, Z:24.76 [[ 9.87417305e-01 -1.50134077e-01 -4.96671313e-02 5.23162623e+02] [ 1.50002966e-01 9.88664974e-01 -6.37803857e-03 4.70490438e+01] [ 5.00617140e-02 -1.15243133e-03 9.98745461e-01 2.47575784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.19, Y:47.05, Z:24.76 [[ 9.87797597e-01 -1.47907751e-01 -4.87770872e-02 5.23193803e+02] [ 1.47778762e-01 9.89000631e-01 -6.26016175e-03 4.70533018e+01] [ 4.91664965e-02 -1.02444485e-03 9.98790071e-01 2.47592181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.22, Y:47.06, Z:24.76 [[ 9.88062807e-01 -1.46189040e-01 -4.85865726e-02 5.23224816e+02] [ 1.46059114e-01 9.89256228e-01 -6.23299335e-03 4.70577757e+01] [ 4.89757649e-02 -9.37922862e-04 9.98799527e-01 2.47607594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.26, Y:47.07, Z:24.76 [[ 9.88433869e-01 -1.43913680e-01 -4.78261447e-02 5.23256392e+02] [ 1.43785252e-01 9.89589910e-01 -6.13288493e-03 4.70667762e+01] [ 4.82108763e-02 -8.14743096e-04 9.98836847e-01 2.47625469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.29, Y:47.07, Z:24.76 [[ 9.88547674e-01 -1.43216143e-01 -4.75671323e-02 5.23287765e+02] [ 1.43088464e-01 9.89691128e-01 -6.09616469e-03 4.70691475e+01] [ 4.79498380e-02 -7.79958493e-04 9.98849440e-01 2.47639430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.32, Y:47.07, Z:24.77 [[ 9.88540550e-01 -1.43170919e-01 -4.78504905e-02 5.23319449e+02] [ 1.43041791e-01 9.89697667e-01 -6.12980481e-03 4.70746577e+01] [ 4.82351286e-02 -7.85059219e-04 9.98835700e-01 2.47651818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.35, Y:47.08, Z:24.77 [[ 9.88497455e-01 -1.43493536e-01 -4.77743320e-02 5.23351328e+02] [ 1.43365361e-01 9.89650929e-01 -6.11660853e-03 4.70794574e+01] [ 4.81576058e-02 -8.02932357e-04 9.98839427e-01 2.47664052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.38, Y:47.08, Z:24.77 [[ 9.88250253e-01 -1.45161680e-01 -4.78489770e-02 5.23383802e+02] [ 1.45035229e-01 9.89407548e-01 -6.12261044e-03 4.70823598e+01] [ 4.82309074e-02 -8.89115995e-04 9.98835817e-01 2.47670442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.42, Y:47.08, Z:24.77 [[ 9.88081087e-01 -1.46253668e-01 -4.80169838e-02 5.23415183e+02] [ 1.46127788e-01 9.89246665e-01 -6.14053469e-03 4.70836343e+01] [ 4.83987168e-02 -9.49269416e-04 9.98827644e-01 2.47679068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.45, Y:47.09, Z:24.77 [[ 9.87880270e-01 -1.47478157e-01 -4.84021191e-02 5.23446954e+02] [ 1.47351850e-01 9.89064787e-01 -6.18705693e-03 4.70876320e+01] [ 4.87852874e-02 -1.02007030e-03 9.98808768e-01 2.47690035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.48, Y:47.09, Z:24.77 [[ 9.87532811e-01 -1.49608680e-01 -4.89509057e-02 5.23479103e+02] [ 1.49482281e-01 9.88744628e-01 -6.25362904e-03 4.70903359e+01] [ 4.93355423e-02 -1.14162921e-03 9.98781608e-01 2.47698054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.51, Y:47.09, Z:24.77 [[ 9.87416981e-01 -1.50347597e-01 -4.90235218e-02 5.23511034e+02] [ 1.50221909e-01 9.88632489e-01 -6.25934951e-03 4.70948076e+01] [ 4.94073245e-02 -1.18381902e-03 9.98778011e-01 2.47709481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.54, Y:47.10, Z:24.77 [[ 9.87321458e-01 -1.51020408e-01 -4.88791960e-02 5.23543323e+02] [ 1.50896460e-01 9.88529895e-01 -6.23732297e-03 4.70992889e+01] [ 4.92605096e-02 -1.21745483e-03 9.98785222e-01 2.47722865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.57, Y:47.10, Z:24.77 [[ 9.87267381e-01 -1.51539521e-01 -4.83620915e-02 5.23573977e+02] [ 1.51418979e-01 9.88450429e-01 -6.16776373e-03 4.71020160e+01] [ 4.87381901e-02 -1.23370656e-03 9.98810826e-01 2.47738630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.61, Y:47.11, Z:24.78 [[ 9.87331392e-01 -1.51305056e-01 -4.77860084e-02 5.23605398e+02] [ 1.51187223e-01 9.88486376e-01 -6.09163963e-03 4.71063650e+01] [ 4.81575141e-02 -1.21016687e-03 9.98839021e-01 2.47757957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.64, Y:47.11, Z:24.78 [[ 9.87385545e-01 -1.51166080e-01 -4.71020271e-02 5.23636052e+02] [ 1.51051602e-01 9.88507664e-01 -6.00102097e-03 4.71094208e+01] [ 4.74678655e-02 -1.18951527e-03 9.98872057e-01 2.47777440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.67, Y:47.11, Z:24.78 [[ 9.87487995e-01 -1.50836252e-01 -4.59987432e-02 5.23667810e+02] [ 1.50726832e-01 9.88558094e-01 -5.85800779e-03 4.71139398e+01] [ 4.63560299e-02 -1.14853247e-03 9.98924321e-01 2.47795410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.70, Y:47.12, Z:24.78 [[ 9.87523552e-01 -1.50667896e-01 -4.57866759e-02 5.23698610e+02] [ 1.50559456e-01 9.88583779e-01 -5.82766972e-03 4.71162825e+01] [ 4.61420078e-02 -1.13865589e-03 9.98934241e-01 2.47814604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.73, Y:47.12, Z:24.78 [[ 9.87517421e-01 -1.50754599e-01 -4.56332523e-02 5.23730694e+02] [ 1.50647089e-01 9.88570558e-01 -5.80571434e-03 4.71227103e+01] [ 4.59869278e-02 -1.14127254e-03 9.98941390e-01 2.47826265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.76, Y:47.12, Z:24.78 [[ 9.87461718e-01 -1.51049066e-01 -4.58643068e-02 5.23761682e+02] [ 1.50940937e-01 9.88525581e-01 -5.83172556e-03 4.71242143e+01] [ 4.62189172e-02 -1.16419572e-03 9.98930656e-01 2.47835782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.79, Y:47.13, Z:24.78 [[ 9.87326602e-01 -1.51820007e-01 -4.62262654e-02 5.23793757e+02] [ 1.51711266e-01 9.88407410e-01 -5.87222995e-03 4.71291823e+01] [ 4.65819052e-02 -1.21523638e-03 9.98913735e-01 2.47846992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.83, Y:47.13, Z:24.79 [[ 9.87337675e-01 -1.51747847e-01 -4.62266942e-02 5.23825176e+02] [ 1.51639185e-01 9.88418491e-01 -5.86885184e-03 4.71331133e+01] [ 4.65819050e-02 -1.21523972e-03 9.98913735e-01 2.47862048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.86, Y:47.14, Z:24.79 [[ 9.87000400e-01 -1.53720172e-01 -4.69075566e-02 5.23857573e+02] [ 1.53610676e-01 9.88113524e-01 -5.95176159e-03 4.71351206e+01] [ 4.72648969e-02 -1.33111039e-03 9.98881503e-01 2.47863400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.89, Y:47.14, Z:24.79 [[ 9.86751598e-01 -1.55150608e-01 -4.74296670e-02 5.23889122e+02] [ 1.55040478e-01 9.87889810e-01 -6.01447571e-03 4.71381041e+01] [ 4.77884343e-02 -1.41872474e-03 9.98856473e-01 2.47873343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.92, Y:47.14, Z:24.79 [[ 9.86568683e-01 -1.56221314e-01 -4.77193340e-02 5.23921469e+02] [ 1.56111215e-01 9.87720965e-01 -6.04852507e-03 4.71406212e+01] [ 4.80782952e-02 -1.48223778e-03 9.98842470e-01 2.47885420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.95, Y:47.14, Z:24.79 [[ 9.86365757e-01 -1.57430370e-01 -4.79402879e-02 5.23953969e+02] [ 1.57320846e-01 9.87528871e-01 -6.07298222e-03 4.71433149e+01] [ 4.82984902e-02 -1.55182495e-03 9.98831741e-01 2.47896963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:523.99, Y:47.15, Z:24.79 [[ 9.86116904e-01 -1.58716363e-01 -4.88115478e-02 5.23986285e+02] [ 1.58604573e-01 9.87322845e-01 -6.17970393e-03 4.71465041e+01] [ 4.91735763e-02 -1.64782417e-03 9.98788889e-01 2.47909244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.02, Y:47.15, Z:24.79 [[ 9.86114983e-01 -1.58615456e-01 -4.91770095e-02 5.24017127e+02] [ 1.58502045e-01 9.87339043e-01 -6.22223428e-03 4.71476466e+01] [ 4.95413240e-02 -1.65881812e-03 9.98770697e-01 2.47919488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.05, Y:47.15, Z:24.79 [[ 9.86211841e-01 -1.57947703e-01 -4.93834735e-02 5.24048907e+02] [ 1.57832777e-01 9.87446121e-01 -6.24283803e-03 4.71543083e+01] [ 4.97495613e-02 -1.63756998e-03 9.98760381e-01 2.47934751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.08, Y:47.16, Z:24.79 [[ 9.86364544e-01 -1.56962425e-01 -4.94750880e-02 5.24081086e+02] [ 1.56846016e-01 9.87603288e-01 -6.25078557e-03 4.71593221e+01] [ 4.98428980e-02 -1.59441718e-03 9.98755798e-01 2.47949733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.11, Y:47.16, Z:24.80 [[ 9.86915727e-01 -1.53494000e-01 -4.93653684e-02 5.24111490e+02] [ 1.53373948e-01 9.88148560e-01 -6.23339473e-03 4.71643327e+01] [ 4.97371064e-02 -1.41952614e-03 9.98761335e-01 2.47968234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.14, Y:47.17, Z:24.80 [[ 9.87237551e-01 -1.51591115e-01 -4.88072972e-02 5.24141789e+02] [ 1.51471525e-01 9.88442420e-01 -6.16119714e-03 4.71690613e+01] [ 4.91771857e-02 -1.31035056e-03 9.98789211e-01 2.47985905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.17, Y:47.18, Z:24.80 [[ 9.87587264e-01 -1.49413671e-01 -4.84453413e-02 5.24173110e+02] [ 1.49293276e-01 9.88774054e-01 -6.11458629e-03 4.71775368e+01] [ 4.88150993e-02 -1.19387614e-03 9.98807119e-01 2.48009578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.20, Y:47.18, Z:24.80 [[ 9.87921869e-01 -1.47360325e-01 -4.79094594e-02 5.24204276e+02] [ 1.47240339e-01 9.89082282e-01 -6.04338534e-03 4.71808768e+01] [ 4.82769526e-02 -1.08381251e-03 9.98833400e-01 2.48024368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.24, Y:47.19, Z:24.80 [[ 9.88185545e-01 -1.45617992e-01 -4.77988306e-02 5.24235363e+02] [ 1.45496817e-01 9.89340384e-01 -6.02334033e-03 4.71857145e+01] [ 4.81664201e-02 -1.00239984e-03 9.98838821e-01 2.48043739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.27, Y:47.19, Z:24.81 [[ 9.88558776e-01 -1.43097082e-01 -4.76945573e-02 5.24267142e+02] [ 1.42973794e-01 9.89708262e-01 -6.00416820e-03 4.71931323e+01] [ 4.80628764e-02 -8.83598633e-04 9.98843921e-01 2.48061220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.30, Y:47.20, Z:24.81 [[ 9.88616590e-01 -1.42674699e-01 -4.77615743e-02 5.24297969e+02] [ 1.42550744e-01 9.89769255e-01 -6.00901407e-03 4.71961130e+01] [ 4.81302721e-02 -8.67836954e-04 9.98840690e-01 2.48074979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.33, Y:47.20, Z:24.81 [[ 9.88627495e-01 -1.42435277e-01 -4.82479850e-02 5.24329973e+02] [ 1.42308633e-01 9.89803738e-01 -6.06745581e-03 4.72009108e+01] [ 4.86202556e-02 -8.67651142e-04 9.98816959e-01 2.48091090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.36, Y:47.20, Z:24.81 [[ 9.88644118e-01 -1.42339727e-01 -4.81893244e-02 5.24360939e+02] [ 1.42213457e-01 9.89817485e-01 -6.05638299e-03 4.72039176e+01] [ 4.85606998e-02 -8.65563001e-04 9.98819858e-01 2.48105200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.39, Y:47.21, Z:24.81 [[ 9.88510162e-01 -1.43011332e-01 -4.89430076e-02 5.24391746e+02] [ 1.42882203e-01 9.89720625e-01 -6.14501546e-03 4.72050141e+01] [ 4.93187109e-02 -9.18674508e-04 9.98782669e-01 2.48116664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.42, Y:47.21, Z:24.81 [[ 9.88412918e-01 -1.43561879e-01 -4.92939249e-02 5.24423720e+02] [ 1.43431889e-01 9.89640878e-01 -6.18276026e-03 4.72093691e+01] [ 4.96708918e-02 -9.59200645e-04 9.98765179e-01 2.48132145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.45, Y:47.21, Z:24.81 [[ 9.88247136e-01 -1.44418897e-01 -5.01076977e-02 5.24454775e+02] [ 1.44285867e-01 9.89516112e-01 -6.28109545e-03 4.72101239e+01] [ 5.04894831e-02 -1.02255799e-03 9.98724069e-01 2.48139032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.49, Y:47.21, Z:24.82 [[ 9.88228946e-01 -1.44439991e-01 -5.04047596e-02 5.24486407e+02] [ 1.44305551e-01 9.89513023e-01 -6.31545837e-03 4.72147205e+01] [ 5.07883708e-02 -1.03256785e-03 9.98708904e-01 2.48155187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.52, Y:47.22, Z:24.82 [[ 9.88201399e-01 -1.44732197e-01 -5.01057585e-02 5.24517254e+02] [ 1.44599909e-01 9.89470312e-01 -6.27432370e-03 4.72164524e+01] [ 5.04862572e-02 -1.04499266e-03 9.98724209e-01 2.48170289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.55, Y:47.22, Z:24.82 [[ 9.88189280e-01 -1.44753442e-01 -5.02830680e-02 5.24548851e+02] [ 1.44620389e-01 9.89467196e-01 -6.29365722e-03 4.72213390e+01] [ 5.06644748e-02 -1.05263227e-03 9.98715176e-01 2.48187875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.58, Y:47.22, Z:24.82 [[ 9.88057433e-01 -1.45105228e-01 -5.18361104e-02 5.24579932e+02] [ 1.44964511e-01 9.89415608e-01 -6.48417076e-03 4.72230594e+01] [ 5.22283438e-02 -1.10766329e-03 9.98634554e-01 2.48183644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.61, Y:47.23, Z:24.82 [[ 9.87970434e-01 -1.45608691e-01 -5.20819543e-02 5.24610481e+02] [ 1.45467483e-01 9.89341601e-01 -6.51211605e-03 4.72275022e+01] [ 5.24750648e-02 -1.14245267e-03 9.98621581e-01 2.48199681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.64, Y:47.23, Z:24.82 [[ 9.87927393e-01 -1.46190327e-01 -5.12626008e-02 5.24640633e+02] [ 1.46054403e-01 9.89255806e-01 -6.40787809e-03 4.72302606e+01] [ 5.16485953e-02 -1.15661026e-03 9.98664651e-01 2.48217309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.67, Y:47.23, Z:24.82 [[ 9.87859055e-01 -1.46972418e-01 -5.03348365e-02 5.24671380e+02] [ 1.46842434e-01 9.89139891e-01 -6.29094299e-03 4.72331660e+01] [ 5.07127898e-02 -1.17672492e-03 9.98712585e-01 2.48238306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.70, Y:47.24, Z:24.83 [[ 9.87776764e-01 -1.47814789e-01 -4.94757739e-02 5.24701945e+02] [ 1.47690347e-01 9.89014331e-01 -6.18185794e-03 4.72353346e+01] [ 4.98460194e-02 -1.20079856e-03 9.98756193e-01 2.48259014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.73, Y:47.24, Z:24.83 [[ 9.87508835e-01 -1.49808236e-01 -4.88241105e-02 5.24732731e+02] [ 1.49689529e-01 9.88714236e-01 -6.09951589e-03 4.72361247e+01] [ 4.91868508e-02 -1.28513229e-03 9.98788768e-01 2.48277447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.76, Y:47.24, Z:24.83 [[ 9.87397035e-01 -1.50487648e-01 -4.89955506e-02 5.24764096e+02] [ 1.50369064e-01 9.88611000e-01 -6.11844274e-03 4.72419455e+01] [ 4.93582904e-02 -1.32608288e-03 9.98780256e-01 2.48291294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.80, Y:47.24, Z:24.83 [[ 9.87245133e-01 -1.51343859e-01 -4.94174429e-02 5.24795272e+02] [ 1.51224476e-01 9.88480207e-01 -6.16746722e-03 4.72445662e+01] [ 4.97815724e-02 -1.38432492e-03 9.98759170e-01 2.48301717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.83, Y:47.25, Z:24.83 [[ 9.87130817e-01 -1.52013073e-01 -4.96465132e-02 5.24827287e+02] [ 1.51893567e-01 9.88377452e-01 -6.19324713e-03 4.72480251e+01] [ 5.00109487e-02 -1.42744086e-03 9.98747650e-01 2.48314169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.86, Y:47.25, Z:24.83 [[ 9.86973204e-01 -1.52990105e-01 -4.97787445e-02 5.24859525e+02] [ 1.52871387e-01 9.88226606e-01 -6.20605828e-03 4.72508384e+01] [ 5.01421452e-02 -1.48453247e-03 9.98740988e-01 2.48323617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.89, Y:47.25, Z:24.83 [[ 9.86887236e-01 -1.53455401e-01 -5.00502008e-02 5.24890669e+02] [ 1.53336163e-01 9.88154406e-01 -6.23630616e-03 4.72536692e+01] [ 5.04143213e-02 -1.51997481e-03 9.98727233e-01 2.48338193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.92, Y:47.25, Z:24.83 [[ 9.86827454e-01 -1.53884374e-01 -4.99116757e-02 5.24921149e+02] [ 1.53766432e-01 9.88087663e-01 -6.21727986e-03 4.72543091e+01] [ 5.02738532e-02 -1.53935783e-03 9.98734284e-01 2.48349016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:524.95, Y:47.26, Z:24.84 [[ 9.86740013e-01 -1.54365549e-01 -5.01540000e-02 5.24952471e+02] [ 1.54247128e-01 9.88012553e-01 -6.24649823e-03 4.72594215e+01] [ 5.05170257e-02 -1.57244072e-03 9.98721962e-01 2.48365911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters Centerline goodness [0,1] 0.9998340489970337 Centerline is valid? [True, True] Translation: X:524.98, Y:47.26, Z:24.84 [[ 9.86559706e-01 -1.55404183e-01 -5.04924398e-02 5.24982892e+02] [ 1.55285606e-01 9.87849612e-01 -6.28687806e-03 4.72614026e+01] [ 5.08559442e-02 -1.63836855e-03 9.98704655e-01 2.48377208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.01, Y:47.27, Z:24.84 [[ 9.86530387e-01 -1.55597367e-01 -5.04703349e-02 5.25013458e+02] [ 1.55479195e-01 9.87819185e-01 -6.28316481e-03 4.72658495e+01] [ 5.08332089e-02 -1.64855404e-03 9.98705796e-01 2.48396137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.05, Y:47.27, Z:24.84 [[ 9.86455589e-01 -1.56151316e-01 -5.02208858e-02 5.25045007e+02] [ 1.56035116e-01 9.87731733e-01 -6.25033032e-03 4.72692130e+01] [ 5.05807598e-02 -1.67054848e-03 9.98718577e-01 2.48414316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.08, Y:47.28, Z:24.84 [[ 9.86389740e-01 -1.56539042e-01 -5.03071396e-02 5.25075567e+02] [ 1.56423037e-01 9.87670317e-01 -6.25927979e-03 4.72752288e+01] [ 5.06666902e-02 -1.69510619e-03 9.98714180e-01 2.48434825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.11, Y:47.28, Z:24.85 [[ 9.86187934e-01 -1.57750408e-01 -5.04793832e-02 5.25106849e+02] [ 1.57635285e-01 9.87477439e-01 -6.27885854e-03 4.72787223e+01] [ 5.08377445e-02 -1.76519745e-03 9.98705366e-01 2.48456072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.14, Y:47.28, Z:24.85 [[ 9.86076842e-01 -1.58484418e-01 -5.03502780e-02 5.25138186e+02] [ 1.58370931e-01 9.87359837e-01 -6.26097501e-03 4.72825654e+01] [ 5.07061093e-02 -1.80021795e-03 9.98711995e-01 2.48471115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.17, Y:47.29, Z:24.85 [[ 9.85910101e-01 -1.59375925e-01 -5.07994894e-02 5.25169134e+02] [ 1.59261680e-01 9.87216207e-01 -6.31496570e-03 4.72863726e+01] [ 5.11565327e-02 -1.86442358e-03 9.98688907e-01 2.48488706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.20, Y:47.29, Z:24.85 [[ 9.85750901e-01 -1.60208573e-01 -5.12676764e-02 5.25199785e+02] [ 1.60093433e-01 9.87081303e-01 -6.37128069e-03 4.72901781e+01] [ 5.16260986e-02 -1.92712265e-03 9.98664624e-01 2.48507873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.23, Y:47.29, Z:24.85 [[ 9.85476718e-01 -1.61708806e-01 -5.18256652e-02 5.25229564e+02] [ 1.61593306e-01 9.86836432e-01 -6.43888835e-03 4.72927550e+01] [ 5.21846795e-02 -2.02930602e-03 9.98635389e-01 2.48524482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.26, Y:47.30, Z:24.85 [[ 9.85371437e-01 -1.62341501e-01 -5.18494849e-02 5.25261073e+02] [ 1.62226778e-01 9.86732475e-01 -6.44168150e-03 4.72963293e+01] [ 5.22073228e-02 -2.06392594e-03 9.98634135e-01 2.48540093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.29, Y:47.30, Z:24.86 [[ 9.85291876e-01 -1.62790239e-01 -5.19543734e-02 5.25292135e+02] [ 1.62675771e-01 9.86658479e-01 -6.45286932e-03 4.73000758e+01] [ 5.23116872e-02 -2.09375802e-03 9.98628611e-01 2.48556680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.32, Y:47.31, Z:24.86 [[ 9.85225437e-01 -1.63057887e-01 -5.23733204e-02 5.25323270e+02] [ 1.62942040e-01 9.86614211e-01 -6.50304208e-03 4.73069171e+01] [ 5.27326345e-02 -2.12685321e-03 9.98606402e-01 2.48572802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.35, Y:47.31, Z:24.86 [[ 9.85248664e-01 -1.62926919e-01 -5.23439526e-02 5.25354488e+02] [ 1.62811116e-01 9.86635861e-01 -6.49751733e-03 4.73131823e+01] [ 5.27030412e-02 -2.12050708e-03 9.98607978e-01 2.48590433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.39, Y:47.32, Z:24.86 [[ 9.85330461e-01 -1.62411495e-01 -5.24059931e-02 5.25386145e+02] [ 1.62294803e-01 9.86720886e-01 -6.50310149e-03 4.73199041e+01] [ 5.27662664e-02 -2.09751635e-03 9.98604687e-01 2.48608398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.42, Y:47.33, Z:24.86 [[ 9.85745373e-01 -1.59908392e-01 -5.23007233e-02 5.25415586e+02] [ 1.59788842e-01 9.87129907e-01 -6.48641982e-03 4.73259600e+01] [ 5.26648411e-02 -1.96311367e-03 9.98610315e-01 2.48626173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.45, Y:47.33, Z:24.86 [[ 9.86107266e-01 -1.57783645e-01 -5.19305475e-02 5.25447468e+02] [ 1.57662908e-01 9.87471997e-01 -6.43919592e-03 4.73343465e+01] [ 5.22959612e-02 -1.83778327e-03 9.98629939e-01 2.48645326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.48, Y:47.34, Z:24.87 [[ 9.86543046e-01 -1.55050289e-01 -5.18866748e-02 5.25478507e+02] [ 1.54926229e-01 9.87905123e-01 -6.42902382e-03 4.73409721e+01] [ 5.22559339e-02 -1.69609814e-03 9.98632285e-01 2.48662465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.51, Y:47.35, Z:24.87 [[ 9.87063439e-01 -1.51879773e-01 -5.13643958e-02 5.25509356e+02] [ 1.51754078e-01 9.88397813e-01 -6.36108876e-03 4.73475790e+01] [ 5.17345772e-02 -1.51595836e-03 9.98659720e-01 2.48680240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.54, Y:47.36, Z:24.87 [[ 9.88196440e-01 -1.44497384e-01 -5.08753665e-02 5.25539196e+02] [ 1.44364384e-01 9.89504548e-01 -6.29870289e-03 4.73586406e+01] [ 5.12515527e-02 -1.12023516e-03 9.98685147e-01 2.48704753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.57, Y:47.37, Z:24.87 [[ 9.88761870e-01 -1.40672527e-01 -5.06083442e-02 5.25570597e+02] [ 1.40535969e-01 9.90055755e-01 -6.26451852e-03 4.73658578e+01] [ 5.09863280e-02 -9.18175652e-04 9.98698929e-01 2.48723245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.60, Y:47.38, Z:24.87 [[ 9.89708640e-01 -1.33693134e-01 -5.10191543e-02 5.25600914e+02] [ 1.33545263e-01 9.91022616e-01 -6.31171782e-03 4.73759221e+01] [ 5.14049690e-02 -5.66604708e-04 9.98677730e-01 2.48735948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.63, Y:47.38, Z:24.88 [[ 9.90060573e-01 -1.30972369e-01 -5.12474450e-02 5.25632336e+02] [ 1.30819634e-01 9.91385926e-01 -6.33789878e-03 4.73821432e+01] [ 5.16360853e-02 -4.29268308e-04 9.98665875e-01 2.48752318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.66, Y:47.39, Z:24.88 [[ 9.90378690e-01 -1.28447653e-01 -5.14902942e-02 5.25663919e+02] [ 1.28290256e-01 9.91716244e-01 -6.36407880e-03 4.73875903e+01] [ 5.18812121e-02 -3.02855020e-04 9.98653217e-01 2.48763638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.70, Y:47.39, Z:24.88 [[ 9.90569999e-01 -1.26793334e-01 -5.19088302e-02 5.25695317e+02] [ 1.26631302e-01 9.91929131e-01 -6.41186144e-03 4.73923069e+01] [ 5.23028621e-02 -2.21885188e-04 9.98631244e-01 2.48773995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.73, Y:47.40, Z:24.88 [[ 9.90673733e-01 -1.25844491e-01 -5.22371466e-02 5.25726032e+02] [ 1.25679287e-01 9.92049965e-01 -6.44855126e-03 4.73962671e+01] [ 5.26333741e-02 -1.76717005e-04 9.98613888e-01 2.48783238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.76, Y:47.40, Z:24.88 [[ 9.90753825e-01 -1.25154400e-01 -5.23758869e-02 5.25757268e+02] [ 1.24987527e-01 9.92137266e-01 -6.46239508e-03 4.74000416e+01] [ 5.27728665e-02 -1.43689944e-04 9.98606531e-01 2.48794782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.79, Y:47.40, Z:24.88 [[ 9.90762656e-01 -1.25084167e-01 -5.23766226e-02 5.25788692e+02] [ 1.24917512e-01 9.92146123e-01 -6.45642738e-03 4.74038548e+01] [ 5.27728599e-02 -1.45970238e-04 9.98606531e-01 2.48809827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.82, Y:47.41, Z:24.88 [[ 9.90780950e-01 -1.24982074e-01 -5.22741848e-02 5.25820212e+02] [ 1.24816127e-01 9.92158989e-01 -6.44004326e-03 4.74078944e+01] [ 5.26691923e-02 -1.43989094e-04 9.98612004e-01 2.48829157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.85, Y:47.41, Z:24.88 [[ 9.90640382e-01 -1.26116263e-01 -5.22141939e-02 5.25852567e+02] [ 1.25952474e-01 9.92015446e-01 -6.42877884e-03 4.74108143e+01] [ 5.26080604e-02 -2.07898979e-04 9.98615216e-01 2.48845653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.88, Y:47.41, Z:24.89 [[ 9.90502556e-01 -1.27300067e-01 -5.19555514e-02 5.25884877e+02] [ 1.27139729e-01 9.91864214e-01 -6.39305633e-03 4.74133961e+01] [ 5.23466887e-02 -2.73276067e-04 9.98628935e-01 2.48861110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.92, Y:47.42, Z:24.89 [[ 9.90333146e-01 -1.28693178e-01 -5.17525350e-02 5.25916452e+02] [ 1.28536190e-01 9.91684397e-01 -6.36428867e-03 4.74151067e+01] [ 5.21412221e-02 -3.49307627e-04 9.98639660e-01 2.48877411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.95, Y:47.41, Z:24.89 [[ 9.89820836e-01 -1.32931910e-01 -5.08312942e-02 5.25948416e+02] [ 1.32786185e-01 9.91125011e-01 -6.24827108e-03 4.74144987e+01] [ 5.12107617e-02 -5.65024756e-04 9.98687708e-01 2.48895006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:525.98, Y:47.42, Z:24.89 [[ 9.89467362e-01 -1.35591806e-01 -5.06872893e-02 5.25981003e+02] [ 1.35450492e-01 9.90764537e-01 -6.22862032e-03 4.74157186e+01] [ 5.10637186e-02 -7.02601760e-04 9.98695150e-01 2.48912026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.01, Y:47.42, Z:24.89 [[ 9.89096336e-01 -1.38425697e-01 -5.02669227e-02 5.26013374e+02] [ 1.38290557e-01 9.90372461e-01 -6.17334179e-03 4.74170164e+01] [ 5.06375251e-02 -8.45411009e-04 9.98716740e-01 2.48927520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.05, Y:47.42, Z:24.89 [[ 9.88685864e-01 -1.41476456e-01 -4.98465071e-02 5.26045684e+02] [ 1.41347624e-01 9.89941119e-01 -6.11806542e-03 4.74177451e+01] [ 5.02106693e-02 -9.96840526e-04 9.98738151e-01 2.48940189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.08, Y:47.42, Z:24.90 [[ 9.88247833e-01 -1.44648546e-01 -4.94268950e-02 5.26078201e+02] [ 1.44526015e-01 9.89482426e-01 -6.06295187e-03 4.74181952e+01] [ 4.97840411e-02 -1.15177312e-03 9.98759342e-01 2.48955856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.11, Y:47.41, Z:24.90 [[ 9.87291747e-01 -1.51069851e-01 -4.93245028e-02 5.26109291e+02] [ 1.50955997e-01 9.88521989e-01 -6.04689511e-03 4.74133544e+01] [ 4.96718591e-02 -1.47577984e-03 9.98764501e-01 2.48963561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.14, Y:47.42, Z:24.90 [[ 9.86840361e-01 -1.54056242e-01 -4.91200234e-02 5.26141279e+02] [ 1.53947071e-01 9.88060752e-01 -6.02083010e-03 4.74158196e+01] [ 4.94611137e-02 -1.62028559e-03 9.98774736e-01 2.48978536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.17, Y:47.42, Z:24.90 [[ 9.86407017e-01 -1.56839381e-01 -4.90163696e-02 5.26173828e+02] [ 1.56734276e-01 9.87622556e-01 -6.00453921e-03 4.74166509e+01] [ 4.93514204e-02 -1.75962558e-03 9.98779926e-01 2.48994681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.21, Y:47.42, Z:24.90 [[ 9.86037871e-01 -1.58993968e-01 -4.94998432e-02 5.26205418e+02] [ 1.58889666e-01 9.87277746e-01 -6.06018257e-03 4.74197144e+01] [ 4.98336261e-02 -1.88944402e-03 9.98755746e-01 2.49009027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.24, Y:47.42, Z:24.90 [[ 9.85342268e-01 -1.62932389e-01 -5.05336634e-02 5.26235805e+02] [ 1.62829114e-01 9.86634921e-01 -6.18154134e-03 4.74182030e+01] [ 5.08654503e-02 -2.13741769e-03 9.98703228e-01 2.49015005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.27, Y:47.42, Z:24.90 [[ 9.85005543e-01 -1.64780064e-01 -5.11039241e-02 5.26267362e+02] [ 1.64677107e-01 9.86327743e-01 -6.24777046e-03 4.74197211e+01] [ 5.14347261e-02 -2.26155782e-03 9.98673798e-01 2.49026819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.30, Y:47.42, Z:24.90 [[ 9.84480765e-01 -1.67838655e-01 -5.12621718e-02 5.26297535e+02] [ 1.67739282e-01 9.85811482e-01 -6.26537823e-03 4.74181297e+01] [ 5.15864102e-02 -2.43053552e-03 9.98665577e-01 2.49039751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.33, Y:47.42, Z:24.91 [[ 9.84252462e-01 -1.69076050e-01 -5.15788717e-02 5.26328032e+02] [ 1.68977143e-01 9.85599810e-01 -6.30400511e-03 4.74219193e+01] [ 5.19019824e-02 -2.51091786e-03 9.98649027e-01 2.49058286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.36, Y:47.42, Z:24.91 [[ 9.84022840e-01 -1.70324535e-01 -5.18517420e-02 5.26358095e+02] [ 1.70226352e-01 9.85384614e-01 -6.33648544e-03 4.74208318e+01] [ 5.21731677e-02 -2.59128649e-03 9.98634691e-01 2.49072223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.39, Y:47.43, Z:24.91 [[ 9.83794467e-01 -1.71532168e-01 -5.22030936e-02 5.26388665e+02] [ 1.71434354e-01 9.85174892e-01 -6.37923868e-03 4.74263503e+01] [ 5.25234218e-02 -2.67354392e-03 9.98616114e-01 2.49091306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.42, Y:47.43, Z:24.91 [[ 9.83627309e-01 -1.72317039e-01 -5.27650879e-02 5.26418782e+02] [ 1.72218332e-01 9.85037712e-01 -6.44607735e-03 4.74286692e+01] [ 5.30863704e-02 -2.74657767e-03 9.98586147e-01 2.49102142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.45, Y:47.43, Z:24.91 [[ 9.83332778e-01 -1.73509745e-01 -5.43232613e-02 5.26449598e+02] [ 1.73406999e-01 9.84827896e-01 -6.63529720e-03 4.74325530e+01] [ 5.46503519e-02 -2.89532851e-03 9.98501355e-01 2.49115145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.48, Y:47.43, Z:24.91 [[ 9.83288299e-01 -1.73625435e-01 -5.47569971e-02 5.26478683e+02] [ 1.73521309e-01 9.84807414e-01 -6.68669450e-03 4.74347122e+01] [ 5.50860769e-02 -2.92655734e-03 9.98477320e-01 2.49124537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.51, Y:47.44, Z:24.91 [[ 9.83258711e-01 -1.73626300e-01 -5.52830458e-02 5.26508928e+02] [ 1.73520126e-01 9.84807180e-01 -6.75164101e-03 4.74409686e+01] [ 5.56154029e-02 -2.95411124e-03 9.98447896e-01 2.49144069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.54, Y:47.45, Z:24.92 [[ 9.83317438e-01 -1.73265678e-01 -5.53698497e-02 5.26539949e+02] [ 1.73158665e-01 9.84870735e-01 -6.76108183e-03 4.74471510e+01] [ 5.57036079e-02 -2.93947961e-03 9.98443022e-01 2.49164828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.57, Y:47.45, Z:24.92 [[ 9.83564883e-01 -1.71843748e-01 -5.54062105e-02 5.26569365e+02] [ 1.71734435e-01 9.85120060e-01 -6.76393276e-03 4.74498910e+01] [ 5.57441090e-02 -2.86238752e-03 9.98440985e-01 2.49180603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.60, Y:47.46, Z:24.92 [[ 9.83733289e-01 -1.70957289e-01 -5.51581501e-02 5.26599648e+02] [ 1.70847532e-01 9.85274465e-01 -6.73421671e-03 4.74583274e+01] [ 5.54971803e-02 -2.79896066e-03 9.98454921e-01 2.49205161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.63, Y:47.46, Z:24.92 [[ 9.83936199e-01 -1.69897020e-01 -5.48138583e-02 5.26630511e+02] [ 1.69787099e-01 9.85458057e-01 -6.69018651e-03 4.74647069e+01] [ 5.51534011e-02 -2.72396930e-03 9.98474177e-01 2.49228062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.66, Y:47.47, Z:24.92 [[ 9.84129917e-01 -1.68950809e-01 -5.42580079e-02 5.26661880e+02] [ 1.68841787e-01 9.85620933e-01 -6.62022266e-03 4.74707120e+01] [ 5.45963204e-02 -2.64585982e-03 9.98505003e-01 2.49247168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.69, Y:47.48, Z:24.93 [[ 9.84394087e-01 -1.67509909e-01 -5.39324665e-02 5.26692066e+02] [ 1.67400205e-01 9.85867085e-01 -6.57737653e-03 4.74754244e+01] [ 5.42720193e-02 -2.55357537e-03 9.98522923e-01 2.49264073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.72, Y:47.48, Z:24.93 [[ 9.84917921e-01 -1.64593558e-01 -5.33446237e-02 5.26722403e+02] [ 1.64482168e-01 9.86358627e-01 -6.50189833e-03 4.74801483e+01] [ 5.36871004e-02 -2.37040315e-03 9.98554994e-01 2.49278139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.75, Y:47.49, Z:24.93 [[ 9.85202117e-01 -1.62924359e-01 -5.32206974e-02 5.26752717e+02] [ 1.62811160e-01 9.86635937e-01 -6.48485074e-03 4.74873130e+01] [ 5.35659928e-02 -2.27603479e-03 9.98561718e-01 2.49296613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.78, Y:47.50, Z:24.93 [[ 9.85837708e-01 -1.59180032e-01 -5.27800325e-02 5.26783063e+02] [ 1.59063442e-01 9.87247429e-01 -6.42928288e-03 4.74963091e+01] [ 5.31303649e-02 -2.05714416e-03 9.98585466e-01 2.49317551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.81, Y:47.51, Z:24.93 [[ 9.86188575e-01 -1.57056210e-01 -5.25874586e-02 5.26814067e+02] [ 1.56937564e-01 9.87587765e-01 -6.40377986e-03 4.75062612e+01] [ 5.29404841e-02 -1.93761312e-03 9.98595789e-01 2.49336971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.84, Y:47.51, Z:24.93 [[ 9.86557193e-01 -1.54714429e-01 -5.26151192e-02 5.26844306e+02] [ 1.54592528e-01 9.87957563e-01 -6.40348726e-03 4.75093202e+01] [ 5.29722168e-02 -1.81649786e-03 9.98594334e-01 2.49347026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.88, Y:47.52, Z:24.94 [[ 9.86934446e-01 -1.52326175e-01 -5.25084399e-02 5.26875207e+02] [ 1.52201454e-01 9.88328839e-01 -6.38933734e-03 4.75172840e+01] [ 5.28688687e-02 -1.68600380e-03 9.98600040e-01 2.49364450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.91, Y:47.53, Z:24.94 [[ 9.87645357e-01 -1.47949126e-01 -5.16498290e-02 5.26905145e+02] [ 1.47822611e-01 9.88993938e-01 -6.28217709e-03 4.75250809e+01] [ 5.20108104e-02 -1.43044953e-03 9.98645497e-01 2.49381546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.94, Y:47.53, Z:24.94 [[ 9.87980422e-01 -1.46020085e-01 -5.07229803e-02 5.26936491e+02] [ 1.45895630e-01 9.89280762e-01 -6.16751639e-03 4.75330751e+01] [ 5.10798499e-02 -1.30687572e-03 9.98693717e-01 2.49402420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:526.97, Y:47.54, Z:24.94 [[ 9.88295503e-01 -1.43797284e-01 -5.09346611e-02 5.26967451e+02] [ 1.43669028e-01 9.89606437e-01 -6.18956419e-03 4.75384726e+01] [ 5.12953110e-02 -1.20061482e-03 9.98682807e-01 2.49418476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.00, Y:47.55, Z:24.94 [[ 9.88617225e-01 -1.41698760e-01 -5.05711716e-02 5.26998960e+02] [ 1.41569729e-01 9.89909228e-01 -6.14257881e-03 4.75451001e+01] [ 5.09312652e-02 -1.08668786e-03 9.98701570e-01 2.49437632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.03, Y:47.55, Z:24.95 [[ 9.89174764e-01 -1.37818045e-01 -5.03931762e-02 5.27030159e+02] [ 1.37685076e-01 9.90457167e-01 -6.11724591e-03 4.75528811e+01] [ 5.07553494e-02 -8.87363013e-04 9.98710722e-01 2.49453003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.06, Y:47.56, Z:24.95 [[ 9.89448716e-01 -1.35760006e-01 -5.06009902e-02 5.27061736e+02] [ 1.35623441e-01 9.90741439e-01 -6.13868501e-03 4.75581320e+01] [ 5.09658858e-02 -7.88766440e-04 9.98700083e-01 2.49460848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.09, Y:47.56, Z:24.95 [[ 9.89655245e-01 -1.33970199e-01 -5.13272079e-02 5.27093792e+02] [ 1.33827479e-01 9.90985106e-01 -6.22293405e-03 4.75634892e+01] [ 5.16981863e-02 -7.10431524e-04 9.98662502e-01 2.49472211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.13, Y:47.57, Z:24.95 [[ 9.90011247e-01 -1.31147370e-01 -5.17503452e-02 5.27125607e+02] [ 1.30998633e-01 9.91362719e-01 -6.27037269e-03 4.75693202e+01] [ 5.21257058e-02 -5.71484977e-04 9.98640368e-01 2.49477562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.16, Y:47.57, Z:24.95 [[ 9.90158841e-01 -1.29911995e-01 -5.20417503e-02 5.27157094e+02] [ 1.29760074e-01 9.91525396e-01 -6.30180897e-03 4.75734041e+01] [ 5.24193976e-02 -5.13149528e-04 9.98625026e-01 2.49490839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.19, Y:47.58, Z:24.95 [[ 9.90274326e-01 -1.29064834e-01 -5.19521712e-02 5.27188943e+02] [ 1.28912471e-01 9.91636045e-01 -6.28714759e-03 4.75771551e+01] [ 5.23290952e-02 -4.71281929e-04 9.98629783e-01 2.49503703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.22, Y:47.58, Z:24.95 [[ 9.90344845e-01 -1.28560131e-01 -5.18592459e-02 5.27221033e+02] [ 1.28407821e-01 9.91701615e-01 -6.27209541e-03 4.75804484e+01] [ 5.22352393e-02 -4.47595403e-04 9.98634708e-01 2.49520098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.25, Y:47.58, Z:24.95 [[ 9.90277538e-01 -1.29466844e-01 -5.08796039e-02 5.27252776e+02] [ 1.29321621e-01 9.91583631e-01 -6.14994192e-03 4.75821456e+01] [ 5.12475960e-02 -4.89683532e-04 9.98685859e-01 2.49535016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.28, Y:47.58, Z:24.96 [[ 9.90164484e-01 -1.30404932e-01 -5.06838166e-02 5.27284952e+02] [ 1.30262243e-01 9.91460671e-01 -6.12256215e-03 4.75846934e+01] [ 5.10494231e-02 -5.39844056e-04 9.98695982e-01 2.49552814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.32, Y:47.59, Z:24.96 [[ 9.89992471e-01 -1.31737201e-01 -5.05985806e-02 5.27316457e+02] [ 1.31596918e-01 9.91284488e-01 -6.10857776e-03 4.75864759e+01] [ 5.09623150e-02 -6.11171286e-04 9.98700390e-01 2.49567998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.35, Y:47.59, Z:24.96 [[ 9.89789348e-01 -1.33307171e-01 -5.04603228e-02 5.27348417e+02] [ 1.33169837e-01 9.91074527e-01 -6.08904185e-03 4.75884042e+01] [ 5.08216535e-02 -6.92924186e-04 9.98707504e-01 2.49580234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.38, Y:47.59, Z:24.96 [[ 9.89267591e-01 -1.36891767e-01 -5.10908799e-02 5.27379370e+02] [ 1.36755940e-01 9.90585609e-01 -6.16147586e-03 4.75873557e+01] [ 5.14533457e-02 -8.91632934e-04 9.98675001e-01 2.49587802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.41, Y:47.59, Z:24.96 [[ 9.88984008e-01 -1.38811582e-01 -5.14001691e-02 5.27411287e+02] [ 1.38676800e-01 9.90318305e-01 -6.19673339e-03 4.75885133e+01] [ 5.17627068e-02 -9.99540736e-04 9.98658912e-01 2.49600303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.44, Y:47.59, Z:24.96 [[ 9.88754234e-01 -1.40546044e-01 -5.11064978e-02 5.27442607e+02] [ 1.40415298e-01 9.90073546e-01 -6.15772307e-03 4.75890786e+01] [ 5.14646351e-02 -1.08765933e-03 9.98674225e-01 2.49612319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.47, Y:47.59, Z:24.96 [[ 9.88554009e-01 -1.41961493e-01 -5.10676517e-02 5.27473879e+02] [ 1.41832970e-01 9.89871498e-01 -6.15036390e-03 4.75902907e+01] [ 5.14235277e-02 -1.16310980e-03 9.98676258e-01 2.49625580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.51, Y:47.59, Z:24.96 [[ 9.88189165e-01 -1.44574897e-01 -5.07963805e-02 5.27505928e+02] [ 1.44451282e-01 9.89493014e-01 -6.11577492e-03 4.75910724e+01] [ 5.11468511e-02 -1.29405976e-03 9.98690305e-01 2.49643794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.54, Y:47.59, Z:24.97 [[ 9.88048078e-01 -1.45536801e-01 -5.07940441e-02 5.27537944e+02] [ 1.45414653e-01 9.89351921e-01 -6.11183272e-03 4.75936312e+01] [ 5.11426817e-02 -1.34741374e-03 9.98690448e-01 2.49658301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.57, Y:47.60, Z:24.97 [[ 9.87984086e-01 -1.46092158e-01 -5.04432985e-02 5.27569585e+02] [ 1.45972607e-01 9.89270036e-01 -6.06586250e-03 4.75950672e+01] [ 5.07882187e-02 -1.37036415e-03 9.98708505e-01 2.49669474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.60, Y:47.60, Z:24.97 [[ 9.87892292e-01 -1.46713560e-01 -5.04376005e-02 5.27599894e+02] [ 1.46595110e-01 9.89178018e-01 -6.05994726e-03 4.75965748e+01] [ 5.07808422e-02 -1.40733041e-03 9.98708829e-01 2.49679498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.63, Y:47.60, Z:24.97 [[ 9.87861072e-01 -1.47021791e-01 -5.01507351e-02 5.27631102e+02] [ 1.46905129e-01 9.89132240e-01 -6.02454433e-03 4.75988010e+01] [ 5.04914482e-02 -1.41598740e-03 9.98723490e-01 2.49692366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.66, Y:47.60, Z:24.97 [[ 9.87737532e-01 -1.47911603e-01 -4.99672356e-02 5.27661869e+02] [ 1.47797016e-01 9.88999511e-01 -6.00079302e-03 4.75989400e+01] [ 5.03051585e-02 -1.45779983e-03 9.98732830e-01 2.49703373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.69, Y:47.60, Z:24.97 [[ 9.87734064e-01 -1.48133260e-01 -4.93756718e-02 5.27693512e+02] [ 1.48021692e-01 9.88966343e-01 -5.92885625e-03 4.76015023e+01] [ 4.97091384e-02 -1.45253721e-03 9.98762680e-01 2.49717506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.72, Y:47.60, Z:24.97 [[ 9.87740181e-01 -1.48069763e-01 -4.94437013e-02 5.27724402e+02] [ 1.47957894e-01 9.88975851e-01 -5.93529938e-03 4.76039398e+01] [ 4.97774649e-02 -1.45305223e-03 9.98759277e-01 2.49731774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.76, Y:47.61, Z:24.97 [[ 9.87866360e-01 -1.47257263e-01 -4.93492927e-02 5.27755727e+02] [ 1.47144893e-01 9.89097218e-01 -5.92225244e-03 4.76076159e+01] [ 4.96833429e-02 -1.41110245e-03 9.98764023e-01 2.49741378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.79, Y:47.61, Z:24.98 [[ 9.87871503e-01 -1.47222688e-01 -4.93494998e-02 5.27786332e+02] [ 1.47110361e-01 9.89102365e-01 -5.92052653e-03 4.76112569e+01] [ 4.96833428e-02 -1.41110329e-03 9.98764023e-01 2.49756037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.82, Y:47.62, Z:24.98 [[ 9.87958056e-01 -1.46612038e-01 -4.94346933e-02 5.27817238e+02] [ 1.46498648e-01 9.89193102e-01 -5.92899051e-03 4.76151334e+01] [ 4.97697190e-02 -1.38452178e-03 9.98759760e-01 2.49773770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.85, Y:47.62, Z:24.98 [[ 9.88069145e-01 -1.45938293e-01 -4.92075092e-02 5.27848259e+02] [ 1.45825195e-01 9.89292779e-01 -5.89998459e-03 4.76180621e+01] [ 4.95416672e-02 -1.34610189e-03 9.98771151e-01 2.49783193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.88, Y:47.62, Z:24.98 [[ 9.88124613e-01 -1.45391735e-01 -4.97090761e-02 5.27879101e+02] [ 1.45275718e-01 9.89373268e-01 -5.95833532e-03 4.76212832e+01] [ 5.00471238e-02 -1.33394393e-03 9.98745967e-01 2.49795294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.91, Y:47.62, Z:24.98 [[ 9.88224885e-01 -1.44560154e-01 -5.01391941e-02 5.27909744e+02] [ 1.44441146e-01 9.89495154e-01 -6.00801809e-03 4.76237390e+01] [ 5.04810096e-02 -1.30488968e-03 9.98724169e-01 2.49803150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.94, Y:47.63, Z:24.98 [[ 9.88204676e-01 -1.44576337e-01 -5.04896061e-02 5.27940812e+02] [ 1.44455837e-01 9.89492772e-01 -6.04692184e-03 4.76265007e+01] [ 5.08333421e-02 -1.31792189e-03 9.98706280e-01 2.49815052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:527.97, Y:47.63, Z:24.98 [[ 9.88134416e-01 -1.45027915e-01 -5.05695632e-02 5.27971446e+02] [ 1.44907708e-01 9.89426650e-01 -6.05484804e-03 4.76292942e+01] [ 5.09129955e-02 -1.34491576e-03 9.98702187e-01 2.49826987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.00, Y:47.63, Z:24.98 [[ 9.88056639e-01 -1.45404176e-01 -5.10068913e-02 5.28001777e+02] [ 1.45282380e-01 9.89371382e-01 -6.10721066e-03 4.76319411e+01] [ 5.13527725e-02 -1.37613255e-03 9.98679628e-01 2.49839733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.03, Y:47.63, Z:24.99 [[ 9.87742346e-01 -1.47390725e-01 -5.13909707e-02 5.28031499e+02] [ 1.47269769e-01 9.89077223e-01 -6.15327000e-03 4.76326157e+01] [ 5.17365735e-02 -1.49049102e-03 9.98659654e-01 2.49856095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.06, Y:47.64, Z:24.99 [[ 9.87585192e-01 -1.48379315e-01 -5.15661489e-02 5.28061388e+02] [ 1.48258827e-01 9.88929313e-01 -6.17520807e-03 4.76350642e+01] [ 5.19115493e-02 -1.54659269e-03 9.98650489e-01 2.49869086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.09, Y:47.64, Z:24.99 [[ 9.87356441e-01 -1.49604949e-01 -5.23986469e-02 5.28090674e+02] [ 1.49482166e-01 9.88744499e-01 -6.27671156e-03 4.76375467e+01] [ 5.27479010e-02 -1.63531165e-03 9.98606521e-01 2.49878694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.12, Y:47.64, Z:24.99 [[ 9.87004967e-01 -1.51839892e-01 -5.25912746e-02 5.28121497e+02] [ 1.51719295e-01 9.88403536e-01 -6.30119536e-03 4.76444006e+01] [ 5.29381746e-02 -1.75979999e-03 9.98596241e-01 2.49905290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.15, Y:47.65, Z:24.99 [[ 9.86861638e-01 -1.52809323e-01 -5.24730264e-02 5.28152230e+02] [ 1.52690737e-01 9.88254034e-01 -6.28512792e-03 4.76483630e+01] [ 5.28171062e-02 -1.80959341e-03 9.98602563e-01 2.49925415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.18, Y:47.65, Z:24.99 [[ 9.86677626e-01 -1.54068558e-01 -5.22507540e-02 5.28182477e+02] [ 1.53952840e-01 9.88058388e-01 -6.25652381e-03 4.76505652e+01] [ 5.25907294e-02 -1.87097992e-03 9.98614397e-01 2.49947098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.21, Y:47.65, Z:25.00 [[ 9.86583056e-01 -1.54904997e-01 -5.15588629e-02 5.28212252e+02] [ 1.54793610e-01 9.87927557e-01 -6.17085942e-03 4.76530179e+01] [ 5.18923185e-02 -1.89291720e-03 9.98650892e-01 2.49967151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.24, Y:47.66, Z:25.00 [[ 9.86276079e-01 -1.57042619e-01 -5.09618727e-02 5.28241271e+02] [ 1.56936853e-01 9.87589829e-01 -6.09534377e-03 4.76558055e+01] [ 5.12866560e-02 -1.98610416e-03 9.98681999e-01 2.49992332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.27, Y:47.66, Z:25.00 [[ 9.86118377e-01 -1.58123561e-01 -5.06703601e-02 5.28271867e+02] [ 1.58020389e-01 9.87417247e-01 -6.06117536e-03 4.76607531e+01] [ 5.09912021e-02 -2.02991358e-03 9.98697040e-01 2.50013161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.30, Y:47.67, Z:25.00 [[ 9.85938492e-01 -1.59271386e-01 -5.05758456e-02 5.28302335e+02] [ 1.59170199e-01 9.87232632e-01 -6.04802132e-03 4.76655697e+01] [ 5.08934019e-02 -2.08719041e-03 9.98701910e-01 2.50032634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.33, Y:47.67, Z:25.00 [[ 9.85767394e-01 -1.60330727e-01 -5.05638575e-02 5.28333232e+02] [ 1.60231104e-01 9.87061022e-01 -6.04411041e-03 4.76656268e+01] [ 5.08786695e-02 -2.14381574e-03 9.98702541e-01 2.50047128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.36, Y:47.67, Z:25.01 [[ 9.85344035e-01 -1.62847766e-01 -5.07714340e-02 5.28363685e+02] [ 1.62750704e-01 9.86648564e-01 -6.06794852e-03 4.76728613e+01] [ 5.10817143e-02 -2.28406975e-03 9.98691865e-01 2.50064417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.40, Y:47.68, Z:25.01 [[ 9.85102354e-01 -1.64290934e-01 -5.08118287e-02 5.28395498e+02] [ 1.64195732e-01 9.86409097e-01 -6.07083527e-03 4.76797221e+01] [ 5.11186333e-02 -2.36269129e-03 9.98689793e-01 2.50082599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.43, Y:47.68, Z:25.01 [[ 9.84544968e-01 -1.67463460e-01 -5.12561688e-02 5.28425265e+02] [ 1.67371051e-01 9.85874978e-01 -6.12041383e-03 4.76826189e+01] [ 5.15571200e-02 -2.55297621e-03 9.98666784e-01 2.50091585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.46, Y:47.69, Z:25.01 [[ 9.84287304e-01 -1.68943616e-01 -5.13474279e-02 5.28456735e+02] [ 1.68852896e-01 9.85622194e-01 -6.13108416e-03 4.76862989e+01] [ 5.16449720e-02 -2.63541362e-03 9.98662031e-01 2.50102778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.49, Y:47.69, Z:25.01 [[ 9.84043898e-01 -1.70187208e-01 -5.19029921e-02 5.28487831e+02] [ 1.70096383e-01 9.85407960e-01 -6.19465216e-03 4.76902584e+01] [ 5.21998721e-02 -2.73270159e-03 9.98632918e-01 2.50111157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.52, Y:47.69, Z:25.01 [[ 9.83865004e-01 -1.71118941e-01 -5.22299037e-02 5.28519535e+02] [ 1.71028386e-01 9.85246395e-01 -6.23159398e-03 4.76946237e+01] [ 5.25256681e-02 -2.80174891e-03 9.98615644e-01 2.50124276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.55, Y:47.70, Z:25.01 [[ 9.83706723e-01 -1.71969295e-01 -5.24179891e-02 5.28550850e+02] [ 1.71879485e-01 9.85098156e-01 -6.25033197e-03 4.76991847e+01] [ 5.27117296e-02 -2.86108340e-03 9.98605672e-01 2.50137147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.58, Y:47.71, Z:25.02 [[ 9.83521306e-01 -1.72856307e-01 -5.29767658e-02 5.28582211e+02] [ 1.72766016e-01 9.84942657e-01 -6.31394930e-03 4.77095942e+01] [ 5.32704824e-02 -2.94268113e-03 9.98575784e-01 2.50156485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.61, Y:47.71, Z:25.02 [[ 9.83533176e-01 -1.72798354e-01 -5.29454435e-02 5.28614196e+02] [ 1.72708296e-01 9.84952829e-01 -6.30627794e-03 4.77148584e+01] [ 5.32384788e-02 -2.94168373e-03 9.98577494e-01 2.50172659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.64, Y:47.72, Z:25.02 [[ 9.83607964e-01 -1.72290424e-01 -5.32107413e-02 5.28644693e+02] [ 1.72198951e-01 9.85041830e-01 -6.33357851e-03 4.77188104e+01] [ 5.35060209e-02 -2.93307558e-03 9.98563219e-01 2.50180254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.68, Y:47.73, Z:25.02 [[ 9.83681972e-01 -1.71741750e-01 -5.36148211e-02 5.28676647e+02] [ 1.71648431e-01 9.85137643e-01 -6.37502599e-03 4.77255077e+01] [ 5.39128366e-02 -2.93190177e-03 9.98541341e-01 2.50191660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.71, Y:47.73, Z:25.02 [[ 9.83900459e-01 -1.70229665e-01 -5.44219462e-02 5.28708054e+02] [ 1.70131434e-01 9.85400159e-01 -6.46692546e-03 4.77326629e+01] [ 5.47282571e-02 -2.89607283e-03 9.98497086e-01 2.50198785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.74, Y:47.74, Z:25.02 [[ 9.84065810e-01 -1.69290334e-01 -5.43623463e-02 5.28739353e+02] [ 1.69191108e-01 9.85562119e-01 -6.45586213e-03 4.77373093e+01] [ 5.46703842e-02 -2.84463237e-03 9.98500404e-01 2.50209603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.77, Y:47.74, Z:25.02 [[ 9.84339501e-01 -1.67596971e-01 -5.46534632e-02 5.28769420e+02] [ 1.67494283e-01 9.85851707e-01 -6.48671518e-03 4.77440593e+01] [ 5.49673638e-02 -2.76901264e-03 9.98484312e-01 2.50225595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.80, Y:47.75, Z:25.02 [[ 9.84531659e-01 -1.66581622e-01 -5.42952704e-02 5.28800335e+02] [ 1.66478849e-01 9.86023981e-01 -6.44213791e-03 4.77491628e+01] [ 5.46095805e-02 -2.69652539e-03 9.98504142e-01 2.50241779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.83, Y:47.75, Z:25.03 [[ 9.84753479e-01 -1.65328681e-01 -5.41018794e-02 5.28831553e+02] [ 1.65224901e-01 9.86235044e-01 -6.41645966e-03 4.77545555e+01] [ 5.44179942e-02 -2.62034670e-03 9.98514805e-01 2.50260367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.86, Y:47.76, Z:25.03 [[ 9.84979175e-01 -1.64011256e-01 -5.40030824e-02 5.28862537e+02] [ 1.63905983e-01 9.86455185e-01 -6.40285973e-03 4.77603286e+01] [ 5.43217618e-02 -2.54474481e-03 9.98520240e-01 2.50277864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.89, Y:47.77, Z:25.03 [[ 9.85479763e-01 -1.61224530e-01 -5.32568036e-02 5.28893100e+02] [ 1.61118190e-01 9.86914932e-01 -6.31243020e-03 4.77711229e+01] [ 5.35776533e-02 -2.35986760e-03 9.98560898e-01 2.50301643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.92, Y:47.77, Z:25.03 [[ 9.85745888e-01 -1.59523664e-01 -5.34532028e-02 5.28923973e+02] [ 1.59414199e-01 9.87191475e-01 -6.33281397e-03 4.77735602e+01] [ 5.37787798e-02 -2.27865420e-03 9.98550274e-01 2.50313804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.95, Y:47.79, Z:25.03 [[ 9.86059524e-01 -1.57587938e-01 -5.34102681e-02 5.28954643e+02] [ 1.57475977e-01 9.87502564e-01 -6.32473799e-03 4.77852244e+01] [ 5.37394792e-02 -2.17426602e-03 9.98552623e-01 2.50337807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:528.98, Y:47.79, Z:25.03 [[ 9.86692168e-01 -1.53390083e-01 -5.39448615e-02 5.28984286e+02] [ 1.53269804e-01 9.88163755e-01 -6.38439215e-03 4.77925320e+01] [ 5.42856594e-02 -1.96868864e-03 9.98523506e-01 2.50344916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.02, Y:47.80, Z:25.04 [[ 9.87004164e-01 -1.51217143e-01 -5.43705383e-02 5.29015857e+02] [ 1.51091744e-01 9.88498810e-01 -6.43336640e-03 4.77988994e+01] [ 5.47180477e-02 -1.86518004e-03 9.98500103e-01 2.50357589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.05, Y:47.80, Z:25.04 [[ 9.87321667e-01 -1.48909655e-01 -5.49712725e-02 5.29047046e+02] [ 1.48778117e-01 9.88849238e-01 -6.50049060e-03 4.78036773e+01] [ 5.53262868e-02 -1.76044721e-03 9.98466776e-01 2.50362083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.08, Y:47.81, Z:25.04 [[ 9.87897006e-01 -1.44483079e-01 -5.64282263e-02 5.29077336e+02] [ 1.44337432e-01 9.89506048e-01 -6.66977735e-03 4.78093568e+01] [ 5.67997412e-02 -1.55565220e-03 9.98384380e-01 2.50363348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.11, Y:47.82, Z:25.04 [[ 9.88214838e-01 -1.42161896e-01 -5.67576446e-02 5.29109436e+02] [ 1.42010866e-01 9.89842382e-01 -6.70614618e-03 4.78151147e+01] [ 5.71344806e-02 -1.43308911e-03 9.98365463e-01 2.50377969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.14, Y:47.82, Z:25.04 [[ 9.88579593e-01 -1.39405270e-01 -5.72412416e-02 5.29140588e+02] [ 1.39247325e-01 9.90234572e-01 -6.75831055e-03 4.78222111e+01] [ 5.76244005e-02 -1.28956191e-03 9.98337501e-01 2.50397181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.17, Y:47.83, Z:25.04 [[ 9.88941648e-01 -1.36619549e-01 -5.77019635e-02 5.29171666e+02] [ 1.36454551e-01 9.90622935e-01 -6.80859768e-03 4.78251551e+01] [ 5.80910759e-02 -1.14038974e-03 9.98310636e-01 2.50400714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.20, Y:47.83, Z:25.04 [[ 9.89260574e-01 -1.33909656e-01 -5.85808986e-02 5.29203532e+02] [ 1.33735050e-01 9.90993040e-01 -6.90882066e-03 4.78321852e+01] [ 5.89784206e-02 -9.99695496e-04 9.98258757e-01 2.50427863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.23, Y:47.84, Z:25.04 [[ 9.89912356e-01 -1.28653990e-01 -5.93437319e-02 5.29234554e+02] [ 1.28465615e-01 9.91689297e-01 -6.99459348e-03 4.78377796e+01] [ 5.97504261e-02 -6.99594484e-04 9.98213102e-01 2.50439995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.27, Y:47.84, Z:25.05 [[ 9.90147246e-01 -1.26737449e-01 -5.95487262e-02 5.29265353e+02] [ 1.26544489e-01 9.91936123e-01 -7.01571114e-03 4.78414236e+01] [ 5.99576859e-02 -5.88976071e-04 9.98200746e-01 2.50452147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.30, Y:47.84, Z:25.05 [[ 9.90288833e-01 -1.25498680e-01 -5.98172924e-02 5.29296732e+02] [ 1.25301846e-01 9.92093651e-01 -7.04519682e-03 4.78442580e+01] [ 6.02285189e-02 -5.18437406e-04 9.98184480e-01 2.50464850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.33, Y:47.84, Z:25.05 [[ 9.90396399e-01 -1.24476063e-01 -6.01721048e-02 5.29327120e+02] [ 1.24275103e-01 9.92222504e-01 -7.08528786e-03 4.78447969e+01] [ 6.05860652e-02 -4.60650944e-04 9.98162871e-01 2.50478954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.36, Y:47.85, Z:25.05 [[ 9.90378788e-01 -1.24609603e-01 -6.01855736e-02 5.29357464e+02] [ 1.24408799e-01 9.92205738e-01 -7.08687382e-03 4.78464439e+01] [ 6.05995640e-02 -4.68925412e-04 9.98162047e-01 2.50494468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.39, Y:47.85, Z:25.05 [[ 9.90297977e-01 -1.25079747e-01 -6.05390191e-02 5.29388361e+02] [ 1.24877453e-01 9.92146565e-01 -7.12849216e-03 4.78480849e+01] [ 6.09552098e-02 -5.00627163e-04 9.98140377e-01 2.50511224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.42, Y:47.85, Z:25.05 [[ 9.90177057e-01 -1.25861996e-01 -6.08946199e-02 5.29417677e+02] [ 1.25658779e-01 9.92047606e-01 -7.17061086e-03 4.78486386e+01] [ 6.13128693e-02 -5.51769255e-04 9.98118444e-01 2.50516971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.45, Y:47.85, Z:25.05 [[ 9.89914298e-01 -1.27933492e-01 -6.08498487e-02 5.29448573e+02] [ 1.27734431e-01 9.91782517e-01 -7.16618729e-03 4.78477892e+01] [ 6.12666115e-02 -6.78709537e-04 9.98121206e-01 2.50544108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.48, Y:47.85, Z:25.06 [[ 9.89760825e-01 -1.29257984e-01 -6.05465271e-02 5.29478248e+02] [ 1.29063365e-01 9.91610710e-01 -7.13070667e-03 4.78480715e+01] [ 6.09602855e-02 -7.56644385e-04 9.98139906e-01 2.50561129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.51, Y:47.85, Z:25.06 [[ 9.89625367e-01 -1.30431346e-01 -6.02436435e-02 5.29509140e+02] [ 1.30240790e-01 9.91457001e-01 -7.09588282e-03 4.78483596e+01] [ 6.06545077e-02 -8.23914063e-04 9.98158480e-01 2.50579179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.54, Y:47.84, Z:25.06 [[ 9.89388435e-01 -1.32678308e-01 -5.92198531e-02 5.29539522e+02] [ 1.32498184e-01 9.91158703e-01 -6.97550959e-03 4.78449485e+01] [ 5.96217716e-02 -9.45034473e-04 9.98220592e-01 2.50603468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.57, Y:47.85, Z:25.06 [[ 9.89282167e-01 -1.33413145e-01 -5.93441399e-02 5.29569806e+02] [ 1.33233533e-01 9.91060014e-01 -6.99099606e-03 4.78464584e+01] [ 5.97462949e-02 -9.90561723e-04 9.98213103e-01 2.50620233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.60, Y:47.85, Z:25.06 [[ 9.89154517e-01 -1.34240262e-01 -5.96061455e-02 5.29599636e+02] [ 1.34060533e-01 9.90948263e-01 -7.02230720e-03 4.78472409e+01] [ 6.00092827e-02 -1.04468476e-03 9.98197272e-01 2.50628773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.63, Y:47.84, Z:25.06 [[ 9.89027600e-01 -1.35283616e-01 -5.93527541e-02 5.29628842e+02] [ 1.35107149e-01 9.90806304e-01 -6.99479159e-03 4.78449990e+01] [ 5.97533636e-02 -1.10093948e-03 9.98212564e-01 2.50635322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.66, Y:47.85, Z:25.06 [[ 9.88974635e-01 -1.35875359e-01 -5.88817344e-02 5.29657369e+02] [ 1.35702412e-01 9.90725304e-01 -6.94464130e-03 4.78459294e+01] [ 5.92792298e-02 -1.12231929e-03 9.98240809e-01 2.50645700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.69, Y:47.85, Z:25.07 [[ 9.88956476e-01 -1.36131310e-01 -5.85948315e-02 5.29685829e+02] [ 1.35959652e-01 9.90690172e-01 -6.92505708e-03 4.78468729e+01] [ 5.89920408e-02 -1.11795284e-03 9.98257827e-01 2.50654593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.71, Y:47.85, Z:25.07 [[ 9.88923874e-01 -1.36368664e-01 -5.85931693e-02 5.29713860e+02] [ 1.36196590e-01 9.90657528e-01 -6.93909536e-03 4.78502446e+01] [ 5.89920395e-02 -1.11795281e-03 9.98257827e-01 2.50668053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.74, Y:47.85, Z:25.07 [[ 9.88894840e-01 -1.36695816e-01 -5.83202331e-02 5.29742887e+02] [ 1.36525081e-01 9.90612439e-01 -6.92088159e-03 4.78516694e+01] [ 5.87188038e-02 -1.11815043e-03 9.98273936e-01 2.50681531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.77, Y:47.85, Z:25.07 [[ 9.88932855e-01 -1.36548840e-01 -5.80191657e-02 5.29772812e+02] [ 1.36378923e-01 9.90632738e-01 -6.89691969e-03 4.78545446e+01] [ 5.84174514e-02 -1.09200084e-03 9.98291645e-01 2.50702579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.80, Y:47.86, Z:25.07 [[ 9.89102873e-01 -1.35722878e-01 -5.70509225e-02 5.29803333e+02] [ 1.35557120e-01 9.90746310e-01 -6.78348097e-03 4.78571640e+01] [ 5.74436645e-02 -1.02409824e-03 9.98348224e-01 2.50727334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.83, Y:47.86, Z:25.07 [[ 9.89203055e-01 -1.34947012e-01 -5.71543509e-02 5.29832766e+02] [ 1.34779348e-01 9.90852331e-01 -6.79596298e-03 4.78573833e+01] [ 5.75486167e-02 -9.80638812e-04 9.98342223e-01 2.50731162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.86, Y:47.86, Z:25.08 [[ 9.89388069e-01 -1.33910554e-01 -5.63845065e-02 5.29861920e+02] [ 1.33745629e-01 9.90993008e-01 -6.70561796e-03 4.78619467e+01] [ 5.67746047e-02 -9.06722899e-04 9.98386610e-01 2.50755491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.89, Y:47.86, Z:25.08 [[ 9.89832202e-01 -1.31112179e-01 -5.51525843e-02 5.29891952e+02] [ 1.30949944e-01 9.91367271e-01 -6.56092763e-03 4.78644047e+01] [ 5.55366846e-02 -7.28010362e-04 9.98456382e-01 2.50771085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.92, Y:47.87, Z:25.08 [[ 9.90084386e-01 -1.29416579e-01 -5.46283549e-02 5.29921002e+02] [ 1.29254774e-01 9.91590116e-01 -6.49967597e-03 4.78675415e+01] [ 5.50101025e-02 -6.25747994e-04 9.98485602e-01 2.50787298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.95, Y:47.87, Z:25.08 [[ 9.90322397e-01 -1.27821411e-01 -5.40669663e-02 5.29949986e+02] [ 1.27660434e-01 9.91797059e-01 -6.43483106e-03 4.78708698e+01] [ 5.44459674e-02 -5.29655081e-04 9.98516578e-01 2.50804102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:529.98, Y:47.87, Z:25.08 [[ 9.90815679e-01 -1.24144672e-01 -5.35946864e-02 5.29979164e+02] [ 1.23981015e-01 9.92264076e-01 -6.38057452e-03 4.78735282e+01] [ 5.39721963e-02 -3.22750328e-04 9.98542387e-01 2.50815306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.01, Y:47.88, Z:25.08 [[ 9.91047979e-01 -1.22444011e-01 -5.32105904e-02 5.30009057e+02] [ 1.22280151e-01 9.92475397e-01 -6.33655559e-03 4.78767253e+01] [ 5.35860751e-02 -2.26768423e-04 9.98563208e-01 2.50831150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.04, Y:47.88, Z:25.08 [[ 9.91259236e-01 -1.20808635e-01 -5.30132123e-02 5.30038132e+02] [ 1.20643646e-01 9.92675805e-01 -6.31315743e-03 4.78796680e+01] [ 5.33876171e-02 -1.37731602e-04 9.98573855e-01 2.50843772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.07, Y:47.88, Z:25.09 [[ 9.91469497e-01 -1.19337750e-01 -5.24093344e-02 5.30067566e+02] [ 1.19174392e-01 9.92853714e-01 -6.24228897e-03 4.78828185e+01] [ 5.27797431e-02 -5.68114566e-05 9.98606176e-01 2.50858481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.10, Y:47.89, Z:25.09 [[ 9.91607334e-01 -1.18180328e-01 -5.24242777e-02 5.30096820e+02] [ 1.18015168e-01 9.92992150e-01 -6.24580840e-03 4.78855566e+01] [ 5.27950279e-02 6.52947571e-06 9.98605370e-01 2.50870656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.13, Y:47.89, Z:25.09 [[ 9.91868459e-01 -1.16266806e-01 -5.17589640e-02 5.30126981e+02] [ 1.16103202e-01 9.93218011e-01 -6.16670677e-03 4.78868076e+01] [ 5.21249186e-02 1.07180494e-04 9.98640567e-01 2.50886013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.16, Y:47.89, Z:25.09 [[ 9.91935690e-01 -1.15789514e-01 -5.15400356e-02 5.30155133e+02] [ 1.15626547e-01 9.93273764e-01 -6.14256043e-03 4.78890575e+01] [ 5.19046093e-02 1.33628591e-04 9.98652038e-01 2.50897809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.18, Y:47.89, Z:25.09 [[ 9.91962852e-01 -1.15691616e-01 -5.12362135e-02 5.30183984e+02] [ 1.15530252e-01 9.93285171e-01 -6.10989488e-03 4.78902056e+01] [ 5.15990346e-02 1.41456095e-04 9.98667873e-01 2.50914858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.21, Y:47.89, Z:25.09 [[ 9.91922945e-01 -1.16330154e-01 -5.05585501e-02 5.30212403e+02] [ 1.16173223e-01 9.93210592e-01 -6.04162210e-03 4.78920109e+01] [ 5.09181103e-02 1.19273849e-04 9.98702825e-01 2.50930100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.24, Y:47.89, Z:25.09 [[ 9.91909367e-01 -1.16746627e-01 -4.98601260e-02 5.30241298e+02] [ 1.16593926e-01 9.93161726e-01 -5.97017056e-03 4.78938632e+01] [ 5.02161660e-02 1.08480249e-04 9.98738367e-01 2.50945582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.27, Y:47.90, Z:25.10 [[ 9.91824366e-01 -1.17900919e-01 -4.88241849e-02 5.30269973e+02] [ 1.17755756e-01 9.93025363e-01 -5.84904532e-03 4.78951194e+01] [ 4.91732617e-02 5.18968936e-05 9.98790262e-01 2.50961788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.30, Y:47.89, Z:25.10 [[ 9.91512709e-01 -1.21060598e-01 -4.74012697e-02 5.30298647e+02] [ 1.20926829e-01 9.92645115e-01 -5.69021966e-03 4.78935055e+01] [ 4.77415002e-02 -9.01601287e-05 9.98859720e-01 2.50975223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.33, Y:47.89, Z:25.10 [[ 9.91203089e-01 -1.23653945e-01 -4.71819684e-02 5.30328312e+02] [ 1.23523784e-01 9.92325381e-01 -5.67571495e-03 4.78941395e+01] [ 4.75216893e-02 -2.02309096e-04 9.98870186e-01 2.50986189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.36, Y:47.89, Z:25.10 [[ 9.90848457e-01 -1.26426280e-01 -4.72835181e-02 5.30357994e+02] [ 1.26298629e-01 9.91975949e-01 -5.68965902e-03 4.78939474e+01] [ 4.76234352e-02 -3.34253667e-04 9.98865305e-01 2.50998511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.39, Y:47.89, Z:25.10 [[ 9.90387776e-01 -1.30043506e-01 -4.71247238e-02 5.30388522e+02] [ 1.29920798e-01 9.91508159e-01 -5.67063733e-03 4.78944515e+01] [ 4.74619777e-02 -5.06351812e-04 9.98872917e-01 2.51009215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.42, Y:47.89, Z:25.10 [[ 9.89262229e-01 -1.38168524e-01 -4.76413795e-02 5.30418288e+02] [ 1.38052511e-01 9.90408319e-01 -5.73284722e-03 4.78885345e+01] [ 4.79765176e-02 -9.05722839e-04 9.98848053e-01 2.51021152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.45, Y:47.89, Z:25.10 [[ 9.88673270e-01 -1.42474505e-01 -4.71824188e-02 5.30447534e+02] [ 1.42365423e-01 9.89797861e-01 -5.68161366e-03 4.78870704e+01] [ 4.75105423e-02 -1.09988544e-03 9.98870131e-01 2.51035652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.48, Y:47.89, Z:25.10 [[ 9.88084694e-01 -1.46607662e-01 -4.68490283e-02 5.30476896e+02] [ 1.46504636e-01 9.89193883e-01 -5.64395650e-03 4.78860329e+01] [ 4.71702195e-02 -1.28689279e-03 9.98886037e-01 2.51048752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.51, Y:47.88, Z:25.11 [[ 9.87095434e-01 -1.53394460e-01 -4.59646036e-02 5.30507331e+02] [ 1.53302463e-01 9.88163778e-01 -5.54094736e-03 4.78804300e+01] [ 4.62705070e-02 -1.57704312e-03 9.98927702e-01 2.51063350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.54, Y:47.88, Z:25.11 [[ 9.86379897e-01 -1.57841906e-01 -4.62669666e-02 5.30537793e+02] [ 1.57753536e-01 9.87462761e-01 -5.57822023e-03 4.78787697e+01] [ 4.65673835e-02 -1.79653331e-03 9.98913535e-01 2.51075282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.57, Y:47.88, Z:25.11 [[ 9.86229602e-01 -1.58693594e-01 -4.65565865e-02 5.30566382e+02] [ 1.58605024e-01 9.87326152e-01 -5.61393396e-03 4.78848921e+01] [ 4.68574308e-02 -1.84748067e-03 9.98899879e-01 2.51082971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.59, Y:47.88, Z:25.11 [[ 9.86136917e-01 -1.59212977e-01 -4.67462238e-02 5.30594902e+02] [ 1.59124145e-01 9.87242475e-01 -5.63939229e-03 4.78826178e+01] [ 4.70477221e-02 -1.87723996e-03 9.98890879e-01 2.51093398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.62, Y:47.89, Z:25.11 [[ 9.86132397e-01 -1.59202739e-01 -4.68762603e-02 5.30623188e+02] [ 1.59113198e-01 9.87244125e-01 -5.65934747e-03 4.78907732e+01] [ 4.71792962e-02 -1.87776582e-03 9.98884672e-01 2.51105065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.65, Y:47.89, Z:25.11 [[ 9.86195364e-01 -1.58861890e-01 -4.67076417e-02 5.30650483e+02] [ 1.58772044e-01 9.87299095e-01 -5.65104103e-03 4.78925317e+01] [ 4.70121474e-02 -1.84283728e-03 9.98892618e-01 2.51120690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.68, Y:47.90, Z:25.11 [[ 9.86304327e-01 -1.58190318e-01 -4.66861550e-02 5.30679297e+02] [ 1.58099512e-01 9.87406993e-01 -5.65464081e-03 4.79010008e+01] [ 4.69927453e-02 -1.80386160e-03 9.98893602e-01 2.51135492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.71, Y:47.90, Z:25.11 [[ 9.86423704e-01 -1.57310688e-01 -4.71341098e-02 5.30707342e+02] [ 1.57217043e-01 9.87547563e-01 -5.71070124e-03 4.79049773e+01] [ 4.74455296e-02 -1.77711430e-03 9.98872246e-01 2.51144817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.74, Y:47.91, Z:25.12 [[ 9.86421699e-01 -1.57077258e-01 -4.79475321e-02 5.30736043e+02] [ 1.56979945e-01 9.87584689e-01 -5.81200196e-03 4.79079425e+01] [ 4.82651819e-02 -1.79371611e-03 9.98832946e-01 2.51156320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.76, Y:47.91, Z:25.12 [[ 9.86375847e-01 -1.57337999e-01 -4.80358462e-02 5.30764387e+02] [ 1.57240498e-01 9.87543158e-01 -5.82554620e-03 4.79119944e+01] [ 4.83540511e-02 -1.80700229e-03 9.98828624e-01 2.51164800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.79, Y:47.92, Z:25.12 [[ 9.86265448e-01 -1.57914546e-01 -4.84093208e-02 5.30792488e+02] [ 1.57815605e-01 9.87451073e-01 -5.88335504e-03 4.79161226e+01] [ 4.87309031e-02 -1.83719647e-03 9.98810254e-01 2.51176628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.82, Y:47.92, Z:25.12 [[ 9.85892066e-01 -1.60052002e-01 -4.89917325e-02 5.30820619e+02] [ 1.59952685e-01 9.87106650e-01 -5.96656990e-03 4.79201692e+01] [ 4.93150264e-02 -1.95396523e-03 9.98781363e-01 2.51187887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.85, Y:47.92, Z:25.12 [[ 9.85632043e-01 -1.61523674e-01 -4.93920858e-02 5.30848285e+02] [ 1.61424345e-01 9.86866730e-01 -6.01984860e-03 4.79234375e+01] [ 4.97157543e-02 -2.03972943e-03 9.98761324e-01 2.51199234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.88, Y:47.93, Z:25.12 [[ 9.85314111e-01 -1.63314441e-01 -4.98447111e-02 5.30875744e+02] [ 1.63215340e-01 9.86571737e-01 -6.07955341e-03 4.79263952e+01] [ 5.01682621e-02 -2.14515173e-03 9.98738476e-01 2.51210070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.90, Y:47.93, Z:25.12 [[ 9.84947463e-01 -1.65370719e-01 -5.03092538e-02 5.30904747e+02] [ 1.65272216e-01 9.86228872e-01 -6.14057759e-03 4.79314414e+01] [ 5.06319103e-02 -2.26657556e-03 9.98714810e-01 2.51223683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.93, Y:47.93, Z:25.12 [[ 9.84206445e-01 -1.69435565e-01 -5.12763426e-02 5.30934546e+02] [ 1.69338642e-01 9.85538042e-01 -6.26044534e-03 4.79318411e+01] [ 5.15955284e-02 -2.52149555e-03 9.98664880e-01 2.51228376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.96, Y:47.94, Z:25.12 [[ 9.83898679e-01 -1.71149597e-01 -5.14898432e-02 5.30963403e+02] [ 1.71054148e-01 9.85241567e-01 -6.28759940e-03 4.79357504e+01] [ 5.18060538e-02 -2.62119049e-03 9.98653725e-01 2.51239025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:530.99, Y:47.94, Z:25.13 [[ 9.83627387e-01 -1.72596862e-01 -5.18409704e-02 5.30990668e+02] [ 1.72501952e-01 9.84988814e-01 -6.33348877e-03 4.79380480e+01] [ 5.21559163e-02 -2.71287559e-03 9.98635269e-01 2.51253223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.02, Y:47.95, Z:25.13 [[ 9.83492455e-01 -1.73534673e-01 -5.12670209e-02 5.31018770e+02] [ 1.73442856e-01 9.84823985e-01 -6.26851120e-03 4.79480889e+01] [ 5.15767959e-02 -2.72686505e-03 9.98665308e-01 2.51277717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.05, Y:47.95, Z:25.13 [[ 9.83398774e-01 -1.74261887e-01 -5.05929451e-02 5.31046266e+02] [ 1.74173281e-01 9.84695570e-01 -6.18896651e-03 4.79528716e+01] [ 5.08971499e-02 -2.72571714e-03 9.98700181e-01 2.51301715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.07, Y:47.96, Z:25.13 [[ 9.83430793e-01 -1.74178006e-01 -5.02583042e-02 5.31073390e+02] [ 1.74090227e-01 9.84710485e-01 -6.15257232e-03 4.79562636e+01] [ 5.05615219e-02 -2.69885054e-03 9.98717302e-01 2.51318858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.10, Y:47.97, Z:25.13 [[ 9.83566245e-01 -1.73426829e-01 -5.02053421e-02 5.31102512e+02] [ 1.73338050e-01 9.84843183e-01 -6.15025904e-03 4.79678845e+01] [ 5.05110088e-02 -2.65330889e-03 9.98719980e-01 2.51340878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.13, Y:47.97, Z:25.14 [[ 9.83707621e-01 -1.72557173e-01 -5.04315171e-02 5.31130823e+02] [ 1.72466444e-01 9.84996018e-01 -6.17814431e-03 4.79690579e+01] [ 5.07409266e-02 -2.62025679e-03 9.98708412e-01 2.51351692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.16, Y:47.99, Z:25.14 [[ 9.84299837e-01 -1.69092287e-01 -5.06125355e-02 5.31159995e+02] [ 1.68996208e-01 9.85597183e-01 -6.20284311e-03 4.79867370e+01] [ 5.09324253e-02 -2.44786911e-03 9.98699102e-01 2.51370703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.19, Y:48.00, Z:25.14 [[ 9.84711450e-01 -1.66668230e-01 -5.06464279e-02 5.31190354e+02] [ 1.66568875e-01 9.86010292e-01 -6.20598792e-03 4.79952229e+01] [ 5.09722402e-02 -2.32501117e-03 9.98697364e-01 2.51385194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.22, Y:48.00, Z:25.14 [[ 9.85144372e-01 -1.63966649e-01 -5.10441412e-02 5.31220361e+02] [ 1.63862209e-01 9.86463420e-01 -6.25278675e-03 4.80022055e+01] [ 5.13784266e-02 -2.20430808e-03 9.98676824e-01 2.51400380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.25, Y:48.01, Z:25.14 [[ 9.85636815e-01 -1.60871589e-01 -5.13848246e-02 5.31250982e+02] [ 1.60761653e-01 9.86973198e-01 -6.29259007e-03 4.80114812e+01] [ 5.17277437e-02 -2.05850090e-03 9.98659103e-01 2.51416015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.28, Y:48.02, Z:25.14 [[ 9.86176275e-01 -1.57473236e-01 -5.15609873e-02 5.31280995e+02] [ 1.57358007e-01 9.87521450e-01 -6.31223854e-03 4.80187099e+01] [ 5.19115895e-02 -1.88855430e-03 9.98649899e-01 2.51424239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.31, Y:48.03, Z:25.14 [[ 9.87227257e-01 -1.50662784e-01 -5.17983485e-02 5.31310045e+02] [ 1.50537219e-01 9.88584016e-01 -6.33946746e-03 4.80321561e+01] [ 5.21621412e-02 -1.53908426e-03 9.98637443e-01 2.51443591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.34, Y:48.04, Z:25.15 [[ 9.87664772e-01 -1.47788663e-01 -5.17378837e-02 5.31340567e+02] [ 1.47659506e-01 9.89017992e-01 -6.33104385e-03 4.80402208e+01] [ 5.21053544e-02 -1.38664135e-03 9.98640631e-01 2.51462275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.37, Y:48.05, Z:25.15 [[ 9.87996878e-01 -1.45199319e-01 -5.27193134e-02 5.31371493e+02] [ 1.45061641e-01 9.89401602e-01 -6.44906952e-03 4.80490207e+01] [ 5.30969736e-02 -1.27588954e-03 9.98588546e-01 2.51471995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.40, Y:48.06, Z:25.15 [[ 9.88504996e-01 -1.40955478e-01 -5.46756411e-02 5.31402427e+02] [ 1.40801073e-01 9.90015336e-01 -6.68525534e-03 4.80595700e+01] [ 5.50720465e-02 -1.08998062e-03 9.98481788e-01 2.51471549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.43, Y:48.07, Z:25.15 [[ 9.88752492e-01 -1.39266125e-01 -5.45294089e-02 5.31432168e+02] [ 1.39110120e-01 9.90254490e-01 -6.66479485e-03 4.80652066e+01] [ 5.49261722e-02 -9.95760110e-04 9.98489922e-01 2.51480579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.46, Y:48.07, Z:25.15 [[ 9.89097700e-01 -1.36883586e-01 -5.43012243e-02 5.31463262e+02] [ 1.36725373e-01 9.90586767e-01 -6.63551753e-03 4.80748447e+01] [ 5.46983677e-02 -8.61180019e-04 9.98502552e-01 2.51501689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.50, Y:48.08, Z:25.15 [[ 9.89211547e-01 -1.36108222e-01 -5.41762664e-02 5.31495308e+02] [ 1.35949793e-01 9.90693635e-01 -6.61624974e-03 4.80805005e+01] [ 5.45726083e-02 -8.20381589e-04 9.98509468e-01 2.51519927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.53, Y:48.09, Z:25.15 [[ 9.89320958e-01 -1.35387928e-01 -5.39828740e-02 5.31527054e+02] [ 1.35229774e-01 9.90792359e-01 -6.58865524e-03 4.80858361e+01] [ 5.43778434e-02 -7.81797132e-04 9.98520124e-01 2.51534181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.56, Y:48.09, Z:25.15 [[ 9.89356996e-01 -1.35007569e-01 -5.42742184e-02 5.31557287e+02] [ 1.34847369e-01 9.90844269e-01 -6.61986007e-03 4.80916432e+01] [ 5.46710295e-02 -7.69330680e-04 9.98504125e-01 2.51546343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.59, Y:48.10, Z:25.16 [[ 9.89361794e-01 -1.34972125e-01 -5.42749189e-02 5.31587878e+02] [ 1.34812187e-01 9.90849094e-01 -6.61411244e-03 4.80953398e+01] [ 5.46709750e-02 -7.73170385e-04 9.98504125e-01 2.51560987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.62, Y:48.10, Z:25.16 [[ 9.89333463e-01 -1.35083232e-01 -5.45143913e-02 5.31619308e+02] [ 1.34922171e-01 9.90833944e-01 -6.64104481e-03 4.81010055e+01] [ 5.49118031e-02 -7.84992178e-04 9.98490900e-01 2.51578600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.65, Y:48.11, Z:25.16 [[ 9.89283386e-01 -1.35324372e-01 -5.48242307e-02 5.31650674e+02] [ 1.35162068e-01 9.90801021e-01 -6.67473789e-03 4.81062129e+01] [ 5.52231585e-02 -8.06949087e-04 9.98473711e-01 2.51593812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.68, Y:48.11, Z:25.16 [[ 9.89229504e-01 -1.35505278e-01 -5.53471603e-02 5.31682164e+02] [ 1.35340376e-01 9.90776278e-01 -6.73426398e-03 4.81106644e+01] [ 5.57491818e-02 -8.28972853e-04 9.98444461e-01 2.51606053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.71, Y:48.11, Z:25.16 [[ 9.89029375e-01 -1.36737119e-01 -5.58914708e-02 5.31713097e+02] [ 1.36571146e-01 9.90606950e-01 -6.79648897e-03 4.81141244e+01] [ 5.62958118e-02 -9.11234989e-04 9.98413717e-01 2.51612184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.74, Y:48.12, Z:25.16 [[ 9.88900049e-01 -1.37570676e-01 -5.61337810e-02 5.31743923e+02] [ 1.37404767e-01 9.90491482e-01 -6.82301935e-03 4.81184399e+01] [ 5.65386793e-02 -9.65764939e-04 9.98399942e-01 2.51626358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.77, Y:48.12, Z:25.16 [[ 9.88708812e-01 -1.38693664e-01 -5.67358067e-02 5.31774815e+02] [ 1.38526151e-01 9.90334781e-01 -6.89394550e-03 4.81213703e+01] [ 5.71435893e-02 -1.04328824e-03 9.98365425e-01 2.51635947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.81, Y:48.13, Z:25.17 [[ 9.88336666e-01 -1.41495222e-01 -5.63004183e-02 5.31805821e+02] [ 1.41334972e-01 9.89938213e-01 -6.83816837e-03 4.81252206e+01] [ 5.67015036e-02 -1.19880551e-03 9.98390456e-01 2.51653684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.84, Y:48.13, Z:25.17 [[ 9.88164768e-01 -1.42901436e-01 -5.57635339e-02 5.31837657e+02] [ 1.42746597e-01 9.89736110e-01 -6.77062259e-03 4.81296912e+01] [ 5.61587148e-02 -1.26956399e-03 9.98421047e-01 2.51678368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.87, Y:48.13, Z:25.17 [[ 9.87981866e-01 -1.44265511e-01 -5.54913869e-02 5.31869738e+02] [ 1.44114556e-01 9.89538102e-01 -6.73349539e-03 4.81335047e+01] [ 5.58822528e-02 -1.34454526e-03 9.98436461e-01 2.51697130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.90, Y:48.14, Z:25.17 [[ 9.87597652e-01 -1.46893819e-01 -5.54353934e-02 5.31900373e+02] [ 1.46747556e-01 9.89151135e-01 -6.72217306e-03 4.81357395e+01] [ 5.58214280e-02 -1.49620616e-03 9.98439647e-01 2.51715393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.93, Y:48.14, Z:25.17 [[ 9.87409072e-01 -1.48263225e-01 -5.51483455e-02 5.31932786e+02] [ 1.48120971e-01 9.88946685e-01 -6.68078461e-03 4.81391177e+01] [ 5.55292881e-02 -1.57195917e-03 9.98455821e-01 2.51732845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:531.96, Y:48.14, Z:25.17 [[ 9.87253520e-01 -1.49355054e-01 -5.49868659e-02 5.31964616e+02] [ 1.49215544e-01 9.88782283e-01 -6.65722691e-03 4.81420682e+01] [ 5.53643293e-02 -1.63252443e-03 9.98464885e-01 2.51748665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.00, Y:48.14, Z:25.18 [[ 9.87123935e-01 -1.50267043e-01 -5.48284025e-02 5.31995522e+02] [ 1.50129953e-01 9.88644013e-01 -6.63420439e-03 4.81446354e+01] [ 5.52026741e-02 -1.68260353e-03 9.98473752e-01 2.51761652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.03, Y:48.15, Z:25.18 [[ 9.86934474e-01 -1.51558511e-01 -5.46842083e-02 5.32027093e+02] [ 1.51424291e-01 9.88446733e-01 -6.61366603e-03 4.81479463e+01] [ 5.50547844e-02 -1.75326244e-03 9.98481796e-01 2.51779352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.06, Y:48.15, Z:25.18 [[ 9.86915343e-01 -1.51850854e-01 -5.42164546e-02 5.32059242e+02] [ 1.51719573e-01 9.88401855e-01 -6.55321148e-03 4.81537655e+01] [ 5.45827550e-02 -1.75823236e-03 9.98507702e-01 2.51799371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.09, Y:48.15, Z:25.18 [[ 9.86906055e-01 -1.52015386e-01 -5.39236631e-02 5.32090803e+02] [ 1.51885974e-01 9.88376557e-01 -6.51396285e-03 4.81545572e+01] [ 5.42871071e-02 -1.76157873e-03 9.98523814e-01 2.51812377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.12, Y:48.16, Z:25.18 [[ 9.86830647e-01 -1.52705930e-01 -5.33495298e-02 5.32122653e+02] [ 1.52580430e-01 9.88270064e-01 -6.44157233e-03 4.81603040e+01] [ 5.37074095e-02 -1.78335322e-03 9.98555123e-01 2.51839359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.15, Y:48.17, Z:25.18 [[ 9.86766914e-01 -1.52524230e-01 -5.50219667e-02 5.32154558e+02] [ 1.52390685e-01 9.88298031e-01 -6.63934748e-03 4.81653225e+01] [ 5.53907628e-02 -1.83334679e-03 9.98463070e-01 2.51840266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.19, Y:48.16, Z:25.18 [[ 9.86710346e-01 -1.52257385e-01 -5.67484071e-02 5.32186135e+02] [ 1.52115126e-01 9.88339089e-01 -6.84347646e-03 4.81646260e+01] [ 5.71286388e-02 -1.87976206e-03 9.98365056e-01 2.51830458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.22, Y:48.17, Z:25.18 [[ 9.86752614e-01 -1.51882615e-01 -5.70171038e-02 5.32218077e+02] [ 1.51738574e-01 9.88396769e-01 -6.87251135e-03 4.81712862e+01] [ 5.73993362e-02 -1.87022550e-03 9.98349547e-01 2.51845979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.25, Y:48.18, Z:25.19 [[ 9.86923141e-01 -1.50926026e-01 -5.66043225e-02 5.32249437e+02] [ 1.50782727e-01 9.88543411e-01 -6.81866494e-03 4.81768704e+01] [ 5.69849441e-02 -1.80545589e-03 9.98373405e-01 2.51865197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.28, Y:48.18, Z:25.19 [[ 9.86971753e-01 -1.50418278e-01 -5.71060450e-02 5.32280455e+02] [ 1.50271810e-01 9.88620815e-01 -6.87508261e-03 4.81795396e+01] [ 5.74903629e-02 -1.79591642e-03 9.98344446e-01 2.51874561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.31, Y:48.18, Z:25.19 [[ 9.87052058e-01 -1.49746962e-01 -5.74811414e-02 5.32311336e+02] [ 1.49597608e-01 9.88722767e-01 -6.91710513e-03 4.81821671e+01] [ 5.78687286e-02 -1.77149842e-03 9.98322629e-01 2.51882232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.34, Y:48.19, Z:25.19 [[ 9.87247012e-01 -1.48578086e-01 -5.71654652e-02 5.32342882e+02] [ 1.48428599e-01 9.88899223e-01 -6.87588059e-03 4.81893257e+01] [ 5.75524893e-02 -1.69679732e-03 9.98341040e-01 2.51911395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.37, Y:48.19, Z:25.19 [[ 9.87353212e-01 -1.47993532e-01 -5.68467086e-02 5.32374735e+02] [ 1.47844979e-01 9.88986940e-01 -6.83337693e-03 4.81937388e+01] [ 5.72319480e-02 -1.65754381e-03 9.98359533e-01 2.51930902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.41, Y:48.20, Z:25.20 [[ 9.87716954e-01 -1.45714264e-01 -5.64142876e-02 5.32406084e+02] [ 1.45564484e-01 9.89325553e-01 -6.77727940e-03 4.81985461e+01] [ 5.67996426e-02 -1.51788291e-03 9.98384443e-01 2.51951281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.44, Y:48.20, Z:25.20 [[ 9.87854349e-01 -1.45031262e-01 -5.57648549e-02 5.32438250e+02] [ 1.44884051e-01 9.89425988e-01 -6.69524485e-03 4.82026922e+01] [ 5.61462165e-02 -1.46551137e-03 9.98421481e-01 2.51971945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.47, Y:48.21, Z:25.20 [[ 9.87864568e-01 -1.44961459e-01 -5.57653267e-02 5.32469698e+02] [ 1.44814359e-01 9.89436217e-01 -6.69131343e-03 4.82064049e+01] [ 5.61462164e-02 -1.46550860e-03 9.98421481e-01 2.51987001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.50, Y:48.21, Z:25.20 [[ 9.88023774e-01 -1.44014516e-01 -5.53971183e-02 5.32501408e+02] [ 1.43868087e-01 9.89574576e-01 -6.64319053e-03 4.82105481e+01] [ 5.57762957e-02 -1.40624724e-03 9.98442300e-01 2.52003646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.53, Y:48.21, Z:25.20 [[ 9.88112854e-01 -1.43366288e-01 -5.54895986e-02 5.32533043e+02] [ 1.43218571e-01 9.89668740e-01 -6.65030640e-03 4.82146427e+01] [ 5.58697508e-02 -1.37588775e-03 9.98437118e-01 2.52019951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.57, Y:48.22, Z:25.20 [[ 9.88175715e-01 -1.43053454e-01 -5.51766853e-02 5.32565196e+02] [ 1.42907131e-01 9.89714037e-01 -6.60886364e-03 4.82181388e+01] [ 5.55545607e-02 -1.35442323e-03 9.98454734e-01 2.52037504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.60, Y:48.22, Z:25.21 [[ 9.88194576e-01 -1.43069141e-01 -5.47969035e-02 5.32596396e+02] [ 1.42925058e-01 9.89711776e-01 -6.55961250e-03 4.82211100e+01] [ 5.51716188e-02 -1.34967714e-03 9.98475974e-01 2.52055246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.63, Y:48.22, Z:25.21 [[ 9.88141864e-01 -1.43856050e-01 -5.36758144e-02 5.32627949e+02] [ 1.43719122e-01 9.89597679e-01 -6.42248201e-03 4.82238220e+01] [ 5.40413742e-02 -1.36791759e-03 9.98537760e-01 2.52081152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.66, Y:48.23, Z:25.21 [[ 9.88066193e-01 -1.44701201e-01 -5.27897835e-02 5.32660063e+02] [ 1.44570160e-01 9.89474415e-01 -6.31275262e-03 4.82267114e+01] [ 5.31476031e-02 -1.39440998e-03 9.98585694e-01 2.52100801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.69, Y:48.23, Z:25.21 [[ 9.87848478e-01 -1.46080165e-01 -5.30657064e-02 5.32691514e+02] [ 1.45949936e-01 9.89271649e-01 -6.34201355e-03 4.82307459e+01] [ 5.34228412e-02 -1.47998801e-03 9.98570884e-01 2.52116707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.72, Y:48.23, Z:25.21 [[ 9.87618721e-01 -1.47473662e-01 -5.34862784e-02 5.32722530e+02] [ 1.47343562e-01 9.89064736e-01 -6.38927567e-03 4.82315845e+01] [ 5.38436417e-02 -1.57069049e-03 9.98548144e-01 2.52123774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.75, Y:48.23, Z:25.21 [[ 9.87340424e-01 -1.49189550e-01 -5.38643197e-02 5.32754229e+02] [ 1.49060333e-01 9.88807190e-01 -6.43110247e-03 4.82339489e+01] [ 5.42208799e-02 -1.67934600e-03 9.98527554e-01 2.52132810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.79, Y:48.24, Z:25.21 [[ 9.86927792e-01 -1.51638572e-01 -5.45827480e-02 5.32786124e+02] [ 1.51509920e-01 9.88434290e-01 -6.51145832e-03 4.82352213e+01] [ 5.49388480e-02 -1.84348857e-03 9.98488019e-01 2.52136964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.82, Y:48.24, Z:25.21 [[ 9.86793971e-01 -1.52567230e-01 -5.44141418e-02 5.32817104e+02] [ 1.52440943e-01 9.88291283e-01 -6.48838733e-03 4.82361745e+01] [ 5.47669373e-02 -1.89224159e-03 9.98497372e-01 2.52147328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.85, Y:48.24, Z:25.22 [[ 9.86779858e-01 -1.52763456e-01 -5.41187476e-02 5.32848860e+02] [ 1.52638998e-01 9.88260964e-01 -6.45011232e-03 4.82425767e+01] [ 5.44687871e-02 -1.89579048e-03 9.98513674e-01 2.52173607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.88, Y:48.24, Z:25.22 [[ 9.86940726e-01 -1.51904113e-01 -5.36017204e-02 5.32879647e+02] [ 1.51780963e-01 9.88393533e-01 -6.38468218e-03 4.82441151e+01] [ 5.39494533e-02 -1.83441786e-03 9.98541983e-01 2.52197589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.91, Y:48.25, Z:25.22 [[ 9.87072338e-01 -1.51087726e-01 -5.34855053e-02 5.32910728e+02] [ 1.50964077e-01 9.88518740e-01 -6.36778232e-03 4.82514590e+01] [ 5.38335181e-02 -1.78892814e-03 9.98548322e-01 2.52223222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.94, Y:48.25, Z:25.22 [[ 9.87263324e-01 -1.49887066e-01 -5.33385001e-02 5.32942188e+02] [ 1.49762552e-01 9.88701624e-01 -6.34645858e-03 4.82526658e+01] [ 5.36871137e-02 -1.72248410e-03 9.98556321e-01 2.52236755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:532.97, Y:48.26, Z:25.23 [[ 9.87622126e-01 -1.47713647e-01 -5.27561734e-02 5.32973653e+02] [ 1.47588893e-01 9.89028893e-01 -6.27430354e-03 4.82573668e+01] [ 5.31041800e-02 -1.58958424e-03 9.98587712e-01 2.52251662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.01, Y:48.26, Z:25.23 [[ 9.87751260e-01 -1.46813844e-01 -5.28501946e-02 5.33005255e+02] [ 1.46687514e-01 9.89162930e-01 -6.28258733e-03 4.82634515e+01] [ 5.31998241e-02 -1.54683009e-03 9.98582689e-01 2.52270799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.04, Y:48.26, Z:25.23 [[ 9.87872210e-01 -1.45731987e-01 -5.35787646e-02 5.33036332e+02] [ 1.45600766e-01 9.89322950e-01 -6.36537661e-03 4.82644554e+01] [ 5.39343404e-02 -1.51293048e-03 9.98543338e-01 2.52271813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.07, Y:48.27, Z:25.23 [[ 9.87893246e-01 -1.45484591e-01 -5.38624993e-02 5.33067628e+02] [ 1.45351775e-01 9.89359365e-01 -6.39602522e-03 4.82719905e+01] [ 5.42198912e-02 -1.51041976e-03 9.98527877e-01 2.52294079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.10, Y:48.27, Z:25.23 [[ 9.87697289e-01 -1.46511604e-01 -5.46664045e-02 5.33098576e+02] [ 1.46376573e-01 9.89207667e-01 -6.48766709e-03 4.82721986e+01] [ 5.50269450e-02 -1.59402976e-03 9.98483597e-01 2.52300782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.13, Y:48.28, Z:25.23 [[ 9.87403616e-01 -1.48336226e-01 -5.50496458e-02 5.33130695e+02] [ 1.48202255e-01 9.88935509e-01 -6.53081114e-03 4.82773168e+01] [ 5.54093053e-02 -1.70993508e-03 9.98462260e-01 2.52318864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.16, Y:48.28, Z:25.23 [[ 9.87225611e-01 -1.49384465e-01 -5.54064451e-02 5.33162605e+02] [ 1.49250623e-01 9.88777578e-01 -6.56913470e-03 4.82765719e+01] [ 5.57659772e-02 -1.78422839e-03 9.98442273e-01 2.52323290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.19, Y:48.28, Z:25.23 [[ 9.87048843e-01 -1.50276913e-01 -5.61376026e-02 5.33194513e+02] [ 1.50141143e-01 9.88642191e-01 -6.65249855e-03 4.82834429e+01] [ 5.64997193e-02 -1.86222282e-03 9.98400878e-01 2.52343954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.23, Y:48.29, Z:25.24 [[ 9.86933468e-01 -1.50923769e-01 -5.64300122e-02 5.33226113e+02] [ 1.50787874e-01 9.88543553e-01 -6.68295990e-03 4.82868616e+01] [ 5.67921422e-02 -1.91332475e-03 9.98384190e-01 2.52352930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.26, Y:48.29, Z:25.24 [[ 9.86944459e-01 -1.50851692e-01 -5.64304994e-02 5.33257574e+02] [ 1.50715914e-01 9.88554554e-01 -6.67884400e-03 4.82905271e+01] [ 5.67921421e-02 -1.91332623e-03 9.98384190e-01 2.52367990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.29, Y:48.29, Z:25.24 [[ 9.86955446e-01 -1.50779614e-01 -5.64309861e-02 5.33289036e+02] [ 1.50643954e-01 9.88565550e-01 -6.67472953e-03 4.82941904e+01] [ 5.67921419e-02 -1.91332622e-03 9.98384190e-01 2.52383049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.32, Y:48.29, Z:25.24 [[ 9.86783269e-01 -1.51814024e-01 -5.66681850e-02 5.33321039e+02] [ 1.51679153e-01 9.88407083e-01 -6.69876009e-03 4.82931636e+01] [ 5.70282011e-02 -1.98515790e-03 9.98370594e-01 2.52382868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.35, Y:48.30, Z:25.24 [[ 9.86829240e-01 -1.51740146e-01 -5.60622830e-02 5.33352572e+02] [ 1.51608206e-01 9.88418472e-01 -6.62392328e-03 4.83012526e+01] [ 5.64181111e-02 -1.96282097e-03 9.98405301e-01 2.52410880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.38, Y:48.31, Z:25.24 [[ 9.86899915e-01 -1.51528253e-01 -5.53872450e-02 5.33384007e+02] [ 1.51399360e-01 9.88451041e-01 -6.54020000e-03 4.83062372e+01] [ 5.57386050e-02 -1.93107061e-03 9.98443528e-01 2.52429850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.41, Y:48.31, Z:25.25 [[ 9.87027814e-01 -1.51185005e-01 -5.40295157e-02 5.33414351e+02] [ 1.51062044e-01 9.88503720e-01 -6.37615313e-03 4.83113518e+01] [ 5.43723559e-02 -1.86836857e-03 9.98518981e-01 2.52454035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.45, Y:48.32, Z:25.25 [[ 9.87111102e-01 -1.50860142e-01 -5.34124565e-02 5.33446405e+02] [ 1.50739660e-01 9.88553418e-01 -6.30035110e-03 4.83166499e+01] [ 5.37515383e-02 -1.83222902e-03 9.98552660e-01 2.52475551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.48, Y:48.32, Z:25.25 [[ 9.87158671e-01 -1.50695795e-01 -5.29956259e-02 5.33478629e+02] [ 1.50577153e-01 9.88578521e-01 -6.24737974e-03 4.83212141e+01] [ 5.33317913e-02 -1.81277537e-03 9.98575202e-01 2.52496663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.51, Y:48.33, Z:25.25 [[ 9.87190003e-01 -1.50776181e-01 -5.21770134e-02 5.33510387e+02] [ 1.50661483e-01 9.88566300e-01 -6.14717243e-03 4.83270088e+01] [ 5.25072843e-02 -1.79263906e-03 9.98618932e-01 2.52518289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.54, Y:48.33, Z:25.25 [[ 9.86897356e-01 -1.52832403e-01 -5.17287648e-02 5.33541941e+02] [ 1.52722682e-01 9.88250316e-01 -6.09061138e-03 4.83325054e+01] [ 5.20518109e-02 -1.88934742e-03 9.98642598e-01 2.52541055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.57, Y:48.34, Z:25.26 [[ 9.86908499e-01 -1.52760279e-01 -5.17292086e-02 5.33573407e+02] [ 1.52650656e-01 9.88261467e-01 -6.08683941e-03 4.83361498e+01] [ 5.20518109e-02 -1.88934408e-03 9.98642598e-01 2.52556116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.60, Y:48.34, Z:25.26 [[ 9.86684579e-01 -1.54170813e-01 -5.18160309e-02 5.33604687e+02] [ 1.54062959e-01 9.88042244e-01 -6.09330289e-03 4.83386102e+01] [ 5.21358370e-02 -1.97076304e-03 9.98638058e-01 2.52570245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.64, Y:48.34, Z:25.26 [[ 9.86358970e-01 -1.56090422e-01 -5.22662753e-02 5.33636730e+02] [ 1.55983530e-01 9.87740552e-01 -6.14325501e-03 4.83416992e+01] [ 5.25844229e-02 -2.09322346e-03 9.98614288e-01 2.52580743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.67, Y:48.34, Z:25.26 [[ 9.86026471e-01 -1.58025139e-01 -5.27243134e-02 5.33667445e+02] [ 1.57919345e-01 9.87432594e-01 -6.19292284e-03 4.83429401e+01] [ 5.30403431e-02 -2.21980320e-03 9.98589903e-01 2.52589356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.70, Y:48.34, Z:25.26 [[ 9.85211410e-01 -1.62531556e-01 -5.42399463e-02 5.33697153e+02] [ 1.62426757e-01 9.86700078e-01 -6.36438546e-03 4.83435904e+01] [ 5.45529727e-02 -2.53975342e-03 9.98507648e-01 2.52594433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.73, Y:48.35, Z:25.26 [[ 9.84840021e-01 -1.64576042e-01 -5.48166010e-02 5.33729320e+02] [ 1.64472348e-01 9.86360745e-01 -6.42866228e-03 4.83477890e+01] [ 5.51269472e-02 -2.68461116e-03 9.98475745e-01 2.52608772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.76, Y:48.35, Z:25.26 [[ 9.84439720e-01 -1.66675579e-01 -5.56568833e-02 5.33760626e+02] [ 1.66572244e-01 9.86007675e-01 -6.52330626e-03 4.83488564e+01] [ 5.59653899e-02 -2.84909013e-03 9.98428644e-01 2.52618288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.79, Y:48.35, Z:25.26 [[ 9.84127091e-01 -1.68258609e-01 -5.64172723e-02 5.33792369e+02] [ 1.68155206e-01 9.85738376e-01 -6.60922995e-03 4.83543711e+01] [ 5.67247301e-02 -2.98253577e-03 9.98385401e-01 2.52633456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.82, Y:48.36, Z:25.26 [[ 9.83876360e-01 -1.69551968e-01 -5.69160601e-02 5.33824165e+02] [ 1.69449123e-01 9.85516409e-01 -6.66350157e-03 4.83576736e+01] [ 5.72215210e-02 -3.08831480e-03 9.98356730e-01 2.52642927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.86, Y:48.36, Z:25.27 [[ 9.83662535e-01 -1.70307499e-01 -5.83384368e-02 5.33856044e+02] [ 1.70201029e-01 9.85385721e-01 -6.82571678e-03 4.83619570e+01] [ 5.86483334e-02 -3.21506013e-03 9.98273528e-01 2.52656685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.89, Y:48.37, Z:25.27 [[ 9.83759827e-01 -1.69635784e-01 -5.86541070e-02 5.33887067e+02] [ 1.69527223e-01 9.85501641e-01 -6.85837140e-03 4.83704510e+01] [ 5.89671439e-02 -3.19647762e-03 9.98254806e-01 2.52678943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.92, Y:48.38, Z:25.27 [[ 9.83961484e-01 -1.68401919e-01 -5.88267959e-02 5.33917683e+02] [ 1.68290769e-01 9.85713427e-01 -6.87438447e-03 4.83750281e+01] [ 5.91440222e-02 -3.13587716e-03 9.98244535e-01 2.52697361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.95, Y:48.38, Z:25.27 [[ 9.84281482e-01 -1.66504339e-01 -5.88750256e-02 5.33948344e+02] [ 1.66389804e-01 9.86036075e-01 -6.87696664e-03 4.83783689e+01] [ 5.91979439e-02 -3.02733304e-03 9.98241673e-01 2.52710384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:533.98, Y:48.39, Z:25.27 [[ 9.85221766e-01 -1.61105133e-01 -5.81653537e-02 5.33977466e+02] [ 1.60984057e-01 9.86933634e-01 -6.79232106e-03 4.83905150e+01] [ 5.84996217e-02 -2.67175205e-03 9.98283855e-01 2.52743687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.01, Y:48.40, Z:25.28 [[ 9.85787568e-01 -1.57826862e-01 -5.75634632e-02 5.34008345e+02] [ 1.57702733e-01 9.87463756e-01 -6.72148202e-03 4.83972944e+01] [ 5.79026640e-02 -2.45196206e-03 9.98319222e-01 2.52764013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.04, Y:48.41, Z:25.28 [[ 9.86379095e-01 -1.54346962e-01 -5.68620809e-02 5.34038836e+02] [ 1.54220187e-01 9.88014209e-01 -6.63752517e-03 4.84061289e+01] [ 5.72050257e-02 -2.22216468e-03 9.98359979e-01 2.52791527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.07, Y:48.41, Z:25.28 [[ 9.86978567e-01 -1.50760345e-01 -5.60769633e-02 5.34069525e+02] [ 1.50631384e-01 9.88568341e-01 -6.54381072e-03 4.84130157e+01] [ 5.64224577e-02 -1.98834962e-03 9.98405004e-01 2.52809053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.10, Y:48.42, Z:25.28 [[ 9.88019522e-01 -1.44005348e-01 -5.54967024e-02 5.34098395e+02] [ 1.43868492e-01 9.89575636e-01 -6.47435414e-03 4.84218577e+01] [ 5.58505262e-02 -1.58743863e-03 9.98437879e-01 2.52826344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.13, Y:48.43, Z:25.28 [[ 9.88487604e-01 -1.40710987e-01 -5.56118210e-02 5.34129134e+02] [ 1.40568372e-01 9.90049719e-01 -6.48746840e-03 4.84295356e+01] [ 5.59713258e-02 -1.40448105e-03 9.98431389e-01 2.52848734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.16, Y:48.43, Z:25.29 [[ 9.88884908e-01 -1.37665306e-01 -5.61685126e-02 5.34159712e+02] [ 1.37515042e-01 9.90478021e-01 -6.55012182e-03 4.84346193e+01] [ 5.65354017e-02 -1.24669874e-03 9.98399817e-01 2.52858259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.19, Y:48.44, Z:25.29 [[ 9.89229376e-01 -1.34860673e-01 -5.69020222e-02 5.34191983e+02] [ 1.34702024e-01 9.90863956e-01 -6.63211524e-03 4.84406715e+01] [ 5.72765743e-02 -1.10413435e-03 9.98357739e-01 2.52869882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.22, Y:48.45, Z:25.29 [[ 9.89819500e-01 -1.29923195e-01 -5.81147190e-02 5.34223536e+02] [ 1.29749506e-01 9.91523704e-01 -6.76827212e-03 4.84481390e+01] [ 5.85014770e-02 -8.40988366e-04 9.98286968e-01 2.52876468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.25, Y:48.45, Z:25.29 [[ 9.90079483e-01 -1.27660647e-01 -5.86973315e-02 5.34254968e+02] [ 1.27479739e-01 9.91817646e-01 -6.83181246e-03 4.84534414e+01] [ 5.90892027e-02 -7.18683123e-04 9.98252448e-01 2.52890035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.29, Y:48.46, Z:25.29 [[ 9.90605233e-01 -1.23421495e-01 -5.88931791e-02 5.34287025e+02] [ 1.23232144e-01 9.92354227e-01 -6.85029377e-03 4.84595567e+01] [ 5.92883687e-02 -4.71595858e-04 9.98240786e-01 2.52902140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.32, Y:48.46, Z:25.29 [[ 9.90828052e-01 -1.21572860e-01 -5.89899206e-02 5.34318308e+02] [ 1.21379904e-01 9.92582443e-01 -6.85664373e-03 4.84636897e+01] [ 5.93859413e-02 -3.66435934e-04 9.98235030e-01 2.52911760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.35, Y:48.47, Z:25.29 [[ 9.91059444e-01 -1.19896129e-01 -5.85328702e-02 5.34349749e+02] [ 1.19703615e-01 9.92786405e-01 -6.79702451e-03 4.84682931e+01] [ 5.89255747e-02 -2.70340798e-04 9.98262342e-01 2.52926200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.38, Y:48.47, Z:25.29 [[ 9.91237175e-01 -1.18363815e-01 -5.86418873e-02 5.34381081e+02] [ 1.18168140e-01 9.92970278e-01 -6.80567334e-03 4.84725590e+01] [ 5.90351966e-02 -1.83566309e-04 9.98255885e-01 2.52939442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.41, Y:48.48, Z:25.30 [[ 9.91373777e-01 -1.17222159e-01 -5.86259284e-02 5.34412619e+02] [ 1.17024794e-01 9.93105710e-01 -6.80046475e-03 4.84770277e+01] [ 5.90189094e-02 -1.18884784e-04 9.98256858e-01 2.52958837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.44, Y:48.48, Z:25.30 [[ 9.91485412e-01 -1.16438645e-01 -5.82985386e-02 5.34444744e+02] [ 1.16242375e-01 9.93197884e-01 -6.75826615e-03 4.84805539e+01] [ 5.86889085e-02 -7.60382567e-05 9.98276318e-01 2.52967831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.48, Y:48.48, Z:25.30 [[ 9.91450986e-01 -1.16823165e-01 -5.81144669e-02 5.34475695e+02] [ 1.16629028e-01 9.93152726e-01 -6.73291768e-03 4.84832081e+01] [ 5.85031020e-02 -1.02475918e-04 9.98287221e-01 2.52972997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.51, Y:48.49, Z:25.30 [[ 9.91384385e-01 -1.17505179e-01 -5.78751597e-02 5.34507888e+02] [ 1.17313993e-01 9.93072259e-01 -6.70189753e-03 4.84857467e+01] [ 5.82617233e-02 -1.45409497e-04 9.98301332e-01 2.52984216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.54, Y:48.49, Z:25.30 [[ 9.91265008e-01 -1.18535656e-01 -5.78185207e-02 5.34539709e+02] [ 1.18346834e-01 9.92949774e-01 -6.69124581e-03 4.84880216e+01] [ 5.82040383e-02 -2.09841037e-04 9.98304686e-01 2.53005872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.57, Y:48.49, Z:25.30 [[ 9.90907175e-01 -1.21963267e-01 -5.68148902e-02 5.34571046e+02] [ 1.21786797e-01 9.92534531e-01 -6.57121807e-03 4.84873361e+01] [ 5.71921876e-02 -4.07836391e-04 9.98363104e-01 2.53016461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.60, Y:48.49, Z:25.30 [[ 9.90689022e-01 -1.24016257e-01 -5.61714231e-02 5.34602880e+02] [ 1.23847240e-01 9.92280048e-01 -6.49362432e-03 4.84892414e+01] [ 5.65430974e-02 -5.23513413e-04 9.98400022e-01 2.53041871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.63, Y:48.49, Z:25.31 [[ 9.90443773e-01 -1.26310689e-01 -5.53781737e-02 5.34634366e+02] [ 1.26150211e-01 9.91990518e-01 -6.39810194e-03 4.84901292e+01] [ 5.57427719e-02 -6.49008053e-04 9.98444952e-01 2.53058685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.67, Y:48.49, Z:25.31 [[ 9.90177550e-01 -1.28624193e-01 -5.48109194e-02 5.34665315e+02] [ 1.28470690e-01 9.91693107e-01 -6.32962798e-03 4.84904952e+01] [ 5.51697542e-02 -7.74141098e-04 9.98476689e-01 2.53074394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.70, Y:48.49, Z:25.31 [[ 9.89575175e-01 -1.33443374e-01 -5.41649168e-02 5.34697297e+02] [ 1.33300833e-01 9.91055901e-01 -6.25215135e-03 4.84891388e+01] [ 5.45147686e-02 -1.03325478e-03 9.98512430e-01 2.53091018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.73, Y:48.49, Z:25.31 [[ 9.89278079e-01 -1.35677353e-01 -5.40420054e-02 5.34728894e+02] [ 1.35538946e-01 9.90752400e-01 -6.23504267e-03 4.84892932e+01] [ 5.43882006e-02 -1.15660543e-03 9.98519197e-01 2.53101001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.76, Y:48.49, Z:25.31 [[ 9.88981277e-01 -1.37903686e-01 -5.38387080e-02 5.34760824e+02] [ 1.37769777e-01 9.90444820e-01 -6.20857341e-03 4.84906008e+01] [ 5.41804547e-02 -1.27718394e-03 9.98530344e-01 2.53114376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.79, Y:48.49, Z:25.31 [[ 9.88487812e-01 -1.41507317e-01 -5.35492795e-02 5.34793547e+02] [ 1.41380332e-01 9.89936117e-01 -6.17131259e-03 4.84906515e+01] [ 5.38836517e-02 -1.47054763e-03 9.98546138e-01 2.53129633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.83, Y:48.49, Z:25.31 [[ 9.88315219e-01 -1.42760210e-01 -5.34092735e-02 5.34825165e+02] [ 1.42635922e-01 9.89756109e-01 -6.15131727e-03 4.84924798e+01] [ 5.37403181e-02 -1.53864048e-03 9.98553760e-01 2.53145549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.86, Y:48.49, Z:25.32 [[ 9.88170841e-01 -1.43881964e-01 -5.30694861e-02 5.34857009e+02] [ 1.43761027e-01 9.89593576e-01 -6.10921209e-03 4.84916941e+01] [ 5.33962279e-02 -1.59237855e-03 9.98572134e-01 2.53152514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.89, Y:48.49, Z:25.32 [[ 9.87891300e-01 -1.45489182e-01 -5.38857806e-02 5.34889203e+02] [ 1.45367054e-01 9.89358368e-01 -6.20000385e-03 4.84944797e+01] [ 5.42143815e-02 -1.70828732e-03 9.98527858e-01 2.53167686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.92, Y:48.50, Z:25.32 [[ 9.87810205e-01 -1.45955313e-01 -5.41114168e-02 5.34919907e+02] [ 1.45833065e-01 9.89289645e-01 -6.22217204e-03 4.84961583e+01] [ 5.44400234e-02 -1.74490871e-03 9.98515518e-01 2.53177662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.95, Y:48.50, Z:25.32 [[ 9.87681548e-01 -1.46740879e-01 -5.43348433e-02 5.34950850e+02] [ 1.46618923e-01 9.89173333e-01 -6.24570934e-03 4.84978225e+01] [ 5.46630789e-02 -1.79774433e-03 9.98503238e-01 2.53190712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:534.98, Y:48.50, Z:25.32 [[ 9.87618172e-01 -1.47200429e-01 -5.42437143e-02 5.34981785e+02] [ 1.47079737e-01 9.89105005e-01 -6.23225312e-03 4.84989897e+01] [ 5.45701196e-02 -1.82306479e-03 9.98508277e-01 2.53202709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.01, Y:48.50, Z:25.32 [[ 9.87467468e-01 -1.48330241e-01 -5.39086134e-02 5.35013916e+02] [ 1.48212881e-01 9.88936104e-01 -6.19069734e-03 4.85028643e+01] [ 5.42304418e-02 -1.87683868e-03 9.98526683e-01 2.53217895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.05, Y:48.51, Z:25.32 [[ 9.87375433e-01 -1.48790356e-01 -5.43247943e-02 5.35046414e+02] [ 1.48672093e-01 9.88866897e-01 -6.23446539e-03 4.85054521e+01] [ 5.46476191e-02 -1.92082288e-03 9.98503855e-01 2.53233006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.08, Y:48.51, Z:25.32 [[ 9.87321201e-01 -1.49295576e-01 -5.39228873e-02 5.35078078e+02] [ 1.49180022e-01 9.88790713e-01 -6.18441328e-03 4.85085401e+01] [ 5.42417557e-02 -1.93821515e-03 9.98525951e-01 2.53248246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.11, Y:48.51, Z:25.33 [[ 9.87164381e-01 -1.50252652e-01 -5.41352519e-02 5.35109849e+02] [ 1.50137839e-01 9.88645604e-01 -6.20478727e-03 4.85114949e+01] [ 5.44528646e-02 -2.00260472e-03 9.98514334e-01 2.53262874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.14, Y:48.52, Z:25.33 [[ 9.87055123e-01 -1.51025093e-01 -5.39778209e-02 5.35141227e+02] [ 1.50912314e-01 9.88527818e-01 -6.18279396e-03 4.85161863e+01] [ 5.42923346e-02 -2.04315939e-03 9.98522993e-01 2.53282630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.17, Y:48.52, Z:25.33 [[ 9.86938709e-01 -1.51763063e-01 -5.40366362e-02 5.35172491e+02] [ 1.51651353e-01 9.88414693e-01 -6.18562058e-03 4.85185198e+01] [ 5.43493539e-02 -2.08990063e-03 9.98519795e-01 2.53294904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.20, Y:48.52, Z:25.33 [[ 9.86829841e-01 -1.52470066e-01 -5.40346566e-02 5.35204780e+02] [ 1.52359592e-01 9.88305790e-01 -6.18225819e-03 4.85226820e+01] [ 5.43453732e-02 -2.13186138e-03 9.98519922e-01 2.53313177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.24, Y:48.52, Z:25.33 [[ 9.86609605e-01 -1.54137796e-01 -5.33200539e-02 5.35236155e+02] [ 1.54032858e-01 9.88046916e-01 -6.09670731e-03 4.85248099e+01] [ 5.36224478e-02 -2.19797030e-03 9.98558863e-01 2.53334269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.27, Y:48.53, Z:25.34 [[ 9.86482862e-01 -1.55074382e-01 -5.29480860e-02 5.35268389e+02] [ 1.54972409e-01 9.87900266e-01 -6.05115951e-03 4.85292143e+01] [ 5.32458081e-02 -2.23612731e-03 9.98578932e-01 2.53356762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.30, Y:48.53, Z:25.34 [[ 9.86391861e-01 -1.55764188e-01 -5.26176194e-02 5.35300472e+02] [ 1.55664670e-01 9.87791677e-01 -6.00950085e-03 4.85327218e+01] [ 5.29113115e-02 -2.26298160e-03 9.98596651e-01 2.53375012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.33, Y:48.53, Z:25.34 [[ 9.86308547e-01 -1.56331177e-01 -5.24977405e-02 5.35332081e+02] [ 1.56233128e-01 9.87702035e-01 -5.99172949e-03 4.85341431e+01] [ 5.27888192e-02 -2.29219219e-03 9.98603068e-01 2.53388433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.36, Y:48.54, Z:25.34 [[ 9.86267121e-01 -1.56822089e-01 -5.18073158e-02 5.35363839e+02] [ 1.56727555e-01 9.87624207e-01 -5.90759436e-03 4.85384300e+01] [ 5.20926005e-02 -2.29316784e-03 9.98639626e-01 2.53411648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.40, Y:48.54, Z:25.34 [[ 9.86313162e-01 -1.56515187e-01 -5.18588824e-02 5.35395352e+02] [ 1.56420241e-01 9.87672914e-01 -5.90966164e-03 4.85421671e+01] [ 5.21445653e-02 -2.28300181e-03 9.98636937e-01 2.53428695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.43, Y:48.55, Z:25.34 [[ 9.86435356e-01 -1.55823009e-01 -5.16185776e-02 5.35427278e+02] [ 1.55728191e-01 9.87782453e-01 -5.87851266e-03 4.85466643e+01] [ 5.19039327e-02 -2.23969497e-03 9.98649571e-01 2.53444949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.46, Y:48.55, Z:25.35 [[ 9.86524943e-01 -1.55232860e-01 -5.16845821e-02 5.35459313e+02] [ 1.55137190e-01 9.87875423e-01 -5.88221523e-03 4.85529816e+01] [ 5.19710416e-02 -2.21524879e-03 9.98646135e-01 2.53460747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.49, Y:48.56, Z:25.35 [[ 9.86876209e-01 -1.52866212e-01 -5.20314207e-02 5.35489333e+02] [ 1.52766164e-01 9.88244644e-01 -5.91800902e-03 4.85571779e+01] [ 5.23244365e-02 -2.10829826e-03 9.98627913e-01 2.53474031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.52, Y:48.56, Z:25.35 [[ 9.87140100e-01 -1.51204202e-01 -5.18817169e-02 5.35520969e+02] [ 1.51102518e-01 9.88500493e-01 -5.89945238e-03 4.85571110e+01] [ 5.21771248e-02 -2.01587206e-03 9.98635811e-01 2.53481899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.55, Y:48.57, Z:25.35 [[ 9.87419201e-01 -1.49440001e-01 -5.16817925e-02 5.35552055e+02] [ 1.49337046e-01 9.88768928e-01 -5.86982406e-03 4.85663854e+01] [ 5.19785371e-02 -1.92202922e-03 9.98646353e-01 2.53507175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.58, Y:48.57, Z:25.35 [[ 9.87435602e-01 -1.49331437e-01 -5.16822397e-02 5.35584381e+02] [ 1.49228539e-01 9.88785333e-01 -5.86588449e-03 4.85699680e+01] [ 5.19786015e-02 -1.92028194e-03 9.98646353e-01 2.53522638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.62, Y:48.57, Z:25.35 [[ 9.87748331e-01 -1.47377776e-01 -5.13130147e-02 5.35615232e+02] [ 1.47274011e-01 9.89078619e-01 -5.81818247e-03 4.85723188e+01] [ 5.16100765e-02 -1.81017345e-03 9.98665671e-01 2.53535750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.64, Y:48.58, Z:25.36 [[ 9.88359954e-01 -1.43101936e-01 -5.16375500e-02 5.35644795e+02] [ 1.42991379e-01 9.89706656e-01 -5.84819632e-03 4.85789872e+01] [ 5.19429151e-02 -1.60360141e-03 9.98648768e-01 2.53552430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.68, Y:48.59, Z:25.36 [[ 9.88702509e-01 -1.40664565e-01 -5.17767144e-02 5.35676584e+02] [ 1.40550134e-01 9.90056204e-01 -5.86278211e-03 4.85867439e+01] [ 5.20865430e-02 -1.48067675e-03 9.98641477e-01 2.53569746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.71, Y:48.59, Z:25.36 [[ 9.89051315e-01 -1.37889886e-01 -5.25725706e-02 5.35708527e+02] [ 1.37768199e-01 9.90446633e-01 -5.94901196e-03 4.85928286e+01] [ 5.28906341e-02 -1.35895026e-03 9.98599386e-01 2.53584825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.74, Y:48.60, Z:25.36 [[ 9.89398225e-01 -1.35217703e-01 -5.29841875e-02 5.35739977e+02] [ 1.35090484e-01 9.90815150e-01 -5.99167072e-03 4.85984972e+01] [ 5.33077156e-02 -1.22951115e-03 9.98577376e-01 2.53597341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.77, Y:48.61, Z:25.36 [[ 9.90147646e-01 -1.29375480e-01 -5.35688791e-02 5.35770710e+02] [ 1.29237091e-01 9.91595241e-01 -6.05404212e-03 4.86062050e+01] [ 5.39018902e-02 -9.28690572e-04 9.98545805e-01 2.53610661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.80, Y:48.61, Z:25.36 [[ 9.90502337e-01 -1.26416376e-01 -5.40742093e-02 5.35801765e+02] [ 1.26271073e-01 9.91976963e-01 -6.10901740e-03 4.86103807e+01] [ 5.44126498e-02 -7.77012410e-04 9.98518232e-01 2.53617855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.83, Y:48.62, Z:25.36 [[ 9.90842946e-01 -1.23446572e-01 -5.46918701e-02 5.35833639e+02] [ 1.23293581e-01 9.92351024e-01 -6.17564135e-03 4.86171510e+01] [ 5.50358950e-02 -6.24065820e-04 9.98484182e-01 2.53637733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.87, Y:48.62, Z:25.37 [[ 9.91181158e-01 -1.20520697e-01 -5.50878784e-02 5.35865424e+02] [ 1.20361188e-01 9.92710704e-01 -6.21633259e-03 4.86229610e+01] [ 5.54355233e-02 -4.68930741e-04 9.98462159e-01 2.53654435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.90, Y:48.63, Z:25.37 [[ 9.91733204e-01 -1.15249994e-01 -5.64153469e-02 5.35896785e+02] [ 1.15074414e-01 9.93336502e-01 -6.36189805e-03 4.86302654e+01] [ 5.67726320e-02 -1.82657417e-04 9.98387117e-01 2.53673285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.93, Y:48.64, Z:25.37 [[ 9.91949991e-01 -1.13207177e-01 -5.67393211e-02 5.35929063e+02] [ 1.13026472e-01 9.93571402e-01 -6.39424596e-03 4.86352321e+01] [ 5.70984413e-02 -7.02730899e-05 9.98368551e-01 2.53692274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.96, Y:48.64, Z:25.37 [[ 9.92291977e-01 -1.09990691e-01 -5.70848513e-02 5.35961260e+02] [ 1.09802700e-01 9.93932611e-01 -6.42897918e-03 4.86398426e+01] [ 5.74456232e-02 1.11353685e-04 9.98348630e-01 2.53716504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:535.99, Y:48.64, Z:25.37 [[ 9.92364285e-01 -1.09209102e-01 -5.73279901e-02 5.35992697e+02] [ 1.09018426e-01 9.94018787e-01 -6.45246952e-03 4.86432863e+01] [ 5.76897676e-02 1.53393055e-04 9.98334547e-01 2.53734934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.02, Y:48.65, Z:25.38 [[ 9.92408250e-01 -1.08771602e-01 -5.73986346e-02 5.36023416e+02] [ 1.08579846e-01 9.94066752e-01 -6.45830799e-03 4.86461662e+01] [ 5.77605547e-02 1.76943219e-04 9.98330450e-01 2.53750720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.05, Y:48.65, Z:25.38 [[ 9.92403335e-01 -1.08700836e-01 -5.76172558e-02 5.36053480e+02] [ 1.08507608e-01 9.94074492e-01 -6.48097447e-03 4.86489751e+01] [ 5.79803316e-02 1.79830071e-04 9.98317709e-01 2.53762451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.08, Y:48.65, Z:25.38 [[ 9.92208392e-01 -1.10358791e-01 -5.78225250e-02 5.36083386e+02] [ 1.10167057e-01 9.93891810e-01 -6.50300774e-03 4.86507352e+01] [ 5.81869981e-02 8.22014628e-05 9.98305698e-01 2.53778061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.11, Y:48.65, Z:25.38 [[ 9.92011376e-01 -1.11915627e-01 -5.82093003e-02 5.36115000e+02] [ 1.11724067e-01 9.93717713e-01 -6.54525341e-03 4.86527040e+01] [ 5.85761289e-02 -1.04139573e-05 9.98282944e-01 2.53794101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.15, Y:48.65, Z:25.38 [[ 9.91738967e-01 -1.14006276e-01 -5.87910685e-02 5.36146726e+02] [ 1.13814662e-01 9.93480020e-01 -6.60852553e-03 4.86541174e+01] [ 5.91611653e-02 -1.37353281e-04 9.98248435e-01 2.53806106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.18, Y:48.66, Z:25.38 [[ 9.91410302e-01 -1.16493175e-01 -5.94554739e-02 5.36178206e+02] [ 1.16301799e-01 9.93191449e-01 -6.68102898e-03 4.86551782e+01] [ 5.98289626e-02 -2.91137638e-04 9.98208601e-01 2.53816166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.21, Y:48.65, Z:25.38 [[ 9.90702801e-01 -1.22406355e-01 -5.93687120e-02 5.36208735e+02] [ 1.22226252e-01 9.92479855e-01 -6.66935827e-03 4.86525970e+01] [ 5.97386225e-02 -6.49063263e-04 9.98213843e-01 2.53826248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.24, Y:48.65, Z:25.38 [[ 9.90278144e-01 -1.25806649e-01 -5.93454655e-02 5.36239353e+02] [ 1.25632834e-01 9.92054412e-01 -6.66589988e-03 4.86531501e+01] [ 5.97125454e-02 -8.54644070e-04 9.98215248e-01 2.53845355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.27, Y:48.65, Z:25.39 [[ 9.89860026e-01 -1.29260505e-01 -5.88969430e-02 5.36269941e+02] [ 1.29095414e-01 9.91610109e-01 -6.61552019e-03 4.86536080e+01] [ 5.92579296e-02 -1.05488625e-03 9.98242147e-01 2.53865522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.30, Y:48.65, Z:25.39 [[ 9.88992706e-01 -1.35936440e-01 -5.84355322e-02 5.36300963e+02] [ 1.35785566e-01 9.90716509e-01 -6.56348708e-03 4.86523872e+01] [ 5.87852635e-02 -1.44346096e-03 9.98269607e-01 2.53894028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.33, Y:48.65, Z:25.39 [[ 9.88579572e-01 -1.39151371e-01 -5.78560791e-02 5.36333124e+02] [ 1.39009066e-01 9.90269797e-01 -6.49675701e-03 4.86537322e+01] [ 5.81971603e-02 -1.61995826e-03 9.98303795e-01 2.53911997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.37, Y:48.65, Z:25.39 [[ 9.88172728e-01 -1.41939092e-01 -5.80340794e-02 5.36365090e+02] [ 1.41800948e-01 9.89873768e-01 -6.51263559e-03 4.86542818e+01] [ 5.83708104e-02 -1.79367860e-03 9.98293359e-01 2.53925241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.40, Y:48.65, Z:25.39 [[ 9.87775317e-01 -1.44609444e-01 -5.82068034e-02 5.36397577e+02] [ 1.44475303e-01 9.89486869e-01 -6.52858742e-03 4.86548231e+01] [ 5.85389631e-02 -1.96066803e-03 9.98283199e-01 2.53936918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.43, Y:48.65, Z:25.39 [[ 9.87090220e-01 -1.49065965e-01 -5.85852914e-02 5.36429149e+02] [ 1.48938118e-01 9.88824710e-01 -6.56734907e-03 4.86472540e+01] [ 5.89095520e-02 -2.24301702e-03 9.98260804e-01 2.53928174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.46, Y:48.65, Z:25.40 [[ 9.86793415e-01 -1.50999621e-01 -5.86333495e-02 5.36459659e+02] [ 1.50875043e-01 9.88531000e-01 -6.57147027e-03 4.86541463e+01] [ 5.89531732e-02 -2.36162554e-03 9.98257956e-01 2.53955466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.49, Y:48.65, Z:25.40 [[ 9.86523357e-01 -1.52549668e-01 -5.91630327e-02 5.36490166e+02] [ 1.52425724e-01 9.88292698e-01 -6.62891293e-03 4.86543744e+01] [ 5.94816317e-02 -2.47839063e-03 9.98226324e-01 2.53966217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.52, Y:48.66, Z:25.40 [[ 9.86293515e-01 -1.53920873e-01 -5.94429766e-02 5.36520669e+02] [ 1.53798313e-01 9.88079823e-01 -6.65898816e-03 4.86597745e+01] [ 5.97593631e-02 -2.57451267e-03 9.98209492e-01 2.53988981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.55, Y:48.66, Z:25.40 [[ 9.85991118e-01 -1.55848166e-01 -5.94378983e-02 5.36552041e+02] [ 1.55729247e-01 9.87777351e-01 -6.65625249e-03 4.86614653e+01] [ 5.97487745e-02 -2.69321333e-03 9.98209813e-01 2.54005660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.58, Y:48.66, Z:25.40 [[ 9.85890084e-01 -1.56455074e-01 -5.95193391e-02 5.36582719e+02] [ 1.56337048e-01 9.87681288e-01 -6.66343905e-03 4.86635094e+01] [ 5.98286664e-02 -2.73565931e-03 9.98204912e-01 2.54017299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.61, Y:48.67, Z:25.40 [[ 9.85908110e-01 -1.56383958e-01 -5.94075385e-02 5.36614009e+02] [ 1.56266322e-01 9.87692573e-01 -6.64964227e-03 4.86662021e+01] [ 5.97162819e-02 -2.72746131e-03 9.98211664e-01 2.54029046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.65, Y:48.67, Z:25.40 [[ 9.85966395e-01 -1.55934314e-01 -5.96217848e-02 5.36645067e+02] [ 1.55815137e-01 9.87763704e-01 -6.67150176e-03 4.86697119e+01] [ 5.99325510e-02 -2.71210004e-03 9.98198745e-01 2.54042633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.68, Y:48.67, Z:25.41 [[ 9.86091201e-01 -1.55030481e-01 -5.99140486e-02 5.36676519e+02] [ 1.54908601e-01 9.87906073e-01 -6.70200914e-03 4.86741511e+01] [ 6.02284682e-02 -2.67240923e-03 9.98181041e-01 2.54059637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.71, Y:48.68, Z:25.41 [[ 9.86293855e-01 -1.53899216e-01 -5.94933789e-02 5.36706602e+02] [ 1.53777104e-01 9.88083164e-01 -6.65302552e-03 4.86788774e+01] [ 5.98083015e-02 -2.58688134e-03 9.98206529e-01 2.54078958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.74, Y:48.69, Z:25.41 [[ 9.86827428e-01 -1.50492683e-01 -5.93597490e-02 5.36736784e+02] [ 1.50364996e-01 9.88608269e-01 -6.63763688e-03 4.86899332e+01] [ 5.96824545e-02 -2.37542631e-03 9.98214587e-01 2.54111607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.77, Y:48.69, Z:25.41 [[ 9.87081318e-01 -1.48875058e-01 -5.92172995e-02 5.36767376e+02] [ 1.48745195e-01 9.88853400e-01 -6.61976374e-03 4.86910034e+01] [ 5.95427456e-02 -2.27404363e-03 9.98223167e-01 2.54115130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.80, Y:48.70, Z:25.41 [[ 9.87302258e-01 -1.47360980e-01 -5.93210938e-02 5.36798064e+02] [ 1.47228011e-01 9.89080358e-01 -6.63007170e-03 4.87008192e+01] [ 5.96503426e-02 -2.18784187e-03 9.98216935e-01 2.54142941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.83, Y:48.71, Z:25.42 [[ 9.87558355e-01 -1.45575777e-01 -5.94658534e-02 5.36828990e+02] [ 1.45439058e-01 9.89344903e-01 -6.64408218e-03 4.87063264e+01] [ 5.97994564e-02 -2.08723885e-03 9.98208229e-01 2.54157924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.86, Y:48.71, Z:25.42 [[ 9.87773884e-01 -1.44055727e-01 -5.95877581e-02 5.36859324e+02] [ 1.43915803e-01 9.89567553e-01 -6.65575309e-03 4.87100823e+01] [ 5.99249113e-02 -2.00124096e-03 9.98200882e-01 2.54168250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.89, Y:48.71, Z:25.42 [[ 9.88230433e-01 -1.41102183e-01 -5.90828696e-02 5.36890182e+02] [ 1.40959426e-01 9.89993387e-01 -6.59808956e-03 4.87131132e+01] [ 5.94226550e-02 -1.80785446e-03 9.98231276e-01 2.54170138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.92, Y:48.72, Z:25.42 [[ 9.88444604e-01 -1.39695140e-01 -5.88432866e-02 5.36921334e+02] [ 1.39551199e-01 9.90193069e-01 -6.56879399e-03 4.87245919e+01] [ 5.91838432e-02 -1.71876223e-03 9.98245620e-01 2.54217436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.95, Y:48.73, Z:25.42 [[ 9.88778475e-01 -1.37616283e-01 -5.81281865e-02 5.36952769e+02] [ 1.37472485e-01 9.90484359e-01 -6.48466958e-03 4.87310313e+01] [ 5.84674557e-02 -1.57912454e-03 9.98288066e-01 2.54239223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:536.98, Y:48.73, Z:25.42 [[ 9.88921269e-01 -1.36712498e-01 -5.78309388e-02 5.36984272e+02] [ 1.36568861e-01 9.90609599e-01 -6.44743547e-03 4.87328618e+01] [ 5.81693281e-02 -1.52189937e-03 9.98305571e-01 2.54249256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.02, Y:48.74, Z:25.43 [[ 9.89071617e-01 -1.35910472e-01 -5.71461369e-02 5.37015607e+02] [ 1.35769072e-01 9.90720046e-01 -6.36777548e-03 4.87406942e+01] [ 5.74812707e-02 -1.46049199e-03 9.98345517e-01 2.54282083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.05, Y:48.74, Z:25.43 [[ 9.89181772e-01 -1.35387827e-01 -5.64761825e-02 5.37047384e+02] [ 1.35249109e-01 9.90791667e-01 -6.28898558e-03 4.87447870e+01] [ 5.68075831e-02 -1.41740345e-03 9.98384139e-01 2.54299309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.08, Y:48.75, Z:25.43 [[ 9.89210386e-01 -1.35475488e-01 -5.57602351e-02 5.37078853e+02] [ 1.35340624e-01 9.90779698e-01 -6.20534986e-03 4.87475610e+01] [ 5.60867817e-02 -1.40822848e-03 9.98424904e-01 2.54307232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.11, Y:48.75, Z:25.43 [[ 9.89172021e-01 -1.35612536e-01 -5.61066264e-02 5.37110523e+02] [ 1.35476396e-01 9.90760920e-01 -6.24062679e-03 4.87525345e+01] [ 5.64345600e-02 -1.42807010e-03 9.98405279e-01 2.54323300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.14, Y:48.75, Z:25.43 [[ 9.89096427e-01 -1.36269261e-01 -5.58475357e-02 5.37142030e+02] [ 1.36135644e-01 9.90670757e-01 -6.20783552e-03 4.87544253e+01] [ 5.61724576e-02 -1.46269233e-03 9.98420010e-01 2.54331793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.17, Y:48.76, Z:25.43 [[ 9.88979714e-01 -1.37126936e-01 -5.58151228e-02 5.37173761e+02] [ 1.36995020e-01 9.90552327e-01 -6.20100109e-03 4.87579110e+01] [ 5.61381240e-02 -1.51372956e-03 9.98421865e-01 2.54345491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.21, Y:48.76, Z:25.44 [[ 9.88551737e-01 -1.40204855e-01 -5.57499891e-02 5.37205641e+02] [ 1.40078357e-01 9.90121074e-01 -6.18974935e-03 4.87616388e+01] [ 5.60670719e-02 -1.69047941e-03 9.98425573e-01 2.54363724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.24, Y:48.76, Z:25.44 [[ 9.88270979e-01 -1.42145944e-01 -5.58122012e-02 5.37237798e+02] [ 1.42022483e-01 9.89844062e-01 -6.19255617e-03 4.87645625e+01] [ 5.61256226e-02 -1.80666383e-03 9.98422080e-01 2.54376851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.27, Y:48.76, Z:25.44 [[ 9.87885107e-01 -1.44917707e-01 -5.55146211e-02 5.37269316e+02] [ 1.44800145e-01 9.89441775e-01 -6.15560765e-03 4.87629294e+01] [ 5.58205418e-02 -1.95749205e-03 9.98438899e-01 2.54378430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.30, Y:48.76, Z:25.44 [[ 9.87397393e-01 -1.48123288e-01 -5.57304205e-02 5.37299262e+02] [ 1.48010049e-01 9.88966567e-01 -6.17691884e-03 4.87631514e+01] [ 5.60304681e-02 -2.14958873e-03 9.98426745e-01 2.54384292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.33, Y:48.77, Z:25.44 [[ 9.86298247e-01 -1.55385323e-01 -5.54181332e-02 5.37329109e+02] [ 1.55284772e-01 9.87850653e-01 -6.14228153e-03 4.87675040e+01] [ 5.56992595e-02 -2.54747069e-03 9.98444341e-01 2.54401203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.36, Y:48.77, Z:25.44 [[ 9.85722702e-01 -1.59119244e-01 -5.50619680e-02 5.37359938e+02] [ 1.59025802e-01 9.87255567e-01 -6.10251841e-03 4.87696702e+01] [ 5.53312625e-02 -2.74088267e-03 9.98464290e-01 2.54414943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.39, Y:48.77, Z:25.44 [[ 9.85202490e-01 -1.62450084e-01 -5.46445311e-02 5.37390073e+02] [ 1.62363203e-01 9.86712482e-01 -6.05538204e-03 4.87691752e+01] [ 5.49021383e-02 -2.90648363e-03 9.98487510e-01 2.54425276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.42, Y:48.77, Z:25.44 [[ 9.84397883e-01 -1.67327419e-01 -5.44274017e-02 5.37420819e+02] [ 1.67248648e-01 9.85896299e-01 -6.03129684e-03 4.87706069e+01] [ 5.46689753e-02 -3.16571351e-03 9.98499515e-01 2.54437546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.45, Y:48.78, Z:25.45 [[ 9.84203388e-01 -1.68636209e-01 -5.39028835e-02 5.37452346e+02] [ 1.68560937e-01 9.85673140e-01 -5.97252607e-03 4.87751422e+01] [ 5.41378086e-02 -3.20774015e-03 9.98528321e-01 2.54453146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.48, Y:48.77, Z:25.45 [[ 9.84082000e-01 -1.69425926e-01 -5.36420808e-02 5.37483782e+02] [ 1.69352775e-01 9.85537600e-01 -5.93942881e-03 4.87741786e+01] [ 5.38725808e-02 -3.23955025e-03 9.98542563e-01 2.54462702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.51, Y:48.78, Z:25.45 [[ 9.84018464e-01 -1.70062921e-01 -5.27850946e-02 5.37514963e+02] [ 1.69993309e-01 9.85427920e-01 -5.83868700e-03 4.87847087e+01] [ 5.30088501e-02 -3.22773709e-03 9.98588826e-01 2.54487069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.55, Y:48.79, Z:25.45 [[ 9.84037264e-01 -1.69953963e-01 -5.27855464e-02 5.37547337e+02] [ 1.69884413e-01 9.85446723e-01 -5.83459976e-03 4.87882002e+01] [ 5.30089571e-02 -3.22597799e-03 9.98588826e-01 2.54502550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.58, Y:48.79, Z:25.45 [[ 9.84202002e-01 -1.69494549e-01 -5.11665640e-02 5.37578035e+02] [ 1.69428872e-01 9.85526223e-01 -5.64993773e-03 4.87920858e+01] [ 5.13836242e-02 -3.10841318e-03 9.98674152e-01 2.54521857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.61, Y:48.80, Z:25.45 [[ 9.84345631e-01 -1.68796171e-01 -5.07102609e-02 5.37610081e+02] [ 1.68731102e-01 9.85646255e-01 -5.59237813e-03 4.87972246e+01] [ 5.09263508e-02 -3.05156521e-03 9.98697749e-01 2.54540751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.64, Y:48.80, Z:25.46 [[ 9.84505166e-01 -1.67938951e-01 -5.04587551e-02 5.37641607e+02] [ 1.67873590e-01 9.85792845e-01 -5.56097679e-03 4.88006239e+01] [ 5.06757844e-02 -2.99588199e-03 9.98710664e-01 2.54553709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.67, Y:48.81, Z:25.46 [[ 9.84625904e-01 -1.67283139e-01 -5.02810132e-02 5.37673277e+02] [ 1.67217568e-01 9.85904467e-01 -5.53776274e-03 4.88068889e+01] [ 5.04986498e-02 -2.95524410e-03 9.98719757e-01 2.54566484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.70, Y:48.81, Z:25.46 [[ 9.84798241e-01 -1.66322812e-01 -5.00913891e-02 5.37704878e+02] [ 1.66256679e-01 9.86067097e-01 -5.51326709e-03 4.88147234e+01] [ 5.03104527e-02 -2.89857229e-03 9.98729421e-01 2.54577225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.73, Y:48.82, Z:25.46 [[ 9.85114551e-01 -1.64268697e-01 -5.06469709e-02 5.37734742e+02] [ 1.64198569e-01 9.86411575e-01 -5.57081926e-03 4.88209643e+01] [ 5.08738696e-02 -2.82826501e-03 9.98701082e-01 2.54584096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.77, Y:48.83, Z:25.46 [[ 9.85369599e-01 -1.62868214e-01 -5.02065562e-02 5.37765337e+02] [ 1.62797539e-01 9.86644047e-01 -5.52134630e-03 4.88253565e+01] [ 5.04352517e-02 -2.73293700e-03 9.98723594e-01 2.54594751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.80, Y:48.83, Z:25.46 [[ 9.85632755e-01 -1.61361040e-01 -4.99067792e-02 5.37797419e+02] [ 1.61289421e-01 9.86891904e-01 -5.48558153e-03 4.88321243e+01] [ 5.01377555e-02 -2.64266668e-03 9.98738816e-01 2.54607410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.83, Y:48.84, Z:25.46 [[ 9.86296605e-01 -1.57482484e-01 -4.91759610e-02 5.37826826e+02] [ 1.57408346e-01 9.87518831e-01 -5.40104138e-03 4.88399517e+01] [ 4.94127570e-02 -2.41367790e-03 9.98775527e-01 2.54618568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.86, Y:48.85, Z:25.46 [[ 9.86714142e-01 -1.54985059e-01 -4.87322547e-02 5.37857630e+02] [ 1.54909217e-01 9.87914211e-01 -5.35225425e-03 4.88483288e+01] [ 4.89728064e-02 -2.26793045e-03 9.98797537e-01 2.54631263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.89, Y:48.85, Z:25.46 [[ 9.87181069e-01 -1.52136134e-01 -4.82507341e-02 5.37887453e+02] [ 1.52058471e-01 9.88357302e-01 -5.29764761e-03 4.88533962e+01] [ 4.84949290e-02 -2.10719541e-03 9.98821206e-01 2.54649875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.92, Y:48.87, Z:25.47 [[ 9.88199424e-01 -1.45736628e-01 -4.71458728e-02 5.37916014e+02] [ 1.45655246e-01 9.89321871e-01 -5.17549854e-03 4.88690105e+01] [ 4.73967028e-02 -1.75261903e-03 9.98874607e-01 2.54670488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.95, Y:48.88, Z:25.47 [[ 9.88713003e-01 -1.42441178e-01 -4.64446830e-02 5.37946501e+02] [ 1.42358543e-01 9.89802023e-01 -5.09906210e-03 4.88765767e+01] [ 4.66973576e-02 -1.57028838e-03 9.98907849e-01 2.54684246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:537.98, Y:48.88, Z:25.47 [[ 9.89264075e-01 -1.38791143e-01 -4.57559669e-02 5.37977122e+02] [ 1.38707118e-01 9.90320714e-01 -5.02175694e-03 4.88832496e+01] [ 4.60100573e-02 -1.37883457e-03 9.98940025e-01 2.54698725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.01, Y:48.89, Z:25.47 [[ 9.90218913e-01 -1.31995149e-01 -4.52082426e-02 5.38005665e+02] [ 1.31906124e-01 9.91249804e-01 -4.95986265e-03 4.88931091e+01] [ 4.54673395e-02 -1.05189428e-03 9.98965272e-01 2.54710141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.04, Y:48.90, Z:25.47 [[ 9.90664241e-01 -1.28635952e-01 -4.51348289e-02 5.38037483e+02] [ 1.28543685e-01 9.91691479e-01 -4.95282598e-03 4.89001399e+01] [ 4.53969367e-02 -8.95209655e-04 9.98968627e-01 2.54720973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.07, Y:48.91, Z:25.47 [[ 9.91035496e-01 -1.25780831e-01 -4.50314062e-02 5.38069255e+02] [ 1.25686187e-01 9.92057758e-01 -4.93825330e-03 4.89078993e+01] [ 4.52948935e-02 -7.65841445e-04 9.98973366e-01 2.54732760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.10, Y:48.92, Z:25.47 [[ 9.91627007e-01 -1.21057427e-01 -4.49553018e-02 5.38100162e+02] [ 1.20958399e-01 9.92645352e-01 -4.92659166e-03 4.89163573e+01] [ 4.52210719e-02 -5.52380015e-04 9.98976851e-01 2.54744260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.13, Y:48.92, Z:25.48 [[ 9.91846801e-01 -1.19433769e-01 -4.44465708e-02 5.38132107e+02] [ 1.19335486e-01 9.92842056e-01 -4.86762191e-03 4.89218880e+01] [ 4.47097832e-02 -4.76117912e-04 9.98999904e-01 2.54755195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.16, Y:48.93, Z:25.48 [[ 9.92001379e-01 -1.18259982e-01 -4.41343398e-02 5.38163242e+02] [ 1.18162045e-01 9.92982577e-01 -4.83047480e-03 4.89264888e+01] [ 4.43958823e-02 -4.23166201e-04 9.99013927e-01 2.54770552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.19, Y:48.93, Z:25.48 [[ 9.92105493e-01 -1.17526549e-01 -4.37515784e-02 5.38194604e+02] [ 1.17429872e-01 9.93069663e-01 -4.78220801e-03 4.89310382e+01] [ 4.40104016e-02 -3.93287407e-04 9.99030995e-01 2.54786111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.23, Y:48.94, Z:25.48 [[ 9.92206766e-01 -1.17334149e-01 -4.19336486e-02 5.38226171e+02] [ 1.17245290e-01 9.93092422e-01 -4.58067016e-03 4.89365229e+01] [ 4.21814577e-02 -3.71550870e-04 9.99109897e-01 2.54803845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.26, Y:48.94, Z:25.48 [[ 9.92189572e-01 -1.17670192e-01 -4.13953948e-02 5.38258324e+02] [ 1.17584017e-01 9.93052656e-01 -4.51889479e-03 4.89405377e+01] [ 4.16395460e-02 -3.83836522e-04 9.99132624e-01 2.54820264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.29, Y:48.94, Z:25.48 [[ 9.92131284e-01 -1.18377210e-01 -4.07719499e-02 5.38289396e+02] [ 1.18294313e-01 9.92968614e-01 -4.44830390e-03 4.89428403e+01] [ 4.10118444e-02 -4.09788336e-04 9.99158576e-01 2.54842583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.32, Y:48.95, Z:25.48 [[ 9.91845668e-01 -1.20862420e-01 -4.04282855e-02 5.38321641e+02] [ 1.20783228e-01 9.92669135e-01 -4.40464604e-03 4.89459151e+01] [ 4.06642673e-02 -5.14329740e-04 9.99172734e-01 2.54841508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.35, Y:48.95, Z:25.49 [[ 9.91608853e-01 -1.22678182e-01 -4.07669847e-02 5.38354074e+02] [ 1.22599312e-01 9.92446325e-01 -4.43859271e-03 4.89484858e+01] [ 4.10035626e-02 -5.96656448e-04 9.99158822e-01 2.54850494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.39, Y:48.95, Z:25.49 [[ 9.91349335e-01 -1.24753904e-01 -4.07794084e-02 5.38386141e+02] [ 1.24676861e-01 9.92187479e-01 -4.43699832e-03 4.89509846e+01] [ 4.10143513e-02 -6.85633289e-04 9.99158322e-01 2.54857137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.42, Y:48.95, Z:25.49 [[ 9.90648587e-01 -1.30349732e-01 -4.03029126e-02 5.38417150e+02] [ 1.30279233e-01 9.91467660e-01 -4.38195851e-03 4.89494183e+01] [ 4.05302215e-02 -9.09651549e-04 9.99177899e-01 2.54866201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.45, Y:48.95, Z:25.49 [[ 9.90236905e-01 -1.33428030e-01 -4.03464075e-02 5.38449511e+02] [ 1.33359979e-01 9.91057962e-01 -4.38549509e-03 4.89530443e+01] [ 4.05707763e-02 -1.03791697e-03 9.99176128e-01 2.54868784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.48, Y:48.95, Z:25.49 [[ 9.89755747e-01 -1.36872476e-01 -4.06138629e-02 5.38480539e+02] [ 1.36806551e-01 9.90587961e-01 -4.41123195e-03 4.89518976e+01] [ 4.08353799e-02 -1.19020032e-03 9.99165179e-01 2.54882655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.51, Y:48.95, Z:25.49 [[ 9.88740547e-01 -1.44043603e-01 -4.05409828e-02 5.38511957e+02] [ 1.43983991e-01 9.89570227e-01 -4.40173593e-03 4.89518219e+01] [ 4.07521914e-02 -1.48507771e-03 9.99168181e-01 2.54884482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.54, Y:48.95, Z:25.49 [[ 9.88253620e-01 -1.47420910e-01 -4.02722975e-02 5.38542789e+02] [ 1.47364931e-01 9.89072529e-01 -4.37137711e-03 4.89486655e+01] [ 4.04766556e-02 -1.61469510e-03 9.99179180e-01 2.54903404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.58, Y:48.95, Z:25.49 [[ 9.87869045e-01 -1.49937487e-01 -4.04165845e-02 5.38575212e+02] [ 1.49883223e-01 9.88693975e-01 -4.38665426e-03 4.89504734e+01] [ 4.06173575e-02 -1.72432801e-03 9.99173287e-01 2.54905707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.61, Y:48.95, Z:25.49 [[ 9.87565225e-01 -1.51812842e-01 -4.08385600e-02 5.38607391e+02] [ 1.51759158e-01 9.88407576e-01 -4.42953380e-03 4.89524820e+01] [ 4.10376022e-02 -1.82317195e-03 9.99155939e-01 2.54904156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.64, Y:48.96, Z:25.49 [[ 9.87613549e-01 -1.51589307e-01 -4.04988995e-02 5.38639779e+02] [ 1.51536435e-01 9.88441924e-01 -4.38998787e-03 4.89555110e+01] [ 4.06962854e-02 -1.80144735e-03 9.99169939e-01 2.54921250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.67, Y:48.96, Z:25.49 [[ 9.87638226e-01 -1.51560117e-01 -4.00033161e-02 5.38672256e+02] [ 1.51508694e-01 9.88446434e-01 -4.33161163e-03 4.89580836e+01] [ 4.01976347e-02 -1.78278496e-03 9.99190158e-01 2.54943700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.70, Y:48.96, Z:25.50 [[ 9.87659949e-01 -1.51649362e-01 -3.91190045e-02 5.38704575e+02] [ 1.51600367e-01 9.88432805e-01 -4.23305930e-03 4.89608843e+01] [ 3.93084481e-02 -1.74963232e-03 9.99225592e-01 2.54964933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.74, Y:48.96, Z:25.50 [[ 9.87794418e-01 -1.51013326e-01 -3.81727998e-02 5.38736497e+02] [ 1.50966303e-01 9.88530291e-01 -4.12795778e-03 4.89631390e+01] [ 3.83583455e-02 -1.68523282e-03 9.99262627e-01 2.54984051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.77, Y:48.97, Z:25.50 [[ 9.87850344e-01 -1.50574629e-01 -3.84575051e-02 5.38768497e+02] [ 1.50526617e-01 9.88597214e-01 -4.15754401e-03 4.89662509e+01] [ 3.86450031e-02 -1.68184687e-03 9.99251588e-01 2.54988240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.80, Y:48.97, Z:25.50 [[ 9.87925336e-01 -1.49989613e-01 -3.88155329e-02 5.38799713e+02] [ 1.49940651e-01 9.88686137e-01 -4.18603403e-03 4.89678335e+01] [ 3.90042409e-02 -1.68453719e-03 9.99237625e-01 2.54991513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.83, Y:48.97, Z:25.50 [[ 9.87950504e-01 -1.49590013e-01 -3.97068051e-02 5.38831858e+02] [ 1.49538889e-01 9.88746619e-01 -4.27127377e-03 4.89715746e+01] [ 3.98989092e-02 -1.71790446e-03 9.99202245e-01 2.54992139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.86, Y:48.97, Z:25.50 [[ 9.87986928e-01 -1.48729995e-01 -4.19668679e-02 5.38862943e+02] [ 1.48672235e-01 9.88876237e-01 -4.51147240e-03 4.89719948e+01] [ 4.21710297e-02 -1.78203230e-03 9.99108817e-01 2.54984807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.89, Y:48.98, Z:25.50 [[ 9.88033567e-01 -1.47996613e-01 -4.34358424e-02 5.38894579e+02] [ 1.47934335e-01 9.88986195e-01 -4.66247812e-03 4.89755352e+01] [ 4.36474795e-02 -1.81896756e-03 9.99045339e-01 2.54989884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.93, Y:48.98, Z:25.50 [[ 9.88149946e-01 -1.46928961e-01 -4.44023159e-02 5.38926909e+02] [ 1.46862949e-01 9.89145383e-01 -4.76301021e-03 4.89800124e+01] [ 4.46201699e-02 -1.81448676e-03 9.99002376e-01 2.54997396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.96, Y:48.98, Z:25.50 [[ 9.88548207e-01 -1.43892405e-01 -4.54688789e-02 5.38957471e+02] [ 1.43820173e-01 9.89591840e-01 -4.87312685e-03 4.89827832e+01] [ 4.56968375e-02 -1.72202121e-03 9.98953870e-01 2.55007030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:538.99, Y:48.99, Z:25.50 [[ 9.88830488e-01 -1.41774511e-01 -4.59810139e-02 5.38989422e+02] [ 1.41698432e-01 9.89897613e-01 -4.92639108e-03 4.89882420e+01] [ 4.62149326e-02 -1.64407186e-03 9.98930166e-01 2.55021250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.02, Y:49.00, Z:25.50 [[ 9.89182628e-01 -1.39312427e-01 -4.59323041e-02 5.39020886e+02] [ 1.39234009e-01 9.90247295e-01 -4.91793070e-03 4.89951840e+01] [ 4.61694687e-02 -1.53060721e-03 9.98932449e-01 2.55036983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.05, Y:49.00, Z:25.51 [[ 9.89544663e-01 -1.36731292e-01 -4.58902285e-02 5.39052611e+02] [ 1.36650397e-01 9.90607167e-01 -4.91012091e-03 4.90003269e+01] [ 4.61305565e-02 -1.41213400e-03 9.98934421e-01 2.55052436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.08, Y:49.01, Z:25.51 [[ 9.90387054e-01 -1.30389519e-01 -4.61742064e-02 5.39081254e+02] [ 1.30300892e-01 9.91462205e-01 -4.93704329e-03 4.90075752e+01] [ 4.64237191e-02 -1.12695650e-03 9.98921202e-01 2.55074121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.11, Y:49.01, Z:25.51 [[ 9.90814031e-01 -1.27032427e-01 -4.63715297e-02 5.39113185e+02] [ 1.26939323e-01 9.91898088e-01 -4.95905689e-03 4.90139400e+01] [ 4.66257927e-02 -9.72867460e-04 9.98911953e-01 2.55092071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.14, Y:49.02, Z:25.51 [[ 9.91280813e-01 -1.23276195e-01 -4.65330923e-02 5.39143741e+02] [ 1.23178462e-01 9.92372075e-01 -4.97296819e-03 4.90194742e+01] [ 4.67911899e-02 -8.02266775e-04 9.98904370e-01 2.55107277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.17, Y:49.03, Z:25.51 [[ 9.92180108e-01 -1.15718687e-01 -4.67741192e-02 5.39174073e+02] [ 1.15611658e-01 9.93281925e-01 -4.99620779e-03 4.90283976e+01] [ 4.70380418e-02 -4.50495493e-04 9.98892997e-01 2.55121173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.20, Y:49.03, Z:25.51 [[ 9.92632080e-01 -1.11662485e-01 -4.70430006e-02 5.39204596e+02] [ 1.11549749e-01 9.93746155e-01 -5.02318672e-03 4.90335232e+01] [ 4.73097025e-02 -2.61458635e-04 9.98880235e-01 2.55136229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.24, Y:49.04, Z:25.52 [[ 9.93085377e-01 -1.07511526e-01 -4.71455761e-02 5.39236102e+02] [ 1.07393743e-01 9.94203836e-01 -5.03155945e-03 4.90393618e+01] [ 4.74132632e-02 -6.63717925e-05 9.98875357e-01 2.55152716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.27, Y:49.04, Z:25.52 [[ 9.93526945e-01 -1.03347365e-01 -4.71543328e-02 5.39267792e+02] [ 1.03225013e-01 9.94645316e-01 -5.02904341e-03 4.90448618e+01] [ 4.74215747e-02 1.28983532e-04 9.98874956e-01 2.55170138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.30, Y:49.05, Z:25.52 [[ 9.94316028e-01 -9.55218039e-02 -4.70236200e-02 5.39299503e+02] [ 9.53915793e-02 9.95427214e-01 -5.01082027e-03 4.90519528e+01] [ 4.72872336e-02 4.96681534e-04 9.98881210e-01 2.55191233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.33, Y:49.06, Z:25.52 [[ 9.94665595e-01 -9.18473062e-02 -4.69513228e-02 5.39331736e+02] [ 9.17135490e-02 9.95772879e-01 -4.99974862e-03 4.90568863e+01] [ 4.72120674e-02 6.67005488e-04 9.98884666e-01 2.55206713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.36, Y:49.06, Z:25.52 [[ 9.94943541e-01 -8.85283762e-02 -4.74349753e-02 5.39362712e+02] [ 8.83882417e-02 9.96073310e-01 -5.04780348e-03 4.90616792e+01] [ 4.76955867e-02 8.29585404e-04 9.98861573e-01 2.55219856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.39, Y:49.07, Z:25.52 [[ 9.95143581e-01 -8.58741137e-02 -4.81132949e-02 5.39394012e+02] [ 8.57269664e-02 9.96305525e-01 -5.11737207e-03 4.90661624e+01] [ 4.83749913e-02 9.67913160e-04 9.98828776e-01 2.55230099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.43, Y:49.07, Z:25.52 [[ 9.95358669e-01 -8.25189921e-02 -4.95150050e-02 5.39425811e+02] [ 8.23591245e-02 9.96588816e-01 -5.26377955e-03 4.90678098e+01] [ 4.97804620e-02 1.16133615e-03 9.98759509e-01 2.55232021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.46, Y:49.07, Z:25.52 [[ 9.95332369e-01 -8.21360717e-02 -5.06669646e-02 5.39457437e+02] [ 8.19683135e-02 9.96620396e-01 -5.38356063e-03 4.90689003e+01] [ 5.09379148e-02 1.20534652e-03 9.98701094e-01 2.55236645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.49, Y:49.07, Z:25.52 [[ 9.95257962e-01 -8.24181340e-02 -5.16608142e-02 5.39487516e+02] [ 8.22441962e-02 9.96597101e-01 -5.48737402e-03 4.90703487e+01] [ 5.19372768e-02 1.21255054e-03 9.98649613e-01 2.55240327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.52, Y:49.07, Z:25.52 [[ 9.94917292e-01 -8.51450711e-02 -5.37577836e-02 5.39518994e+02] [ 8.49607397e-02 9.96367943e-01 -5.70913283e-03 4.90683076e+01] [ 5.40486368e-02 1.11281392e-03 9.98537684e-01 2.55238020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.55, Y:49.07, Z:25.53 [[ 9.94917290e-01 -8.51450322e-02 -5.37578704e-02 5.39548799e+02] [ 8.49607450e-02 9.96367948e-01 -5.70831497e-03 4.90714721e+01] [ 5.40486537e-02 1.11199254e-03 9.98537684e-01 2.55252277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.58, Y:49.07, Z:25.53 [[ 9.94684430e-01 -8.74629062e-02 -5.43426582e-02 5.39579119e+02] [ 8.72780383e-02 9.96167278e-01 -5.77041104e-03 4.90716444e+01] [ 5.46390748e-02 9.96817417e-04 9.98505672e-01 2.55261768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.61, Y:49.07, Z:25.53 [[ 9.94406806e-01 -9.02785238e-02 -5.48168958e-02 5.39609574e+02] [ 9.00946845e-02 9.95916195e-01 -5.82076828e-03 4.90708847e+01] [ 5.51185246e-02 8.49500660e-04 9.98479457e-01 2.55277435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.64, Y:49.07, Z:25.53 [[ 9.93808013e-01 -9.67885401e-02 -5.45674999e-02 5.39640538e+02] [ 9.66161696e-02 9.95304849e-01 -5.79428601e-03 4.90655878e+01] [ 5.48721177e-02 4.86305039e-04 9.98493272e-01 2.55299090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.67, Y:49.06, Z:25.53 [[ 9.93482578e-01 -1.00316912e-01 -5.41191602e-02 5.39672156e+02] [ 1.00152608e-01 9.94955493e-01 -5.74642409e-03 4.90641087e+01] [ 5.44226193e-02 2.88797195e-04 9.98517949e-01 2.55327816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.70, Y:49.06, Z:25.53 [[ 9.93164092e-01 -1.04013918e-01 -5.29734966e-02 5.39704216e+02] [ 1.03861863e-01 9.94575838e-01 -5.62274383e-03 4.90630145e+01] [ 5.32710034e-02 8.23812102e-05 9.98580089e-01 2.55348200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.74, Y:49.06, Z:25.54 [[ 9.92454151e-01 -1.11016472e-01 -5.20586333e-02 5.39736351e+02] [ 1.10879410e-01 9.93818524e-01 -5.52252644e-03 4.90564607e+01] [ 5.23499255e-02 -2.91376269e-04 9.98628760e-01 2.55369620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.77, Y:49.05, Z:25.54 [[ 9.92082535e-01 -1.14486647e-01 -5.16241444e-02 5.39769190e+02] [ 1.14356848e-01 9.93424673e-01 -5.47086368e-03 4.90546939e+01] [ 5.19110396e-02 -4.76026122e-04 9.98651600e-01 2.55384877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.80, Y:49.05, Z:25.54 [[ 9.91710267e-01 -1.17783907e-01 -5.13585286e-02 5.39801228e+02] [ 1.17660043e-01 9.93039038e-01 -5.43912323e-03 4.90541825e+01] [ 5.16416650e-02 -6.48812308e-04 9.98665468e-01 2.55401988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.83, Y:49.05, Z:25.54 [[ 9.91026870e-01 -1.23448256e-01 -5.12471467e-02 5.39832943e+02] [ 1.23332678e-01 9.92350560e-01 -5.42368238e-03 4.90481410e+01] [ 5.15246788e-02 -9.45432880e-04 9.98671274e-01 2.55411548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.87, Y:49.05, Z:25.54 [[ 9.90729295e-01 -1.25815186e-01 -5.12445397e-02 5.39865360e+02] [ 1.25702928e-01 9.92053119e-01 -5.42055840e-03 4.90474276e+01] [ 5.15192940e-02 -1.07128269e-03 9.98671425e-01 2.55424798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.90, Y:49.05, Z:25.54 [[ 9.90449727e-01 -1.27779244e-01 -5.17861359e-02 5.39898130e+02] [ 1.27667476e-01 9.91801921e-01 -5.47410952e-03 4.90469936e+01] [ 5.20610667e-02 -1.18957500e-03 9.98643195e-01 2.55438925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.93, Y:49.05, Z:25.54 [[ 9.90179804e-01 -1.29552668e-01 -5.25362899e-02 5.39929960e+02] [ 1.29440326e-01 9.91571683e-01 -5.54969931e-03 4.90469045e+01] [ 5.28124758e-02 -1.30511429e-03 9.98603595e-01 2.55447772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.96, Y:49.05, Z:25.55 [[ 9.89912420e-01 -1.31132102e-01 -5.36448746e-02 5.39961425e+02] [ 1.31017458e-01 9.91363884e-01 -5.66356381e-03 4.90461578e+01] [ 5.39242663e-02 -1.42198293e-03 9.98544016e-01 2.55450695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:539.99, Y:49.04, Z:25.54 [[ 9.89306226e-01 -1.34653930e-01 -5.60491825e-02 5.39993465e+02] [ 1.34534720e-01 9.90891244e-01 -5.91202377e-03 4.90435404e+01] [ 5.63347214e-02 -1.69175919e-03 9.98410505e-01 2.55445905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.02, Y:49.04, Z:25.55 [[ 9.89016877e-01 -1.36297655e-01 -5.71713768e-02 5.40024188e+02] [ 1.36176460e-01 9.90666254e-01 -6.02871505e-03 4.90445946e+01] [ 5.74594534e-02 -1.82289477e-03 9.98346177e-01 2.55452140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.05, Y:49.04, Z:25.54 [[ 9.88361190e-01 -1.40059477e-01 -5.93759380e-02 5.40053817e+02] [ 1.39935500e-01 9.90140822e-01 -6.26160666e-03 4.90415373e+01] [ 5.96675374e-02 -2.12007253e-03 9.98216054e-01 2.55445898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.08, Y:49.05, Z:25.55 [[ 9.88070783e-01 -1.41830376e-01 -6.00022745e-02 5.40083556e+02] [ 1.41706926e-01 9.89888421e-01 -6.32931651e-03 4.90471010e+01] [ 6.02932462e-02 -2.24892517e-03 9.98178174e-01 2.55472865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.11, Y:49.04, Z:25.55 [[ 9.87824515e-01 -1.43474379e-01 -6.01484094e-02 5.40113494e+02] [ 1.43353352e-01 9.89651230e-01 -6.34496797e-03 4.90435458e+01] [ 6.04362877e-02 -2.35476120e-03 9.98169279e-01 2.55468184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.14, Y:49.04, Z:25.55 [[ 9.87629646e-01 -1.44661923e-01 -6.05029769e-02 5.40142696e+02] [ 1.44541593e-01 9.89478132e-01 -6.38392351e-03 4.90425121e+01] [ 6.07898832e-02 -2.44024456e-03 9.98147602e-01 2.55473659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.17, Y:49.05, Z:25.55 [[ 9.87362122e-01 -1.46470168e-01 -6.05188379e-02 5.40171308e+02] [ 1.46352985e-01 9.89211803e-01 -6.38850305e-03 4.90494506e+01] [ 6.08016739e-02 -2.54934667e-03 9.98146611e-01 2.55513050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.20, Y:49.05, Z:25.55 [[ 9.87303271e-01 -1.47008433e-01 -6.01728424e-02 5.40201121e+02] [ 1.46893481e-01 9.89131910e-01 -6.35366746e-03 4.90540084e+01] [ 6.04529212e-02 -2.56600161e-03 9.98167751e-01 2.55540916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.23, Y:49.06, Z:25.56 [[ 9.87286143e-01 -1.47249991e-01 -5.98624515e-02 5.40231608e+02] [ 1.47136677e-01 9.89095975e-01 -6.32066377e-03 4.90552210e+01] [ 6.01404275e-02 -2.56765846e-03 9.98186624e-01 2.55552407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.26, Y:49.06, Z:25.56 [[ 9.87249474e-01 -1.47764562e-01 -5.91955263e-02 5.40262378e+02] [ 1.47654732e-01 9.89019224e-01 -6.24939521e-03 4.90579795e+01] [ 5.94689526e-02 -2.57078741e-03 9.98226845e-01 2.55578179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.29, Y:49.06, Z:25.56 [[ 9.87216737e-01 -1.48155846e-01 -5.87618870e-02 5.40292793e+02] [ 1.48048310e-01 9.88960673e-01 -6.20361501e-03 4.90614809e+01] [ 5.90322972e-02 -2.57528547e-03 9.98252751e-01 2.55598418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.32, Y:49.07, Z:25.56 [[ 9.87086863e-01 -1.49035920e-01 -5.87181295e-02 5.40323594e+02] [ 1.48930120e-01 9.88828295e-01 -6.19857784e-03 4.90661422e+01] [ 5.89859586e-02 -2.62636333e-03 9.98255358e-01 2.55623004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.35, Y:49.07, Z:25.57 [[ 9.86896577e-01 -1.50565474e-01 -5.80102129e-02 5.40354722e+02] [ 1.50464966e-01 9.88596388e-01 -6.12174994e-03 4.90692478e+01] [ 5.82704111e-02 -2.68697063e-03 9.98297220e-01 2.55651130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.39, Y:49.07, Z:25.57 [[ 9.86843932e-01 -1.51127735e-01 -5.74409361e-02 5.40385384e+02] [ 1.51030249e-01 9.88510568e-01 -6.05976585e-03 4.90701618e+01] [ 5.76967711e-02 -2.69527574e-03 9.98330515e-01 2.55667099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.42, Y:49.07, Z:25.57 [[ 9.86874395e-01 -1.51163364e-01 -5.68204696e-02 5.40416536e+02] [ 1.51068099e-01 9.88505191e-01 -5.99310932e-03 4.90736763e+01] [ 5.70732677e-02 -2.66931420e-03 9.98366424e-01 2.55688483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.45, Y:49.08, Z:25.57 [[ 9.87122894e-01 -1.49896011e-01 -5.58531838e-02 5.40447022e+02] [ 1.49802048e-01 9.88698470e-01 -5.88909933e-03 4.90770798e+01] [ 5.61047099e-02 -2.55365656e-03 9.98421625e-01 2.55709947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.48, Y:49.08, Z:25.57 [[ 9.87406809e-01 -1.48146208e-01 -5.55022039e-02 5.40477642e+02] [ 1.48050776e-01 9.88962458e-01 -5.85011480e-03 4.90819284e+01] [ 5.57562684e-02 -2.44070115e-03 9.98441426e-01 2.55727292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.51, Y:49.09, Z:25.57 [[ 9.87730915e-01 -1.45937842e-01 -5.55858461e-02 5.40508218e+02] [ 1.45838745e-01 9.89291038e-01 -5.85692460e-03 4.90881573e+01] [ 5.58453262e-02 -2.32150452e-03 9.98436733e-01 2.55743828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.54, Y:49.10, Z:25.58 [[ 9.88682912e-01 -1.39392945e-01 -5.54590455e-02 5.40537894e+02] [ 1.39284119e-01 9.90235229e-01 -5.84172106e-03 4.90988812e+01] [ 5.57317953e-02 -1.94895453e-03 9.98443874e-01 2.55767238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.57, Y:49.11, Z:25.58 [[ 9.89170818e-01 -1.35950131e-01 -5.53051030e-02 5.40568715e+02] [ 1.35836592e-01 9.90714134e-01 -5.82446748e-03 4.91052649e+01] [ 5.55833843e-02 -1.75106346e-03 9.98452513e-01 2.55788219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.60, Y:49.11, Z:25.58 [[ 9.89686710e-01 -1.32244198e-01 -5.50607762e-02 5.40598565e+02] [ 1.32126036e-01 9.91215974e-01 -5.79684849e-03 4.91109527e+01] [ 5.53437205e-02 -1.53789821e-03 9.98466177e-01 2.55804234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.63, Y:49.12, Z:25.58 [[ 9.90178637e-01 -1.28658583e-01 -5.47104771e-02 5.40629461e+02] [ 1.28536516e-01 9.91688056e-01 -5.75882662e-03 4.91170075e+01] [ 5.49966491e-02 -1.33002701e-03 9.98485653e-01 2.55826259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.66, Y:49.13, Z:25.59 [[ 9.91018333e-01 -1.22678835e-01 -5.32218614e-02 5.40660077e+02] [ 1.22554804e-01 9.92445947e-01 -5.60023490e-03 4.91252622e+01] [ 5.35068509e-02 -9.72659334e-04 9.98567009e-01 2.55854289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.69, Y:49.13, Z:25.59 [[ 9.91335680e-01 -1.20330332e-01 -5.26704845e-02 5.40691483e+02] [ 1.20205658e-01 9.92733553e-01 -5.54010906e-03 4.91306183e+01] [ 5.29544004e-02 -8.39182449e-04 9.98596579e-01 2.55874362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.72, Y:49.14, Z:25.59 [[ 9.91666586e-01 -1.17990856e-01 -5.17256312e-02 5.40722940e+02] [ 1.17867632e-01 9.93014431e-01 -5.43697481e-03 4.91350966e+01] [ 5.20058115e-02 -7.05111406e-04 9.98646533e-01 2.55893723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.75, Y:49.14, Z:25.59 [[ 9.91705283e-01 -1.17800772e-01 -5.14160449e-02 5.40753885e+02] [ 1.17678969e-01 9.93037006e-01 -5.40045704e-03 4.91379301e+01] [ 5.16942133e-02 -6.94925380e-04 9.98662719e-01 2.55906642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.78, Y:49.14, Z:25.59 [[ 9.91665208e-01 -1.18210122e-01 -5.12492226e-02 5.40784962e+02] [ 1.18089978e-01 9.92988343e-01 -5.37667720e-03 4.91396483e+01] [ 5.15254583e-02 -7.20155859e-04 9.98671422e-01 2.55917445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.82, Y:49.14, Z:25.59 [[ 9.91552422e-01 -1.19295098e-01 -5.09163415e-02 5.40816822e+02] [ 1.19178239e-01 9.92858538e-01 -5.33590574e-03 4.91432292e+01] [ 5.11892717e-02 -7.77289635e-04 9.98688667e-01 2.55937038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.85, Y:49.14, Z:25.59 [[ 9.91404103e-01 -1.20665615e-01 -5.05738448e-02 5.40848060e+02] [ 1.20552293e-01 9.92692850e-01 -5.29633700e-03 4.91424190e+01] [ 5.08433799e-02 -8.45982710e-04 9.98706281e-01 2.55946933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.88, Y:49.14, Z:25.60 [[ 9.90953779e-01 -1.24723683e-01 -4.95440229e-02 5.40880270e+02] [ 1.24620131e-01 9.92190975e-01 -5.18575813e-03 4.91432356e+01] [ 4.98039192e-02 -1.03533599e-03 9.98758478e-01 2.55968088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.91, Y:49.14, Z:25.60 [[ 9.90637046e-01 -1.27374909e-01 -4.91312111e-02 5.40911422e+02] [ 1.27276504e-01 9.91853962e-01 -5.13905023e-03 4.91437562e+01] [ 4.93855724e-02 -1.16231526e-03 9.98779112e-01 2.55985688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.94, Y:49.15, Z:25.60 [[ 9.90303213e-01 -1.30091631e-01 -4.87413018e-02 5.40943868e+02] [ 1.29998197e-01 9.91501136e-01 -5.09562198e-03 4.91454131e+01] [ 4.89899539e-02 -1.29007055e-03 9.98798438e-01 2.56004325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:540.97, Y:49.14, Z:25.60 [[ 9.89460221e-01 -1.36549183e-01 -4.81953502e-02 5.40974707e+02] [ 1.36465640e-01 9.90632009e-01 -5.03511409e-03 4.91407112e+01] [ 4.84313973e-02 -1.59496423e-03 9.98825238e-01 2.56016742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.01, Y:49.14, Z:25.60 [[ 9.89029440e-01 -1.39896274e-01 -4.74320507e-02 5.41006661e+02] [ 1.39819197e-01 9.90164651e-01 -4.95535741e-03 4.91442720e+01] [ 4.76587760e-02 -1.73091689e-03 9.98862175e-01 2.56033217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.04, Y:49.14, Z:25.60 [[ 9.88517282e-01 -1.43524772e-01 -4.72675782e-02 5.41037114e+02] [ 1.43452533e-01 9.89644896e-01 -4.93468502e-03 4.91418468e+01] [ 4.74863670e-02 -1.90263238e-03 9.98870074e-01 2.56044250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.07, Y:49.14, Z:25.61 [[ 9.87590855e-01 -1.50087413e-01 -4.62392977e-02 5.41068639e+02] [ 1.50025450e-01 9.88670350e-01 -4.82733795e-03 4.91375814e+01] [ 4.64399453e-02 -2.16963661e-03 9.98918728e-01 2.56050877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.10, Y:49.14, Z:25.61 [[ 9.87218301e-01 -1.52649694e-01 -4.58049913e-02 5.41099814e+02] [ 1.52591646e-01 9.88277756e-01 -4.78182542e-03 4.91375953e+01] [ 4.59979983e-02 -2.26875347e-03 9.98938956e-01 2.56062882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.13, Y:49.14, Z:25.61 [[ 9.86924076e-01 -1.54573560e-01 -4.56933676e-02 5.41130472e+02] [ 1.54517886e-01 9.87978480e-01 -4.76938122e-03 4.91378265e+01] [ 4.58812841e-02 -2.35342540e-03 9.98944127e-01 2.56076891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.16, Y:49.14, Z:25.61 [[ 9.86696075e-01 -1.56056410e-01 -4.55768815e-02 5.41161877e+02] [ 1.56002669e-01 9.87745185e-01 -4.75561918e-03 4.91394873e+01] [ 4.57604901e-02 -2.41776439e-03 9.98949514e-01 2.56091802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.19, Y:49.14, Z:25.61 [[ 9.86611203e-01 -1.56622461e-01 -4.54723987e-02 5.41192857e+02] [ 1.56569675e-01 9.87655531e-01 -4.74230257e-03 4.91418768e+01] [ 4.56538172e-02 -2.44078985e-03 9.98954339e-01 2.56107612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.22, Y:49.15, Z:25.61 [[ 9.86802180e-01 -1.55372461e-01 -4.56164105e-02 5.41223790e+02] [ 1.55318120e-01 9.87853062e-01 -4.75490504e-03 4.91461166e+01] [ 4.58010921e-02 -2.39290447e-03 9.98947713e-01 2.56125305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.25, Y:49.15, Z:25.61 [[ 9.87068873e-01 -1.53756264e-01 -4.53216509e-02 5.41254458e+02] [ 1.53701033e-01 9.88106116e-01 -4.72178865e-03 4.91505410e+01] [ 4.55086050e-02 -2.30525396e-03 9.98961287e-01 2.56141135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.015099893 meters Centerline goodness [0,1] 0.9999167551143576 Centerline is valid? [True, True] Translation: X:541.29, Y:49.16, Z:25.62 [[ 9.87400339e-01 -1.51668352e-01 -4.51362490e-02 5.41285125e+02] [ 1.51611465e-01 9.88428988e-01 -4.70096113e-03 4.91613433e+01] [ 4.53269640e-02 -2.20144220e-03 9.98969779e-01 2.56152580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.32, Y:49.17, Z:25.62 [[ 9.88062592e-01 -1.47619659e-01 -4.40539421e-02 5.41315559e+02] [ 1.47561561e-01 9.89042242e-01 -4.58574189e-03 4.91659824e+01] [ 4.42481553e-02 -1.96966845e-03 9.99018629e-01 2.56164851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0750998929999 meters Centerline goodness [0,1] 0.9999582184340269 Centerline is valid? [True, True] Translation: X:541.35, Y:49.17, Z:25.62 [[ 9.88421230e-01 -1.45309647e-01 -4.36872940e-02 5.41345498e+02] [ 1.45250294e-01 9.89384495e-01 -4.54678748e-03 4.91680161e+01] [ 4.38842234e-02 -1.85145104e-03 9.99034908e-01 2.56177891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.105099893 meters Centerline goodness [0,1] 0.9999583333333333 Centerline is valid? [True, True] Translation: X:541.38, Y:49.17, Z:25.62 [[ 9.88703260e-01 -1.43355448e-01 -4.37616108e-02 5.41375624e+02] [ 1.43294019e-01 9.89669686e-01 -4.55371519e-03 4.91708243e+01] [ 4.39623395e-02 -1.76850403e-03 9.99031624e-01 2.56191521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.41, Y:49.18, Z:25.62 [[ 9.89254766e-01 -1.39546012e-01 -4.36109983e-02 5.41405994e+02] [ 1.39481339e-01 9.90214304e-01 -4.53735409e-03 4.91821658e+01] [ 4.38174041e-02 -1.59432127e-03 9.99038284e-01 2.56192314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.44, Y:49.18, Z:25.62 [[ 9.89450380e-01 -1.37894713e-01 -4.44183915e-02 5.41436773e+02] [ 1.37826035e-01 9.90445679e-01 -4.61971892e-03 4.91843453e+01] [ 4.46310387e-02 -1.55102812e-03 9.99002335e-01 2.56202816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.47, Y:49.19, Z:25.62 [[ 9.89668533e-01 -1.36257336e-01 -4.46109015e-02 5.41468420e+02] [ 1.36186508e-01 9.90672363e-01 -4.63731463e-03 4.91903148e+01] [ 4.48266553e-02 -1.48599854e-03 9.98993675e-01 2.56210283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.50, Y:49.19, Z:25.62 [[ 9.89678567e-01 -1.36184331e-01 -4.46112427e-02 5.41499929e+02] [ 1.36113577e-01 9.90682401e-01 -4.63403014e-03 4.91935301e+01] [ 4.48266553e-02 -1.48599552e-03 9.98993675e-01 2.56225342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.53, Y:49.19, Z:25.62 [[ 9.89835886e-01 -1.34889168e-01 -4.50536483e-02 5.41531112e+02] [ 1.34815820e-01 9.90859639e-01 -4.67655261e-03 4.91944434e+01] [ 4.52726580e-02 -1.44492497e-03 9.98973623e-01 2.56235966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters Centerline goodness [0,1] 0.9999790536436187 Centerline is valid? [True, True] Translation: X:541.56, Y:49.20, Z:25.62 [[ 9.90196046e-01 -1.31861884e-01 -4.60894038e-02 5.41562295e+02] [ 1.31781970e-01 9.91267194e-01 -4.78144463e-03 4.92012857e+01] [ 4.63174043e-02 -1.33918486e-03 9.98925875e-01 2.56241723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.59, Y:49.21, Z:25.63 [[ 9.90369690e-01 -1.30527019e-01 -4.61581567e-02 5.41592856e+02] [ 1.30445536e-01 9.91443925e-01 -4.78603783e-03 4.92051373e+01] [ 4.63879313e-02 -1.28117869e-03 9.98922679e-01 2.56253204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.62, Y:49.21, Z:25.63 [[ 9.90566888e-01 -1.29065657e-01 -4.60358196e-02 5.41624426e+02] [ 1.28983144e-01 9.91635310e-01 -4.77087664e-03 4.92104180e+01] [ 4.62665006e-02 -1.21197234e-03 9.98928397e-01 2.56267135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.66, Y:49.21, Z:25.63 [[ 9.90767889e-01 -1.27487515e-01 -4.61077314e-02 5.41655192e+02] [ 1.27403197e-01 9.91839516e-01 -4.77488521e-03 4.92132240e+01] [ 4.63402083e-02 -1.14346942e-03 9.98925061e-01 2.56283308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929999 meters Centerline goodness [0,1] 0.9999790808108278 Centerline is valid? [True, True] Translation: X:541.69, Y:49.22, Z:25.63 [[ 9.91133940e-01 -1.24870990e-01 -4.53954698e-02 5.41687187e+02] [ 1.24786626e-01 9.92172475e-01 -4.69869586e-03 4.92194689e+01] [ 4.56268664e-02 -1.00771055e-03 9.98958044e-01 2.56300729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.72, Y:49.22, Z:25.63 [[ 9.91340109e-01 -1.23377044e-01 -4.49765893e-02 5.41719590e+02] [ 1.23292840e-01 9.92359428e-01 -4.65209412e-03 4.92236201e+01] [ 4.52069040e-02 -9.33483923e-04 9.98977209e-01 2.56317229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.75, Y:49.23, Z:25.63 [[ 9.91599641e-01 -1.21423260e-01 -4.45706551e-02 5.41751005e+02] [ 1.21338785e-01 9.92600466e-01 -4.60591764e-03 4.92258667e+01] [ 4.48001186e-02 -8.40922868e-04 9.98995617e-01 2.56332592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.495099893 meters Centerline goodness [0,1] 0.9999790057104467 Centerline is valid? [True, True] Translation: X:541.78, Y:49.23, Z:25.63 [[ 9.92067393e-01 -1.17471381e-01 -4.47522429e-02 5.41783004e+02] [ 1.17382306e-01 9.93076044e-01 -4.62224298e-03 4.92319014e+01] [ 4.49853616e-02 -6.67544923e-04 9.98987423e-01 2.56342293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.82, Y:49.24, Z:25.64 [[ 9.92324142e-01 -1.15421844e-01 -4.43913891e-02 5.41815044e+02] [ 1.15332293e-01 9.93316400e-01 -4.58177301e-03 4.92367488e+01] [ 4.46235315e-02 -5.73156730e-04 9.99003710e-01 2.56358073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.85, Y:49.24, Z:25.64 [[ 9.92630605e-01 -1.13079802e-01 -4.35596186e-02 5.41846896e+02] [ 1.12991461e-01 9.93585801e-01 -4.49278572e-03 4.92410620e+01] [ 4.37882619e-02 -4.62188331e-04 9.99040727e-01 2.56383984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.88, Y:49.25, Z:25.64 [[ 9.92980987e-01 -1.10029549e-01 -4.33849888e-02 5.41879159e+02] [ 1.09939138e-01 9.93928262e-01 -4.47169580e-03 4.92455707e+01] [ 4.36135852e-02 -3.29399361e-04 9.99048421e-01 2.56412865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.91, Y:49.25, Z:25.64 [[ 9.93002385e-01 -1.09071268e-01 -4.52738442e-02 5.41910732e+02] [ 1.08972013e-01 9.94033886e-01 -4.66201171e-03 4.92479452e+01] [ 4.55122268e-02 -3.04193206e-04 9.98963735e-01 2.56412257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.94, Y:49.25, Z:25.64 [[ 9.92989831e-01 -1.08402749e-01 -4.71173037e-02 5.41942819e+02] [ 1.08294616e-01 9.94107017e-01 -4.84918732e-03 4.92515787e+01] [ 4.73653074e-02 -2.87356629e-04 9.98877593e-01 2.56410792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:541.97, Y:49.25, Z:25.64 [[ 9.93008402e-01 -1.07880318e-01 -4.79181676e-02 5.41974412e+02] [ 1.07768039e-01 9.94163852e-01 -4.92807073e-03 4.92541543e+01] [ 4.81701519e-02 -2.70431316e-04 9.98839108e-01 2.56420405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.00, Y:49.26, Z:25.64 [[ 9.92995787e-01 -1.08409031e-01 -4.69771040e-02 5.42004582e+02] [ 1.08301791e-01 9.94106331e-01 -4.82961481e-03 4.92556416e+01] [ 4.72238104e-02 -2.91917350e-04 9.98884291e-01 2.56443075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.04, Y:49.26, Z:25.65 [[ 9.92963302e-01 -1.08845607e-01 -4.66531250e-02 5.42036212e+02] [ 1.08740361e-01 9.94058618e-01 -4.79550946e-03 4.92577988e+01] [ 4.68979112e-02 -3.11312757e-04 9.98899639e-01 2.56458529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.07, Y:49.26, Z:25.65 [[ 9.92799770e-01 -1.10076989e-01 -4.72405943e-02 5.42067647e+02] [ 1.09970635e-01 9.93922992e-01 -4.85237108e-03 4.92584088e+01] [ 4.74876472e-02 -3.77645289e-04 9.98871754e-01 2.56471285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.10, Y:49.26, Z:25.65 [[ 9.92652595e-01 -1.11231358e-01 -4.76278380e-02 5.42099191e+02] [ 1.11124706e-01 9.93794442e-01 -4.88951903e-03 4.92603602e+01] [ 4.78761485e-02 -4.39035762e-04 9.98853183e-01 2.56485171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.13, Y:49.26, Z:25.65 [[ 9.92270607e-01 -1.14439930e-01 -4.79848465e-02 5.42131442e+02] [ 1.14335506e-01 9.93429989e-01 -4.92439844e-03 4.92607735e+01] [ 4.82331333e-02 -6.00035857e-04 9.98835925e-01 2.56502133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.855099893 meters Centerline goodness [0,1] 0.9999790571530294 Centerline is valid? [True, True] Translation: X:542.16, Y:49.26, Z:25.65 [[ 9.92079417e-01 -1.15936949e-01 -4.83430871e-02 5.42163997e+02] [ 1.15832909e-01 9.93256341e-01 -4.95758380e-03 4.92626175e+01] [ 4.85918450e-02 -6.81403562e-04 9.98818486e-01 2.56513729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.885099893 meters Centerline goodness [0,1] 0.9999582785739617 Centerline is valid? [True, True] Translation: X:542.19, Y:49.26, Z:25.65 [[ 9.91626769e-01 -1.19352233e-01 -4.93091811e-02 5.42194743e+02] [ 1.19248392e-01 9.92851594e-01 -5.05297170e-03 4.92611976e+01] [ 4.95597825e-02 -8.69378533e-04 9.98770781e-01 2.56525806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.22, Y:49.26, Z:25.65 [[ 9.91438868e-01 -1.20931735e-01 -4.92390825e-02 5.42224781e+02] [ 1.20830254e-01 9.92660372e-01 -5.04337436e-03 4.92624099e+01] [ 4.94875900e-02 -9.49373470e-04 9.98774287e-01 2.56546005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.26, Y:49.26, Z:25.66 [[ 9.91254595e-01 -1.22529479e-01 -4.89985261e-02 5.42255609e+02] [ 1.22430940e-01 9.92464346e-01 -5.01867251e-03 4.92648409e+01] [ 4.92442254e-02 -1.02415342e-03 9.98786242e-01 2.56566717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.975099893 meters Centerline goodness [0,1] 0.9999791458124792 Centerline is valid? [True, True] Translation: X:542.29, Y:49.26, Z:25.66 [[ 9.91064907e-01 -1.24147330e-01 -4.87625995e-02 5.42286041e+02] [ 1.24051779e-01 9.92263185e-01 -4.99277503e-03 4.92643836e+01] [ 4.90051720e-02 -1.10092310e-03 9.98797918e-01 2.56583684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.005099893 meters Centerline goodness [0,1] 0.9999378444453653 Centerline is valid? [True, True] Translation: X:542.32, Y:49.27, Z:25.66 [[ 9.90898112e-01 -1.25477950e-01 -4.87464431e-02 5.42317820e+02] [ 1.25384115e-01 9.92095722e-01 -4.99021832e-03 4.92654833e+01] [ 4.89873000e-02 -1.16723169e-03 9.98798719e-01 2.56600207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.35, Y:49.27, Z:25.66 [[ 9.90514144e-01 -1.28531679e-01 -4.85935967e-02 5.42348883e+02] [ 1.28442182e-01 9.91704531e-01 -4.97288168e-03 4.92677698e+01] [ 4.88296629e-02 -1.31575795e-03 9.98806254e-01 2.56621961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters Centerline goodness [0,1] 0.9999375169225001 Centerline is valid? [True, True] Translation: X:542.38, Y:49.27, Z:25.66 [[ 9.90335110e-01 -1.29920475e-01 -4.85493485e-02 5.42379294e+02] [ 1.29832896e-01 9.91523450e-01 -4.96653130e-03 4.92672026e+01] [ 4.87830716e-02 -1.38477220e-03 9.98808437e-01 2.56637657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.095099893 meters Centerline goodness [0,1] 0.9999167845552135 Centerline is valid? [True, True] Translation: X:542.41, Y:49.27, Z:25.67 [[ 9.90176988e-01 -1.31238259e-01 -4.82291686e-02 5.42409551e+02] [ 1.31153511e-01 9.91349806e-01 -4.93133859e-03 4.92680995e+01] [ 4.84591573e-02 -1.44252679e-03 9.98824123e-01 2.56651867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.125099893 meters Centerline goodness [0,1] 0.9999792121401102 Centerline is valid? [True, True] Translation: X:542.44, Y:49.27, Z:25.67 [[ 9.90065047e-01 -1.32175642e-01 -4.79666905e-02 5.42441227e+02] [ 1.32093037e-01 9.91225202e-01 -4.90191222e-03 4.92718277e+01] [ 4.81937059e-02 -1.48285388e-03 9.98836908e-01 2.56663749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:542.47, Y:49.27, Z:25.67 [[ 9.89760540e-01 -1.34242490e-01 -4.85080107e-02 5.42472439e+02] [ 1.34160670e-01 9.90947212e-01 -4.95348658e-03 4.92684319e+01] [ 4.87338463e-02 -1.60510168e-03 9.98810510e-01 2.56671872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters Centerline goodness [0,1] 0.9999586075582598 Centerline is valid? [True, True] Translation: X:542.50, Y:49.27, Z:25.67 [[ 9.89624835e-01 -1.34922636e-01 -4.93818712e-02 5.42503136e+02] [ 1.34839001e-01 9.90854721e-01 -5.03638931e-03 4.92719865e+01] [ 4.96097831e-02 -1.67446626e-03 9.98767273e-01 2.56683954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.215099893 meters Centerline goodness [0,1] 0.9999792341556608 Centerline is valid? [True, True] Translation: X:542.53, Y:49.27, Z:25.67 [[ 9.89380148e-01 -1.36194777e-01 -5.07730873e-02 5.42534276e+02] [ 1.36108131e-01 9.90680464e-01 -5.17639246e-03 4.92744279e+01] [ 5.10049033e-02 -1.78921009e-03 9.98696800e-01 2.56686160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.245099893 meters Centerline goodness [0,1] 0.9999793097740627 Centerline is valid? [True, True] Translation: X:542.57, Y:49.28, Z:25.67 [[ 9.89308638e-01 -1.36728386e-01 -5.07323081e-02 5.42565036e+02] [ 1.36642672e-01 9.90606908e-01 -5.17043964e-03 4.92757004e+01] [ 5.09627208e-02 -1.81703754e-03 9.98698903e-01 2.56694965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.275099893 meters Centerline goodness [0,1] 0.9999792608569414 Centerline is valid? [True, True] Translation: X:542.60, Y:49.28, Z:25.67 [[ 9.89188231e-01 -1.37402195e-01 -5.12570038e-02 5.42596421e+02] [ 1.37315653e-01 9.90513570e-01 -5.22289781e-03 4.92793242e+01] [ 5.14883955e-02 -1.87195992e-03 9.98671838e-01 2.56711738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters Centerline goodness [0,1] 0.9999584631360332 Centerline is valid? [True, True] Translation: X:542.63, Y:49.28, Z:25.67 [[ 9.89005901e-01 -1.38642590e-01 -5.14350179e-02 5.42627039e+02] [ 1.38557222e-01 9.90340572e-01 -5.23905993e-03 4.92786975e+01] [ 5.16645419e-02 -1.94523202e-03 9.98662601e-01 2.56720115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3350998929999 meters Centerline goodness [0,1] 0.9999585698305506 Centerline is valid? [True, True] Translation: X:542.66, Y:49.28, Z:25.67 [[ 9.88905933e-01 -1.39298574e-01 -5.15845290e-02 5.42656923e+02] [ 1.39213729e-01 9.90248432e-01 -5.25182103e-03 4.92810933e+01] [ 5.18130701e-02 -1.98771766e-03 9.98654823e-01 2.56731450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.365099893 meters Centerline goodness [0,1] 0.9999583818877976 Centerline is valid? [True, True] Translation: X:542.69, Y:49.28, Z:25.67 [[ 9.88487844e-01 -1.41559916e-01 -5.34094757e-02 5.42687111e+02] [ 1.41472207e-01 9.89927289e-01 -5.43849532e-03 4.92839938e+01] [ 5.36413704e-02 -2.18006987e-03 9.98557885e-01 2.56738584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.395099893 meters Centerline goodness [0,1] 0.9999791918098964 Centerline is valid? [True, True] Translation: X:542.72, Y:49.29, Z:25.67 [[ 9.88285449e-01 -1.42636985e-01 -5.42822372e-02 5.42717675e+02] [ 1.42548007e-01 9.89772456e-01 -5.52736549e-03 4.92872515e+01] [ 5.45154699e-02 -2.27520984e-03 9.98510334e-01 2.56747665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters Centerline goodness [0,1] 0.9999376726985644 Centerline is valid? [True, True] Translation: X:542.75, Y:49.29, Z:25.67 [[ 9.87779521e-01 -1.45239425e-01 -5.65431402e-02 5.42747745e+02] [ 1.45147124e-01 9.89393330e-01 -5.75775299e-03 4.92855106e+01] [ 5.67796585e-02 -2.51968370e-03 9.98383554e-01 2.56741820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4550998929999 meters Centerline goodness [0,1] 0.9999375689343017 Centerline is valid? [True, True] Translation: X:542.78, Y:49.29, Z:25.68 [[ 9.87290570e-01 -1.47908639e-01 -5.81409061e-02 5.42776587e+02] [ 1.47815577e-01 9.88997212e-01 -5.92191634e-03 4.92886743e+01] [ 5.83770966e-02 -2.74747945e-03 9.98290822e-01 2.56750941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.485099893 meters Centerline goodness [0,1] 0.9999792311366799 Centerline is valid? [True, True] Translation: X:542.81, Y:49.29, Z:25.68 [[ 9.86941962e-01 -1.50307209e-01 -5.79077369e-02 5.42805078e+02] [ 1.50218825e-01 9.88635160e-01 -5.90128179e-03 4.92939526e+01] [ 5.81366300e-02 -2.87460956e-03 9.98304497e-01 2.56781330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.515099893 meters Centerline goodness [0,1] 0.9999374504816313 Centerline is valid? [True, True] Translation: X:542.84, Y:49.30, Z:25.68 [[ 9.86205580e-01 -1.55106481e-01 -5.77973558e-02 5.42835639e+02] [ 1.55026493e-01 9.87892739e-01 -5.89255396e-03 4.92963215e+01] [ 5.80115614e-02 -3.14885181e-03 9.98310945e-01 2.56812466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters Centerline goodness [0,1] 0.9999583602256876 Centerline is valid? [True, True] Translation: X:542.87, Y:49.30, Z:25.68 [[ 9.85948024e-01 -1.56502754e-01 -5.84241533e-02 5.42865381e+02] [ 1.56423463e-01 9.87672122e-01 -5.95649162e-03 4.92987502e+01] [ 5.86361148e-02 -3.26611725e-03 9.98274080e-01 2.56819940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5750998929999 meters Centerline goodness [0,1] 0.9999583602256876 Centerline is valid? [True, True] Translation: X:542.89, Y:49.30, Z:25.68 [[ 9.85942408e-01 -1.56538209e-01 -5.84239391e-02 5.42894398e+02] [ 1.56458855e-01 9.87666503e-01 -5.95859190e-03 4.93017398e+01] [ 5.86361149e-02 -3.26611420e-03 9.98274080e-01 2.56833822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.605099893 meters Centerline goodness [0,1] 0.9999792444997925 Centerline is valid? [True, True] Translation: X:542.92, Y:49.30, Z:25.68 [[ 9.85838043e-01 -1.57421715e-01 -5.78079227e-02 5.42923307e+02] [ 1.57345405e-01 9.87526018e-01 -5.89803505e-03 4.93046997e+01] [ 5.80153066e-02 -3.28130367e-03 9.98310301e-01 2.56848649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.635099893 meters Centerline goodness [0,1] 0.9999792444997925 Centerline is valid? [True, True] Translation: X:542.95, Y:49.31, Z:25.69 [[ 9.85832393e-01 -1.57457204e-01 -5.78076242e-02 5.42952324e+02] [ 1.57380784e-01 9.87520363e-01 -5.90095992e-03 4.93076924e+01] [ 5.80153547e-02 -3.28045177e-03 9.98310301e-01 2.56862533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters Centerline goodness [0,1] 0.9999792444997925 Centerline is valid? [True, True] Translation: X:542.98, Y:49.31, Z:25.69 [[ 9.85826743e-01 -1.57492653e-01 -5.78074123e-02 5.42981341e+02] [ 1.57416172e-01 9.87514710e-01 -5.90303502e-03 4.93106858e+01] [ 5.80153546e-02 -3.28045177e-03 9.98310301e-01 2.56876416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6950998929999 meters Centerline goodness [0,1] 0.9999582951038452 Centerline is valid? [True, True] Translation: X:543.01, Y:49.31, Z:25.69 [[ 9.85634737e-01 -1.59096353e-01 -5.66790649e-02 5.43010315e+02] [ 1.59025328e-01 9.87257524e-01 -5.79022598e-03 4.93139206e+01] [ 5.68780371e-02 -3.30635901e-03 9.98375659e-01 2.56903790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.725099893 meters Centerline goodness [0,1] 0.9999373878198439 Centerline is valid? [True, True] Translation: X:543.04, Y:49.32, Z:25.69 [[ 9.85569308e-01 -1.59575485e-01 -5.64694993e-02 5.43039542e+02] [ 1.59505556e-01 9.87180154e-01 -5.77252593e-03 4.93171230e+01] [ 5.66667226e-02 -3.31797448e-03 9.98387637e-01 2.56920590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.755099893 meters Centerline goodness [0,1] 0.9999584389676239 Centerline is valid? [True, True] Translation: X:543.07, Y:49.32, Z:25.69 [[ 9.85567919e-01 -1.59511446e-01 -5.66742933e-02 5.43069316e+02] [ 1.59440881e-01 9.87190476e-01 -5.79386250e-03 4.93197694e+01] [ 5.68725100e-02 -3.32595424e-03 9.98375909e-01 2.56937063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters Centerline goodness [0,1] 0.9999376856448497 Centerline is valid? [True, True] Translation: X:543.10, Y:49.32, Z:25.70 [[ 9.85547994e-01 -1.59627375e-01 -5.66943889e-02 5.43098193e+02] [ 1.59556884e-01 9.87171715e-01 -5.79708618e-03 4.93240630e+01] [ 5.68924707e-02 -3.33267339e-03 9.98374749e-01 2.56955421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8150998929999 meters Centerline goodness [0,1] 0.9999374895815969 Centerline is valid? [True, True] Translation: X:543.13, Y:49.33, Z:25.70 [[ 9.85550757e-01 -1.59426856e-01 -5.72082473e-02 5.43127835e+02] [ 1.59354651e-01 9.87204061e-01 -5.85130342e-03 4.93289649e+01] [ 5.74090689e-02 -3.34964374e-03 9.98345120e-01 2.56971160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.845099893 meters Centerline goodness [0,1] 0.9999791701383103 Centerline is valid? [True, True] Translation: X:543.16, Y:49.33, Z:25.70 [[ 9.85570283e-01 -1.58502881e-01 -5.93974293e-02 5.43155883e+02] [ 1.58423344e-01 9.87352586e-01 -6.07584928e-03 4.93335242e+01] [ 5.96092450e-02 -3.42176285e-03 9.98215923e-01 2.56969120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.18, Y:49.34, Z:25.70 [[ 9.85563303e-01 -1.58149173e-01 -6.04467881e-02 5.43183881e+02] [ 1.58065796e-01 9.87409187e-01 -6.18888024e-03 4.93374623e+01] [ 6.06644802e-02 -3.45503644e-03 9.98152235e-01 2.56974402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929999 meters Centerline goodness [0,1] 0.9999791331928302 Centerline is valid? [True, True] Translation: X:543.21, Y:49.35, Z:25.70 [[ 9.85630693e-01 -1.57468593e-01 -6.11210212e-02 5.43212627e+02] [ 1.57381309e-01 9.87518006e-01 -6.26990618e-03 4.93450650e+01] [ 6.13454223e-02 -3.43949433e-03 9.98110670e-01 2.56997026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9350998929999 meters Centerline goodness [0,1] 0.999979107907657 Centerline is valid? [True, True] Translation: X:543.24, Y:49.36, Z:25.70 [[ 9.86013567e-01 -1.55021806e-01 -6.12003735e-02 5.43242172e+02] [ 1.54929496e-01 9.87905571e-01 -6.27970326e-03 4.93567392e+01] [ 6.14336809e-02 -3.28987044e-03 9.98105746e-01 2.57028492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.27, Y:49.36, Z:25.71 [[ 9.86269286e-01 -1.53311403e-01 -6.13881770e-02 5.43272511e+02] [ 1.53215241e-01 9.88172766e-01 -6.29871413e-03 4.93648235e+01] [ 6.16277893e-02 -3.19337606e-03 9.98094093e-01 2.57054533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.995099893 meters Centerline goodness [0,1] 0.9999790724928846 Centerline is valid? [True, True] Translation: X:543.30, Y:49.37, Z:25.71 [[ 9.86544589e-01 -1.51358964e-01 -6.18080703e-02 5.43301638e+02] [ 1.51257739e-01 9.88474023e-01 -6.34058766e-03 4.93684420e+01] [ 6.20553766e-02 -3.09367654e-03 9.98067913e-01 2.57062145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.33, Y:49.38, Z:25.71 [[ 9.87301542e-01 -1.46316105e-01 -6.18648801e-02 5.43330982e+02] [ 1.46204903e-01 9.89233980e-01 -6.34507110e-03 4.93808065e+01] [ 6.21272276e-02 -2.78045028e-03 9.98064365e-01 2.57087829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0550998929999 meters Centerline goodness [0,1] 0.9999790426691256 Centerline is valid? [True, True] Translation: X:543.36, Y:49.39, Z:25.71 [[ 9.88245694e-01 -1.40138793e-01 -6.10865448e-02 5.43360978e+02] [ 1.40018644e-01 9.90129051e-01 -6.26437295e-03 4.93906403e+01] [ 6.13614443e-02 -2.36251555e-03 9.98112815e-01 2.57105916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters Centerline goodness [0,1] 0.999979035639413 Centerline is valid? [True, True] Translation: X:543.39, Y:49.40, Z:25.71 [[ 9.88643109e-01 -1.37124003e-01 -6.14964273e-02 5.43390859e+02] [ 1.36996442e-01 9.90551468e-01 -6.30594861e-03 4.93964660e+01] [ 6.17800732e-02 -2.19045913e-03 9.98087383e-01 2.57119120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.42, Y:49.40, Z:25.71 [[ 9.89101754e-01 -1.33913855e-01 -6.11947775e-02 5.43420684e+02] [ 1.33781462e-01 9.90990997e-01 -6.27415547e-03 4.94011996e+01] [ 6.14836699e-02 -1.98094863e-03 9.98106124e-01 2.57127307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.45, Y:49.40, Z:25.71 [[ 9.89097187e-01 -1.33947605e-01 -6.11947288e-02 5.43449669e+02] [ 1.33815247e-01 9.90986432e-01 -6.27463084e-03 4.94042027e+01] [ 6.14836177e-02 -1.98256805e-03 9.98106124e-01 2.57141170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1750998929999 meters Centerline goodness [0,1] 0.9999789668517584 Centerline is valid? [True, True] Translation: X:543.48, Y:49.41, Z:25.72 [[ 9.89475438e-01 -1.30940201e-01 -6.15875032e-02 5.43480202e+02] [ 1.30800253e-01 9.91388623e-01 -6.31602334e-03 4.94139553e+01] [ 6.18841713e-02 -1.80611103e-03 9.98081704e-01 2.57172438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.51, Y:49.42, Z:25.72 [[ 9.90050576e-01 -1.26263482e-01 -6.21078891e-02 5.43509699e+02] [ 1.26112075e-01 9.91995563e-01 -6.36765410e-03 4.94221024e+01] [ 6.24147526e-02 -1.52825517e-03 9.98049129e-01 2.57180177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.54, Y:49.43, Z:25.72 [[ 9.90247724e-01 -1.24559205e-01 -6.24055223e-02 5.43539483e+02] [ 1.24402963e-01 9.92211150e-01 -6.39816916e-03 4.94272579e+01] [ 6.27164060e-02 -1.42765941e-03 9.98030367e-01 2.57196675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.57, Y:49.43, Z:25.72 [[ 9.90392531e-01 -1.23523235e-01 -6.21662746e-02 5.43568531e+02] [ 1.23366135e-01 9.92340753e-01 -6.37390383e-03 4.94312489e+01] [ 6.24774530e-02 -1.35654628e-03 9.98045454e-01 2.57209692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2950998929999 meters Centerline goodness [0,1] 0.9999576423745685 Centerline is valid? [True, True] Translation: X:543.60, Y:49.44, Z:25.72 [[ 9.90576003e-01 -1.22169937e-01 -6.19167916e-02 5.43598826e+02] [ 1.22011403e-01 9.92508391e-01 -6.34915766e-03 4.94371453e+01] [ 6.22286114e-02 -1.26523143e-03 9.98061120e-01 2.57230526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.63, Y:49.44, Z:25.72 [[ 9.90668234e-01 -1.21361917e-01 -6.20301165e-02 5.43628053e+02] [ 1.21201226e-01 9.92607578e-01 -6.36068201e-03 4.94398574e+01] [ 6.23435083e-02 -1.21680055e-03 9.98054010e-01 2.57234826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.66, Y:49.44, Z:25.72 [[ 9.90778728e-01 -1.20357177e-01 -6.22226841e-02 5.43656491e+02] [ 1.20193467e-01 9.92729980e-01 -6.38108014e-03 4.94436420e+01] [ 6.25383327e-02 -1.15652164e-03 9.98041893e-01 2.57242305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.385099893 meters Centerline goodness [0,1] 0.9999787654216126 Centerline is valid? [True, True] Translation: X:543.69, Y:49.45, Z:25.73 [[ 9.90922770e-01 -1.18904420e-01 -6.27200298e-02 5.43686179e+02] [ 1.18734980e-01 9.92905128e-01 -6.43514712e-03 4.94494198e+01] [ 6.30402066e-02 -1.07032769e-03 9.98010414e-01 2.57263341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.72, Y:49.46, Z:25.73 [[ 9.91389217e-01 -1.14621781e-01 -6.33187775e-02 5.43715608e+02] [ 1.14440343e-01 9.93408878e-01 -6.49686519e-03 4.94567716e+01] [ 6.36461180e-02 -8.05300512e-04 9.97972206e-01 2.57279996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.75, Y:49.46, Z:25.73 [[ 9.91688900e-01 -1.12000803e-01 -6.33162405e-02 5.43745282e+02] [ 1.11813969e-01 9.93707913e-01 -6.49773521e-03 4.94620606e+01] [ 6.36456007e-02 -6.35908288e-04 9.97972361e-01 2.57298442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.77, Y:49.47, Z:25.73 [[ 9.92011400e-01 -1.09239042e-01 -6.30889371e-02 5.43774068e+02] [ 1.09047878e-01 9.94015404e-01 -6.47582070e-03 4.94665843e+01] [ 6.34187877e-02 -4.55626737e-04 9.97986899e-01 2.57304837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.80, Y:49.47, Z:25.73 [[ 9.92301843e-01 -1.06772001e-01 -6.27438615e-02 5.43802064e+02] [ 1.06577652e-01 9.94283488e-01 -6.44584701e-03 4.94706247e+01] [ 6.30734215e-02 -2.90867565e-04 9.98008847e-01 2.57306431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.83, Y:49.48, Z:25.74 [[ 9.92869129e-01 -1.02337945e-01 -6.11378637e-02 5.43830634e+02] [ 1.02144301e-01 9.94749690e-01 -6.29258160e-03 4.94764512e+01] [ 6.14608408e-02 2.82563590e-06 9.98109496e-01 2.57365123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.86, Y:49.48, Z:25.74 [[ 9.93278289e-01 -9.88703901e-02 -6.01904216e-02 5.43858664e+02] [ 9.86761980e-02 9.95100296e-01 -6.19748758e-03 4.94795646e+01] [ 6.05082544e-02 2.16467905e-04 9.98167673e-01 2.57382028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.89, Y:49.48, Z:25.74 [[ 9.93209096e-01 -9.92780864e-02 -6.06593286e-02 5.43887350e+02] [ 9.90812475e-02 9.95059708e-01 -6.25175791e-03 4.94815049e+01] [ 6.09803164e-02 1.99100861e-04 9.98138949e-01 2.57391211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.92, Y:49.48, Z:25.74 [[ 9.93084789e-01 -1.00185088e-01 -6.12009044e-02 5.43916428e+02] [ 9.99854762e-02 9.94968805e-01 -6.32314005e-03 4.94828292e+01] [ 6.15264750e-02 1.60212631e-04 9.98105439e-01 2.57398198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.94, Y:49.49, Z:25.74 [[ 9.93059786e-01 -1.00433583e-01 -6.11993209e-02 5.43944485e+02] [ 1.00233500e-01 9.94943752e-01 -6.33843294e-03 4.94857701e+01] [ 6.15264735e-02 1.60220753e-04 9.98105439e-01 2.57411657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:543.97, Y:49.49, Z:25.74 [[ 9.92879077e-01 -1.01998401e-01 -6.15423792e-02 5.43974234e+02] [ 1.01798292e-01 9.94784560e-01 -6.38649780e-03 4.94866909e+01] [ 6.18728212e-02 7.61109399e-05 9.98084039e-01 2.57428291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.00, Y:49.48, Z:25.74 [[ 9.92376105e-01 -1.06486882e-01 -6.20500599e-02 5.44003181e+02] [ 1.06292035e-01 9.94314087e-01 -6.44206813e-03 4.94840541e+01] [ 6.23832444e-02 -2.02472694e-04 9.98052248e-01 2.57423097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.03, Y:49.48, Z:25.74 [[ 9.91987861e-01 -1.09939865e-01 -6.22359226e-02 5.44031325e+02] [ 1.09750329e-01 9.93938154e-01 -6.46622394e-03 4.94834557e+01] [ 6.25695537e-02 -4.15997351e-04 9.98040519e-01 2.57430443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.06, Y:49.48, Z:25.74 [[ 9.91563912e-01 -1.13644067e-01 -6.23380606e-02 5.44060338e+02] [ 1.13460712e-01 9.93521320e-01 -6.48490523e-03 4.94834227e+01] [ 6.26711632e-02 -6.42722720e-04 9.98034024e-01 2.57446904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.09, Y:49.48, Z:25.75 [[ 9.91125612e-01 -1.17582343e-01 -6.20033414e-02 5.44088033e+02] [ 1.17407820e-01 9.93062752e-01 -6.46332320e-03 4.94823327e+01] [ 6.23331815e-02 -8.73712014e-04 9.98055014e-01 2.57456292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.12, Y:49.48, Z:25.75 [[ 9.90200881e-01 -1.25202660e-01 -6.18587900e-02 5.44117503e+02] [ 1.25043474e-01 9.92130276e-01 -6.45327356e-03 4.94787969e+01] [ 6.21799454e-02 -1.34500082e-03 9.98064049e-01 2.57469600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.15, Y:49.48, Z:25.75 [[ 9.89723579e-01 -1.28808409e-01 -6.20937308e-02 5.44147710e+02] [ 1.28654922e-01 9.91668248e-01 -6.48050868e-03 4.94789272e+01] [ 6.24111253e-02 -1.57475185e-03 9.98049283e-01 2.57483198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.18, Y:49.48, Z:25.75 [[ 9.89258128e-01 -1.32496597e-01 -6.17495644e-02 5.44177815e+02] [ 1.32351925e-01 9.91181832e-01 -6.44543634e-03 4.94792245e+01] [ 6.20590448e-02 -1.79647342e-03 9.98070863e-01 2.57499334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.21, Y:49.48, Z:25.75 [[ 9.88308850e-01 -1.39288867e-01 -6.20018471e-02 5.44208276e+02] [ 1.39156266e-01 9.90249279e-01 -6.47289114e-03 4.94765605e+01] [ 6.22988861e-02 -2.23072994e-03 9.98055045e-01 2.57511639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.24, Y:49.48, Z:25.75 [[ 9.87845050e-01 -1.42579661e-01 -6.19128180e-02 5.44238479e+02] [ 1.42453815e-01 9.89780338e-01 -6.46471083e-03 4.94776054e+01] [ 6.22018262e-02 -2.43358454e-03 9.98060625e-01 2.57525519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.27, Y:49.48, Z:25.75 [[ 9.87026762e-01 -1.48422847e-01 -6.12276808e-02 5.44268406e+02] [ 1.48310905e-01 9.88920112e-01 -6.39426206e-03 4.94756680e+01] [ 6.14983396e-02 -2.76942500e-03 9.98103344e-01 2.57541959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.30, Y:49.48, Z:25.76 [[ 9.86670188e-01 -1.51033969e-01 -6.05861378e-02 5.44298218e+02] [ 1.50929201e-01 9.88524319e-01 -6.32831968e-03 4.94762100e+01] [ 6.08466618e-02 -2.90025299e-03 9.98142912e-01 2.57557082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.33, Y:49.48, Z:25.76 [[ 9.86303260e-01 -1.53529677e-01 -6.02869678e-02 5.44327800e+02] [ 1.53430520e-01 9.88139367e-01 -6.29813927e-03 4.94764349e+01] [ 6.05388775e-02 -3.03798552e-03 9.98161217e-01 2.57570878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.36, Y:49.48, Z:25.76 [[ 9.85972866e-01 -1.55865279e-01 -5.96952452e-02 5.44357955e+02] [ 1.55772272e-01 9.87773303e-01 -6.23714884e-03 4.94785313e+01] [ 5.99375245e-02 -3.14920445e-03 9.98197163e-01 2.57590080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.39, Y:49.48, Z:25.76 [[ 9.85681586e-01 -1.57978147e-01 -5.89467157e-02 5.44387823e+02] [ 1.57891207e-01 9.87437305e-01 -6.15912065e-03 4.94790097e+01] [ 5.91791925e-02 -3.23623629e-03 9.98242130e-01 2.57605429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.42, Y:49.48, Z:25.76 [[ 9.85190878e-01 -1.60942477e-01 -5.91308120e-02 5.44418325e+02] [ 1.60860265e-01 9.86957848e-01 -6.17908866e-03 4.94798370e+01] [ 5.93540968e-02 -3.42421632e-03 9.98231119e-01 2.57612406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.45, Y:49.48, Z:25.76 [[ 9.85007399e-01 -1.61920503e-01 -5.95161655e-02 5.44448904e+02] [ 1.61838995e-01 9.86797578e-01 -6.21935758e-03 4.94823485e+01] [ 5.97374494e-02 -3.50592316e-03 9.98207967e-01 2.57624197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.48, Y:49.48, Z:25.76 [[ 9.84887773e-01 -1.62562390e-01 -5.97456580e-02 5.44478937e+02] [ 1.62481429e-01 9.86691850e-01 -6.24333923e-03 4.94848828e+01] [ 5.99654859e-02 -3.55857141e-03 9.98194108e-01 2.57635384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.51, Y:49.49, Z:25.76 [[ 9.84778769e-01 -1.63035252e-01 -6.02518218e-02 5.44508742e+02] [ 1.62953769e-01 9.86613613e-01 -6.29667866e-03 4.94874467e+01] [ 6.04718481e-02 -3.61742600e-03 9.98163348e-01 2.57642226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.54, Y:49.49, Z:25.77 [[ 9.84712516e-01 -1.63400520e-01 -6.03450943e-02 5.44538600e+02] [ 1.63319356e-01 9.86553087e-01 -6.30827528e-03 4.94905113e+01] [ 6.05644145e-02 -3.64368428e-03 9.98157640e-01 2.57651876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.57, Y:49.49, Z:25.77 [[ 9.84718441e-01 -1.63401249e-01 -6.02463528e-02 5.44567535e+02] [ 1.63320253e-01 9.86552994e-01 -6.29957673e-03 4.94928874e+01] [ 6.04655784e-02 -3.63614019e-03 9.98163660e-01 2.57661162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.60, Y:49.50, Z:25.77 [[ 9.84794545e-01 -1.62911266e-01 -6.03292928e-02 5.44597578e+02] [ 1.62828980e-01 9.86634125e-01 -6.31075101e-03 4.95030949e+01] [ 6.05510314e-02 -3.60856406e-03 9.98158580e-01 2.57688864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.63, Y:49.51, Z:25.77 [[ 9.84943927e-01 -1.61993986e-01 -6.03606518e-02 5.44628767e+02] [ 1.61910031e-01 9.86785337e-01 -6.31186633e-03 4.95076236e+01] [ 6.05854905e-02 -3.55616060e-03 9.98156677e-01 2.57704522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.66, Y:49.52, Z:25.77 [[ 9.85536345e-01 -1.58193718e-01 -6.07689019e-02 5.44658672e+02] [ 1.58101546e-01 9.87402423e-01 -6.35260033e-03 4.95168991e+01] [ 6.10083025e-02 -3.34693882e-03 9.98131647e-01 2.57727560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.69, Y:49.53, Z:25.78 [[ 9.86030512e-01 -1.55128785e-01 -6.06538456e-02 5.44689241e+02] [ 1.55031265e-01 9.87889225e-01 -6.33920980e-03 4.95258301e+01] [ 6.09026745e-02 -3.15258812e-03 9.98138731e-01 2.57750201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.72, Y:49.53, Z:25.78 [[ 9.86631884e-01 -1.51383773e-01 -6.03363751e-02 5.44719156e+02] [ 1.51280395e-01 9.88470788e-01 -6.30427062e-03 4.95301488e+01] [ 6.05951085e-02 -2.90771624e-03 9.98158193e-01 2.57762843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.75, Y:49.54, Z:25.78 [[ 9.88136722e-01 -1.41682349e-01 -5.92615522e-02 5.44748748e+02] [ 1.41565204e-01 9.89909569e-01 -6.19180589e-03 4.95433900e+01] [ 5.95408472e-02 -2.27102298e-03 9.98223287e-01 2.57793658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.78, Y:49.55, Z:25.78 [[ 9.88955305e-01 -1.36054907e-01 -5.87917291e-02 5.44779285e+02] [ 1.35929732e-01 9.90699443e-01 -6.14187329e-03 4.95511086e+01] [ 5.90805652e-02 -1.91750579e-03 9.98251376e-01 2.57813002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.81, Y:49.56, Z:25.78 [[ 9.89807878e-01 -1.30145758e-01 -5.78138968e-02 5.44808373e+02] [ 1.30014692e-01 9.91493677e-01 -6.03885989e-03 4.95575884e+01] [ 5.81080452e-02 -1.53934491e-03 9.98309113e-01 2.57830867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.84, Y:49.57, Z:25.79 [[ 9.91450344e-01 -1.17838113e-01 -5.60392172e-02 5.44837389e+02] [ 1.17695309e-01 9.93032503e-01 -5.85342476e-03 4.95709180e+01] [ 5.63385206e-02 -7.92172980e-04 9.98411410e-01 2.57861689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.87, Y:49.58, Z:25.79 [[ 9.92213704e-01 -1.11569633e-01 -5.53550568e-02 5.44867235e+02] [ 1.11420570e-01 9.93756525e-01 -5.78147726e-03 4.95783642e+01] [ 5.56544862e-02 -4.31231029e-04 9.98449995e-01 2.57877546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.90, Y:49.59, Z:25.79 [[ 9.92884819e-01 -1.05715212e-01 -5.48090373e-02 5.44897762e+02] [ 1.05560220e-01 9.94396442e-01 -5.72333337e-03 4.95860057e+01] [ 5.51069551e-02 -1.03043228e-04 9.98480452e-01 2.57896331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.93, Y:49.60, Z:25.79 [[ 9.93874721e-01 -9.63017017e-02 -5.42127486e-02 5.44927780e+02] [ 9.61361647e-02 9.95352105e-01 -5.65914184e-03 4.95958984e+01] [ 5.45057584e-02 4.12672292e-04 9.98513371e-01 2.57918042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.96, Y:49.60, Z:25.79 [[ 9.94200978e-01 -9.27513024e-02 -5.44206820e-02 5.44957242e+02] [ 9.25792707e-02 9.95689121e-01 -5.67911464e-03 4.96009969e+01] [ 5.47128263e-02 6.07954281e-04 9.98501946e-01 2.57924861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:544.99, Y:49.60, Z:25.79 [[ 9.94427952e-01 -9.01283381e-02 -5.46802577e-02 5.44987411e+02] [ 8.99506973e-02 9.95929873e-01 -5.70620287e-03 4.96048676e+01] [ 5.49719927e-02 7.55880331e-04 9.98487611e-01 2.57934233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.02, Y:49.61, Z:25.79 [[ 9.94549700e-01 -8.85435833e-02 -5.50538636e-02 5.45016227e+02] [ 8.83610705e-02 9.96071941e-01 -5.74533220e-03 4.96088791e+01] [ 5.53463211e-02 8.49400087e-04 9.98466856e-01 2.57936281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.05, Y:49.61, Z:25.79 [[ 9.94594127e-01 -8.80079214e-02 -5.51101474e-02 5.45046179e+02] [ 8.78241500e-02 9.96119385e-01 -5.75234847e-03 4.96111675e+01] [ 5.54025383e-02 8.81250160e-04 9.98463711e-01 2.57949759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.07, Y:49.61, Z:25.80 [[ 9.94542621e-01 -8.88291677e-02 -5.47206863e-02 5.45074861e+02] [ 8.86491130e-02 9.96046529e-01 -5.71379747e-03 4.96140857e+01] [ 5.50119015e-02 8.31674811e-04 9.98485352e-01 2.57962421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.10, Y:49.62, Z:25.80 [[ 9.94462620e-01 -9.02334686e-02 -5.38703781e-02 5.45104912e+02] [ 9.00608808e-02 9.95920361e-01 -5.62775194e-03 4.96154125e+01] [ 5.41584180e-02 7.44975247e-04 9.98532078e-01 2.57981335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.13, Y:49.61, Z:25.80 [[ 9.94107843e-01 -9.47988794e-02 -5.25620402e-02 5.45134347e+02] [ 9.46408565e-02 9.95496327e-01 -5.49290781e-03 4.96143828e+01] [ 5.28460395e-02 4.86026229e-04 9.98602554e-01 2.57999494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.16, Y:49.61, Z:25.80 [[ 9.93911678e-01 -9.73044843e-02 -5.16857145e-02 5.45164615e+02] [ 9.71549896e-02 9.95254599e-01 -5.40297683e-03 4.96147446e+01] [ 5.19661789e-02 3.48556718e-04 9.98648784e-01 2.58020565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.20, Y:49.62, Z:25.80 [[ 9.93645543e-01 -1.00159100e-01 -5.13487058e-02 5.45196292e+02] [ 1.00015365e-01 9.94971414e-01 -5.36759778e-03 4.96150691e+01] [ 5.16281082e-02 1.97830052e-04 9.98666360e-01 2.58040258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.23, Y:49.61, Z:25.81 [[ 9.93075080e-01 -1.06060105e-01 -5.05285950e-02 5.45227151e+02] [ 1.05928646e-01 9.94359715e-01 -5.28010534e-03 4.96123910e+01] [ 5.08036079e-02 -1.08884635e-04 9.98708657e-01 2.58050232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.26, Y:49.61, Z:25.81 [[ 9.92766111e-01 -1.09200083e-01 -4.99078317e-02 5.45259787e+02] [ 1.09075853e-01 9.94019754e-01 -5.21419250e-03 4.96130643e+01] [ 5.01787608e-02 -2.67265716e-04 9.98740217e-01 2.58068014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.29, Y:49.61, Z:25.81 [[ 9.92401291e-01 -1.12392815e-01 -5.00752695e-02 5.45291154e+02] [ 1.12271994e-01 9.93663760e-01 -5.22804656e-03 4.96128150e+01] [ 5.03455755e-02 -4.33730178e-04 9.98731763e-01 2.58083680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.32, Y:49.62, Z:25.81 [[ 9.92409188e-01 -1.12322938e-01 -5.00755574e-02 5.45322647e+02] [ 1.12202167e-01 9.93671661e-01 -5.22528783e-03 4.96160413e+01] [ 5.03455820e-02 -4.32962378e-04 9.98731763e-01 2.58098733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.35, Y:49.62, Z:25.81 [[ 9.92059028e-01 -1.15508173e-01 -4.97669278e-02 5.45354657e+02] [ 1.15393067e-01 9.93306352e-01 -5.18956008e-03 4.96163695e+01] [ 5.00332421e-02 -5.94408506e-04 9.98747376e-01 2.58114049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.39, Y:49.62, Z:25.81 [[ 9.91683626e-01 -1.18762375e-01 -4.95891639e-02 5.45385954e+02] [ 1.18652331e-01 9.92922415e-01 -5.16747392e-03 4.96158651e+01] [ 4.98518938e-02 -7.59370606e-04 9.98756333e-01 2.58127554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.42, Y:49.62, Z:25.81 [[ 9.91369005e-01 -1.21575274e-01 -4.90606721e-02 5.45418218e+02] [ 1.21471136e-01 9.92581812e-01 -5.10973878e-03 4.96158477e+01] [ 4.93179487e-02 -8.93818914e-04 9.98782730e-01 2.58140479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.45, Y:49.61, Z:25.82 [[ 9.90687706e-01 -1.27233524e-01 -4.84716399e-02 5.45449344e+02] [ 1.27138798e-01 9.91872106e-01 -5.04498665e-03 4.96121419e+01] [ 4.87195590e-02 -1.16461980e-03 9.98811818e-01 2.58153450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.48, Y:49.61, Z:25.82 [[ 9.90180405e-01 -1.30780163e-01 -4.93894178e-02 5.45481302e+02] [ 1.30686268e-01 9.91410452e-01 -5.13953262e-03 4.96107923e+01] [ 4.96373340e-02 -1.36545420e-03 9.98766374e-01 2.58157887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.51, Y:49.61, Z:25.82 [[ 9.90189710e-01 -1.30709587e-01 -4.93896966e-02 5.45512805e+02] [ 1.30615738e-01 9.91419761e-01 -5.13685276e-03 4.96140095e+01] [ 4.96373570e-02 -1.36461291e-03 9.98766374e-01 2.58172946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.54, Y:49.62, Z:25.82 [[ 9.89946483e-01 -1.32043070e-01 -5.07009639e-02 5.45544576e+02] [ 1.31946108e-01 9.91242885e-01 -5.26948572e-03 4.96160070e+01] [ 5.09527688e-02 -1.47328599e-03 9.98699977e-01 2.58177103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.58, Y:49.62, Z:25.82 [[ 9.89974305e-01 -1.31681293e-01 -5.10970950e-02 5.45576892e+02] [ 1.31582524e-01 9.91291015e-01 -5.30684986e-03 4.96182725e+01] [ 5.13509040e-02 -1.46983974e-03 9.98679590e-01 2.58184561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.61, Y:49.62, Z:25.82 [[ 9.90107323e-01 -1.30674452e-01 -5.11045550e-02 5.45608276e+02] [ 1.30574519e-01 9.91424312e-01 -5.30365887e-03 4.96203703e+01] [ 5.13593510e-02 -1.42176121e-03 9.98679226e-01 2.58195591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.64, Y:49.63, Z:25.82 [[ 9.90613858e-01 -1.26786628e-01 -5.10816574e-02 5.45639523e+02] [ 1.26681927e-01 9.91929256e-01 -5.29530528e-03 4.96250219e+01] [ 5.13407644e-02 -1.22552002e-03 9.98680441e-01 2.58208796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.67, Y:49.63, Z:25.82 [[ 9.90969075e-01 -1.24084397e-01 -5.08267152e-02 5.45669934e+02] [ 1.23977280e-01 9.92271078e-01 -5.26705929e-03 4.96277715e+01] [ 5.10874393e-02 -1.08186504e-03 9.98693598e-01 2.58220019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.70, Y:49.63, Z:25.82 [[ 9.91367276e-01 -1.20740901e-01 -5.11131908e-02 5.45700862e+02] [ 1.20628184e-01 9.92683634e-01 -5.29573392e-03 4.96334456e+01] [ 5.13786397e-02 -9.15674068e-04 9.98678826e-01 2.58233416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.73, Y:49.64, Z:25.82 [[ 9.92125973e-01 -1.14038383e-01 -5.17812840e-02 5.45730575e+02] [ 1.13913667e-01 9.93476177e-01 -5.36312254e-03 4.96399658e+01] [ 5.20550739e-02 -5.77702768e-04 9.98644048e-01 2.58240036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.76, Y:49.65, Z:25.83 [[ 9.92503085e-01 -1.10661290e-01 -5.18816497e-02 5.45761771e+02] [ 1.10531531e-01 9.93858097e-01 -5.37249048e-03 4.96452215e+01] [ 5.21575243e-02 -4.02344801e-04 9.98638789e-01 2.58252590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.79, Y:49.65, Z:25.83 [[ 9.92838312e-01 -1.07433408e-01 -5.22508199e-02 5.45793052e+02] [ 1.07297428e-01 9.94212255e-01 -5.40878000e-03 4.96496895e+01] [ 5.25294891e-02 -2.36334586e-04 9.98619345e-01 2.58263973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.82, Y:49.65, Z:25.83 [[ 9.93303706e-01 -1.02663466e-01 -5.29901975e-02 5.45823748e+02] [ 1.02516917e-01 9.94716147e-01 -5.48354806e-03 4.96540628e+01] [ 5.32731652e-02 1.44369249e-05 9.98579977e-01 2.58271828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.85, Y:49.66, Z:25.83 [[ 9.93488028e-01 -1.00913153e-01 -5.28968180e-02 5.45852606e+02] [ 1.00764635e-01 9.94895233e-01 -5.47398714e-03 4.96571709e+01] [ 5.31791894e-02 1.08212133e-04 9.98584980e-01 2.58277051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.88, Y:49.66, Z:25.83 [[ 9.93565104e-01 -1.00029322e-01 -5.31273896e-02 5.45882522e+02] [ 9.98781853e-02 9.94984477e-01 -5.49892324e-03 4.96598008e+01] [ 5.34109815e-02 1.57270984e-04 9.98572602e-01 2.58293924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.91, Y:49.66, Z:25.83 [[ 9.93563924e-01 -1.00134538e-01 -5.29509500e-02 5.45911146e+02] [ 9.99844414e-02 9.94973895e-01 -5.48275863e-03 4.96610128e+01] [ 5.32338264e-02 1.53200026e-04 9.98582063e-01 2.58305282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.94, Y:49.66, Z:25.83 [[ 9.93497378e-01 -1.00947707e-01 -5.26547226e-02 5.45940682e+02] [ 1.00800250e-01 9.94891727e-01 -5.45543334e-03 4.96625619e+01] [ 5.29364614e-02 1.12349537e-04 9.98597876e-01 2.58325465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:545.97, Y:49.66, Z:25.83 [[ 9.93362578e-01 -1.02026845e-01 -5.31160229e-02 5.45969489e+02] [ 1.01878222e-01 9.94781644e-01 -5.50531306e-03 4.96639727e+01] [ 5.34005343e-02 5.74060287e-05 9.98573172e-01 2.58336476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.00, Y:49.66, Z:25.83 [[ 9.93155502e-01 -1.03995537e-01 -5.31702584e-02 5.45997984e+02] [ 1.03849209e-01 9.94577763e-01 -5.51501927e-03 4.96649482e+01] [ 5.34554941e-02 -4.44175657e-05 9.98570232e-01 2.58347833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.03, Y:49.66, Z:25.84 [[ 9.92665974e-01 -1.08520043e-01 -5.32697276e-02 5.46027818e+02] [ 1.08379024e-01 9.94094223e-01 -5.53743970e-03 4.96627847e+01] [ 5.35560516e-02 -2.76493126e-04 9.98564807e-01 2.58361789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.06, Y:49.66, Z:25.84 [[ 9.92341532e-01 -1.11375308e-01 -5.34211944e-02 5.46057406e+02] [ 1.11237513e-01 9.93778323e-01 -5.55515928e-03 4.96628589e+01] [ 5.37075326e-02 -4.29825509e-04 9.98556616e-01 2.58375854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.09, Y:49.66, Z:25.84 [[ 9.92016813e-01 -1.14439262e-01 -5.29745022e-02 5.46087203e+02] [ 1.14308023e-01 9.93430072e-01 -5.51065154e-03 4.96627461e+01] [ 5.32570984e-02 -5.88751626e-04 9.98580660e-01 2.58389222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.12, Y:49.66, Z:25.84 [[ 9.91242538e-01 -1.21291131e-01 -5.22177325e-02 5.46117424e+02] [ 1.21173012e-01 9.92616530e-01 -5.43373812e-03 4.96584229e+01] [ 5.24912487e-02 -9.41227579e-04 9.98620941e-01 2.58409075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.15, Y:49.66, Z:25.84 [[ 9.90811559e-01 -1.24917978e-01 -5.18454810e-02 5.46146857e+02] [ 1.24806446e-01 9.92166435e-01 -5.39594391e-03 4.96573275e+01] [ 5.21133964e-02 -1.12428663e-03 9.98640541e-01 2.58425041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.18, Y:49.66, Z:25.84 [[ 9.90337468e-01 -1.28735648e-01 -5.15638619e-02 5.46177411e+02] [ 1.28630447e-01 9.91678072e-01 -5.36748658e-03 4.96562824e+01] [ 5.18257380e-02 -1.31705953e-03 9.98655275e-01 2.58442965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.21, Y:49.66, Z:25.85 [[ 9.89856484e-01 -1.32534142e-01 -5.11746226e-02 5.46207878e+02] [ 1.32435590e-01 9.91177299e-01 -5.32696911e-03 4.96554814e+01] [ 5.14291295e-02 -1.50440640e-03 9.98675514e-01 2.58458144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.24, Y:49.65, Z:25.85 [[ 9.88789259e-01 -1.40233733e-01 -5.12864712e-02 5.46238134e+02] [ 1.40145072e-01 9.90116588e-01 -5.33871012e-03 4.96491327e+01] [ 5.15282531e-02 -1.90868699e-03 9.98669713e-01 2.58470156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.27, Y:49.65, Z:25.85 [[ 9.88211952e-01 -1.44212945e-01 -5.13786370e-02 5.46268230e+02] [ 1.44129263e-01 9.89544409e-01 -5.34956567e-03 4.96485969e+01] [ 5.16129196e-02 -2.11866036e-03 9.98664918e-01 2.58481341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.30, Y:49.65, Z:25.85 [[ 9.87638740e-01 -1.47854523e-01 -5.20457330e-02 5.46298660e+02] [ 1.47773631e-01 9.89006357e-01 -5.42024334e-03 4.96513446e+01] [ 5.22749683e-02 -2.33774464e-03 9.98629993e-01 2.58495772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.33, Y:49.65, Z:25.85 [[ 9.87075362e-01 -1.51458001e-01 -5.23708330e-02 5.46329316e+02] [ 1.51381150e-01 9.88460419e-01 -5.45410052e-03 4.96508674e+01] [ 5.25925627e-02 -2.54434871e-03 9.98612812e-01 2.58504428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.36, Y:49.64, Z:25.85 [[ 9.86059633e-01 -1.57823706e-01 -5.27074704e-02 5.46359686e+02] [ 1.57754913e-01 9.87463040e-01 -5.48925725e-03 4.96446839e+01] [ 5.29130139e-02 -2.90212743e-03 9.98594908e-01 2.58511970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.39, Y:49.65, Z:25.85 [[ 9.85649072e-01 -1.60376766e-01 -5.26801704e-02 5.46389949e+02] [ 1.60311630e-01 9.87051200e-01 -5.48726476e-03 4.96491115e+01] [ 5.28780552e-02 -3.03672656e-03 9.98596360e-01 2.58533172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.42, Y:49.65, Z:25.86 [[ 9.85201255e-01 -1.63160311e-01 -5.25090398e-02 5.46419971e+02] [ 1.63099527e-01 9.86594460e-01 -5.46953600e-03 4.96506887e+01] [ 5.26975389e-02 -3.17560583e-03 9.98605470e-01 2.58552664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.45, Y:49.65, Z:25.86 [[ 9.85150415e-01 -1.63356846e-01 -5.28507344e-02 5.46449944e+02] [ 1.63295505e-01 9.86561839e-01 -5.50600372e-03 4.96538982e+01] [ 5.30399611e-02 -3.20604550e-03 9.98587244e-01 2.58566880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.48, Y:49.66, Z:25.86 [[ 9.85164677e-01 -1.63096178e-01 -5.33872261e-02 5.46480698e+02] [ 1.63033218e-01 9.86604905e-01 -5.56166549e-03 4.96603390e+01] [ 5.35791855e-02 -3.22473486e-03 9.98558397e-01 2.58585862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.51, Y:49.66, Z:25.86 [[ 9.85268649e-01 -1.62429375e-01 -5.35012800e-02 5.46510757e+02] [ 1.62365262e-01 9.86714993e-01 -5.57176740e-03 4.96612949e+01] [ 5.36955338e-02 -3.19706162e-03 9.98552236e-01 2.58596546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.54, Y:49.67, Z:25.86 [[ 9.85599240e-01 -1.59938983e-01 -5.48968141e-02 5.46539778e+02] [ 1.59867631e-01 9.87121904e-01 -5.71724021e-03 4.96657811e+01] [ 5.51042572e-02 -3.14131602e-03 9.98475665e-01 2.58599379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.57, Y:49.67, Z:25.86 [[ 9.85819867e-01 -1.58367371e-01 -5.54884291e-02 5.46568818e+02] [ 1.58291929e-01 9.87375439e-01 -5.78001769e-03 4.96710580e+01] [ 5.57032783e-02 -3.08531421e-03 9.98442600e-01 2.58608731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.60, Y:49.67, Z:25.86 [[ 9.86088404e-01 -1.56540290e-01 -5.58998930e-02 5.46597595e+02] [ 1.56460686e-01 9.87667011e-01 -5.82492158e-03 4.96741158e+01] [ 5.61223151e-02 -3.00224797e-03 9.98419387e-01 2.58620237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.63, Y:49.68, Z:25.86 [[ 9.86414380e-01 -1.54453936e-01 -5.59522281e-02 5.46627305e+02] [ 1.54370741e-01 9.87995780e-01 -5.83208142e-03 4.96830033e+01] [ 5.61813531e-02 -2.88453795e-03 9.98416414e-01 2.58642658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.66, Y:49.69, Z:25.87 [[ 9.87256983e-01 -1.48965179e-01 -5.59734309e-02 5.46656308e+02] [ 1.48873110e-01 9.88839095e-01 -5.83448166e-03 4.96903305e+01] [ 5.62178513e-02 -2.57280596e-03 9.98415211e-01 2.58663778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.69, Y:49.70, Z:25.87 [[ 9.87718178e-01 -1.45924547e-01 -5.58464684e-02 5.46685183e+02] [ 1.45827970e-01 9.89292829e-01 -5.82258559e-03 4.96954590e+01] [ 5.60981688e-02 -2.39290351e-03 9.98422390e-01 2.58681902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.71, Y:49.70, Z:25.87 [[ 9.88189744e-01 -1.42674504e-01 -5.59018378e-02 5.46714650e+02] [ 1.42572450e-01 9.89767198e-01 -5.83005815e-03 4.97043493e+01] [ 5.61616060e-02 -2.20885831e-03 9.98419248e-01 2.58707123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.74, Y:49.71, Z:25.87 [[ 9.89184247e-01 -1.35648631e-01 -5.58030024e-02 5.46743271e+02] [ 1.35535762e-01 9.90755361e-01 -5.81990689e-03 4.97141064e+01] [ 5.60765862e-02 -1.80634221e-03 9.98424836e-01 2.58730558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.77, Y:49.72, Z:25.88 [[ 9.89661182e-01 -1.32108648e-01 -5.58395004e-02 5.46773198e+02] [ 1.31989954e-01 9.91233941e-01 -5.82457941e-03 4.97220109e+01] [ 5.61194854e-02 -1.60589297e-03 9.98422768e-01 2.58753753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.80, Y:49.73, Z:25.88 [[ 9.90148573e-01 -1.28372510e-01 -5.59133438e-02 5.46803650e+02] [ 1.28247560e-01 9.91725037e-01 -5.83212217e-03 4.97288392e+01] [ 5.61993472e-02 -1.39608249e-03 9.98418592e-01 2.58771861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.83, Y:49.74, Z:25.88 [[ 9.90569573e-01 -1.24915037e-01 -5.62863698e-02 5.46833471e+02] [ 1.24782887e-01 9.92166706e-01 -5.87015232e-03 4.97351180e+01] [ 5.65787324e-02 -1.20878144e-03 9.98397409e-01 2.58785733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.86, Y:49.74, Z:25.88 [[ 9.91331587e-01 -1.18346309e-01 -5.70599332e-02 5.46862996e+02] [ 1.18199623e-01 9.92972022e-01 -5.95082789e-03 4.97447014e+01] [ 5.73631758e-02 -8.45218921e-04 9.98353020e-01 2.58805744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.89, Y:49.75, Z:25.88 [[ 9.91638403e-01 -1.15465977e-01 -5.76271201e-02 5.46893127e+02] [ 1.15311498e-01 9.93311199e-01 -6.00998028e-03 4.97506960e+01] [ 5.79356120e-02 -6.85342313e-04 9.98320087e-01 2.58821994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.92, Y:49.76, Z:25.88 [[ 9.91929041e-01 -1.12829362e-01 -5.78473246e-02 5.46922467e+02] [ 1.12669197e-01 9.93614236e-01 -6.03333647e-03 4.97564470e+01] [ 5.81586628e-02 -5.32969953e-04 9.98307210e-01 2.58837568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.95, Y:49.76, Z:25.88 [[ 9.92199171e-01 -1.10249568e-01 -5.81879545e-02 5.46951227e+02] [ 1.10082950e-01 9.93903862e-01 -6.07101852e-03 4.97614830e+01] [ 5.85025599e-02 -3.81842113e-04 9.98287185e-01 2.58846705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:546.98, Y:49.77, Z:25.89 [[ 9.92418062e-01 -1.08175793e-01 -5.83471271e-02 5.46979565e+02] [ 1.08004410e-01 9.94131748e-01 -6.09221685e-03 4.97667320e+01] [ 5.86637618e-02 -2.55720977e-04 9.98277766e-01 2.58865698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.01, Y:49.77, Z:25.89 [[ 9.92848544e-01 -1.04470576e-01 -5.77725458e-02 5.47006521e+02] [ 1.04295526e-01 9.94527978e-01 -6.04524324e-03 4.97725926e+01] [ 5.80879631e-02 -2.34071244e-05 9.98311468e-01 2.58871902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.03, Y:49.78, Z:25.89 [[ 9.92974917e-01 -1.03444963e-01 -5.74452190e-02 5.47033726e+02] [ 1.03269759e-01 9.94635178e-01 -6.01823612e-03 4.97763655e+01] [ 5.77595919e-02 4.36036038e-05 9.98330520e-01 2.58889814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.06, Y:49.78, Z:25.89 [[ 9.93085301e-01 -1.02630226e-01 -5.69966795e-02 5.47060747e+02] [ 1.02455552e-01 9.94719571e-01 -5.98617526e-03 4.97800411e+01] [ 5.73100752e-02 1.05156410e-04 9.98356421e-01 2.58904291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.09, Y:49.78, Z:25.89 [[ 9.93137574e-01 -1.02929572e-01 -5.55271333e-02 5.47089629e+02] [ 1.02763796e-01 9.94688642e-01 -5.84019462e-03 4.97832254e+01] [ 5.58333375e-02 9.39377109e-05 9.98440098e-01 2.58930982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.12, Y:49.79, Z:25.89 [[ 9.93030735e-01 -1.04301131e-01 -5.48747134e-02 5.47118426e+02] [ 1.04140548e-01 9.94545762e-01 -5.78559789e-03 4.97853489e+01] [ 5.51788580e-02 3.05937864e-05 9.98476486e-01 2.58949372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.15, Y:49.79, Z:25.90 [[ 9.92889265e-01 -1.05905910e-01 -5.43584907e-02 5.47148438e+02] [ 1.05750063e-01 9.94376154e-01 -5.74353783e-03 4.97871801e+01] [ 5.46610616e-02 -4.57167421e-05 9.98504966e-01 2.58964052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.18, Y:49.79, Z:25.90 [[ 9.92450051e-01 -1.10368285e-01 -5.34952147e-02 5.47177776e+02] [ 1.10223715e-01 9.93890719e-01 -5.65438161e-03 4.97863468e+01] [ 5.37924618e-02 -2.84749980e-04 9.98552097e-01 2.58973710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.21, Y:49.79, Z:25.90 [[ 9.92092334e-01 -1.13520460e-01 -5.35341581e-02 5.47207131e+02] [ 1.13380118e-01 9.93535555e-01 -5.66120786e-03 4.97863745e+01] [ 5.38307525e-02 -4.53268229e-04 9.98549971e-01 2.58981587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.24, Y:49.79, Z:25.90 [[ 9.92092334e-01 -1.13520501e-01 -5.35340685e-02 5.47236932e+02] [ 1.13380112e-01 9.93535551e-01 -5.66205531e-03 4.97895269e+01] [ 5.38307596e-02 -4.52417032e-04 9.98549971e-01 2.58995846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.27, Y:49.79, Z:25.90 [[ 9.91705383e-01 -1.16939406e-01 -5.33442494e-02 5.47267542e+02] [ 1.16804952e-01 9.93138848e-01 -5.64197900e-03 4.97902807e+01] [ 5.36380161e-02 -6.35691554e-04 9.98560243e-01 2.59008775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.30, Y:49.79, Z:25.90 [[ 9.90820102e-01 -1.24388338e-01 -5.29439906e-02 5.47298109e+02] [ 1.24266505e-01 9.92233077e-01 -5.59974873e-03 4.97878103e+01] [ 5.32293221e-02 -1.03082104e-03 9.98581783e-01 2.59022135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.33, Y:49.79, Z:25.90 [[ 9.90352514e-01 -1.28120069e-01 -5.27934254e-02 5.47329660e+02] [ 1.28004186e-01 9.91757905e-01 -5.58447638e-03 4.97888671e+01] [ 5.30737804e-02 -1.22717924e-03 9.98589840e-01 2.59037044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.36, Y:49.79, Z:25.90 [[ 9.89869099e-01 -1.31768114e-01 -5.28803508e-02 5.47360823e+02] [ 1.31657148e-01 9.91279541e-01 -5.59172806e-03 4.97892785e+01] [ 5.31560214e-02 -1.42699737e-03 9.98585200e-01 2.59048301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.39, Y:49.79, Z:25.91 [[ 9.89372639e-01 -1.35318324e-01 -5.32046221e-02 5.47391968e+02] [ 1.35211222e-01 9.90800835e-01 -5.62404717e-03 4.97900052e+01] [ 5.34762207e-02 -1.62958358e-03 9.98567794e-01 2.59059257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.42, Y:49.79, Z:25.91 [[ 9.88499198e-01 -1.41368564e-01 -5.37053521e-02 5.47422446e+02] [ 1.41268437e-01 9.89955060e-01 -5.67520371e-03 4.97873528e+01] [ 5.39681805e-02 -1.97693683e-03 9.98540699e-01 2.59064092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.45, Y:49.79, Z:25.91 [[ 9.88173379e-01 -1.43591639e-01 -5.38034721e-02 5.47452905e+02] [ 1.43494446e-01 9.89634792e-01 -5.68531253e-03 4.97877465e+01] [ 5.40621513e-02 -2.10242494e-03 9.98535359e-01 2.59074133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.48, Y:49.78, Z:25.91 [[ 9.87729344e-01 -1.46847444e-01 -5.31654985e-02 5.47483282e+02] [ 1.46757368e-01 9.89156580e-01 -5.61562127e-03 4.97843138e+01] [ 5.34136423e-02 -2.25571471e-03 9.98569925e-01 2.59082118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.51, Y:49.79, Z:25.91 [[ 9.87575328e-01 -1.47911878e-01 -5.30758610e-02 5.47514206e+02] [ 1.47823830e-01 9.88997840e-01 -5.60255194e-03 4.97910432e+01] [ 5.33205958e-02 -2.31293499e-03 9.98574767e-01 2.59102637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.54, Y:49.79, Z:25.91 [[ 9.87484919e-01 -1.48521195e-01 -5.30564740e-02 5.47544523e+02] [ 1.48434185e-01 9.88906440e-01 -5.59869366e-03 4.97919145e+01] [ 5.32994135e-02 -2.34676890e-03 9.98575818e-01 2.59112887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.58, Y:49.79, Z:25.91 [[ 9.87401014e-01 -1.49133045e-01 -5.29015321e-02 5.47575256e+02] [ 1.49047468e-01 9.88814290e-01 -5.58139870e-03 4.97946763e+01] [ 5.31421619e-02 -2.37376067e-03 9.98584136e-01 2.59123409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.61, Y:49.80, Z:25.91 [[ 9.87362105e-01 -1.49260985e-01 -5.32656670e-02 5.47605684e+02] [ 1.49174468e-01 9.88794927e-01 -5.61876253e-03 4.98001499e+01] [ 5.35074834e-02 -2.39812436e-03 9.98564569e-01 2.59137258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.64, Y:49.80, Z:25.91 [[ 9.87226653e-01 -1.49996892e-01 -5.37072481e-02 5.47636366e+02] [ 1.49910121e-01 9.88683408e-01 -5.66350278e-03 4.98036244e+01] [ 5.39489729e-02 -2.46009916e-03 9.98540663e-01 2.59143910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.67, Y:49.81, Z:25.92 [[ 9.87141819e-01 -1.50414001e-01 -5.40985979e-02 5.47666308e+02] [ 1.50326640e-01 9.88619931e-01 -5.70379093e-03 4.98055518e+01] [ 5.43408821e-02 -2.50200988e-03 9.98519308e-01 2.59156046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.70, Y:49.81, Z:25.92 [[ 9.87021419e-01 -1.51234883e-01 -5.40067475e-02 5.47696950e+02] [ 1.51149089e-01 9.88494583e-01 -5.69326346e-03 4.98086549e+01] [ 5.42463974e-02 -2.54369769e-03 9.98524340e-01 2.59167536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.73, Y:49.81, Z:25.92 [[ 9.86851854e-01 -1.52285329e-01 -5.41534490e-02 5.47727321e+02] [ 1.52200644e-01 9.88333129e-01 -5.70872838e-03 4.98117263e+01] [ 5.43910033e-02 -2.60852065e-03 9.98516307e-01 2.59179554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.76, Y:49.82, Z:25.92 [[ 9.86305653e-01 -1.55529925e-01 -5.48780561e-02 5.47757418e+02] [ 1.55447967e-01 9.87827142e-01 -5.78506693e-03 4.98150444e+01] [ 5.51097844e-02 -2.82483802e-03 9.98476305e-01 2.59185631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.79, Y:49.82, Z:25.92 [[ 9.85997563e-01 -1.57335236e-01 -5.52668929e-02 5.47788250e+02] [ 1.57254971e-01 9.87540854e-01 -5.82546122e-03 4.98217849e+01] [ 5.54948649e-02 -2.94710306e-03 9.98454623e-01 2.59202953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.82, Y:49.82, Z:25.92 [[ 9.85712642e-01 -1.58845096e-01 -5.60251987e-02 5.47818592e+02] [ 1.58765188e-01 9.87298725e-01 -5.90284445e-03 4.98180447e+01] [ 5.62512451e-02 -3.07634281e-03 9.98411906e-01 2.59199518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.85, Y:49.82, Z:25.92 [[ 9.85072590e-01 -1.62409394e-01 -5.70542023e-02 5.47848801e+02] [ 1.62332720e-01 9.86717793e-01 -6.00703203e-03 4.98232904e+01] [ 5.72719950e-02 -3.34440122e-03 9.98353010e-01 2.59212081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.88, Y:49.83, Z:25.92 [[ 9.84961368e-01 -1.63089580e-01 -5.70341290e-02 5.47879512e+02] [ 1.63014116e-01 9.86605465e-01 -6.00455693e-03 4.98302684e+01] [ 5.72494640e-02 -3.38311149e-03 9.98354172e-01 2.59231281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.91, Y:49.83, Z:25.92 [[ 9.84922485e-01 -1.63318161e-01 -5.70515192e-02 5.47909532e+02] [ 1.63243165e-01 9.86567595e-01 -6.00407336e-03 4.98322645e+01] [ 5.72657543e-02 -3.39972372e-03 9.98353182e-01 2.59243678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.94, Y:49.84, Z:25.93 [[ 9.85002965e-01 -1.62803376e-01 -5.71333530e-02 5.47939842e+02] [ 1.62727481e-01 9.86652751e-01 -6.00958643e-03 4.98392873e+01] [ 5.73491609e-02 -3.37770615e-03 9.98348469e-01 2.59265817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:547.97, Y:49.84, Z:25.93 [[ 9.85554320e-01 -1.59591661e-01 -5.66849592e-02 5.47969609e+02] [ 1.59511757e-01 9.87178033e-01 -5.96068860e-03 4.98438833e+01] [ 5.69094227e-02 -3.16733502e-03 9.98374321e-01 2.59290763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.00, Y:49.85, Z:25.93 [[ 9.86057629e-01 -1.56719755e-01 -5.59398811e-02 5.47999796e+02] [ 1.56637338e-01 9.87638671e-01 -5.88218401e-03 4.98532280e+01] [ 5.61702443e-02 -2.96210164e-03 9.98416812e-01 2.59319643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.03, Y:49.86, Z:25.93 [[ 9.86610197e-01 -1.53511179e-01 -5.50875448e-02 5.48029057e+02] [ 1.53426304e-01 9.88143119e-01 -5.79186368e-03 4.98573845e+01] [ 5.53234941e-02 -2.73756663e-03 9.98464730e-01 2.59340239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.06, Y:49.87, Z:25.94 [[ 9.87872060e-01 -1.45569173e-01 -5.40223043e-02 5.48058101e+02] [ 1.45475644e-01 9.89345524e-01 -5.68071069e-03 4.98739995e+01] [ 5.42736613e-02 -2.24711415e-03 9.98523570e-01 2.59379788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.09, Y:49.88, Z:25.94 [[ 9.88456350e-01 -1.41584461e-01 -5.39248113e-02 5.48087845e+02] [ 1.41485388e-01 9.89924108e-01 -5.66977267e-03 4.98803096e+01] [ 5.41842224e-02 -2.02525004e-03 9.98528902e-01 2.59401002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.12, Y:49.89, Z:25.94 [[ 9.89056461e-01 -1.37390131e-01 -5.37705233e-02 5.48117546e+02] [ 1.37285724e-01 9.90515385e-01 -5.64818220e-03 4.98858084e+01] [ 5.40365350e-02 -1.79555412e-03 9.98537345e-01 2.59415676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.15, Y:49.89, Z:25.94 [[ 9.89595845e-01 -1.33413063e-01 -5.38610973e-02 5.48148321e+02] [ 1.33302489e-01 9.91059257e-01 -5.65644737e-03 4.98948534e+01] [ 5.41341830e-02 -1.58222149e-03 9.98532417e-01 2.59433531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.18, Y:49.90, Z:25.94 [[ 9.90480350e-01 -1.26140423e-01 -5.51114325e-02 5.48177613e+02] [ 1.26013552e-01 9.92011652e-01 -5.78505109e-03 4.99040678e+01] [ 5.54009120e-02 -1.21480795e-03 9.98463451e-01 2.59446547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.21, Y:49.91, Z:25.95 [[ 9.90834854e-01 -1.22992540e-01 -5.58491491e-02 5.48208444e+02] [ 1.22857269e-01 9.92407037e-01 -5.86217361e-03 4.99106285e+01] [ 5.61460922e-02 -1.05302801e-03 9.98422009e-01 2.59460357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.24, Y:49.91, Z:25.95 [[ 9.91185814e-01 -1.19722952e-01 -5.67194578e-02 5.48239119e+02] [ 1.19578201e-01 9.92806947e-01 -5.95141704e-03 4.99142866e+01] [ 5.70239930e-02 -8.83450617e-04 9.98372417e-01 2.59461969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.27, Y:49.92, Z:25.95 [[ 9.91470170e-01 -1.16865955e-01 -5.76996572e-02 5.48269717e+02] [ 1.16711445e-01 9.93147426e-01 -6.05213787e-03 4.99221524e+01] [ 5.80115549e-02 -7.33696200e-04 9.98315642e-01 2.59485588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.30, Y:49.93, Z:25.95 [[ 9.92037779e-01 -1.11167733e-01 -5.91842910e-02 5.48300641e+02] [ 1.10995158e-01 9.93801572e-01 -6.20566332e-03 4.99302978e+01] [ 5.95073109e-02 -4.12917258e-04 9.98227784e-01 2.59503099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.33, Y:49.94, Z:25.95 [[ 9.92314897e-01 -1.08329289e-01 -5.97989236e-02 5.48330096e+02] [ 1.08148065e-01 9.94115036e-01 -6.26833627e-03 4.99353132e+01] [ 6.01260535e-02 -2.46974389e-04 9.98190762e-01 2.59512794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.36, Y:49.94, Z:25.95 [[ 9.92582560e-01 -1.05609674e-01 -6.02200743e-02 5.48359708e+02] [ 1.05420888e-01 9.94407658e-01 -6.31240923e-03 4.99405904e+01] [ 6.05499546e-02 -8.28664192e-05 9.98165165e-01 2.59534996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.39, Y:49.95, Z:25.96 [[ 9.92834312e-01 -1.03005265e-01 -6.05800724e-02 5.48388637e+02] [ 1.02809338e-01 9.94680808e-01 -6.35063251e-03 4.99453886e+01] [ 6.09119839e-02 7.69286965e-05 9.98143138e-01 2.59550204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.42, Y:49.95, Z:25.96 [[ 9.93076891e-01 -1.00595087e-01 -6.06540713e-02 5.48416738e+02] [ 1.00394038e-01 9.94927423e-01 -6.36084938e-03 4.99500913e+01] [ 6.09862691e-02 2.27505375e-04 9.98138579e-01 2.59562846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.45, Y:49.96, Z:25.96 [[ 9.93485483e-01 -9.66491594e-02 -6.03782647e-02 5.48445222e+02] [ 9.64424551e-02 9.95318400e-01 -6.33518786e-03 4.99560585e+01] [ 6.07078885e-02 4.70889085e-04 9.98155464e-01 2.59585372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.47, Y:49.96, Z:25.96 [[ 9.93650821e-01 -9.49735040e-02 -6.03164979e-02 5.48472566e+02] [ 9.47639140e-02 9.95479634e-01 -6.33239846e-03 4.99597023e+01] [ 6.06452553e-02 5.76365516e-04 9.98159216e-01 2.59600022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.50, Y:49.96, Z:25.96 [[ 9.93761206e-01 -9.41712411e-02 -5.97531792e-02 5.48500030e+02] [ 9.39636409e-02 9.95555817e-01 -6.28093342e-03 4.99627884e+01] [ 6.00791084e-02 6.27121700e-04 9.98193422e-01 2.59618887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.53, Y:49.96, Z:25.96 [[ 9.93837593e-01 -9.39755421e-02 -5.87829594e-02 5.48528624e+02] [ 9.37733417e-02 9.95574298e-01 -6.19502872e-03 4.99642531e+01] [ 5.91049847e-02 6.44577894e-04 9.98251564e-01 2.59646154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.56, Y:49.97, Z:25.97 [[ 9.93801595e-01 -9.43979465e-02 -5.87147051e-02 5.48555878e+02] [ 9.41961824e-02 9.95534343e-01 -6.20085293e-03 4.99659952e+01] [ 5.90378532e-02 6.31716468e-04 9.98255545e-01 2.59658464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.58, Y:49.97, Z:25.97 [[ 9.93719188e-01 -9.54265553e-02 -5.84461152e-02 5.48584659e+02] [ 9.52279987e-02 9.95436307e-01 -6.17950813e-03 4.99674342e+01] [ 5.87690743e-02 5.74989208e-04 9.98271439e-01 2.59670961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.61, Y:49.97, Z:25.97 [[ 9.93566260e-01 -9.68200903e-02 -5.87533534e-02 5.48613887e+02] [ 9.66209984e-02 9.95301768e-01 -6.22676125e-03 4.99683044e+01] [ 5.90801922e-02 5.09892227e-04 9.98253110e-01 2.59689453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.64, Y:49.97, Z:25.97 [[ 9.93216630e-01 -1.00495544e-01 -5.84924973e-02 5.48643027e+02] [ 1.00303715e-01 9.94937462e-01 -6.21385499e-03 4.99665081e+01] [ 5.88208416e-02 3.04689323e-04 9.98268509e-01 2.59699657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.67, Y:49.97, Z:25.97 [[ 9.92942671e-01 -1.02910962e-01 -5.89422208e-02 5.48671806e+02] [ 1.02719526e-01 9.94690556e-01 -6.27668945e-03 4.99662247e+01] [ 5.92752105e-02 1.77875839e-04 9.98241663e-01 2.59710270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.70, Y:49.97, Z:25.97 [[ 9.92653967e-01 -1.05743301e-01 -5.87916286e-02 5.48700262e+02] [ 1.05556919e-01 9.94393460e-01 -6.27561225e-03 4.99659918e+01] [ 5.91256150e-02 2.36482469e-05 9.98250550e-01 2.59713510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.73, Y:49.97, Z:25.97 [[ 9.92352727e-01 -1.08429772e-01 -5.89834679e-02 5.48729272e+02] [ 1.08246015e-01 9.94104104e-01 -6.31114507e-03 4.99658986e+01] [ 5.93200235e-02 -1.21843321e-04 9.98239009e-01 2.59728982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.76, Y:49.96, Z:25.97 [[ 9.91749254e-01 -1.13567627e-01 -5.94626848e-02 5.48758325e+02] [ 1.13389294e-01 9.93530180e-01 -6.37571195e-03 4.99625499e+01] [ 5.98020464e-02 -4.19324280e-04 9.98210168e-01 2.59726493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.79, Y:49.96, Z:25.97 [[ 9.91474120e-01 -1.15898551e-01 -5.95532915e-02 5.48787366e+02] [ 1.15723608e-01 9.93260901e-01 -6.38984562e-03 4.99621915e+01] [ 5.98925298e-02 -5.56355188e-04 9.98204676e-01 2.59733815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.82, Y:49.96, Z:25.97 [[ 9.91004683e-01 -1.20401043e-01 -5.84235207e-02 5.48816489e+02] [ 1.20240137e-01 9.92725006e-01 -6.27464522e-03 4.99593467e+01] [ 5.87539637e-02 -8.06649357e-04 9.98272168e-01 2.59746277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.85, Y:49.96, Z:25.98 [[ 9.90804068e-01 -1.22094395e-01 -5.83117195e-02 5.48847355e+02] [ 1.21936344e-01 9.92518091e-01 -6.27439125e-03 4.99607613e+01] [ 5.86415045e-02 -8.93625502e-04 9.98278706e-01 2.59763667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.88, Y:49.96, Z:25.98 [[ 9.90628273e-01 -1.23531133e-01 -5.82724967e-02 5.48877555e+02] [ 1.23375777e-01 9.92340215e-01 -6.27017084e-03 4.99617158e+01] [ 5.86007032e-02 -9.78006046e-04 9.98281023e-01 2.59773720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.91, Y:49.96, Z:25.98 [[ 9.90444753e-01 -1.25048118e-01 -5.81563425e-02 5.48908140e+02] [ 1.24895992e-01 9.92150106e-01 -6.25767254e-03 4.99630692e+01] [ 5.84823315e-02 -1.06561514e-03 9.98287875e-01 2.59788804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.94, Y:49.96, Z:25.98 [[ 9.90245639e-01 -1.26697665e-01 -5.79765103e-02 5.48938778e+02] [ 1.26549302e-01 9.91940703e-01 -6.23832244e-03 4.99641498e+01] [ 5.82996412e-02 -1.15941533e-03 9.98298456e-01 2.59803945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:548.97, Y:49.96, Z:25.98 [[ 9.89766228e-01 -1.30747918e-01 -5.71646417e-02 5.48969325e+02] [ 1.30610426e-01 9.91414687e-01 -6.15096469e-03 4.99627931e+01] [ 5.74780912e-02 -1.37828110e-03 9.98345817e-01 2.59812511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.00, Y:49.96, Z:25.98 [[ 9.89462151e-01 -1.33031252e-01 -5.71606393e-02 5.48999287e+02] [ 1.32897572e-01 9.91110692e-01 -6.15071389e-03 4.99626976e+01] [ 5.74707579e-02 -1.51061158e-03 9.98346047e-01 2.59819958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.03, Y:49.96, Z:25.98 [[ 9.89107075e-01 -1.35569982e-01 -5.73408521e-02 5.49029783e+02] [ 1.35439665e-01 9.90766378e-01 -6.17096528e-03 4.99631387e+01] [ 5.76479860e-02 -1.66248040e-03 9.98335588e-01 2.59827271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.06, Y:49.96, Z:25.98 [[ 9.88456678e-01 -1.40311351e-01 -5.71499827e-02 5.49059703e+02] [ 1.40189793e-01 9.90105546e-01 -6.15065633e-03 4.99632851e+01] [ 5.74475217e-02 -1.93218690e-03 9.98346658e-01 2.59838258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.09, Y:49.96, Z:25.98 [[ 9.88124924e-01 -1.42535299e-01 -5.73831209e-02 5.49089708e+02] [ 1.42416413e-01 9.89787558e-01 -6.17704611e-03 4.99632607e+01] [ 5.76775462e-02 -2.06860505e-03 9.98333122e-01 2.59844164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.12, Y:49.97, Z:25.99 [[ 9.88124924e-01 -1.42535340e-01 -5.73830284e-02 5.49119522e+02] [ 1.42416404e-01 9.89787554e-01 -6.17790512e-03 4.99664709e+01] [ 5.76775771e-02 -2.06774256e-03 9.98333122e-01 2.59858432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.15, Y:49.97, Z:25.99 [[ 9.87805550e-01 -1.44729713e-01 -5.73890702e-02 5.49149539e+02] [ 1.44614436e-01 9.89468791e-01 -6.17874112e-03 4.99674254e+01] [ 5.76789413e-02 -2.19589322e-03 9.98332769e-01 2.59868011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.18, Y:49.97, Z:25.99 [[ 9.87541713e-01 -1.46464758e-01 -5.75277351e-02 5.49180308e+02] [ 1.46351808e-01 9.89213211e-01 -6.19453660e-03 4.99687521e+01] [ 5.78144769e-02 -2.30192477e-03 9.98324690e-01 2.59879524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.21, Y:49.97, Z:25.99 [[ 9.87337846e-01 -1.47851834e-01 -5.74788025e-02 5.49208880e+02] [ 1.47741389e-01 9.89006657e-01 -6.18982249e-03 4.99691188e+01] [ 5.77620950e-02 -2.38055211e-03 9.98327538e-01 2.59888343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.24, Y:49.97, Z:25.99 [[ 9.87196469e-01 -1.48895984e-01 -5.72111705e-02 5.49238531e+02] [ 1.48788145e-01 9.88849884e-01 -6.16391559e-03 4.99734531e+01] [ 5.74910417e-02 -2.42734825e-03 9.98343071e-01 2.59908122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.27, Y:49.98, Z:25.99 [[ 9.87103964e-01 -1.49623487e-01 -5.69085012e-02 5.49268752e+02] [ 1.49517893e-01 9.88739999e-01 -6.13302349e-03 4.99768017e+01] [ 5.71853557e-02 -2.45490740e-03 9.98360560e-01 2.59929761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.30, Y:49.98, Z:25.99 [[ 9.87192468e-01 -1.49162777e-01 -5.65817785e-02 5.49298690e+02] [ 1.49057637e-01 9.88809707e-01 -6.09781262e-03 4.99795809e+01] [ 5.68581785e-02 -2.41423152e-03 9.98379346e-01 2.59941720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.33, Y:49.98, Z:26.00 [[ 9.87321397e-01 -1.48484827e-01 -5.61134068e-02 5.49328223e+02] [ 1.48380319e-01 9.88911881e-01 -6.04749704e-03 4.99796699e+01] [ 5.63891762e-02 -2.35530199e-03 9.98406086e-01 2.59950555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.36, Y:49.99, Z:26.00 [[ 9.87700091e-01 -1.46077652e-01 -5.57660316e-02 5.49358232e+02] [ 1.45970566e-01 9.89270673e-01 -6.01075292e-03 4.99890227e+01] [ 5.60457363e-02 -2.20337801e-03 9.98425771e-01 2.59975201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.39, Y:49.99, Z:26.00 [[ 9.87943414e-01 -1.44460585e-01 -5.56682071e-02 5.49388810e+02] [ 1.44351397e-01 9.89508307e-01 -5.99869752e-03 4.99888602e+01] [ 5.59507287e-02 -2.10940977e-03 9.98431303e-01 2.59977697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.42, Y:49.99, Z:26.00 [[ 9.88191599e-01 -1.42758012e-01 -5.56553115e-02 5.49418375e+02] [ 1.42646363e-01 9.89755569e-01 -5.99402314e-03 4.99935509e+01] [ 5.59408494e-02 -2.01578449e-03 9.98432050e-01 2.59990408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.45, Y:50.00, Z:26.00 [[ 9.88394949e-01 -1.41285981e-01 -5.58005127e-02 5.49447026e+02] [ 1.41171291e-01 9.89966932e-01 -6.01173502e-03 4.99977486e+01] [ 5.60900362e-02 -1.93546190e-03 9.98423839e-01 2.60001465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.48, Y:50.01, Z:26.00 [[ 9.88898978e-01 -1.37821263e-01 -5.55347794e-02 5.49477069e+02] [ 1.37702081e-01 9.90455608e-01 -5.98536992e-03 5.00085140e+01] [ 5.58296449e-02 -1.72832847e-03 9.98438813e-01 2.60026845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.51, Y:50.01, Z:26.00 [[ 9.89132434e-01 -1.36132954e-01 -5.55413892e-02 5.49506858e+02] [ 1.36011134e-01 9.90689229e-01 -5.98521802e-03 5.00127403e+01] [ 5.58390414e-02 -1.63407405e-03 9.98438446e-01 2.60039764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.54, Y:50.02, Z:26.01 [[ 9.89327905e-01 -1.34780328e-01 -5.53584634e-02 5.49537456e+02] [ 1.34657202e-01 9.90874287e-01 -5.96535722e-03 5.00173672e+01] [ 5.56572907e-02 -1.55272145e-03 9.98448724e-01 2.60053542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.57, Y:50.02, Z:26.01 [[ 9.89686239e-01 -1.32353747e-01 -5.48054244e-02 5.49567383e+02] [ 1.32229408e-01 9.91201552e-01 -5.90476937e-03 5.00218444e+01] [ 5.51047401e-02 -1.40301985e-03 9.98479594e-01 2.60072960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.60, Y:50.03, Z:26.01 [[ 9.89844091e-01 -1.31287536e-01 -5.45184253e-02 5.49597643e+02] [ 1.31162928e-01 9.91343429e-01 -5.87299511e-03 5.00263678e+01] [ 5.48175338e-02 -1.33744682e-03 9.98495493e-01 2.60091596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.63, Y:50.03, Z:26.01 [[ 9.89935585e-01 -1.30777616e-01 -5.40809768e-02 5.49628289e+02] [ 1.30654248e-01 9.91410878e-01 -5.82574761e-03 5.00308561e+01] [ 5.43783460e-02 -1.29879445e-03 9.98519558e-01 2.60109564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.66, Y:50.03, Z:26.01 [[ 9.90044214e-01 -1.30352439e-01 -5.31102156e-02 5.49657615e+02] [ 1.30232889e-01 9.91466929e-01 -5.72044231e-03 5.00336128e+01] [ 5.34026960e-02 -1.25320602e-03 9.98572272e-01 2.60125605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.69, Y:50.04, Z:26.01 [[ 9.90093474e-01 -1.30382527e-01 -5.21086225e-02 5.49687850e+02] [ 1.30267443e-01 9.91463001e-01 -5.61339323e-03 5.00374485e+01] [ 5.23956596e-02 -1.23027299e-03 9.98625646e-01 2.60146195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.72, Y:50.04, Z:26.02 [[ 9.89971899e-01 -1.31622096e-01 -5.12958473e-02 5.49719191e+02] [ 1.31512245e-01 9.91299146e-01 -5.52569334e-03 5.00400811e+01] [ 5.15768330e-02 -1.27575091e-03 9.98668215e-01 2.60163310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.75, Y:50.04, Z:26.02 [[ 9.89779865e-01 -1.32938747e-01 -5.16053092e-02 5.49750856e+02] [ 1.32829448e-01 9.91123330e-01 -5.55718686e-03 5.00421087e+01] [ 5.18859914e-02 -1.35431307e-03 9.98652096e-01 2.60173677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.78, Y:50.05, Z:26.02 [[ 9.89182726e-01 -1.37492448e-01 -5.11210376e-02 5.49782258e+02] [ 1.37391352e-01 9.90501555e-01 -5.50324042e-03 5.00453305e+01] [ 5.13921212e-02 -1.57987812e-03 9.98677302e-01 2.60187002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.81, Y:50.05, Z:26.02 [[ 9.88814617e-01 -1.40092393e-01 -5.11837406e-02 5.49813898e+02] [ 1.39994627e-01 9.90136943e-01 -5.50800962e-03 5.00472071e+01] [ 5.14505427e-02 -1.71904825e-03 9.98674064e-01 2.60200810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.84, Y:50.05, Z:26.02 [[ 9.88349237e-01 -1.43274769e-01 -5.13626872e-02 5.49844609e+02] [ 1.43180747e-01 9.89681137e-01 -5.52453710e-03 5.00475642e+01] [ 5.16242095e-02 -1.89397588e-03 9.98664786e-01 2.60213051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.88, Y:50.05, Z:26.02 [[ 9.87856329e-01 -1.46404763e-01 -5.20145989e-02 5.49875747e+02] [ 1.46312721e-01 9.89222573e-01 -5.59360021e-03 5.00492469e+01] [ 5.22729451e-02 -2.08472415e-03 9.98630659e-01 2.60226433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.91, Y:50.05, Z:26.02 [[ 9.86874492e-01 -1.52924409e-01 -5.18927937e-02 5.49905793e+02] [ 1.52841872e-01 9.88234911e-01 -5.57870751e-03 5.00482263e+01] [ 5.21353909e-02 -2.42590761e-03 9.98637079e-01 2.60244060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.94, Y:50.05, Z:26.03 [[ 9.86440329e-01 -1.55658982e-01 -5.20169077e-02 5.49937122e+02] [ 1.55579886e-01 9.87807490e-01 -5.59114342e-03 5.00512010e+01] [ 5.22530028e-02 -2.57745524e-03 9.98630553e-01 2.60264615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:549.97, Y:50.05, Z:26.03 [[ 9.86087442e-01 -1.57832029e-01 -5.21594492e-02 5.49967493e+02] [ 1.57755624e-01 9.87462278e-01 -5.60463901e-03 5.00511707e+01] [ 5.23900801e-02 -2.70178233e-03 9.98623042e-01 2.60280920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.00, Y:50.05, Z:26.03 [[ 9.85833497e-01 -1.59560844e-01 -5.16977109e-02 5.49997451e+02] [ 1.59488198e-01 9.87184211e-01 -5.55417181e-03 5.00525629e+01] [ 5.19213923e-02 -2.76968613e-03 9.98647334e-01 2.60299109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.03, Y:50.06, Z:26.03 [[ 9.85629588e-01 -1.61083727e-01 -5.08561425e-02 5.50028504e+02] [ 1.61015455e-01 9.86936762e-01 -5.46355844e-03 5.00593855e+01] [ 5.10718870e-02 -2.80358009e-03 9.98691044e-01 2.60326266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.06, Y:50.06, Z:26.03 [[ 9.85657174e-01 -1.61104534e-01 -5.02520160e-02 5.50060543e+02] [ 1.61038041e-01 9.86933450e-01 -5.39585740e-03 5.00647646e+01] [ 5.04646926e-02 -2.77402067e-03 9.98721993e-01 2.60343700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.09, Y:50.06, Z:26.04 [[ 9.85709501e-01 -1.60885287e-01 -4.99269930e-02 5.50091839e+02] [ 1.60819564e-01 9.86969285e-01 -5.35712803e-03 5.00633159e+01] [ 5.01382917e-02 -2.74866524e-03 9.98738503e-01 2.60355298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.12, Y:50.08, Z:26.04 [[ 9.85945562e-01 -1.59531473e-01 -4.96090597e-02 5.50122562e+02] [ 1.59465181e-01 9.87189236e-01 -5.31687245e-03 5.00751080e+01] [ 4.98217382e-02 -2.66877090e-03 9.98754560e-01 2.60372276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.15, Y:50.08, Z:26.04 [[ 9.86062408e-01 -1.58736851e-01 -4.98351255e-02 5.50153758e+02] [ 1.58669126e-01 9.87317386e-01 -5.33744543e-03 5.00765257e+01] [ 5.00503351e-02 -2.64424151e-03 9.98743196e-01 2.60386643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.19, Y:50.08, Z:26.04 [[ 9.86196834e-01 -1.57886722e-01 -4.98757170e-02 5.50185711e+02] [ 1.57817943e-01 9.87453792e-01 -5.33899902e-03 5.00817668e+01] [ 5.00929230e-02 -2.60597914e-03 9.98741162e-01 2.60402937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.22, Y:50.09, Z:26.04 [[ 9.86304062e-01 -1.57269579e-01 -4.97048974e-02 5.50217341e+02] [ 1.57200667e-01 9.87552367e-01 -5.31716204e-03 5.00899174e+01] [ 4.99224170e-02 -2.56930450e-03 9.98749794e-01 2.60421187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.25, Y:50.09, Z:26.04 [[ 9.86575105e-01 -1.55581821e-01 -4.96372724e-02 5.50248668e+02] [ 1.55511149e-01 9.87819886e-01 -5.30625626e-03 5.00937681e+01] [ 4.98582417e-02 -2.48412893e-03 9.98753215e-01 2.60435593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.28, Y:50.10, Z:26.05 [[ 9.86731374e-01 -1.54557284e-01 -4.97316920e-02 5.50279701e+02] [ 1.54485228e-01 9.87980814e-01 -5.31271898e-03 5.01020616e+01] [ 4.99550770e-02 -2.44058527e-03 9.98748484e-01 2.60455417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.31, Y:50.11, Z:26.05 [[ 9.86914028e-01 -1.53399244e-01 -4.96927812e-02 5.50311499e+02] [ 1.53326018e-01 9.88161419e-01 -5.30492696e-03 5.01101597e+01] [ 4.99182609e-02 -2.38368944e-03 9.98750462e-01 2.60473828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.34, Y:50.11, Z:26.05 [[ 9.87158270e-01 -1.51704288e-01 -5.00435707e-02 5.50342182e+02] [ 1.51628040e-01 9.88423207e-01 -5.33865767e-03 5.01148184e+01] [ 5.02741239e-02 -2.31790844e-03 9.98732767e-01 2.60486029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.37, Y:50.12, Z:26.05 [[ 9.87674284e-01 -1.47934609e-01 -5.11357079e-02 5.50372217e+02] [ 1.47850102e-01 9.88994752e-01 -5.45233494e-03 5.01220968e+01] [ 5.13795358e-02 -2.17528861e-03 9.98676830e-01 2.60494756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.40, Y:50.13, Z:26.05 [[ 9.88030373e-01 -1.45403861e-01 -5.15140740e-02 5.50403095e+02] [ 1.45314763e-01 9.89370239e-01 -5.49080075e-03 5.01284591e+01] [ 5.17648754e-02 -2.06067756e-03 9.98657174e-01 2.60506148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.43, Y:50.14, Z:26.05 [[ 9.88832588e-01 -1.39495927e-01 -5.24499612e-02 5.50432994e+02] [ 1.39395358e-01 9.90221036e-01 -5.58872022e-03 5.01397722e+01] [ 5.27166587e-02 -1.78497245e-03 9.98607915e-01 2.60519245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.46, Y:50.14, Z:26.05 [[ 9.89311324e-01 -1.35941143e-01 -5.27551852e-02 5.50463012e+02] [ 1.35834404e-01 9.90715614e-01 -5.62028022e-03 5.01438270e+01] [ 5.30294130e-02 -1.60576227e-03 9.98591660e-01 2.60528706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.49, Y:50.15, Z:26.06 [[ 9.89853300e-01 -1.31840573e-01 -5.29953658e-02 5.50493646e+02] [ 1.31727051e-01 9.91269954e-01 -5.64468958e-03 5.01546637e+01] [ 5.32769129e-02 -1.39350865e-03 9.98578804e-01 2.60554006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.52, Y:50.16, Z:26.06 [[ 9.90405172e-01 -1.27433023e-01 -5.34641994e-02 5.50523595e+02] [ 1.27311212e-01 9.91846489e-01 -5.69191646e-03 5.01620742e+01] [ 5.37536166e-02 -1.16928850e-03 9.98553545e-01 2.60569809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.55, Y:50.17, Z:26.06 [[ 9.90966955e-01 -1.22745601e-01 -5.40186275e-02 5.50554636e+02] [ 1.22614359e-01 9.92437736e-01 -5.74965178e-03 5.01701982e+01] [ 5.43158688e-02 -9.25744487e-04 9.98523374e-01 2.60586742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.58, Y:50.18, Z:26.06 [[ 9.92075090e-01 -1.13251410e-01 -5.44163020e-02 5.50584790e+02] [ 1.13104124e-01 9.93566278e-01 -5.78866895e-03 5.01823149e+01] [ 5.47217775e-02 -4.11913889e-04 9.98501556e-01 2.60618872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.62, Y:50.19, Z:26.06 [[ 9.92570371e-01 -1.08975752e-01 -5.41141684e-02 5.50615052e+02] [ 1.08823861e-01 9.94044392e-01 -5.75440904e-03 5.01891561e+01] [ 5.44189767e-02 -1.77256810e-04 9.98518174e-01 2.60638822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.65, Y:50.20, Z:26.07 [[ 9.92973185e-01 -1.05235606e-01 -5.41269025e-02 5.50646789e+02] [ 1.05078258e-01 9.94447317e-01 -5.75266286e-03 5.01957844e+01] [ 5.44317379e-02 2.46793425e-05 9.98517494e-01 2.60661863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.68, Y:50.20, Z:26.07 [[ 9.93290741e-01 -1.02313037e-01 -5.39031286e-02 5.50677792e+02] [ 1.02152894e-01 9.94752236e-01 -5.72506159e-03 5.02016762e+01] [ 5.42060061e-02 1.80290106e-04 9.98529757e-01 2.60669598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.71, Y:50.21, Z:26.07 [[ 9.93570473e-01 -9.93072159e-02 -5.43671990e-02 5.50709071e+02] [ 9.91399597e-02 9.95056761e-01 -5.77149445e-03 5.02069572e+01] [ 5.46716000e-02 3.44424560e-04 9.98504330e-01 2.60689081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.74, Y:50.21, Z:26.07 [[ 9.93560280e-01 -9.92266880e-02 -5.46994965e-02 5.50740369e+02] [ 9.90573648e-02 9.95064793e-01 -5.80481963e-03 5.02100564e+01] [ 5.50055362e-02 3.49050236e-04 9.98485988e-01 2.60704267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.77, Y:50.21, Z:26.07 [[ 9.93490815e-01 -9.98323564e-02 -5.48589184e-02 5.50771104e+02] [ 9.96630760e-02 9.95004222e-01 -5.81975656e-03 5.02127076e+01] [ 5.51658555e-02 3.14466138e-04 9.98477155e-01 2.60719368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.80, Y:50.22, Z:26.07 [[ 9.93309912e-01 -1.01173241e-01 -5.56722052e-02 5.50801285e+02] [ 1.01001110e-01 9.94868794e-01 -5.90414106e-03 5.02153713e+01] [ 5.59838807e-02 2.41687308e-04 9.98431643e-01 2.60730481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.83, Y:50.22, Z:26.07 [[ 9.93097319e-01 -1.03280100e-01 -5.55961819e-02 5.50832621e+02] [ 1.03111802e-01 9.94652304e-01 -5.89492443e-03 5.02172882e+01] [ 5.59076988e-02 1.21611171e-04 9.98435934e-01 2.60747864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.86, Y:50.22, Z:26.08 [[ 9.92450091e-01 -1.08607722e-01 -5.69840256e-02 5.50863184e+02] [ 1.08439790e-01 9.94084669e-01 -6.04014737e-03 5.02165198e+01] [ 5.73029529e-02 -1.84790939e-04 9.98356819e-01 2.60755499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.89, Y:50.22, Z:26.08 [[ 9.92057292e-01 -1.11970509e-01 -5.73143490e-02 5.50894857e+02] [ 1.11806298e-01 9.93711457e-01 -6.07394951e-03 5.02172066e+01] [ 5.76340285e-02 -3.82399270e-04 9.98337705e-01 2.60769417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.93, Y:50.22, Z:26.08 [[ 9.91643136e-01 -1.15596856e-01 -5.72822675e-02 5.50926271e+02] [ 1.15438988e-01 9.93296035e-01 -6.06852095e-03 5.02174858e+01] [ 5.75997511e-02 -5.94799863e-04 9.98339579e-01 2.60785702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.96, Y:50.21, Z:26.08 [[ 9.90725130e-01 -1.23534172e-01 -5.65952739e-02 5.50957500e+02] [ 1.23393099e-01 9.92339768e-01 -5.99391269e-03 5.02136982e+01] [ 5.69021940e-02 -1.04514633e-03 9.98379211e-01 2.60804144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:550.99, Y:50.21, Z:26.08 [[ 9.90299716e-01 -1.27257301e-01 -5.57857756e-02 5.50988193e+02] [ 1.27126189e-01 9.91868962e-01 -5.90720004e-03 5.02122060e+01] [ 5.60839136e-02 -1.24193455e-03 9.98425286e-01 2.60817028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.02, Y:50.21, Z:26.08 [[ 9.89863616e-01 -1.30881137e-01 -5.51375630e-02 5.51020004e+02] [ 1.30758736e-01 9.91397034e-01 -5.83732452e-03 5.02116716e+01] [ 5.54272121e-02 -1.43156286e-03 9.98461704e-01 2.60836797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.05, Y:50.21, Z:26.09 [[ 9.89124140e-01 -1.36877201e-01 -5.38336983e-02 5.51051088e+02] [ 1.36769518e-01 9.90586516e-01 -5.69676278e-03 5.02118913e+01] [ 5.41066926e-02 -1.72800337e-03 9.98533665e-01 2.60867885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.08, Y:50.22, Z:26.09 [[ 9.89133980e-01 -1.36806020e-01 -5.38338382e-02 5.51082591e+02] [ 1.36698303e-01 9.90596354e-01 -5.69544086e-03 5.02151665e+01] [ 5.41067744e-02 -1.72544024e-03 9.98533665e-01 2.60882951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.11, Y:50.22, Z:26.09 [[ 9.88821750e-01 -1.39151626e-01 -5.35571804e-02 5.51114551e+02] [ 1.39048656e-01 9.90269362e-01 -5.66228521e-03 5.02169544e+01] [ 5.38239511e-02 -1.84806321e-03 9.98548730e-01 2.60902650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.15, Y:50.22, Z:26.09 [[ 9.88498580e-01 -1.41512979e-01 -5.33351124e-02 5.51147065e+02] [ 1.41414501e-01 9.89934436e-01 -5.63489352e-03 5.02177521e+01] [ 5.35956750e-02 -1.97227405e-03 9.98560771e-01 2.60916598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.18, Y:50.22, Z:26.09 [[ 9.88204716e-01 -1.43657941e-01 -5.30455995e-02 5.51179151e+02] [ 1.43563819e-01 9.89625214e-01 -5.60043561e-03 5.02188077e+01] [ 5.32998099e-02 -2.08105194e-03 9.98576386e-01 2.60932037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.21, Y:50.21, Z:26.09 [[ 9.87478386e-01 -1.48515438e-01 -5.31939996e-02 5.51209995e+02] [ 1.48428021e-01 9.88907289e-01 -5.61223078e-03 5.02149537e+01] [ 5.34374369e-02 -2.35352349e-03 9.98568426e-01 2.60939693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.24, Y:50.22, Z:26.10 [[ 9.87112238e-01 -1.51030686e-01 -5.29070961e-02 5.51242381e+02] [ 1.50947998e-01 9.88525965e-01 -5.57842519e-03 5.02170306e+01] [ 5.31425516e-02 -2.47968846e-03 9.98583857e-01 2.60954118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.27, Y:50.22, Z:26.10 [[ 9.86708945e-01 -1.53702501e-01 -5.27351863e-02 5.51273654e+02] [ 1.53624343e-01 9.88113700e-01 -5.55670971e-03 5.02183478e+01] [ 5.29624403e-02 -2.61855315e-03 9.98593072e-01 2.60965666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.30, Y:50.22, Z:26.10 [[ 9.85898246e-01 -1.58704175e-01 -5.30813888e-02 5.51304749e+02] [ 1.58632300e-01 9.87321898e-01 -5.59143440e-03 5.02174807e+01] [ 5.32958015e-02 -2.90783741e-03 9.98574535e-01 2.60975694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.34, Y:50.22, Z:26.10 [[ 9.85552800e-01 -1.60683700e-01 -5.35390278e-02 5.51336334e+02] [ 1.60613517e-01 9.87001266e-01 -5.63913161e-03 5.02186684e+01] [ 5.37492048e-02 -3.04142963e-03 9.98549835e-01 2.60982831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.37, Y:50.22, Z:26.10 [[ 9.85293523e-01 -1.62059317e-01 -5.41613410e-02 5.51368521e+02] [ 1.61989732e-01 9.86775972e-01 -5.70160372e-03 5.02214858e+01] [ 5.43691079e-02 -3.15582789e-03 9.98515919e-01 2.60990640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.40, Y:50.22, Z:26.10 [[ 9.85110905e-01 -1.62981951e-01 -5.47118741e-02 5.51399930e+02] [ 1.62912576e-01 9.86623720e-01 -5.75566975e-03 5.02217834e+01] [ 5.49181030e-02 -3.24327933e-03 9.98485595e-01 2.60994846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.43, Y:50.23, Z:26.10 [[ 9.85031278e-01 -1.63212990e-01 -5.54518020e-02 5.51431324e+02] [ 1.63142271e-01 9.86585327e-01 -5.83030822e-03 5.02278315e+01] [ 5.56595162e-02 -3.30349696e-03 9.98444343e-01 2.61003972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.46, Y:50.23, Z:26.10 [[ 9.85135037e-01 -1.62608657e-01 -5.53839686e-02 5.51463089e+02] [ 1.62537384e-01 9.86685227e-01 -5.81914208e-03 5.02283443e+01] [ 5.55927865e-02 -3.26932465e-03 9.98448173e-01 2.61009621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.49, Y:50.24, Z:26.10 [[ 9.85375075e-01 -1.61248821e-01 -5.50888346e-02 5.51494618e+02] [ 1.61176409e-01 9.86908663e-01 -5.78415518e-03 5.02370908e+01] [ 5.53003363e-02 -3.17945818e-03 9.98464703e-01 2.61028734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.52, Y:50.24, Z:26.10 [[ 9.85626035e-01 -1.59654956e-01 -5.52414122e-02 5.51524925e+02] [ 1.59579850e-01 9.87168006e-01 -5.79654870e-03 5.02399281e+01] [ 5.54580024e-02 -3.10218697e-03 9.98456202e-01 2.61040009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.55, Y:50.25, Z:26.11 [[ 9.86400718e-01 -1.54799249e-01 -5.52342019e-02 5.51554355e+02] [ 1.54716622e-01 9.87941894e-01 -5.79490207e-03 5.02483758e+01] [ 5.54652285e-02 -2.82955355e-03 9.98456610e-01 2.61054300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.58, Y:50.26, Z:26.11 [[ 9.86900116e-01 -1.51645017e-01 -5.50631425e-02 5.51584961e+02] [ 1.51558031e-01 9.88431483e-01 -5.77647745e-03 5.02566465e+01] [ 5.53021176e-02 -2.64445518e-03 9.98466165e-01 2.61072022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.62, Y:50.26, Z:26.11 [[ 9.87441211e-01 -1.48110750e-01 -5.49823672e-02 5.51615579e+02] [ 1.48018663e-01 9.88967759e-01 -5.76600588e-03 5.02634299e+01] [ 5.52297959e-02 -2.44482462e-03 9.98470677e-01 2.61090373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.64, Y:50.27, Z:26.11 [[ 9.88638225e-01 -1.40180675e-01 -5.42571546e-02 5.51644761e+02] [ 1.40079163e-01 9.90123968e-01 -5.68829536e-03 5.02749693e+01] [ 5.45186983e-02 -1.97663059e-03 9.98510793e-01 2.61116582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.67, Y:50.28, Z:26.11 [[ 9.89282628e-01 -1.35801679e-01 -5.36449975e-02 5.51674651e+02] [ 1.35696052e-01 9.90734555e-01 -5.62343837e-03 5.02806714e+01] [ 5.39116251e-02 -1.71624445e-03 9.98544236e-01 2.61130954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.71, Y:50.29, Z:26.12 [[ 9.89897180e-01 -1.31582958e-01 -5.28157009e-02 5.51705267e+02] [ 1.31474850e-01 9.91304075e-01 -5.53129445e-03 5.02880973e+01] [ 5.30842436e-02 -1.46852358e-03 9.98588958e-01 2.61151244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.73, Y:50.30, Z:26.12 [[ 9.91063388e-01 -1.22791827e-01 -5.21107319e-02 5.51733918e+02] [ 1.22674523e-01 9.92431960e-01 -5.45579358e-03 5.02981077e+01] [ 5.23862827e-02 -9.85621896e-04 9.98626410e-01 2.61169331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.77, Y:50.31, Z:26.12 [[ 9.91668744e-01 -1.18123744e-01 -5.13798000e-02 5.51765465e+02] [ 1.18003461e-01 9.92998615e-01 -5.37895786e-03 5.03079883e+01] [ 5.16554529e-02 -7.28849848e-04 9.98664700e-01 2.61195340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.80, Y:50.31, Z:26.12 [[ 9.92181281e-01 -1.13823822e-01 -5.11902595e-02 5.51796767e+02] [ 1.13698903e-01 9.93500821e-01 -5.35527779e-03 5.03137100e+01] [ 5.14671230e-02 -5.06869958e-04 9.98674561e-01 2.61209569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.83, Y:50.32, Z:26.12 [[ 9.92657524e-01 -1.09637560e-01 -5.10944748e-02 5.51827957e+02] [ 1.09507758e-01 9.93971589e-01 -5.34146860e-03 5.03213454e+01] [ 5.13720819e-02 -2.92992398e-04 9.98679540e-01 2.61227438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.86, Y:50.33, Z:26.12 [[ 9.93396490e-01 -1.03067632e-01 -5.04031402e-02 5.51859429e+02] [ 1.02933045e-01 9.94674349e-01 -5.26563161e-03 5.03304245e+01] [ 5.06774269e-02 4.27112844e-05 9.98715073e-01 2.61242577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.89, Y:50.34, Z:26.13 [[ 9.93651616e-01 -1.00486804e-01 -5.05852629e-02 5.51891083e+02] [ 1.00348089e-01 9.94938376e-01 -5.28091870e-03 5.03353576e+01] [ 5.08598820e-02 1.71258949e-04 9.98705784e-01 2.61253565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.92, Y:50.34, Z:26.13 [[ 9.93806661e-01 -9.87126817e-02 -5.10306399e-02 5.51922002e+02] [ 9.85693639e-02 9.95115942e-01 -5.32371928e-03 5.03400099e+01] [ 5.13069219e-02 2.60689976e-04 9.98682899e-01 2.61261878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.95, Y:50.34, Z:26.13 [[ 9.93944710e-01 -9.73233456e-02 -5.10105842e-02 5.51953998e+02] [ 9.71784582e-02 9.95252761e-01 -5.31877799e-03 5.03436742e+01] [ 5.12860660e-02 3.29441328e-04 9.98683949e-01 2.61276579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:551.99, Y:50.35, Z:26.13 [[ 9.94025147e-01 -9.63464647e-02 -5.12968395e-02 5.51985881e+02] [ 9.61988380e-02 9.95347786e-01 -5.34489531e-03 5.03473210e+01] [ 5.15731574e-02 3.78263995e-04 9.98669148e-01 2.61288006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.02, Y:50.35, Z:26.13 [[ 9.94092018e-01 -9.55223366e-02 -5.15416711e-02 5.52018043e+02] [ 9.53723855e-02 9.95427198e-01 -5.36662367e-03 5.03504801e+01] [ 5.18186137e-02 4.19265629e-04 9.98656425e-01 2.61299549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.05, Y:50.35, Z:26.13 [[ 9.94096298e-01 -9.54152811e-02 -5.16572810e-02 5.52048554e+02] [ 9.52647071e-02 9.95437465e-01 -5.37490256e-03 5.03540955e+01] [ 5.19344407e-02 4.22054991e-04 9.98650407e-01 2.61306287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.08, Y:50.36, Z:26.13 [[ 9.94067577e-01 -9.58173892e-02 -5.14653287e-02 5.52080286e+02] [ 9.56686227e-02 9.95398850e-01 -5.35201289e-03 5.03558221e+01] [ 5.17413450e-02 3.96645368e-04 9.98660441e-01 2.61326901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.11, Y:50.36, Z:26.13 [[ 9.94031499e-01 -9.61911093e-02 -5.14650309e-02 5.52111519e+02] [ 9.60430395e-02 9.95362814e-01 -5.34822662e-03 5.03588234e+01] [ 5.17408298e-02 3.73447722e-04 9.98660476e-01 2.61333832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.14, Y:50.36, Z:26.14 [[ 9.94010511e-01 -9.67759814e-02 -5.07692119e-02 5.52143971e+02] [ 9.66327991e-02 9.95306132e-01 -5.27307342e-03 5.03602884e+01] [ 5.10412148e-02 3.35519355e-04 9.98696491e-01 2.61353700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.18, Y:50.36, Z:26.14 [[ 9.94012314e-01 -9.70835518e-02 -5.01428375e-02 5.52176386e+02] [ 9.69444572e-02 9.95276186e-01 -5.20439208e-03 5.03621400e+01] [ 5.04112330e-02 3.12159644e-04 9.98728497e-01 2.61372839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.21, Y:50.36, Z:26.14 [[ 9.93955700e-01 -9.77423497e-02 -4.99849860e-02 5.52207525e+02] [ 9.76051450e-02 9.95211715e-01 -5.18438179e-03 5.03640412e+01] [ 5.02523773e-02 2.74254031e-04 9.98736513e-01 2.61390349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.24, Y:50.36, Z:26.14 [[ 9.93844695e-01 -9.94998268e-02 -4.87083909e-02 5.52239335e+02] [ 9.93717837e-02 9.95037564e-01 -5.04933899e-03 5.03636125e+01] [ 4.89690869e-02 1.78019080e-04 9.98800279e-01 2.61414124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.27, Y:50.36, Z:26.14 [[ 9.93744702e-01 -1.00476403e-01 -4.87438205e-02 5.52270362e+02] [ 1.00349523e-01 9.94939434e-01 -5.04941955e-03 5.03646693e+01] [ 4.90044967e-02 1.26414782e-04 9.98798550e-01 2.61428399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.30, Y:50.37, Z:26.14 [[ 9.93638486e-01 -1.01613231e-01 -4.85521369e-02 5.52302379e+02] [ 1.01488986e-01 9.94823978e-01 -5.02379184e-03 5.03651267e+01] [ 4.88113137e-02 6.43257648e-05 9.98808015e-01 2.61443970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.33, Y:50.36, Z:26.15 [[ 9.93450642e-01 -1.03464331e-01 -4.84866353e-02 5.52334168e+02] [ 1.03342798e-01 9.94633164e-01 -5.01346916e-03 5.03631560e+01] [ 4.87451307e-02 -3.01104047e-05 9.98811249e-01 2.61453769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.37, Y:50.36, Z:26.15 [[ 9.93374628e-01 -1.04060613e-01 -4.87671656e-02 5.52366320e+02] [ 1.03938520e-01 9.94570955e-01 -5.03975505e-03 5.03637545e+01] [ 4.90268464e-02 -6.24222140e-05 9.98797459e-01 2.61464337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.40, Y:50.36, Z:26.15 [[ 9.93318900e-01 -1.04359869e-01 -4.92603347e-02 5.52398556e+02] [ 1.04235841e-01 9.94539598e-01 -5.08707164e-03 5.03646120e+01] [ 4.95222395e-02 -8.16080057e-05 9.98773018e-01 2.61469844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.43, Y:50.36, Z:26.15 [[ 9.93267454e-01 -1.04319253e-01 -5.03711988e-02 5.52430688e+02] [ 1.04189703e-01 9.94543858e-01 -5.19803713e-03 5.03639474e+01] [ 5.06386218e-02 -8.51191656e-05 9.98717038e-01 2.61474532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.46, Y:50.37, Z:26.15 [[ 9.93287344e-01 -1.03766453e-01 -5.11153223e-02 5.52461016e+02] [ 1.03632505e-01 9.94601689e-01 -5.27110108e-03 5.03655210e+01] [ 5.13863493e-02 -6.14908850e-05 9.98678847e-01 2.61484108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.49, Y:50.37, Z:26.15 [[ 9.93345181e-01 -1.02872327e-01 -5.17941654e-02 5.52492114e+02] [ 1.02733733e-01 9.94694568e-01 -5.33817946e-03 5.03673539e+01] [ 5.20685260e-02 -1.83531278e-05 9.98643514e-01 2.61493863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.52, Y:50.37, Z:26.15 [[ 9.93424333e-01 -1.01811336e-01 -5.23693265e-02 5.52523782e+02] [ 1.01668272e-01 9.94803725e-01 -5.39553960e-03 5.03694566e+01] [ 5.26465282e-02 3.57614103e-05 9.98613209e-01 2.61507422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.55, Y:50.37, Z:26.15 [[ 9.93676230e-01 -9.90634255e-02 -5.28581798e-02 5.52554439e+02] [ 9.89138894e-02 9.95081105e-01 -5.44404184e-03 5.03707134e+01] [ 5.31374814e-02 1.81206822e-04 9.98587190e-01 2.61519664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.58, Y:50.37, Z:26.15 [[ 9.93820549e-01 -9.74387145e-02 -5.31640225e-02 5.52584787e+02] [ 9.72851648e-02 9.95241491e-01 -5.47467180e-03 5.03728161e+01] [ 5.34444860e-02 2.68770637e-04 9.98570786e-01 2.61536347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.61, Y:50.37, Z:26.15 [[ 9.93988802e-01 -9.57008846e-02 -5.31751972e-02 5.52614562e+02] [ 9.55447734e-02 9.95410071e-01 -5.47603845e-03 5.03749356e+01] [ 5.34551886e-02 3.62508726e-04 9.98570184e-01 2.61548824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.64, Y:50.38, Z:26.16 [[ 9.94139647e-01 -9.40183426e-02 -5.33564765e-02 5.52643363e+02] [ 9.38586315e-02 9.95570361e-01 -5.49677191e-03 5.03772436e+01] [ 5.36369239e-02 4.56593023e-04 9.98560400e-01 2.61560785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.67, Y:50.38, Z:26.16 [[ 9.94401215e-01 -9.13351390e-02 -5.31424194e-02 5.52671590e+02] [ 9.11727135e-02 9.95820029e-01 -5.47780456e-03 5.03780857e+01] [ 5.34206016e-02 6.01996939e-04 9.98571919e-01 2.61571705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.70, Y:50.38, Z:26.16 [[ 9.94463243e-01 -9.06570833e-02 -5.31427395e-02 5.52700121e+02] [ 9.04933811e-02 9.95881960e-01 -5.48358076e-03 5.03787342e+01] [ 5.34210210e-02 6.44153326e-04 9.98571870e-01 2.61589594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.73, Y:50.38, Z:26.16 [[ 9.94502672e-01 -9.01745689e-02 -5.32257769e-02 5.52728100e+02] [ 9.00089794e-02 9.95925740e-01 -5.50492371e-03 5.03802141e+01] [ 5.35053254e-02 6.83863478e-04 9.98567330e-01 2.61601207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.76, Y:50.38, Z:26.16 [[ 9.94500841e-01 -8.97603376e-02 -5.39551551e-02 5.52757321e+02] [ 8.95892358e-02 9.95963132e-01 -5.58642854e-03 5.03790902e+01] [ 5.42387850e-02 7.21906770e-04 9.98527733e-01 2.61609669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.79, Y:50.38, Z:26.16 [[ 9.94353653e-01 -9.08888332e-02 -5.47725621e-02 5.52785149e+02] [ 9.07134212e-02 9.95860809e-01 -5.68542449e-03 5.03789385e+01] [ 5.50625896e-02 6.84716117e-04 9.98482670e-01 2.61626323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.81, Y:50.38, Z:26.16 [[ 9.94212400e-01 -9.20815970e-02 -5.53415231e-02 5.52813588e+02] [ 9.19034440e-02 9.95751258e-01 -5.76099911e-03 5.03792506e+01] [ 5.56368733e-02 6.41580177e-04 9.98450863e-01 2.61638815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.84, Y:50.38, Z:26.17 [[ 9.93828065e-01 -9.59527146e-02 -5.56673570e-02 5.52841688e+02] [ 9.57776941e-02 9.95385795e-01 -5.80966733e-03 5.03759477e+01] [ 5.59679497e-02 4.42119356e-04 9.98432468e-01 2.61653581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.87, Y:50.38, Z:26.17 [[ 9.93530709e-01 -9.88751595e-02 -5.58608296e-02 5.52870450e+02] [ 9.87031685e-02 9.95099805e-01 -5.83634310e-03 5.03752613e+01] [ 5.61641700e-02 2.84945230e-04 9.98421507e-01 2.61670885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.90, Y:50.37, Z:26.17 [[ 9.93196044e-01 -1.02182221e-01 -5.58606392e-02 5.52899188e+02] [ 1.02014662e-01 9.94765692e-01 -5.85042926e-03 5.03740923e+01] [ 5.61660572e-02 1.12018978e-04 9.98421435e-01 2.61684970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.93, Y:50.37, Z:26.17 [[ 9.92491141e-01 -1.08703960e-01 -5.60783691e-02 5.52927867e+02] [ 1.08544765e-01 9.94074137e-01 -5.88599531e-03 5.03680226e+01] [ 5.63858874e-02 -2.45215198e-04 9.98409020e-01 2.61696012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.96, Y:50.37, Z:26.17 [[ 9.92080382e-01 -1.12231546e-01 -5.63967627e-02 5.52956437e+02] [ 1.12075942e-01 9.93681983e-01 -5.92449366e-03 5.03670221e+01] [ 5.67053621e-02 -4.43146340e-04 9.98390858e-01 2.61712312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:552.98, Y:50.37, Z:26.17 [[ 9.91653698e-01 -1.15803569e-01 -5.66787109e-02 5.52984677e+02] [ 1.15651911e-01 9.93271925e-01 -5.95972638e-03 5.03653298e+01] [ 5.69875299e-02 -6.45016499e-04 9.98374682e-01 2.61720383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.01, Y:50.37, Z:26.17 [[ 9.91621304e-01 -1.16081098e-01 -5.66777580e-02 5.53011905e+02] [ 1.15929375e-01 9.93239525e-01 -5.96877549e-03 5.03682691e+01] [ 5.69874514e-02 -6.51852133e-04 9.98374682e-01 2.61733428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.04, Y:50.37, Z:26.18 [[ 9.91198963e-01 -1.19444562e-01 -5.70754916e-02 5.53040339e+02] [ 1.19295416e-01 9.92840519e-01 -6.02549565e-03 5.03682476e+01] [ 5.73865734e-02 -8.36379495e-04 9.98351682e-01 2.61752712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.07, Y:50.36, Z:26.18 [[ 9.90431045e-01 -1.25537891e-01 -5.73287214e-02 5.53069914e+02] [ 1.25397191e-01 9.92088115e-01 -6.05942263e-03 5.03628058e+01] [ 5.76358303e-02 -1.18742035e-03 9.98336968e-01 2.61764576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.10, Y:50.36, Z:26.18 [[ 9.90089035e-01 -1.28321627e-01 -5.70724362e-02 5.53098566e+02] [ 1.28186509e-01 9.91731702e-01 -6.03740051e-03 5.03632604e+01] [ 5.73752733e-02 -1.33835230e-03 9.98351785e-01 2.61784341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.13, Y:50.36, Z:26.18 [[ 9.89741167e-01 -1.31003618e-01 -5.70129392e-02 5.53126969e+02] [ 1.30872485e-01 9.91380786e-01 -6.04396568e-03 5.03609854e+01] [ 5.73133139e-02 -1.47946336e-03 9.98355145e-01 2.61792699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.16, Y:50.36, Z:26.18 [[ 9.89098711e-01 -1.35676651e-01 -5.72327310e-02 5.53157233e+02] [ 1.35552044e-01 9.90751622e-01 -6.07187961e-03 5.03571205e+01] [ 5.75272333e-02 -1.75232537e-03 9.98342400e-01 2.61810280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.19, Y:50.36, Z:26.18 [[ 9.88808130e-01 -1.37917390e-01 -5.68970572e-02 5.53185436e+02] [ 1.37797798e-01 9.90441972e-01 -6.03877897e-03 5.03584412e+01] [ 5.71860862e-02 -1.86909545e-03 9.98361787e-01 2.61830395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.21, Y:50.36, Z:26.18 [[ 9.88466841e-01 -1.40304836e-01 -5.69899672e-02 5.53213776e+02] [ 1.40188519e-01 9.90106323e-01 -6.05375272e-03 5.03579340e+01] [ 5.72754977e-02 -2.00540525e-03 9.98356397e-01 2.61845620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.24, Y:50.36, Z:26.19 [[ 9.88158389e-01 -1.42638267e-01 -5.65448709e-02 5.53242743e+02] [ 1.42527202e-01 9.89772621e-01 -6.01292808e-03 5.03580604e+01] [ 5.68242387e-02 -2.11745693e-03 9.98381952e-01 2.61859684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.27, Y:50.36, Z:26.19 [[ 9.87532191e-01 -1.46904298e-01 -5.65623374e-02 5.53272523e+02] [ 1.46799461e-01 9.89147914e-01 -6.02674809e-03 5.03552425e+01] [ 5.68338733e-02 -2.35171289e-03 9.98380879e-01 2.61871173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.30, Y:50.36, Z:26.19 [[ 9.87220620e-01 -1.48914574e-01 -5.67441413e-02 5.53302118e+02] [ 1.48812260e-01 9.88846971e-01 -6.04810310e-03 5.03557222e+01] [ 5.70119230e-02 -2.47341180e-03 9.98370434e-01 2.61883384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.33, Y:50.36, Z:26.19 [[ 9.86919217e-01 -1.50799922e-01 -5.70073857e-02 5.53330692e+02] [ 1.50699668e-01 9.88560906e-01 -6.07831568e-03 5.03559316e+01] [ 5.72718823e-02 -2.59218755e-03 9.98355253e-01 2.61890435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.36, Y:50.36, Z:26.19 [[ 9.86648138e-01 -1.52418125e-01 -5.73948292e-02 5.53358587e+02] [ 1.52318939e-01 9.88312414e-01 -6.12472476e-03 5.03634423e+01] [ 5.76575413e-02 -2.69937123e-03 9.98332771e-01 2.61914176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.39, Y:50.36, Z:26.19 [[ 9.86285685e-01 -1.54387070e-01 -5.83539246e-02 5.53387092e+02] [ 1.54287192e-01 9.88006336e-01 -6.24044777e-03 5.03627177e+01] [ 5.86174916e-02 -2.84839884e-03 9.98276453e-01 2.61914293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.42, Y:50.37, Z:26.19 [[ 9.86109575e-01 -1.55327724e-01 -5.88320026e-02 5.53415524e+02] [ 1.55227469e-01 9.87858676e-01 -6.29838765e-03 5.03681165e+01] [ 5.90960184e-02 -2.92144246e-03 9.98248028e-01 2.61930088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.44, Y:50.37, Z:26.19 [[ 9.86011489e-01 -1.56017967e-01 -5.86492723e-02 5.53444379e+02] [ 1.55918658e-01 9.87749846e-01 -6.29392407e-03 5.03725192e+01] [ 5.89127749e-02 -2.93863442e-03 9.98258809e-01 2.61946992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.47, Y:50.38, Z:26.20 [[ 9.86017082e-01 -1.55930328e-01 -5.87881591e-02 5.53472157e+02] [ 1.55829604e-01 9.87763719e-01 -6.32218557e-03 5.03758175e+01] [ 5.90546311e-02 -2.92715259e-03 9.98250461e-01 2.61958418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.50, Y:50.38, Z:26.20 [[ 9.86081414e-01 -1.55575411e-01 -5.86492664e-02 5.53500430e+02] [ 1.55474109e-01 9.87819786e-01 -6.31447637e-03 5.03798032e+01] [ 5.89172830e-02 -2.89185467e-03 9.98258679e-01 2.61972466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.53, Y:50.38, Z:26.20 [[ 9.86267304e-01 -1.54538117e-01 -5.82646988e-02 5.53527815e+02] [ 1.54435550e-01 9.87982865e-01 -6.28646378e-03 5.03842194e+01] [ 5.85360223e-02 -2.79800709e-03 9.98281376e-01 2.61990595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.56, Y:50.39, Z:26.20 [[ 9.86841556e-01 -1.51298980e-01 -5.70294786e-02 5.53557084e+02] [ 1.51194953e-01 9.88484773e-01 -6.15952791e-03 5.03932230e+01] [ 5.73047015e-02 -2.54409123e-03 9.98353494e-01 2.62016097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.58, Y:50.40, Z:26.20 [[ 9.87193006e-01 -1.49243455e-01 -5.63592073e-02 5.53584660e+02] [ 1.49138423e-01 9.88797582e-01 -6.08878425e-03 5.03983755e+01] [ 5.66365591e-02 -2.39451806e-03 9.98391990e-01 2.62033135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.61, Y:50.40, Z:26.21 [[ 9.87474977e-01 -1.47508007e-01 -5.59871164e-02 5.53613480e+02] [ 1.47401225e-01 9.89058248e-01 -6.05476882e-03 5.04048630e+01] [ 5.62676462e-02 -2.27363687e-03 9.98413132e-01 2.62050606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.64, Y:50.41, Z:26.21 [[ 9.88028476e-01 -1.43970936e-01 -5.54265335e-02 5.53642270e+02] [ 1.43860112e-01 9.89579813e-01 -6.00515407e-03 5.04142039e+01] [ 5.57135463e-02 -2.04040409e-03 9.98444709e-01 2.62066281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.67, Y:50.42, Z:26.21 [[ 9.88242189e-01 -1.42346851e-01 -5.58099531e-02 5.53671118e+02] [ 1.42231791e-01 9.89814897e-01 -6.04868246e-03 5.04227980e+01] [ 5.61025339e-02 -1.96038640e-03 9.98423088e-01 2.62080659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.70, Y:50.43, Z:26.21 [[ 9.88438279e-01 -1.40817688e-01 -5.62151962e-02 5.53699884e+02] [ 1.40698357e-01 9.90033750e-01 -6.09482916e-03 5.04266426e+01] [ 5.65132012e-02 -1.88502327e-03 9.98400073e-01 2.62083256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.73, Y:50.43, Z:26.21 [[ 9.88580676e-01 -1.39839925e-01 -5.61519569e-02 5.53728304e+02] [ 1.39719018e-01 9.90172447e-01 -6.09274006e-03 5.04319070e+01] [ 5.64521288e-02 -1.82233118e-03 9.98403644e-01 2.62092423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.76, Y:50.44, Z:26.21 [[ 9.88905131e-01 -1.37817814e-01 -5.54336730e-02 5.53757289e+02] [ 1.37696149e-01 9.90456183e-01 -6.02662108e-03 5.04415524e+01] [ 5.57351999e-02 -1.67324680e-03 9.98444184e-01 2.62117388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.79, Y:50.45, Z:26.21 [[ 9.89035014e-01 -1.37006486e-01 -5.51267925e-02 5.53786869e+02] [ 1.36884796e-01 9.90568831e-01 -5.99524618e-03 5.04468580e+01] [ 5.54282700e-02 -1.61651137e-03 9.98461363e-01 2.62132364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.82, Y:50.45, Z:26.21 [[ 9.89118396e-01 -1.36451786e-01 -5.50064374e-02 5.53816659e+02] [ 1.36329675e-01 9.90645453e-01 -5.98386687e-03 5.04525021e+01] [ 5.53083864e-02 -1.58025695e-03 9.98468069e-01 2.62146853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.85, Y:50.46, Z:26.22 [[ 9.89239800e-01 -1.35657251e-01 -5.47880387e-02 5.53846882e+02] [ 1.35534892e-01 9.90754647e-01 -5.96010841e-03 5.04592001e+01] [ 5.50900359e-02 -1.52971447e-03 9.98480219e-01 2.62156314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.88, Y:50.46, Z:26.22 [[ 9.89296352e-01 -1.35118197e-01 -5.50981045e-02 5.53876755e+02] [ 1.34993613e-01 9.90828339e-01 -5.99383886e-03 5.04620465e+01] [ 5.54026400e-02 -1.50820929e-03 9.98462955e-01 2.62162194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.91, Y:50.47, Z:26.22 [[ 9.89396214e-01 -1.34432990e-01 -5.49809362e-02 5.53906511e+02] [ 1.34307880e-01 9.90921601e-01 -5.98109273e-03 5.04677704e+01] [ 5.52858536e-02 -1.46670247e-03 9.98469490e-01 2.62175333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.94, Y:50.47, Z:26.22 [[ 9.89551601e-01 -1.33427143e-01 -5.46335599e-02 5.53935560e+02] [ 1.33302063e-01 9.91057634e-01 -5.94357257e-03 5.04732282e+01] [ 5.49380405e-02 -1.40129449e-03 9.98488782e-01 2.62190061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.97, Y:50.48, Z:26.22 [[ 9.89770225e-01 -1.31926434e-01 -5.43168347e-02 5.53965551e+02] [ 1.31800450e-01 9.91258646e-01 -5.91082580e-03 5.04798640e+01] [ 5.46218262e-02 -1.30862384e-03 9.98506256e-01 2.62209178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:553.99, Y:50.49, Z:26.22 [[ 9.90272187e-01 -1.28347021e-01 -5.37404740e-02 5.53994921e+02] [ 1.28218431e-01 9.91728710e-01 -5.84810552e-03 5.04871640e+01] [ 5.40465579e-02 -1.09930302e-03 9.98537812e-01 2.62226024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.02, Y:50.49, Z:26.22 [[ 9.90517912e-01 -1.26560565e-01 -5.34480106e-02 5.54024932e+02] [ 1.26430772e-01 9.91958382e-01 -5.81627929e-03 5.04931836e+01] [ 5.37543137e-02 -9.96344444e-04 9.98553695e-01 2.62243896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.05, Y:50.50, Z:26.23 [[ 9.90916284e-01 -1.23929210e-01 -5.22156015e-02 5.54054905e+02] [ 1.23801690e-01 9.92290711e-01 -5.68207591e-03 5.04993409e+01] [ 5.25172315e-02 -8.33918173e-04 9.98619670e-01 2.62261782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.09, Y:50.50, Z:26.23 [[ 9.91074922e-01 -1.22936136e-01 -5.15480813e-02 5.54085417e+02] [ 1.22810568e-01 9.92414283e-01 -5.60842454e-03 5.05045874e+01] [ 5.18465303e-02 -7.72280226e-04 9.98654766e-01 2.62281401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.12, Y:50.51, Z:26.23 [[ 9.91177892e-01 -1.22178925e-01 -5.13682488e-02 5.54116664e+02] [ 1.22053313e-01 9.92507821e-01 -5.58697763e-03 5.05088789e+01] [ 5.16659996e-02 -7.31976235e-04 9.98664152e-01 2.62296190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.15, Y:50.51, Z:26.23 [[ 9.91218433e-01 -1.22086857e-01 -5.08017492e-02 5.54146954e+02] [ 1.21963980e-01 9.92519158e-01 -5.52342049e-03 5.05125678e+01] [ 5.10960464e-02 -7.21067307e-04 9.98693484e-01 2.62310857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.18, Y:50.52, Z:26.23 [[ 9.91167245e-01 -1.22499718e-01 -5.08066145e-02 5.54177701e+02] [ 1.22377521e-01 9.92468268e-01 -5.52079360e-03 5.05176758e+01] [ 5.11002484e-02 -7.45557740e-04 9.98693251e-01 2.62327494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.21, Y:50.52, Z:26.23 [[ 9.91084544e-01 -1.23197321e-01 -5.07330941e-02 5.54209028e+02] [ 1.23076487e-01 9.92381886e-01 -5.51092927e-03 5.05209072e+01] [ 5.10255354e-02 -7.82254162e-04 9.98697043e-01 2.62339296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.24, Y:50.52, Z:26.24 [[ 9.90930545e-01 -1.24093013e-01 -5.15517083e-02 5.54240688e+02] [ 1.23969557e-01 9.92270231e-01 -5.59791738e-03 5.05238609e+01] [ 5.18478880e-02 -8.43695132e-04 9.98654637e-01 2.62351739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.27, Y:50.52, Z:26.24 [[ 9.90608149e-01 -1.26685830e-01 -5.14411943e-02 5.54271331e+02] [ 1.26566488e-01 9.91942409e-01 -5.58410757e-03 5.05245014e+01] [ 5.17341295e-02 -9.79068825e-04 9.98660413e-01 2.62359597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.30, Y:50.53, Z:26.24 [[ 9.90387450e-01 -1.28365170e-01 -5.15274913e-02 5.54302147e+02] [ 1.28247746e-01 9.91726393e-01 -5.59253821e-03 5.05267701e+01] [ 5.18190602e-02 -1.06950495e-03 9.98655917e-01 2.62373409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.33, Y:50.53, Z:26.24 [[ 9.90168105e-01 -1.30145206e-01 -5.12771806e-02 5.54332948e+02] [ 1.30031345e-01 9.91494269e-01 -5.56455505e-03 5.05288716e+01] [ 5.15652309e-02 -1.15779585e-03 9.98668957e-01 2.62388219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.36, Y:50.53, Z:26.24 [[ 9.89690659e-01 -1.33580755e-01 -5.16583090e-02 5.54364113e+02] [ 1.33469875e-01 9.91037016e-01 -5.60575185e-03 5.05332848e+01] [ 5.19441170e-02 -1.34686782e-03 9.98649085e-01 2.62404931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.40, Y:50.54, Z:26.24 [[ 9.89504052e-01 -1.34963503e-01 -5.16389710e-02 5.54396537e+02] [ 1.34854694e-01 9.90849552e-01 -5.60158481e-03 5.05361406e+01] [ 5.19224608e-02 -1.42096676e-03 9.98650108e-01 2.62419226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.43, Y:50.54, Z:26.24 [[ 9.89297351e-01 -1.36453684e-01 -5.16831049e-02 5.54428740e+02] [ 1.36346919e-01 9.90645310e-01 -5.60253384e-03 5.05394902e+01] [ 5.19641118e-02 -1.50426025e-03 9.98647820e-01 2.62439222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.46, Y:50.54, Z:26.25 [[ 9.89325915e-01 -1.36319105e-01 -5.14911274e-02 5.54460227e+02] [ 1.36213148e-01 9.90663851e-01 -5.57789915e-03 5.05428119e+01] [ 5.17707728e-02 -1.49540837e-03 9.98657875e-01 2.62455015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.49, Y:50.55, Z:26.25 [[ 9.89388443e-01 -1.35871781e-01 -5.14720196e-02 5.54491142e+02] [ 1.35765492e-01 9.90725332e-01 -5.57207812e-03 5.05458597e+01] [ 5.17517219e-02 -1.47517439e-03 9.98658892e-01 2.62468505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.52, Y:50.55, Z:26.25 [[ 9.89526567e-01 -1.34753152e-01 -5.17567587e-02 5.54523005e+02] [ 1.34644311e-01 9.90878171e-01 -5.59993191e-03 5.05502261e+01] [ 5.20392509e-02 -1.42747172e-03 9.98644020e-01 2.62483116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.55, Y:50.56, Z:26.25 [[ 9.89977208e-01 -1.31380590e-01 -5.18099194e-02 5.54553934e+02] [ 1.31267101e-01 9.91331209e-01 -5.60201858e-03 5.05561914e+01] [ 5.20967865e-02 -1.25506722e-03 9.98641252e-01 2.62501414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.59, Y:50.56, Z:26.25 [[ 9.90287153e-01 -1.29175195e-01 -5.14307655e-02 5.54585702e+02] [ 1.29060497e-01 9.91621140e-01 -5.55898412e-03 5.05616693e+01] [ 5.17179172e-02 -1.13268958e-03 9.98661091e-01 2.62519882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.62, Y:50.57, Z:26.25 [[ 9.90618686e-01 -1.26698891e-01 -5.12055657e-02 5.54617752e+02] [ 1.26582083e-01 9.91940717e-01 -5.53088506e-03 5.05674744e+01] [ 5.14936425e-02 -1.00270906e-03 9.98672819e-01 2.62540700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.65, Y:50.57, Z:26.26 [[ 9.91321099e-01 -1.21183467e-01 -5.09612252e-02 5.54647177e+02] [ 1.21060668e-01 9.92629868e-01 -5.50092726e-03 5.05739950e+01] [ 5.12522556e-02 -7.16214712e-04 9.98685483e-01 2.62562656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.68, Y:50.58, Z:26.26 [[ 9.92021623e-01 -1.15450112e-01 -5.06396174e-02 5.54677836e+02] [ 1.15321441e-01 9.93313192e-01 -5.46522423e-03 5.05810668e+01] [ 5.09319607e-02 -4.18213026e-04 9.98702038e-01 2.62585666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.71, Y:50.59, Z:26.26 [[ 9.92427595e-01 -1.12089158e-01 -5.02343547e-02 5.54708609e+02] [ 1.11958327e-01 9.93698123e-01 -5.41965552e-03 5.05862165e+01] [ 5.05252686e-02 -2.45538608e-04 9.98722753e-01 2.62599093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.74, Y:50.59, Z:26.26 [[ 9.92431641e-01 -1.12053239e-01 -5.02345506e-02 5.54739245e+02] [ 1.11922454e-01 9.93702174e-01 -5.41783898e-03 5.05894921e+01] [ 5.05252686e-02 -2.45539338e-04 9.98722753e-01 2.62613746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.77, Y:50.60, Z:26.26 [[ 9.93055583e-01 -1.06443053e-01 -5.01047545e-02 5.54769379e+02] [ 1.06305892e-01 9.94318800e-01 -5.40206530e-03 5.05964458e+01] [ 5.03951116e-02 3.81204995e-05 9.98729358e-01 2.62630816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.80, Y:50.60, Z:26.26 [[ 9.93305376e-01 -1.03971737e-01 -5.03419190e-02 5.54800851e+02] [ 1.03830151e-01 9.94580239e-01 -5.42665855e-03 5.06010722e+01] [ 5.06332970e-02 1.63320067e-04 9.98717299e-01 2.62644235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.83, Y:50.61, Z:26.27 [[ 9.93496615e-01 -1.02287741e-01 -5.00169301e-02 5.54831050e+02] [ 1.02145936e-01 9.94754823e-01 -5.38982531e-03 5.06054253e+01] [ 5.03058955e-02 2.45747086e-04 9.98733827e-01 2.62655381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.86, Y:50.61, Z:26.27 [[ 9.93609876e-01 -1.01126717e-01 -5.01278434e-02 5.54861647e+02] [ 1.00982851e-01 9.94873507e-01 -5.40085007e-03 5.06090289e+01] [ 5.04170336e-02 3.04285430e-04 9.98728206e-01 2.62664432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.89, Y:50.61, Z:26.27 [[ 9.93560954e-01 -1.01003948e-01 -5.13306277e-02 5.54892886e+02] [ 1.00852980e-01 9.94885974e-01 -5.52941674e-03 5.06112755e+01] [ 5.16266145e-02 3.16965819e-04 9.98666407e-01 2.62669108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.92, Y:50.61, Z:26.27 [[ 9.93560953e-01 -1.01003867e-01 -5.13308104e-02 5.54922681e+02] [ 1.00852987e-01 9.94885983e-01 -5.52771972e-03 5.06144832e+01] [ 5.16266249e-02 3.15260936e-04 9.98666407e-01 2.62683359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.95, Y:50.62, Z:26.27 [[ 9.93455722e-01 -1.02025420e-01 -5.13472786e-02 5.54952869e+02] [ 1.01875806e-01 9.94781757e-01 -5.52949315e-03 5.06163819e+01] [ 5.16434849e-02 2.62261202e-04 9.98665550e-01 2.62690534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:554.98, Y:50.62, Z:26.27 [[ 9.93233650e-01 -1.03912899e-01 -5.18558146e-02 5.54983669e+02] [ 1.03762875e-01 9.94586387e-01 -5.58425644e-03 5.06178971e+01] [ 5.21553635e-02 1.65763016e-04 9.98638969e-01 2.62704570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.01, Y:50.62, Z:26.27 [[ 9.92953119e-01 -1.06715347e-01 -5.15357993e-02 5.55014199e+02] [ 1.06570941e-01 9.94289613e-01 -5.54979460e-03 5.06191871e+01] [ 5.18337582e-02 1.84672484e-05 9.98655727e-01 2.62718817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.04, Y:50.62, Z:26.27 [[ 9.92260477e-01 -1.13431944e-01 -5.05206883e-02 5.55044922e+02] [ 1.13301871e-01 9.93545715e-01 -5.44041893e-03 5.06169134e+01] [ 5.08117307e-02 -3.25775809e-04 9.98708197e-01 2.62738682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.07, Y:50.62, Z:26.28 [[ 9.91801785e-01 -1.17529267e-01 -5.01606507e-02 5.55074990e+02] [ 1.17406319e-01 9.93069276e-01 -5.40078409e-03 5.06160731e+01] [ 5.04477513e-02 -5.32670072e-04 9.98726560e-01 2.62755149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.11, Y:50.62, Z:26.28 [[ 9.91340112e-01 -1.21740258e-01 -4.92350622e-02 5.55106154e+02] [ 1.21626999e-01 9.92561722e-01 -5.30105466e-03 5.06156371e+01] [ 4.95141899e-02 -7.33164719e-04 9.98773151e-01 2.62773599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.14, Y:50.61, Z:26.28 [[ 9.90343241e-01 -1.30046910e-01 -4.80423308e-02 5.55136705e+02] [ 1.29948908e-01 9.91507207e-01 -5.17097543e-03 5.06099464e+01] [ 4.83067867e-02 -1.12200785e-03 9.98831916e-01 2.62797116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.17, Y:50.61, Z:26.28 [[ 9.89863163e-01 -1.34017196e-01 -4.70139341e-02 5.55167697e+02] [ 1.33927816e-01 9.90978170e-01 -5.06028944e-03 5.06098563e+01] [ 4.72679481e-02 -1.28747938e-03 9.98881416e-01 2.62814859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.20, Y:50.61, Z:26.28 [[ 9.89366615e-01 -1.37681828e-01 -4.68765962e-02 5.55198616e+02] [ 1.37597114e-01 9.90475434e-01 -5.04466905e-03 5.06096751e+01] [ 4.71246762e-02 -1.45905722e-03 9.98887950e-01 2.62832205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.23, Y:50.61, Z:26.28 [[ 9.88932331e-01 -1.40850456e-01 -4.66261021e-02 5.55229280e+02] [ 1.40770199e-01 9.90029586e-01 -5.01688129e-03 5.06090853e+01] [ 4.68678506e-02 -1.60220955e-03 9.98899814e-01 2.62846627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.26, Y:50.61, Z:26.29 [[ 9.87944675e-01 -1.47512010e-01 -4.69630300e-02 5.55260570e+02] [ 1.47438133e-01 9.89058376e-01 -5.05228861e-03 5.06059184e+01] [ 4.71944514e-02 -1.93275982e-03 9.98883851e-01 2.62855539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.29, Y:50.61, Z:26.29 [[ 9.87392196e-01 -1.50994823e-01 -4.75101469e-02 5.55292211e+02] [ 1.50923243e-01 9.88532272e-01 -5.11097256e-03 5.06055176e+01] [ 4.77370438e-02 -2.12385104e-03 9.98857680e-01 2.62865777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.32, Y:50.61, Z:26.29 [[ 9.86877282e-01 -1.54118424e-01 -4.81740703e-02 5.55322523e+02] [ 1.54048624e-01 9.88049686e-01 -5.18066544e-03 5.06113931e+01] [ 4.83968110e-02 -2.30846821e-03 9.98825520e-01 2.62877477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.35, Y:50.61, Z:26.29 [[ 9.85805212e-01 -1.60508507e-01 -4.92453344e-02 5.55353192e+02] [ 1.60443621e-01 9.87030811e-01 -5.29357491e-03 5.06052373e+01] [ 4.94563262e-02 -2.68266604e-03 9.98772684e-01 2.62883783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.38, Y:50.61, Z:26.29 [[ 9.85280010e-01 -1.63539394e-01 -4.97812129e-02 5.55384207e+02] [ 1.63476961e-01 9.86532641e-01 -5.35077873e-03 5.06061046e+01] [ 4.99858545e-02 -2.86606609e-03 9.98745814e-01 2.62895230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.42, Y:50.61, Z:26.29 [[ 9.84861815e-01 -1.65916360e-01 -5.01893054e-02 5.55415231e+02] [ 1.65856021e-01 9.86135228e-01 -5.39367512e-03 5.06094677e+01] [ 5.03883411e-02 -3.01217383e-03 9.98725158e-01 2.62910487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.45, Y:50.61, Z:26.29 [[ 9.84546950e-01 -1.67786729e-01 -5.01489406e-02 5.55446407e+02] [ 1.67728996e-01 9.85818421e-01 -5.38749233e-03 5.06130811e+01] [ 5.03416992e-02 -3.10719231e-03 9.98727219e-01 2.62926927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.48, Y:50.61, Z:26.29 [[ 9.84133201e-01 -1.69821844e-01 -5.14041155e-02 5.55476102e+02] [ 1.69764044e-01 9.85469276e-01 -5.52052830e-03 5.06146372e+01] [ 5.15946827e-02 -3.29363533e-03 9.98662676e-01 2.62938371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.51, Y:50.62, Z:26.29 [[ 9.84090517e-01 -1.69911044e-01 -5.19238938e-02 5.55507408e+02] [ 1.69852203e-01 9.85453771e-01 -5.57617894e-03 5.06181919e+01] [ 5.21160514e-02 -3.33192295e-03 9.98635477e-01 2.62949851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.54, Y:50.63, Z:26.30 [[ 9.84286646e-01 -1.68426738e-01 -5.30304940e-02 5.55537713e+02] [ 1.68363327e-01 9.85708567e-01 -5.69303644e-03 5.06280839e+01] [ 5.32314719e-02 -3.32481066e-03 9.98576665e-01 2.62961435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.57, Y:50.63, Z:26.30 [[ 9.84445052e-01 -1.67255118e-01 -5.37927919e-02 5.55568640e+02] [ 1.67188243e-01 9.85908092e-01 -5.77281202e-03 5.06277691e+01] [ 5.40002812e-02 -3.31050612e-03 9.98535433e-01 2.62966863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.60, Y:50.64, Z:26.30 [[ 9.84652196e-01 -1.65951921e-01 -5.40371412e-02 5.55598772e+02] [ 1.65882593e-01 9.86128470e-01 -5.79701568e-03 5.06371059e+01] [ 5.42495892e-02 -3.25577687e-03 9.98522099e-01 2.62984844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.63, Y:50.64, Z:26.30 [[ 9.84839680e-01 -1.64820012e-01 -5.40848266e-02 5.55628608e+02] [ 1.64748965e-01 9.86318476e-01 -5.80025870e-03 5.06409254e+01] [ 5.43008624e-02 -3.19809425e-03 9.98519498e-01 2.62996611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.66, Y:50.65, Z:26.30 [[ 9.85165857e-01 -1.62522940e-01 -5.50865455e-02 5.55659153e+02] [ 1.62445726e-01 9.86699802e-01 -5.90651369e-03 5.06511523e+01] [ 5.53138275e-02 -3.12967824e-03 9.98464113e-01 2.63013256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.69, Y:50.66, Z:26.30 [[ 9.85313625e-01 -1.61476496e-01 -5.55193766e-02 5.55690075e+02] [ 1.61396526e-01 9.86871698e-01 -5.95084490e-03 5.06568464e+01] [ 5.57514231e-02 -3.09718596e-03 9.98439876e-01 2.63027920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.72, Y:50.66, Z:26.30 [[ 9.85476960e-01 -1.60448221e-01 -5.56015334e-02 5.55720921e+02] [ 1.60366499e-01 9.87039560e-01 -5.95760108e-03 5.06622705e+01] [ 5.58367996e-02 -3.04554466e-03 9.98435264e-01 2.63044099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.75, Y:50.67, Z:26.31 [[ 9.85656278e-01 -1.59442711e-01 -5.53147736e-02 5.55750971e+02] [ 1.59360355e-01 9.87202700e-01 -5.92500535e-03 5.06668487e+01] [ 5.55515927e-02 -2.97496322e-03 9.98451386e-01 2.63060117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.78, Y:50.67, Z:26.31 [[ 9.86005584e-01 -1.57416857e-01 -5.48900844e-02 5.55781720e+02] [ 1.57332693e-01 9.87528161e-01 -5.87838516e-03 5.06745229e+01] [ 5.51308610e-02 -2.83988424e-03 9.98475099e-01 2.63081378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.81, Y:50.68, Z:26.31 [[ 9.86237484e-01 -1.56093950e-01 -5.45004971e-02 5.55812790e+02] [ 1.56009078e-01 9.87738389e-01 -5.83455357e-03 5.06831282e+01] [ 5.47429717e-02 -2.74831688e-03 9.98496697e-01 2.63102938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.84, Y:50.69, Z:26.31 [[ 9.86505935e-01 -1.54527913e-01 -5.41032664e-02 5.55844087e+02] [ 1.54442095e-01 9.87984882e-01 -5.78891079e-03 5.06881293e+01] [ 5.43477576e-02 -2.64502696e-03 9.98518565e-01 2.63117059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.87, Y:50.70, Z:26.31 [[ 9.87096461e-01 -1.50585632e-01 -5.44476212e-02 5.55873457e+02] [ 1.50492925e-01 9.88593941e-01 -5.82228969e-03 5.06962527e+01] [ 5.47033416e-02 -2.44682020e-03 9.98499653e-01 2.63131229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.90, Y:50.71, Z:26.32 [[ 9.87466889e-01 -1.48030761e-01 -5.47360697e-02 5.55904494e+02] [ 1.47933175e-01 9.88980041e-01 -5.85272538e-03 5.07051079e+01] [ 5.49992639e-02 -2.31790808e-03 9.98483705e-01 2.63150697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.93, Y:50.71, Z:26.32 [[ 9.87856251e-01 -1.45354453e-01 -5.48826881e-02 5.55934885e+02] [ 1.45252381e-01 9.89377249e-01 -5.86553652e-03 5.07112301e+01] [ 5.51522649e-02 -2.17753420e-03 9.98475581e-01 2.63164273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:555.97, Y:50.72, Z:26.32 [[ 9.88255420e-01 -1.42473541e-01 -5.52495621e-02 5.55965805e+02] [ 1.42365718e-01 9.89796525e-01 -5.90273204e-03 5.07190727e+01] [ 5.55268076e-02 -2.03223666e-03 9.98455129e-01 2.63179554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.00, Y:50.73, Z:26.32 [[ 9.89142918e-01 -1.36086715e-01 -5.54679450e-02 5.55995748e+02] [ 1.35968114e-01 9.90695501e-01 -5.92414376e-03 5.07318633e+01] [ 5.57580408e-02 -1.68204699e-03 9.98442894e-01 2.63194387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.03, Y:50.74, Z:26.32 [[ 9.89609274e-01 -1.32430208e-01 -5.59975488e-02 5.56025398e+02] [ 1.32303556e-01 9.91191211e-01 -5.97939802e-03 5.07377295e+01] [ 5.62961311e-02 -1.49140711e-03 9.98413001e-01 2.63200857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.06, Y:50.75, Z:26.32 [[ 9.90063572e-01 -1.28671057e-01 -5.67263852e-02 5.56055792e+02] [ 1.28534991e-01 9.91686483e-01 -6.05600833e-03 5.07452413e+01] [ 5.70340224e-02 -1.29549216e-03 9.98371395e-01 2.63214356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.715099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.09, Y:50.76, Z:26.32 [[ 9.91123860e-01 -1.20343594e-01 -5.64881690e-02 5.56085781e+02] [ 1.20195261e-01 9.92731966e-01 -6.02855447e-03 5.07580858e+01] [ 5.68031089e-02 -8.14566027e-04 9.98385068e-01 2.63234031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.12, Y:50.77, Z:26.33 [[ 9.91619539e-01 -1.16069682e-01 -5.67319874e-02 5.56117295e+02] [ 1.15913212e-01 9.93240907e-01 -6.05214820e-03 5.07664523e+01] [ 5.70510015e-02 -5.74558463e-04 9.98371100e-01 2.63259542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.15, Y:50.77, Z:26.33 [[ 9.92163065e-01 -1.11615831e-01 -5.61636800e-02 5.56147795e+02] [ 1.11455611e-01 9.93751379e-01 -5.98689057e-03 5.07730046e+01] [ 5.64809663e-02 -3.19785568e-04 9.98403625e-01 2.63271112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.18, Y:50.78, Z:26.33 [[ 9.93068035e-01 -1.03467184e-01 -5.57711295e-02 5.56179246e+02] [ 1.03296721e-01 9.94632859e-01 -5.93834936e-03 5.07832993e+01] [ 5.60862222e-02 1.36210120e-04 9.98425920e-01 2.63295229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.21, Y:50.79, Z:26.33 [[ 9.93436688e-01 -1.00209443e-01 -5.51508294e-02 5.56209360e+02] [ 1.00037934e-01 9.94966316e-01 -5.86874878e-03 5.07896779e+01] [ 5.54613216e-02 3.13055336e-04 9.98460787e-01 2.63304555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.24, Y:50.79, Z:26.33 [[ 9.93726884e-01 -9.72844619e-02 -5.51598952e-02 5.56239849e+02] [ 9.71084559e-02 9.95256503e-01 -5.86857820e-03 5.07946603e+01] [ 5.54691659e-02 4.75271687e-04 9.98460288e-01 2.63321998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.27, Y:50.80, Z:26.33 [[ 9.93940207e-01 -9.52516999e-02 -5.48632807e-02 5.56271252e+02] [ 9.50745968e-02 9.95453049e-01 -5.83506443e-03 5.07991322e+01] [ 5.51696198e-02 5.83600858e-04 9.98476826e-01 2.63338123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.30, Y:50.80, Z:26.34 [[ 9.94140957e-01 -9.34004615e-02 -5.44069100e-02 5.56301887e+02] [ 9.32236374e-02 9.95628391e-01 -5.78447079e-03 5.08026840e+01] [ 5.47093365e-02 6.78569285e-04 9.98502092e-01 2.63353026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.33, Y:50.81, Z:26.34 [[ 9.94101417e-01 -9.39847722e-02 -5.41224184e-02 5.56332513e+02] [ 9.38108029e-02 9.95573429e-01 -5.75158808e-03 5.08052799e+01] [ 5.44234034e-02 6.40394332e-04 9.98517743e-01 2.63367683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.36, Y:50.81, Z:26.34 [[ 9.94038894e-01 -9.47872399e-02 -5.38707426e-02 5.56362615e+02] [ 9.46161084e-02 9.95497377e-01 -5.72401611e-03 5.08066858e+01] [ 5.41707467e-02 5.92854622e-04 9.98531511e-01 2.63384567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.39, Y:50.81, Z:26.34 [[ 9.93883741e-01 -9.64759522e-02 -5.37354604e-02 5.56393297e+02] [ 9.63081455e-02 9.95335190e-01 -5.70964175e-03 5.08075129e+01] [ 5.40356379e-02 4.99557562e-04 9.98538883e-01 2.63398432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.42, Y:50.80, Z:26.34 [[ 9.93506474e-01 -1.00357621e-01 -5.36025592e-02 5.56424317e+02] [ 1.00196309e-01 9.94951388e-01 -5.69511639e-03 5.08048115e+01] [ 5.39034890e-02 2.87356416e-04 9.98546109e-01 2.63406331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.46, Y:50.80, Z:26.34 [[ 9.93230028e-01 -1.02770148e-01 -5.41517167e-02 5.56455534e+02] [ 1.02609272e-01 9.94705119e-01 -5.75017265e-03 5.08042728e+01] [ 5.44559359e-02 1.54775899e-04 9.98516163e-01 2.63425111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.49, Y:50.80, Z:26.34 [[ 9.92726505e-01 -1.07328222e-01 -5.45411750e-02 5.56486268e+02] [ 1.07172013e-01 9.94223638e-01 -5.78934507e-03 5.08004095e+01] [ 5.48474856e-02 -9.80511975e-05 9.98494739e-01 2.63422295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.52, Y:50.80, Z:26.34 [[ 9.92470437e-01 -1.09719731e-01 -5.44427532e-02 5.56517001e+02] [ 1.09567836e-01 9.93962538e-01 -5.77604616e-03 5.07993380e+01] [ 5.47478033e-02 -2.32619597e-04 9.98500187e-01 2.63434118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.55, Y:50.80, Z:26.34 [[ 9.92207628e-01 -1.12232491e-01 -5.41099829e-02 5.56547591e+02] [ 1.12086182e-01 9.93681907e-01 -5.74074125e-03 5.07981190e+01] [ 5.44124086e-02 -3.68974102e-04 9.98518479e-01 2.63448981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.58, Y:50.80, Z:26.35 [[ 9.91903380e-01 -1.14943606e-01 -5.39967772e-02 5.56577395e+02] [ 1.14801919e-01 9.93371884e-01 -5.72875714e-03 5.07965601e+01] [ 5.42973644e-02 -5.16560091e-04 9.98524676e-01 2.63458731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.61, Y:50.79, Z:26.35 [[ 9.91285219e-01 -1.20365974e-01 -5.35317363e-02 5.56608779e+02] [ 1.20234603e-01 9.92729259e-01 -5.67960176e-03 5.07927007e+01] [ 5.38261517e-02 -8.06261805e-04 9.98549996e-01 2.63483182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.64, Y:50.79, Z:26.35 [[ 9.90969745e-01 -1.22970666e-01 -5.34526023e-02 5.56639807e+02] [ 1.22843474e-01 9.92409855e-01 -5.67109471e-03 5.07920953e+01] [ 5.37442676e-02 -9.46420084e-04 9.98554284e-01 2.63500062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.67, Y:50.79, Z:26.35 [[ 9.90659530e-01 -1.25428242e-01 -5.34925416e-02 5.56671013e+02] [ 1.25304496e-01 9.92102105e-01 -5.67425907e-03 5.07914680e+01] [ 5.37817755e-02 -1.08159712e-03 9.98552127e-01 2.63514550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.70, Y:50.79, Z:26.35 [[ 9.89940266e-01 -1.31097213e-01 -5.32145663e-02 5.56703028e+02] [ 1.30983027e-01 9.91368552e-01 -5.64285451e-03 5.07871291e+01] [ 5.34950100e-02 -1.38411605e-03 9.98567158e-01 2.63526525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.73, Y:50.78, Z:26.35 [[ 9.89541163e-01 -1.33959408e-01 -5.35085439e-02 5.56733430e+02] [ 1.33848257e-01 9.90985608e-01 -5.67171478e-03 5.07839360e+01] [ 5.37859764e-02 -1.54963009e-03 9.98551284e-01 2.63533506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.76, Y:50.79, Z:26.35 [[ 9.89064315e-01 -1.37278703e-01 -5.39104758e-02 5.56764840e+02] [ 1.37171040e-01 9.90530920e-01 -5.70982361e-03 5.07851855e+01] [ 5.41838304e-02 -1.74757325e-03 9.98529448e-01 2.63549823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.79, Y:50.78, Z:26.36 [[ 9.87990488e-01 -1.44610749e-01 -5.44291005e-02 5.56794969e+02] [ 1.44512188e-01 9.89486238e-01 -5.76307994e-03 5.07788680e+01] [ 5.46902492e-02 -2.17180022e-03 9.98501006e-01 2.63557349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.83, Y:50.77, Z:26.36 [[ 9.87504955e-01 -1.47779358e-01 -5.47286455e-02 5.56825746e+02] [ 1.47684521e-01 9.89017540e-01 -5.79551140e-03 5.07724742e+01] [ 5.49840473e-02 -2.35947758e-03 9.98484445e-01 2.63557390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.465099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.85, Y:50.78, Z:26.36 [[ 9.87499939e-01 -1.47812883e-01 -5.47286186e-02 5.56854732e+02] [ 1.47718083e-01 9.89012526e-01 -5.79576531e-03 5.07755753e+01] [ 5.49839781e-02 -2.36108876e-03 9.98484445e-01 2.63571258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.88, Y:50.78, Z:26.36 [[ 9.87016487e-01 -1.50766115e-01 -5.53898361e-02 5.56884781e+02] [ 1.50673556e-01 9.88566160e-01 -5.86743139e-03 5.07796465e+01] [ 5.56411274e-02 -2.55453204e-03 9.98447565e-01 2.63590013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.91, Y:50.78, Z:26.36 [[ 9.86570920e-01 -1.53462291e-01 -5.59208912e-02 5.56914199e+02] [ 1.53372247e-01 9.88150727e-01 -5.92400007e-03 5.07782401e+01] [ 5.61673799e-02 -2.73226653e-03 9.98417628e-01 2.63598889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.94, Y:50.78, Z:26.36 [[ 9.86207867e-01 -1.55566951e-01 -5.65063406e-02 5.56944004e+02] [ 1.55478338e-01 9.87821153e-01 -5.98808386e-03 5.07777605e+01] [ 5.67497064e-02 -2.88001648e-03 9.98384283e-01 2.63608988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:556.97, Y:50.78, Z:26.36 [[ 9.85821369e-01 -1.57919307e-01 -5.67249677e-02 5.56973154e+02] [ 1.57833760e-01 9.87447387e-01 -6.01346816e-03 5.07756442e+01] [ 5.69625639e-02 -3.02490951e-03 9.98371732e-01 2.63616237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.00, Y:50.78, Z:26.36 [[ 9.85733837e-01 -1.58332039e-01 -5.70943798e-02 5.57003130e+02] [ 1.58245899e-01 9.87381166e-01 -6.05553026e-03 5.07770925e+01] [ 5.73326997e-02 -3.06581036e-03 9.98350421e-01 2.63629151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.03, Y:50.78, Z:26.36 [[ 9.85714542e-01 -1.58230659e-01 -5.77052954e-02 5.57031662e+02] [ 1.58142245e-01 9.87397346e-01 -6.12460584e-03 5.07789646e+01] [ 5.79471559e-02 -3.08853193e-03 9.98314874e-01 2.63640015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.06, Y:50.78, Z:26.36 [[ 9.85836311e-01 -1.57147883e-01 -5.85773921e-02 5.57060901e+02] [ 1.57054022e-01 9.87570352e-01 -6.23162237e-03 5.07809781e+01] [ 5.88285820e-02 -3.05645543e-03 9.98263420e-01 2.63646702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.09, Y:50.79, Z:26.37 [[ 9.85991253e-01 -1.56160734e-01 -5.86095108e-02 5.57089513e+02] [ 1.56064371e-01 9.87727137e-01 -6.24625107e-03 5.07888338e+01] [ 5.88656234e-02 -2.98810753e-03 9.98261444e-01 2.63672995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.12, Y:50.79, Z:26.37 [[ 9.86214001e-01 -1.55025528e-01 -5.78707999e-02 5.57119336e+02] [ 1.54929517e-01 9.87906262e-01 -6.16944004e-03 5.07926494e+01] [ 5.81273463e-02 -2.88150694e-03 9.98305018e-01 2.63691935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.15, Y:50.80, Z:26.37 [[ 9.86566571e-01 -1.52726050e-01 -5.79754690e-02 5.57148082e+02] [ 1.52625659e-01 9.88264738e-01 -6.18186915e-03 5.07955705e+01] [ 5.82392441e-02 -2.74971871e-03 9.98298868e-01 2.63708274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.18, Y:50.80, Z:26.37 [[ 9.86728975e-01 -1.51747296e-01 -5.77813820e-02 5.57176127e+02] [ 1.51645647e-01 9.88415694e-01 -6.16557709e-03 5.07978376e+01] [ 5.80476344e-02 -2.67854147e-03 9.98310221e-01 2.63721929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.20, Y:50.80, Z:26.37 [[ 9.86899415e-01 -1.50643859e-01 -5.77578750e-02 5.57204215e+02] [ 1.50539657e-01 9.88584680e-01 -6.17598960e-03 5.07976913e+01] [ 5.80289252e-02 -2.59977016e-03 9.98311517e-01 2.63732304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.23, Y:50.81, Z:26.38 [[ 9.87133923e-01 -1.49414464e-01 -5.69380009e-02 5.57232498e+02] [ 1.49310791e-01 9.88771532e-01 -6.09473103e-03 5.08077270e+01] [ 5.72093153e-02 -2.48514219e-03 9.98359113e-01 2.63764832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.26, Y:50.82, Z:26.38 [[ 9.87620661e-01 -1.46467648e-01 -5.61485354e-02 5.57261793e+02] [ 1.46361450e-01 9.89212854e-01 -6.02132510e-03 5.08157335e+01] [ 5.64247823e-02 -2.27119596e-03 9.98404270e-01 2.63793915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.29, Y:50.82, Z:26.38 [[ 9.87806606e-01 -1.45017605e-01 -5.66392484e-02 5.57291220e+02] [ 1.44907104e-01 9.89426615e-01 -6.07499544e-03 5.08195058e+01] [ 5.69213611e-02 -2.20650883e-03 9.98376227e-01 2.63809927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.32, Y:50.82, Z:26.38 [[ 9.88023066e-01 -1.43578757e-01 -5.65293076e-02 5.57321065e+02] [ 1.43466276e-01 9.89636627e-01 -6.06423039e-03 5.08238541e+01] [ 5.68141679e-02 -2.11844975e-03 9.98382523e-01 2.63823805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.35, Y:50.83, Z:26.38 [[ 9.88320595e-01 -1.41043889e-01 -5.76976916e-02 5.57349056e+02] [ 1.40922318e-01 9.90001299e-01 -6.19096947e-03 5.08293972e+01] [ 5.79939881e-02 -2.01222980e-03 9.98314904e-01 2.63836108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.38, Y:50.83, Z:26.38 [[ 9.88469741e-01 -1.39808745e-01 -5.81471026e-02 5.57378737e+02] [ 1.39682975e-01 9.90176602e-01 -6.24199566e-03 5.08340068e+01] [ 5.84485861e-02 -1.95213645e-03 9.98288511e-01 2.63849118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.41, Y:50.84, Z:26.39 [[ 9.88533452e-01 -1.39048413e-01 -5.88825368e-02 5.57408185e+02] [ 1.38917969e-01 9.90283705e-01 -6.32306882e-03 5.08397622e+01] [ 5.91896294e-02 -1.92927738e-03 9.98244893e-01 2.63867839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.44, Y:50.84, Z:26.39 [[ 9.88600125e-01 -1.38001357e-01 -6.02114418e-02 5.57436856e+02] [ 1.37862870e-01 9.90430205e-01 -6.46822669e-03 5.08441912e+01] [ 6.05278547e-02 -1.90643246e-03 9.98164688e-01 2.63876692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.46, Y:50.85, Z:26.39 [[ 9.88542405e-01 -1.37878662e-01 -6.14279152e-02 5.57464843e+02] [ 1.37734047e-01 9.90447240e-01 -6.60276827e-03 5.08460388e+01] [ 6.17514900e-02 -1.93359893e-03 9.98089683e-01 2.63878809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.49, Y:50.85, Z:26.39 [[ 9.88465651e-01 -1.38115473e-01 -6.21270716e-02 5.57492716e+02] [ 1.37967515e-01 9.90414188e-01 -6.68588466e-03 5.08511126e+01] [ 6.24549573e-02 -1.96275036e-03 9.98045854e-01 2.63896145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.52, Y:50.85, Z:26.39 [[ 9.88401263e-01 -1.38211000e-01 -6.29338013e-02 5.57520551e+02] [ 1.38058520e-01 9.90400825e-01 -6.78605263e-03 5.08534615e+01] [ 6.32675959e-02 -1.98120450e-03 9.97994632e-01 2.63902219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.55, Y:50.86, Z:26.39 [[ 9.88334441e-01 -1.38521180e-01 -6.33001986e-02 5.57548568e+02] [ 1.38367198e-01 9.90357437e-01 -6.83115497e-03 5.08563782e+01] [ 6.36360821e-02 -2.00720538e-03 9.97971152e-01 2.63911146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.215099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.58, Y:50.86, Z:26.39 [[ 9.88253072e-01 -1.39189550e-01 -6.31041579e-02 5.57577113e+02] [ 1.39037369e-01 9.90263664e-01 -6.81803392e-03 5.08617770e+01] [ 6.34387537e-02 -2.03589313e-03 9.97983657e-01 2.63944528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.60, Y:50.86, Z:26.40 [[ 9.88216827e-01 -1.39797586e-01 -6.23228543e-02 5.57604272e+02] [ 1.39649359e-01 9.90178015e-01 -6.74952252e-03 5.08648892e+01] [ 6.26542871e-02 -2.03335494e-03 9.98033219e-01 2.63970972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.63, Y:50.87, Z:26.40 [[ 9.88035186e-01 -1.40795838e-01 -6.29523978e-02 5.57633651e+02] [ 1.40645725e-01 9.90036416e-01 -6.83185030e-03 5.08708921e+01] [ 6.32870624e-02 -2.10387716e-03 9.97993147e-01 2.63995355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.66, Y:50.88, Z:26.40 [[ 9.87902770e-01 -1.41419015e-01 -6.36300171e-02 5.57663107e+02] [ 1.41266790e-01 9.89947462e-01 -6.90776346e-03 5.08750412e+01] [ 6.39672630e-02 -2.16460962e-03 9.97949650e-01 2.64011588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.69, Y:50.88, Z:26.40 [[ 9.87853758e-01 -1.41995880e-01 -6.31040621e-02 5.57692136e+02] [ 1.41847153e-01 9.89864846e-01 -6.85355421e-03 5.08767576e+01] [ 6.34376692e-02 -2.18082224e-03 9.97983420e-01 2.64024825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.72, Y:50.88, Z:26.41 [[ 9.87659479e-01 -1.43971249e-01 -6.16525208e-02 5.57720983e+02] [ 1.43832887e-01 9.89579312e-01 -6.69973497e-03 5.08808959e+01] [ 6.19746283e-02 -2.25060329e-03 9.98075188e-01 2.64065445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.75, Y:50.88, Z:26.41 [[ 9.87541763e-01 -1.45020218e-01 -6.10770252e-02 5.57750537e+02] [ 1.44886306e-01 9.89426035e-01 -6.63918603e-03 5.08822584e+01] [ 6.13940151e-02 -2.29275105e-03 9.98110975e-01 2.64080157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.78, Y:50.88, Z:26.41 [[ 9.87318875e-01 -1.46545337e-01 -6.10401716e-02 5.57779230e+02] [ 1.46414394e-01 9.89201081e-01 -6.63679502e-03 5.08822069e+01] [ 6.13535951e-02 -2.38452673e-03 9.98113245e-01 2.64088226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.81, Y:50.88, Z:26.41 [[ 9.87028028e-01 -1.48401315e-01 -6.12594691e-02 5.57807540e+02] [ 1.48272760e-01 9.88924049e-01 -6.66442717e-03 5.08837746e+01] [ 6.15699720e-02 -2.50513413e-03 9.98099626e-01 2.64102337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.84, Y:50.89, Z:26.41 [[ 9.86409261e-01 -1.52454454e-01 -6.12732370e-02 5.57837285e+02] [ 1.52333361e-01 9.88306660e-01 -6.67035855e-03 5.08869152e+01] [ 6.15736740e-02 -2.75425466e-03 9.98098741e-01 2.64119464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.87, Y:50.89, Z:26.41 [[ 9.86045810e-01 -1.54694392e-01 -6.15085754e-02 5.57867299e+02] [ 1.54576646e-01 9.87958102e-01 -6.69702114e-03 5.08910268e+01] [ 6.18038870e-02 -2.90421964e-03 9.98084087e-01 2.64136167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.90, Y:50.89, Z:26.41 [[ 9.85677014e-01 -1.57039076e-01 -6.14780662e-02 5.57896289e+02] [ 1.56925919e-01 9.87587685e-01 -6.69484777e-03 5.08893511e+01] [ 6.17663338e-02 -3.04854450e-03 9.98085981e-01 2.64136602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.93, Y:50.89, Z:26.42 [[ 9.85069306e-01 -1.61263325e-01 -6.02710782e-02 5.57926833e+02] [ 1.61162211e-01 9.86906082e-01 -6.56714349e-03 5.08916344e+01] [ 6.05409330e-02 -3.24432875e-03 9.98160443e-01 2.64153650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.96, Y:50.90, Z:26.42 [[ 9.84799204e-01 -1.62885648e-01 -6.03224169e-02 5.57957046e+02] [ 1.62787392e-01 9.86639278e-01 -6.57273737e-03 5.08970778e+01] [ 6.05870704e-02 -3.34690242e-03 9.98157305e-01 2.64172426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:557.99, Y:50.90, Z:26.42 [[ 9.84613831e-01 -1.64024465e-01 -6.02625752e-02 5.57987791e+02] [ 1.63928543e-01 9.86450364e-01 -6.56597654e-03 5.09002594e+01] [ 6.05230201e-02 -3.41380484e-03 9.98160964e-01 2.64182476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.02, Y:50.90, Z:26.42 [[ 9.84434673e-01 -1.65132252e-01 -6.01640565e-02 5.58017768e+02] [ 1.65038770e-01 9.86265303e-01 -6.55413533e-03 5.09025110e+01] [ 6.04200206e-02 -3.47728380e-03 9.98166985e-01 2.64188423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.05, Y:50.91, Z:26.42 [[ 9.84434545e-01 -1.65256586e-01 -5.98238015e-02 5.58047872e+02] [ 1.65164437e-01 9.86244517e-01 -6.51620987e-03 5.09065825e+01] [ 6.00777428e-02 -3.46598241e-03 9.98187684e-01 2.64204818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.08, Y:50.91, Z:26.42 [[ 9.84512804e-01 -1.64917493e-01 -5.94706533e-02 5.58077494e+02] [ 1.64825798e-01 9.86301421e-01 -6.47796345e-03 5.09097735e+01] [ 5.97243193e-02 -3.42465995e-03 9.98209035e-01 2.64220638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.11, Y:50.91, Z:26.42 [[ 9.84763280e-01 -1.63681766e-01 -5.87329649e-02 5.58106848e+02] [ 1.63590079e-01 9.86507650e-01 -6.39865041e-03 5.09148192e+01] [ 5.89878615e-02 -3.30697438e-03 9.98253222e-01 2.64237305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.14, Y:50.92, Z:26.42 [[ 9.84883894e-01 -1.63031986e-01 -5.85174080e-02 5.58136269e+02] [ 1.62939756e-01 9.86615415e-01 -6.37639418e-03 5.09185507e+01] [ 5.87737330e-02 -3.25480423e-03 9.98266024e-01 2.64247791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.17, Y:50.92, Z:26.43 [[ 9.85001182e-01 -1.62266730e-01 -5.86700957e-02 5.58166318e+02] [ 1.62172568e-01 9.86741692e-01 -6.39468801e-03 5.09230385e+01] [ 5.89298746e-02 -3.21590482e-03 9.98256945e-01 2.64260016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.20, Y:50.93, Z:26.43 [[ 9.85148108e-01 -1.61620795e-01 -5.79821065e-02 5.58195552e+02] [ 1.61527701e-01 9.86847942e-01 -6.31988775e-03 5.09271218e+01] [ 5.82409477e-02 -3.13969089e-03 9.98297618e-01 2.64266958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.23, Y:50.93, Z:26.43 [[ 9.85189165e-01 -1.61366453e-01 -5.79929143e-02 5.58225274e+02] [ 1.61272837e-01 9.86889612e-01 -6.32188566e-03 5.09323146e+01] [ 5.82527449e-02 -3.12442854e-03 9.98296978e-01 2.64281320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.26, Y:50.94, Z:26.43 [[ 9.85239901e-01 -1.61048154e-01 -5.80157778e-02 5.58256703e+02] [ 1.60953961e-01 9.86941657e-01 -6.32358178e-03 5.09423231e+01] [ 5.82765890e-02 -3.10762413e-03 9.98295639e-01 2.64307586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.29, Y:50.94, Z:26.43 [[ 9.85362752e-01 -1.60407267e-01 -5.77040284e-02 5.58287479e+02] [ 1.60313231e-01 9.87046180e-01 -6.28542084e-03 5.09428450e+01] [ 5.79647680e-02 -3.05729962e-03 9.98313948e-01 2.64311417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.965099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.32, Y:50.95, Z:26.43 [[ 9.85709053e-01 -1.58228418e-01 -5.78051114e-02 5.58316677e+02] [ 1.58130504e-01 9.87398166e-01 -6.29322186e-03 5.09494752e+01] [ 5.80724275e-02 -2.93746565e-03 9.98308051e-01 2.64329081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.35, Y:50.96, Z:26.43 [[ 9.86072471e-01 -1.56239576e-01 -5.70112009e-02 5.58347180e+02] [ 1.56141027e-01 9.87715272e-01 -6.20661955e-03 5.09555142e+01] [ 5.72805534e-02 -2.78161078e-03 9.98354246e-01 2.64347406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.38, Y:50.97, Z:26.44 [[ 9.86931036e-01 -1.51083291e-01 -5.60443555e-02 5.58376861e+02] [ 1.50979811e-01 9.88518023e-01 -6.10042268e-03 5.09709339e+01] [ 5.63225274e-02 -2.44086974e-03 9.98409643e-01 2.64381401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.41, Y:50.98, Z:26.44 [[ 9.87406049e-01 -1.48097222e-01 -5.56462645e-02 5.58407496e+02] [ 1.47990532e-01 9.88970235e-01 -6.05606252e-03 5.09787767e+01] [ 5.59293854e-02 -2.25532754e-03 9.98432180e-01 2.64401632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.44, Y:50.98, Z:26.44 [[ 9.87939954e-01 -1.44598535e-01 -5.53706674e-02 5.58437587e+02] [ 1.44487521e-01 9.89488285e-01 -6.02415392e-03 5.09841959e+01] [ 5.56597105e-02 -2.04886814e-03 9.98447695e-01 2.64415137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.47, Y:50.99, Z:26.44 [[ 9.88481981e-01 -1.41051188e-01 -5.48446475e-02 5.58468611e+02] [ 1.40936894e-01 9.90000608e-01 -5.96562393e-03 5.09926366e+01] [ 5.51376927e-02 -1.83272249e-03 9.98477078e-01 2.64435180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.50, Y:51.00, Z:26.45 [[ 9.89471435e-01 -1.34231900e-01 -5.41117069e-02 5.58497645e+02] [ 1.34110591e-01 9.90948907e-01 -5.88330123e-03 5.10024637e+01] [ 5.44116635e-02 -1.43559449e-03 9.98517556e-01 2.64450371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.53, Y:51.01, Z:26.45 [[ 9.90373592e-01 -1.27969873e-01 -5.27623054e-02 5.58528359e+02] [ 1.27845674e-01 9.91777485e-01 -5.73628498e-03 5.10114599e+01] [ 5.30625382e-02 -1.06436733e-03 9.98590624e-01 2.64465899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.56, Y:51.02, Z:26.45 [[ 9.91048554e-01 -1.22340228e-01 -5.34381238e-02 5.58559341e+02] [ 1.22204803e-01 9.92487918e-01 -5.80679868e-03 5.10201397e+01] [ 5.37470973e-02 -7.75575965e-04 9.98554279e-01 2.64474198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.59, Y:51.03, Z:26.45 [[ 9.91569941e-01 -1.18003114e-01 -5.35193102e-02 5.58590332e+02] [ 1.17861127e-01 9.93013076e-01 -5.81257220e-03 5.10273465e+01] [ 5.38312764e-02 -5.44274333e-04 9.98549897e-01 2.64482400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.62, Y:51.03, Z:26.45 [[ 9.91578319e-01 -1.17932509e-01 -5.35197253e-02 5.58621813e+02] [ 1.17790625e-01 9.93021464e-01 -5.80874753e-03 5.10307041e+01] [ 5.38312761e-02 -5.44293797e-04 9.98549897e-01 2.64497452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.65, Y:51.03, Z:26.45 [[ 9.91586691e-01 -1.17861904e-01 -5.35201380e-02 5.58653294e+02] [ 1.17720123e-01 9.93029846e-01 -5.80494220e-03 5.10340595e+01] [ 5.38312760e-02 -5.44293796e-04 9.98549897e-01 2.64512503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.69, Y:51.04, Z:26.45 [[ 9.91916982e-01 -1.14884117e-01 -5.38733808e-02 5.58685375e+02] [ 1.14736279e-01 9.93378824e-01 -5.83936164e-03 5.10400290e+01] [ 5.41875256e-02 -3.89069247e-04 9.98530701e-01 2.64523495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.72, Y:51.04, Z:26.45 [[ 9.91973491e-01 -1.14327725e-01 -5.40163394e-02 5.58717048e+02] [ 1.14178486e-01 9.93443023e-01 -5.85099129e-03 5.10440093e+01] [ 5.43310860e-02 -3.63475619e-04 9.98522910e-01 2.64539210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.75, Y:51.05, Z:26.46 [[ 9.91981555e-01 -1.14257537e-01 -5.40167527e-02 5.58748529e+02] [ 1.14108402e-01 9.93451098e-01 -5.84717356e-03 5.10473576e+01] [ 5.43310859e-02 -3.63477006e-04 9.98522910e-01 2.64554261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.78, Y:51.05, Z:26.46 [[ 9.91974442e-01 -1.14205215e-01 -5.42574965e-02 5.58780082e+02] [ 1.14054882e-01 9.93457113e-01 -5.86933929e-03 5.10506086e+01] [ 5.45728049e-02 -3.66097788e-04 9.98509727e-01 2.64569571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.81, Y:51.05, Z:26.46 [[ 9.91920286e-01 -1.14511882e-01 -5.46001391e-02 5.58812405e+02] [ 1.14360324e-01 9.93421802e-01 -5.90245905e-03 5.10541888e+01] [ 5.49168703e-02 -3.89320722e-04 9.98490854e-01 2.64590710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.84, Y:51.06, Z:26.46 [[ 9.91755281e-01 -1.15997559e-01 -5.44612586e-02 5.58844864e+02] [ 1.15849229e-01 9.93249385e-01 -5.88343985e-03 5.10562809e+01] [ 5.47760762e-02 -4.74362273e-04 9.98498551e-01 2.64605314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.88, Y:51.06, Z:26.46 [[ 9.91617269e-01 -1.16921336e-01 -5.49963011e-02 5.58875699e+02] [ 1.16771743e-01 9.93141035e-01 -5.93676260e-03 5.10582259e+01] [ 5.53132176e-02 -5.35017643e-04 9.98468909e-01 2.64616569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.91, Y:51.06, Z:26.46 [[ 9.91489173e-01 -1.17810042e-01 -5.54077031e-02 5.58907655e+02] [ 1.17659941e-01 9.93035971e-01 -5.97483963e-03 5.10609519e+01] [ 5.57257383e-02 -5.95278264e-04 9.98445936e-01 2.64628721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.94, Y:51.06, Z:26.46 [[ 9.91290641e-01 -1.19216067e-01 -5.59499362e-02 5.58938417e+02] [ 1.19065472e-01 9.92868098e-01 -6.02934385e-03 5.10621887e+01] [ 5.62697014e-02 -6.84873449e-04 9.98415370e-01 2.64640273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:558.97, Y:51.07, Z:26.47 [[ 9.91302701e-01 -1.19262609e-01 -5.56361922e-02 5.58970307e+02] [ 1.19113950e-01 9.92862507e-01 -5.99236907e-03 5.10651015e+01] [ 5.59537548e-02 -6.86794984e-04 9.98433125e-01 2.64658439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.00, Y:51.07, Z:26.47 [[ 9.91314176e-01 -1.19076065e-01 -5.58309539e-02 5.59001118e+02] [ 1.18926286e-01 9.92884900e-01 -6.00946720e-03 5.10677530e+01] [ 5.61492948e-02 -6.82497944e-04 9.98422151e-01 2.64676472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.03, Y:51.07, Z:26.47 [[ 9.91584641e-01 -1.17137229e-01 -5.51250290e-02 5.59032952e+02] [ 1.16988393e-01 9.93115576e-01 -5.93039868e-03 5.10718703e+01] [ 5.54401954e-02 -5.68496281e-04 9.98461848e-01 2.64704323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.06, Y:51.08, Z:26.47 [[ 9.91738206e-01 -1.15899113e-01 -5.49793254e-02 5.59063609e+02] [ 1.15749376e-01 9.93260864e-01 -5.91084565e-03 5.10755699e+01] [ 5.52938740e-02 -5.01811157e-04 9.98469997e-01 2.64722626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.09, Y:51.08, Z:26.47 [[ 9.91949970e-01 -1.14236188e-01 -5.46383590e-02 5.59094469e+02] [ 1.14085939e-01 9.93453535e-01 -5.87136152e-03 5.10797118e+01] [ 5.49513928e-02 -4.09371581e-04 9.98488947e-01 2.64741958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.12, Y:51.08, Z:26.48 [[ 9.92173904e-01 -1.12316324e-01 -5.45526085e-02 5.59124451e+02] [ 1.12163745e-01 9.93672457e-01 -5.86032649e-03 5.10836626e+01] [ 5.48656349e-02 -3.04361873e-04 9.98493700e-01 2.64759003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.16, Y:51.09, Z:26.48 [[ 9.92579269e-01 -1.09110134e-01 -5.36784337e-02 5.59155622e+02] [ 1.08957781e-01 9.94029659e-01 -5.76535811e-03 5.10882198e+01] [ 5.39870141e-02 -1.26108068e-04 9.98541630e-01 2.64779078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.19, Y:51.09, Z:26.48 [[ 9.92721761e-01 -1.07845347e-01 -5.35993076e-02 5.59186862e+02] [ 1.07691705e-01 9.94167681e-01 -5.75491397e-03 5.10913128e+01] [ 5.39073400e-02 -5.91724939e-05 9.98545940e-01 2.64791787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.22, Y:51.09, Z:26.48 [[ 9.92797235e-01 -1.06939421e-01 -5.40149161e-02 5.59218253e+02] [ 1.06782153e-01 9.94265538e-01 -5.79756375e-03 5.10941940e+01] [ 5.43251577e-02 -1.20237490e-05 9.98523298e-01 2.64802094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.25, Y:51.10, Z:26.48 [[ 9.92854748e-01 -1.06337586e-01 -5.41457946e-02 5.59249114e+02] [ 1.06178766e-01 9.94330085e-01 -5.80965602e-03 5.10972442e+01] [ 5.44565774e-02 1.90108782e-05 9.98516139e-01 2.64814855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.28, Y:51.10, Z:26.48 [[ 9.92871452e-01 -1.05643670e-01 -5.51878102e-02 5.59280710e+02] [ 1.05477715e-01 9.94404049e-01 -5.91943609e-03 5.10995483e+01] [ 5.55043328e-02 5.61549880e-05 9.98458445e-01 2.64821300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.31, Y:51.10, Z:26.48 [[ 9.92856491e-01 -1.05519289e-01 -5.56926272e-02 5.59311508e+02] [ 1.05350201e-01 9.94417254e-01 -5.97153949e-03 5.11021709e+01] [ 5.60118220e-02 6.16522944e-05 9.98430104e-01 2.64832730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.34, Y:51.10, Z:26.48 [[ 9.92804900e-01 -1.05658042e-01 -5.63454426e-02 5.59341714e+02] [ 1.05485295e-01 9.94402522e-01 -6.03963851e-03 5.11041449e+01] [ 5.66681866e-02 5.25670935e-05 9.98393066e-01 2.64840623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.37, Y:51.11, Z:26.49 [[ 9.92775320e-01 -1.05901277e-01 -5.64099559e-02 5.59371996e+02] [ 1.05728574e-01 9.94376648e-01 -6.04570207e-03 5.11065508e+01] [ 5.67329904e-02 3.78796187e-05 9.98389386e-01 2.64856878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.40, Y:51.11, Z:26.49 [[ 9.92774205e-01 -1.05941103e-01 -5.63547783e-02 5.59401016e+02] [ 1.05768793e-01 9.94372406e-01 -6.03994987e-03 5.11087588e+01] [ 5.66775154e-02 3.57295655e-05 9.98392537e-01 2.64867815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.43, Y:51.11, Z:26.49 [[ 9.92750213e-01 -1.06278879e-01 -5.61410311e-02 5.59431393e+02] [ 1.06108367e-01 9.94336361e-01 -6.01787541e-03 5.11109509e+01] [ 5.64626416e-02 1.72139534e-05 9.98404712e-01 2.64889971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.46, Y:51.11, Z:26.49 [[ 9.92744222e-01 -1.06363683e-01 -5.60863240e-02 5.59460431e+02] [ 1.06193630e-01 9.94327294e-01 -6.01217047e-03 5.11126684e+01] [ 5.64076394e-02 1.25371765e-05 9.98407822e-01 2.64897708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.49, Y:51.12, Z:26.49 [[ 9.92734430e-01 -1.06345039e-01 -5.62946197e-02 5.59491156e+02] [ 1.06173641e-01 9.94329288e-01 -6.03535308e-03 5.11154577e+01] [ 5.66172189e-02 1.44980891e-05 9.98395959e-01 2.64917128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.52, Y:51.12, Z:26.49 [[ 9.92718270e-01 -1.06489641e-01 -5.63062325e-02 5.59521615e+02] [ 1.06318405e-01 9.94313812e-01 -6.03659810e-03 5.11180836e+01] [ 5.66288998e-02 6.25238875e-06 9.98395296e-01 2.64934546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.55, Y:51.12, Z:26.49 [[ 9.92672904e-01 -1.07257441e-01 -5.56448255e-02 5.59552260e+02] [ 1.07091413e-01 9.94231281e-01 -5.96568857e-03 5.11195235e+01] [ 5.59636906e-02 -3.71055726e-05 9.98432804e-01 2.64949672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.58, Y:51.12, Z:26.50 [[ 9.92595842e-01 -1.08182455e-01 -5.52272710e-02 5.59582459e+02] [ 1.08020341e-01 9.94131052e-01 -5.92092251e-03 5.11213754e+01] [ 5.55436850e-02 -8.85855729e-05 9.98456254e-01 2.64966306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.61, Y:51.12, Z:26.50 [[ 9.92386310e-01 -1.10603450e-01 -5.41875355e-02 5.59613559e+02] [ 1.10450985e-01 9.93864593e-01 -5.80959328e-03 5.11215252e+01] [ 5.44976339e-02 -2.19705814e-04 9.98513876e-01 2.64984782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.64, Y:51.12, Z:26.50 [[ 9.92237195e-01 -1.12156338e-01 -5.37243405e-02 5.59644647e+02] [ 1.12008706e-01 9.93690528e-01 -5.76064759e-03 5.11233743e+01] [ 5.40314614e-02 -3.01665038e-04 9.98539188e-01 2.65001214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.68, Y:51.13, Z:26.50 [[ 9.92091686e-01 -1.13690899e-01 -5.31833245e-02 5.59675669e+02] [ 1.13548533e-01 9.93516096e-01 -5.70070631e-03 5.11253780e+01] [ 5.34866073e-02 -3.83265122e-04 9.98568493e-01 2.65020833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.71, Y:51.13, Z:26.50 [[ 9.91986320e-01 -1.14911284e-01 -5.25217842e-02 5.59705902e+02] [ 1.14774245e-01 9.93375658e-01 -5.62797530e-03 5.11270031e+01] [ 5.28205798e-02 -4.45273620e-04 9.98603920e-01 2.65037694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.74, Y:51.13, Z:26.51 [[ 9.91736608e-01 -1.17246520e-01 -5.20744993e-02 5.59737675e+02] [ 1.17115077e-01 9.93102680e-01 -5.57901417e-03 5.11273302e+01] [ 5.23694448e-02 -5.65796398e-04 9.98627619e-01 2.65051366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.77, Y:51.13, Z:26.51 [[ 9.91608839e-01 -1.18214625e-01 -5.23183884e-02 5.59767984e+02] [ 1.18083388e-01 9.92987873e-01 -5.60333554e-03 5.11281736e+01] [ 5.26139214e-02 -6.21615521e-04 9.98614735e-01 2.65058706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.80, Y:51.13, Z:26.51 [[ 9.91521101e-01 -1.18826644e-01 -5.25940638e-02 5.59799487e+02] [ 1.18694941e-01 9.92914797e-01 -5.63171192e-03 5.11313165e+01] [ 5.28906216e-02 -6.58688080e-04 9.98600094e-01 2.65073467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.83, Y:51.13, Z:26.51 [[ 9.91518460e-01 -1.19069355e-01 -5.20925405e-02 5.59830739e+02] [ 1.18940637e-01 9.92885715e-01 -5.57516046e-03 5.11328883e+01] [ 5.23857701e-02 -6.68045438e-04 9.98626699e-01 2.65080698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.86, Y:51.14, Z:26.51 [[ 9.91567568e-01 -1.18519435e-01 -5.24108987e-02 5.59861772e+02] [ 1.18388518e-01 9.92951523e-01 -5.60644136e-03 5.11364597e+01] [ 5.27059539e-02 -6.45683226e-04 9.98609867e-01 2.65095522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.89, Y:51.14, Z:26.51 [[ 9.91733083e-01 -1.17139926e-01 -5.23806279e-02 5.59893070e+02] [ 1.17007338e-01 9.93115254e-01 -5.60130457e-03 5.11402835e+01] [ 5.26761370e-02 -5.73918784e-04 9.98611484e-01 2.65108663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.92, Y:51.14, Z:26.51 [[ 9.91976790e-01 -1.15127812e-01 -5.22267644e-02 5.59924414e+02] [ 1.14993314e-01 9.93350577e-01 -5.58296544e-03 5.11448198e+01] [ 5.25222412e-02 -4.67556579e-04 9.98619645e-01 2.65124524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.95, Y:51.15, Z:26.51 [[ 9.92591598e-01 -1.09467634e-01 -5.27139215e-02 5.59954369e+02] [ 1.09322730e-01 9.93990346e-01 -5.63321110e-03 5.11511109e+01] [ 5.30137834e-02 -1.71351791e-04 9.98593766e-01 2.65140398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:559.98, Y:51.16, Z:26.52 [[ 9.92950182e-01 -1.06285962e-01 -5.24712261e-02 5.59984868e+02] [ 1.06137994e-01 9.94335604e-01 -5.60642897e-03 5.11559893e+01] [ 5.27698930e-02 -2.28600750e-06 9.98606699e-01 2.65156902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.02, Y:51.16, Z:26.52 [[ 9.93287673e-01 -1.03182913e-01 -5.22770046e-02 5.60015081e+02] [ 1.03031743e-01 9.94662385e-01 -5.58567685e-03 5.11609074e+01] [ 5.25743165e-02 1.61993065e-04 9.98617001e-01 2.65176976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.05, Y:51.17, Z:26.52 [[ 9.93555982e-01 -1.00531651e-01 -5.23440262e-02 5.60045472e+02] [ 1.00376414e-01 9.94933815e-01 -5.59283795e-03 5.11655276e+01] [ 5.26410988e-02 3.02691934e-04 9.98613450e-01 2.65194880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.08, Y:51.17, Z:26.52 [[ 9.93980980e-01 -9.66833275e-02 -5.15184008e-02 5.60076022e+02] [ 9.65277861e-02 9.95315069e-01 -5.50462179e-03 5.11699747e+01] [ 5.18092458e-02 4.98532185e-04 9.98656875e-01 2.65215342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.11, Y:51.17, Z:26.52 [[ 9.94065493e-01 -9.58111092e-02 -5.15172477e-02 5.60106662e+02] [ 9.56544043e-02 9.95399385e-01 -5.50449858e-03 5.11729409e+01] [ 5.18076288e-02 5.43980459e-04 9.98656935e-01 2.65227784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.14, Y:51.17, Z:26.52 [[ 9.93967942e-01 -9.65695151e-02 -5.19813423e-02 5.60136767e+02] [ 9.64109992e-02 9.95326112e-01 -5.55425407e-03 5.11734895e+01] [ 5.22747590e-02 5.09177332e-04 9.98632610e-01 2.65233769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.17, Y:51.17, Z:26.52 [[ 9.93797777e-01 -9.81515985e-02 -5.22708455e-02 5.60166195e+02] [ 9.79933987e-02 9.95171382e-01 -5.58705300e-03 5.11744523e+01] [ 5.25668277e-02 4.30203052e-04 9.98617316e-01 2.65240964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.20, Y:51.17, Z:26.53 [[ 9.93594016e-01 -1.00195324e-01 -5.22668892e-02 5.60195601e+02] [ 1.00039876e-01 9.94967734e-01 -5.58847714e-03 5.11747453e+01] [ 5.25638076e-02 3.23904308e-04 9.98617515e-01 2.65251526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.22, Y:51.17, Z:26.53 [[ 9.93293083e-01 -1.03124473e-01 -5.22895213e-02 5.60224750e+02] [ 1.02972841e-01 9.94668444e-01 -5.59285791e-03 5.11749383e+01] [ 5.25874973e-02 1.70946498e-04 9.98616306e-01 2.65261008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.25, Y:51.17, Z:26.53 [[ 9.92945282e-01 -1.06318195e-01 -5.24986587e-02 5.60254929e+02] [ 1.06169662e-01 9.94332159e-01 -5.61794944e-03 5.11746298e+01] [ 5.27983949e-02 4.55152404e-06 9.98605192e-01 2.65277433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.29, Y:51.17, Z:26.53 [[ 9.92128469e-01 -1.13531750e-01 -5.28360069e-02 5.60285566e+02] [ 1.13391410e-01 9.93534296e-01 -5.65600037e-03 5.11709324e+01] [ 5.31365206e-02 -3.79670369e-04 9.98587185e-01 2.65293025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.32, Y:51.17, Z:26.53 [[ 9.91734657e-01 -1.17060215e-01 -5.25288199e-02 5.60316673e+02] [ 1.16926357e-01 9.93124659e-01 -5.62482916e-03 5.11706460e+01] [ 5.28261100e-02 -5.63665534e-04 9.98603567e-01 2.65310342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.35, Y:51.17, Z:26.53 [[ 9.91007174e-01 -1.23340566e-01 -5.18833889e-02 5.60347310e+02] [ 1.23218567e-01 9.92364005e-01 -5.55580093e-03 5.11663057e+01] [ 5.21724633e-02 -8.87158256e-04 9.98637696e-01 2.65328682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.38, Y:51.17, Z:26.53 [[ 9.90709981e-01 -1.25899687e-01 -5.14101484e-02 5.60378079e+02] [ 1.25783301e-01 9.92042461e-01 -5.50598454e-03 5.11661975e+01] [ 5.16942519e-02 -1.01170434e-03 9.98662446e-01 2.65344379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.41, Y:51.17, Z:26.54 [[ 9.90455106e-01 -1.27996253e-01 -5.11433402e-02 5.60408495e+02] [ 1.27883864e-01 9.91774024e-01 -5.47740961e-03 5.11666532e+01] [ 5.14237243e-02 -1.11527965e-03 9.98676302e-01 2.65359883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.44, Y:51.16, Z:26.54 [[ 9.90175269e-01 -1.30428256e-01 -5.04123702e-02 5.60438741e+02] [ 1.30322203e-01 9.91456995e-01 -5.39914811e-03 5.11643887e+01] [ 5.06858985e-02 -1.22374821e-03 9.98713894e-01 2.65372904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.47, Y:51.17, Z:26.54 [[ 9.90133362e-01 -1.30774668e-01 -5.03379718e-02 5.60469244e+02] [ 1.30669356e-01 9.91411343e-01 -5.39155002e-03 5.11678775e+01] [ 5.06107144e-02 -1.23927682e-03 9.98717688e-01 2.65386693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.50, Y:51.17, Z:26.54 [[ 9.90129654e-01 -1.30600159e-01 -5.08612447e-02 5.60500051e+02] [ 1.30492419e-01 9.91434341e-01 -5.44753106e-03 5.11696965e+01] [ 5.11370330e-02 -1.24324483e-03 9.98690872e-01 2.65394541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.53, Y:51.17, Z:26.54 [[ 9.90289376e-01 -1.29121336e-01 -5.15231191e-02 5.60530831e+02] [ 1.29008819e-01 9.91628096e-01 -5.51755792e-03 5.11723398e+01] [ 5.18042070e-02 -1.18295778e-03 9.98656560e-01 2.65399519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.56, Y:51.18, Z:26.54 [[ 9.90428049e-01 -1.27874015e-01 -5.19664844e-02 5.60561463e+02] [ 1.27757838e-01 9.91789779e-01 -5.56503745e-03 5.11760974e+01] [ 5.22514517e-02 -1.12735650e-03 9.98633324e-01 2.65412589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.59, Y:51.18, Z:26.54 [[ 9.90617766e-01 -1.26258075e-01 -5.23004810e-02 5.60590964e+02] [ 1.26138143e-01 9.91996874e-01 -5.60089663e-03 5.11778201e+01] [ 5.25890721e-02 -1.04873786e-03 9.98615687e-01 2.65418615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.62, Y:51.18, Z:26.54 [[ 9.91138566e-01 -1.21985384e-01 -5.25728865e-02 5.60621066e+02] [ 1.21858146e-01 9.92531554e-01 -5.63093224e-03 5.11847647e+01] [ 5.28671401e-02 -8.25400387e-04 9.98601214e-01 2.65441522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.65, Y:51.19, Z:26.55 [[ 9.91439756e-01 -1.19474353e-01 -5.26601259e-02 5.60650654e+02] [ 1.19343147e-01 9.92837046e-01 -5.64037557e-03 5.11885544e+01] [ 5.29568041e-02 -6.92532569e-04 9.98596564e-01 2.65454934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.68, Y:51.19, Z:26.55 [[ 9.91435484e-01 -1.19509852e-01 -5.26600133e-02 5.60679611e+02] [ 1.19378640e-01 9.92832773e-01 -5.64142713e-03 5.11916854e+01] [ 5.29567931e-02 -6.93369741e-04 9.98596564e-01 2.65468793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.71, Y:51.20, Z:26.55 [[ 9.91760212e-01 -1.16809971e-01 -5.26033513e-02 5.60708622e+02] [ 1.16675145e-01 9.93154133e-01 -5.63726123e-03 5.11963561e+01] [ 5.29017241e-02 -5.46692249e-04 9.98599574e-01 2.65483592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.74, Y:51.20, Z:26.55 [[ 9.92398876e-01 -1.11317029e-01 -5.24689422e-02 5.60737797e+02] [ 1.11175115e-01 9.93784914e-01 -5.62476682e-03 5.12019191e+01] [ 5.27689755e-02 -2.51228390e-04 9.98606715e-01 2.65499541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.77, Y:51.21, Z:26.55 [[ 9.92653830e-01 -1.08979537e-01 -5.25531632e-02 5.60766637e+02] [ 1.08833730e-01 9.94043985e-01 -5.63686030e-03 5.12056957e+01] [ 5.28544582e-02 -1.24105815e-04 9.98602219e-01 2.65511614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.80, Y:51.21, Z:26.55 [[ 9.92787034e-01 -1.07586500e-01 -5.29060599e-02 5.60795335e+02] [ 1.07436029e-01 9.94195727e-01 -5.68822631e-03 5.12093126e+01] [ 5.32109551e-02 -3.68196815e-05 9.98583293e-01 2.65524265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.82, Y:51.21, Z:26.55 [[ 9.92899546e-01 -1.06300844e-01 -5.33912256e-02 5.60822708e+02] [ 1.06145053e-01 9.94334013e-01 -5.75319590e-03 5.12126339e+01] [ 5.37002811e-02 4.51311404e-05 9.98557098e-01 2.65532366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.85, Y:51.22, Z:26.55 [[ 9.92904214e-01 -1.05725244e-01 -5.44370702e-02 5.60851535e+02] [ 1.05562082e-01 9.94395377e-01 -5.87207065e-03 5.12156701e+01] [ 5.47527970e-02 8.39132440e-05 9.98499937e-01 2.65539905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.88, Y:51.22, Z:26.56 [[ 9.92779315e-01 -1.06655292e-01 -5.48988158e-02 5.60878905e+02] [ 1.06489982e-01 9.94296056e-01 -5.93609405e-03 5.12181438e+01] [ 5.52187919e-02 4.70574684e-05 9.98474277e-01 2.65552849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.91, Y:51.22, Z:26.56 [[ 9.92594764e-01 -1.08053794e-01 -5.54978587e-02 5.60907212e+02] [ 1.07886125e-01 9.94145049e-01 -6.01719728e-03 5.12202539e+01] [ 5.58231024e-02 -1.48103918e-05 9.98440675e-01 2.65564613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.94, Y:51.22, Z:26.56 [[ 9.92129199e-01 -1.12051837e-01 -5.58930912e-02 5.60935636e+02] [ 1.11887186e-01 9.93702337e-01 -6.07637323e-03 5.12202218e+01] [ 5.62219642e-02 -2.25173413e-04 9.98418269e-01 2.65580132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.96, Y:51.22, Z:26.56 [[ 9.91850009e-01 -1.14532730e-01 -5.58194728e-02 5.60963631e+02] [ 1.14371682e-01 9.93419413e-01 -6.08181032e-03 5.12210557e+01] [ 5.61487143e-02 -3.51923393e-04 9.98422355e-01 2.65589610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:560.99, Y:51.22, Z:26.56 [[ 9.91556442e-01 -1.17177023e-01 -5.55460935e-02 5.60992495e+02] [ 1.17021210e-01 9.93110923e-01 -6.06066924e-03 5.12220516e+01] [ 5.58736033e-02 -4.90575441e-04 9.98437730e-01 2.65604881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.02, Y:51.22, Z:26.56 [[ 9.91012358e-01 -1.22197823e-01 -5.44260834e-02 5.61021635e+02] [ 1.22055050e-01 9.92505485e-01 -5.95205062e-03 5.12210596e+01] [ 5.47455139e-02 -7.44422594e-04 9.98500062e-01 2.65625543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.05, Y:51.22, Z:26.56 [[ 9.90749304e-01 -1.24493758e-01 -5.40103701e-02 5.61050615e+02] [ 1.24355821e-01 9.92220026e-01 -5.92028787e-03 5.12230315e+01] [ 5.43272097e-02 -8.50982831e-04 9.98522824e-01 2.65645717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.08, Y:51.22, Z:26.57 [[ 9.90494122e-01 -1.26673445e-01 -5.36211901e-02 5.61079281e+02] [ 1.26539999e-01 9.91944018e-01 -5.89022201e-03 5.12235950e+01] [ 5.39353535e-02 -9.50995045e-04 9.98543977e-01 2.65659576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.11, Y:51.22, Z:26.57 [[ 9.90128029e-01 -1.29888082e-01 -5.26836987e-02 5.61107907e+02] [ 1.29763598e-01 9.91528048e-01 -5.79119413e-03 5.12232172e+01] [ 5.29895720e-02 -1.10240266e-03 9.98594457e-01 2.65670780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.14, Y:51.22, Z:26.57 [[ 9.90005343e-01 -1.30866840e-01 -5.25670238e-02 5.61136536e+02] [ 1.30743637e-01 9.91399299e-01 -5.79059932e-03 5.12239213e+01] [ 5.28727079e-02 -1.14007961e-03 9.98600609e-01 2.65681792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.17, Y:51.23, Z:26.57 [[ 9.89929264e-01 -1.31472142e-01 -5.24893123e-02 5.61165258e+02] [ 1.31349950e-01 9.91319179e-01 -5.78586754e-03 5.12255469e+01] [ 5.27943424e-02 -1.16686895e-03 9.98604725e-01 2.65692754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.19, Y:51.23, Z:26.57 [[ 9.90133470e-01 -1.30174291e-01 -5.18687427e-02 5.61193238e+02] [ 1.30052534e-01 9.91490547e-01 -5.73008947e-03 5.12300618e+01] [ 5.21732784e-02 -1.07210805e-03 9.98637472e-01 2.65713913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.22, Y:51.23, Z:26.57 [[ 9.90377723e-01 -1.28373043e-01 -5.16945664e-02 5.61222109e+02] [ 1.28249022e-01 9.91725484e-01 -5.72292657e-03 5.12348710e+01] [ 5.20014884e-02 -9.61918592e-04 9.98646544e-01 2.65730416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.25, Y:51.24, Z:26.57 [[ 9.90693230e-01 -1.26104530e-01 -5.12305671e-02 5.61251110e+02] [ 1.25979599e-01 9.92016609e-01 -5.67343172e-03 5.12389274e+01] [ 5.15370189e-02 -8.33375883e-04 9.98670737e-01 2.65746203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.28, Y:51.24, Z:26.58 [[ 9.91025755e-01 -1.23610294e-01 -5.08767990e-02 5.61279555e+02] [ 1.23483699e-01 9.92330595e-01 -5.63617486e-03 5.12427525e+01] [ 5.11832934e-02 -6.96860887e-04 9.98689033e-01 2.65761709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.31, Y:51.25, Z:26.58 [[ 9.91580279e-01 -1.19022849e-01 -5.10108920e-02 5.61308031e+02] [ 1.18889373e-01 9.92891410e-01 -5.65381746e-03 5.12473059e+01] [ 5.13212100e-02 -4.58439086e-04 9.98682093e-01 2.65772470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.34, Y:51.25, Z:26.58 [[ 9.91768944e-01 -1.17275665e-01 -5.13885151e-02 5.61336222e+02] [ 1.17137674e-01 9.93099332e-01 -5.69927833e-03 5.12510564e+01] [ 5.17022867e-02 -3.67163891e-04 9.98662475e-01 2.65778254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.36, Y:51.25, Z:26.58 [[ 9.91898050e-01 -1.15947002e-01 -5.19090634e-02 5.61364667e+02] [ 1.15803697e-01 9.93255360e-01 -5.77008073e-03 5.12545012e+01] [ 5.22279790e-02 -2.87929635e-04 9.98635146e-01 2.65785473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.39, Y:51.26, Z:26.58 [[ 9.91937627e-01 -1.15264254e-01 -5.26677809e-02 5.61392948e+02] [ 1.15115060e-01 9.93334834e-01 -5.86770370e-03 5.12581124e+01] [ 5.29930779e-02 -2.42458686e-04 9.98594850e-01 2.65797242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.42, Y:51.26, Z:26.58 [[ 9.91875258e-01 -1.15142509e-01 -5.40895143e-02 5.61420344e+02] [ 1.14984245e-01 9.93348957e-01 -6.03931923e-03 5.12602227e+01] [ 5.44251450e-02 -2.29190644e-04 9.98517827e-01 2.65789222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.45, Y:51.26, Z:26.58 [[ 9.91727348e-01 -1.16124673e-01 -5.46985147e-02 5.61448190e+02] [ 1.15963954e-01 9.93234606e-01 -6.11384945e-03 5.12623372e+01] [ 5.50384264e-02 -2.79784363e-04 9.98484198e-01 2.65796098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.48, Y:51.26, Z:26.58 [[ 9.91263845e-01 -1.19531308e-01 -5.57517398e-02 5.61477123e+02] [ 1.19368819e-01 9.92830324e-01 -6.24756430e-03 5.12625961e+01] [ 5.60987975e-02 -4.62034749e-04 9.98425116e-01 2.65806155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.51, Y:51.26, Z:26.58 [[ 9.90977361e-01 -1.21774775e-01 -5.59890607e-02 5.61505213e+02] [ 1.21613749e-01 9.92557590e-01 -6.28703932e-03 5.12632369e+01] [ 5.63379700e-02 -5.78725947e-04 9.98411588e-01 2.65812387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.53, Y:51.26, Z:26.58 [[ 9.90618996e-01 -1.24643805e-01 -5.60172042e-02 5.61534305e+02] [ 1.24486835e-01 9.92201280e-01 -6.29663374e-03 5.12641505e+01] [ 5.63651781e-02 -7.35839454e-04 9.98409948e-01 2.65829066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.56, Y:51.27, Z:26.58 [[ 9.90229199e-01 -1.27705518e-01 -5.60128109e-02 5.61562974e+02] [ 1.27552681e-01 9.91811725e-01 -6.31000549e-03 5.12654566e+01] [ 5.63599851e-02 -8.96232530e-04 9.98410111e-01 2.65848410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.59, Y:51.27, Z:26.59 [[ 9.89850626e-01 -1.30793157e-01 -5.55777637e-02 5.61591779e+02] [ 1.30646766e-01 9.91409122e-01 -6.27490260e-03 5.12660324e+01] [ 5.59210162e-02 -1.04983884e-03 9.98434644e-01 2.65864460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.62, Y:51.26, Z:26.59 [[ 9.89097839e-01 -1.36734518e-01 -5.46730013e-02 5.61622017e+02] [ 1.36601259e-01 9.90606807e-01 -6.18465437e-03 5.12645588e+01] [ 5.50051030e-02 -1.35117257e-03 9.98485159e-01 2.65885767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.65, Y:51.26, Z:26.59 [[ 9.88725561e-01 -1.39626782e-01 -5.40936866e-02 5.61650085e+02] [ 1.39500529e-01 9.90203076e-01 -6.12142460e-03 5.12638558e+01] [ 5.44184497e-02 -1.49368891e-03 9.98517101e-01 2.65898058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.68, Y:51.26, Z:26.59 [[ 9.88376103e-01 -1.42179258e-01 -5.38306316e-02 5.61677436e+02] [ 1.42057742e-01 9.89839598e-01 -6.09656538e-03 5.12639049e+01] [ 5.41504959e-02 -1.62135843e-03 9.98531469e-01 2.65911642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.71, Y:51.27, Z:26.59 [[ 9.87871799e-01 -1.46005104e-01 -5.28376680e-02 5.61706473e+02] [ 1.45893215e-01 9.89282214e-01 -5.98928369e-03 5.12654228e+01] [ 5.31458312e-02 -1.79201282e-03 9.98585154e-01 2.65932257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.73, Y:51.27, Z:26.59 [[ 9.87609872e-01 -1.47804342e-01 -5.27315551e-02 5.61734956e+02] [ 1.47695252e-01 9.89014832e-01 -5.98118814e-03 5.12678545e+01] [ 5.30363357e-02 -1.88111986e-03 9.98590811e-01 2.65946066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.76, Y:51.27, Z:26.60 [[ 9.87152871e-01 -1.50857705e-01 -5.26418297e-02 5.61763937e+02] [ 1.50752669e-01 9.88553405e-01 -5.98321868e-03 5.12683231e+01] [ 5.29418746e-02 -2.02954485e-03 9.98595533e-01 2.65956665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.79, Y:51.27, Z:26.60 [[ 9.86839576e-01 -1.52891487e-01 -5.26483177e-02 5.61793007e+02] [ 1.52789106e-01 9.88240677e-01 -5.98784295e-03 5.12702644e+01] [ 5.29446993e-02 -2.13504902e-03 9.98595163e-01 2.65973413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.82, Y:51.28, Z:26.60 [[ 9.86521810e-01 -1.54904205e-01 -5.27200673e-02 5.61822135e+02] [ 1.54803777e-01 9.87926969e-01 -6.00795349e-03 5.12762422e+01] [ 5.30142336e-02 -2.23428840e-03 9.98591257e-01 2.65993785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.85, Y:51.27, Z:26.60 [[ 9.85760588e-01 -1.59432716e-01 -5.34534501e-02 5.61851745e+02] [ 1.59336001e-01 9.87205605e-01 -6.09353953e-03 5.12743706e+01] [ 5.37410551e-02 -2.51028788e-03 9.98551750e-01 2.65998889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.88, Y:51.28, Z:26.60 [[ 9.85378898e-01 -1.61819631e-01 -5.33182415e-02 5.61880445e+02] [ 1.61726768e-01 9.86816843e-01 -6.08033852e-03 5.12785402e+01] [ 5.35992569e-02 -2.63154959e-03 9.98559059e-01 2.66015191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.91, Y:51.28, Z:26.60 [[ 9.85000903e-01 -1.64054787e-01 -5.34719368e-02 5.61908947e+02] [ 1.63964444e-01 9.86447376e-01 -6.10204412e-03 5.12786848e+01] [ 5.37483213e-02 -2.75697743e-03 9.98550708e-01 2.66027059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.94, Y:51.28, Z:26.60 [[ 9.84420754e-01 -1.67532662e-01 -5.33721408e-02 5.61939162e+02] [ 1.67447537e-01 9.85862150e-01 -6.09456094e-03 5.12811385e+01] [ 5.36386115e-02 -2.93742124e-03 9.98556093e-01 2.66041596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:561.97, Y:51.29, Z:26.61 [[ 9.84204095e-01 -1.68709166e-01 -5.36611356e-02 5.61967836e+02] [ 1.68624800e-01 9.85661259e-01 -6.12864916e-03 5.12896554e+01] [ 5.39256618e-02 -3.01675666e-03 9.98540396e-01 2.66057619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.00, Y:51.29, Z:26.61 [[ 9.83947907e-01 -1.70029112e-01 -5.41905673e-02 5.61996121e+02] [ 1.69944949e-01 9.85434109e-01 -6.19128643e-03 5.12920020e+01] [ 5.44539323e-02 -3.11750986e-03 9.98511417e-01 2.66063907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.02, Y:51.29, Z:26.61 [[ 9.83778558e-01 -1.70759585e-01 -5.49628360e-02 5.62023595e+02] [ 1.70673949e-01 9.85307529e-01 -6.28303164e-03 5.12922866e+01] [ 5.52281840e-02 -3.19961248e-03 9.98468633e-01 2.66064065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.05, Y:51.30, Z:26.61 [[ 9.83560469e-01 -1.71691883e-01 -5.59526722e-02 5.62051629e+02] [ 1.71604216e-01 9.85145160e-01 -6.40369537e-03 5.13011505e+01] [ 5.62209667e-02 -3.30329283e-03 9.98412886e-01 2.66072373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.08, Y:51.30, Z:26.61 [[ 9.83531113e-01 -1.71788719e-01 -5.61710507e-02 5.62079096e+02] [ 1.71699771e-01 9.85128260e-01 -6.44201913e-03 5.12955108e+01] [ 5.64423557e-02 -3.30863029e-03 9.98400377e-01 2.66067631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.11, Y:51.31, Z:26.61 [[ 9.83606837e-01 -1.71357783e-01 -5.61613764e-02 5.62107142e+02] [ 1.71267703e-01 9.85203422e-01 -6.44911063e-03 5.13061125e+01] [ 5.64354855e-02 -3.27524060e-03 9.98400876e-01 2.66093160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.14, Y:51.31, Z:26.61 [[ 9.83767931e-01 -1.70587498e-01 -5.56827045e-02 5.62135479e+02] [ 1.70496960e-01 9.85337368e-01 -6.40763789e-03 5.13118508e+01] [ 5.59593125e-02 -3.19010319e-03 9.98427954e-01 2.66113002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.16, Y:51.32, Z:26.61 [[ 9.84470754e-01 -1.66809890e-01 -5.46973042e-02 5.62164007e+02] [ 1.66716080e-01 9.85984780e-01 -6.30575614e-03 5.13206225e+01] [ 5.49825720e-02 -2.91108765e-03 9.98483071e-01 2.66141693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.19, Y:51.33, Z:26.62 [[ 9.84975804e-01 -1.63909653e-01 -5.43717890e-02 5.62192164e+02] [ 1.63812457e-01 9.86471574e-01 -6.26993091e-03 5.13339028e+01] [ 5.46639265e-02 -2.73104610e-03 9.98501075e-01 2.66169167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.22, Y:51.34, Z:26.62 [[ 9.85577414e-01 -1.60508581e-01 -5.36111529e-02 5.62220953e+02] [ 1.60408961e-01 9.87031267e-01 -6.18413779e-03 5.13421725e+01] [ 5.39084914e-02 -2.50476279e-03 9.98542739e-01 2.66188180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.25, Y:51.36, Z:26.62 [[ 9.86899799e-01 -1.52798488e-01 -5.17823188e-02 5.62249965e+02] [ 1.52694862e-01 9.88255322e-01 -5.97483851e-03 5.13560627e+01] [ 5.20870984e-02 -2.01032708e-03 9.98640522e-01 2.66223342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.28, Y:51.36, Z:26.62 [[ 9.87519216e-01 -1.48753786e-01 -5.17504493e-02 5.62281154e+02] [ 1.48644753e-01 9.88872634e-01 -5.97093649e-03 5.13641652e+01] [ 5.20628025e-02 -1.79601823e-03 9.98642198e-01 2.66238866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.31, Y:51.37, Z:26.62 [[ 9.88518616e-01 -1.41332033e-01 -5.34434496e-02 5.62310668e+02] [ 1.41205055e-01 9.89961183e-01 -6.16354406e-03 5.13728569e+01] [ 5.37780468e-02 -1.45370720e-03 9.98551856e-01 2.66232176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.34, Y:51.38, Z:26.62 [[ 9.88939545e-01 -1.38143758e-01 -5.39896070e-02 5.62339825e+02] [ 1.38009418e-01 9.90411344e-01 -6.22664941e-03 5.13794569e+01] [ 5.43320919e-02 -1.29329438e-03 9.98522083e-01 2.66239941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.37, Y:51.39, Z:26.63 [[ 9.89330066e-01 -1.35120712e-01 -5.44831469e-02 5.62369281e+02] [ 1.34979270e-01 9.90828492e-01 -6.28452409e-03 5.13869956e+01] [ 5.48326237e-02 -1.13662678e-03 9.98494913e-01 2.66253415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.40, Y:51.39, Z:26.63 [[ 9.89645748e-01 -1.32729154e-01 -5.46284314e-02 5.62399326e+02] [ 1.32583271e-01 9.91151835e-01 -6.30210329e-03 5.13948866e+01] [ 5.49815429e-02 -1.00596642e-03 9.98486864e-01 2.66274280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.43, Y:51.40, Z:26.63 [[ 9.90209544e-01 -1.28445187e-01 -5.46524790e-02 5.62428934e+02] [ 1.28292654e-01 9.91716312e-01 -6.30487749e-03 5.14027078e+01] [ 5.50095861e-02 -7.68361710e-04 9.98485531e-01 2.66287106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.46, Y:51.41, Z:26.63 [[ 9.90405506e-01 -1.26796939e-01 -5.49496965e-02 5.62458154e+02] [ 1.26640198e-01 9.91928462e-01 -6.33930215e-03 5.14072504e+01] [ 5.53099721e-02 -6.80360697e-04 9.98469000e-01 2.66294735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.49, Y:51.41, Z:26.63 [[ 9.90548859e-01 -1.25515915e-01 -5.53056386e-02 5.62489017e+02] [ 1.25355111e-01 9.92091417e-01 -6.38090143e-03 5.14142380e+01] [ 5.56691541e-02 -6.12249826e-04 9.98449083e-01 2.66320074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.52, Y:51.42, Z:26.63 [[ 9.90553485e-01 -1.25479296e-01 -5.53058741e-02 5.62519631e+02] [ 1.25318549e-01 9.92096049e-01 -6.37885932e-03 5.14177412e+01] [ 5.56691540e-02 -6.12250588e-04 9.98449083e-01 2.66334729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.55, Y:51.42, Z:26.63 [[ 9.90771168e-01 -1.23392423e-01 -5.60963767e-02 5.62548660e+02] [ 1.23223795e-01 9.92357827e-01 -6.46840838e-03 5.14232625e+01] [ 5.64658310e-02 -5.03695876e-04 9.98404405e-01 2.66337442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.58, Y:51.43, Z:26.64 [[ 9.90838485e-01 -1.22833756e-01 -5.61334597e-02 5.62578878e+02] [ 1.22663959e-01 9.92427149e-01 -6.47356112e-03 5.14284942e+01] [ 5.65035413e-02 -4.71298898e-04 9.98402288e-01 2.66356613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.61, Y:51.43, Z:26.64 [[ 9.90932149e-01 -1.22182954e-01 -5.58999321e-02 5.62608807e+02] [ 1.22013532e-01 9.92507501e-01 -6.44662968e-03 5.14333668e+01] [ 5.62687702e-02 -4.32375588e-04 9.98415564e-01 2.66379442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.64, Y:51.44, Z:26.64 [[ 9.91027983e-01 -1.21891239e-01 -5.48275711e-02 5.62639511e+02] [ 1.21727822e-01 9.92543379e-01 -6.32281839e-03 5.14357703e+01] [ 5.51894388e-02 -4.07950831e-04 9.98475818e-01 2.66384831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.67, Y:51.44, Z:26.64 [[ 9.90975808e-01 -1.22384052e-01 -5.46725895e-02 5.62668880e+02] [ 1.22222342e-01 9.92482723e-01 -6.30432502e-03 5.14381260e+01] [ 5.50331493e-02 -4.34778326e-04 9.98484433e-01 2.66396672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.70, Y:51.44, Z:26.64 [[ 9.90820650e-01 -1.23714253e-01 -5.44905807e-02 5.62698320e+02] [ 1.23555526e-01 9.92317756e-01 -6.28519669e-03 5.14402926e+01] [ 5.48495391e-02 -5.05109674e-04 9.98494503e-01 2.66412105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.73, Y:51.44, Z:26.64 [[ 9.90624531e-01 -1.25358099e-01 -5.42990463e-02 5.62728595e+02] [ 1.25202865e-01 9.92111383e-01 -6.26471803e-03 5.14437084e+01] [ 5.46560350e-02 -5.92412788e-04 9.98505066e-01 2.66438782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.76, Y:51.44, Z:26.65 [[ 9.89927259e-01 -1.30665360e-01 -5.45030733e-02 5.62759201e+02] [ 1.30516987e-01 9.91426131e-01 -6.28825752e-03 5.14439741e+01] [ 5.48574286e-02 -8.88659357e-04 9.98493802e-01 2.66453884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.79, Y:51.45, Z:26.65 [[ 9.89437339e-01 -1.34165577e-01 -5.48939859e-02 5.62790632e+02] [ 1.34020461e-01 9.90958328e-01 -6.33307233e-03 5.14450980e+01] [ 5.52473328e-02 -1.09073904e-03 9.98472104e-01 2.66466639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.82, Y:51.45, Z:26.65 [[ 9.88881380e-01 -1.38133907e-01 -5.50694095e-02 5.62820662e+02] [ 1.37994140e-01 9.90412684e-01 -6.35085291e-03 5.14450584e+01] [ 5.54187097e-02 -1.31901562e-03 9.98462331e-01 2.66475363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.85, Y:51.44, Z:26.65 [[ 9.87607307e-01 -1.46733762e-01 -5.56867144e-02 5.62850854e+02] [ 1.46604704e-01 9.89174338e-01 -6.41795484e-03 5.14394841e+01] [ 5.60255995e-02 -1.82551517e-03 9.98427664e-01 2.66474788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.88, Y:51.44, Z:26.65 [[ 9.86948712e-01 -1.51010126e-01 -5.59301433e-02 5.62880270e+02] [ 1.50886730e-01 9.88530036e-01 -6.44699085e-03 5.14374069e+01] [ 5.62621875e-02 -2.07626710e-03 9.98413870e-01 2.66481703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.91, Y:51.44, Z:26.65 [[ 9.86309481e-01 -1.55149469e-01 -5.58770900e-02 5.62910692e+02] [ 1.55032835e-01 9.87888310e-01 -6.44256018e-03 5.14403077e+01] [ 5.61998839e-02 -2.30842551e-03 9.98416869e-01 2.66500761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.94, Y:51.44, Z:26.65 [[ 9.85219376e-01 -1.62087111e-01 -5.54125433e-02 5.62940904e+02] [ 1.61983330e-01 9.86772811e-01 -6.38915217e-03 5.14354282e+01] [ 5.57151903e-02 -2.68119177e-03 9.98443102e-01 2.66514093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:562.97, Y:51.44, Z:26.65 [[ 9.84735832e-01 -1.64891777e-01 -5.57318862e-02 5.62971164e+02] [ 1.64791230e-01 9.86307532e-01 -6.42670455e-03 5.14403773e+01] [ 5.60284899e-02 -2.85551983e-03 9.98425087e-01 2.66534301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.00, Y:51.44, Z:26.65 [[ 9.84364011e-01 -1.67203395e-01 -5.54122511e-02 5.63001068e+02] [ 1.67107729e-01 9.85917946e-01 -6.38836556e-03 5.14399782e+01] [ 5.57000892e-02 -2.97133827e-03 9.98443124e-01 2.66543359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.03, Y:51.44, Z:26.66 [[ 9.84007951e-01 -1.69275744e-01 -5.54443447e-02 5.63031731e+02] [ 1.69183459e-01 9.85563873e-01 -6.38818261e-03 5.14446306e+01] [ 5.57253075e-02 -3.09424355e-03 9.98441343e-01 2.66564174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.06, Y:51.44, Z:26.66 [[ 9.83598880e-01 -1.71730679e-01 -5.51526766e-02 5.63062123e+02] [ 1.71643332e-01 9.85138678e-01 -6.35227800e-03 5.14439159e+01] [ 5.54239159e-02 -3.21849567e-03 9.98457726e-01 2.66579779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.09, Y:51.45, Z:26.66 [[ 9.83536241e-01 -1.72234839e-01 -5.46957345e-02 5.63092904e+02] [ 1.72149823e-01 9.85050648e-01 -6.29756620e-03 5.14496477e+01] [ 5.49627290e-02 -3.22197642e-03 9.98483208e-01 2.66601890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.12, Y:51.45, Z:26.66 [[ 9.83575133e-01 -1.72105914e-01 -5.44013903e-02 5.63122713e+02] [ 1.72021733e-01 9.85073255e-01 -6.26149371e-03 5.14518641e+01] [ 5.46669947e-02 -3.19957192e-03 9.98499515e-01 2.66617657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.15, Y:51.46, Z:26.66 [[ 9.83771462e-01 -1.70797312e-01 -5.49726198e-02 5.63152777e+02] [ 1.70709485e-01 9.85301109e-01 -6.32427517e-03 5.14576410e+01] [ 5.52447525e-02 -3.16270616e-03 9.98467834e-01 2.66633819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.18, Y:51.47, Z:26.67 [[ 9.83904233e-01 -1.70026805e-01 -5.49849549e-02 5.63183625e+02] [ 1.69937756e-01 9.85434497e-01 -6.32540447e-03 5.14650474e+01] [ 5.52595597e-02 -3.12042760e-03 9.98467147e-01 2.66654814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.21, Y:51.47, Z:26.67 [[ 9.84064206e-01 -1.69044711e-01 -5.51500076e-02 5.63214843e+02] [ 1.68953704e-01 9.85603582e-01 -6.34233408e-03 5.14693150e+01] [ 5.54281830e-02 -3.07653412e-03 9.98457937e-01 2.66668469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.25, Y:51.47, Z:26.67 [[ 9.84282270e-01 -1.67600393e-01 -5.56643581e-02 5.63246263e+02] [ 1.67505506e-01 9.85850372e-01 -6.39925560e-03 5.14743847e+01] [ 5.59492459e-02 -3.02541264e-03 9.98429030e-01 2.66679796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.28, Y:51.48, Z:26.67 [[ 9.84293359e-01 -1.67521274e-01 -5.57064306e-02 5.63276827e+02] [ 1.67426273e-01 9.85863817e-01 -6.40132031e-03 5.14778738e+01] [ 5.59913116e-02 -3.02594296e-03 9.98426671e-01 2.66689209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.31, Y:51.48, Z:26.67 [[ 9.84090185e-01 -1.68597249e-01 -5.60488578e-02 5.63308173e+02] [ 1.68502882e-01 9.85680127e-01 -6.43948195e-03 5.14806858e+01] [ 5.63319242e-02 -3.10736307e-03 9.98407261e-01 2.66704964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.34, Y:51.48, Z:26.67 [[ 9.83917501e-01 -1.69218782e-01 -5.71957620e-02 5.63338376e+02] [ 1.69121673e-01 9.85573287e-01 -6.56932659e-03 5.14815456e+01] [ 5.74822686e-02 -3.20936756e-03 9.98341369e-01 2.66702766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.37, Y:51.48, Z:26.67 [[ 9.83772343e-01 -1.69524661e-01 -5.87653571e-02 5.63367505e+02] [ 1.69422724e-01 9.85520365e-01 -6.74913932e-03 5.14849509e+01] [ 5.90586017e-02 -3.31657027e-03 9.98249008e-01 2.66699990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.40, Y:51.49, Z:26.67 [[ 9.83679652e-01 -1.69658336e-01 -5.99198737e-02 5.63396383e+02] [ 1.69552476e-01 9.85497118e-01 -6.88387547e-03 5.14896303e+01] [ 6.02187697e-02 -3.38803470e-03 9.98179453e-01 2.66702820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.43, Y:51.50, Z:26.67 [[ 9.83867526e-01 -1.68467734e-01 -6.01939639e-02 5.63426731e+02] [ 1.68358612e-01 9.85701547e-01 -6.91655663e-03 5.15011019e+01] [ 6.04984999e-02 -3.32919673e-03 9.98162736e-01 2.66729597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.46, Y:51.51, Z:26.67 [[ 9.84148962e-01 -1.67085187e-01 -5.94420872e-02 5.63455870e+02] [ 1.66976349e-01 9.85937254e-01 -6.82865299e-03 5.15054920e+01] [ 5.97471350e-02 -3.20501096e-03 9.98208399e-01 2.66745603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.49, Y:51.51, Z:26.68 [[ 9.84495534e-01 -1.65162477e-01 -5.90753783e-02 5.63486226e+02] [ 1.65051489e-01 9.86261598e-01 -6.78717135e-03 5.15118236e+01] [ 5.93847631e-02 -3.06853928e-03 9.98230451e-01 2.66767009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.52, Y:51.52, Z:26.68 [[ 9.84934903e-01 -1.62651270e-01 -5.87179752e-02 5.63516529e+02] [ 1.62537235e-01 9.86679356e-01 -6.74502928e-03 5.15177798e+01] [ 5.90329016e-02 -2.90044257e-03 9.98251824e-01 2.66785514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.55, Y:51.53, Z:26.68 [[ 9.85954923e-01 -1.56699726e-01 -5.77761669e-02 5.63546134e+02] [ 1.56579173e-01 9.87643117e-01 -6.63593472e-03 5.15282506e+01] [ 5.81020827e-02 -2.50381194e-03 9.98307507e-01 2.66812858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.58, Y:51.54, Z:26.68 [[ 9.86492074e-01 -1.53375406e-01 -5.75271468e-02 5.63577198e+02] [ 1.53250297e-01 9.88165320e-01 -6.60652447e-03 5.15364463e+01] [ 5.78596098e-02 -2.29876829e-03 9.98322083e-01 2.66831506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.61, Y:51.54, Z:26.68 [[ 9.86990684e-01 -1.50120068e-01 -5.75617552e-02 5.63607486e+02] [ 1.49989447e-01 9.88665517e-01 -6.60765859e-03 5.15400281e+01] [ 5.79012646e-02 -2.11195835e-03 9.98320081e-01 2.66837545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.64, Y:51.55, Z:26.69 [[ 9.87943359e-01 -1.43831084e-01 -5.72759941e-02 5.63636656e+02] [ 1.43691249e-01 9.89600732e-01 -6.57397773e-03 5.15519011e+01] [ 5.76259080e-02 -1.73534147e-03 9.98336738e-01 2.66866027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.67, Y:51.56, Z:26.69 [[ 9.88430761e-01 -1.40612822e-01 -5.68565335e-02 5.63668016e+02] [ 1.40469741e-01 9.90063469e-01 -6.52529838e-03 5.15584015e+01] [ 5.72091174e-02 -1.53681689e-03 9.98361034e-01 2.66883802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.70, Y:51.56, Z:26.69 [[ 9.88903978e-01 -1.37210843e-01 -5.69395066e-02 5.63698590e+02] [ 1.37061881e-01 9.90540951e-01 -6.53183947e-03 5.15643577e+01] [ 5.72971523e-02 -1.34487387e-03 9.98356263e-01 2.66898917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.73, Y:51.57, Z:26.69 [[ 9.89362779e-01 -1.33925842e-01 -5.67904968e-02 5.63729768e+02] [ 1.33772371e-01 9.90990685e-01 -6.51264939e-03 5.15699709e+01] [ 5.71510654e-02 -1.15362653e-03 9.98364876e-01 2.66911998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.76, Y:51.58, Z:26.69 [[ 9.90172066e-01 -1.27795952e-01 -5.68108594e-02 5.63759967e+02] [ 1.27632404e-01 9.91800157e-01 -6.51289555e-03 5.15786398e+01] [ 5.71773409e-02 -8.02019334e-04 9.98363716e-01 2.66936693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.79, Y:51.58, Z:26.69 [[ 9.90571940e-01 -1.24968266e-01 -5.61263314e-02 5.63789576e+02] [ 1.24804210e-01 9.92160537e-01 -6.43250934e-03 5.15835265e+01] [ 5.64901907e-02 -6.32939212e-04 9.98402954e-01 2.66949129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.82, Y:51.59, Z:26.70 [[ 9.90954374e-01 -1.22248630e-01 -5.53597453e-02 5.63820102e+02] [ 1.22084851e-01 9.92499395e-01 -6.34349685e-03 5.15889755e+01] [ 5.57199975e-02 -4.72470304e-04 9.98446322e-01 2.66969247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.85, Y:51.59, Z:26.70 [[ 9.91522134e-01 -1.17806944e-01 -5.48213653e-02 5.63850838e+02] [ 1.17639659e-01 9.93036492e-01 -6.27982487e-03 5.15944951e+01] [ 5.51794232e-02 -2.22581378e-04 9.98476430e-01 2.66983257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.88, Y:51.60, Z:26.70 [[ 9.91710285e-01 -1.16082311e-01 -5.50963544e-02 5.63881822e+02] [ 1.15910795e-01 9.93239589e-01 -6.30929660e-03 5.15983517e+01] [ 5.54562782e-02 -1.29267915e-04 9.98461108e-01 2.66995097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.91, Y:51.60, Z:26.70 [[ 9.91894810e-01 -1.14334374e-01 -5.54286592e-02 5.63912208e+02] [ 1.14158159e-01 9.93442323e-01 -6.34545736e-03 5.16015097e+01] [ 5.57906799e-02 -3.36074816e-05 9.98442487e-01 2.67000397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.94, Y:51.60, Z:26.70 [[ 9.91948336e-01 -1.13892341e-01 -5.53808055e-02 5.63942872e+02] [ 1.13715790e-01 9.93493097e-01 -6.33912072e-03 5.16046627e+01] [ 5.57424253e-02 -9.59182438e-06 9.98445182e-01 2.67011006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:563.97, Y:51.61, Z:26.70 [[ 9.91970206e-01 -1.13807117e-01 -5.51638482e-02 5.63973656e+02] [ 1.13631816e-01 9.93502864e-01 -6.31428687e-03 5.16076317e+01] [ 5.55240519e-02 -4.78381189e-06 9.98457350e-01 2.67026523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.00, Y:51.61, Z:26.70 [[ 9.91881673e-01 -1.15130562e-01 -5.39972329e-02 5.64003924e+02] [ 1.14964562e-01 9.93350365e-01 -6.18075116e-03 5.16085810e+01] [ 5.43497644e-02 -7.71944404e-05 9.98521956e-01 2.67043784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.03, Y:51.61, Z:26.71 [[ 9.91885823e-01 -1.15094786e-01 -5.39972610e-02 5.64034539e+02] [ 1.14928747e-01 9.93354511e-01 -6.18050621e-03 5.16120575e+01] [ 5.43497668e-02 -7.54810355e-05 9.98521956e-01 2.67058442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.07, Y:51.61, Z:26.71 [[ 9.91518249e-01 -1.18503359e-01 -5.33714838e-02 5.64065024e+02] [ 1.18346179e-01 9.92953617e-01 -6.10706172e-03 5.16103941e+01] [ 5.37191152e-02 -2.61048031e-04 9.98556052e-01 2.67067448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.10, Y:51.61, Z:26.71 [[ 9.91224397e-01 -1.21109278e-01 -5.29786595e-02 5.64096459e+02] [ 1.20958179e-01 9.92639100e-01 -6.06104937e-03 5.16112568e+01] [ 5.33227382e-02 -4.00342179e-04 9.98577251e-01 2.67084490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.13, Y:51.61, Z:26.71 [[ 9.90855316e-01 -1.24286580e-01 -5.25222651e-02 5.64127777e+02] [ 1.24142636e-01 9.92246201e-01 -6.00691181e-03 5.16115432e+01] [ 5.28615966e-02 -5.68271924e-04 9.98601687e-01 2.67095604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.16, Y:51.61, Z:26.71 [[ 9.89943898e-01 -1.31444216e-01 -5.22828498e-02 5.64159076e+02] [ 1.31311642e-01 9.91323116e-01 -5.97769539e-03 5.16081059e+01] [ 5.26149311e-02 -9.47763793e-04 9.98614425e-01 2.67107262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.19, Y:51.61, Z:26.71 [[ 9.89468848e-01 -1.35114655e-01 -5.19175154e-02 5.64189566e+02] [ 1.34989022e-01 9.90829319e-01 -5.93497328e-03 5.16064138e+01] [ 5.22432983e-02 -1.13582347e-03 9.98633741e-01 2.67115944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.22, Y:51.60, Z:26.71 [[ 9.89017659e-01 -1.38618332e-01 -5.12740593e-02 5.64220535e+02] [ 1.38500544e-01 9.90345018e-01 -5.86048960e-03 5.16038895e+01] [ 5.15913805e-02 -1.30535740e-03 9.98667425e-01 2.67125016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.25, Y:51.60, Z:26.71 [[ 9.88119841e-01 -1.45030779e-01 -5.08453735e-02 5.64251432e+02] [ 1.44923468e-01 9.89425806e-01 -5.81059594e-03 5.16031661e+01] [ 5.11504399e-02 -1.62712270e-03 9.98689634e-01 2.67143823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.28, Y:51.60, Z:26.72 [[ 9.87756901e-01 -1.47845932e-01 -4.97783562e-02 5.64283512e+02] [ 1.47746696e-01 9.89008880e-01 -5.68762046e-03 5.16042506e+01] [ 5.00721279e-02 -1.73660131e-03 9.98744094e-01 2.67161514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.31, Y:51.60, Z:26.72 [[ 9.87070998e-01 -1.52579219e-01 -4.90961012e-02 5.64314136e+02] [ 1.52488696e-01 9.88289314e-01 -5.60619381e-03 5.16010724e+01] [ 4.93765409e-02 -1.95288912e-03 9.98778325e-01 2.67176302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.35, Y:51.60, Z:26.72 [[ 9.86457864e-01 -1.56560715e-01 -4.88837866e-02 5.64345819e+02] [ 1.56475850e-01 9.87666012e-01 -5.58188923e-03 5.15996992e+01] [ 4.91547591e-02 -2.14283354e-03 9.98788876e-01 2.67188021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.38, Y:51.60, Z:26.72 [[ 9.86232698e-01 -1.57996838e-01 -4.88064085e-02 5.64377692e+02] [ 1.57914085e-01 9.87437139e-01 -5.57121958e-03 5.16030781e+01] [ 4.90734955e-02 -2.21270043e-03 9.98792719e-01 2.67202317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.41, Y:51.61, Z:26.72 [[ 9.86244327e-01 -1.57924102e-01 -4.88068188e-02 5.64409179e+02] [ 1.57841438e-01 9.87448774e-01 -5.56762296e-03 5.16066119e+01] [ 4.90734953e-02 -2.21270193e-03 9.98792719e-01 2.67217383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.44, Y:51.61, Z:26.72 [[ 9.86255951e-01 -1.57851366e-01 -4.88072287e-02 5.64440667e+02] [ 1.57768791e-01 9.87460404e-01 -5.56402780e-03 5.16101435e+01] [ 4.90734951e-02 -2.21270192e-03 9.98792719e-01 2.67232448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.47, Y:51.61, Z:26.72 [[ 9.86006079e-01 -1.59275288e-01 -4.92279859e-02 5.64472842e+02] [ 1.59193236e-01 9.87231513e-01 -5.60828937e-03 5.16127536e+01] [ 4.94926810e-02 -2.30695498e-03 9.98771822e-01 2.67243154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.50, Y:51.61, Z:26.72 [[ 9.85594798e-01 -1.61744880e-01 -4.94114197e-02 5.64503728e+02] [ 1.61665489e-01 9.86829581e-01 -5.62558153e-03 5.16121193e+01] [ 4.96705597e-02 -2.44357742e-03 9.98762667e-01 2.67248016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.53, Y:51.61, Z:26.73 [[ 9.85470155e-01 -1.62401820e-01 -4.97415523e-02 5.64534552e+02] [ 1.62322245e-01 9.86721555e-01 -5.66223665e-03 5.16092956e+01] [ 5.00006194e-02 -2.49419521e-03 9.98746072e-01 2.67257457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.57, Y:51.61, Z:26.73 [[ 9.85399842e-01 -1.62810199e-01 -4.97995001e-02 5.64565268e+02] [ 1.62731006e-01 9.86654192e-01 -5.66786959e-03 5.16140602e+01] [ 5.00576725e-02 -2.51880497e-03 9.98743153e-01 2.67267973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.60, Y:51.62, Z:26.73 [[ 9.85398452e-01 -1.62729426e-01 -5.00901752e-02 5.64596608e+02] [ 1.62649294e-01 9.86667486e-01 -5.69912969e-03 5.16196939e+01] [ 5.03497633e-02 -2.53121809e-03 9.98728439e-01 2.67281310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.63, Y:51.62, Z:26.73 [[ 9.85632854e-01 -1.61105444e-01 -5.07238841e-02 5.64626897e+02] [ 1.61021222e-01 9.86934081e-01 -5.76939333e-03 5.16199717e+01] [ 5.09906106e-02 -2.48111820e-03 9.98696051e-01 2.67287162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.66, Y:51.63, Z:26.73 [[ 9.85858687e-01 -1.59700389e-01 -5.07782997e-02 5.64657608e+02] [ 1.59614179e-01 9.87162584e-01 -5.77458048e-03 5.16298368e+01] [ 5.10486404e-02 -2.41201631e-03 9.98693255e-01 2.67304066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.69, Y:51.63, Z:26.73 [[ 9.86169455e-01 -1.57745351e-01 -5.08547995e-02 5.64687951e+02] [ 1.57656382e-01 9.87477109e-01 -5.78144729e-03 5.16317878e+01] [ 5.11299468e-02 -2.31609700e-03 9.98689323e-01 2.67316057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.72, Y:51.64, Z:26.73 [[ 9.86999547e-01 -1.52603265e-01 -5.04394520e-02 5.64718288e+02] [ 1.52509087e-01 9.88285438e-01 -5.73330289e-03 5.16394912e+01] [ 5.07234967e-02 -2.03370744e-03 9.98710664e-01 2.67330352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.75, Y:51.65, Z:26.73 [[ 9.87445453e-01 -1.49747677e-01 -5.02703710e-02 5.64749042e+02] [ 1.49650484e-01 9.88722455e-01 -5.71312671e-03 5.16456411e+01] [ 5.05589721e-02 -1.88158436e-03 9.98719305e-01 2.67345881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.78, Y:51.65, Z:26.74 [[ 9.87890184e-01 -1.46952378e-01 -4.97793393e-02 5.64780323e+02] [ 1.46853623e-01 9.89142067e-01 -5.65548084e-03 5.16524199e+01] [ 5.00699249e-02 -1.72328231e-03 9.98744228e-01 2.67365426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.81, Y:51.66, Z:26.74 [[ 9.88314325e-01 -1.44139254e-01 -4.95849884e-02 5.64810883e+02] [ 1.44037867e-01 9.89556157e-01 -5.63071669e-03 5.16569204e+01] [ 4.98787379e-02 -1.57719801e-03 9.98754036e-01 2.67382352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.84, Y:51.66, Z:26.74 [[ 9.89041042e-01 -1.39232007e-01 -4.91148138e-02 5.64841122e+02] [ 1.39126574e-01 9.90258910e-01 -5.57558015e-03 5.16640962e+01] [ 4.94126812e-02 -1.31869817e-03 9.98777577e-01 2.67403779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.87, Y:51.67, Z:26.74 [[ 9.89305724e-01 -1.37334674e-01 -4.91260799e-02 5.64871377e+02] [ 1.37226904e-01 9.90523945e-01 -5.57588350e-03 5.16690918e+01] [ 4.94263206e-02 -1.22516640e-03 9.98777021e-01 2.67424506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.90, Y:51.68, Z:26.74 [[ 9.89545015e-01 -1.35676866e-01 -4.89126855e-02 5.64901819e+02] [ 1.35568171e-01 9.90752485e-01 -5.54834909e-03 5.16751178e+01] [ 4.92131474e-02 -1.14066214e-03 9.98787648e-01 2.67446603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.93, Y:51.68, Z:26.75 [[ 9.89702700e-01 -1.34582508e-01 -4.87454072e-02 5.64933274e+02] [ 1.34473316e-01 9.90901798e-01 -5.52761254e-03 5.16792158e+01] [ 4.90458316e-02 -1.08426349e-03 9.98795941e-01 2.67464350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:564.96, Y:51.68, Z:26.75 [[ 9.89804848e-01 -1.33838932e-01 -4.87186068e-02 5.64963965e+02] [ 1.33729046e-01 9.91002543e-01 -5.52281383e-03 5.16816107e+01] [ 4.90194308e-02 -1.04858491e-03 9.98797275e-01 2.67486656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.00, Y:51.69, Z:26.75 [[ 9.89762134e-01 -1.34156237e-01 -4.87136691e-02 5.64996128e+02] [ 1.34046845e-01 9.90959620e-01 -5.52045250e-03 5.16865220e+01] [ 4.90138822e-02 -1.06597882e-03 9.98797529e-01 2.67505992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.03, Y:51.69, Z:26.75 [[ 9.89632615e-01 -1.34978545e-01 -4.90721989e-02 5.65027022e+02] [ 1.34868724e-01 9.90847890e-01 -5.55750371e-03 5.16893029e+01] [ 4.93732285e-02 -1.11841790e-03 9.98779772e-01 2.67523864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.06, Y:51.69, Z:26.75 [[ 9.89205264e-01 -1.37820961e-01 -4.97828214e-02 5.65057943e+02] [ 1.37711619e-01 9.90456331e-01 -5.63618170e-03 5.16904926e+01] [ 5.00844946e-02 -1.28033232e-03 9.98744164e-01 2.67540550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.09, Y:51.69, Z:26.76 [[ 9.88945995e-01 -1.39441311e-01 -5.04176587e-02 5.65088295e+02] [ 1.39331316e-01 9.90229375e-01 -5.70701566e-03 5.16909501e+01] [ 5.07208404e-02 -1.38082848e-03 9.98711915e-01 2.67554938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.12, Y:51.69, Z:26.76 [[ 9.88651807e-01 -1.41229932e-01 -5.12026427e-02 5.65118691e+02] [ 1.41119014e-01 9.89975688e-01 -5.79326818e-03 5.16923619e+01] [ 5.15075543e-02 -1.49814138e-03 9.98671481e-01 2.67564283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.15, Y:51.70, Z:26.76 [[ 9.87951976e-01 -1.45799942e-01 -5.18967244e-02 5.65149424e+02] [ 1.45692334e-01 9.89312527e-01 -5.87088575e-03 5.16951845e+01] [ 5.21980544e-02 -1.76080173e-03 9.98635200e-01 2.67584607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.18, Y:51.70, Z:26.76 [[ 9.87635156e-01 -1.47901173e-01 -5.19811655e-02 5.65180411e+02] [ 1.47796171e-01 9.89000366e-01 -5.87942442e-03 5.16966998e+01] [ 5.22789655e-02 -1.87589098e-03 9.98630758e-01 2.67603774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.21, Y:51.70, Z:26.76 [[ 9.87330643e-01 -1.50044155e-01 -5.16231816e-02 5.65210364e+02] [ 1.49943624e-01 9.88677319e-01 -5.83688868e-03 5.16975567e+01] [ 5.19144598e-02 -1.97762786e-03 9.98649577e-01 2.67622529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.24, Y:51.70, Z:26.76 [[ 9.86669001e-01 -1.54452825e-01 -5.12699450e-02 5.65241561e+02] [ 1.54359814e-01 9.87997718e-01 -5.79276591e-03 5.16994655e+01] [ 5.15492977e-02 -2.19847663e-03 9.98668031e-01 2.67645649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.27, Y:51.70, Z:26.77 [[ 9.86310906e-01 -1.56680217e-01 -5.14014183e-02 5.65273073e+02] [ 1.56589841e-01 9.87646655e-01 -5.80576432e-03 5.17014087e+01] [ 5.16760872e-02 -2.32265125e-03 9.98661197e-01 2.67663615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.30, Y:51.70, Z:26.77 [[ 9.86012665e-01 -1.58527762e-01 -5.14584631e-02 5.65304170e+02] [ 1.58439789e-01 9.87351545e-01 -5.81035325e-03 5.17042588e+01] [ 5.17286954e-02 -2.42398614e-03 9.98658233e-01 2.67682328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.33, Y:51.70, Z:26.77 [[ 9.85732544e-01 -1.60288087e-01 -5.13719893e-02 5.65334371e+02] [ 1.60202885e-01 9.87067075e-01 -5.79880912e-03 5.17045547e+01] [ 5.16370793e-02 -2.51386601e-03 9.98662752e-01 2.67695988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.36, Y:51.71, Z:26.77 [[ 9.85281938e-01 -1.62968565e-01 -5.15824584e-02 5.65364529e+02] [ 1.62886372e-01 9.86627660e-01 -5.82163382e-03 5.17111685e+01] [ 5.18414236e-02 -2.66612884e-03 9.98651770e-01 2.67716097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.40, Y:51.72, Z:26.77 [[ 9.85131068e-01 -1.63827578e-01 -5.17426646e-02 5.65396119e+02] [ 1.63746118e-01 9.86485236e-01 -5.83849767e-03 5.17174108e+01] [ 5.19998817e-02 -2.72097501e-03 9.98643384e-01 2.67733089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.43, Y:51.72, Z:26.77 [[ 9.84976199e-01 -1.64625351e-01 -5.21572746e-02 5.65427715e+02] [ 1.64543900e-01 9.86352226e-01 -5.88137763e-03 5.17177784e+01] [ 5.24136678e-02 -2.78914438e-03 9.98621564e-01 2.67742420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.46, Y:51.72, Z:26.78 [[ 9.84885636e-01 -1.64777014e-01 -5.33743421e-02 5.65459453e+02] [ 1.64692113e-01 9.86326682e-01 -6.01541889e-03 5.17232239e+01] [ 5.36357405e-02 -2.86583352e-03 9.98556455e-01 2.67753166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.49, Y:51.73, Z:26.78 [[ 9.84945912e-01 -1.64374591e-01 -5.35027484e-02 5.65489731e+02] [ 1.64288886e-01 9.86393860e-01 -6.02624742e-03 5.17252234e+01] [ 5.37653444e-02 -2.85437915e-03 9.98549518e-01 2.67760187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.52, Y:51.73, Z:26.78 [[ 9.84994919e-01 -1.63887091e-01 -5.40927970e-02 5.65521053e+02] [ 1.63798815e-01 9.86474957e-01 -6.09157578e-03 5.17305877e+01] [ 5.43595202e-02 -2.86016485e-03 9.98517332e-01 2.67775010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.55, Y:51.74, Z:26.78 [[ 9.85247177e-01 -1.62159679e-01 -5.47013684e-02 5.65552041e+02] [ 1.62066865e-01 9.86760563e-01 -6.15807618e-03 5.17376994e+01] [ 5.49757447e-02 -2.79805211e-03 9.98483770e-01 2.67785993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.58, Y:51.74, Z:26.78 [[ 9.85454334e-01 -1.60816753e-01 -5.49338471e-02 5.65582540e+02] [ 1.60721183e-01 9.86980487e-01 -6.18218278e-03 5.17417983e+01] [ 5.52128337e-02 -2.73677406e-03 9.98470857e-01 2.67794560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.61, Y:51.75, Z:26.78 [[ 9.85713173e-01 -1.59001468e-01 -5.55704382e-02 5.65613739e+02] [ 1.58900920e-01 9.87274742e-01 -6.25159307e-03 5.17482784e+01] [ 5.58573025e-02 -2.66791611e-03 9.98435198e-01 2.67808465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.64, Y:51.75, Z:26.78 [[ 9.85991964e-01 -1.57008560e-01 -5.62864061e-02 5.65643696e+02] [ 1.56902328e-01 9.87593843e-01 -6.32928744e-03 5.17530761e+01] [ 5.65818604e-02 -2.59084160e-03 9.98394602e-01 2.67820700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.67, Y:51.76, Z:26.78 [[ 9.86748871e-01 -1.51938060e-01 -5.69340955e-02 5.65673127e+02] [ 1.51820996e-01 9.88387277e-01 -6.40123741e-03 5.17616570e+01] [ 5.72455272e-02 -2.32737729e-03 9.98357417e-01 2.67830512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.70, Y:51.77, Z:26.78 [[ 9.87189133e-01 -1.49047945e-01 -5.69414301e-02 5.65703384e+02] [ 1.48926054e-01 9.88827611e-01 -6.40203382e-03 5.17682403e+01] [ 5.72594683e-02 -2.16004431e-03 9.98356994e-01 2.67847154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.73, Y:51.77, Z:26.79 [[ 9.87648722e-01 -1.45982126e-01 -5.69141593e-02 5.65733718e+02] [ 1.45855298e-01 9.89285243e-01 -6.39847540e-03 5.17740666e+01] [ 5.72384009e-02 -1.98178562e-03 9.98358572e-01 2.67864079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.76, Y:51.78, Z:26.79 [[ 9.88590911e-01 -1.39546947e-01 -5.66979826e-02 5.65763140e+02] [ 1.39410606e-01 9.90214156e-01 -6.37244841e-03 5.17835639e+01] [ 5.70324007e-02 -1.60455551e-03 9.98371039e-01 2.67883083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.79, Y:51.79, Z:26.79 [[ 9.89056466e-01 -1.36220980e-01 -5.66670326e-02 5.65793414e+02] [ 1.36079344e-01 9.90677471e-01 -6.36879905e-03 5.17903666e+01] [ 5.70063166e-02 -1.41211072e-03 9.98372819e-01 2.67898542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.82, Y:51.80, Z:26.79 [[ 9.89495900e-01 -1.32938677e-01 -5.67906065e-02 5.65824178e+02] [ 1.32791090e-01 9.91123505e-01 -6.38148633e-03 5.17969726e+01] [ 5.71348513e-02 -1.22683200e-03 9.98365716e-01 2.67913854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.85, Y:51.80, Z:26.79 [[ 9.89937934e-01 -1.29613634e-01 -5.67731759e-02 5.65854536e+02] [ 1.29460792e-01 9.91564033e-01 -6.37747468e-03 5.18044428e+01] [ 5.71208469e-02 -1.03659618e-03 9.98366733e-01 2.67933779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.89, Y:51.81, Z:26.80 [[ 9.90640149e-01 -1.24258675e-01 -5.64967003e-02 5.65885211e+02] [ 1.24098730e-01 9.92249593e-01 -6.34435601e-03 5.18139795e+01] [ 5.68471691e-02 -7.26194994e-04 9.98382628e-01 2.67953157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.92, Y:51.82, Z:26.80 [[ 9.90945720e-01 -1.21762784e-01 -5.65721153e-02 5.65915246e+02] [ 1.21598457e-01 9.92559057e-01 -6.35090142e-03 5.18184200e+01] [ 5.69244689e-02 -5.85683343e-04 9.98378316e-01 2.67956988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.94, Y:51.82, Z:26.80 [[ 9.91156167e-01 -1.19791796e-01 -5.70909674e-02 5.65944053e+02] [ 1.19621201e-01 9.92798921e-01 -6.40862411e-03 5.18238669e+01] [ 5.74475514e-02 -4.77342768e-04 9.98348412e-01 2.67973454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:565.97, Y:51.83, Z:26.80 [[ 9.91339137e-01 -1.18207619e-01 -5.72160400e-02 5.65974430e+02] [ 1.18033543e-01 9.92988827e-01 -6.42431553e-03 5.18293987e+01] [ 5.75742915e-02 -3.84736517e-04 9.98341151e-01 2.67994700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.00, Y:51.83, Z:26.80 [[ 9.91632360e-01 -1.15782576e-01 -5.70934152e-02 5.66004146e+02] [ 1.15605229e-01 9.93274552e-01 -6.41054700e-03 5.18348824e+01] [ 5.74516660e-02 -2.43391502e-04 9.98348259e-01 2.68011891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.03, Y:51.84, Z:26.80 [[ 9.91713757e-01 -1.15178047e-01 -5.69020291e-02 5.66034138e+02] [ 1.15000893e-01 9.93344842e-01 -6.38905785e-03 5.18390418e+01] [ 5.72592163e-02 -2.07667624e-04 9.98359324e-01 2.68030224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.06, Y:51.84, Z:26.80 [[ 9.91771721e-01 -1.14844984e-01 -5.65639830e-02 5.66064562e+02] [ 1.14669399e-01 9.93383408e-01 -6.35093120e-03 5.18429824e+01] [ 5.69190947e-02 -1.87483973e-04 9.98378777e-01 2.68042238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.09, Y:51.85, Z:26.81 [[ 9.91731147e-01 -1.15293443e-01 -5.63627031e-02 5.66094675e+02] [ 1.15119879e-01 9.93331454e-01 -6.32747430e-03 5.18462316e+01] [ 5.67163621e-02 -2.13314200e-04 9.98390309e-01 2.68058270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.13, Y:51.85, Z:26.81 [[ 9.91620171e-01 -1.16129596e-01 -5.65981793e-02 5.66125319e+02] [ 1.15955938e-01 9.93234035e-01 -6.35390969e-03 5.18490894e+01] [ 5.69531150e-02 -2.62229985e-04 9.98376820e-01 2.68072821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.16, Y:51.85, Z:26.81 [[ 9.91242536e-01 -1.19113366e-01 -5.70108838e-02 5.66156263e+02] [ 1.18942104e-01 9.92880564e-01 -6.40006023e-03 5.18502339e+01] [ 5.73673312e-02 -4.36982520e-04 9.98353043e-01 2.68081885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.19, Y:51.85, Z:26.81 [[ 9.90970674e-01 -1.21309093e-01 -5.71071522e-02 5.66187134e+02] [ 1.21140965e-01 9.92614620e-01 -6.40962707e-03 5.18522944e+01] [ 5.74629403e-02 -5.66263052e-04 9.98347480e-01 2.68094731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.22, Y:51.85, Z:26.81 [[ 9.90680810e-01 -1.23818067e-01 -5.67504904e-02 5.66217661e+02] [ 1.23656254e-01 9.92304683e-01 -6.36768725e-03 5.18534245e+01] [ 5.71022121e-02 -7.09207504e-04 9.98368086e-01 2.68101590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.25, Y:51.85, Z:26.81 [[ 9.89930927e-01 -1.29836798e-01 -5.63840879e-02 5.66248624e+02] [ 1.29686863e-01 9.91534822e-01 -6.32571347e-03 5.18520771e+01] [ 5.67280969e-02 -1.05025611e-03 9.98389113e-01 2.68109559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.28, Y:51.85, Z:26.81 [[ 9.89512548e-01 -1.33162084e-01 -5.59712050e-02 5.66278835e+02] [ 1.33019658e-01 9.91093508e-01 -6.27923242e-03 5.18522446e+01] [ 5.63088536e-02 -1.23189129e-03 9.98412638e-01 2.68122588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.31, Y:51.85, Z:26.81 [[ 9.89123644e-01 -1.36154478e-01 -5.56450735e-02 5.66309900e+02] [ 1.36018500e-01 9.90686636e-01 -6.24147555e-03 5.18538274e+01] [ 5.59766356e-02 -1.39516840e-03 9.98431104e-01 2.68136769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.34, Y:51.85, Z:26.81 [[ 9.88719140e-01 -1.39083364e-01 -5.55902805e-02 5.66341252e+02] [ 1.38952390e-01 9.90279445e-01 -6.23327537e-03 5.18549670e+01] [ 5.59168570e-02 -1.56144366e-03 9.98434208e-01 2.68148033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.37, Y:51.86, Z:26.82 [[ 9.88338197e-01 -1.41733340e-01 -5.56710732e-02 5.66372806e+02] [ 1.41606296e-01 9.89903387e-01 -6.24027163e-03 5.18559883e+01] [ 5.59934385e-02 -1.71587563e-03 9.98429662e-01 2.68159196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.40, Y:51.86, Z:26.82 [[ 9.88348571e-01 -1.41660882e-01 -5.56713355e-02 5.66404286e+02] [ 1.41533855e-01 9.89913762e-01 -6.23793044e-03 5.18594588e+01] [ 5.59934919e-02 -1.71412907e-03 9.98429662e-01 2.68174258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.44, Y:51.86, Z:26.82 [[ 9.87693984e-01 -1.46276511e-01 -5.53513979e-02 5.66435467e+02] [ 1.46158371e-01 9.89241785e-01 -6.19844861e-03 5.18590472e+01] [ 5.56626031e-02 -1.96789976e-03 9.98447696e-01 2.68187173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.47, Y:51.86, Z:26.82 [[ 9.87416568e-01 -1.48330288e-01 -5.48329091e-02 5.66467757e+02] [ 1.48217589e-01 9.88935721e-01 -6.13896117e-03 5.18618049e+01] [ 5.51368164e-02 -2.06548961e-03 9.98476672e-01 2.68205081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.50, Y:51.86, Z:26.82 [[ 9.86833391e-01 -1.52541993e-01 -5.37661570e-02 5.66498031e+02] [ 1.52440078e-01 9.88294407e-01 -6.01566988e-03 5.18605132e+01] [ 5.40544345e-02 -2.25965324e-03 9.98535434e-01 2.68219417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.53, Y:51.86, Z:26.82 [[ 9.86481659e-01 -1.54792951e-01 -5.37873396e-02 5.66529709e+02] [ 1.54694467e-01 9.87944049e-01 -6.01480548e-03 5.18619739e+01] [ 5.40699316e-02 -2.38710853e-03 9.98534298e-01 2.68235722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.56, Y:51.86, Z:26.83 [[ 9.86180508e-01 -1.56817624e-01 -5.34437813e-02 5.66560359e+02] [ 1.56723455e-01 9.87624455e-01 -5.97457166e-03 5.18639302e+01] [ 5.37193035e-02 -2.48388793e-03 9.98552986e-01 2.68252154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.59, Y:51.87, Z:26.83 [[ 9.85874122e-01 -1.58882375e-01 -5.29962934e-02 5.66592392e+02] [ 1.58792817e-01 9.87294159e-01 -5.92326764e-03 5.18681542e+01] [ 5.32640337e-02 -2.57583445e-03 9.98577142e-01 2.68273421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.62, Y:51.87, Z:26.83 [[ 9.85254018e-01 -1.62775109e-01 -5.27141784e-02 5.66622345e+02] [ 1.62692255e-01 9.86659294e-01 -5.88791452e-03 5.18670278e+01] [ 5.29693399e-02 -2.77509711e-03 9.98592283e-01 2.68290703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.65, Y:51.87, Z:26.83 [[ 9.84955354e-01 -1.64487516e-01 -5.29793090e-02 5.66653568e+02] [ 1.64406458e-01 9.86374947e-01 -5.91445671e-03 5.18695220e+01] [ 5.32303174e-02 -2.88466474e-03 9.98578095e-01 2.68304099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.68, Y:51.87, Z:26.83 [[ 9.84683302e-01 -1.66021430e-01 -5.32511020e-02 5.66684997e+02] [ 1.65941876e-01 9.86117628e-01 -5.94287871e-03 5.18727995e+01] [ 5.34984956e-02 -2.98473433e-03 9.98563469e-01 2.68317931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.72, Y:51.87, Z:26.83 [[ 9.84394879e-01 -1.67611604e-01 -5.36010485e-02 5.66715954e+02] [ 1.67533447e-01 9.85848255e-01 -5.98011041e-03 5.18717302e+01] [ 5.38448360e-02 -3.09317834e-03 9.98544524e-01 2.68322869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.75, Y:51.88, Z:26.83 [[ 9.83921398e-01 -1.70107715e-01 -5.44246950e-02 5.66746597e+02] [ 1.70031001e-01 9.85420013e-01 -6.07088689e-03 5.18797434e+01] [ 5.46638884e-02 -3.28060987e-03 9.98499423e-01 2.68335824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.78, Y:51.89, Z:26.84 [[ 9.83711563e-01 -1.71226244e-01 -5.47095395e-02 5.66777902e+02] [ 1.71150584e-01 9.85225997e-01 -6.10019005e-03 5.18858636e+01] [ 5.49457732e-02 -3.36274214e-03 9.98483677e-01 2.68352320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.81, Y:51.89, Z:26.84 [[ 9.83532070e-01 -1.72214029e-01 -5.48360766e-02 5.66809232e+02] [ 1.72139833e-01 9.85053581e-01 -6.10911128e-03 5.18900952e+01] [ 5.50685483e-02 -3.43096622e-03 9.98476681e-01 2.68367858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.84, Y:51.89, Z:26.84 [[ 9.83145836e-01 -1.74125242e-01 -5.57195301e-02 5.66840116e+02] [ 1.74051852e-01 9.84716941e-01 -6.20469082e-03 5.18889594e+01] [ 5.59483585e-02 -3.59797147e-03 9.98427181e-01 2.68368115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.87, Y:51.89, Z:26.84 [[ 9.82978356e-01 -1.74936777e-01 -5.61308867e-02 5.66871687e+02] [ 1.74863684e-01 9.84572820e-01 -6.24930740e-03 5.18918513e+01] [ 5.63581791e-02 -3.67231972e-03 9.98403861e-01 2.68378686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.90, Y:51.90, Z:26.84 [[ 9.82892780e-01 -1.75331840e-01 -5.63961700e-02 5.66903536e+02] [ 1.75258836e-01 9.84502385e-01 -6.27649565e-03 5.18998560e+01] [ 5.66226334e-02 -3.71480485e-03 9.98388741e-01 2.68396663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.94, Y:51.91, Z:26.84 [[ 9.83003045e-01 -1.74792904e-01 -5.61467153e-02 5.66935564e+02] [ 1.74719900e-01 9.84598376e-01 -6.24463838e-03 5.19055449e+01] [ 5.63734831e-02 -3.67144992e-03 9.98403000e-01 2.68410420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:566.97, Y:51.91, Z:26.84 [[ 9.83211818e-01 -1.73607414e-01 -5.61692755e-02 5.66967310e+02] [ 1.73532658e-01 9.84808327e-01 -6.24304196e-03 5.19116038e+01] [ 5.63998086e-02 -3.60897104e-03 9.98401741e-01 2.68428746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.00, Y:51.92, Z:26.85 [[ 9.84087679e-01 -1.69030496e-01 -5.47734585e-02 5.66996463e+02] [ 1.68952527e-01 9.85605409e-01 -6.08451763e-03 5.19207369e+01] [ 5.50134860e-02 -3.26641543e-03 9.98480269e-01 2.68456611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.03, Y:51.93, Z:26.85 [[ 9.84645651e-01 -1.65916748e-01 -5.42639343e-02 5.67026186e+02] [ 1.65835514e-01 9.86135005e-01 -6.02785807e-03 5.19278796e+01] [ 5.45116877e-02 -3.06358320e-03 9.98508433e-01 2.68478028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.06, Y:51.93, Z:26.85 [[ 9.85292406e-01 -1.62269755e-01 -5.35481197e-02 5.67055368e+02] [ 1.62185280e-01 9.86742394e-01 -5.94834249e-03 5.19340659e+01] [ 5.38034359e-02 -2.82386008e-03 9.98547553e-01 2.68496743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.09, Y:51.94, Z:26.85 [[ 9.85940746e-01 -1.58354344e-01 -5.33361733e-02 5.67085439e+02] [ 1.58264827e-01 9.87378926e-01 -5.92468964e-03 5.19424463e+01] [ 5.36012138e-02 -2.59984730e-03 9.98559037e-01 2.68517413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.11, Y:51.95, Z:26.85 [[ 9.87220912e-01 -1.50329906e-01 -5.28752408e-02 5.67114626e+02] [ 1.50230481e-01 9.88633559e-01 -5.87265789e-03 5.19546386e+01] [ 5.31570736e-02 -2.14586218e-03 9.98583858e-01 2.68537427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.15, Y:51.96, Z:26.86 [[ 9.87816497e-01 -1.46334680e-01 -5.29596962e-02 5.67145083e+02] [ 1.46229213e-01 9.89233249e-01 -5.88187534e-03 5.19620540e+01] [ 5.32502147e-02 -1.93404120e-03 9.98579328e-01 2.68551554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.17, Y:51.97, Z:26.86 [[ 9.88834529e-01 -1.39434571e-01 -5.25763756e-02 5.67174624e+02] [ 1.39320973e-01 9.90230069e-01 -5.83753140e-03 5.19730952e+01] [ 5.28766617e-02 -1.55263920e-03 9.98599844e-01 2.68564859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.21, Y:51.98, Z:26.86 [[ 9.89300643e-01 -1.36011253e-01 -5.27747785e-02 5.67205047e+02] [ 1.35891985e-01 9.90706337e-01 -5.85851672e-03 5.19798255e+01] [ 5.30811317e-02 -1.37583504e-03 9.98589255e-01 2.68577852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.24, Y:51.99, Z:26.86 [[ 9.89676779e-01 -1.33118823e-01 -5.30966318e-02 5.67236203e+02] [ 1.32994051e-01 9.91099322e-01 -5.89212336e-03 5.19855390e+01] [ 5.34083883e-02 -1.23023848e-03 9.98571996e-01 2.68590871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.27, Y:51.99, Z:26.86 [[ 9.90046508e-01 -1.30065416e-01 -5.37670902e-02 5.67268130e+02] [ 1.29933181e-01 9.91504824e-01 -5.96266604e-03 5.19915371e+01] [ 5.40858659e-02 -1.08281237e-03 9.98535701e-01 2.68599137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.30, Y:52.00, Z:26.86 [[ 9.90725421e-01 -1.24313349e-01 -5.48573767e-02 5.67298683e+02] [ 1.24167082e-01 9.92242697e-01 -6.07991169e-03 5.20001121e+01] [ 5.51876456e-02 -7.87957340e-04 9.98475690e-01 2.68608032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.33, Y:52.01, Z:26.86 [[ 9.91089979e-01 -1.21445607e-01 -5.46956828e-02 5.67330181e+02] [ 1.21295958e-01 9.92597889e-01 -6.05980408e-03 5.20059883e+01] [ 5.50267559e-02 -6.28554127e-04 9.98484682e-01 2.68622170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.36, Y:52.01, Z:26.86 [[ 9.91448629e-01 -1.18433653e-01 -5.48004279e-02 5.67361661e+02] [ 1.18279043e-01 9.92961859e-01 -6.06755986e-03 5.20116810e+01] [ 5.51333380e-02 -4.66068264e-04 9.98478892e-01 2.68638495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.39, Y:52.02, Z:26.87 [[ 9.91770757e-01 -1.15832695e-01 -5.45302932e-02 5.67393126e+02] [ 1.15675885e-01 9.93268686e-01 -6.03386841e-03 5.20170798e+01] [ 5.48621519e-02 -3.23625676e-04 9.98493886e-01 2.68652514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.42, Y:52.02, Z:26.87 [[ 9.92400790e-01 -1.10926033e-01 -5.32549331e-02 5.67424280e+02] [ 1.10769601e-01 9.93828663e-01 -5.88924675e-03 5.20241079e+01] [ 5.35795498e-02 -5.45345818e-05 9.98563583e-01 2.68672520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.46, Y:52.03, Z:26.87 [[ 9.92652901e-01 -1.08739359e-01 -5.30657093e-02 5.67455167e+02] [ 1.08581060e-01 9.94070293e-01 -5.86560249e-03 5.20289776e+01] [ 5.33888671e-02 6.05763574e-05 9.98573796e-01 2.68686461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.49, Y:52.03, Z:26.87 [[ 9.92813650e-01 -1.07002676e-01 -5.35862231e-02 5.67486360e+02] [ 1.06838869e-01 9.94258721e-01 -5.92047829e-03 5.20335412e+01] [ 5.39120766e-02 1.52840198e-04 9.98545675e-01 2.68693030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.52, Y:52.04, Z:26.87 [[ 9.93001859e-01 -1.04789358e-01 -5.44655732e-02 5.67517404e+02] [ 1.04616901e-01 9.94494401e-01 -6.01576525e-03 5.20376606e+01] [ 5.47960958e-02 2.75646585e-04 9.98497527e-01 2.68688178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.55, Y:52.04, Z:26.87 [[ 9.93118951e-01 -1.04021530e-01 -5.37984339e-02 5.67548675e+02] [ 1.03852248e-01 9.94574997e-01 -5.94027604e-03 5.20407338e+01] [ 5.41244938e-02 3.12312425e-04 9.98534146e-01 2.68710902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.58, Y:52.04, Z:26.87 [[ 9.93190681e-01 -1.03809907e-01 -5.28750753e-02 5.67580438e+02] [ 1.03646200e-01 9.94597106e-01 -5.83627781e-03 5.20433978e+01] [ 5.31952603e-02 3.16236105e-04 9.98584080e-01 2.68736383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.61, Y:52.05, Z:26.88 [[ 9.93213269e-01 -1.03956699e-01 -5.21575165e-02 5.67611340e+02] [ 1.03797803e-01 9.94581779e-01 -5.75339983e-03 5.20461543e+01] [ 5.24730200e-02 3.00517423e-04 9.98622297e-01 2.68753492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.64, Y:52.05, Z:26.88 [[ 9.93040169e-01 -1.05864596e-01 -5.16130860e-02 5.67643319e+02] [ 1.05711725e-01 9.94380536e-01 -5.69048511e-03 5.20463558e+01] [ 5.19254690e-02 1.94771916e-04 9.98650944e-01 2.68768539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.68, Y:52.05, Z:26.88 [[ 9.92882591e-01 -1.07432666e-01 -5.14041107e-02 5.67675727e+02] [ 1.07283323e-01 9.94212357e-01 -5.66375776e-03 5.20475580e+01] [ 5.17150746e-02 1.08642668e-04 9.98661874e-01 2.68782671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.71, Y:52.05, Z:26.88 [[ 9.92360685e-01 -1.12001954e-01 -5.17284490e-02 5.67707563e+02] [ 1.11857113e-01 9.93707977e-01 -5.69577191e-03 5.20454391e+01] [ 5.20409101e-02 -1.33934845e-04 9.98644945e-01 2.68783659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.74, Y:52.05, Z:26.88 [[ 9.92113978e-01 -1.14320019e-01 -5.13885910e-02 5.67740294e+02] [ 1.14180331e-01 9.93443943e-01 -5.65549074e-03 5.20459646e+01] [ 5.16982203e-02 -2.56674909e-04 9.98662720e-01 2.68798132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.77, Y:52.05, Z:26.88 [[ 9.91881268e-01 -1.16367783e-01 -5.12843927e-02 5.67771856e+02] [ 1.16231597e-01 9.93206124e-01 -5.64012123e-03 5.20462161e+01] [ 5.15923013e-02 -3.66536292e-04 9.98668163e-01 2.68810915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.80, Y:52.04, Z:26.88 [[ 9.91455841e-01 -1.20496013e-01 -4.99602384e-02 5.67804824e+02] [ 1.20372291e-01 9.92713646e-01 -5.48887844e-03 5.20439789e+01] [ 5.02575984e-02 -5.71847760e-04 9.98736125e-01 2.68827407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.84, Y:52.04, Z:26.88 [[ 9.91264314e-01 -1.22043120e-01 -5.00053761e-02 5.67837386e+02] [ 1.21921327e-01 9.92524583e-01 -5.49011911e-03 5.20446360e+01] [ 5.03015964e-02 -6.54562678e-04 9.98733859e-01 2.68841677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.87, Y:52.05, Z:26.89 [[ 9.91092421e-01 -1.23537647e-01 -4.97419676e-02 5.67869207e+02] [ 1.23419199e-01 9.92339618e-01 -5.45755160e-03 5.20453615e+01] [ 5.00351382e-02 -7.30175751e-04 9.98747191e-01 2.68852829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.90, Y:52.05, Z:26.89 [[ 9.90917923e-01 -1.25004270e-01 -4.95540417e-02 5.67900555e+02] [ 1.24888685e-01 9.92155878e-01 -5.43417453e-03 5.20455483e+01] [ 4.98446288e-02 -8.03918154e-04 9.98756660e-01 2.68865787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.93, Y:52.04, Z:26.89 [[ 9.90595617e-01 -1.27688357e-01 -4.91528933e-02 5.67931999e+02] [ 1.27578075e-01 9.91813899e-01 -5.38737631e-03 5.20433231e+01] [ 4.94384280e-02 -9.34120145e-04 9.98776736e-01 2.68876548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:567.96, Y:52.04, Z:26.89 [[ 9.90410396e-01 -1.29137295e-01 -4.90999657e-02 5.67964251e+02] [ 1.29029289e-01 9.91626209e-01 -5.37632944e-03 5.20448568e+01] [ 4.93830975e-02 -1.01056108e-03 9.98779399e-01 2.68889212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.00, Y:52.05, Z:26.89 [[ 9.90188945e-01 -1.30680739e-01 -4.94812932e-02 5.67995907e+02] [ 1.30573148e-01 9.91423893e-01 -5.41455619e-03 5.20464344e+01] [ 4.97645145e-02 -1.09949453e-03 9.98760374e-01 2.68900877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters Centerline goodness [0,1] 0.9999373080057676 Centerline is valid? [True, True] Translation: X:568.03, Y:52.04, Z:26.89 [[ 9.89736335e-01 -1.33884942e-01 -4.99680899e-02 5.68027734e+02] [ 1.33779439e-01 9.90996062e-01 -5.46506802e-03 5.20437530e+01] [ 5.02498706e-02 -1.27572663e-03 9.98735862e-01 2.68903133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.06, Y:52.04, Z:26.89 [[ 9.89443719e-01 -1.36006780e-01 -5.00328269e-02 5.68059961e+02] [ 1.35903850e-01 9.90706934e-01 -5.46938378e-03 5.20443096e+01] [ 5.03117418e-02 -1.38800638e-03 9.98732598e-01 2.68916445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.625099893 meters Centerline goodness [0,1] 0.9998538408535694 Centerline is valid? [True, True] Translation: X:568.09, Y:52.04, Z:26.89 [[ 9.89128005e-01 -1.38212177e-01 -5.02313144e-02 5.68091738e+02] [ 1.38111453e-01 9.90401492e-01 -5.48741961e-03 5.20449182e+01] [ 5.05075969e-02 -1.50975940e-03 9.98722536e-01 2.68928962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6550998929999 meters Centerline goodness [0,1] 0.9999581843651342 Centerline is valid? [True, True] Translation: X:568.12, Y:52.05, Z:26.89 [[ 9.88768225e-01 -1.40737008e-01 -5.03040034e-02 5.68123350e+02] [ 1.40639498e-01 9.90045648e-01 -5.49051691e-03 5.20473813e+01] [ 5.05759786e-02 -1.64588114e-03 9.98718860e-01 2.68939945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters Centerline goodness [0,1] 0.9998955875289744 Centerline is valid? [True, True] Translation: X:568.15, Y:52.05, Z:26.89 [[ 9.87873022e-01 -1.46789762e-01 -5.05930612e-02 5.68154461e+02] [ 1.46699180e-01 9.89165753e-01 -5.51940171e-03 5.20468130e+01] [ 5.08551151e-02 -1.96949254e-03 9.98704100e-01 2.68947906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7150998929999 meters Centerline goodness [0,1] 0.9999582933644743 Centerline is valid? [True, True] Translation: X:568.19, Y:52.04, Z:26.90 [[ 9.87436162e-01 -1.49740530e-01 -5.04737477e-02 5.68185507e+02] [ 1.49654272e-01 9.88723060e-01 -5.50533489e-03 5.20422756e+01] [ 5.07289301e-02 -2.11744523e-03 9.98710214e-01 2.68957732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.22, Y:52.04, Z:26.90 [[ 9.86569473e-01 -1.55561371e-01 -4.98130005e-02 5.68216385e+02] [ 1.55484876e-01 9.87823345e-01 -5.43075033e-03 5.20448857e+01] [ 5.00512598e-02 -2.38735570e-03 9.98743797e-01 2.68975645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.775099893 meters Centerline goodness [0,1] 0.9998752027954574 Centerline is valid? [True, True] Translation: X:568.25, Y:52.04, Z:26.90 [[ 9.86152756e-01 -1.58066321e-01 -5.01774848e-02 5.68246343e+02] [ 1.57991968e-01 9.87425247e-01 -5.46982224e-03 5.20439946e+01] [ 5.04111100e-02 -2.53355927e-03 9.98725338e-01 2.68986312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.28, Y:52.04, Z:26.90 [[ 9.85463082e-01 -1.62027238e-01 -5.10851032e-02 5.68277865e+02] [ 1.61955705e-01 9.86782341e-01 -5.56423204e-03 5.20449846e+01] [ 5.13114349e-02 -2.79017863e-03 9.98678803e-01 2.68994337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8350998929999 meters Centerline goodness [0,1] 0.999979257415474 Centerline is valid? [True, True] Translation: X:568.31, Y:52.05, Z:26.90 [[ 9.85217791e-01 -1.63292546e-01 -5.17827095e-02 5.68309703e+02] [ 1.63220896e-01 9.86573439e-01 -5.63813859e-03 5.20484890e+01] [ 5.20081117e-02 -2.89722580e-03 9.98642460e-01 2.69009948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.34, Y:52.05, Z:26.90 [[ 9.85120226e-01 -1.63876877e-01 -5.17929433e-02 5.68341968e+02] [ 1.63806202e-01 9.86476442e-01 -5.63544558e-03 5.20505479e+01] [ 5.20160377e-02 -2.93241390e-03 9.98641944e-01 2.69024583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.37, Y:52.05, Z:26.90 [[ 9.85132047e-01 -1.63805675e-01 -5.17933499e-02 5.68373493e+02] [ 1.63735097e-01 9.86488267e-01 -5.63170617e-03 5.20539154e+01] [ 5.20160375e-02 -2.93241497e-03 9.98641944e-01 2.69039658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.40, Y:52.06, Z:26.91 [[ 9.85003071e-01 -1.64548763e-01 -5.18907936e-02 5.68404961e+02] [ 1.64479145e-01 9.86364445e-01 -5.63849969e-03 5.20587171e+01] [ 5.21110420e-02 -2.98101387e-03 9.98636847e-01 2.69053975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9550998929999 meters Centerline goodness [0,1] 0.9999375104149308 Centerline is valid? [True, True] Translation: X:568.44, Y:52.06, Z:26.91 [[ 9.84941103e-01 -1.64937499e-01 -5.18328533e-02 5.68436498e+02] [ 1.64868769e-01 9.86299452e-01 -5.62844268e-03 5.20614630e+01] [ 5.20510561e-02 -3.00193417e-03 9.98639913e-01 2.69069486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.47, Y:52.07, Z:26.91 [[ 9.85020041e-01 -1.64419757e-01 -5.19775101e-02 5.68468244e+02] [ 1.64350081e-01 9.86385943e-01 -5.64115938e-03 5.20669894e+01] [ 5.21974033e-02 -2.98585297e-03 9.98632323e-01 2.69086744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.015099893 meters Centerline goodness [0,1] 0.9999791432027698 Centerline is valid? [True, True] Translation: X:568.50, Y:52.07, Z:26.91 [[ 9.85134751e-01 -1.63391902e-01 -5.30340347e-02 5.68499863e+02] [ 1.63318098e-01 9.86556697e-01 -5.75178893e-03 5.20692027e+01] [ 5.32608778e-02 -2.99513054e-03 9.98576140e-01 2.69093692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.53, Y:52.07, Z:26.91 [[ 9.85202504e-01 -1.62884526e-01 -5.33353263e-02 5.68531955e+02] [ 1.62809354e-01 9.86640613e-01 -5.78049904e-03 5.20749711e+01] [ 5.35643529e-02 -2.98852790e-03 9.98559928e-01 2.69107270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.56, Y:52.08, Z:26.91 [[ 9.85292187e-01 -1.62334881e-01 -5.33544159e-02 5.68564013e+02] [ 1.62259060e-01 9.86731272e-01 -5.77870468e-03 5.20810845e+01] [ 5.35845560e-02 -2.96352478e-03 9.98558918e-01 2.69123419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.60, Y:52.09, Z:26.91 [[ 9.85341172e-01 -1.61979128e-01 -5.35307120e-02 5.68596057e+02] [ 1.61902494e-01 9.86789751e-01 -5.79386915e-03 5.20865253e+01] [ 5.37620439e-02 -2.95781797e-03 9.98549395e-01 2.69138214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.135099893 meters Centerline goodness [0,1] 0.9999790387154925 Centerline is valid? [True, True] Translation: X:568.63, Y:52.09, Z:26.91 [[ 9.85472925e-01 -1.61406362e-01 -5.28308611e-02 5.68627241e+02] [ 1.61331097e-01 9.86883794e-01 -5.71437562e-03 5.20892756e+01] [ 5.30602573e-02 -2.89189832e-03 9.98587125e-01 2.69149322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.66, Y:52.10, Z:26.92 [[ 9.85575762e-01 -1.60908678e-01 -5.24291471e-02 5.68659151e+02] [ 1.60834006e-01 9.86965195e-01 -5.66796681e-03 5.20962945e+01] [ 5.26577685e-02 -2.84617907e-03 9.98608561e-01 2.69169787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1950998929999 meters Centerline goodness [0,1] 0.9999790228860314 Centerline is valid? [True, True] Translation: X:568.69, Y:52.10, Z:26.92 [[ 9.85724491e-01 -1.60178601e-01 -5.18656371e-02 5.68690956e+02] [ 1.60104716e-01 9.87084132e-01 -5.60323239e-03 5.20968351e+01] [ 5.20932653e-02 -2.78068971e-03 9.98638353e-01 2.69181891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.72, Y:52.10, Z:26.92 [[ 9.86239785e-01 -1.57207678e-01 -5.11549814e-02 5.68720677e+02] [ 1.57131995e-01 9.87562166e-01 -5.52302530e-03 5.21047994e+01] [ 5.13869862e-02 -2.59105701e-03 9.98675455e-01 2.69202034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.255099893 meters Centerline goodness [0,1] 0.9999579266240323 Centerline is valid? [True, True] Translation: X:568.75, Y:52.11, Z:26.92 [[ 9.86556004e-01 -1.55279071e-01 -5.09476322e-02 5.68751130e+02] [ 1.55201442e-01 9.87867530e-01 -5.50050737e-03 5.21117407e+01] [ 5.11836253e-02 -2.48058741e-03 9.98686179e-01 2.69218112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.78, Y:52.12, Z:26.92 [[ 9.87291198e-01 -1.50525784e-01 -5.09713554e-02 5.68780404e+02] [ 1.50441847e-01 9.88603553e-01 -5.50139380e-03 5.21238795e+01] [ 5.12185647e-02 -2.23674717e-03 9.98684963e-01 2.69233311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.81, Y:52.13, Z:26.92 [[ 9.87727580e-01 -1.47755732e-01 -5.06208620e-02 5.68811164e+02] [ 1.47669321e-01 9.89021700e-01 -5.46344236e-03 5.21302757e+01] [ 5.08723859e-02 -2.07875562e-03 9.98702998e-01 2.69246744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.84, Y:52.14, Z:26.93 [[ 9.88191678e-01 -1.44779157e-01 -5.01617744e-02 5.68842339e+02] [ 1.44690571e-01 9.89462151e-01 -5.41203942e-03 5.21362919e+01] [ 5.04167277e-02 -1.90980347e-03 9.98726442e-01 2.69262412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.87, Y:52.14, Z:26.93 [[ 9.88659258e-01 -1.41835816e-01 -4.93505015e-02 5.68873554e+02] [ 1.41746542e-01 9.89888678e-01 -5.32188260e-03 5.21437648e+01] [ 4.96063363e-02 -1.73373442e-03 9.98767343e-01 2.69278322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.90, Y:52.15, Z:26.93 [[ 9.89608382e-01 -1.35005470e-01 -4.94850836e-02 5.68902670e+02] [ 1.34907304e-01 9.90843868e-01 -5.33378547e-03 5.21527897e+01] [ 4.97520818e-02 -1.39754040e-03 9.98760621e-01 2.69296416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.93, Y:52.16, Z:26.93 [[ 9.90079876e-01 -1.31578946e-01 -4.92830678e-02 5.68933436e+02] [ 1.31477343e-01 9.91304944e-01 -5.31193597e-03 5.21608932e+01] [ 4.95534877e-02 -1.22036592e-03 9.98770726e-01 2.69317997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.96, Y:52.17, Z:26.93 [[ 9.90574439e-01 -1.27921494e-01 -4.89731733e-02 5.68962965e+02] [ 1.27816784e-01 9.91783759e-01 -5.27677142e-03 5.21668242e+01] [ 4.92458104e-02 -1.03255865e-03 9.98786155e-01 2.69331815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:568.99, Y:52.18, Z:26.94 [[ 9.91042661e-01 -1.24333084e-01 -4.87414369e-02 5.68994032e+02] [ 1.24225074e-01 9.92240172e-01 -5.25083616e-03 5.21751703e+01] [ 4.90160644e-02 -8.51105962e-04 9.98797628e-01 2.69351343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.02, Y:52.18, Z:26.94 [[ 9.91816309e-01 -1.18114104e-01 -4.84713006e-02 5.69023824e+02] [ 1.18000035e-01 9.92999880e-01 -5.21817621e-03 5.21826698e+01] [ 4.87483359e-02 -5.44142898e-04 9.98810945e-01 2.69361551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.06, Y:52.19, Z:26.94 [[ 9.92110098e-01 -1.15624961e-01 -4.84605256e-02 5.69055177e+02] [ 1.15508022e-01 9.93292852e-01 -5.21605161e-03 5.21875421e+01] [ 4.87385995e-02 -4.22681971e-04 9.98811479e-01 2.69371437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.09, Y:52.19, Z:26.94 [[ 9.92327358e-01 -1.13648138e-01 -4.86879422e-02 5.69086973e+02] [ 1.13527892e-01 9.93521007e-01 -5.23701498e-03 5.21929515e+01] [ 4.89676704e-02 -3.30606208e-04 9.98800309e-01 2.69385166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.12, Y:52.20, Z:26.94 [[ 9.92512666e-01 -1.11542951e-01 -4.97672393e-02 5.69119169e+02] [ 1.11414856e-01 9.93759586e-01 -5.34933673e-03 5.21983703e+01] [ 5.00533519e-02 -2.35525323e-04 9.98746518e-01 2.69389644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.15, Y:52.20, Z:26.94 [[ 9.92504876e-01 -1.11226540e-01 -5.06233956e-02 5.69149586e+02] [ 1.11093777e-01 9.93795052e-01 -5.43760680e-03 5.22025299e+01] [ 5.09140862e-02 -2.27092937e-04 9.98703011e-01 2.69400094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.18, Y:52.21, Z:26.94 [[ 9.92338960e-01 -1.12262989e-01 -5.15791669e-02 5.69180116e+02] [ 1.12126711e-01 9.93678488e-01 -5.53737154e-03 5.22066505e+01] [ 5.18747505e-02 -2.88452834e-04 9.98653557e-01 2.69409223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.21, Y:52.21, Z:26.94 [[ 9.92223372e-01 -1.13241202e-01 -5.16643968e-02 5.69212232e+02] [ 1.13105950e-01 9.93567468e-01 -5.54362008e-03 5.22098204e+01] [ 5.19598301e-02 -3.43041256e-04 9.98649117e-01 2.69425056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.24, Y:52.21, Z:26.94 [[ 9.92102733e-01 -1.14363404e-01 -5.15090144e-02 5.69244147e+02] [ 1.14230671e-01 9.93438900e-01 -5.52317678e-03 5.22124650e+01] [ 5.18027079e-02 -4.04350485e-04 9.98657257e-01 2.69438708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.28, Y:52.21, Z:26.95 [[ 9.91796526e-01 -1.17273546e-01 -5.08582912e-02 5.69276028e+02] [ 1.17148157e-01 9.93099496e-01 -5.44973254e-03 5.22146206e+01] [ 5.11464529e-02 -5.52929308e-04 9.98691011e-01 2.69460831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.31, Y:52.22, Z:26.95 [[ 9.91647890e-01 -1.18656435e-01 -5.05481180e-02 5.69308524e+02] [ 1.18534553e-01 9.92935175e-01 -5.41282920e-03 5.22171733e+01] [ 5.08332714e-02 -6.24077900e-04 9.98706959e-01 2.69479121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.34, Y:52.22, Z:26.95 [[ 9.91468505e-01 -1.20293504e-01 -5.01963847e-02 5.69339504e+02] [ 1.20175599e-01 9.92738119e-01 -5.37140618e-03 5.22190228e+01] [ 5.04780098e-02 -7.06800549e-04 9.98724923e-01 2.69498141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.37, Y:52.22, Z:26.95 [[ 9.91227472e-01 -1.22198365e-01 -5.03553229e-02 5.69371847e+02] [ 1.22082460e-01 9.92505365e-01 -5.38264543e-03 5.22226402e+01] [ 5.06356787e-02 -8.12075662e-04 9.98716861e-01 2.69519990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.40, Y:52.22, Z:26.95 [[ 9.90657732e-01 -1.26419673e-01 -5.11402362e-02 5.69402578e+02] [ 1.26305931e-01 9.91976295e-01 -5.46284653e-03 5.22230041e+01] [ 5.14205133e-02 -1.04750399e-03 9.98676541e-01 2.69531938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.43, Y:52.22, Z:26.95 [[ 9.90341012e-01 -1.28818258e-01 -5.12887544e-02 5.69434845e+02] [ 1.28707172e-01 9.91667520e-01 -5.47666385e-03 5.22247270e+01] [ 5.15668862e-02 -1.17746573e-03 9.98668849e-01 2.69545974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.47, Y:52.22, Z:26.96 [[ 9.90043915e-01 -1.31065721e-01 -5.13305243e-02 5.69466117e+02] [ 1.30957661e-01 9.91372830e-01 -5.47743791e-03 5.22238193e+01] [ 5.16055916e-02 -1.29922131e-03 9.98666699e-01 2.69558203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.50, Y:52.22, Z:26.96 [[ 9.89765758e-01 -1.33274076e-01 -5.10075019e-02 5.69497789e+02] [ 1.33170441e-01 9.91078220e-01 -5.44020468e-03 5.22249012e+01] [ 5.12774624e-02 -1.40816322e-03 9.98683453e-01 2.69576305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.53, Y:52.23, Z:26.96 [[ 9.89113855e-01 -1.38034427e-01 -5.09929341e-02 5.69529282e+02] [ 1.37937298e-01 9.90426045e-01 -5.43604237e-03 5.22266752e+01] [ 5.12550911e-02 -1.65696271e-03 9.98684219e-01 2.69599165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.56, Y:52.23, Z:26.96 [[ 9.88822575e-01 -1.40041781e-01 -5.11685028e-02 5.69560392e+02] [ 1.39946772e-01 9.90144015e-01 -5.45264524e-03 5.22264529e+01] [ 5.14277849e-02 -1.76916811e-03 9.98675149e-01 2.69613154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.59, Y:52.23, Z:26.96 [[ 9.88114709e-01 -1.44552833e-01 -5.22857591e-02 5.69591148e+02] [ 1.44460195e-01 9.89494954e-01 -5.56662466e-03 5.22282060e+01] [ 5.25411662e-02 -2.05274728e-03 9.98616649e-01 2.69628541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.62, Y:52.23, Z:26.96 [[ 9.87788560e-01 -1.46494887e-01 -5.30378143e-02 5.69623209e+02] [ 1.46402426e-01 9.89209007e-01 -5.64541797e-03 5.22305370e+01] [ 5.32925085e-02 -2.18838538e-03 9.98576547e-01 2.69643271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.66, Y:52.24, Z:26.97 [[ 9.87481175e-01 -1.48408062e-01 -5.34413417e-02 5.69655152e+02] [ 1.48317191e-01 9.88923504e-01 -5.68448550e-03 5.22350012e+01] [ 5.36930224e-02 -2.31294729e-03 9.98554811e-01 2.69661133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.69, Y:52.24, Z:26.97 [[ 9.87228525e-01 -1.49881798e-01 -5.39933922e-02 5.69686409e+02] [ 1.49791451e-01 9.88700957e-01 -5.73930086e-03 5.22366359e+01] [ 5.42435353e-02 -2.42174704e-03 9.98524799e-01 2.69673164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.72, Y:52.24, Z:26.97 [[ 9.86835237e-01 -1.52085488e-01 -5.50110862e-02 5.69717197e+02] [ 1.51995318e-01 9.88363937e-01 -5.84383564e-03 5.22359275e+01] [ 5.52597363e-02 -2.59452462e-03 9.98468642e-01 2.69678579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.75, Y:52.24, Z:26.97 [[ 9.86754634e-01 -1.52505216e-01 -5.52942337e-02 5.69748399e+02] [ 1.52415159e-01 9.88299144e-01 -5.86698047e-03 5.22361719e+01] [ 5.55419889e-02 -2.63840927e-03 9.98452866e-01 2.69690762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.78, Y:52.25, Z:26.97 [[ 9.86700770e-01 -1.52851974e-01 -5.52979539e-02 5.69779780e+02] [ 1.52762776e-01 9.88245505e-01 -5.86147310e-03 5.22459534e+01] [ 5.55438921e-02 -2.66394893e-03 9.98452693e-01 2.69719718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.81, Y:52.25, Z:26.97 [[ 9.86784024e-01 -1.52359010e-01 -5.51726604e-02 5.69810240e+02] [ 1.52269662e-01 9.88321706e-01 -5.84431453e-03 5.22496724e+01] [ 5.54187718e-02 -2.63404617e-03 9.98459725e-01 2.69736282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.84, Y:52.26, Z:26.98 [[ 9.86839458e-01 -1.51785394e-01 -5.57591097e-02 5.69842245e+02] [ 1.51693405e-01 9.88409967e-01 -5.90321490e-03 5.22561600e+01] [ 5.60088816e-02 -2.63276384e-03 9.98426799e-01 2.69755501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.87, Y:52.26, Z:26.98 [[ 9.86965470e-01 -1.50918620e-01 -5.58814032e-02 5.69873785e+02] [ 1.50825073e-01 9.88542789e-01 -5.91206462e-03 5.22588258e+01] [ 5.61333988e-02 -2.59331305e-03 9.98419910e-01 2.69765395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.91, Y:52.27, Z:26.98 [[ 9.87176792e-01 -1.49097945e-01 -5.70244201e-02 5.69905552e+02] [ 1.48997757e-01 9.88819157e-01 -6.02857829e-03 5.22691847e+01] [ 5.72856876e-02 -2.54523813e-03 9.98354582e-01 2.69786591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.94, Y:52.27, Z:26.98 [[ 9.87340979e-01 -1.47992258e-01 -5.70620951e-02 5.69936767e+02] [ 1.47890380e-01 9.88985391e-01 -6.02761864e-03 5.22736195e+01] [ 5.73256193e-02 -2.48762003e-03 9.98352435e-01 2.69803322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:569.97, Y:52.27, Z:26.98 [[ 9.87549418e-01 -1.46684924e-01 -5.68302813e-02 5.69968506e+02] [ 1.46581902e-01 9.89180342e-01 -5.99981810e-03 5.22739585e+01] [ 5.70954799e-02 -2.40517384e-03 9.98365825e-01 2.69811694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.00, Y:52.28, Z:26.98 [[ 9.87960271e-01 -1.44021397e-01 -5.65008010e-02 5.69999577e+02] [ 1.43915442e-01 9.89572034e-01 -5.96109778e-03 5.22832621e+01] [ 5.67701382e-02 -2.24201000e-03 9.98384758e-01 2.69842986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.03, Y:52.29, Z:26.99 [[ 9.88241475e-01 -1.42408825e-01 -5.56642996e-02 5.70031014e+02] [ 1.42303607e-01 9.89805653e-01 -5.86971143e-03 5.22895673e+01] [ 5.59327371e-02 -2.12053836e-03 9.98432287e-01 2.69867454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.06, Y:52.29, Z:26.99 [[ 9.88525811e-01 -1.40632284e-01 -5.51296822e-02 5.70062142e+02] [ 1.40526535e-01 9.90059868e-01 -5.80946885e-03 5.22932581e+01] [ 5.53986848e-02 -2.00437328e-03 9.98462302e-01 2.69885665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.09, Y:52.30, Z:26.99 [[ 9.89094713e-01 -1.36879024e-01 -5.43670995e-02 5.70092993e+02] [ 1.36770672e-01 9.90586186e-01 -5.72630290e-03 5.23007167e+01] [ 5.46391085e-02 -1.77196879e-03 9.98504596e-01 2.69910489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.12, Y:52.31, Z:26.99 [[ 9.89405925e-01 -1.34761132e-01 -5.39940102e-02 5.70124486e+02] [ 1.34651231e-01 9.90876748e-01 -5.68481733e-03 5.23057949e+01] [ 5.42675016e-02 -1.64576798e-03 9.98525077e-01 2.69929020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.16, Y:52.31, Z:26.99 [[ 9.89694466e-01 -1.32671227e-01 -5.38814457e-02 5.70156452e+02] [ 1.32558902e-01 9.91158917e-01 -5.66907213e-03 5.23104527e+01] [ 5.41571981e-02 -1.53181599e-03 9.98531247e-01 2.69944798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.19, Y:52.32, Z:27.00 [[ 9.90304540e-01 -1.28326634e-01 -5.31901521e-02 5.70187527e+02] [ 1.28211104e-01 9.91731130e-01 -5.59275139e-03 5.23157155e+01] [ 5.34680286e-02 -1.28104104e-03 9.98568740e-01 2.69955766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.22, Y:52.32, Z:27.00 [[ 9.90604886e-01 -1.26083703e-01 -5.29609224e-02 5.70219127e+02] [ 1.25966077e-01 9.92018932e-01 -5.56653510e-03 5.23208069e+01] [ 5.32400870e-02 -1.15704277e-03 9.98581071e-01 2.69972177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.25, Y:52.32, Z:27.00 [[ 9.90884756e-01 -1.23978174e-01 -5.26954669e-02 5.70250257e+02] [ 1.23858949e-01 9.92284398e-01 -5.53488647e-03 5.23240433e+01] [ 5.29750948e-02 -1.04237054e-03 9.98595290e-01 2.69983671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.28, Y:52.33, Z:27.00 [[ 9.91230705e-01 -1.21145047e-01 -5.27784786e-02 5.70282629e+02] [ 1.21021596e-01 9.92634412e-01 -5.54051653e-03 5.23290109e+01] [ 5.30609402e-02 -8.95405625e-04 9.98590875e-01 2.69999285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.31, Y:52.34, Z:27.00 [[ 9.91886831e-01 -1.15387713e-01 -5.33496944e-02 5.70314109e+02] [ 1.15253507e-01 9.93320350e-01 -5.59569020e-03 5.23350694e+01] [ 5.36390110e-02 -5.98447935e-04 9.98560213e-01 2.70010822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.34, Y:52.34, Z:27.00 [[ 9.92239080e-01 -1.12293409e-01 -5.34022274e-02 5.70344991e+02] [ 1.12154662e-01 9.93674998e-01 -5.59741826e-03 5.23388359e+01] [ 5.36930114e-02 -4.35331616e-04 9.98557395e-01 2.70017584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.38, Y:52.34, Z:27.00 [[ 9.92246882e-01 -1.12224301e-01 -5.34025379e-02 5.70376484e+02] [ 1.12085614e-01 9.93682805e-01 -5.59445463e-03 5.23420744e+01] [ 5.36930174e-02 -4.34576068e-04 9.98557395e-01 2.70032638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.41, Y:52.35, Z:27.00 [[ 9.92512790e-01 -1.09634608e-01 -5.38387843e-02 5.70408882e+02] [ 1.09490053e-01 9.93971912e-01 -5.63615300e-03 5.23463819e+01] [ 5.41321568e-02 -3.00857392e-04 9.98533735e-01 2.70047004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.44, Y:52.35, Z:27.01 [[ 9.92794436e-01 -1.06980502e-01 -5.39850083e-02 5.70440489e+02] [ 1.06831518e-01 9.94261106e-01 -5.64628269e-03 5.23500248e+01] [ 5.42792362e-02 -1.61702372e-04 9.98525783e-01 2.70061523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.47, Y:52.35, Z:27.01 [[ 9.93288118e-01 -1.02313423e-01 -5.39507056e-02 5.70471161e+02] [ 1.02157975e-01 9.94752208e-01 -5.63848561e-03 5.23530014e+01] [ 5.42444763e-02 8.91459156e-05 9.98527681e-01 2.70071620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.50, Y:52.36, Z:27.01 [[ 9.93468152e-01 -1.00739541e-01 -5.35964198e-02 5.70502529e+02] [ 1.00584150e-01 9.94912819e-01 -5.59572245e-03 5.23554472e+01] [ 5.38874756e-02 1.68221696e-04 9.98547000e-01 2.70084291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.53, Y:52.36, Z:27.01 [[ 9.93591396e-01 -9.95785703e-02 -5.34812763e-02 5.70534186e+02] [ 9.94222683e-02 9.95029676e-01 -5.58180837e-03 5.23575808e+01] [ 5.37712856e-02 2.28806962e-04 9.98553252e-01 2.70099212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.57, Y:52.36, Z:27.01 [[ 9.93709875e-01 -9.85149119e-02 -5.32493867e-02 5.70565457e+02] [ 9.83585379e-02 9.95135534e-01 -5.55572890e-03 5.23570830e+01] [ 5.35376790e-02 2.83250851e-04 9.98565790e-01 2.70118136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.60, Y:52.36, Z:27.01 [[ 9.93742307e-01 -9.82704461e-02 -5.30956347e-02 5.70597057e+02] [ 9.81147293e-02 9.95159702e-01 -5.53775322e-03 5.23583274e+01] [ 5.33828335e-02 2.93635836e-04 9.98574077e-01 2.70133410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.63, Y:52.36, Z:27.02 [[ 9.93776220e-01 -9.83863558e-02 -5.22393411e-02 5.70628855e+02] [ 9.82358831e-02 9.95148253e-01 -5.44657540e-03 5.23589601e+01] [ 5.25217577e-02 2.80899308e-04 9.98619740e-01 2.70150835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.66, Y:52.36, Z:27.02 [[ 9.93790139e-01 -9.85394232e-02 -5.16830852e-02 5.70659316e+02] [ 9.83924409e-02 9.95133112e-01 -5.38677698e-03 5.23597713e+01] [ 5.19623593e-02 2.68100938e-04 9.98649008e-01 2.70164986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.69, Y:52.36, Z:27.02 [[ 9.93799389e-01 -9.92211995e-02 -5.01789643e-02 5.70691520e+02] [ 9.90835700e-02 9.95065376e-01 -5.22906245e-03 5.23569462e+01] [ 5.04501838e-02 2.24728144e-04 9.98726553e-01 2.70184749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.72, Y:52.36, Z:27.02 [[ 9.93779505e-01 -9.95376291e-02 -4.99455342e-02 5.70723030e+02] [ 9.94017685e-02 9.95033777e-01 -5.20292397e-03 5.23568493e+01] [ 5.02153803e-02 2.05884776e-04 9.98738391e-01 2.70195815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.75, Y:52.35, Z:27.02 [[ 9.93690449e-01 -1.00642757e-01 -4.95007715e-02 5.70753959e+02] [ 1.00510764e-01 9.94922617e-01 -5.15483928e-03 5.23530099e+01] [ 4.97682343e-02 1.46954185e-04 9.98760783e-01 2.70199155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.79, Y:52.35, Z:27.02 [[ 9.93623755e-01 -1.01439774e-01 -4.92118536e-02 5.70785051e+02] [ 1.01310341e-01 9.94841676e-01 -5.12382970e-03 5.23525474e+01] [ 4.94777630e-02 1.05489235e-04 9.98775220e-01 2.70211115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.82, Y:52.35, Z:27.02 [[ 9.93581308e-01 -1.01992712e-01 -4.89251683e-02 5.70815728e+02] [ 1.01865543e-01 9.94785143e-01 -5.09217503e-03 5.23517757e+01] [ 4.91893953e-02 7.57010986e-05 9.98789466e-01 2.70220225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.85, Y:52.35, Z:27.02 [[ 9.93385249e-01 -1.04057304e-01 -4.85574443e-02 5.70846889e+02] [ 1.03934643e-01 9.94571303e-01 -5.05108326e-03 5.23462359e+01] [ 4.88194427e-02 -2.91290287e-05 9.98807620e-01 2.70226632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.88, Y:52.35, Z:27.02 [[ 9.93319330e-01 -1.04861484e-01 -4.81744589e-02 5.70878077e+02] [ 1.04741698e-01 9.94486835e-01 -5.01121104e-03 5.23452611e+01] [ 4.84343482e-02 -6.81418214e-05 9.98826366e-01 2.70239974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.91, Y:52.34, Z:27.03 [[ 9.93247281e-01 -1.05644404e-01 -4.79489283e-02 5.70909321e+02] [ 1.05526732e-01 9.94403966e-01 -4.98601812e-03 5.23446612e+01] [ 4.82073494e-02 -1.07544787e-04 9.98837344e-01 2.70255835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.94, Y:52.34, Z:27.03 [[ 9.93181550e-01 -1.06233847e-01 -4.80080997e-02 5.70939423e+02] [ 1.06116657e-01 9.94341164e-01 -4.99043186e-03 5.23439479e+01] [ 4.82665825e-02 -1.38054173e-04 9.98834480e-01 2.70267188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:570.97, Y:52.34, Z:27.03 [[ 9.93162676e-01 -1.06173781e-01 -4.85286165e-02 5.70969125e+02] [ 1.06054004e-01 9.94347580e-01 -5.04369691e-03 5.23402293e+01] [ 4.87898208e-02 -1.37442592e-04 9.98809058e-01 2.70273391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.00, Y:52.34, Z:27.03 [[ 9.93188543e-01 -1.05781785e-01 -4.88541997e-02 5.70998544e+02] [ 1.05659876e-01 9.94389360e-01 -5.07844128e-03 5.23404138e+01] [ 4.91173030e-02 -1.18078982e-04 9.98793010e-01 2.70281703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.03, Y:52.34, Z:27.03 [[ 9.93334000e-01 -1.03941709e-01 -4.98365971e-02 5.71027807e+02] [ 1.03812436e-01 9.94583390e-01 -5.18243464e-03 5.23377886e+01] [ 5.01053229e-02 -2.57700266e-05 9.98743939e-01 2.70284499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.06, Y:52.34, Z:27.03 [[ 9.93445631e-01 -1.02815227e-01 -4.99480549e-02 5.71055857e+02] [ 1.02683786e-01 9.94700471e-01 -5.19732292e-03 5.23379881e+01] [ 5.02177177e-02 3.44023462e-05 9.98738294e-01 2.70296592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.08, Y:52.34, Z:27.03 [[ 9.93542783e-01 -1.01825127e-01 -5.00438074e-02 5.71083401e+02] [ 1.01691209e-01 9.94802309e-01 -5.22151599e-03 5.23385922e+01] [ 5.03153767e-02 9.87842355e-05 9.98733374e-01 2.70309046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.11, Y:52.34, Z:27.03 [[ 9.93653901e-01 -1.00680554e-01 -5.01532776e-02 5.71109950e+02] [ 1.00543884e-01 9.94918789e-01 -5.24697799e-03 5.23392621e+01] [ 5.04267069e-02 1.71074842e-04 9.98727750e-01 2.70321829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.14, Y:52.34, Z:27.03 [[ 9.93880091e-01 -9.86051410e-02 -4.97934861e-02 5.71138541e+02] [ 9.84673129e-02 9.95126598e-01 -5.21949019e-03 5.23377114e+01] [ 5.00654910e-02 2.84516600e-04 9.98745896e-01 2.70339132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.17, Y:52.34, Z:27.03 [[ 9.93905794e-01 -9.82501854e-02 -4.99817337e-02 5.71165183e+02] [ 9.81102594e-02 9.95161696e-01 -5.25123621e-03 5.23379509e+01] [ 5.02558418e-02 3.15513245e-04 9.98736327e-01 2.70348405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.19, Y:52.34, Z:27.04 [[ 9.93907059e-01 -9.82927463e-02 -4.98727876e-02 5.71193821e+02] [ 9.81529755e-02 9.95157491e-01 -5.24991115e-03 5.23368287e+01] [ 5.01473064e-02 3.22761249e-04 9.98741780e-01 2.70365266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.22, Y:52.33, Z:27.04 [[ 9.93788378e-01 -9.93753716e-02 -5.00918657e-02 5.71222166e+02] [ 9.92350243e-02 9.95049976e-01 -5.28723106e-03 5.23325045e+01] [ 5.03693303e-02 2.83521271e-04 9.98730619e-01 2.70371907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.25, Y:52.33, Z:27.04 [[ 9.93651379e-01 -1.00636709e-01 -5.02910587e-02 5.71250294e+02] [ 1.00496624e-01 9.94923214e-01 -5.31285712e-03 5.23315780e+01] [ 5.05704102e-02 2.25046173e-04 9.98720473e-01 2.70383263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.28, Y:52.33, Z:27.04 [[ 9.93483144e-01 -1.02247834e-01 -5.03649036e-02 5.71279028e+02] [ 1.02109161e-01 9.94758945e-01 -5.32548633e-03 5.23303539e+01] [ 5.06454579e-02 1.48062869e-04 9.98716684e-01 2.70392441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.31, Y:52.33, Z:27.04 [[ 9.93235863e-01 -1.04441565e-01 -5.07393444e-02 5.71307633e+02] [ 1.04303193e-01 9.94531024e-01 -5.37461269e-03 5.23289640e+01] [ 5.10231851e-02 4.59824452e-05 9.98697468e-01 2.70405800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.34, Y:52.32, Z:27.04 [[ 9.92797156e-01 -1.08451082e-01 -5.09133571e-02 5.71335955e+02] [ 1.08316307e-01 9.94101776e-01 -5.40705128e-03 5.23229465e+01] [ 5.11994592e-02 -1.46641695e-04 9.98688437e-01 2.70417833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.36, Y:52.32, Z:27.04 [[ 9.92560460e-01 -1.10724549e-01 -5.06340446e-02 5.71364164e+02] [ 1.10593977e-01 9.93851099e-01 -5.38188273e-03 5.23215045e+01] [ 5.09186074e-02 -2.57976360e-04 9.98702773e-01 2.70435081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.39, Y:52.32, Z:27.05 [[ 9.92334686e-01 -1.12864825e-01 -5.03329190e-02 5.71393456e+02] [ 1.12738303e-01 9.93610286e-01 -5.35478751e-03 5.23202871e+01] [ 5.06156732e-02 -3.60706499e-04 9.98718140e-01 2.70451838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.42, Y:52.32, Z:27.05 [[ 9.92115117e-01 -1.14843487e-01 -5.01853298e-02 5.71421990e+02] [ 1.14719634e-01 9.93383497e-01 -5.35100062e-03 5.23190988e+01] [ 5.04678060e-02 -4.48434066e-04 9.98725588e-01 2.70469320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.45, Y:52.31, Z:27.05 [[ 9.91617152e-01 -1.19085804e-01 -5.01397509e-02 5.71450518e+02] [ 1.18967371e-01 9.92883748e-01 -5.35053541e-03 5.23135175e+01] [ 5.04201166e-02 -6.59311646e-04 9.98727879e-01 2.70485191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.48, Y:52.31, Z:27.05 [[ 9.91315221e-01 -1.21508555e-01 -5.02971551e-02 5.71479178e+02] [ 1.21392245e-01 9.92590078e-01 -5.37220086e-03 5.23123211e+01] [ 5.05772255e-02 -7.80140082e-04 9.98719848e-01 2.70495077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.51, Y:52.31, Z:27.05 [[ 9.91019237e-01 -1.24027526e-01 -4.99804511e-02 5.71508053e+02] [ 1.23915268e-01 9.92278378e-01 -5.35043606e-03 5.23114789e+01] [ 5.02581223e-02 -8.90955956e-04 9.98735865e-01 2.70509048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.54, Y:52.31, Z:27.05 [[ 9.90735867e-01 -1.26157965e-01 -5.02653897e-02 5.71535618e+02] [ 1.26046561e-01 9.92009668e-01 -5.39280970e-03 5.23097666e+01] [ 5.05440984e-02 -9.92929529e-04 9.98721337e-01 2.70522294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.56, Y:52.31, Z:27.05 [[ 9.90224511e-01 -1.30118197e-01 -5.02461158e-02 5.71564922e+02] [ 1.30011713e-01 9.91497776e-01 -5.39579243e-03 5.23084175e+01] [ 5.05210028e-02 -1.18953767e-03 9.98722290e-01 2.70540038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.59, Y:52.31, Z:27.06 [[ 9.89953921e-01 -1.32137999e-01 -5.03068841e-02 5.71592758e+02] [ 1.32033717e-01 9.91230489e-01 -5.40517980e-03 5.23084257e+01] [ 5.05799470e-02 -1.29132597e-03 9.98719180e-01 2.70554915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.62, Y:52.31, Z:27.06 [[ 9.89391105e-01 -1.36652632e-01 -4.93082164e-02 5.71622282e+02] [ 1.36557829e-01 9.90617911e-01 -5.30222945e-03 5.23060530e+01] [ 4.95701659e-02 -1.48744430e-03 9.98769536e-01 2.70572284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.65, Y:52.31, Z:27.06 [[ 9.88996940e-01 -1.39546307e-01 -4.91109030e-02 5.71652334e+02] [ 1.39455636e-01 9.90214218e-01 -5.28477112e-03 5.23064554e+01] [ 4.93677846e-02 -1.62216972e-03 9.98779350e-01 2.70589461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.68, Y:52.31, Z:27.06 [[ 9.88527578e-01 -1.42686174e-01 -4.95366948e-02 5.71681502e+02] [ 1.42597764e-01 9.89766358e-01 -5.33245398e-03 5.23060404e+01] [ 4.97906214e-02 -1.79254411e-03 9.98758069e-01 2.70598849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.71, Y:52.30, Z:27.06 [[ 9.87524947e-01 -1.49062489e-01 -5.07430151e-02 5.71710877e+02] [ 1.48977978e-01 9.88825413e-01 -5.46494524e-03 5.23034976e+01] [ 5.09906012e-02 -2.16282202e-03 9.98696791e-01 2.70603801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.74, Y:52.31, Z:27.06 [[ 9.87048672e-01 -1.51912128e-01 -5.15521552e-02 5.71739922e+02] [ 1.51828757e-01 9.88391218e-01 -5.55245544e-03 5.23050284e+01] [ 5.17971828e-02 -2.34655585e-03 9.98654868e-01 2.70613747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.77, Y:52.31, Z:27.06 [[ 9.86652408e-01 -1.54268290e-01 -5.21375203e-02 5.71768268e+02] [ 1.54186081e-01 9.88025846e-01 -5.61954977e-03 5.23053222e+01] [ 5.23801360e-02 -2.49433764e-03 9.98624103e-01 2.70622215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.80, Y:52.31, Z:27.06 [[ 9.86107840e-01 -1.57506051e-01 -5.27557679e-02 5.71798396e+02] [ 1.57426311e-01 9.87514346e-01 -5.68971152e-03 5.23070728e+01] [ 5.29932417e-02 -2.69447679e-03 9.98591236e-01 2.70634353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.83, Y:52.31, Z:27.06 [[ 9.85902151e-01 -1.58733537e-01 -5.29208112e-02 5.71826997e+02] [ 1.58654940e-01 9.87317582e-01 -5.70975980e-03 5.23095562e+01] [ 5.31559778e-02 -2.76688367e-03 9.98582388e-01 2.70647019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.85, Y:52.31, Z:27.07 [[ 9.85771221e-01 -1.59441341e-01 -5.32311869e-02 5.71854988e+02] [ 1.59362138e-01 9.87203409e-01 -5.75651722e-03 5.23142703e+01] [ 5.34678360e-02 -2.80842673e-03 9.98565623e-01 2.70661144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.88, Y:52.32, Z:27.07 [[ 9.85855356e-01 -1.58716891e-01 -5.38346182e-02 5.71883449e+02] [ 1.58634068e-01 9.87320202e-01 -5.83541996e-03 5.23217902e+01] [ 5.40781859e-02 -2.78712446e-03 9.98532815e-01 2.70678908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.91, Y:52.33, Z:27.07 [[ 9.86035322e-01 -1.57593315e-01 -5.38394953e-02 5.71911315e+02] [ 1.57508066e-01 9.87500375e-01 -5.84962979e-03 5.23292528e+01] [ 5.40883843e-02 -2.71221318e-03 9.98532468e-01 2.70696760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.94, Y:52.34, Z:27.07 [[ 9.86334332e-01 -1.55671892e-01 -5.39522637e-02 5.71939330e+02] [ 1.55582730e-01 9.87805398e-01 -5.87457962e-03 5.23350836e+01] [ 5.42088442e-02 -2.59974090e-03 9.98526235e-01 2.70713834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:571.97, Y:52.34, Z:27.07 [[ 9.86646869e-01 -1.53652275e-01 -5.40271664e-02 5.71966843e+02] [ 1.53559624e-01 9.88121848e-01 -5.88680746e-03 5.23406773e+01] [ 5.42899449e-02 -2.48819124e-03 9.98522113e-01 2.70729127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.00, Y:52.35, Z:27.08 [[ 9.87320169e-01 -1.49196054e-01 -5.42164317e-02 5.71995332e+02] [ 1.49095800e-01 9.88805082e-01 -5.91198178e-03 5.23529024e+01] [ 5.44915276e-02 -2.24642339e-03 9.98511706e-01 2.70752140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.02, Y:52.36, Z:27.08 [[ 9.87654036e-01 -1.47029154e-01 -5.40549007e-02 5.72023149e+02] [ 1.46926136e-01 9.89129891e-01 -5.89659692e-03 5.23578528e+01] [ 5.43342897e-02 -2.11827994e-03 9.98520555e-01 2.70763444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.05, Y:52.36, Z:27.08 [[ 9.88030444e-01 -1.44640256e-01 -5.36193820e-02 5.72051803e+02] [ 1.44535154e-01 9.89482354e-01 -5.85327135e-03 5.23646376e+01] [ 5.39020509e-02 -1.96667533e-03 9.98544291e-01 2.70781051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.08, Y:52.37, Z:27.08 [[ 9.88295751e-01 -1.42960533e-01 -5.32334077e-02 5.72080420e+02] [ 1.42854128e-01 9.89726653e-01 -5.81819335e-03 5.23724836e+01] [ 5.35182944e-02 -1.85451625e-03 9.98565147e-01 2.70801550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.11, Y:52.38, Z:27.08 [[ 9.89077275e-01 -1.37983704e-01 -5.18328275e-02 5.72108244e+02] [ 1.37875415e-01 9.90433314e-01 -5.67629247e-03 5.23811389e+01] [ 5.21201949e-02 -1.53218069e-03 9.98639644e-01 2.70818017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.14, Y:52.39, Z:27.08 [[ 9.89470988e-01 -1.34985366e-01 -5.22122181e-02 5.72136510e+02] [ 1.34871160e-01 9.90846629e-01 -5.72078761e-03 5.23902696e+01] [ 5.25065230e-02 -1.38136904e-03 9.98619626e-01 2.70833954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.17, Y:52.40, Z:27.08 [[ 9.89865997e-01 -1.32023252e-01 -5.22988401e-02 5.72165007e+02] [ 1.31904319e-01 9.91245866e-01 -5.73440760e-03 5.23978927e+01] [ 5.25980842e-02 -1.22214780e-03 9.98615015e-01 2.70847142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.19, Y:52.41, Z:27.09 [[ 9.90608440e-01 -1.25924292e-01 -5.32728074e-02 5.72192645e+02] [ 1.25791694e-01 9.92039439e-01 -5.84821335e-03 5.24086676e+01] [ 5.35851581e-02 -9.07987181e-04 9.98562871e-01 2.70854972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.22, Y:52.41, Z:27.09 [[ 9.90571486e-01 -1.26214898e-01 -5.32722356e-02 5.72219874e+02] [ 1.26082439e-01 9.92002498e-01 -5.85341695e-03 5.24117132e+01] [ 5.35849792e-02 -9.18465483e-04 9.98562871e-01 2.70868014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.25, Y:52.42, Z:27.09 [[ 9.90899195e-01 -1.23509334e-01 -5.35184926e-02 5.72247485e+02] [ 1.23370913e-01 9.92343119e-01 -5.89514574e-03 5.24172721e+01] [ 5.38368134e-02 -7.61130144e-04 9.98549457e-01 2.70872138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.28, Y:52.42, Z:27.09 [[ 9.91191329e-01 -1.20913910e-01 -5.40330934e-02 5.72275025e+02] [ 1.20768688e-01 9.92662803e-01 -5.95681408e-03 5.24226272e+01] [ 5.43569036e-02 -6.21163313e-04 9.98521377e-01 2.70877685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.30, Y:52.43, Z:27.09 [[ 9.91648396e-01 -1.16703539e-01 -5.48975612e-02 5.72303310e+02] [ 1.16546845e-01 9.93166719e-01 -6.05816701e-03 5.24324168e+01] [ 5.52294402e-02 -3.90565956e-04 9.98473613e-01 2.70895756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.33, Y:52.44, Z:27.09 [[ 9.91765961e-01 -1.15461703e-01 -5.53974231e-02 5.72330418e+02] [ 1.15299454e-01 9.93311884e-01 -6.12678749e-03 5.24378006e+01] [ 5.57343280e-02 -3.10953353e-04 9.98445586e-01 2.70909545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.36, Y:52.44, Z:27.09 [[ 9.91852788e-01 -1.14562712e-01 -5.57084577e-02 5.72357778e+02] [ 1.14396312e-01 9.93415988e-01 -6.17732252e-03 5.24428317e+01] [ 5.60493634e-02 -2.45847537e-04 9.98427969e-01 2.70926591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.38, Y:52.45, Z:27.09 [[ 9.91917323e-01 -1.13798994e-01 -5.61232069e-02 5.72384146e+02] [ 1.13628031e-01 9.93503776e-01 -6.23837069e-03 5.24471644e+01] [ 5.64685383e-02 -1.89221573e-04 9.98404361e-01 2.70932876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.41, Y:52.45, Z:27.09 [[ 9.91912427e-01 -1.13680079e-01 -5.64497750e-02 5.72411181e+02] [ 1.13506482e-01 9.93517392e-01 -6.28250035e-03 5.24511276e+01] [ 5.67980284e-02 -1.75725200e-04 9.98385674e-01 2.70938855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.44, Y:52.46, Z:27.10 [[ 9.91744406e-01 -1.14914852e-01 -5.68999916e-02 5.72439043e+02] [ 1.14739888e-01 9.93375317e-01 -6.34332852e-03 5.24558192e+01] [ 5.72519899e-02 -2.37738089e-04 9.98359731e-01 2.70962558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.47, Y:52.46, Z:27.10 [[ 9.91324163e-01 -1.18734340e-01 -5.63787165e-02 5.72466215e+02] [ 1.18568302e-01 9.92925958e-01 -6.29290084e-03 5.24578134e+01] [ 5.67270745e-02 -4.46424017e-04 9.98389623e-01 2.70980750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.49, Y:52.46, Z:27.10 [[ 9.90922600e-01 -1.21854933e-01 -5.67783008e-02 5.72493803e+02] [ 1.21691302e-01 9.92547725e-01 -6.34353153e-03 5.24591057e+01] [ 5.71281639e-02 -6.23476607e-04 9.98366658e-01 2.70993281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.52, Y:52.46, Z:27.10 [[ 9.90451360e-01 -1.25690481e-01 -5.66392578e-02 5.72522340e+02] [ 1.25533536e-01 9.92069153e-01 -6.33461663e-03 5.24609103e+01] [ 5.69862615e-02 -8.35996627e-04 9.98374613e-01 2.71013302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.55, Y:52.46, Z:27.10 [[ 9.89905150e-01 -1.29779046e-01 -5.69665990e-02 5.72550669e+02] [ 1.29626296e-01 9.91542367e-01 -6.38416719e-03 5.24619870e+01] [ 5.73133276e-02 -1.06464926e-03 9.98355673e-01 2.71029046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.58, Y:52.46, Z:27.10 [[ 9.88627178e-01 -1.39079632e-01 -5.72115217e-02 5.72581354e+02] [ 1.38940838e-01 9.90279898e-01 -6.41612193e-03 5.24603694e+01] [ 5.75477718e-02 -1.60586423e-03 9.98341462e-01 2.71044872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.61, Y:52.46, Z:27.11 [[ 9.87975270e-01 -1.43671704e-01 -5.71253650e-02 5.72610002e+02] [ 1.43540893e-01 9.89623640e-01 -6.40806032e-03 5.24587277e+01] [ 5.74532686e-02 -1.86882077e-03 9.98346448e-01 2.71053137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.64, Y:52.46, Z:27.11 [[ 9.86613037e-01 -1.52389513e-01 -5.80702363e-02 5.72639958e+02] [ 1.52269166e-01 9.88317570e-01 -6.51776945e-03 5.24555468e+01] [ 5.83850746e-02 -2.41179017e-03 9.98291223e-01 2.71060102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.67, Y:52.46, Z:27.11 [[ 9.85947892e-01 -1.56503680e-01 -5.84238970e-02 5.72670576e+02] [ 1.56389014e-01 9.87673765e-01 -6.55827197e-03 5.24563727e+01] [ 5.87301440e-02 -2.67074122e-03 9.98270323e-01 2.71071339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.70, Y:52.46, Z:27.11 [[ 9.85348851e-01 -1.60163069e-01 -5.86125706e-02 5.72700392e+02] [ 1.60054100e-01 9.87086315e-01 -6.57965113e-03 5.24560389e+01] [ 5.89094834e-02 -2.89793057e-03 9.98259122e-01 2.71077976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.73, Y:52.46, Z:27.11 [[ 9.84794453e-01 -1.63640945e-01 -5.83226055e-02 5.72730398e+02] [ 1.63539063e-01 9.86515127e-01 -6.54815195e-03 5.24585093e+01] [ 5.86076783e-02 -3.08944055e-03 9.98276312e-01 2.71099448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.76, Y:52.47, Z:27.11 [[ 9.84220589e-01 -1.67476545e-01 -5.71090150e-02 5.72759501e+02] [ 1.67385219e-01 9.85870712e-01 -6.41302631e-03 5.24665024e+01] [ 5.73761368e-02 -3.24737246e-03 9.98347351e-01 2.71139367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.79, Y:52.47, Z:27.11 [[ 9.83289405e-01 -1.72575450e-01 -5.79625759e-02 5.72789621e+02] [ 1.72490124e-01 9.84989735e-01 -6.50998595e-03 5.24662528e+01] [ 5.82160060e-02 -3.59677170e-03 9.98297531e-01 2.71145495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.82, Y:52.47, Z:27.11 [[ 9.82919376e-01 -1.74267086e-01 -5.91648832e-02 5.72817751e+02] [ 1.74181129e-01 9.84691197e-01 -6.64682878e-03 5.24685894e+01] [ 5.94174631e-02 -3.77210936e-03 9.98226095e-01 2.71144499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.85, Y:52.47, Z:27.12 [[ 9.82764340e-01 -1.75022746e-01 -5.95087405e-02 5.72845673e+02] [ 1.74936769e-01 9.84556927e-01 -6.69210556e-03 5.24745772e+01] [ 5.97610133e-02 -3.83350408e-03 9.98205352e-01 2.71157262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.87, Y:52.48, Z:27.12 [[ 9.82706981e-01 -1.75369802e-01 -5.94341775e-02 5.72872606e+02] [ 1.75283723e-01 9.84495166e-01 -6.69957979e-03 5.24804765e+01] [ 5.96875644e-02 -3.83412007e-03 9.98209745e-01 2.71173191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.90, Y:52.49, Z:27.12 [[ 9.83095578e-01 -1.73405665e-01 -5.87669967e-02 5.72901962e+02] [ 1.73317176e-01 9.84843687e-01 -6.63850090e-03 5.24894754e+01] [ 5.90274594e-02 -3.65904903e-03 9.98249653e-01 2.71194566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.93, Y:52.50, Z:27.12 [[ 9.83312311e-01 -1.72204701e-01 -5.86723130e-02 5.72930482e+02] [ 1.72114267e-01 9.85054683e-01 -6.62952143e-03 5.24953391e+01] [ 5.89370714e-02 -3.57945211e-03 9.98255283e-01 2.71209384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.96, Y:52.51, Z:27.12 [[ 9.83774082e-01 -1.69461310e-01 -5.89187496e-02 5.72959343e+02] [ 1.69364996e-01 9.85530887e-01 -6.66107635e-03 5.25062781e+01] [ 5.91950422e-02 -3.42577950e-03 9.98240558e-01 2.71225070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:572.99, Y:52.51, Z:27.12 [[ 9.83927559e-01 -1.68432857e-01 -5.93037202e-02 5.72986938e+02] [ 1.68333300e-01 9.85707320e-01 -6.70661281e-03 5.25096062e+01] [ 5.95857251e-02 -3.38396975e-03 9.98217456e-01 2.71226543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.02, Y:52.52, Z:27.12 [[ 9.83969896e-01 -1.68050735e-01 -5.96841186e-02 5.73015427e+02] [ 1.67948738e-01 9.85772570e-01 -6.75729464e-03 5.25172291e+01] [ 5.99705354e-02 -3.37489790e-03 9.98194442e-01 2.71235181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.04, Y:52.52, Z:27.12 [[ 9.83969666e-01 -1.67706862e-01 -6.06473849e-02 5.73043024e+02] [ 1.67600061e-01 9.85831063e-01 -6.88007471e-03 5.25197583e+01] [ 6.09419116e-02 -3.39472059e-03 9.98135542e-01 2.71233545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.07, Y:52.53, Z:27.12 [[ 9.83846909e-01 -1.68152087e-01 -6.14014293e-02 5.73070720e+02] [ 1.68042985e-01 9.85755002e-01 -6.97361053e-03 5.25276830e+01] [ 6.16993933e-02 -3.45711429e-03 9.98088790e-01 2.71240875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.10, Y:52.53, Z:27.12 [[ 9.83699175e-01 -1.68928905e-01 -6.16356904e-02 5.73098438e+02] [ 1.68819663e-01 9.85622003e-01 -7.01351525e-03 5.25320697e+01] [ 6.19342781e-02 -3.50612733e-03 9.98074072e-01 2.71246316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.13, Y:52.54, Z:27.13 [[ 9.83654807e-01 -1.69309533e-01 -6.12984801e-02 5.73125840e+02] [ 1.69201702e-01 9.85556703e-01 -6.98350213e-03 5.25405011e+01] [ 6.15955015e-02 -3.50245172e-03 9.98095049e-01 2.71267966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.15, Y:52.55, Z:27.13 [[ 9.83638864e-01 -1.69455301e-01 -6.11513373e-02 5.73154372e+02] [ 1.69347190e-01 9.85531709e-01 -6.98422865e-03 5.25468293e+01] [ 6.14500965e-02 -3.48584839e-03 9.98104070e-01 2.71287555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.18, Y:52.56, Z:27.13 [[ 9.84021045e-01 -1.67797765e-01 -5.95524320e-02 5.73182849e+02] [ 1.67691462e-01 9.85815978e-01 -6.81400397e-03 5.25563486e+01] [ 5.98511137e-02 -3.28131105e-03 9.98201922e-01 2.71317557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.21, Y:52.56, Z:27.13 [[ 9.84366229e-01 -1.66073949e-01 -5.86734265e-02 5.73211750e+02] [ 1.65967593e-01 9.86108342e-01 -6.71536015e-03 5.25627346e+01] [ 5.89736018e-02 -3.12751363e-03 9.98254643e-01 2.71337992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.24, Y:52.57, Z:27.14 [[ 9.84709119e-01 -1.64195275e-01 -5.82053520e-02 5.73241512e+02] [ 1.64087286e-01 9.86423323e-01 -6.66264862e-03 5.25700673e+01] [ 5.85090921e-02 -2.98998737e-03 9.98282398e-01 2.71357126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.27, Y:52.58, Z:27.14 [[ 9.85147428e-01 -1.61838272e-01 -5.73839640e-02 5.73271840e+02] [ 1.61729332e-01 9.86813295e-01 -6.56843930e-03 5.25775079e+01] [ 5.76902835e-02 -2.80978908e-03 9.98330575e-01 2.71377380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.30, Y:52.58, Z:27.14 [[ 9.85661732e-01 -1.58854192e-01 -5.68884452e-02 5.73300680e+02] [ 1.58742206e-01 9.87298596e-01 -6.51103700e-03 5.25840231e+01] [ 5.72001876e-02 -2.61291728e-03 9.98359310e-01 2.71392575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.33, Y:52.60, Z:27.14 [[ 9.86719715e-01 -1.52487683e-01 -5.59616856e-02 5.73329721e+02] [ 1.52369046e-01 9.88302909e-01 -6.40578826e-03 5.25963056e+01] [ 5.62839005e-02 -2.20611107e-03 9.98412368e-01 2.71409484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.36, Y:52.60, Z:27.14 [[ 9.87209839e-01 -1.49299751e-01 -5.59134876e-02 5.73360132e+02] [ 1.49176230e-01 9.88789913e-01 -6.39998861e-03 5.26035374e+01] [ 5.62422092e-02 -2.02283157e-03 9.98415105e-01 2.71424892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.39, Y:52.61, Z:27.14 [[ 9.87752541e-01 -1.45734942e-01 -5.57336900e-02 5.73391162e+02] [ 1.45606622e-01 9.89322006e-01 -6.37808235e-03 5.26117776e+01] [ 5.60680755e-02 -1.81522729e-03 9.98425298e-01 2.71440698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.42, Y:52.62, Z:27.15 [[ 9.88741386e-01 -1.38879684e-01 -5.57037264e-02 5.73419868e+02] [ 1.38740777e-01 9.90308232e-01 -6.37203782e-03 5.26225195e+01] [ 5.60488054e-02 -1.42808075e-03 9.98427009e-01 2.71455604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.45, Y:52.63, Z:27.15 [[ 9.89220710e-01 -1.35497617e-01 -5.55228104e-02 5.73449944e+02] [ 1.35354296e-01 9.90776906e-01 -6.35119307e-03 5.26286520e+01] [ 5.58712898e-02 -1.23251921e-03 9.98437219e-01 2.71464349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.48, Y:52.64, Z:27.15 [[ 9.89709925e-01 -1.32079907e-01 -5.50378202e-02 5.73480140e+02] [ 1.31933863e-01 9.91238535e-01 -6.29458905e-03 5.26366977e+01] [ 5.53869970e-02 -1.03153495e-03 9.98464429e-01 2.71480950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.51, Y:52.65, Z:27.15 [[ 9.90512297e-01 -1.25977617e-01 -5.49092870e-02 5.73509906e+02] [ 1.25822982e-01 9.92032844e-01 -6.27803565e-03 5.26452170e+01] [ 5.52627081e-02 -6.90378716e-04 9.98471610e-01 2.71488753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.54, Y:52.65, Z:27.15 [[ 9.90869509e-01 -1.23341716e-01 -5.44466482e-02 5.73540233e+02] [ 1.23185761e-01 9.92364111e-01 -6.22403776e-03 5.26510008e+01] [ 5.47985832e-02 -5.39842561e-04 9.98497283e-01 2.71501248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.57, Y:52.66, Z:27.15 [[ 9.91140872e-01 -1.21195801e-01 -5.43263220e-02 5.73570558e+02] [ 1.21037419e-01 9.92628531e-01 -6.20833799e-03 5.26582373e+01] [ 5.46782817e-02 -4.22180283e-04 9.98503935e-01 2.71525499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.60, Y:52.66, Z:27.15 [[ 9.91381258e-01 -1.19304741e-01 -5.41255971e-02 5.73602150e+02] [ 1.19144836e-01 9.92857632e-01 -6.18313331e-03 5.26639202e+01] [ 5.44766893e-02 -3.18942900e-04 9.98514992e-01 2.71538402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.63, Y:52.67, Z:27.15 [[ 9.91469975e-01 -1.17728743e-01 -5.59216665e-02 5.73633414e+02] [ 1.17555769e-01 9.93045761e-01 -6.38418250e-03 5.26693889e+01] [ 5.62843757e-02 -2.44189229e-04 9.98414748e-01 2.71528103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.66, Y:52.67, Z:27.15 [[ 9.91311708e-01 -1.18708478e-01 -5.66515153e-02 5.73664064e+02] [ 1.18532726e-01 9.92929103e-01 -6.46449661e-03 5.26743417e+01] [ 5.70183289e-02 -3.06727349e-04 9.98373085e-01 2.71545325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.70, Y:52.68, Z:27.16 [[ 9.90525620e-01 -1.24913468e-01 -5.70580522e-02 5.73695015e+02] [ 1.24745581e-01 9.92167413e-01 -6.50877834e-03 5.26762650e+01] [ 5.74241742e-02 -6.70628194e-04 9.98349645e-01 2.71562702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.73, Y:52.68, Z:27.16 [[ 9.90100302e-01 -1.28214238e-01 -5.71183158e-02 5.73726467e+02] [ 1.28051601e-01 9.91746117e-01 -6.51356011e-03 5.26787237e+01] [ 5.74819991e-02 -8.65013960e-04 9.98346168e-01 2.71580250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.76, Y:52.68, Z:27.16 [[ 9.90109674e-01 -1.28141715e-01 -5.71185948e-02 5.73757931e+02] [ 1.27979099e-01 9.91755492e-01 -6.51111316e-03 5.26822548e+01] [ 5.74820253e-02 -8.63270157e-04 9.98346168e-01 2.71595308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.79, Y:52.68, Z:27.16 [[ 9.89605740e-01 -1.31958849e-01 -5.71606695e-02 5.73789412e+02] [ 1.31802573e-01 9.91254596e-01 -6.51203809e-03 5.26837558e+01] [ 5.75200974e-02 -1.08957306e-03 9.98343754e-01 2.71611172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.82, Y:52.68, Z:27.16 [[ 9.89033646e-01 -1.36151078e-01 -5.72305120e-02 5.73820786e+02] [ 1.36001548e-01 9.90687184e-01 -6.51788055e-03 5.26845967e+01] [ 5.75849512e-02 -1.33703505e-03 9.98339715e-01 2.71624928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.85, Y:52.68, Z:27.16 [[ 9.88416429e-01 -1.40447631e-01 -5.75102253e-02 5.73851077e+02] [ 1.40303993e-01 9.90086821e-01 -6.54799222e-03 5.26836423e+01] [ 5.78597662e-02 -1.59677116e-03 9.98323443e-01 2.71631027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.88, Y:52.69, Z:27.16 [[ 9.87734503e-01 -1.45165386e-01 -5.75114105e-02 5.73881692e+02] [ 1.45029745e-01 9.89405630e-01 -6.54770237e-03 5.26857640e+01] [ 5.78526131e-02 -1.87347365e-03 9.98323377e-01 2.71649545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.91, Y:52.68, Z:27.17 [[ 9.86392449e-01 -1.54265352e-01 -5.68518976e-02 5.73911588e+02] [ 1.54148006e-01 9.88026583e-01 -6.47014036e-03 5.26810535e+01] [ 5.71693046e-02 -2.38150904e-03 9.98361657e-01 2.71663615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.94, Y:52.68, Z:27.17 [[ 9.85762382e-01 -1.58293375e-01 -5.67074348e-02 5.73943242e+02] [ 1.58183440e-01 9.87388671e-01 -6.45066650e-03 5.26810889e+01] [ 5.70133765e-02 -2.61135274e-03 9.98369999e-01 2.71680487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:573.97, Y:52.68, Z:27.17 [[ 9.85209171e-01 -1.61938103e-01 -5.60262454e-02 5.73973585e+02] [ 1.61836780e-01 9.86796973e-01 -6.37111469e-03 5.26848230e+01] [ 5.63182556e-02 -2.79022654e-03 9.98408969e-01 2.71705243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.00, Y:52.68, Z:27.17 [[ 9.84325607e-01 -1.67519533e-01 -5.51389579e-02 5.74004458e+02] [ 1.67430231e-01 9.85864001e-01 -6.26803709e-03 5.26789642e+01] [ 5.54095323e-02 -3.06213906e-03 9.98459016e-01 2.71718933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.03, Y:52.69, Z:27.17 [[ 9.83968075e-01 -1.69669129e-01 -5.49473800e-02 5.74034719e+02] [ 1.69583832e-01 9.85495976e-01 -6.24537579e-03 5.26859319e+01] [ 5.52100694e-02 -3.17293687e-03 9.98469719e-01 2.71743967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.07, Y:52.68, Z:27.18 [[ 9.83697512e-01 -1.71352095e-01 -5.45679814e-02 5.74066058e+02] [ 1.71270619e-01 9.85204508e-01 -6.20097535e-03 5.26849263e+01] [ 5.48231714e-02 -3.24600790e-03 9.98490803e-01 2.71755195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.10, Y:52.69, Z:27.18 [[ 9.83709706e-01 -1.71281965e-01 -5.45683345e-02 5.74097573e+02] [ 1.71200554e-01 9.85216706e-01 -6.19786627e-03 5.26884443e+01] [ 5.48232175e-02 -3.24522787e-03 9.98490803e-01 2.71770274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.13, Y:52.69, Z:27.18 [[ 9.83299703e-01 -1.73609278e-01 -5.46032261e-02 5.74128680e+02] [ 1.73531535e-01 9.84808808e-01 -6.19815083e-03 5.26925371e+01] [ 5.48497945e-02 -3.38074179e-03 9.98488894e-01 2.71788120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.16, Y:52.69, Z:27.18 [[ 9.83192822e-01 -1.74122639e-01 -5.48924453e-02 5.74160383e+02] [ 1.74044987e-01 9.84718002e-01 -6.22882471e-03 5.26935116e+01] [ 5.51381585e-02 -3.42961920e-03 9.98472844e-01 2.71798607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.19, Y:52.70, Z:27.18 [[ 9.83075872e-01 -1.74533524e-01 -5.56765517e-02 5.74192114e+02] [ 1.74454478e-01 9.84644993e-01 -6.31455247e-03 5.27003219e+01] [ 5.59237390e-02 -3.50533958e-03 9.98428890e-01 2.71817864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.22, Y:52.70, Z:27.18 [[ 9.83091105e-01 -1.74366886e-01 -5.59291299e-02 5.74223711e+02] [ 1.74287087e-01 9.84674478e-01 -6.33903611e-03 5.27036107e+01] [ 5.61773048e-02 -3.51587514e-03 9.98414618e-01 2.71829602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.26, Y:52.71, Z:27.18 [[ 9.83175333e-01 -1.73846027e-01 -5.60698144e-02 5.74255271e+02] [ 1.73765219e-01 9.84766630e-01 -6.35081749e-03 5.27084182e+01] [ 5.63197466e-02 -3.49901646e-03 9.98406652e-01 2.71845790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.29, Y:52.71, Z:27.19 [[ 9.83515357e-01 -1.71572905e-01 -5.70988636e-02 5.74286312e+02] [ 1.71485519e-01 9.85165438e-01 -6.46342955e-03 5.27086174e+01] [ 5.73607764e-02 -3.43474603e-03 9.98347607e-01 2.71851141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.32, Y:52.72, Z:27.19 [[ 9.83765718e-01 -1.69988301e-01 -5.75238186e-02 5.74316799e+02] [ 1.69897036e-01 9.85440320e-01 -6.50939959e-03 5.27156535e+01] [ 5.77928120e-02 -3.36940214e-03 9.98322913e-01 2.71870165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.35, Y:52.73, Z:27.19 [[ 9.84536327e-01 -1.65329758e-01 -5.79162421e-02 5.74346030e+02] [ 1.65229304e-01 9.86233413e-01 -6.55220583e-03 5.27252290e+01] [ 5.82022077e-02 -3.11857572e-03 9.98299944e-01 2.71889757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.38, Y:52.73, Z:27.19 [[ 9.85038577e-01 -1.62216560e-01 -5.81789453e-02 5.74376499e+02] [ 1.62109772e-01 9.86750778e-01 -6.58206035e-03 5.27284555e+01] [ 5.84758387e-02 -2.94779219e-03 9.98284472e-01 2.71898884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.41, Y:52.74, Z:27.19 [[ 9.85592298e-01 -1.58737537e-01 -5.83970534e-02 5.74406033e+02] [ 1.58623959e-01 9.87316977e-01 -6.60500522e-03 5.27379540e+01] [ 5.87048645e-02 -2.75332950e-03 9.98271585e-01 2.71922296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.43, Y:52.74, Z:27.19 [[ 9.86212137e-01 -1.54836395e-01 -5.84064301e-02 5.74434809e+02] [ 1.54715942e-01 9.87936908e-01 -6.60627059e-03 5.27437678e+01] [ 5.87247591e-02 -2.52122164e-03 9.98271028e-01 2.71936492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.46, Y:52.75, Z:27.20 [[ 9.87542860e-01 -1.46153060e-01 -5.82956588e-02 5.74464321e+02] [ 1.46017903e-01 9.89259968e-01 -6.59454151e-03 5.27541297e+01] [ 5.86333740e-02 -1.99981750e-03 9.98277581e-01 2.71959353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.49, Y:52.76, Z:27.20 [[ 9.88179696e-01 -1.41797982e-01 -5.82599469e-02 5.74494870e+02] [ 1.41655471e-01 9.89894086e-01 -6.58983273e-03 5.27616075e+01] [ 5.86056019e-02 -1.74090134e-03 9.98279697e-01 2.71979380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.53, Y:52.77, Z:27.20 [[ 9.88799042e-01 -1.37612500e-01 -5.77862789e-02 5.74525406e+02] [ 1.37465280e-01 9.90485034e-01 -6.53415552e-03 5.27690844e+01] [ 5.81356259e-02 -1.48264027e-03 9.98307593e-01 2.72002793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.55, Y:52.78, Z:27.20 [[ 9.89866331e-01 -1.30074746e-01 -5.69667207e-02 5.74554895e+02] [ 1.29919294e-01 9.91503659e-01 -6.43976022e-03 5.27762894e+01] [ 5.73203622e-02 -1.02657428e-03 9.98355309e-01 2.72024446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.58, Y:52.78, Z:27.20 [[ 9.90311956e-01 -1.26699971e-01 -5.68273400e-02 5.74584408e+02] [ 1.26539736e-01 9.91940739e-01 -6.42383244e-03 5.27816454e+01] [ 5.71832530e-02 -8.29318522e-04 9.98363355e-01 2.72042648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.61, Y:52.79, Z:27.20 [[ 9.90927503e-01 -1.20885118e-01 -5.87322027e-02 5.74614586e+02] [ 1.20703819e-01 9.92666372e-01 -6.63788372e-03 5.27890503e+01] [ 5.91039039e-02 -5.11539596e-04 9.98251705e-01 2.72045911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.65, Y:52.79, Z:27.21 [[ 9.91130961e-01 -1.18635065e-01 -5.98760335e-02 5.74645764e+02] [ 1.18442656e-01 9.92937849e-01 -6.76500920e-03 5.27943663e+01] [ 6.02557472e-02 -3.86866394e-04 9.98182897e-01 2.72056713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.68, Y:52.80, Z:27.21 [[ 9.91396714e-01 -1.16280877e-01 -6.00942075e-02 5.74676709e+02] [ 1.16082872e-01 9.93216339e-01 -6.78748146e-03 5.27990776e+01] [ 6.04758031e-02 -2.46821407e-04 9.98169633e-01 2.72076433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.71, Y:52.80, Z:27.21 [[ 9.91925805e-01 -1.12397690e-01 -5.87363332e-02 5.74706338e+02] [ 1.12201836e-01 9.93663303e-01 -6.63241599e-03 5.28037927e+01] [ 5.91096071e-02 -1.14598285e-05 9.98251498e-01 2.72096261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.74, Y:52.81, Z:27.21 [[ 9.92106705e-01 -1.10970718e-01 -5.83933774e-02 5.74736891e+02] [ 1.10774676e-01 9.93823674e-01 -6.59368995e-03 5.28071353e+01] [ 5.87644274e-02 7.31365315e-05 9.98271875e-01 2.72114629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.77, Y:52.81, Z:27.21 [[ 9.92245390e-01 -1.09815905e-01 -5.82198736e-02 5.74766517e+02] [ 1.09619041e-01 9.93951934e-01 -6.57410086e-03 5.28100875e+01] [ 5.85896968e-02 1.41114539e-04 9.98282138e-01 2.72125066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.80, Y:52.81, Z:27.22 [[ 9.92347375e-01 -1.09142869e-01 -5.77453206e-02 5.74796559e+02] [ 1.08948065e-01 9.94026057e-01 -6.52052647e-03 5.28119564e+01] [ 5.81120223e-02 1.79386385e-04 9.98310052e-01 2.72152337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.83, Y:52.81, Z:27.22 [[ 9.92265059e-01 -1.09444886e-01 -5.85821685e-02 5.74826115e+02] [ 1.09244915e-01 9.93992852e-01 -6.61502285e-03 5.28145658e+01] [ 5.89542372e-02 1.64052045e-04 9.98260673e-01 2.72161622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.86, Y:52.81, Z:27.22 [[ 9.91953913e-01 -1.11880621e-01 -5.92466152e-02 5.74855769e+02] [ 1.11680397e-01 9.93721654e-01 -6.69049058e-03 5.28142062e+01] [ 5.96231807e-02 1.99727817e-05 9.98220955e-01 2.72167756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.89, Y:52.82, Z:27.22 [[ 9.91782046e-01 -1.13626063e-01 -5.88004326e-02 5.74886657e+02] [ 1.13431810e-01 9.93523584e-01 -6.64180621e-03 5.28154600e+01] [ 5.91742988e-02 -8.26153261e-05 9.98247662e-01 2.72186917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.92, Y:52.82, Z:27.22 [[ 9.91609690e-01 -1.15297222e-01 -5.84531803e-02 5.74917655e+02] [ 1.15108158e-01 9.93331021e-01 -6.60258230e-03 5.28165863e+01] [ 5.88246167e-02 -1.81253339e-04 9.98268316e-01 2.72207565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.95, Y:52.82, Z:27.22 [[ 9.91428377e-01 -1.17036463e-01 -5.80709889e-02 5.74947617e+02] [ 1.16852834e-01 9.93127578e-01 -6.55960897e-03 5.28171362e+01] [ 5.84396140e-02 -2.82377157e-04 9.98290905e-01 2.72221236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:574.98, Y:52.82, Z:27.22 [[ 9.91024270e-01 -1.20353217e-01 -5.81893409e-02 5.74977047e+02] [ 1.20174487e-01 9.92731018e-01 -6.57403161e-03 5.28153362e+01] [ 5.85575695e-02 -4.77849310e-04 9.98283919e-01 2.72234393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.01, Y:52.82, Z:27.23 [[ 9.90818762e-01 -1.21851239e-01 -5.85701004e-02 5.75007856e+02] [ 1.21672750e-01 9.92548211e-01 -6.61747225e-03 5.28177196e+01] [ 5.89399955e-02 -5.69669516e-04 9.98261365e-01 2.72260201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.04, Y:52.82, Z:27.23 [[ 9.90652270e-01 -1.23013437e-01 -5.89556912e-02 5.75037180e+02] [ 1.22834736e-01 9.92404796e-01 -6.65950009e-03 5.28187612e+01] [ 5.93271187e-02 -6.44557863e-04 9.98238387e-01 2.72266689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.07, Y:52.82, Z:27.23 [[ 9.90535818e-01 -1.23936397e-01 -5.89793430e-02 5.75067091e+02] [ 1.23759122e-01 9.92289918e-01 -6.66325053e-03 5.28206799e+01] [ 5.93504267e-02 -6.99043367e-04 9.98236965e-01 2.72282952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.10, Y:52.82, Z:27.23 [[ 9.90472543e-01 -1.24494298e-01 -5.88668892e-02 5.75096129e+02] [ 1.24318620e-01 9.92220055e-01 -6.65161100e-03 5.28218839e+01] [ 5.92369957e-02 -7.30012363e-04 9.98243680e-01 2.72294759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.13, Y:52.82, Z:27.23 [[ 9.90486110e-01 -1.24703652e-01 -5.81916255e-02 5.75127070e+02] [ 1.24532295e-01 9.92193762e-01 -6.57615135e-03 5.28218378e+01] [ 5.85574379e-02 -7.33150121e-04 9.98283772e-01 2.72312868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.16, Y:52.82, Z:27.23 [[ 9.90491561e-01 -1.24694521e-01 -5.81183634e-02 5.75157080e+02] [ 1.24523580e-01 9.92194911e-01 -6.56787210e-03 5.28235635e+01] [ 5.84837220e-02 -7.31684767e-04 9.98288094e-01 2.72327923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.19, Y:52.83, Z:27.23 [[ 9.90564534e-01 -1.23923409e-01 -5.85225813e-02 5.75187581e+02] [ 1.23748736e-01 9.92291545e-01 -6.61355219e-03 5.28251649e+01] [ 5.88910366e-02 -6.90945233e-04 9.98264178e-01 2.72343066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.22, Y:52.83, Z:27.24 [[ 9.90601633e-01 -1.23505603e-01 -5.87772941e-02 5.75217139e+02] [ 1.23328658e-01 9.92343649e-01 -6.64254968e-03 5.28275125e+01] [ 5.91476667e-02 -6.68804247e-04 9.98249020e-01 2.72353453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.25, Y:52.83, Z:27.24 [[ 9.90621170e-01 -1.23349017e-01 -5.87768417e-02 5.75246812e+02] [ 1.23171735e-01 9.92363132e-01 -6.64357786e-03 5.28299712e+01] [ 5.91474495e-02 -6.58376669e-04 9.98249040e-01 2.72366551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.28, Y:52.83, Z:27.24 [[ 9.90709356e-01 -1.22785318e-01 -5.84699717e-02 5.75277112e+02] [ 1.22608852e-01 9.92433061e-01 -6.60974679e-03 5.28326049e+01] [ 5.88391128e-02 -6.20598116e-04 9.98267286e-01 2.72384291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.31, Y:52.83, Z:27.24 [[ 9.90882724e-01 -1.21399578e-01 -5.84257616e-02 5.75306868e+02] [ 1.21220977e-01 9.92603573e-01 -6.60467272e-03 5.28330245e+01] [ 5.87954242e-02 -5.37971780e-04 9.98269908e-01 2.72388087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.34, Y:52.84, Z:27.24 [[ 9.90953304e-01 -1.20522412e-01 -5.90414916e-02 5.75336470e+02] [ 1.20338462e-01 9.92710485e-01 -6.67438808e-03 5.28355125e+01] [ 5.94155212e-02 -4.90955355e-04 9.98233217e-01 2.72404797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.37, Y:52.84, Z:27.24 [[ 9.91132582e-01 -1.18328503e-01 -6.04530439e-02 5.75365046e+02] [ 1.18131403e-01 9.92974437e-01 -6.83666011e-03 5.28372746e+01] [ 6.08372990e-02 -3.65366294e-04 9.98147629e-01 2.72402924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.39, Y:52.84, Z:27.24 [[ 9.91219586e-01 -1.17455382e-01 -6.07286206e-02 5.75392198e+02] [ 1.17254392e-01 9.93078114e-01 -6.87516922e-03 5.28407046e+01] [ 6.11157897e-02 -3.05895110e-04 9.98130636e-01 2.72424775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.42, Y:52.84, Z:27.24 [[ 9.91427256e-01 -1.15336144e-01 -6.13968312e-02 5.75420497e+02] [ 1.15125495e-01 9.93326507e-01 -6.96934476e-03 5.28429361e+01] [ 6.17909172e-02 -1.58742213e-04 9.98089103e-01 2.72438023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.45, Y:52.84, Z:27.24 [[ 9.91557901e-01 -1.14738960e-01 -6.03978492e-02 5.75448730e+02] [ 1.14533091e-01 9.93395671e-01 -6.87102037e-03 5.28403759e+01] [ 6.07873357e-02 -1.04537848e-04 9.98150735e-01 2.72447849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.48, Y:52.84, Z:27.25 [[ 9.91186870e-01 -1.17790898e-01 -6.06126431e-02 5.75477639e+02] [ 1.17588786e-01 9.93038379e-01 -6.90322299e-03 5.28367250e+01] [ 6.10038178e-02 -2.84983100e-04 9.98137492e-01 2.72453925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.51, Y:52.84, Z:27.25 [[ 9.90943914e-01 -1.19508065e-01 -6.12207646e-02 5.75506118e+02] [ 1.19304178e-01 9.92833158e-01 -6.98816935e-03 5.28380055e+01] [ 6.16171476e-02 -3.79009102e-04 9.98099786e-01 2.72467094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.53, Y:52.84, Z:27.25 [[ 9.90690044e-01 -1.21201150e-01 -6.19961060e-02 5.75534418e+02] [ 1.20994522e-01 9.92627853e-01 -7.09026253e-03 5.28386089e+01] [ 6.23984095e-02 -4.76936710e-04 9.98051207e-01 2.72468981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.56, Y:52.84, Z:27.25 [[ 9.90425030e-01 -1.23350841e-01 -6.19905587e-02 5.75563292e+02] [ 1.23147951e-01 9.92362940e-01 -7.09768776e-03 5.28395967e+01] [ 6.23926388e-02 -6.04282685e-04 9.98051498e-01 2.72487221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.59, Y:52.84, Z:27.25 [[ 9.90389438e-01 -1.23637217e-01 -6.19887031e-02 5.75590492e+02] [ 1.23433876e-01 9.92327300e-01 -7.11386115e-03 5.28427802e+01] [ 6.23926204e-02 -6.06012946e-04 9.98051499e-01 2.72500279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.62, Y:52.84, Z:27.25 [[ 9.90104630e-01 -1.25760112e-01 -6.22672968e-02 5.75618746e+02] [ 1.25558173e-01 9.92060414e-01 -7.16106427e-03 5.28421471e+01] [ 6.26734964e-02 -7.27965127e-04 9.98033819e-01 2.72499694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.65, Y:52.84, Z:27.25 [[ 9.89826593e-01 -1.28073298e-01 -6.19721396e-02 5.75647257e+02] [ 1.27877308e-01 9.91764330e-01 -7.13496915e-03 5.28420120e+01] [ 6.23755566e-02 -8.62448151e-04 9.98052376e-01 2.72511387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.68, Y:52.84, Z:27.25 [[ 9.89583420e-01 -1.30249604e-01 -6.13163582e-02 5.75675557e+02] [ 1.30061133e-01 9.91480755e-01 -7.07209745e-03 5.28430200e+01] [ 6.17151270e-02 -9.76444630e-04 9.98093327e-01 2.72532922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.70, Y:52.84, Z:27.26 [[ 9.89018716e-01 -1.34765213e-01 -6.06656167e-02 5.75704492e+02] [ 1.34588739e-01 9.90876787e-01 -7.00461057e-03 5.28427295e+01] [ 6.10561292e-02 -1.23721790e-03 9.98133567e-01 2.72562691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.73, Y:52.84, Z:27.26 [[ 9.88584009e-01 -1.38468928e-01 -5.93970733e-02 5.75732968e+02] [ 1.38305662e-01 9.90365757e-01 -6.87103316e-03 5.28395908e+01] [ 5.97762521e-02 -1.42235802e-03 9.98210788e-01 2.72571402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.76, Y:52.84, Z:27.26 [[ 9.88411805e-01 -1.39848194e-01 -5.90303907e-02 5.75760810e+02] [ 1.39688963e-01 9.90171836e-01 -6.83586134e-03 5.28447283e+01] [ 5.94062132e-02 -1.48924800e-03 9.98232780e-01 2.72604441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.79, Y:52.85, Z:27.26 [[ 9.88352677e-01 -1.40426683e-01 -5.86458206e-02 5.75788298e+02] [ 1.40269770e-01 9.90089942e-01 -6.80428405e-03 5.28459147e+01] [ 5.90201401e-02 -1.50120343e-03 9.98255663e-01 2.72612892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.82, Y:52.85, Z:27.26 [[ 9.88330271e-01 -1.40706469e-01 -5.83520706e-02 5.75815487e+02] [ 1.40551171e-01 9.90050216e-01 -6.77770214e-03 5.28494849e+01] [ 5.87251467e-02 -1.50284365e-03 9.98273058e-01 2.72631767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.84, Y:52.85, Z:27.26 [[ 9.88289525e-01 -1.40993193e-01 -5.83501045e-02 5.75842693e+02] [ 1.40837397e-01 9.90009425e-01 -6.79459070e-03 5.28527187e+01] [ 5.87251444e-02 -1.50285403e-03 9.98273058e-01 2.72644833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.87, Y:52.86, Z:27.27 [[ 9.88491478e-01 -1.39696103e-01 -5.80482315e-02 5.75870943e+02] [ 1.39538714e-01 9.90193432e-01 -6.77599578e-03 5.28553023e+01] [ 5.84255578e-02 -1.40196148e-03 9.98290784e-01 2.72658561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.90, Y:52.86, Z:27.27 [[ 9.88685376e-01 -1.38406369e-01 -5.78351568e-02 5.75899181e+02] [ 1.38247071e-01 9.90374662e-01 -6.76584363e-03 5.28592718e+01] [ 5.82149097e-02 -1.30625036e-03 9.98303219e-01 2.72675392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.93, Y:52.87, Z:27.27 [[ 9.89242296e-01 -1.34730770e-01 -5.69850875e-02 5.75927389e+02] [ 1.34569309e-01 9.90881675e-01 -6.67892485e-03 5.28658161e+01] [ 5.73653357e-02 -1.06136888e-03 9.98352689e-01 2.72707377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.95, Y:52.87, Z:27.27 [[ 9.89203106e-01 -1.35018513e-01 -5.69843511e-02 5.75954588e+02] [ 1.34857167e-01 9.90842496e-01 -6.68520147e-03 5.28690642e+01] [ 5.73651426e-02 -1.07172611e-03 9.98352689e-01 2.72720417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:575.98, Y:52.87, Z:27.27 [[ 9.89488386e-01 -1.33258664e-01 -5.61681665e-02 5.75983476e+02] [ 1.33098179e-01 9.91080847e-01 -6.60530273e-03 5.28732933e+01] [ 5.65474079e-02 -9.40010342e-04 9.98399473e-01 2.72740582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.01, Y:52.88, Z:27.28 [[ 9.89618086e-01 -1.32358948e-01 -5.60102927e-02 5.76011908e+02] [ 1.32197165e-01 9.91201467e-01 -6.60017847e-03 5.28768300e+01] [ 5.63910769e-02 -8.72745915e-04 9.98408376e-01 2.72755457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.04, Y:52.88, Z:27.28 [[ 9.89671264e-01 -1.31859268e-01 -5.62487581e-02 5.76039897e+02] [ 1.31694463e-01 9.91268096e-01 -6.64298988e-03 5.28797306e+01] [ 5.66335391e-02 -8.33273802e-04 9.98394685e-01 2.72767231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.07, Y:52.88, Z:27.28 [[ 9.89538978e-01 -1.32567199e-01 -5.69082460e-02 5.76067965e+02] [ 1.32398802e-01 9.91173639e-01 -6.73606001e-03 5.28802570e+01] [ 5.72989339e-02 -8.68989665e-04 9.98356688e-01 2.72766637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.10, Y:52.88, Z:27.28 [[ 9.89333787e-01 -1.33761937e-01 -5.76749709e-02 5.76097147e+02] [ 1.33590468e-01 9.91013046e-01 -6.83591495e-03 5.28822364e+01] [ 5.80710338e-02 -9.41824703e-04 9.98312009e-01 2.72773100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.13, Y:52.88, Z:27.28 [[ 9.88874382e-01 -1.36492010e-01 -5.91387143e-02 5.76126224e+02] [ 1.36315697e-01 9.90640544e-01 -7.02446341e-03 5.28843520e+01] [ 5.95439913e-02 -1.11522317e-03 9.98225059e-01 2.72784139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.15, Y:52.88, Z:27.28 [[ 9.88660201e-01 -1.37898049e-01 -5.94570023e-02 5.76154095e+02] [ 1.37721578e-01 9.90445710e-01 -7.07551438e-03 5.28849526e+01] [ 5.98646325e-02 -1.19323268e-03 9.98205791e-01 2.72784387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.18, Y:52.89, Z:27.28 [[ 9.88498481e-01 -1.38956960e-01 -5.96801116e-02 5.76182726e+02] [ 1.38780646e-01 9.90297626e-01 -7.10940116e-03 5.28875544e+01] [ 6.00889736e-02 -1.25481222e-03 9.98192236e-01 2.72798728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.21, Y:52.89, Z:27.28 [[ 9.88405700e-01 -1.39478060e-01 -6.00003506e-02 5.76210212e+02] [ 1.39300039e-01 9.90224333e-01 -7.16023097e-03 5.28900002e+01] [ 6.04125023e-02 -1.28083807e-03 9.98172675e-01 2.72811342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.24, Y:52.90, Z:27.28 [[ 9.88436582e-01 -1.39525602e-01 -5.93778629e-02 5.76238434e+02] [ 1.39350915e-01 9.90217658e-01 -7.09309244e-03 5.28950406e+01] [ 5.97866764e-02 -1.26328747e-03 9.98210377e-01 2.72849901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.27, Y:52.90, Z:27.29 [[ 9.88480242e-01 -1.39432580e-01 -5.88673616e-02 5.76267328e+02] [ 1.39259834e-01 9.90230800e-01 -7.04705259e-03 5.28988833e+01] [ 5.92748633e-02 -1.23198676e-03 9.98240939e-01 2.72874694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.30, Y:52.90, Z:27.29 [[ 9.88535564e-01 -1.39441109e-01 -5.79104132e-02 5.76295813e+02] [ 1.39273093e-01 9.90229641e-01 -6.94716455e-03 5.29031571e+01] [ 5.83133280e-02 -1.19784314e-03 9.98297611e-01 2.72900737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.32, Y:52.91, Z:27.29 [[ 9.88624120e-01 -1.39410361e-01 -5.64544156e-02 5.76322986e+02] [ 1.39249890e-01 9.90234024e-01 -6.78569386e-03 5.29062133e+01] [ 5.68490792e-02 -1.15277057e-03 9.98382118e-01 2.72926402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.35, Y:52.91, Z:27.29 [[ 9.88577884e-01 -1.40067460e-01 -5.56315894e-02 5.76350967e+02] [ 1.39912273e-01 9.90141276e-01 -6.69395227e-03 5.29073059e+01] [ 5.60207378e-02 -1.16604893e-03 9.98428924e-01 2.72937043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.38, Y:52.91, Z:27.30 [[ 9.88530749e-01 -1.40671224e-01 -5.49414654e-02 5.76378516e+02] [ 1.40520440e-01 9.90055663e-01 -6.61733729e-03 5.29119155e+01] [ 5.53259779e-02 -1.17895751e-03 9.98467649e-01 2.72961421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.41, Y:52.92, Z:27.30 [[ 9.88432176e-01 -1.41466281e-01 -5.46728883e-02 5.76406701e+02] [ 1.41317339e-01 9.89942345e-01 -6.60029021e-03 5.29156249e+01] [ 5.50567258e-02 -1.20228788e-03 9.98482504e-01 2.72976115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.44, Y:52.92, Z:27.30 [[ 9.88411567e-01 -1.41596249e-01 -5.47090125e-02 5.76435418e+02] [ 1.41446542e-01 9.89923770e-01 -6.61854663e-03 5.29191834e+01] [ 5.50949133e-02 -1.19655261e-03 9.98480405e-01 2.72985167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.46, Y:52.92, Z:27.30 [[ 9.88377440e-01 -1.41625034e-01 -5.52484010e-02 5.76464393e+02] [ 1.41471713e-01 9.89919651e-01 -6.69620453e-03 5.29241256e+01] [ 5.56398281e-02 -1.19770846e-03 9.98450187e-01 2.73003429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.49, Y:52.93, Z:27.30 [[ 9.88328429e-01 -1.41795717e-01 -5.56856417e-02 5.76493949e+02] [ 1.41640112e-01 9.89895196e-01 -6.75128767e-03 5.29283587e+01] [ 5.60802529e-02 -1.21483101e-03 9.98425525e-01 2.73014979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.52, Y:52.93, Z:27.30 [[ 9.88216597e-01 -1.42419692e-01 -5.60766343e-02 5.76522814e+02] [ 1.42262769e-01 9.89805563e-01 -6.80094382e-03 5.29310047e+01] [ 5.64735529e-02 -1.25681170e-03 9.98403304e-01 2.73022245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.55, Y:52.93, Z:27.30 [[ 9.87997623e-01 -1.43715228e-01 -5.66271210e-02 5.76551660e+02] [ 1.43557043e-01 9.89618179e-01 -6.87277318e-03 5.29349997e+01] [ 5.70269505e-02 -1.33893846e-03 9.98371741e-01 2.73036427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.58, Y:52.94, Z:27.30 [[ 9.87753786e-01 -1.45191237e-01 -5.71136029e-02 5.76579856e+02] [ 1.45032024e-01 9.89402587e-01 -6.94500814e-03 5.29377638e+01] [ 5.75167008e-02 -1.42334334e-03 9.98343530e-01 2.73048365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.61, Y:52.94, Z:27.31 [[ 9.87201665e-01 -1.48560891e-01 -5.79873623e-02 5.76609809e+02] [ 1.48402288e-01 9.88901903e-01 -7.05605713e-03 5.29398766e+01] [ 5.83920671e-02 -1.63970590e-03 9.98292381e-01 2.73055977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.64, Y:52.94, Z:27.31 [[ 9.86898493e-01 -1.50394720e-01 -5.84191176e-02 5.76638192e+02] [ 1.50236757e-01 9.88624467e-01 -7.11190739e-03 5.29399883e+01] [ 5.88241624e-02 -1.75796809e-03 9.98266812e-01 2.73057161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.67, Y:52.94, Z:27.31 [[ 9.86618886e-01 -1.52097428e-01 -5.87328350e-02 5.76666055e+02] [ 1.51940323e-01 9.88363752e-01 -7.15769907e-03 5.29446442e+01] [ 5.91380727e-02 -1.86196483e-03 9.98248076e-01 2.73075575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.69, Y:52.95, Z:27.31 [[ 9.86394179e-01 -1.53565204e-01 -5.86877553e-02 5.76693663e+02] [ 1.53410611e-01 9.88136606e-01 -7.15763846e-03 5.29469948e+01] [ 5.90906835e-02 -1.94307149e-03 9.98250728e-01 2.73085749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.72, Y:52.95, Z:27.31 [[ 9.86115855e-01 -1.55249214e-01 -5.89338801e-02 5.76721545e+02] [ 1.55095999e-01 9.87873216e-01 -7.19308840e-03 5.29499210e+01] [ 5.93359229e-02 -2.04719048e-03 9.98235973e-01 2.73093446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.75, Y:52.95, Z:27.31 [[ 9.85995019e-01 -1.55931602e-01 -5.91536862e-02 5.76750370e+02] [ 1.55778026e-01 9.87765647e-01 -7.22731845e-03 5.29546115e+01] [ 5.95569464e-02 -2.08874447e-03 9.98222724e-01 2.73109908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.78, Y:52.96, Z:27.31 [[ 9.85904215e-01 -1.56389276e-01 -5.94581574e-02 5.76779029e+02] [ 1.56234022e-01 9.87693239e-01 -7.27989153e-03 5.29588040e+01] [ 5.98649170e-02 -2.11211134e-03 9.98204253e-01 2.73121513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.81, Y:52.96, Z:27.31 [[ 9.85849811e-01 -1.56673371e-01 -5.96121161e-02 5.76807084e+02] [ 1.56516905e-01 9.87648197e-01 -7.31414287e-03 5.29637679e+01] [ 6.00217304e-02 -2.11965755e-03 9.98194820e-01 2.73137559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.84, Y:52.97, Z:27.32 [[ 9.85778883e-01 -1.56975109e-01 -5.99900771e-02 5.76835661e+02] [ 1.56816260e-01 9.87600249e-01 -7.37621025e-03 5.29689742e+01] [ 6.04040965e-02 -2.13610723e-03 9.98171720e-01 2.73154259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.86, Y:52.97, Z:27.32 [[ 9.85773918e-01 -1.57128607e-01 -5.96689484e-02 5.76862252e+02] [ 1.56970902e-01 9.87575873e-01 -7.35055448e-03 5.29724313e+01] [ 6.00825962e-02 -2.12030378e-03 9.98191157e-01 2.73166617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.89, Y:52.98, Z:27.32 [[ 9.85711924e-01 -1.57599848e-01 -5.94498975e-02 5.76890410e+02] [ 1.57443600e-01 9.87500756e-01 -7.33280347e-03 5.29773846e+01] [ 5.98624674e-02 -2.13197407e-03 9.98204358e-01 2.73185757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.92, Y:52.98, Z:27.32 [[ 9.85544152e-01 -1.58926811e-01 -5.86940637e-02 5.76918074e+02] [ 1.58776084e-01 9.87287979e-01 -7.25267460e-03 5.29800697e+01] [ 5.91005880e-02 -2.17138254e-03 9.98249671e-01 2.73201287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.95, Y:52.99, Z:27.32 [[ 9.85446966e-01 -1.59722881e-01 -5.81625100e-02 5.76947546e+02] [ 1.59575981e-01 9.87159453e-01 -7.19167338e-03 5.29862982e+01] [ 5.85643463e-02 -2.19432688e-03 9.98281224e-01 2.73225462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:576.98, Y:52.99, Z:27.32 [[ 9.85385851e-01 -1.60302302e-01 -5.76011909e-02 5.76975826e+02] [ 1.60159078e-01 9.87065505e-01 -7.12456442e-03 5.29884414e+01] [ 5.79982326e-02 -2.20490864e-03 9.98314251e-01 2.73235714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.00, Y:52.99, Z:27.32 [[ 9.85271046e-01 -1.61032364e-01 -5.75286435e-02 5.77004712e+02] [ 1.60890569e-01 9.86946580e-01 -7.11856122e-03 5.29948767e+01] [ 5.79240166e-02 -2.24210393e-03 9.98318477e-01 2.73248169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.03, Y:53.00, Z:27.33 [[ 9.85295305e-01 -1.60916511e-01 -5.74372558e-02 5.77033637e+02] [ 1.60774827e-01 9.86965504e-01 -7.10971468e-03 5.29974700e+01] [ 5.78326606e-02 -2.22929640e-03 9.98323802e-01 2.73255116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.06, Y:53.00, Z:27.33 [[ 9.85338352e-01 -1.60599863e-01 -5.75848572e-02 5.77061145e+02] [ 1.60456663e-01 9.87017118e-01 -7.13225694e-03 5.30016741e+01] [ 5.79826792e-02 -2.21218771e-03 9.98315138e-01 2.73265523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.09, Y:53.01, Z:27.33 [[ 9.85601598e-01 -1.58720693e-01 -5.82857742e-02 5.77087975e+02] [ 1.58570399e-01 9.87321244e-01 -7.22429580e-03 5.30085936e+01] [ 5.86934283e-02 -2.12212096e-03 9.98273799e-01 2.73275513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.12, Y:53.01, Z:27.33 [[ 9.85732322e-01 -1.57931327e-01 -5.82192858e-02 5.77115900e+02] [ 1.57779602e-01 9.87447937e-01 -7.22285873e-03 5.30137821e+01] [ 5.86292293e-02 -2.06601046e-03 9.98277689e-01 2.73288125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.15, Y:53.02, Z:27.33 [[ 9.85906830e-01 -1.56987971e-01 -5.78143581e-02 5.77145187e+02] [ 1.56836069e-01 9.87598521e-01 -7.18395541e-03 5.30235993e+01] [ 5.82251691e-02 -1.98466597e-03 9.98301503e-01 2.73320426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.18, Y:53.03, Z:27.33 [[ 9.86158321e-01 -1.55792823e-01 -5.67482442e-02 5.77175293e+02] [ 1.55644508e-01 9.87787966e-01 -7.05130272e-03 5.30313868e+01] [ 5.71537751e-02 -1.87885171e-03 9.98363619e-01 2.73347774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.20, Y:53.04, Z:27.34 [[ 9.86205669e-01 -1.55619999e-01 -5.63985346e-02 5.77204836e+02] [ 1.55473284e-01 9.87815247e-01 -7.00680730e-03 5.30359151e+01] [ 5.68017318e-02 -1.85831230e-03 9.98383749e-01 2.73361274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.24, Y:53.04, Z:27.34 [[ 9.86196063e-01 -1.55711266e-01 -5.63145307e-02 5.77235994e+02] [ 1.55565205e-01 9.87800858e-01 -6.99516118e-03 5.30416248e+01] [ 5.67167671e-02 -1.86198109e-03 9.98388572e-01 2.73379248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.27, Y:53.05, Z:27.34 [[ 9.86133563e-01 -1.56074637e-01 -5.64030445e-02 5.77266115e+02] [ 1.55928819e-01 9.87743461e-01 -7.00422036e-03 5.30452847e+01] [ 5.68049195e-02 -1.88776337e-03 9.98383512e-01 2.73387045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.30, Y:53.05, Z:27.34 [[ 9.85783235e-01 -1.57943844e-01 -5.73162856e-02 5.77297116e+02] [ 1.57796491e-01 9.87446011e-01 -7.11636277e-03 5.30514756e+01] [ 5.77207232e-02 -2.02911765e-03 9.98330707e-01 2.73396422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.33, Y:53.06, Z:27.34 [[ 9.85499909e-01 -1.59497200e-01 -5.78841273e-02 5.77328407e+02] [ 1.59349712e-01 9.87196054e-01 -7.18469733e-03 5.30557226e+01] [ 5.82889212e-02 -2.14330046e-03 9.98297455e-01 2.73405997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.36, Y:53.06, Z:27.34 [[ 9.85145683e-01 -1.61438709e-01 -5.85279934e-02 5.77358246e+02] [ 1.61291506e-01 9.86880092e-01 -7.26177865e-03 5.30574416e+01] [ 5.89324437e-02 -2.28615833e-03 9.98259355e-01 2.73410266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.39, Y:53.06, Z:27.34 [[ 9.84331196e-01 -1.66206821e-01 -5.88845426e-02 5.77387980e+02] [ 1.66066562e-01 9.86087510e-01 -7.30197550e-03 5.30587630e+01] [ 5.92789502e-02 -2.59119126e-03 9.98238094e-01 2.73418846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.42, Y:53.06, Z:27.34 [[ 9.83931907e-01 -1.68481930e-01 -5.90918063e-02 5.77419034e+02] [ 1.68344710e-01 9.85700943e-01 -7.32868309e-03 5.30637658e+01] [ 5.94815999e-02 -2.73686789e-03 9.98225650e-01 2.73437537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.45, Y:53.07, Z:27.35 [[ 9.83513882e-01 -1.70890964e-01 -5.91330968e-02 5.77449931e+02] [ 1.70758008e-01 9.85285718e-01 -7.33184139e-03 5.30666857e+01] [ 5.95159412e-02 -2.88648204e-03 9.98223182e-01 2.73451982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.48, Y:53.07, Z:27.35 [[ 9.82791230e-01 -1.75221844e-01 -5.84696862e-02 5.77480102e+02] [ 1.75099536e-01 9.84524052e-01 -7.24874020e-03 5.30678124e+01] [ 5.88349500e-02 -3.11401664e-03 9.98262867e-01 2.73471183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.51, Y:53.07, Z:27.35 [[ 9.82500168e-01 -1.76983306e-01 -5.80545353e-02 5.77510557e+02] [ 1.76865798e-01 9.84208662e-01 -7.19713656e-03 5.30701420e+01] [ 5.84115495e-02 -3.19667385e-03 9.98287470e-01 2.73486144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.54, Y:53.08, Z:27.35 [[ 9.82295616e-01 -1.78351575e-01 -5.73239856e-02 5.77541652e+02] [ 1.78239395e-01 9.83961499e-01 -7.10535280e-03 5.30761577e+01] [ 5.76718457e-02 -3.23783559e-03 9.98330343e-01 2.73511103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.57, Y:53.08, Z:27.35 [[ 9.82027793e-01 -1.80183555e-01 -5.61720664e-02 5.77571198e+02] [ 1.80078915e-01 9.83627537e-01 -6.96087626e-03 5.30794458e+01] [ 5.65066268e-02 -3.27963081e-03 9.98396838e-01 2.73527412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.60, Y:53.08, Z:27.35 [[ 9.81963847e-01 -1.80652107e-01 -5.57836823e-02 5.77603218e+02] [ 1.80549696e-01 9.83541575e-01 -6.91211365e-03 5.30849443e+01] [ 5.61142587e-02 -3.28428119e-03 9.98418952e-01 2.73542447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.64, Y:53.09, Z:27.36 [[ 9.81877277e-01 -1.81134439e-01 -5.57434172e-02 5.77635196e+02] [ 1.81033180e-01 9.83452762e-01 -6.90302239e-03 5.30911283e+01] [ 5.60713927e-02 -3.31348726e-03 9.98421264e-01 2.73558609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.67, Y:53.10, Z:27.36 [[ 9.81707778e-01 -1.82024052e-01 -5.58308369e-02 5.77667097e+02] [ 1.81924142e-01 9.83288291e-01 -6.90968782e-03 5.30966676e+01] [ 5.61555375e-02 -3.37368283e-03 9.98416333e-01 2.73569921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.70, Y:53.10, Z:27.36 [[ 9.81624416e-01 -1.82521872e-01 -5.56711044e-02 5.77698896e+02] [ 1.82423560e-01 9.83195927e-01 -6.88579959e-03 5.31026516e+01] [ 5.59924121e-02 -3.39645208e-03 9.98425417e-01 2.73587145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.73, Y:53.11, Z:27.36 [[ 9.81488809e-01 -1.83256710e-01 -5.56479588e-02 5.77729552e+02] [ 1.83159880e-01 9.83059072e-01 -6.87894677e-03 5.31065352e+01] [ 5.59658439e-02 -3.44086416e-03 9.98426755e-01 2.73603409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.76, Y:53.11, Z:27.36 [[ 9.81114765e-01 -1.85081436e-01 -5.62021283e-02 5.77759904e+02] [ 1.84985807e-01 9.82716655e-01 -6.94463094e-03 5.31127166e+01] [ 5.65160898e-02 -3.58311608e-03 9.98395259e-01 2.73621091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.79, Y:53.12, Z:27.36 [[ 9.80945158e-01 -1.85986229e-01 -5.61757887e-02 5.77791251e+02] [ 1.85892244e-01 9.82545628e-01 -6.93999906e-03 5.31154869e+01] [ 5.64860198e-02 -3.63488493e-03 9.98396773e-01 2.73631549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.82, Y:53.12, Z:27.36 [[ 9.80958627e-01 -1.85915056e-01 -5.61761880e-02 5.77822739e+02] [ 1.85821139e-01 9.82559100e-01 -6.93676543e-03 5.31193153e+01] [ 5.64860739e-02 -3.63404335e-03 9.98396773e-01 2.73646633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.85, Y:53.12, Z:27.37 [[ 9.80769974e-01 -1.86770116e-01 -5.66319955e-02 5.77854391e+02] [ 1.86676327e-01 9.82396613e-01 -6.98885915e-03 5.31230532e+01] [ 5.69403906e-02 -3.71738971e-03 9.98370659e-01 2.73662989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.89, Y:53.13, Z:27.37 [[ 9.80633533e-01 -1.87529306e-01 -5.64856954e-02 5.77886367e+02] [ 1.87437487e-01 9.82251828e-01 -6.96668197e-03 5.31281879e+01] [ 5.67896346e-02 -3.75577487e-03 9.98379102e-01 2.73676306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.92, Y:53.13, Z:27.37 [[ 9.80393356e-01 -1.88721422e-01 -5.66841443e-02 5.77917299e+02] [ 1.88631158e-01 9.82023148e-01 -6.98733110e-03 5.31288291e+01] [ 5.69838009e-02 -3.84206279e-03 9.98367710e-01 2.73679816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.95, Y:53.14, Z:27.37 [[ 9.80349426e-01 -1.88854421e-01 -5.70001003e-02 5.77948057e+02] [ 1.88763515e-01 9.81997455e-01 -7.02381493e-03 5.31382560e+01] [ 5.73004319e-02 -3.87374634e-03 9.98349465e-01 2.73700297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:577.98, Y:53.15, Z:27.37 [[ 9.80298899e-01 -1.89000468e-01 -5.73837194e-02 5.77979754e+02] [ 1.88908831e-01 9.81969202e-01 -7.06681869e-03 5.31471552e+01] [ 5.76846772e-02 -3.91269674e-03 9.98327185e-01 2.73711725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.01, Y:53.15, Z:27.37 [[ 9.80269467e-01 -1.88932195e-01 -5.81067817e-02 5.78010845e+02] [ 1.88838403e-01 9.81982139e-01 -7.15097877e-03 5.31507239e+01] [ 5.84108719e-02 -3.96290569e-03 9.98284762e-01 2.73719764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.04, Y:53.16, Z:27.37 [[ 9.80316604e-01 -1.88598012e-01 -5.83964591e-02 5.78042853e+02] [ 1.88503070e-01 9.82046352e-01 -7.18024526e-03 5.31550790e+01] [ 5.87022096e-02 -3.96899815e-03 9.98267648e-01 2.73728380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.07, Y:53.16, Z:27.37 [[ 9.80368595e-01 -1.88151892e-01 -5.89600158e-02 5.78074232e+02] [ 1.88054569e-01 9.82131858e-01 -7.24514339e-03 5.31608728e+01] [ 5.92696974e-02 -3.98478934e-03 9.98234053e-01 2.73739964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.11, Y:53.16, Z:27.37 [[ 9.80516694e-01 -1.87388599e-01 -5.89281340e-02 5.78105473e+02] [ 1.87290256e-01 9.82277957e-01 -7.23707566e-03 5.31640972e+01] [ 5.92399525e-02 -3.94059180e-03 9.98235994e-01 2.73748645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.14, Y:53.18, Z:27.38 [[ 9.80750980e-01 -1.86501241e-01 -5.78342747e-02 5.78135910e+02] [ 1.86405171e-01 9.82447307e-01 -7.09938021e-03 5.31761821e+01] [ 5.81431707e-02 -3.81788377e-03 9.98300954e-01 2.73784074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.17, Y:53.18, Z:27.38 [[ 9.80771521e-01 -1.86393010e-01 -5.78348427e-02 5.78168250e+02] [ 1.86297025e-01 9.82467854e-01 -7.09475058e-03 5.31800611e+01] [ 5.81432857e-02 -3.81612979e-03 9.98300954e-01 2.73799561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.20, Y:53.19, Z:27.38 [[ 9.81082918e-01 -1.85282864e-01 -5.60942801e-02 5.78198320e+02] [ 1.85191056e-01 9.82678480e-01 -6.87594799e-03 5.31852356e+01] [ 5.63966373e-02 -3.64228387e-03 9.98401799e-01 2.73819754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.23, Y:53.19, Z:27.38 [[ 9.81267755e-01 -1.84460785e-01 -5.55680785e-02 5.78229971e+02] [ 1.84369460e-01 9.82833417e-01 -6.80997909e-03 5.31905828e+01] [ 5.58703386e-02 -3.56264374e-03 9.98431677e-01 2.73838709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.26, Y:53.20, Z:27.39 [[ 9.81506365e-01 -1.83533654e-01 -5.44118913e-02 5.78261001e+02] [ 1.83444882e-01 9.83007407e-01 -6.66439692e-03 5.32014134e+01] [ 5.47104333e-02 -3.44043496e-03 9.98496335e-01 2.73863387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.29, Y:53.21, Z:27.39 [[ 9.81637045e-01 -1.82947271e-01 -5.40278470e-02 5.78292319e+02] [ 1.82859081e-01 9.83116890e-01 -6.61334815e-03 5.32067521e+01] [ 5.43255830e-02 -3.38757490e-03 9.98517529e-01 2.73876035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.32, Y:53.21, Z:27.39 [[ 9.81682207e-01 -1.82748582e-01 -5.38795081e-02 5.78323477e+02] [ 1.82660787e-01 9.83153900e-01 -6.59131324e-03 5.32071295e+01] [ 5.41764017e-02 -3.37109841e-03 9.98525690e-01 2.73882532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.36, Y:53.22, Z:27.39 [[ 9.81711973e-01 -1.82607238e-01 -5.38163361e-02 5.78355185e+02] [ 1.82519619e-01 9.83180192e-01 -6.58023041e-03 5.32164183e+01] [ 5.41127533e-02 -3.36264618e-03 9.98529170e-01 2.73897489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.39, Y:53.22, Z:27.39 [[ 9.81395899e-01 -1.84031797e-01 -5.47209949e-02 5.78387241e+02] [ 1.83943738e-01 9.82914041e-01 -6.68494195e-03 5.32207376e+01] [ 5.50162761e-02 -3.50500975e-03 9.98479306e-01 2.73902373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.42, Y:53.23, Z:27.39 [[ 9.81174084e-01 -1.85113527e-01 -5.50490694e-02 5.78418426e+02] [ 1.85026322e-01 9.82710582e-01 -6.72108286e-03 5.32261196e+01] [ 5.53414663e-02 -3.59097453e-03 9.98461029e-01 2.73914874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.45, Y:53.23, Z:27.39 [[ 9.80915530e-01 -1.86368069e-01 -5.54226069e-02 5.78449070e+02] [ 1.86281836e-01 9.82473068e-01 -6.76372063e-03 5.32277651e+01] [ 5.57117602e-02 -3.68958636e-03 9.98440077e-01 2.73921761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.48, Y:53.23, Z:27.39 [[ 9.80315077e-01 -1.89501228e-01 -5.54223309e-02 5.78479762e+02] [ 1.89420079e-01 9.81872859e-01 -6.76178233e-03 5.32276173e+01] [ 5.56990486e-02 -3.86942512e-03 9.98440105e-01 2.73925241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.51, Y:53.24, Z:27.39 [[ 9.80026477e-01 -1.91043678e-01 -5.52305920e-02 5.78511083e+02] [ 1.90965604e-01 9.81573610e-01 -6.73692770e-03 5.32361846e+01] [ 5.54999390e-02 -3.94477587e-03 9.98450898e-01 2.73947751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.54, Y:53.24, Z:27.40 [[ 9.79763740e-01 -1.92439861e-01 -5.50446565e-02 5.78542047e+02] [ 1.92364713e-01 9.81300559e-01 -6.71041022e-03 5.32356269e+01] [ 5.53067027e-02 -4.01403293e-03 9.98461344e-01 2.73957061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1550998929999 meters Centerline goodness [0,1] 0.9999788869183346 Centerline is valid? [True, True] Translation: X:578.57, Y:53.24, Z:27.40 [[ 9.79311814e-01 -1.94696839e-01 -5.51499108e-02 5.78572840e+02] [ 1.94625066e-01 9.80854682e-01 -6.72132334e-03 5.32393628e+01] [ 5.54026686e-02 -4.15128368e-03 9.98455463e-01 2.73969185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.61, Y:53.24, Z:27.40 [[ 9.79210049e-01 -1.95312383e-01 -5.47791287e-02 5.78605095e+02] [ 1.95242605e-01 9.80732264e-01 -6.67470688e-03 5.32436862e+01] [ 5.50273118e-02 -4.15927970e-03 9.98476187e-01 2.73982836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.64, Y:53.25, Z:27.40 [[ 9.79146648e-01 -1.95697167e-01 -5.45386238e-02 5.78636874e+02] [ 1.95628813e-01 9.80655525e-01 -6.64136889e-03 5.32472819e+01] [ 5.47832999e-02 -4.16645218e-03 9.98489575e-01 2.73998998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.67, Y:53.25, Z:27.40 [[ 9.79195528e-01 -1.95510497e-01 -5.43301393e-02 5.78667619e+02] [ 1.95442590e-01 9.80692854e-01 -6.61210694e-03 5.32510889e+01] [ 5.45739157e-02 -4.14387762e-03 9.98501135e-01 2.74012422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.70, Y:53.26, Z:27.40 [[ 9.79126583e-01 -1.95853263e-01 -5.43381396e-02 5.78699249e+02] [ 1.95786032e-01 9.80624361e-01 -6.60994713e-03 5.32554407e+01] [ 5.45798831e-02 -4.16667378e-03 9.98500714e-01 2.74027624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.73, Y:53.26, Z:27.40 [[ 9.79086684e-01 -1.96079221e-01 -5.42420858e-02 5.78730744e+02] [ 1.96012789e-01 9.80579167e-01 -6.59427397e-03 5.32621846e+01] [ 5.44816594e-02 -4.17577670e-03 9.98506040e-01 2.74044349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.76, Y:53.26, Z:27.41 [[ 9.78932297e-01 -1.96930545e-01 -5.39436544e-02 5.78761400e+02] [ 1.96866329e-01 9.80408431e-01 -6.55422224e-03 5.32637958e+01] [ 5.41775401e-02 -4.20354939e-03 9.98522471e-01 2.74053199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.79, Y:53.27, Z:27.41 [[ 9.78844023e-01 -1.97437722e-01 -5.36910112e-02 5.78793345e+02] [ 1.97374984e-01 9.80306375e-01 -6.52128777e-03 5.32669059e+01] [ 5.39211887e-02 -4.21393890e-03 9.98536303e-01 2.74065384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.82, Y:53.27, Z:27.41 [[ 9.78781295e-01 -1.97846769e-01 -5.33275927e-02 5.78824221e+02] [ 1.97785677e-01 9.80223913e-01 -6.47344557e-03 5.32670042e+01] [ 5.35537319e-02 -4.21134659e-03 9.98556089e-01 2.74076327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters Centerline goodness [0,1] 0.9999575524757518 Centerline is valid? [True, True] Translation: X:578.86, Y:53.27, Z:27.41 [[ 9.78760767e-01 -1.98052363e-01 -5.29398034e-02 5.78856674e+02] [ 1.97992567e-01 9.80182469e-01 -6.42422663e-03 5.32695021e+01] [ 5.31630005e-02 -4.19390659e-03 9.98577041e-01 2.74088202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4550998929999 meters Centerline goodness [0,1] 0.9999787847929396 Centerline is valid? [True, True] Translation: X:578.89, Y:53.27, Z:27.41 [[ 9.78800030e-01 -1.97947869e-01 -5.26036323e-02 5.78888170e+02] [ 1.97888874e-01 9.80203699e-01 -6.37975717e-03 5.32711822e+01] [ 5.28251343e-02 -4.16516703e-03 9.98595091e-01 2.74098748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.92, Y:53.28, Z:27.41 [[ 9.78882913e-01 -1.97617412e-01 -5.23029719e-02 5.78919566e+02] [ 1.97558771e-01 9.80270540e-01 -6.34039685e-03 5.32778735e+01] [ 5.25240353e-02 -4.12640469e-03 9.98611135e-01 2.74115183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.95, Y:53.28, Z:27.41 [[ 9.79178242e-01 -1.96292978e-01 -5.17594172e-02 5.78950406e+02] [ 1.96233896e-01 9.80537064e-01 -6.27093220e-03 5.32807642e+01] [ 5.19829669e-02 -4.01659172e-03 9.98639894e-01 2.74127974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:578.98, Y:53.29, Z:27.41 [[ 9.79499507e-01 -1.94918339e-01 -5.08680380e-02 5.78981073e+02] [ 1.94859521e-01 9.80811811e-01 -6.16111836e-03 5.32856563e+01] [ 5.10928874e-02 -3.87730913e-03 9.98686379e-01 2.74146177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.01, Y:53.29, Z:27.42 [[ 9.79877695e-01 -1.93176184e-01 -5.02261346e-02 5.79011899e+02] [ 1.93116656e-01 9.81156956e-01 -6.08156284e-03 5.32893207e+01] [ 5.04545345e-02 -3.74031538e-03 9.98719355e-01 2.74164726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.04, Y:53.30, Z:27.42 [[ 9.80337981e-01 -1.91120028e-01 -4.90976330e-02 5.79042360e+02] [ 1.91060663e-01 9.81560239e-01 -5.94317955e-03 5.32961647e+01] [ 4.93281450e-02 -3.55430166e-03 9.98776302e-01 2.74187139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.07, Y:53.30, Z:27.42 [[ 9.81540886e-01 -1.85096464e-01 -4.81330288e-02 5.79071325e+02] [ 1.85032275e-01 9.82715182e-01 -5.82473526e-03 5.33022918e+01] [ 4.83791960e-02 -3.18894802e-03 9.98823950e-01 2.74205707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.10, Y:53.31, Z:27.42 [[ 9.82218596e-01 -1.81541644e-01 -4.78462178e-02 5.79101501e+02] [ 1.81473972e-01 9.83378697e-01 -5.79094533e-03 5.33102264e+01] [ 4.81022491e-02 -2.99486901e-03 9.98837927e-01 2.74222879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.13, Y:53.32, Z:27.42 [[ 9.82906887e-01 -1.77672079e-01 -4.82357181e-02 5.79131334e+02] [ 1.77598701e-01 9.84085681e-01 -5.83721965e-03 5.33163066e+01] [ 4.85051905e-02 -2.82915748e-03 9.98818924e-01 2.74237422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.16, Y:53.33, Z:27.42 [[ 9.84422769e-01 -1.68998942e-01 -4.84888607e-02 5.79161167e+02] [ 1.68914293e-01 9.85613276e-01 -5.86784349e-03 5.33253861e+01] [ 4.87829242e-02 -2.41402287e-03 9.98806487e-01 2.74242314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.19, Y:53.33, Z:27.43 [[ 9.85189904e-01 -1.64490427e-01 -4.84123174e-02 5.79191465e+02] [ 1.64400652e-01 9.86376253e-01 -5.85778281e-03 5.33334238e+01] [ 4.87163094e-02 -2.18798805e-03 9.98810259e-01 2.74255242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.22, Y:53.34, Z:27.43 [[ 9.86579456e-01 -1.55954356e-01 -4.83654411e-02 5.79219974e+02] [ 1.55854560e-01 9.87762685e-01 -5.85099516e-03 5.33400018e+01] [ 4.86860661e-02 -1.76550293e-03 9.98812570e-01 2.74274040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.25, Y:53.35, Z:27.43 [[ 9.87245089e-01 -1.51683053e-01 -4.83671982e-02 5.79251051e+02] [ 1.51578088e-01 9.88427962e-01 -5.85205971e-03 5.33464827e+01] [ 4.86951494e-02 -1.55399020e-03 9.98812479e-01 2.74293778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.28, Y:53.35, Z:27.43 [[ 9.87853967e-01 -1.47803214e-01 -4.79452793e-02 5.79282269e+02] [ 1.47695632e-01 9.89015864e-01 -5.79843551e-03 5.33533399e+01] [ 4.82756692e-02 -1.35330078e-03 9.98833133e-01 2.74311358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.31, Y:53.36, Z:27.43 [[ 9.88890444e-01 -1.40695519e-01 -4.79631153e-02 5.79311856e+02] [ 1.40579623e-01 9.90052399e-01 -5.79799788e-03 5.33612797e+01] [ 4.83017497e-02 -1.00905199e-03 9.98832280e-01 2.74328153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.34, Y:53.37, Z:27.43 [[ 9.89314419e-01 -1.37659506e-01 -4.80295864e-02 5.79343303e+02] [ 1.37539716e-01 9.90479236e-01 -5.80597019e-03 5.33660129e+01] [ 4.83715550e-02 -8.62045633e-04 9.98829039e-01 2.74344112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.37, Y:53.37, Z:27.44 [[ 9.89677225e-01 -1.34978844e-01 -4.81632811e-02 5.79374641e+02] [ 1.34855386e-01 9.90848207e-01 -5.81856313e-03 5.33700593e+01] [ 4.85078837e-02 -7.36578442e-04 9.98822528e-01 2.74356971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.41, Y:53.38, Z:27.44 [[ 9.90074482e-01 -1.31559582e-01 -4.94428673e-02 5.79406416e+02] [ 1.31425397e-01 9.91308091e-01 -5.96943439e-03 5.33756445e+01] [ 4.97984507e-02 -5.87863809e-04 9.98759114e-01 2.74370987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.44, Y:53.38, Z:27.44 [[ 9.90198370e-01 -1.30648424e-01 -4.93778935e-02 5.79437982e+02] [ 1.30513643e-01 9.91428612e-01 -5.95792733e-03 5.33796762e+01] [ 4.97330502e-02 -5.44958811e-04 9.98762398e-01 2.74383342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.47, Y:53.38, Z:27.44 [[ 9.90181305e-01 -1.30552614e-01 -4.99699754e-02 5.79470043e+02] [ 1.30414650e-01 9.91441230e-01 -6.02553812e-03 5.33825162e+01] [ 5.03289436e-02 -5.50441640e-04 9.98732544e-01 2.74397941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.50, Y:53.39, Z:27.44 [[ 9.90109671e-01 -1.31097108e-01 -4.99638691e-02 5.79501757e+02] [ 1.30960102e-01 9.91369360e-01 -6.02020089e-03 5.33852043e+01] [ 5.03218799e-02 -5.82614272e-04 9.98732882e-01 2.74414158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.53, Y:53.39, Z:27.44 [[ 9.89671275e-01 -1.34367425e-01 -4.99616155e-02 5.79534392e+02] [ 1.34234779e-01 9.90931294e-01 -6.01625753e-03 5.33860173e+01] [ 5.03169173e-02 -7.52469152e-04 9.98733018e-01 2.74437127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.57, Y:53.39, Z:27.45 [[ 9.89351990e-01 -1.36766086e-01 -4.97762750e-02 5.79565717e+02] [ 1.36637637e-01 9.90602984e-01 -5.99031066e-03 5.33868061e+01] [ 5.01277979e-02 -8.74786815e-04 9.98742429e-01 2.74455539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.60, Y:53.39, Z:27.45 [[ 9.88995868e-01 -1.39279101e-01 -4.98849210e-02 5.79597834e+02] [ 1.39153424e-01 9.90252653e-01 -6.00057467e-03 5.33879684e+01] [ 5.02344300e-02 -1.00711403e-03 9.98736946e-01 2.74475609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.63, Y:53.39, Z:27.45 [[ 9.88587658e-01 -1.42082210e-01 -5.00708329e-02 5.79628945e+02] [ 1.41959366e-01 9.89854184e-01 -6.01934206e-03 5.33871656e+01] [ 5.04180648e-02 -1.15737642e-03 9.98727530e-01 2.74495283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.66, Y:53.39, Z:27.45 [[ 9.87502621e-01 -1.48978556e-01 -5.14194936e-02 5.79660384e+02] [ 1.48858469e-01 9.88839208e-01 -6.17877378e-03 5.33850530e+01] [ 5.17661162e-02 -1.55267179e-03 9.98658029e-01 2.74510314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.69, Y:53.39, Z:27.45 [[ 9.86895816e-01 -1.52678991e-01 -5.22089545e-02 5.79691690e+02] [ 1.52560408e-01 9.88274242e-01 -6.27260480e-03 5.33873459e+01] [ 5.25544599e-02 -1.77461195e-03 9.98616483e-01 2.74522522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.72, Y:53.39, Z:27.45 [[ 9.86302071e-01 -1.56185118e-01 -5.30512348e-02 5.79723017e+02] [ 1.56067842e-01 9.87725786e-01 -6.37181879e-03 5.33878863e+01] [ 5.33952558e-02 -1.99505366e-03 9.98571463e-01 2.74535165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.75, Y:53.39, Z:27.46 [[ 9.85327234e-01 -1.62137185e-01 -5.33083075e-02 5.79753914e+02] [ 1.62027548e-01 9.86765475e-01 -6.40090329e-03 5.33852074e+01] [ 5.36406218e-02 -2.33043001e-03 9.98557586e-01 2.74559199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.79, Y:53.39, Z:27.46 [[ 9.85345059e-01 -1.62028782e-01 -5.33084201e-02 5.79786224e+02] [ 1.61919037e-01 9.86783292e-01 -6.39996554e-03 5.33890014e+01] [ 5.36408369e-02 -2.32547361e-03 9.98557586e-01 2.74574675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.82, Y:53.39, Z:27.46 [[ 9.85000932e-01 -1.64125960e-01 -5.32525384e-02 5.79817735e+02] [ 1.64019801e-01 9.86436365e-01 -6.38765737e-03 5.33889033e+01] [ 5.35786208e-02 -2.44262229e-03 9.98560647e-01 2.74596051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.85, Y:53.39, Z:27.46 [[ 9.84693272e-01 -1.65932651e-01 -5.33433735e-02 5.79849383e+02] [ 1.65828930e-01 9.86133795e-01 -6.39560174e-03 5.33914899e+01] [ 5.36649426e-02 -2.54816854e-03 9.98555747e-01 2.74617063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.88, Y:53.40, Z:27.46 [[ 9.84352227e-01 -1.67783230e-01 -5.38468364e-02 5.79880721e+02] [ 1.67680464e-01 9.85820278e-01 -6.45297629e-03 5.33950398e+01] [ 5.41660044e-02 -2.67706093e-03 9.98528356e-01 2.74643303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.91, Y:53.40, Z:27.47 [[ 9.84199902e-01 -1.68516087e-01 -5.43404228e-02 5.79912042e+02] [ 1.68412711e-01 9.85695080e-01 -6.50905725e-03 5.33950058e+01] [ 5.46599683e-02 -2.74540440e-03 9.98501252e-01 2.74657861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.94, Y:53.40, Z:27.47 [[ 9.84051934e-01 -1.69271227e-01 -5.46721441e-02 5.79943085e+02] [ 1.69167914e-01 9.85565508e-01 -6.54573052e-03 5.34016663e+01] [ 5.49909833e-02 -2.80743382e-03 9.98482904e-01 2.74676892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:579.97, Y:53.40, Z:27.47 [[ 9.83832827e-01 -1.70348644e-01 -5.52657878e-02 5.79974458e+02] [ 1.70244946e-01 9.85379581e-01 -6.61366579e-03 5.34012047e+01] [ 5.55844078e-02 -2.90197953e-03 9.98449774e-01 2.74683768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.01, Y:53.40, Z:27.47 [[ 9.83766817e-01 -1.70664818e-01 -5.54650275e-02 5.80006658e+02] [ 1.70561053e-01 9.85324776e-01 -6.63425745e-03 5.34044438e+01] [ 5.57833002e-02 -2.93361118e-03 9.98438590e-01 2.74695357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.04, Y:53.41, Z:27.47 [[ 9.83738628e-01 -1.70571091e-01 -5.62477995e-02 5.80038573e+02] [ 1.70464461e-01 9.85340885e-01 -6.72373696e-03 5.34080632e+01] [ 5.65701317e-02 -2.97385105e-03 9.98394199e-01 2.74707171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.07, Y:53.41, Z:27.47 [[ 9.83788376e-01 -1.69668605e-01 -5.80774977e-02 5.80069977e+02] [ 1.69553615e-01 9.85496542e-01 -6.93811086e-03 5.34143669e+01] [ 5.84123528e-02 -3.02161686e-03 9.98287968e-01 2.74717583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.10, Y:53.42, Z:27.47 [[ 9.83881236e-01 -1.68858265e-01 -5.88608482e-02 5.80101898e+02] [ 1.68738968e-01 9.85635723e-01 -7.02732132e-03 5.34192718e+01] [ 5.92019759e-02 -3.01806916e-03 9.98241462e-01 2.74732260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.13, Y:53.42, Z:27.47 [[ 9.83969312e-01 -1.68222591e-01 -5.92077189e-02 5.80132519e+02] [ 1.68100984e-01 9.85744465e-01 -7.06459120e-03 5.34221436e+01] [ 5.95521051e-02 -3.00153486e-03 9.98220686e-01 2.74744802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.16, Y:53.43, Z:27.48 [[ 9.84121038e-01 -1.67092829e-01 -5.98813000e-02 5.80163495e+02] [ 1.66966570e-01 9.85936694e-01 -7.14141036e-03 5.34304217e+01] [ 6.02324495e-02 -2.97016310e-03 9.98179959e-01 2.74768364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.19, Y:53.44, Z:27.48 [[ 9.84408026e-01 -1.65105282e-01 -6.06719341e-02 5.80194559e+02] [ 1.64972182e-01 9.86271712e-01 -7.23116760e-03 5.34367374e+01] [ 6.10329163e-02 -2.89076195e-03 9.98131568e-01 2.74781549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.23, Y:53.44, Z:27.48 [[ 9.84584767e-01 -1.63958014e-01 -6.09147408e-02 5.80225656e+02] [ 1.63821916e-01 9.86463244e-01 -7.25589724e-03 5.34407782e+01] [ 6.12798154e-02 -2.83512364e-03 9.98116600e-01 2.74793471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.26, Y:53.45, Z:27.48 [[ 9.84934982e-01 -1.61569059e-01 -6.16321431e-02 5.80255417e+02] [ 1.61425251e-01 9.86857657e-01 -7.33848482e-03 5.34476975e+01] [ 6.20078245e-02 -2.72105379e-03 9.98071954e-01 2.74806601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.29, Y:53.46, Z:27.48 [[ 9.85210845e-01 -1.59933170e-01 -6.14896056e-02 5.80286662e+02] [ 1.59786964e-01 9.87124384e-01 -7.31964116e-03 5.34555690e+01] [ 6.18685424e-02 -2.61384754e-03 9.98080884e-01 2.74828577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.32, Y:53.46, Z:27.49 [[ 9.85507443e-01 -1.58172181e-01 -6.12914475e-02 5.80317765e+02] [ 1.58023792e-01 9.87408382e-01 -7.29161607e-03 5.34637637e+01] [ 6.16730199e-02 -2.49956508e-03 9.98093278e-01 2.74852445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.35, Y:53.47, Z:27.49 [[ 9.86075215e-01 -1.54605978e-01 -6.12589741e-02 5.80348278e+02] [ 1.54451141e-01 9.87973581e-01 -7.28349562e-03 5.34737843e+01] [ 6.16483199e-02 -2.27944393e-03 9.98095331e-01 2.74882964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.38, Y:53.48, Z:27.49 [[ 9.86369917e-01 -1.52884465e-01 -6.08336081e-02 5.80379103e+02] [ 1.52728710e-01 9.88241709e-01 -7.22956063e-03 5.34774770e+01] [ 6.12235963e-02 -2.16001734e-03 9.98121739e-01 2.74892365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.41, Y:53.48, Z:27.49 [[ 9.86664527e-01 -1.51057215e-01 -6.06203630e-02 5.80410734e+02] [ 1.50899325e-01 9.88522910e-01 -7.20067156e-03 5.34841153e+01] [ 6.10123311e-02 -2.04292464e-03 9.98134922e-01 2.74915120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.44, Y:53.49, Z:27.49 [[ 9.86901365e-01 -1.49590867e-01 -6.04008946e-02 5.80442177e+02] [ 1.49431638e-01 9.88746061e-01 -7.17030973e-03 5.34917759e+01] [ 6.07937594e-02 -1.94941617e-03 9.98148445e-01 2.74942318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.47, Y:53.50, Z:27.50 [[ 9.87096194e-01 -1.48269437e-01 -6.04754273e-02 5.80473665e+02] [ 1.48107606e-01 9.88945226e-01 -7.17476522e-03 5.34989192e+01] [ 6.08706835e-02 -1.87468732e-03 9.98143900e-01 2.74964225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.51, Y:53.50, Z:27.50 [[ 9.87096406e-01 -1.48182216e-01 -6.06853801e-02 5.80506061e+02] [ 1.48019396e-01 9.88958287e-01 -7.19476489e-03 5.35049754e+01] [ 6.10814458e-02 -1.88068673e-03 9.98131013e-01 2.74986217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.54, Y:53.51, Z:27.50 [[ 9.86894421e-01 -1.49264298e-01 -6.13153441e-02 5.80537251e+02] [ 1.49100594e-01 9.88795363e-01 -7.26247627e-03 5.35097020e+01] [ 6.17123563e-02 -1.97485692e-03 9.98092022e-01 2.74995132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.57, Y:53.51, Z:27.50 [[ 9.86705711e-01 -1.50228707e-01 -6.19933549e-02 5.80568562e+02] [ 1.50063725e-01 9.88649114e-01 -7.33535547e-03 5.35129633e+01] [ 6.23916564e-02 -2.06511665e-03 9.98049606e-01 2.75002743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.60, Y:53.52, Z:27.50 [[ 9.86522827e-01 -1.51352427e-01 -6.21703599e-02 5.80599983e+02] [ 1.51189105e-01 9.88477530e-01 -7.35029525e-03 5.35167774e+01] [ 6.25664888e-02 -2.14824700e-03 9.98038486e-01 2.75016147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.63, Y:53.52, Z:27.50 [[ 9.86367827e-01 -1.52379482e-01 -6.21208824e-02 5.80632006e+02] [ 1.52218676e-01 9.88319577e-01 -7.34086154e-03 5.35206284e+01] [ 6.25138809e-02 -2.21516882e-03 9.98041636e-01 2.75029611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.66, Y:53.53, Z:27.51 [[ 9.86014210e-01 -1.54473825e-01 -6.25604907e-02 5.80663719e+02] [ 1.54315222e-01 9.87994041e-01 -7.38832550e-03 5.35261480e+01] [ 6.29506949e-02 -2.36904204e-03 9.98013826e-01 2.75056752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.70, Y:53.53, Z:27.51 [[ 9.85890751e-01 -1.55237530e-01 -6.26157831e-02 5.80695397e+02] [ 1.55080470e-01 9.87874198e-01 -7.39030894e-03 5.35317576e+01] [ 6.30037698e-02 -2.42444783e-03 9.98010344e-01 2.75077329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.73, Y:53.54, Z:27.51 [[ 9.85543922e-01 -1.57362281e-01 -6.27717271e-02 5.80726233e+02] [ 1.57209009e-01 9.87537596e-01 -7.40436489e-03 5.35350539e+01] [ 6.31546082e-02 -2.57095421e-03 9.98000444e-01 2.75095005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.76, Y:53.54, Z:27.51 [[ 9.85376586e-01 -1.58303353e-01 -6.30319951e-02 5.80758129e+02] [ 1.58150967e-01 9.87386980e-01 -7.43130232e-03 5.35395110e+01] [ 6.34133713e-02 -2.64593967e-03 9.97983839e-01 2.75114979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.79, Y:53.54, Z:27.51 [[ 9.85189541e-01 -1.59510229e-01 -6.29130720e-02 5.80789432e+02] [ 1.59361142e-01 9.87192521e-01 -7.41299364e-03 5.35424080e+01] [ 6.32897624e-02 -2.72269520e-03 9.97991479e-01 2.75126785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.82, Y:53.55, Z:27.52 [[ 9.84844617e-01 -1.61609310e-01 -6.29564235e-02 5.80821255e+02] [ 1.61464530e-01 9.86850664e-01 -7.41437166e-03 5.35487356e+01] [ 6.33268198e-02 -2.86322529e-03 9.97988735e-01 2.75154635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.85, Y:53.55, Z:27.52 [[ 9.84747785e-01 -1.62414562e-01 -6.23963979e-02 5.80851851e+02] [ 1.62274209e-01 9.86718370e-01 -7.34440009e-03 5.35513014e+01] [ 6.27605096e-02 -2.89294440e-03 9.98024423e-01 2.75168884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.88, Y:53.56, Z:27.52 [[ 9.84610490e-01 -1.63337796e-01 -6.21526072e-02 5.80883889e+02] [ 1.63200548e-01 9.86565813e-01 -7.31287020e-03 5.35558933e+01] [ 6.25121055e-02 -2.94301083e-03 9.98039867e-01 2.75191874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.92, Y:53.56, Z:27.52 [[ 9.84532257e-01 -1.64150877e-01 -6.12431616e-02 5.80915474e+02] [ 1.64019458e-01 9.86430817e-01 -7.20140216e-03 5.35595090e+01] [ 6.15942585e-02 -2.95505747e-03 9.98096897e-01 2.75209782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.95, Y:53.56, Z:27.52 [[ 9.84392674e-01 -1.65429303e-01 -6.00350663e-02 5.80946864e+02] [ 1.65305634e-01 9.86217152e-01 -7.05523108e-03 5.35601242e+01] [ 6.03747541e-02 -2.97901691e-03 9.98171335e-01 2.75225994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:580.98, Y:53.57, Z:27.52 [[ 9.84270284e-01 -1.66254248e-01 -5.97622959e-02 5.80978656e+02] [ 1.66133426e-01 9.86078298e-01 -7.01968025e-03 5.35657751e+01] [ 6.00973546e-02 -3.01925226e-03 9.98187954e-01 2.75247553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.01, Y:53.57, Z:27.53 [[ 9.84178877e-01 -1.66887372e-01 -5.95024616e-02 5.81009538e+02] [ 1.66768994e-01 9.85971253e-01 -6.98508429e-03 5.35679307e+01] [ 5.98334389e-02 -3.04859325e-03 9.98203720e-01 2.75258345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.04, Y:53.57, Z:27.53 [[ 9.83967710e-01 -1.68045277e-01 -5.97355113e-02 5.81040977e+02] [ 1.67928306e-01 9.85774294e-01 -7.00896760e-03 5.35733755e+01] [ 6.00635554e-02 -3.13468541e-03 9.98189633e-01 2.75275594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.07, Y:53.58, Z:27.53 [[ 9.83870074e-01 -1.68698308e-01 -5.95025953e-02 5.81071957e+02] [ 1.68583681e-01 9.85662648e-01 -6.97755371e-03 5.35750129e+01] [ 5.98265871e-02 -3.16616024e-03 9.98203764e-01 2.75285995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.10, Y:53.58, Z:27.53 [[ 9.83873126e-01 -1.68461752e-01 -6.01191280e-02 5.81104968e+02] [ 1.68344539e-01 9.85703034e-01 -7.04587310e-03 5.35793657e+01] [ 6.04465670e-02 -3.18848173e-03 9.98166342e-01 2.75297095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.14, Y:53.59, Z:27.53 [[ 9.83839024e-01 -1.68180415e-01 -6.14501659e-02 5.81136357e+02] [ 1.68057800e-01 9.85750881e-01 -7.19560056e-03 5.35858464e+01] [ 6.17847143e-02 -3.24786705e-03 9.98084215e-01 2.75298549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.17, Y:53.59, Z:27.53 [[ 9.83874794e-01 -1.67911888e-01 -6.16115822e-02 5.81167816e+02] [ 1.67788369e-01 9.85796671e-01 -7.21022319e-03 5.35857319e+01] [ 6.19471748e-02 -3.24375001e-03 9.98074158e-01 2.75295307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.20, Y:53.59, Z:27.53 [[ 9.84041905e-01 -1.67219996e-01 -6.08194202e-02 5.81199406e+02] [ 1.67098532e-01 9.85914536e-01 -7.11396466e-03 5.35934785e+01] [ 6.11523476e-02 -3.16239650e-03 9.98123434e-01 2.75322736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.23, Y:53.60, Z:27.53 [[ 9.84268298e-01 -1.66129266e-01 -6.01413693e-02 5.81230505e+02] [ 1.66008713e-01 9.86099223e-01 -7.03054976e-03 5.35971933e+01] [ 6.04733376e-02 -3.06404408e-03 9.98165110e-01 2.75335260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.26, Y:53.60, Z:27.54 [[ 9.84504254e-01 -1.64915349e-01 -5.96179657e-02 5.81262415e+02] [ 1.64794872e-01 9.86303263e-01 -6.96592173e-03 5.36028926e+01] [ 5.99501815e-02 -2.96675548e-03 9.98196962e-01 2.75355220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.29, Y:53.61, Z:27.54 [[ 9.85002968e-01 -1.62138682e-01 -5.89932236e-02 5.81292214e+02] [ 1.62015965e-01 9.86764088e-01 -6.88931185e-03 5.36081902e+01] [ 5.93294184e-02 -2.77185139e-03 9.98234610e-01 2.75363319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.32, Y:53.61, Z:27.54 [[ 9.85182208e-01 -1.60959344e-01 -5.92292764e-02 5.81323712e+02] [ 1.60833621e-01 9.86957308e-01 -6.91515124e-03 5.36137140e+01] [ 5.95698254e-02 -2.71337503e-03 9.98220453e-01 2.75376687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.36, Y:53.62, Z:27.54 [[ 9.85279200e-01 -1.60470262e-01 -5.89422883e-02 5.81356077e+02] [ 1.60345143e-01 9.87037050e-01 -6.87723372e-03 5.36180956e+01] [ 5.92818139e-02 -2.67511429e-03 9.98237702e-01 2.75390307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.39, Y:53.62, Z:27.54 [[ 9.85326726e-01 -1.60186700e-01 -5.89191339e-02 5.81388427e+02] [ 1.60061472e-01 9.87083145e-01 -6.86950505e-03 5.36220466e+01] [ 5.92584874e-02 -2.66197636e-03 9.98239122e-01 2.75405878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.42, Y:53.63, Z:27.54 [[ 9.85313492e-01 -1.60414151e-01 -5.85202765e-02 5.81420815e+02] [ 1.60291256e-01 9.87046208e-01 -6.81886997e-03 5.36260388e+01] [ 5.88560602e-02 -2.66156402e-03 9.98262931e-01 2.75417906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.45, Y:53.63, Z:27.54 [[ 9.85300712e-01 -1.60574939e-01 -5.82940445e-02 5.81452778e+02] [ 1.60453515e-01 9.87020054e-01 -6.78839127e-03 5.36287303e+01] [ 5.86274365e-02 -2.66487759e-03 9.98276376e-01 2.75430567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.48, Y:53.63, Z:27.54 [[ 9.85339441e-01 -1.60629555e-01 -5.74833262e-02 5.81484655e+02] [ 1.60511819e-01 9.87011247e-01 -6.68979078e-03 5.36296013e+01] [ 5.78112677e-02 -2.63503856e-03 9.98324053e-01 2.75439164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.52, Y:53.63, Z:27.55 [[ 9.85392114e-01 -1.60350116e-01 -5.73604500e-02 5.81516108e+02] [ 1.60232692e-01 9.87056729e-01 -6.67062295e-03 5.36347868e+01] [ 5.76876534e-02 -2.61784009e-03 9.98331248e-01 2.75454994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.55, Y:53.64, Z:27.55 [[ 9.85462726e-01 -1.60099441e-01 -5.68452712e-02 5.81548161e+02] [ 1.59983927e-01 9.87097510e-01 -6.60676762e-03 5.36382414e+01] [ 5.71695655e-02 -2.58360647e-03 9.98361140e-01 2.75465828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.58, Y:53.64, Z:27.55 [[ 9.85460613e-01 -1.60065560e-01 -5.69771675e-02 5.81581074e+02] [ 1.59949703e-01 9.87102983e-01 -6.61771988e-03 5.36447824e+01] [ 5.73016011e-02 -2.59197875e-03 9.98353549e-01 2.75485900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.61, Y:53.65, Z:27.55 [[ 9.85416080e-01 -1.60368776e-01 -5.68946890e-02 5.81612761e+02] [ 1.60254093e-01 9.87053715e-01 -6.60229452e-03 5.36488422e+01] [ 5.72169160e-02 -2.61159961e-03 9.98358355e-01 2.75500015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.64, Y:53.65, Z:27.55 [[ 9.85203059e-01 -1.61636587e-01 -5.69960130e-02 5.81644261e+02] [ 1.61523882e-01 9.86846671e-01 -6.60932268e-03 5.36479565e+01] [ 5.73146340e-02 -2.69469233e-03 9.98352529e-01 2.75504891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.68, Y:53.65, Z:27.55 [[ 9.85102401e-01 -1.62319970e-01 -5.67933674e-02 5.81676653e+02] [ 1.62209585e-01 9.86734395e-01 -6.57904017e-03 5.36507568e+01] [ 5.71078786e-02 -2.73140031e-03 9.98364277e-01 2.75519078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.71, Y:53.65, Z:27.55 [[ 9.85021275e-01 -1.62928248e-01 -5.64577247e-02 5.81708438e+02] [ 1.62820416e-01 9.86634075e-01 -6.53564332e-03 5.36482772e+01] [ 5.67679559e-02 -2.75472253e-03 9.98383599e-01 2.75525967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.74, Y:53.66, Z:27.56 [[ 9.85036128e-01 -1.63372271e-01 -5.48937892e-02 5.81739133e+02] [ 1.63271372e-01 9.86560774e-01 -6.34814057e-03 5.36585620e+01] [ 5.51931693e-02 -2.70943648e-03 9.98472019e-01 2.75562884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.77, Y:53.66, Z:27.56 [[ 9.85120877e-01 -1.63137354e-01 -5.40653411e-02 5.81770634e+02] [ 1.63039363e-01 9.86599782e-01 -6.24793327e-03 5.36559000e+01] [ 5.43601251e-02 -2.65980930e-03 9.98517853e-01 2.75576131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.80, Y:53.66, Z:27.56 [[ 9.85137578e-01 -1.63036189e-01 -5.40661963e-02 5.81802974e+02] [ 1.62938453e-01 9.86616499e-01 -6.24052453e-03 5.36595343e+01] [ 5.43600327e-02 -2.66168718e-03 9.98517853e-01 2.75591592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.83, Y:53.67, Z:27.56 [[ 9.85350681e-01 -1.62084397e-01 -5.30347357e-02 5.81834788e+02] [ 1.61989258e-01 9.86773567e-01 -6.11624464e-03 5.36664463e+01] [ 5.33246231e-02 -2.56441165e-03 9.98573937e-01 2.75619784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.87, Y:53.67, Z:27.56 [[ 9.85444094e-01 -1.61743234e-01 -5.23360604e-02 5.81866332e+02] [ 1.61650299e-01 9.86829669e-01 -6.03196565e-03 5.36689135e+01] [ 5.26224068e-02 -2.51597491e-03 9.98611312e-01 2.75639921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.90, Y:53.67, Z:27.57 [[ 9.85505610e-01 -1.61533321e-01 -5.18235294e-02 5.81898020e+02] [ 1.61442099e-01 9.86864133e-01 -5.96923334e-03 5.36748131e+01] [ 5.21070125e-02 -2.48378642e-03 9.98638418e-01 2.75658407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.93, Y:53.68, Z:27.57 [[ 9.85527502e-01 -1.61195684e-01 -5.24546948e-02 5.81929385e+02] [ 1.61101974e-01 9.86919298e-01 -6.03768463e-03 5.36769695e+01] [ 5.27417993e-02 -2.50025064e-03 9.98605053e-01 2.75670190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.96, Y:53.68, Z:27.57 [[ 9.85381802e-01 -1.61795736e-01 -5.33370870e-02 5.81961898e+02] [ 1.61700116e-01 9.86820891e-01 -6.13196389e-03 5.36787122e+01] [ 5.36262774e-02 -2.58228752e-03 9.98557737e-01 2.75672813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:581.99, Y:53.68, Z:27.57 [[ 9.85275902e-01 -1.62088837e-01 -5.43930614e-02 5.81993775e+02] [ 1.61990058e-01 9.86772601e-01 -6.24937653e-03 5.36829572e+01] [ 5.46865369e-02 -2.65377507e-03 9.98500045e-01 2.75679282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.03, Y:53.68, Z:27.57 [[ 9.85186781e-01 -1.62265346e-01 -5.54703862e-02 5.82025494e+02] [ 1.62163157e-01 9.86743408e-01 -6.36847581e-03 5.36826337e+01] [ 5.57684208e-02 -2.72111474e-03 9.98440023e-01 2.75679074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.06, Y:53.68, Z:27.57 [[ 9.85049905e-01 -1.62956157e-01 -5.58746370e-02 5.82056820e+02] [ 1.62853978e-01 9.86629374e-01 -6.40783102e-03 5.36818798e+01] [ 5.61717536e-02 -2.78737357e-03 9.98417230e-01 2.75678715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.09, Y:53.69, Z:27.57 [[ 9.85038525e-01 -1.63182378e-01 -5.54131341e-02 5.82088095e+02] [ 1.63082409e-01 9.86592004e-01 -6.35181078e-03 5.36910974e+01] [ 5.57066586e-02 -2.78012909e-03 9.98443308e-01 2.75709683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.12, Y:53.69, Z:27.57 [[ 9.85238726e-01 -1.62349073e-01 -5.42902611e-02 5.82119667e+02] [ 1.62252096e-01 9.86729743e-01 -6.21861460e-03 5.36911836e+01] [ 5.45794017e-02 -2.68188874e-03 9.98505832e-01 2.75728272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.15, Y:53.69, Z:27.58 [[ 9.85375379e-01 -1.61913546e-01 -5.30977072e-02 5.82150558e+02] [ 1.61820531e-01 9.86801506e-01 -6.07490776e-03 5.36931656e+01] [ 5.33805073e-02 -2.60623463e-03 9.98570843e-01 2.75751029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.18, Y:53.70, Z:27.58 [[ 9.85477588e-01 -1.61410249e-01 -5.27319184e-02 5.82182866e+02] [ 1.61317952e-01 9.86884065e-01 -6.03006535e-03 5.36982363e+01] [ 5.30136043e-02 -2.56411081e-03 9.98590498e-01 2.75771054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.22, Y:53.70, Z:27.58 [[ 9.85504186e-01 -1.61446882e-01 -5.21191325e-02 5.82215296e+02] [ 1.61357010e-01 9.86878133e-01 -5.95536282e-03 5.36960943e+01] [ 5.23967069e-02 -2.54075242e-03 9.98623117e-01 2.75783943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.25, Y:53.71, Z:27.58 [[ 9.85562292e-01 -1.61260897e-01 -5.15935237e-02 5.82246665e+02] [ 1.61172808e-01 9.86908620e-01 -5.89080509e-03 5.37054349e+01] [ 5.18680498e-02 -2.50971774e-03 9.98650793e-01 2.75805339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.28, Y:53.71, Z:27.58 [[ 9.85586456e-01 -1.61142334e-01 -5.15022913e-02 5.82279335e+02] [ 1.61054596e-01 9.86928003e-01 -5.87649712e-03 5.37082501e+01] [ 5.17760059e-02 -2.50288473e-03 9.98655587e-01 2.75822024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.31, Y:53.71, Z:27.58 [[ 9.85668896e-01 -1.60772783e-01 -5.10777819e-02 5.82311695e+02] [ 1.60686268e-01 9.86988359e-01 -5.82267573e-03 5.37109790e+01] [ 5.13493039e-02 -2.46826779e-03 9.98677704e-01 2.75832246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.34, Y:53.71, Z:27.58 [[ 9.85654239e-01 -1.60808205e-01 -5.12488358e-02 5.82343397e+02] [ 1.60721350e-01 9.86982553e-01 -5.83843424e-03 5.37129084e+01] [ 5.15205750e-02 -2.48210460e-03 9.98668849e-01 2.75842815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.37, Y:53.71, Z:27.59 [[ 9.85626506e-01 -1.60811808e-01 -5.17682603e-02 5.82374671e+02] [ 1.60723381e-01 9.86981893e-01 -5.89391625e-03 5.37141420e+01] [ 5.20421469e-02 -2.51116978e-03 9.98641732e-01 2.75851296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.41, Y:53.72, Z:27.59 [[ 9.85576171e-01 -1.61012530e-01 -5.21015988e-02 5.82406585e+02] [ 1.60923393e-01 9.86949091e-01 -5.92895228e-03 5.37186453e+01] [ 5.23762612e-02 -2.54093199e-03 9.98624189e-01 2.75863152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.44, Y:53.72, Z:27.59 [[ 9.85514853e-01 -1.61168498e-01 -5.27748948e-02 5.82438573e+02] [ 1.61077474e-01 9.86923516e-01 -6.00169063e-03 5.37204586e+01] [ 5.30520682e-02 -2.58609146e-03 9.98588399e-01 2.75866826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.47, Y:53.72, Z:27.59 [[ 9.85502373e-01 -1.61008685e-01 -5.34908949e-02 5.82471970e+02] [ 1.60915163e-01 9.86949521e-01 -6.07897802e-03 5.37234150e+01] [ 5.37715813e-02 -2.61664879e-03 9.98549834e-01 2.75877426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.50, Y:53.72, Z:27.59 [[ 9.85652008e-01 -1.59695295e-01 -5.46583116e-02 5.82503065e+02] [ 1.59595945e-01 9.87162915e-01 -6.20600596e-03 5.37249791e+01] [ 5.49477282e-02 -2.60628265e-03 9.98485831e-01 2.75880471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.54, Y:53.73, Z:27.59 [[ 9.85793786e-01 -1.58634237e-01 -5.51886843e-02 5.82535002e+02] [ 1.58531465e-01 9.87334061e-01 -6.26309297e-03 5.37296083e+01] [ 5.54832088e-02 -2.57502487e-03 9.98456300e-01 2.75894406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.57, Y:53.73, Z:27.59 [[ 9.85995496e-01 -1.57388020e-01 -5.51533629e-02 5.82566687e+02] [ 1.57283654e-01 9.87533658e-01 -6.25515869e-03 5.37336368e+01] [ 5.54502893e-02 -2.50716415e-03 9.98458301e-01 2.75905101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.60, Y:53.74, Z:27.59 [[ 9.86573379e-01 -1.53771584e-01 -5.50206104e-02 5.82596863e+02] [ 1.53662307e-01 9.88103740e-01 -6.23648520e-03 5.37379862e+01] [ 5.53250651e-02 -2.30184367e-03 9.98465742e-01 2.75918411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.63, Y:53.74, Z:27.59 [[ 9.86933422e-01 -1.51597300e-01 -5.45955950e-02 5.82627346e+02] [ 1.51486488e-01 9.88439969e-01 -6.18643271e-03 5.37441640e+01] [ 5.49023147e-02 -2.16489775e-03 9.98489384e-01 2.75939794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.66, Y:53.75, Z:27.60 [[ 9.87300154e-01 -1.49271523e-01 -5.43729585e-02 5.82657974e+02] [ 1.49158198e-01 9.88794162e-01 -6.15927854e-03 5.37539717e+01] [ 5.46830688e-02 -2.02911588e-03 9.98501700e-01 2.75964817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.69, Y:53.76, Z:27.60 [[ 9.88004211e-01 -1.44603609e-01 -5.41984890e-02 5.82688736e+02] [ 1.44484106e-01 9.89488087e-01 -6.13750023e-03 5.37565428e+01] [ 5.45162639e-02 -1.76694418e-03 9.98511319e-01 2.75972123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.72, Y:53.76, Z:27.60 [[ 9.88287732e-01 -1.42611824e-01 -5.43067846e-02 5.82720224e+02] [ 1.42488962e-01 9.89777300e-01 -6.14754116e-03 5.37630681e+01] [ 5.46283347e-02 -1.66257785e-03 9.98505373e-01 2.75989224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.75, Y:53.77, Z:27.60 [[ 9.88470752e-01 -1.41220231e-01 -5.46115330e-02 5.82752213e+02] [ 1.41094081e-01 9.89976914e-01 -6.17810542e-03 5.37695581e+01] [ 5.49366304e-02 -1.59848758e-03 9.98488564e-01 2.76011101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.78, Y:53.77, Z:27.60 [[ 9.88536125e-01 -1.40240219e-01 -5.59375516e-02 5.82783756e+02] [ 1.40106529e-01 9.90116239e-01 -6.32407096e-03 5.37723562e+01] [ 5.62715673e-02 -1.58564361e-03 9.98414241e-01 2.76014842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.82, Y:53.78, Z:27.60 [[ 9.88501767e-01 -1.40349845e-01 -5.62688073e-02 5.82815226e+02] [ 1.40214929e-01 9.90100675e-01 -6.35824322e-03 5.37777677e+01] [ 5.66041625e-02 -1.60459219e-03 9.98395410e-01 2.76032486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.85, Y:53.78, Z:27.61 [[ 9.88443566e-01 -1.40856992e-01 -5.60234353e-02 5.82847347e+02] [ 1.40724299e-01 9.90028610e-01 -6.32636496e-03 5.37819588e+01] [ 5.63559165e-02 -1.63060392e-03 9.98409411e-01 2.76050438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.88, Y:53.78, Z:27.61 [[ 9.88208937e-01 -1.42475596e-01 -5.60696198e-02 5.82878915e+02] [ 1.42345553e-01 9.89796805e-01 -6.32682618e-03 5.37819990e+01] [ 5.63989489e-02 -1.72903486e-03 9.98406815e-01 2.76055904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.91, Y:53.78, Z:27.61 [[ 9.88045000e-01 -1.43527606e-01 -5.62752604e-02 5.82910446e+02] [ 1.43398701e-01 9.89644672e-01 -6.34313559e-03 5.37831901e+01] [ 5.66029267e-02 -1.80249582e-03 9.98395142e-01 2.76067868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.94, Y:53.79, Z:27.61 [[ 9.87878326e-01 -1.44596525e-01 -5.64646583e-02 5.82942581e+02] [ 1.44468676e-01 9.89488927e-01 -6.36126281e-03 5.37881020e+01] [ 5.67909707e-02 -1.87322079e-03 9.98384333e-01 2.76087247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:582.97, Y:53.79, Z:27.61 [[ 9.87574199e-01 -1.46679145e-01 -5.64130290e-02 5.82973493e+02] [ 1.46555145e-01 9.89182111e-01 -6.35149321e-03 5.37901548e+01] [ 5.67343907e-02 -1.99504881e-03 9.98387314e-01 2.76103622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.01, Y:53.79, Z:27.61 [[ 9.87426184e-01 -1.47679490e-01 -5.63941415e-02 5.83005699e+02] [ 1.47557385e-01 9.89033136e-01 -6.34612321e-03 5.37935635e+01] [ 5.67128669e-02 -2.05504379e-03 9.98388415e-01 2.76121084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.04, Y:53.80, Z:27.61 [[ 9.87306084e-01 -1.48432137e-01 -5.65207746e-02 5.83037342e+02] [ 1.48310947e-01 9.88920351e-01 -6.35626278e-03 5.37965165e+01] [ 5.68380180e-02 -2.10707268e-03 9.98381190e-01 2.76139809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.07, Y:53.80, Z:27.62 [[ 9.87078039e-01 -1.50098309e-01 -5.61020745e-02 5.83069433e+02] [ 1.49981820e-01 9.88668650e-01 -6.30513488e-03 5.38004352e+01] [ 5.64127524e-02 -2.19063109e-03 9.98405129e-01 2.76163817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.10, Y:53.80, Z:27.62 [[ 9.87022190e-01 -1.50679681e-01 -5.55232407e-02 5.83100675e+02] [ 1.50566719e-01 9.88580180e-01 -6.23618876e-03 5.38028912e+01] [ 5.58288423e-02 -2.20469548e-03 9.98437920e-01 2.76179493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.13, Y:53.81, Z:27.62 [[ 9.86984739e-01 -1.50950934e-01 -5.54521451e-02 5.83132535e+02] [ 1.50838866e-01 9.88538763e-01 -6.22502295e-03 5.38053816e+01] [ 5.57562680e-02 -2.22033602e-03 9.98441941e-01 2.76196689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.16, Y:53.81, Z:27.62 [[ 9.86923501e-01 -1.51537223e-01 -5.49406410e-02 5.83163959e+02] [ 1.51428329e-01 9.88449022e-01 -6.16380678e-03 5.38081933e+01] [ 5.52400691e-02 -2.23636371e-03 9.98470597e-01 2.76215194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.20, Y:53.81, Z:27.62 [[ 9.86923967e-01 -1.51436956e-01 -5.52080831e-02 5.83196138e+02] [ 1.51327034e-01 9.88464369e-01 -6.19037881e-03 5.38138996e+01] [ 5.55086751e-02 -2.24504224e-03 9.98455681e-01 2.76235419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.23, Y:53.82, Z:27.63 [[ 9.86987507e-01 -1.50988562e-01 -5.53002336e-02 5.83228427e+02] [ 1.50877891e-01 9.88532996e-01 -6.19493832e-03 5.38185499e+01] [ 5.56014705e-02 -2.22925590e-03 9.98450553e-01 2.76251074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.26, Y:53.82, Z:27.63 [[ 9.87044826e-01 -1.50398441e-01 -5.58821984e-02 5.83259968e+02] [ 1.50284718e-01 9.88622965e-01 -6.25600205e-03 5.38227505e+01] [ 5.61873176e-02 -2.22328597e-03 9.98417769e-01 2.76263800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.29, Y:53.83, Z:27.63 [[ 9.87127049e-01 -1.49456562e-01 -5.69466862e-02 5.83290849e+02] [ 1.49337186e-01 9.88765809e-01 -6.37023016e-03 5.38260829e+01] [ 5.72590090e-02 -2.21603135e-03 9.98356898e-01 2.76266381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.32, Y:53.83, Z:27.63 [[ 9.87164627e-01 -1.48933118e-01 -5.76621691e-02 5.83323169e+02] [ 1.48810279e-01 9.88844778e-01 -6.44256313e-03 5.38301534e+01] [ 5.79784458e-02 -2.22085305e-03 9.98315365e-01 2.76278399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.36, Y:53.83, Z:27.63 [[ 9.87170758e-01 -1.48492799e-01 -5.86837598e-02 5.83355051e+02] [ 1.48365059e-01 9.88910956e-01 -6.55219934e-03 5.38330228e+01] [ 5.90059674e-02 -2.23847991e-03 9.98255120e-01 2.76281212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.39, Y:53.84, Z:27.63 [[ 9.87171403e-01 -1.48257946e-01 -5.92638415e-02 5.83386592e+02] [ 1.48127553e-01 9.88946162e-01 -6.61181993e-03 5.38365931e+01] [ 5.95890034e-02 -2.25160828e-03 9.98220457e-01 2.76293782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.42, Y:53.84, Z:27.63 [[ 9.87229637e-01 -1.47953021e-01 -5.90554584e-02 5.83417333e+02] [ 1.47823280e-01 9.88991876e-01 -6.58385887e-03 5.38397220e+01] [ 5.93794704e-02 -2.22999098e-03 9.98232992e-01 2.76309218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.45, Y:53.84, Z:27.63 [[ 9.87292296e-01 -1.47540819e-01 -5.90392117e-02 5.83448814e+02] [ 1.47410791e-01 9.89053496e-01 -6.57570689e-03 5.38438274e+01] [ 5.93631239e-02 -2.21087216e-03 9.98234006e-01 2.76327552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.48, Y:53.85, Z:27.63 [[ 9.87410223e-01 -1.46311011e-01 -6.01177080e-02 5.83479911e+02] [ 1.46174159e-01 9.89236238e-01 -6.69177866e-03 5.38472820e+01] [ 6.04496962e-02 -2.18012477e-03 9.98168864e-01 2.76335138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.51, Y:53.85, Z:27.64 [[ 9.87524294e-01 -1.45290869e-01 -6.07151700e-02 5.83511839e+02] [ 1.45149570e-01 9.89386666e-01 -6.75483329e-03 5.38535003e+01] [ 6.10521952e-02 -2.14221887e-03 9.98132276e-01 2.76354014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.54, Y:53.86, Z:27.64 [[ 9.87641616e-01 -1.44361167e-01 -6.10237042e-02 5.83543574e+02] [ 1.44216926e-01 9.89522837e-01 -6.78478636e-03 5.38597869e+01] [ 6.13638086e-02 -2.09971370e-03 9.98113257e-01 2.76372944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.57, Y:53.86, Z:27.64 [[ 9.87902857e-01 -1.42449283e-01 -6.12874051e-02 5.83574882e+02] [ 1.42300382e-01 9.89800094e-01 -6.80988701e-03 5.38608731e+01] [ 6.16323429e-02 -1.99371432e-03 9.98096929e-01 2.76371479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.61, Y:53.87, Z:27.64 [[ 9.88092096e-01 -1.41229379e-01 -6.10595727e-02 5.83606541e+02] [ 1.41079475e-01 9.89975050e-01 -6.78103372e-03 5.38689671e+01] [ 6.14051347e-02 -1.91396666e-03 9.98111089e-01 2.76407289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.64, Y:53.88, Z:27.64 [[ 9.88224429e-01 -1.40328480e-01 -6.09950540e-02 5.83638190e+02] [ 1.40177449e-01 9.90103256e-01 -6.76949604e-03 5.38751830e+01] [ 6.13413546e-02 -1.86034970e-03 9.98115112e-01 2.76433654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.67, Y:53.88, Z:27.65 [[ 9.88549043e-01 -1.38459692e-01 -5.99975316e-02 5.83670396e+02] [ 1.38310401e-01 9.90366576e-01 -6.65421528e-03 5.38804826e+01] [ 6.03408906e-02 -1.72026452e-03 9.98176346e-01 2.76460088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.70, Y:53.88, Z:27.65 [[ 9.88679089e-01 -1.37706075e-01 -5.95877161e-02 5.83701185e+02] [ 1.37557748e-01 9.90471734e-01 -6.60379943e-03 5.38830954e+01] [ 5.99293318e-02 -1.66771365e-03 9.98201229e-01 2.76473496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.73, Y:53.89, Z:27.65 [[ 9.89036804e-01 -1.35466372e-01 -5.87797801e-02 5.83733229e+02] [ 1.35318304e-01 9.90780787e-01 -6.51067573e-03 5.38896585e+01] [ 5.91198544e-02 -1.51468220e-03 9.98249743e-01 2.76500855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.76, Y:53.89, Z:27.65 [[ 9.89246856e-01 -1.34118885e-01 -5.83333805e-02 5.83764625e+02] [ 1.33971015e-01 9.90964220e-01 -6.45619561e-03 5.38947472e+01] [ 5.86721906e-02 -1.42821096e-03 9.98276282e-01 2.76522440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.80, Y:53.90, Z:27.65 [[ 9.89261369e-01 -1.34011567e-01 -5.83338907e-02 5.83796955e+02] [ 1.33863782e-01 9.90978741e-01 -6.45158215e-03 5.38982364e+01] [ 5.86722322e-02 -1.42649423e-03 9.98276282e-01 2.76537899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.83, Y:53.90, Z:27.66 [[ 9.89459738e-01 -1.32598873e-01 -5.81976374e-02 5.83828755e+02] [ 1.32449686e-01 9.91168870e-01 -6.43054914e-03 5.39023858e+01] [ 5.85363700e-02 -1.34548934e-03 9.98284370e-01 2.76555476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.86, Y:53.91, Z:27.66 [[ 9.89892493e-01 -1.29707772e-01 -5.73475886e-02 5.83860338e+02] [ 1.29558304e-01 9.91551585e-01 -6.33250617e-03 5.39084081e+01] [ 5.76844676e-02 -1.16135602e-03 9.98334189e-01 2.76576210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.89, Y:53.91, Z:27.66 [[ 9.90077444e-01 -1.28335049e-01 -5.72430781e-02 5.83891539e+02] [ 1.28184116e-01 9.91730276e-01 -6.31607863e-03 5.39100459e+01] [ 5.75802679e-02 -1.08424635e-03 9.98340291e-01 2.76576223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.92, Y:53.92, Z:27.66 [[ 9.90231979e-01 -1.26984058e-01 -5.75819221e-02 5.83923668e+02] [ 1.26829495e-01 9.91904234e-01 -6.34580374e-03 5.39163564e+01] [ 5.79215683e-02 -1.01926829e-03 9.98320616e-01 2.76601132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.96, Y:53.92, Z:27.66 [[ 9.90364734e-01 -1.25845121e-01 -5.77987748e-02 5.83955779e+02] [ 1.25687749e-01 9.92049435e-01 -6.36461738e-03 5.39202496e+01] [ 5.81401980e-02 -9.61305307e-04 9.98307965e-01 2.76615505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:583.99, Y:53.92, Z:27.66 [[ 9.90532378e-01 -1.24480702e-01 -5.78805898e-02 5.83987776e+02] [ 1.24320802e-01 9.92221633e-01 -6.36941347e-03 5.39242493e+01] [ 5.82232423e-02 -8.86651069e-04 9.98303194e-01 2.76630606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.02, Y:53.93, Z:27.66 [[ 9.90628928e-01 -1.23755483e-01 -5.77832772e-02 5.84019367e+02] [ 1.23595134e-01 9.92312382e-01 -6.35447920e-03 5.39275121e+01] [ 5.81254631e-02 -8.46800980e-04 9.98308927e-01 2.76645868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.05, Y:53.93, Z:27.67 [[ 9.90700494e-01 -1.23250455e-01 -5.76355442e-02 5.84050451e+02] [ 1.23090309e-01 9.92375259e-01 -6.33414518e-03 5.39293060e+01] [ 5.79767744e-02 -8.19136208e-04 9.98317596e-01 2.76653005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.08, Y:53.93, Z:27.67 [[ 9.90753974e-01 -1.22892424e-01 -5.74805653e-02 5.84082325e+02] [ 1.22732732e-01 9.92419676e-01 -6.31374066e-03 5.39329405e+01] [ 5.78207549e-02 -7.99383173e-04 9.98326661e-01 2.76676951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.11, Y:53.93, Z:27.67 [[ 9.90872917e-01 -1.22120114e-01 -5.70748709e-02 5.84113159e+02] [ 1.21961661e-01 9.92515043e-01 -6.26446452e-03 5.39349843e+01] [ 5.74126851e-02 -7.53657806e-04 9.98350247e-01 2.76687428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.14, Y:53.94, Z:27.67 [[ 9.90916309e-01 -1.21796117e-01 -5.70138015e-02 5.84144840e+02] [ 1.21637850e-01 9.92554864e-01 -6.25109320e-03 5.39379500e+01] [ 5.73506848e-02 -7.40726043e-04 9.98353820e-01 2.76701405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.18, Y:53.94, Z:27.67 [[ 9.90959623e-01 -1.21422850e-01 -5.70571447e-02 5.84177217e+02] [ 1.21263958e-01 9.92600608e-01 -6.25177280e-03 5.39411732e+01] [ 5.73940647e-02 -7.23720804e-04 9.98351340e-01 2.76720435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.21, Y:53.94, Z:27.67 [[ 9.91014671e-01 -1.21044593e-01 -5.69045485e-02 5.84208915e+02] [ 1.20886162e-01 9.92646821e-01 -6.23097336e-03 5.39437364e+01] [ 5.72403448e-02 -7.03986432e-04 9.98360179e-01 2.76733333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.24, Y:53.94, Z:27.67 [[ 9.91043065e-01 -1.21087382e-01 -5.63159750e-02 5.84241114e+02] [ 1.20932507e-01 9.92641603e-01 -6.16254501e-03 5.39443115e+01] [ 5.66477862e-02 -7.03084571e-04 9.98393977e-01 2.76744842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.27, Y:53.95, Z:27.68 [[ 9.91038706e-01 -1.21355400e-01 -5.58135283e-02 5.84273577e+02] [ 1.21203925e-01 9.92608863e-01 -6.10361658e-03 5.39463829e+01] [ 5.61417097e-02 -7.15898417e-04 9.98422554e-01 2.76762269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.31, Y:53.95, Z:27.68 [[ 9.90926436e-01 -1.22708801e-01 -5.48392937e-02 5.84306363e+02] [ 1.22564857e-01 9.92442410e-01 -5.99317114e-03 5.39465484e+01] [ 5.51602556e-02 -7.82578468e-04 9.98477207e-01 2.76782759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.34, Y:53.95, Z:27.68 [[ 9.90788399e-01 -1.24091273e-01 -5.42190340e-02 5.84338917e+02] [ 1.23952853e-01 9.92270440e-01 -5.92141302e-03 5.39476987e+01] [ 5.45347404e-02 -8.53736636e-04 9.98511509e-01 2.76799557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.37, Y:53.95, Z:27.68 [[ 9.90591086e-01 -1.25773296e-01 -5.39479166e-02 5.84370823e+02] [ 1.25638959e-01 9.92058559e-01 -5.88794199e-03 5.39468506e+01] [ 5.42600382e-02 -9.45417213e-04 9.98526391e-01 2.76810176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.40, Y:53.94, Z:27.68 [[ 9.90119169e-01 -1.29902444e-01 -5.28146453e-02 5.84402911e+02] [ 1.29779725e-01 9.91526113e-01 -5.76113155e-03 5.39436441e+01] [ 5.31154850e-02 -1.15006337e-03 9.98587714e-01 2.76826753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.43, Y:53.94, Z:27.68 [[ 9.89854520e-01 -1.32133940e-01 -5.22364984e-02 5.84434844e+02] [ 1.32017259e-01 9.91231069e-01 -5.69306738e-03 5.39410337e+01] [ 5.25306876e-02 -1.26081086e-03 9.98618514e-01 2.76838956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.47, Y:53.94, Z:27.69 [[ 9.89624655e-01 -1.34307329e-01 -5.10351182e-02 5.84467232e+02] [ 1.34198981e-01 9.90938811e-01 -5.55939438e-03 5.39421272e+01] [ 5.13193468e-02 -1.34714713e-03 9.98681386e-01 2.76858888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.50, Y:53.94, Z:27.69 [[ 9.89392916e-01 -1.36342037e-01 -5.01249209e-02 5.84498733e+02] [ 1.36240302e-01 9.90660791e-01 -5.45677667e-03 5.39410985e+01] [ 5.04007818e-02 -1.43013818e-03 9.98728049e-01 2.76874001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.53, Y:53.94, Z:27.69 [[ 9.89007702e-01 -1.39653527e-01 -4.85865960e-02 5.84531322e+02] [ 1.39562054e-01 9.90199214e-01 -5.28677168e-03 5.39400085e+01] [ 4.88487255e-02 -1.55218723e-03 9.98804982e-01 2.76896171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.56, Y:53.94, Z:27.69 [[ 9.88837118e-01 -1.41140798e-01 -4.77538325e-02 5.84563071e+02] [ 1.41054331e-01 9.89988238e-01 -5.19271656e-03 5.39401608e+01] [ 4.80086366e-02 -1.60113400e-03 9.98845637e-01 2.76914896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.60, Y:53.94, Z:27.69 [[ 9.88573947e-01 -1.43237826e-01 -4.69518580e-02 5.84595029e+02] [ 1.43156718e-01 9.89686877e-01 -5.10297689e-03 5.39363753e+01] [ 4.71985771e-02 -1.67680391e-03 9.98884119e-01 2.76927831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.63, Y:53.94, Z:27.69 [[ 9.88493156e-01 -1.43868952e-01 -4.67226526e-02 5.84627679e+02] [ 1.43789613e-01 9.89595281e-01 -5.07222239e-03 5.39368077e+01] [ 4.69662519e-02 -1.70437501e-03 9.98895023e-01 2.76942124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.66, Y:53.94, Z:27.70 [[ 9.88445870e-01 -1.44287616e-01 -4.64310892e-02 5.84659701e+02] [ 1.44209882e-01 9.89534303e-01 -5.03719601e-03 5.39367937e+01] [ 4.66719605e-02 -1.71682633e-03 9.98908795e-01 2.76955098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.69, Y:53.94, Z:27.70 [[ 9.88437491e-01 -1.44495736e-01 -4.59598541e-02 5.84692393e+02] [ 1.44419950e-01 9.89503941e-01 -4.98276753e-03 5.39357642e+01] [ 4.61974455e-02 -1.71236561e-03 9.98930860e-01 2.76966410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.72, Y:53.94, Z:27.70 [[ 9.88453494e-01 -1.44386113e-01 -4.59602156e-02 5.84724736e+02] [ 1.44310363e-01 9.89519946e-01 -4.97943135e-03 5.39391829e+01] [ 4.61975108e-02 -1.71059909e-03 9.98930860e-01 2.76981873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.76, Y:53.94, Z:27.70 [[ 9.88528169e-01 -1.44126423e-01 -4.51622954e-02 5.84756195e+02] [ 1.44053242e-01 9.89557867e-01 -4.88789120e-03 5.39350371e+01] [ 4.53951790e-02 -1.67395692e-03 9.98967705e-01 2.77003895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.79, Y:53.94, Z:27.70 [[ 9.88548436e-01 -1.44167089e-01 -4.45851964e-02 5.84788157e+02] [ 1.44095915e-01 9.89551972e-01 -4.82303323e-03 5.39360219e+01] [ 4.48146917e-02 -1.65674273e-03 9.98993943e-01 2.77029654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.82, Y:53.93, Z:27.70 [[ 9.88344601e-01 -1.44983307e-01 -4.64197215e-02 5.84819464e+02] [ 1.44907217e-01 9.89432523e-01 -5.01799388e-03 5.39334266e+01] [ 4.66567075e-02 -1.76704552e-03 9.98909420e-01 2.77034714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.85, Y:53.94, Z:27.70 [[ 9.88250703e-01 -1.44790032e-01 -4.89529899e-02 5.84852066e+02] [ 1.44705314e-01 9.89460660e-01 -5.28900055e-03 5.39367831e+01] [ 4.92028523e-02 -1.85689928e-03 9.98787080e-01 2.77026993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.88, Y:53.94, Z:27.70 [[ 9.88231122e-01 -1.44424410e-01 -5.04067446e-02 5.84883286e+02] [ 1.44334377e-01 9.89514015e-01 -5.44082537e-03 5.39350679e+01] [ 5.06639682e-02 -1.89863314e-03 9.98713952e-01 2.77025366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.92, Y:53.94, Z:27.70 [[ 9.88513025e-01 -1.42489049e-01 -5.03872058e-02 5.84915439e+02] [ 1.42396866e-01 9.89794734e-01 -5.43300492e-03 5.39391401e+01] [ 5.06471347e-02 -1.80438406e-03 9.98714980e-01 2.77048294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.95, Y:53.94, Z:27.71 [[ 9.88698047e-01 -1.41450944e-01 -4.96769813e-02 5.84946658e+02] [ 1.41360213e-01 9.89943755e-01 -5.35283430e-03 5.39389449e+01] [ 4.99345809e-02 -1.73001183e-03 9.98750992e-01 2.77070295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:584.98, Y:53.94, Z:27.71 [[ 9.89125085e-01 -1.38632339e-01 -4.91186329e-02 5.84977312e+02] [ 1.38540296e-01 9.90342669e-01 -5.29002111e-03 5.39427805e+01] [ 4.93776460e-02 -1.57241738e-03 9.98778942e-01 2.77102199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.01, Y:53.95, Z:27.71 [[ 9.89387225e-01 -1.36730623e-01 -4.91696595e-02 5.85008738e+02] [ 1.36636134e-01 9.90607159e-01 -5.29367300e-03 5.39453611e+01] [ 4.94316239e-02 -1.48085976e-03 9.98776412e-01 2.77122609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.04, Y:53.95, Z:27.71 [[ 9.89648503e-01 -1.34768970e-01 -4.93271208e-02 5.85039692e+02] [ 1.34671533e-01 9.90876075e-01 -5.30878560e-03 5.39470964e+01] [ 4.95925234e-02 -1.38912723e-03 9.98768568e-01 2.77139006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.07, Y:53.95, Z:27.72 [[ 9.89987526e-01 -1.32373830e-01 -4.90088593e-02 5.85070901e+02] [ 1.32274803e-01 9.91199059e-01 -5.27273842e-03 5.39469956e+01] [ 4.92755078e-02 -1.26269192e-03 9.98784426e-01 2.77153106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.10, Y:53.95, Z:27.72 [[ 9.90141266e-01 -1.31236958e-01 -4.89605285e-02 5.85102272e+02] [ 1.31136826e-01 9.91350294e-01 -5.26574046e-03 5.39488547e+01] [ 4.92280941e-02 -1.20670139e-03 9.98786833e-01 2.77170517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.13, Y:53.95, Z:27.72 [[ 9.90183305e-01 -1.31004634e-01 -4.87320090e-02 5.85134112e+02] [ 1.30905243e-01 9.91381040e-01 -5.23936106e-03 5.39496059e+01] [ 4.89983703e-02 -1.19134762e-03 9.98798148e-01 2.77191021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.17, Y:53.95, Z:27.72 [[ 9.90214183e-01 -1.30892648e-01 -4.84044012e-02 5.85166273e+02] [ 1.30794542e-01 9.91395846e-01 -5.20235696e-03 5.39466598e+01] [ 4.86688726e-02 -1.17958384e-03 9.98814272e-01 2.77209221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.20, Y:53.95, Z:27.72 [[ 9.90103199e-01 -1.31718666e-01 -4.84339664e-02 5.85196499e+02] [ 1.31621512e-01 9.91286386e-01 -5.20378735e-03 5.39463364e+01] [ 4.86973674e-02 -1.22266541e-03 9.98812831e-01 2.77221726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.23, Y:53.95, Z:27.72 [[ 9.89991501e-01 -1.32354054e-01 -4.89819629e-02 5.85226633e+02] [ 1.32255464e-01 9.91201693e-01 -5.26269649e-03 5.39452415e+01] [ 4.92475437e-02 -1.26810741e-03 9.98785799e-01 2.77231673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.26, Y:53.94, Z:27.72 [[ 9.89629517e-01 -1.35060339e-01 -4.89093439e-02 5.85257307e+02] [ 1.34965296e-01 9.90836387e-01 -5.25579342e-03 5.39406592e+01] [ 4.91710069e-02 -1.39977577e-03 9.98789394e-01 2.77247895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.29, Y:53.94, Z:27.73 [[ 9.89369492e-01 -1.36978557e-01 -4.88352618e-02 5.85286861e+02] [ 1.36886090e-01 9.90572889e-01 -5.24872266e-03 5.39393488e+01] [ 4.90938489e-02 -1.49194199e-03 9.98793056e-01 2.77261696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.32, Y:53.94, Z:27.73 [[ 9.89077041e-01 -1.38980247e-01 -4.91029269e-02 5.85316256e+02] [ 1.38889179e-01 9.90293862e-01 -5.27845193e-03 5.39382631e+01] [ 4.93599277e-02 -1.59906957e-03 9.98779776e-01 2.77278190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.35, Y:53.94, Z:27.73 [[ 9.88769770e-01 -1.41198669e-01 -4.89620108e-02 5.85346652e+02] [ 1.41110713e-01 9.89979817e-01 -5.26583860e-03 5.39393795e+01] [ 4.92149319e-02 -1.70236222e-03 9.98786760e-01 2.77293937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.38, Y:53.93, Z:27.73 [[ 9.88085533e-01 -1.45752081e-01 -4.94298505e-02 5.85377532e+02] [ 1.45668115e-01 9.89319230e-01 -5.31619501e-03 5.39344442e+01] [ 4.96767481e-02 -1.94749780e-03 9.98763449e-01 2.77304001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.41, Y:53.93, Z:27.73 [[ 9.87735093e-01 -1.48094428e-01 -4.94714706e-02 5.85407075e+02] [ 1.48013204e-01 9.88971067e-01 -5.32163203e-03 5.39343508e+01] [ 4.97139572e-02 -2.06606816e-03 9.98761360e-01 2.77314468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.44, Y:53.93, Z:27.73 [[ 9.87445159e-01 -1.50016902e-01 -4.94670380e-02 5.85435887e+02] [ 1.49938004e-01 9.88681071e-01 -5.32305006e-03 5.39323456e+01] [ 4.97056716e-02 -2.16076891e-03 9.98761572e-01 2.77322571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.47, Y:53.93, Z:27.73 [[ 9.86813528e-01 -1.54412122e-01 -4.85381986e-02 5.85466112e+02] [ 1.54341329e-01 9.88003768e-01 -5.22571374e-03 5.39310649e+01] [ 4.87628367e-02 -2.33464507e-03 9.98807657e-01 2.77341365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.50, Y:53.93, Z:27.74 [[ 9.86589109e-01 -1.55995985e-01 -4.80331471e-02 5.85496280e+02] [ 1.55928474e-01 9.87754806e-01 -5.17245480e-03 5.39310893e+01] [ 4.82518540e-02 -2.38664775e-03 9.98832350e-01 2.77356992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.53, Y:53.93, Z:27.74 [[ 9.85946722e-01 -1.60035704e-01 -4.79336511e-02 5.85525670e+02] [ 1.59973142e-01 9.87107862e-01 -5.16352464e-03 5.39272332e+01] [ 4.81420322e-02 -2.57713656e-03 9.98837175e-01 2.77371359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.55, Y:53.93, Z:27.74 [[ 9.85527042e-01 -1.62613641e-01 -4.78879150e-02 5.85554807e+02] [ 1.62554144e-01 9.86686131e-01 -5.16038082e-03 5.39270779e+01] [ 4.80894899e-02 -2.69868416e-03 9.98839386e-01 2.77382041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.59, Y:53.92, Z:27.74 [[ 9.84780844e-01 -1.66994086e-01 -4.81628903e-02 5.85585717e+02] [ 1.66938990e-01 9.85953554e-01 -5.19265039e-03 5.39243685e+01] [ 4.83535148e-02 -2.92664163e-03 9.98825997e-01 2.77388754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.62, Y:53.92, Z:27.74 [[ 9.84066963e-01 -1.71275590e-01 -4.77167073e-02 5.85616667e+02] [ 1.71226487e-01 9.85218259e-01 -5.14513914e-03 5.39242226e+01] [ 4.78926080e-02 -3.10720271e-03 9.98847658e-01 2.77399157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.65, Y:53.92, Z:27.74 [[ 9.83353601e-01 -1.75333277e-01 -4.76858300e-02 5.85646245e+02] [ 1.75288968e-01 9.84503599e-01 -5.14207944e-03 5.39201161e+01] [ 4.78484489e-02 -3.30231759e-03 9.98849148e-01 2.77404996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.68, Y:53.92, Z:27.74 [[ 9.82428916e-01 -1.79585196e-01 -5.08191103e-02 5.85676707e+02] [ 1.79540536e-01 9.83735313e-01 -5.47992385e-03 5.39150764e+01] [ 5.09766666e-02 -3.74045468e-03 9.98692840e-01 2.77389518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.71, Y:53.92, Z:27.74 [[ 9.82183646e-01 -1.80780827e-01 -5.13183930e-02 5.85705374e+02] [ 1.80736850e-01 9.83515916e-01 -5.53490065e-03 5.39200985e+01] [ 5.14730602e-02 -3.83883577e-03 9.98667005e-01 2.77398474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.73, Y:53.92, Z:27.74 [[ 9.82129912e-01 -1.81072640e-01 -5.13179789e-02 5.85732691e+02] [ 1.81028859e-01 9.83462188e-01 -5.53873668e-03 5.39231101e+01] [ 5.14722054e-02 -3.85027622e-03 9.98667005e-01 2.77411553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.76, Y:53.92, Z:27.74 [[ 9.81933429e-01 -1.81973394e-01 -5.18885820e-02 5.85761339e+02] [ 1.81929115e-01 9.83295616e-01 -5.61512012e-03 5.39199196e+01] [ 5.20436177e-02 -3.92636965e-03 9.98637094e-01 2.77413777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.79, Y:53.92, Z:27.74 [[ 9.81881556e-01 -1.82253256e-01 -5.18879681e-02 5.85788659e+02] [ 1.82209067e-01 9.83243745e-01 -5.62078727e-03 5.39229582e+01] [ 5.20429269e-02 -3.93551093e-03 9.98637094e-01 2.77426860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.82, Y:53.93, Z:27.74 [[ 9.81829575e-01 -1.82533536e-01 -5.18863618e-02 5.85815977e+02] [ 1.82488959e-01 9.83191751e-01 -5.63557821e-03 5.39260090e+01] [ 5.20429250e-02 -3.93551078e-03 9.98637094e-01 2.77439958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.84, Y:53.93, Z:27.75 [[ 9.81777514e-01 -1.82813801e-01 -5.18847513e-02 5.85843294e+02] [ 1.82768836e-01 9.83139678e-01 -5.65036870e-03 5.39290676e+01] [ 5.20429230e-02 -3.93551064e-03 9.98637094e-01 2.77453055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.87, Y:53.94, Z:27.75 [[ 9.81446729e-01 -1.84442320e-01 -5.23769796e-02 5.85871938e+02] [ 1.84398064e-01 9.82835011e-01 -5.71801922e-03 5.39371891e+01] [ 5.25325740e-02 -4.04628238e-03 9.98611013e-01 2.77465651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.90, Y:53.94, Z:27.75 [[ 9.81296355e-01 -1.85039444e-01 -5.30836009e-02 5.85900013e+02] [ 1.84994684e-01 9.82722415e-01 -5.79840635e-03 5.39382336e+01] [ 5.32393783e-02 -4.13022896e-03 9.98573237e-01 2.77473520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.93, Y:53.94, Z:27.75 [[ 9.80800984e-01 -1.87488561e-01 -5.36420420e-02 5.85929564e+02] [ 1.87446245e-01 9.82257359e-01 -5.86399660e-03 5.39429246e+01] [ 5.37897228e-02 -4.30358571e-03 9.98543011e-01 2.77486380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.96, Y:53.94, Z:27.75 [[ 9.80659352e-01 -1.88210043e-01 -5.37048958e-02 5.85957257e+02] [ 1.88168599e-01 9.82119183e-01 -5.87279704e-03 5.39428593e+01] [ 5.38499277e-02 -4.34636163e-03 9.98539581e-01 2.77495506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:585.99, Y:53.94, Z:27.75 [[ 9.80598156e-01 -1.88571241e-01 -5.35550478e-02 5.85985686e+02] [ 1.88530160e-01 9.82049894e-01 -5.86387546e-03 5.39425090e+01] [ 5.36994873e-02 -4.34663627e-03 9.98547681e-01 2.77504089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.01, Y:53.95, Z:27.75 [[ 9.80443610e-01 -1.89375354e-01 -5.35471967e-02 5.86013985e+02] [ 1.89335020e-01 9.81894992e-01 -5.87148035e-03 5.39505939e+01] [ 5.36896380e-02 -4.38170415e-03 9.98548058e-01 2.77523566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.04, Y:53.95, Z:27.75 [[ 9.80402265e-01 -1.89551250e-01 -5.36816688e-02 5.86041531e+02] [ 1.89510271e-01 9.81861016e-01 -5.89930196e-03 5.39515339e+01] [ 5.38261580e-02 -4.38953860e-03 9.98540674e-01 2.77533729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.07, Y:53.96, Z:27.76 [[ 9.80324257e-01 -1.89979896e-01 -5.35909546e-02 5.86069988e+02] [ 1.89939364e-01 9.81778123e-01 -5.89538025e-03 5.39566897e+01] [ 5.37344306e-02 -4.39964760e-03 9.98545569e-01 2.77554255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.10, Y:53.96, Z:27.76 [[ 9.80386792e-01 -1.89784626e-01 -5.31369308e-02 5.86098341e+02] [ 1.89743758e-01 9.81816162e-01 -5.85918755e-03 5.39621933e+01] [ 5.32826812e-02 -4.33813082e-03 9.98570046e-01 2.77577118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.13, Y:53.97, Z:27.76 [[ 9.80468058e-01 -1.89763896e-01 -5.16918868e-02 5.86126602e+02] [ 1.89724497e-01 9.81820745e-01 -5.71310421e-03 5.39676328e+01] [ 5.18363077e-02 -4.20570103e-03 9.98646739e-01 2.77604619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.15, Y:53.97, Z:27.76 [[ 9.80456906e-01 -1.90084972e-01 -5.07144797e-02 5.86154857e+02] [ 1.90046829e-01 9.81758954e-01 -5.61766226e-03 5.39665916e+01] [ 5.08572278e-02 -4.13025030e-03 9.98697393e-01 2.77618667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.18, Y:53.97, Z:27.76 [[ 9.80558535e-01 -1.89612403e-01 -5.05182701e-02 5.86182525e+02] [ 1.89573665e-01 9.81850524e-01 -5.60119634e-03 5.39740685e+01] [ 5.06634463e-02 -4.08463272e-03 9.98707430e-01 2.77638657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.21, Y:53.97, Z:27.77 [[ 9.80680739e-01 -1.89174895e-01 -4.97809963e-02 5.86210682e+02] [ 1.89136090e-01 9.81935302e-01 -5.53197220e-03 5.39715013e+01] [ 4.99282279e-02 -3.99028439e-03 9.98744837e-01 2.77654999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.24, Y:53.98, Z:27.77 [[ 9.80621924e-01 -1.89431816e-01 -4.99622784e-02 5.86237782e+02] [ 1.89392797e-01 9.81885678e-01 -5.55735722e-03 5.39807978e+01] [ 5.01099859e-02 -4.01282931e-03 9.98735644e-01 2.77672669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.27, Y:53.99, Z:27.77 [[ 9.80607112e-01 -1.89549053e-01 -4.98081213e-02 5.86265368e+02] [ 1.89509687e-01 9.81863138e-01 -5.55494999e-03 5.39883923e+01] [ 4.99576938e-02 -3.99189801e-03 9.98743357e-01 2.77687782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.29, Y:53.99, Z:27.77 [[ 9.80547707e-01 -1.89704599e-01 -5.03821346e-02 5.86292822e+02] [ 1.89663835e-01 9.81832930e-01 -5.63263709e-03 5.39939452e+01] [ 5.05353760e-02 -4.03259945e-03 9.98714130e-01 2.77700923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.32, Y:54.00, Z:27.77 [[ 9.80582507e-01 -1.89332406e-01 -5.10997775e-02 5.86320484e+02] [ 1.89289199e-01 9.81904674e-01 -5.72795304e-03 5.39952026e+01] [ 5.12595976e-02 -4.05590542e-03 9.98677127e-01 2.77707284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.35, Y:54.00, Z:27.77 [[ 9.80582785e-01 -1.88949279e-01 -5.24935439e-02 5.86349442e+02] [ 1.88902833e-01 9.81978119e-01 -5.89008270e-03 5.40002477e+01] [ 5.26604384e-02 -4.14046545e-03 9.98603893e-01 2.77707538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.38, Y:54.00, Z:27.77 [[ 9.80655184e-01 -1.88387407e-01 -5.31563204e-02 5.86378321e+02] [ 1.88338295e-01 9.82086026e-01 -5.97699310e-03 5.40047653e+01] [ 5.33300697e-02 -4.15000148e-03 9.98568316e-01 2.77715680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.41, Y:54.01, Z:27.77 [[ 9.80666691e-01 -1.88159340e-01 -5.37485292e-02 5.86406598e+02] [ 1.88108397e-01 9.82129634e-01 -6.05084961e-03 5.40056557e+01] [ 5.39265471e-02 -4.17668303e-03 9.98536170e-01 2.77724070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.44, Y:54.01, Z:27.77 [[ 9.80751789e-01 -1.87736123e-01 -5.36756669e-02 5.86435120e+02] [ 1.87684365e-01 9.82210768e-01 -6.04862780e-03 5.40139343e+01] [ 5.38563639e-02 -4.14188095e-03 9.98540103e-01 2.77740404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.46, Y:54.02, Z:27.78 [[ 9.81142492e-01 -1.85822262e-01 -5.31930188e-02 5.86463018e+02] [ 1.85768001e-01 9.82575278e-01 -6.00607817e-03 5.40191770e+01] [ 5.33822083e-02 -3.98874228e-03 9.98566187e-01 2.77762250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.49, Y:54.02, Z:27.78 [[ 9.81385583e-01 -1.84612508e-01 -5.29203076e-02 5.86490918e+02] [ 1.84556890e-01 9.82803650e-01 -5.97834866e-03 5.40222841e+01] [ 5.31139494e-02 -3.89974219e-03 9.98580843e-01 2.77776647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.52, Y:54.03, Z:27.78 [[ 9.81658472e-01 -1.83336114e-01 -5.22925869e-02 5.86519076e+02] [ 1.83279803e-01 9.83043016e-01 -5.91126427e-03 5.40264030e+01] [ 5.24896106e-02 -3.78133235e-03 9.98614311e-01 2.77793578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.55, Y:54.03, Z:27.78 [[ 9.82270981e-01 -1.80284099e-01 -5.13941988e-02 5.86547552e+02] [ 1.80225363e-01 9.83608166e-01 -5.81325489e-03 5.40303081e+01] [ 5.15997910e-02 -3.55234657e-03 9.98661525e-01 2.77808737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.58, Y:54.04, Z:27.78 [[ 9.82532623e-01 -1.79068834e-01 -5.06359360e-02 5.86576234e+02] [ 1.79010085e-01 9.83830553e-01 -5.72996127e-03 5.40367923e+01] [ 5.08432384e-02 -3.43446931e-03 9.98700741e-01 2.77826105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.61, Y:54.04, Z:27.78 [[ 9.83065108e-01 -1.76419543e-01 -4.95896995e-02 5.86605711e+02] [ 1.76359294e-01 9.84309802e-01 -5.62248500e-03 5.40426605e+01] [ 4.98035436e-02 -3.21833557e-03 9.98753848e-01 2.77842706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.63, Y:54.04, Z:27.79 [[ 9.83151310e-01 -1.76056830e-01 -4.91680184e-02 5.86633362e+02] [ 1.75997098e-01 9.84374895e-01 -5.57569307e-03 5.40445785e+01] [ 4.93814018e-02 -3.17167863e-03 9.98774958e-01 2.77856055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.66, Y:54.05, Z:27.79 [[ 9.83136614e-01 -1.76183434e-01 -4.90081281e-02 5.86660914e+02] [ 1.76124013e-01 9.84352271e-01 -5.56227727e-03 5.40479424e+01] [ 4.92212433e-02 -3.16302978e-03 9.98782892e-01 2.77867927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.69, Y:54.05, Z:27.79 [[ 9.82875622e-01 -1.77559380e-01 -4.92765527e-02 5.86689329e+02] [ 1.77500337e-01 9.84104768e-01 -5.60669264e-03 5.40509553e+01] [ 4.94888113e-02 -3.23592320e-03 9.98769436e-01 2.77878089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.72, Y:54.06, Z:27.79 [[ 9.82644687e-01 -1.78789518e-01 -4.94340673e-02 5.86716944e+02] [ 1.78731054e-01 9.83881822e-01 -5.63651860e-03 5.40589095e+01] [ 4.96450307e-02 -3.29670789e-03 9.98761484e-01 2.77887513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.75, Y:54.06, Z:27.79 [[ 9.82340792e-01 -1.80407911e-01 -4.95938990e-02 5.86745676e+02] [ 1.80350896e-01 9.83586055e-01 -5.65923748e-03 5.40586329e+01] [ 4.98008387e-02 -3.38500429e-03 9.98753432e-01 2.77895684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.78, Y:54.06, Z:27.79 [[ 9.81728347e-01 -1.83695900e-01 -4.96514851e-02 5.86775687e+02] [ 1.83642800e-01 9.82976699e-01 -5.66844661e-03 5.40588770e+01] [ 4.98475234e-02 -3.55326303e-03 9.98750519e-01 2.77903146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.81, Y:54.06, Z:27.79 [[ 9.81471081e-01 -1.85113121e-01 -4.94737241e-02 5.86805122e+02] [ 1.85062143e-01 9.82710584e-01 -5.64908299e-03 5.40604899e+01] [ 4.96640716e-02 -3.61130182e-03 9.98759450e-01 2.77913572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.83, Y:54.06, Z:27.79 [[ 9.81250893e-01 -1.86251200e-01 -4.95699041e-02 5.86832841e+02] [ 1.86201372e-01 9.82495288e-01 -5.66197567e-03 5.40608384e+01] [ 4.97567470e-02 -3.67416549e-03 9.98754608e-01 2.77924620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.86, Y:54.06, Z:27.79 [[ 9.81063057e-01 -1.87336944e-01 -4.91949998e-02 5.86861178e+02] [ 1.87289007e-01 9.82288758e-01 -5.62351392e-03 5.40627876e+01] [ 4.93771872e-02 -3.69666090e-03 9.98773362e-01 2.77935377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.89, Y:54.06, Z:27.79 [[ 9.80675448e-01 -1.89145368e-01 -4.99969478e-02 5.86890253e+02] [ 1.89097969e-01 9.81941569e-01 -5.71964200e-03 5.40647591e+01] [ 5.01759252e-02 -3.84520879e-03 9.98732993e-01 2.77941109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:586.92, Y:54.07, Z:27.79 [[ 9.80514495e-01 -1.89894774e-01 -5.03120290e-02 5.86918351e+02] [ 1.89847556e-01 9.81796686e-01 -5.75965204e-03 5.40650112e+01] [ 5.04899111e-02 -3.90419342e-03 9.98716940e-01 2.77946952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929999 meters Centerline goodness [0,1] 0.9999378083668478 Centerline is valid? [True, True] Translation: X:586.95, Y:54.07, Z:27.80 [[ 9.80361035e-01 -1.90540246e-01 -5.08591819e-02 5.86946523e+02] [ 1.90492629e-01 9.81671333e-01 -5.82680479e-03 5.40674166e+01] [ 5.10372417e-02 -3.97592691e-03 9.98688836e-01 2.77955756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3150998929999 meters Centerline goodness [0,1] 0.9999791453775729 Centerline is valid? [True, True] Translation: X:586.98, Y:54.07, Z:27.80 [[ 9.80141084e-01 -1.91515173e-01 -5.14334029e-02 5.86975434e+02] [ 1.91467542e-01 9.81481226e-01 -5.89777954e-03 5.40693262e+01] [ 5.16104336e-02 -4.06717118e-03 9.98659012e-01 2.77964144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.345099893 meters Centerline goodness [0,1] 0.9999585139704205 Centerline is valid? [True, True] Translation: X:587.00, Y:54.07, Z:27.80 [[ 9.80057140e-01 -1.91945119e-01 -5.14302712e-02 5.87003828e+02] [ 1.91897434e-01 9.81397191e-01 -5.90994952e-03 5.40725749e+01] [ 5.16079096e-02 -4.07724886e-03 9.98659101e-01 2.77980242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.03, Y:54.08, Z:27.80 [[ 9.79923184e-01 -1.92827160e-01 -5.06778068e-02 5.87032202e+02] [ 1.92781406e-01 9.81224375e-01 -5.83569952e-03 5.40794226e+01] [ 5.08515807e-02 -4.05120159e-03 9.98698005e-01 2.78006348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.06, Y:54.08, Z:27.80 [[ 9.79791040e-01 -1.93621133e-01 -5.02033375e-02 5.87061094e+02] [ 1.93576635e-01 9.81068051e-01 -5.79353639e-03 5.40813666e+01] [ 5.03746415e-02 -4.04173808e-03 9.98722214e-01 2.78020986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.09, Y:54.09, Z:27.80 [[ 9.79651937e-01 -1.94235476e-01 -5.05436683e-02 5.87089425e+02] [ 1.94190541e-01 9.80946412e-01 -5.84552374e-03 5.40887370e+01] [ 5.07160382e-02 -4.08852362e-03 9.98704745e-01 2.78033188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.12, Y:54.09, Z:27.80 [[ 9.79381236e-01 -1.95333769e-01 -5.15471890e-02 5.87118799e+02] [ 1.95287895e-01 9.80727764e-01 -5.97413561e-03 5.40930874e+01] [ 5.17207099e-02 -4.21558573e-03 9.98652691e-01 2.78037450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.15, Y:54.09, Z:27.80 [[ 9.79269164e-01 -1.95785485e-01 -5.19610220e-02 5.87147087e+02] [ 1.95739390e-01 9.80637445e-01 -6.02430649e-03 5.40940041e+01] [ 5.21343957e-02 -4.27140119e-03 9.98630943e-01 2.78041078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.525099893 meters Centerline goodness [0,1] 0.9997306648434748 Centerline is valid? [True, True] Translation: X:587.18, Y:54.09, Z:27.80 [[ 9.78975525e-01 -1.96999149e-01 -5.28985450e-02 5.87176812e+02] [ 1.96952886e-01 9.80393742e-01 -6.13775170e-03 5.40852944e+01] [ 5.30705343e-02 -4.40981240e-03 9.98581029e-01 2.78036442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5550998929999 meters Centerline goodness [0,1] 0.9999792034938131 Centerline is valid? [True, True] Translation: X:587.20, Y:54.10, Z:27.81 [[ 9.78826963e-01 -1.97644358e-01 -5.32398796e-02 5.87204073e+02] [ 1.97598221e-01 9.80263603e-01 -6.18152053e-03 5.40996213e+01] [ 5.34108588e-02 -4.46946653e-03 9.98562619e-01 2.78054108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.23, Y:54.10, Z:27.81 [[ 9.78664547e-01 -1.98385089e-01 -5.34701836e-02 5.87232108e+02] [ 1.98338904e-01 9.80113751e-01 -6.22214862e-03 5.41047516e+01] [ 5.36412437e-02 -4.51582136e-03 9.98550061e-01 2.78067956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.615099893 meters Centerline goodness [0,1] 0.9999792840570103 Centerline is valid? [True, True] Translation: X:587.26, Y:54.11, Z:27.81 [[ 9.78590580e-01 -1.98704266e-01 -5.36385290e-02 5.87260283e+02] [ 1.98657566e-01 9.80049004e-01 -6.25472786e-03 5.41052164e+01] [ 5.38112281e-02 -4.53488188e-03 9.98540829e-01 2.78080376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.29, Y:54.11, Z:27.81 [[ 9.78611709e-01 -1.98569078e-01 -5.37535533e-02 5.87288532e+02] [ 1.98521648e-01 9.80076420e-01 -6.27422626e-03 5.41111927e+01] [ 5.39284574e-02 -4.53121272e-03 9.98534521e-01 2.78091956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.32, Y:54.12, Z:27.81 [[ 9.78653252e-01 -1.98320107e-01 -5.39161226e-02 5.87316992e+02] [ 1.98271251e-01 9.80126894e-01 -6.30732358e-03 5.41158772e+01] [ 5.40955109e-02 -4.51733432e-03 9.98525548e-01 2.78106640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.35, Y:54.12, Z:27.81 [[ 9.78917784e-01 -1.97007623e-01 -5.39255904e-02 5.87345716e+02] [ 1.96956058e-01 9.80391936e-01 -6.32162374e-03 5.41204967e+01] [ 5.41136221e-02 -4.43262181e-03 9.98524946e-01 2.78122906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.735099893 meters Centerline goodness [0,1] 0.9999792186201164 Centerline is valid? [True, True] Translation: X:587.37, Y:54.12, Z:27.81 [[ 9.79053475e-01 -1.96313600e-01 -5.39931768e-02 5.87373800e+02] [ 1.96260519e-01 9.80531318e-01 -6.33579320e-03 5.41217688e+01] [ 5.41858032e-02 -4.39364856e-03 9.98521204e-01 2.78133320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.40, Y:54.13, Z:27.81 [[ 9.79134260e-01 -1.95960235e-01 -5.38115978e-02 5.87401441e+02] [ 1.95906648e-01 9.80602180e-01 -6.32062164e-03 5.41313549e+01] [ 5.40063606e-02 -4.35331258e-03 9.98531102e-01 2.78149801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.43, Y:54.13, Z:27.82 [[ 9.79198209e-01 -1.95569926e-01 -5.40672850e-02 5.87429688e+02] [ 1.95514515e-01 9.80680159e-01 -6.36397837e-03 5.41299461e+01] [ 5.42673165e-02 -4.33934280e-03 9.98517015e-01 2.78158045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.46, Y:54.14, Z:27.82 [[ 9.79156484e-01 -1.95700419e-01 -5.43500239e-02 5.87457368e+02] [ 1.95644266e-01 9.80654022e-01 -6.40388066e-03 5.41354512e+01] [ 5.45518116e-02 -4.36286925e-03 9.98501410e-01 2.78172391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.49, Y:54.14, Z:27.82 [[ 9.78991256e-01 -1.96456003e-01 -5.45999896e-02 5.87485899e+02] [ 1.96399618e-01 9.80502726e-01 -6.44940998e-03 5.41379700e+01] [ 5.48024640e-02 -4.40950115e-03 9.98487479e-01 2.78183963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.51, Y:54.14, Z:27.82 [[ 9.78853747e-01 -1.97134301e-01 -5.46205872e-02 5.87513606e+02] [ 1.97078210e-01 9.80366455e-01 -6.46481140e-03 5.41372092e+01] [ 5.48226275e-02 -4.43642269e-03 9.98486253e-01 2.78193109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.54, Y:54.14, Z:27.82 [[ 9.78622635e-01 -1.98189728e-01 -5.49415214e-02 5.87541645e+02] [ 1.98134347e-01 9.80153268e-01 -6.50787184e-03 5.41410457e+01] [ 5.51409050e-02 -4.51705178e-03 9.98468365e-01 2.78210282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.57, Y:54.14, Z:27.82 [[ 9.78565319e-01 -1.98472745e-01 -5.49407534e-02 5.87568942e+02] [ 1.98417446e-01 9.80095955e-01 -6.51434827e-03 5.41443577e+01] [ 5.51401307e-02 -4.52648869e-03 9.98468365e-01 2.78223371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.60, Y:54.15, Z:27.82 [[ 9.78325263e-01 -1.99661395e-01 -5.49090796e-02 5.87598568e+02] [ 1.99607238e-01 9.79854264e-01 -6.52470597e-03 5.41464438e+01] [ 5.51056277e-02 -4.57696504e-03 9.98470040e-01 2.78238673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.005099893 meters Centerline goodness [0,1] 0.9999791223015575 Centerline is valid? [True, True] Translation: X:587.63, Y:54.15, Z:27.83 [[ 9.77812591e-01 -2.02235704e-01 -5.46192052e-02 5.87628467e+02] [ 2.02185994e-01 9.79325623e-01 -6.49215253e-03 5.41470700e+01] [ 5.48029322e-02 -4.69512979e-03 9.98486151e-01 2.78257842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.66, Y:54.15, Z:27.83 [[ 9.77569159e-01 -2.03354671e-01 -5.48216937e-02 5.87658262e+02] [ 2.03306259e-01 9.79093502e-01 -6.51764911e-03 5.41491598e+01] [ 5.50009584e-02 -4.77414068e-03 9.98474888e-01 2.78271636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.69, Y:54.16, Z:27.83 [[ 9.77156454e-01 -2.05348030e-01 -5.47489759e-02 5.87686733e+02] [ 2.05302717e-01 9.78676860e-01 -6.51134868e-03 5.41559512e+01] [ 5.49186485e-02 -4.87750714e-03 9.98478919e-01 2.78288930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.72, Y:54.16, Z:27.83 [[ 9.77073535e-01 -2.05763093e-01 -5.46704459e-02 5.87715809e+02] [ 2.05718229e-01 9.78589627e-01 -6.50791634e-03 5.41579556e+01] [ 5.48390202e-02 -4.88799450e-03 9.98483244e-01 2.78302382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.74, Y:54.16, Z:27.83 [[ 9.76976046e-01 -2.06077440e-01 -5.52258506e-02 5.87743128e+02] [ 2.06031326e-01 9.78523212e-01 -6.58909832e-03 5.41618326e+01] [ 5.53976413e-02 -4.94086402e-03 9.98452147e-01 2.78317129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.77, Y:54.16, Z:27.83 [[ 9.77402146e-01 -2.04086391e-01 -5.50798568e-02 5.87772356e+02] [ 2.04036575e-01 9.78941110e-01 -6.58629466e-03 5.41640721e+01] [ 5.52641093e-02 -4.80084677e-03 9.98460230e-01 2.78329362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.80, Y:54.17, Z:27.83 [[ 9.77724781e-01 -2.02515644e-01 -5.51513028e-02 5.87801180e+02] [ 2.02463105e-01 9.79267671e-01 -6.59691100e-03 5.41660221e+01] [ 5.53438656e-02 -4.71614063e-03 9.98456216e-01 2.78339590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.83, Y:54.17, Z:27.84 [[ 9.78205478e-01 -2.00219809e-01 -5.50097412e-02 5.87830347e+02] [ 2.00163823e-01 9.79740334e-01 -6.58200712e-03 5.41721951e+01] [ 5.52131104e-02 -4.57240467e-03 9.98464123e-01 2.78354092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.86, Y:54.18, Z:27.84 [[ 9.79192698e-01 -1.95051894e-01 -5.60037321e-02 5.87859832e+02] [ 1.94985367e-01 9.80783248e-01 -6.70282232e-03 5.41787798e+01] [ 5.62349204e-02 -4.35655356e-03 9.98408060e-01 2.78370159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.89, Y:54.19, Z:27.84 [[ 9.79693418e-01 -1.92364002e-01 -5.65411051e-02 5.87889288e+02] [ 1.92291691e-01 9.81314475e-01 -6.76808888e-03 5.41865931e+01] [ 5.67865415e-02 -4.24173260e-03 9.98377332e-01 2.78383332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.92, Y:54.19, Z:27.84 [[ 9.80236606e-01 -1.89485131e-01 -5.68469916e-02 5.87918647e+02] [ 1.89407096e-01 9.81875052e-01 -6.80693895e-03 5.41909904e+01] [ 5.71064565e-02 -4.09481284e-03 9.98359697e-01 2.78395779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.95, Y:54.20, Z:27.84 [[ 9.81457474e-01 -1.83091281e-01 -5.67345443e-02 5.87947394e+02] [ 1.83002807e-01 9.83088905e-01 -6.79540745e-03 5.41967531e+01] [ 5.70192809e-02 -3.71317744e-03 9.98366172e-01 2.78410241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:587.98, Y:54.21, Z:27.84 [[ 9.82079569e-01 -1.79757445e-01 -5.66302215e-02 5.87976793e+02] [ 1.79663714e-01 9.83704695e-01 -6.78400305e-03 5.42055805e+01] [ 5.69268898e-02 -3.51196513e-03 9.98372173e-01 2.78434443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.01, Y:54.20, Z:27.84 [[ 9.82751070e-01 -1.76293440e-01 -5.58655263e-02 5.88005897e+02] [ 1.76196578e-01 9.84332241e-01 -6.69359693e-03 5.42040919e+01] [ 5.61702759e-02 -3.26517504e-03 9.98415865e-01 2.78440474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.03, Y:54.21, Z:27.85 [[ 9.83417742e-01 -1.72441928e-01 -5.61544927e-02 5.88034646e+02] [ 1.72337686e-01 9.85014936e-01 -6.73029860e-03 5.42088739e+01] [ 5.64735997e-02 -3.05884028e-03 9.98399407e-01 2.78453214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.06, Y:54.22, Z:27.85 [[ 9.84802559e-01 -1.64491259e-01 -5.57364003e-02 5.88063202e+02] [ 1.64375749e-01 9.86375163e-01 -6.68206321e-03 5.42212059e+01] [ 5.60761419e-02 -2.58119962e-03 9.98423159e-01 2.78481786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.09, Y:54.23, Z:27.85 [[ 9.85451642e-01 -1.60402376e-01 -5.61795347e-02 5.88092455e+02] [ 1.60278291e-01 9.87048876e-01 -6.73696756e-03 5.42266619e+01] [ 5.65325721e-02 -2.36540406e-03 9.98397953e-01 2.78492346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.12, Y:54.23, Z:27.85 [[ 9.86580813e-01 -1.52657927e-01 -5.79124840e-02 5.88121205e+02] [ 1.52512624e-01 9.88277108e-01 -6.94679859e-03 5.42323365e+01] [ 5.82940660e-02 -1.97880668e-03 9.98297494e-01 2.78489134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.15, Y:54.24, Z:27.85 [[ 9.87119011e-01 -1.49072055e-01 -5.80825251e-02 5.88148816e+02] [ 1.48919581e-01 9.88824751e-01 -6.96919364e-03 5.42359369e+01] [ 5.84723504e-02 -1.77020175e-03 9.98287459e-01 2.78498090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.18, Y:54.24, Z:27.85 [[ 9.87605480e-01 -1.45739033e-01 -5.82713537e-02 5.88177009e+02] [ 1.45579475e-01 9.89321818e-01 -6.99687480e-03 5.42409074e+01] [ 5.86688393e-02 -1.57296119e-03 9.98276261e-01 2.78514575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.21, Y:54.24, Z:27.85 [[ 9.88149793e-01 -1.42006039e-01 -5.82603773e-02 5.88205712e+02] [ 1.41839811e-01 9.89864875e-01 -6.99978559e-03 5.42448350e+01] [ 5.86639129e-02 -1.34680424e-03 9.98276881e-01 2.78530203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.23, Y:54.25, Z:27.85 [[ 9.89072458e-01 -1.35591323e-01 -5.78849296e-02 5.88234025e+02] [ 1.35416019e-01 9.90764391e-01 -6.95864154e-03 5.42482457e+01] [ 5.82938585e-02 -9.55946024e-04 9.98299009e-01 2.78545691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.26, Y:54.25, Z:27.86 [[ 9.89456264e-01 -1.32853755e-01 -5.76730515e-02 5.88262537e+02] [ 1.32674784e-01 9.91135339e-01 -6.93834214e-03 5.42511895e+01] [ 5.80835843e-02 -7.86573569e-04 9.98311414e-01 2.78561385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.29, Y:54.25, Z:27.86 [[ 9.89857571e-01 -1.29940101e-01 -5.74243751e-02 5.88290043e+02] [ 1.29757010e-01 9.91521664e-01 -6.92155534e-03 5.42530615e+01] [ 5.78368996e-02 -5.99861263e-04 9.98325865e-01 2.78571949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.32, Y:54.26, Z:27.86 [[ 9.90142213e-01 -1.27808056e-01 -5.73018221e-02 5.88318707e+02] [ 1.27621689e-01 9.91798812e-01 -6.91525808e-03 5.42559820e+01] [ 5.77157048e-02 -4.65866367e-04 9.98332951e-01 2.78589566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.35, Y:54.26, Z:27.86 [[ 9.90723990e-01 -1.23537885e-01 -5.66071309e-02 5.88347428e+02] [ 1.23348247e-01 9.92339836e-01 -6.84538370e-03 5.42562791e+01] [ 5.70191753e-02 -2.00504508e-04 9.98373063e-01 2.78605681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.38, Y:54.26, Z:27.86 [[ 9.90868689e-01 -1.22445828e-01 -5.64469636e-02 5.88375790e+02] [ 1.22254671e-01 9.92475191e-01 -6.84041561e-03 5.42570717e+01] [ 5.68597913e-02 -1.22951302e-04 9.98382166e-01 2.78625581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.40, Y:54.26, Z:27.86 [[ 9.91003779e-01 -1.21553695e-01 -5.60018704e-02 5.88402820e+02] [ 1.21363244e-01 9.92584856e-01 -6.80197462e-03 5.42570523e+01] [ 5.64134136e-02 -5.57860962e-05 9.98407494e-01 2.78633784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.43, Y:54.25, Z:27.86 [[ 9.90960291e-01 -1.21951321e-01 -5.59068642e-02 5.88431819e+02] [ 1.21761473e-01 9.92536080e-01 -6.80241780e-03 5.42524409e+01] [ 5.63191437e-02 -6.63761980e-05 9.98412815e-01 2.78642955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.46, Y:54.25, Z:27.87 [[ 9.90785207e-01 -1.23316933e-01 -5.60143465e-02 5.88459768e+02] [ 1.23127626e-01 9.92367330e-01 -6.83156286e-03 5.42506112e+01] [ 5.64292548e-02 -1.28302068e-04 9.98406592e-01 2.78653768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.49, Y:54.25, Z:27.87 [[ 9.90486234e-01 -1.25678230e-01 -5.60535636e-02 5.88487866e+02] [ 1.25491524e-01 9.92071027e-01 -6.85243784e-03 5.42481017e+01] [ 5.64703186e-02 -2.47001751e-04 9.98404248e-01 2.78666949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.52, Y:54.24, Z:27.87 [[ 9.89762119e-01 -1.31399901e-01 -5.57226486e-02 5.88518360e+02] [ 1.31223554e-01 9.91329289e-01 -6.82788690e-03 5.42381197e+01] [ 5.61366773e-02 -5.54140183e-04 9.98422940e-01 2.78676864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.55, Y:54.23, Z:27.87 [[ 9.89295375e-01 -1.34835136e-01 -5.58045510e-02 5.88546788e+02] [ 1.34662979e-01 9.90867773e-01 -6.85121847e-03 5.42331572e+01] [ 5.62187161e-02 -7.36928320e-04 9.98418205e-01 2.78682627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.58, Y:54.23, Z:27.87 [[ 9.88718764e-01 -1.38978212e-01 -5.58593082e-02 5.88576387e+02] [ 1.38811830e-01 9.90294969e-01 -6.86659273e-03 5.42293284e+01] [ 5.62714986e-02 -9.64803702e-04 9.98415038e-01 2.78698986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.61, Y:54.21, Z:27.87 [[ 9.87508494e-01 -1.47233358e-01 -5.61187441e-02 5.88608138e+02] [ 1.47078026e-01 9.89100751e-01 -6.91079224e-03 5.42130370e+01] [ 5.65245910e-02 -1.42936805e-03 9.98400184e-01 2.78699968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.64, Y:54.21, Z:27.87 [[ 9.86833156e-01 -1.51756789e-01 -5.59481782e-02 5.88638054e+02] [ 1.51609578e-01 9.88416435e-01 -6.89111873e-03 5.42101649e+01] [ 5.63458729e-02 -1.68189527e-03 9.98409893e-01 2.78720394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.67, Y:54.21, Z:27.87 [[ 9.86164982e-01 -1.55984154e-01 -5.61032225e-02 5.88668179e+02] [ 1.55842786e-01 9.87757680e-01 -6.91311620e-03 5.42063376e+01] [ 5.64947255e-02 -1.92580936e-03 9.98401040e-01 2.78736950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.70, Y:54.19, Z:27.87 [[ 9.84911527e-01 -1.63631287e-01 -5.63390230e-02 5.88699329e+02] [ 1.63501095e-01 9.86518714e-01 -6.94392090e-03 5.41922615e+01] [ 5.67157432e-02 -2.37234423e-03 9.98387548e-01 2.78743657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.73, Y:54.19, Z:27.88 [[ 9.84297309e-01 -1.67237850e-01 -5.64828276e-02 5.88729574e+02] [ 1.67112890e-01 9.85913187e-01 -6.96199805e-03 5.41883855e+01] [ 5.68514742e-02 -2.58633264e-03 9.98379297e-01 2.78756388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.76, Y:54.18, Z:27.88 [[ 9.83769208e-01 -1.70370560e-01 -5.63206689e-02 5.88759995e+02] [ 1.70251318e-01 9.85376207e-01 -6.94401890e-03 5.41846290e+01] [ 5.66801035e-02 -2.75735616e-03 9.98388583e-01 2.78771179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.79, Y:54.18, Z:27.88 [[ 9.83282053e-01 -1.73319855e-01 -5.58268057e-02 5.88789428e+02] [ 1.73207307e-01 9.84861321e-01 -6.88531757e-03 5.41842899e+01] [ 5.61750239e-02 -2.89940148e-03 9.98416727e-01 2.78792836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.82, Y:54.17, Z:27.88 [[ 9.82525854e-01 -1.77683907e-01 -5.54199921e-02 5.88820454e+02] [ 1.77579747e-01 9.84082657e-01 -6.83795792e-03 5.41680810e+01] [ 5.57528482e-02 -3.12299771e-03 9.98439716e-01 2.78800854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.85, Y:54.17, Z:27.88 [[ 9.82012339e-01 -1.80641451e-01 -5.49584644e-02 5.88851420e+02] [ 1.80543577e-01 9.83543605e-01 -6.78192746e-03 5.41653742e+01] [ 5.52791434e-02 -3.26246128e-03 9.98465609e-01 2.78824062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.88, Y:54.16, Z:27.88 [[ 9.81794255e-01 -1.81747217e-01 -5.52086033e-02 5.88880530e+02] [ 1.81650073e-01 9.83339620e-01 -6.81489839e-03 5.41642113e+01] [ 5.55273958e-02 -3.33781874e-03 9.98451585e-01 2.78837535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.91, Y:54.16, Z:27.88 [[ 9.81610199e-01 -1.82677617e-01 -5.54103455e-02 5.88909829e+02] [ 1.82580427e-01 9.83167029e-01 -6.85431727e-03 5.41620413e+01] [ 5.57297551e-02 -3.38857682e-03 9.98440139e-01 2.78848763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.94, Y:54.16, Z:27.89 [[ 9.81515847e-01 -1.83165683e-01 -5.54704795e-02 5.88938916e+02] [ 1.83068253e-01 9.83076158e-01 -6.87618135e-03 5.41609522e+01] [ 5.57911864e-02 -3.40580279e-03 9.98436650e-01 2.78860806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:588.97, Y:54.16, Z:27.89 [[ 9.81664909e-01 -1.82557224e-01 -5.48348971e-02 5.88968434e+02] [ 1.82460286e-01 9.83189629e-01 -6.81152363e-03 5.41566910e+01] [ 5.51565950e-02 -3.31855728e-03 9.98472202e-01 2.78880350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.00, Y:54.15, Z:27.89 [[ 9.81821972e-01 -1.81755315e-01 -5.46865627e-02 5.88997072e+02] [ 1.81656946e-01 9.83338411e-01 -6.80609232e-03 5.41541804e+01] [ 5.50124412e-02 -3.25182298e-03 9.98480374e-01 2.78892474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.03, Y:54.15, Z:27.89 [[ 9.82036184e-01 -1.80580024e-01 -5.47337899e-02 5.89025833e+02] [ 1.80479388e-01 9.83555143e-01 -6.81701901e-03 5.41468750e+01] [ 5.50647180e-02 -3.18376158e-03 9.98477712e-01 2.78895089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.05, Y:54.15, Z:27.89 [[ 9.82453829e-01 -1.78192762e-01 -5.50619130e-02 5.89054810e+02] [ 1.78086926e-01 9.83990830e-01 -6.86247393e-03 5.41534019e+01] [ 5.54032607e-02 -3.06374306e-03 9.98459359e-01 2.78919639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.08, Y:54.15, Z:27.89 [[ 9.82639454e-01 -1.77181086e-01 -5.50142295e-02 5.89084114e+02] [ 1.77073643e-01 9.84173694e-01 -6.86034961e-03 5.41532463e+01] [ 5.53590817e-02 -3.00031981e-03 9.98462002e-01 2.78935561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.11, Y:54.15, Z:27.90 [[ 9.82911518e-01 -1.75709067e-01 -5.48750613e-02 5.89112989e+02] [ 1.75599167e-01 9.84437875e-01 -6.85588553e-03 5.41532693e+01] [ 5.52257299e-02 -2.89728618e-03 9.98469691e-01 2.78950159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.14, Y:54.15, Z:27.90 [[ 9.83456946e-01 -1.72778360e-01 -5.44065595e-02 5.89142591e+02] [ 1.72665650e-01 9.84957013e-01 -6.80111134e-03 5.41484911e+01] [ 5.47632072e-02 -2.70554377e-03 9.98495704e-01 2.78967994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.17, Y:54.15, Z:27.90 [[ 9.83662003e-01 -1.71813789e-01 -5.37502216e-02 5.89171946e+02] [ 1.71702167e-01 9.85125970e-01 -6.72234564e-03 5.41492504e+01] [ 5.41057308e-02 -2.61651357e-03 9.98531784e-01 2.78990667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.20, Y:54.15, Z:27.90 [[ 9.83900309e-01 -1.70330851e-01 -5.41071395e-02 5.89200406e+02] [ 1.70214844e-01 9.85383656e-01 -6.77911494e-03 5.41476789e+01] [ 5.44709834e-02 -2.53986505e-03 9.98512124e-01 2.79002016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.23, Y:54.15, Z:27.90 [[ 9.84041975e-01 -1.69177649e-01 -5.51390470e-02 5.89229779e+02] [ 1.69055011e-01 9.85582360e-01 -6.91487889e-03 5.41481737e+01] [ 5.55139150e-02 -2.51700109e-03 9.98454741e-01 2.79007437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.26, Y:54.14, Z:27.90 [[ 9.84304779e-01 -1.67323755e-01 -5.60969154e-02 5.89258221e+02] [ 1.67193076e-01 9.85898981e-01 -7.04807937e-03 5.41423166e+01] [ 5.64852028e-02 -2.44155766e-03 9.98400451e-01 2.79006883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7150998929999 meters Centerline goodness [0,1] 0.9999791453775729 Centerline is valid? [True, True] Translation: X:589.29, Y:54.14, Z:27.90 [[ 9.84361859e-01 -1.67219908e-01 -5.54006548e-02 5.89286600e+02] [ 1.67091933e-01 9.85916704e-01 -6.96696166e-03 5.41441032e+01] [ 5.57854457e-02 -2.39899119e-03 9.98439897e-01 2.79033977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.31, Y:54.14, Z:27.91 [[ 9.84468617e-01 -1.66879840e-01 -5.45221198e-02 5.89314929e+02] [ 1.66754670e-01 9.85974489e-01 -6.86924156e-03 5.41415150e+01] [ 5.49037571e-02 -2.32926534e-03 9.98488934e-01 2.79053289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.34, Y:54.14, Z:27.91 [[ 9.84447418e-01 -1.67379043e-01 -5.33623156e-02 5.89343569e+02] [ 1.67259546e-01 9.85889934e-01 -6.72920607e-03 5.41410689e+01] [ 5.37356979e-02 -2.30080713e-03 9.98552543e-01 2.79075730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.37, Y:54.14, Z:27.91 [[ 9.84360933e-01 -1.68204540e-01 -5.23525254e-02 5.89373186e+02] [ 1.68089892e-01 9.85749464e-01 -6.61691727e-03 5.41351415e+01] [ 5.27194694e-02 -2.28649547e-03 9.98606744e-01 2.79095487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.40, Y:54.13, Z:27.91 [[ 9.84345086e-01 -1.68181648e-01 -5.27227266e-02 5.89400447e+02] [ 1.68064644e-01 9.85753365e-01 -6.67679465e-03 5.41326761e+01] [ 5.30945195e-02 -2.28855629e-03 9.98586869e-01 2.79105713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.43, Y:54.14, Z:27.91 [[ 9.84296351e-01 -1.68466940e-01 -5.27217630e-02 5.89427718e+02] [ 1.68349938e-01 9.85704630e-01 -6.68439528e-03 5.41362037e+01] [ 5.30941855e-02 -2.29627963e-03 9.98586869e-01 2.79118791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.46, Y:54.14, Z:27.91 [[ 9.84242590e-01 -1.68845621e-01 -5.25136103e-02 5.89455850e+02] [ 1.68729261e-01 9.85639844e-01 -6.67345954e-03 5.41369021e+01] [ 5.28862911e-02 -2.29227953e-03 9.98597910e-01 2.79133394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.48, Y:54.13, Z:27.91 [[ 9.84435902e-01 -1.67688654e-01 -5.25972413e-02 5.89484926e+02] [ 1.67569488e-01 9.85837508e-01 -6.69890915e-03 5.41297454e+01] [ 5.29756643e-02 -2.21904612e-03 9.98593338e-01 2.79142824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.51, Y:54.13, Z:27.92 [[ 9.84562216e-01 -1.66930656e-01 -5.26440692e-02 5.89514205e+02] [ 1.66809889e-01 9.85966241e-01 -6.71068953e-03 5.41289955e+01] [ 5.30254948e-02 -2.17445996e-03 9.98590791e-01 2.79160771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.54, Y:54.13, Z:27.92 [[ 9.84759978e-01 -1.65890055e-01 -5.22328984e-02 5.89543548e+02] [ 1.65769012e-01 9.86142042e-01 -6.67145928e-03 5.41285492e+01] [ 5.26157858e-02 -2.08880985e-03 9.98612646e-01 2.79180712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.57, Y:54.13, Z:27.92 [[ 9.85022982e-01 -1.64310627e-01 -5.22660863e-02 5.89571890e+02] [ 1.64186550e-01 9.86406632e-01 -6.68822941e-03 5.41257494e+01] [ 5.26545613e-02 -1.99332869e-03 9.98610797e-01 2.79199837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.60, Y:54.12, Z:27.92 [[ 9.85498628e-01 -1.61495581e-01 -5.20733303e-02 5.89601870e+02] [ 1.61368251e-01 9.86871736e-01 -6.66817763e-03 5.41194874e+01] [ 5.24665791e-02 -1.83150235e-03 9.98621001e-01 2.79222475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0750998929999 meters Centerline goodness [0,1] 0.9999791105262058 Centerline is valid? [True, True] Translation: X:589.63, Y:54.12, Z:27.92 [[ 9.85552852e-01 -1.61060081e-01 -5.23949154e-02 5.89630980e+02] [ 1.60930310e-01 9.86942935e-01 -6.71406135e-03 5.41179395e+01] [ 5.27921588e-02 -1.81486769e-03 9.98603873e-01 2.79238055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.105099893 meters Centerline goodness [0,1] 0.9999791427677547 Centerline is valid? [True, True] Translation: X:589.66, Y:54.12, Z:27.93 [[ 9.85703731e-01 -1.60253842e-01 -5.20275107e-02 5.89660009e+02] [ 1.60124090e-01 9.87074291e-01 -6.67982195e-03 5.41158319e+01] [ 5.24254854e-02 -1.74653238e-03 9.98623311e-01 2.79252446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.69, Y:54.11, Z:27.93 [[ 9.85662695e-01 -1.60499910e-01 -5.20464237e-02 5.89688477e+02] [ 1.60369724e-01 9.87034308e-01 -6.69523953e-03 5.41130907e+01] [ 5.24461912e-02 -1.74742277e-03 9.98622223e-01 2.79266797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929999 meters Centerline goodness [0,1] 0.9999791783788285 Centerline is valid? [True, True] Translation: X:589.72, Y:54.10, Z:27.93 [[ 9.85598706e-01 -1.61065976e-01 -5.15067145e-02 5.89717638e+02] [ 1.60938500e-01 9.86942099e-01 -6.64019414e-03 5.41046933e+01] [ 5.19036543e-02 -1.74484664e-03 9.98650573e-01 2.79290677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.75, Y:54.10, Z:27.93 [[ 9.85232230e-01 -1.63310344e-01 -5.14507919e-02 5.89746803e+02] [ 1.63185436e-01 9.86573019e-01 -6.64767004e-03 5.41012973e+01] [ 5.18455964e-02 -1.84652114e-03 9.98653406e-01 2.79307987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.78, Y:54.09, Z:27.93 [[ 9.84377752e-01 -1.68067780e-01 -5.24753540e-02 5.89778400e+02] [ 1.67943935e-01 9.85773148e-01 -6.79235573e-03 5.40880971e+01] [ 5.28703711e-02 -2.12667357e-03 9.98599119e-01 2.79316929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.81, Y:54.08, Z:27.93 [[ 9.83846096e-01 -1.70982322e-01 -5.30273922e-02 5.89808161e+02] [ 1.70860008e-01 9.85271398e-01 -6.86511488e-03 5.40844577e+01] [ 5.34201861e-02 -2.30604418e-03 9.98569460e-01 2.79331956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.84, Y:54.08, Z:27.93 [[ 9.83332627e-01 -1.73873939e-01 -5.31488306e-02 5.89837824e+02] [ 1.73755111e-01 9.84764832e-01 -6.88387227e-03 5.40780900e+01] [ 5.35360252e-02 -2.46574478e-03 9.98562874e-01 2.79347426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.87, Y:54.07, Z:27.94 [[ 9.82906108e-01 -1.76435218e-01 -5.25946404e-02 5.89868345e+02] [ 1.76322309e-01 9.84308888e-01 -6.81588484e-03 5.40731358e+01] [ 5.29719341e-02 -2.57423358e-03 9.98592683e-01 2.79363297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.90, Y:54.06, Z:27.94 [[ 9.82028016e-01 -1.81397884e-01 -5.21131853e-02 5.89900268e+02] [ 1.81293899e-01 9.83405760e-01 -6.75521845e-03 5.40615717e+01] [ 5.24737889e-02 -2.81398878e-03 9.98618337e-01 2.79387864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.93, Y:54.06, Z:27.94 [[ 9.81482542e-01 -1.84366490e-01 -5.19713173e-02 5.89930700e+02] [ 1.84267167e-01 9.82853099e-01 -6.73773154e-03 5.40585695e+01] [ 5.23223822e-02 -2.96364153e-03 9.98625848e-01 2.79404294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.96, Y:54.05, Z:27.94 [[ 9.80544421e-01 -1.89282854e-01 -5.20061491e-02 5.89962036e+02] [ 1.89190191e-01 9.81917304e-01 -6.74387565e-03 5.40456261e+01] [ 5.23422377e-02 -3.22638364e-03 9.98623994e-01 2.79416732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:589.99, Y:54.04, Z:27.94 [[ 9.79970884e-01 -1.92069458e-01 -5.25964871e-02 5.89992593e+02] [ 1.91978601e-01 9.81375402e-01 -6.82179355e-03 5.40425237e+01] [ 5.29271569e-02 -3.41224096e-03 9.98592546e-01 2.79428797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:590.02, Y:54.04, Z:27.94 [[ 9.79500706e-01 -1.94315690e-01 -5.31015958e-02 5.90021772e+02] [ 1.94226291e-01 9.80932564e-01 -6.88867110e-03 5.40368494e+01] [ 5.34276613e-02 -3.56626777e-03 9.98565354e-01 2.79437651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:590.05, Y:54.02, Z:27.94 [[ 9.78339348e-01 -1.99878837e-01 -5.38569449e-02 5.90053000e+02] [ 1.99795018e-01 9.79812777e-01 -6.99094724e-03 5.40232288e+01] [ 5.41670652e-02 -3.92083049e-03 9.98524189e-01 2.79440462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.525099893 meters Centerline goodness [0,1] 0.9999793140540317 Centerline is valid? [True, True] Translation: X:590.08, Y:54.02, Z:27.94 [[ 9.77854906e-01 -2.02166840e-01 -5.41142392e-02 5.90083309e+02] [ 2.02085607e-01 9.79342658e-01 -7.02603712e-03 5.40186874e+01] [ 5.44168146e-02 -4.06526399e-03 9.98510032e-01 2.79448996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5550998929999 meters Centerline goodness [0,1] 0.9997720915777478 Centerline is valid? [True, True] Translation: X:590.11, Y:54.02, Z:27.95 [[ 9.77068409e-01 -2.05868649e-01 -5.43638074e-02 5.90113584e+02] [ 2.05792281e-01 9.78570231e-01 -7.05975232e-03 5.40152577e+01] [ 5.46521852e-02 -4.28979093e-03 9.98496238e-01 2.79460520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters Centerline goodness [0,1] 0.9995858269999379 Centerline is valid? [True, True] Translation: X:590.15, Y:54.01, Z:27.95 [[ 9.75568921e-01 -2.12702295e-01 -5.49819409e-02 5.90145210e+02] [ 2.12634833e-01 9.77105634e-01 -7.14190718e-03 5.40071245e+01] [ 5.52422643e-02 -4.72365315e-03 9.98461807e-01 2.79475047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.615099893 meters Centerline goodness [0,1] 0.999689061172032 Centerline is valid? [True, True] Translation: X:590.18, Y:54.01, Z:27.95 [[ 9.74713183e-01 -2.16686440e-01 -5.46003486e-02 5.90175102e+02] [ 2.16626040e-01 9.76228888e-01 -7.09346938e-03 5.40060226e+01] [ 5.48394962e-02 -4.91375917e-03 9.98483092e-01 2.79491130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.645099893 meters Centerline goodness [0,1] 0.9970619271275165 Centerline is valid? [True, True] Translation: X:590.21, Y:53.99, Z:27.95 [[ 9.73196344e-01 -2.23454846e-01 -5.43765444e-02 5.90206178e+02] [ 2.23405276e-01 9.74700030e-01 -7.06640625e-03 5.39927635e+01] [ 5.45798422e-02 -5.27100621e-03 9.98495497e-01 2.79511402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6750998929999 meters Centerline goodness [0,1] 0.9966089000769759 Centerline is valid? [True, True] Translation: X:590.24, Y:53.99, Z:27.95 [[ 9.72230366e-01 -2.27611195e-01 -5.44174476e-02 5.90236674e+02] [ 2.27567874e-01 9.73736527e-01 -7.07377849e-03 5.39915417e+01] [ 5.45983277e-02 -5.50632060e-03 9.98493216e-01 2.79524175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters Centerline goodness [0,1] 0.9971075412019311 Centerline is valid? [True, True] Translation: X:590.27, Y:53.99, Z:27.95 [[ 9.71333610e-01 -2.31332610e-01 -5.47379404e-02 5.90266740e+02] [ 2.31294524e-01 9.72857744e-01 -7.11711944e-03 5.39924308e+01] [ 5.48986510e-02 -5.74748854e-03 9.98475390e-01 2.79539219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.735099893 meters Centerline goodness [0,1] 0.9922124558949412 Centerline is valid? [True, True] Translation: X:590.30, Y:53.99, Z:27.95 [[ 9.70381637e-01 -2.35216428e-01 -5.50700531e-02 5.90296772e+02] [ 2.35183995e-01 9.71924485e-01 -7.16134215e-03 5.39878421e+01] [ 5.52083983e-02 -6.00236019e-03 9.98456812e-01 2.79547094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.765099893 meters Centerline goodness [0,1] 0.9886986801226048 Centerline is valid? [True, True] Translation: X:590.33, Y:53.99, Z:27.96 [[ 9.69599073e-01 -2.38354784e-01 -5.53591448e-02 5.90326216e+02] [ 2.38326961e-01 9.71158283e-01 -7.20066762e-03 5.39856719e+01] [ 5.54788055e-02 -6.21181608e-03 9.98440542e-01 2.79556517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7950998929999 meters Centerline goodness [0,1] 0.9830795262267343 Centerline is valid? [True, True] Translation: X:590.36, Y:53.98, Z:27.96 [[ 9.68782396e-01 -2.41593387e-01 -5.56174819e-02 5.90355295e+02] [ 2.41570442e-01 9.70356303e-01 -7.23646862e-03 5.39824699e+01] [ 5.57170571e-02 -6.42497628e-03 9.98425926e-01 2.79565134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters Centerline goodness [0,1] 0.9851157314945235 Centerline is valid? [True, True] Translation: X:590.39, Y:53.98, Z:27.96 [[ 9.67497708e-01 -2.46778706e-01 -5.52128190e-02 5.90385798e+02] [ 2.46764275e-01 9.69048891e-01 -7.18602388e-03 5.39814596e+01] [ 5.52772787e-02 -6.67208964e-03 9.98448750e-01 2.79583199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.855099893 meters Centerline goodness [0,1] 0.986868963195219 Centerline is valid? [True, True] Translation: X:590.42, Y:53.98, Z:27.96 [[ 9.66903145e-01 -2.49094970e-01 -5.52268386e-02 5.90415293e+02] [ 2.49084186e-01 9.68455155e-01 -7.18896838e-03 5.39839907e+01] [ 5.52754524e-02 -6.80509602e-03 9.98447953e-01 2.79598698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.885099893 meters Centerline goodness [0,1] 0.9806586951961401 Centerline is valid? [True, True] Translation: X:590.45, Y:53.98, Z:27.96 [[ 9.66533395e-01 -2.50497163e-01 -5.53567404e-02 5.90445123e+02] [ 2.50488505e-01 9.68092744e-01 -7.20744352e-03 5.39813596e+01] [ 5.53959029e-02 -6.89999231e-03 9.98440626e-01 2.79606971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9150998929999 meters Centerline goodness [0,1] 0.9807185754925719 Centerline is valid? [True, True] Translation: X:590.48, Y:53.98, Z:27.96 [[ 9.65588881e-01 -2.54043133e-01 -5.56794386e-02 5.90475228e+02] [ 2.54040021e-01 9.67166519e-01 -7.25210340e-03 5.39815084e+01] [ 5.56936358e-02 -7.14225536e-03 9.98422359e-01 2.79618146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters Centerline goodness [0,1] 0.979800320161766 Centerline is valid? [True, True] Translation: X:590.50, Y:53.98, Z:27.96 [[ 9.65360687e-01 -2.54894463e-01 -5.57454712e-02 5.90504713e+02] [ 2.54892645e-01 9.66942086e-01 -7.26238917e-03 5.39833280e+01] [ 5.57537850e-02 -7.19828561e-03 9.98418600e-01 2.79633846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.975099893 meters Centerline goodness [0,1] 0.9894683522931133 Centerline is valid? [True, True] Translation: X:590.53, Y:53.99, Z:27.97 [[ 9.65124174e-01 -2.55766276e-01 -5.58474704e-02 5.90533101e+02] [ 2.55765770e-01 9.66711387e-01 -7.27775095e-03 5.39918438e+01] [ 5.58497888e-02 -7.25993789e-03 9.98412788e-01 2.79652347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.005099893 meters Centerline goodness [0,1] 0.9832995524026686 Centerline is valid? [True, True] Translation: X:590.56, Y:53.99, Z:27.97 [[ 9.65040412e-01 -2.56059567e-01 -5.59508765e-02 5.90561881e+02] [ 2.56059341e-01 9.66633539e-01 -7.29485890e-03 5.39898259e+01] [ 5.59519122e-02 -7.28691089e-03 9.98406873e-01 2.79665505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0350998929999 meters Centerline goodness [0,1] 0.9875678071638136 Centerline is valid? [True, True] Translation: X:590.59, Y:53.99, Z:27.97 [[ 9.65442005e-01 -2.54645949e-01 -5.54722960e-02 5.90591012e+02] [ 2.54643073e-01 9.67008017e-01 -7.23885555e-03 5.39939262e+01] [ 5.54855002e-02 -7.13694068e-03 9.98433985e-01 2.79682885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters Centerline goodness [0,1] 0.9920680367330491 Centerline is valid? [True, True] Translation: X:590.62, Y:54.00, Z:27.97 [[ 9.65586674e-01 -2.54171069e-01 -5.51311377e-02 5.90619715e+02] [ 2.54167263e-01 9.67133492e-01 -7.19795603e-03 5.40003419e+01] [ 5.51486819e-02 -7.06227997e-03 9.98453177e-01 2.79700813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.095099893 meters Centerline goodness [0,1] 0.9919141460110492 Centerline is valid? [True, True] Translation: X:590.65, Y:54.00, Z:27.97 [[ 9.66123855e-01 -2.52211436e-01 -5.47182707e-02 5.90649450e+02] [ 2.52203993e-01 9.67647639e-01 -7.15494873e-03 5.40030460e+01] [ 5.47525653e-02 -6.88759970e-03 9.98476198e-01 2.79713369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.125099893 meters Centerline goodness [0,1] 0.9768150924220288 Centerline is valid? [True, True] Translation: X:590.68, Y:54.00, Z:27.97 [[ 9.67180973e-01 -2.48060834e-01 -5.50162605e-02 5.90679173e+02] [ 2.48046609e-01 9.68721376e-01 -7.19553827e-03 5.39973694e+01] [ 5.50803588e-02 -6.68720918e-03 9.98459531e-01 2.79712601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1550998929999 meters Centerline goodness [0,1] 0.9938762104549403 Centerline is valid? [True, True] Translation: X:590.71, Y:54.01, Z:27.97 [[ 9.67808254e-01 -2.45592622e-01 -5.50585768e-02 5.90707705e+02] [ 2.45574311e-01 9.69351004e-01 -7.20339564e-03 5.40100490e+01] [ 5.51401875e-02 -6.54946632e-03 9.98457142e-01 2.79727502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters Centerline goodness [0,1] 0.9915397631133672 Centerline is valid? [True, True] Translation: X:590.74, Y:54.01, Z:27.97 [[ 9.68546368e-01 -2.42669493e-01 -5.50404418e-02 5.90736727e+02] [ 2.42646441e-01 9.70088050e-01 -7.20281576e-03 5.40107288e+01] [ 5.51419785e-02 -6.37910626e-03 9.98458146e-01 2.79734687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2150998929999 meters Centerline goodness [0,1] 0.990337140556462 Centerline is valid? [True, True] Translation: X:590.77, Y:54.01, Z:27.97 [[ 9.69266478e-01 -2.39765365e-01 -5.50914175e-02 5.90765651e+02] [ 2.39737492e-01 9.70810960e-01 -7.21218173e-03 5.40121323e+01] [ 5.52125832e-02 -6.21695228e-03 9.98455267e-01 2.79746387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.245099893 meters Centerline goodness [0,1] 0.9934736083741232 Centerline is valid? [True, True] Translation: X:590.80, Y:54.02, Z:27.98 [[ 9.70918819e-01 -2.33082945e-01 -5.46716431e-02 5.90795384e+02] [ 2.33044874e-01 9.72439625e-01 -7.15979292e-03 5.40157527e+01] [ 5.48336977e-02 -5.78936851e-03 9.98478717e-01 2.79764474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.275099893 meters Centerline goodness [0,1] 0.9970078305710587 Centerline is valid? [True, True] Translation: X:590.82, Y:54.02, Z:27.98 [[ 9.71812808e-01 -2.29532836e-01 -5.38009623e-02 5.90824301e+02] [ 2.29490463e-01 9.73285392e-01 -7.04791700e-03 5.40224570e+01] [ 5.39814190e-02 -5.49755175e-03 9.98526807e-01 2.79781565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters Centerline goodness [0,1] 0.9985358711566618 Centerline is valid? [True, True] Translation: X:590.85, Y:54.03, Z:27.98 [[ 9.72613633e-01 -2.26253861e-01 -5.32157066e-02 5.90854078e+02] [ 2.26207446e-01 9.74054191e-01 -6.97304101e-03 5.40280503e+01] [ 5.34126595e-02 -5.25571435e-03 9.98558694e-01 2.79798462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3350998929999 meters Centerline goodness [0,1] 0.9995086834853566 Centerline is valid? [True, True] Translation: X:590.88, Y:54.03, Z:27.98 [[ 9.73255738e-01 -2.23599235e-01 -5.26939258e-02 5.90883256e+02] [ 2.23549738e-01 9.74668049e-01 -6.90714180e-03 5.40341253e+01] [ 5.29035175e-02 -5.05729793e-03 9.98586822e-01 2.79814074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.365099893 meters Centerline goodness [0,1] 0.9992721979621543 Centerline is valid? [True, True] Translation: X:590.91, Y:54.03, Z:27.98 [[ 9.73959247e-01 -2.20667233e-01 -5.20514802e-02 5.90912821e+02] [ 2.20614710e-01 9.75337161e-01 -6.82430831e-03 5.40338982e+01] [ 5.22736442e-02 -4.83672405e-03 9.98621085e-01 2.79824169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.395099893 meters Centerline goodness [0,1] 0.9983159959072305 Centerline is valid? [True, True] Translation: X:590.94, Y:54.03, Z:27.98 [[ 9.74545883e-01 -2.18088175e-01 -5.19410265e-02 5.90942166e+02] [ 2.18032126e-01 9.75917818e-01 -6.81205391e-03 5.40339395e+01] [ 5.21758016e-02 -4.68615334e-03 9.98626920e-01 2.79830370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters Centerline goodness [0,1] 0.9998282561559434 Centerline is valid? [True, True] Translation: X:590.97, Y:54.04, Z:27.98 [[ 9.75008179e-01 -2.16126279e-01 -5.14634106e-02 5.90971494e+02] [ 2.16068444e-01 9.76354878e-01 -6.75133921e-03 5.40383697e+01] [ 5.17056937e-02 -4.53700807e-03 9.98652060e-01 2.79840814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4550998929999 meters Centerline goodness [0,1] 0.9996988923540165 Centerline is valid? [True, True] Translation: X:591.00, Y:54.04, Z:27.99 [[ 9.74928505e-01 -2.16396477e-01 -5.18360504e-02 5.91000031e+02] [ 2.16338063e-01 9.76294817e-01 -6.80249542e-03 5.40369235e+01] [ 5.20793033e-02 -4.58216403e-03 9.98632440e-01 2.79851105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.485099893 meters Centerline goodness [0,1] 0.9991162459853857 Centerline is valid? [True, True] Translation: X:591.03, Y:54.03, Z:27.99 [[ 9.74798594e-01 -2.16902833e-01 -5.21618748e-02 5.91029065e+02] [ 2.16844057e-01 9.76182210e-01 -6.85184237e-03 5.40329553e+01] [ 5.24056783e-02 -4.63182627e-03 9.98615137e-01 2.79860087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.515099893 meters Centerline goodness [0,1] 0.9999783816503448 Centerline is valid? [True, True] Translation: X:591.06, Y:54.04, Z:27.99 [[ 9.74559641e-01 -2.17914375e-01 -5.24102234e-02 5.91058434e+02] [ 2.17856265e-01 9.75956553e-01 -6.88870739e-03 5.40373882e+01] [ 5.26512493e-02 -4.70443933e-03 9.98601880e-01 2.79875897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters Centerline goodness [0,1] 0.9994153059898653 Centerline is valid? [True, True] Translation: X:591.09, Y:54.03, Z:27.99 [[ 9.74245377e-01 -2.19219616e-01 -5.28081905e-02 5.91088831e+02] [ 2.19162413e-01 9.75663687e-01 -6.94308391e-03 5.40285975e+01] [ 5.30450940e-02 -4.80930302e-03 9.98580537e-01 2.79880604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5750998929999 meters Centerline goodness [0,1] 0.9998043775947139 Centerline is valid? [True, True] Translation: X:591.12, Y:54.03, Z:27.99 [[ 9.74041158e-01 -2.20016226e-01 -5.32605170e-02 5.91117936e+02] [ 2.19958954e-01 9.75483958e-01 -7.00753115e-03 5.40301533e+01] [ 5.34965505e-02 -4.88950384e-03 9.98556063e-01 2.79893793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.605099893 meters Centerline goodness [0,1] 0.9999563499858137 Centerline is valid? [True, True] Translation: X:591.15, Y:54.03, Z:27.99 [[ 9.73882275e-01 -2.20632839e-01 -5.36140306e-02 5.91146103e+02] [ 2.20575089e-01 9.75344402e-01 -7.06596366e-03 5.40327945e+01] [ 5.38511282e-02 -4.94450278e-03 9.98536733e-01 2.79907380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.18, Y:54.03, Z:27.99 [[ 9.73527029e-01 -2.22087914e-01 -5.40562899e-02 5.91176047e+02] [ 2.22031187e-01 9.75013504e-01 -7.12874610e-03 5.40273063e+01] [ 5.42888210e-02 -5.06215521e-03 9.98512443e-01 2.79918141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929999 meters Centerline goodness [0,1] 0.9998687750147628 Centerline is valid? [True, True] Translation: X:591.20, Y:54.03, Z:27.99 [[ 9.74364476e-01 -2.18801738e-01 -5.23418371e-02 5.91204579e+02] [ 2.18743703e-01 9.75757916e-01 -6.90527409e-03 5.40308011e+01] [ 5.25838478e-02 -4.72119347e-03 9.98605352e-01 2.79945072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.23, Y:54.04, Z:28.00 [[ 9.75041718e-01 -2.15968194e-01 -5.14916323e-02 5.91233155e+02] [ 2.15907986e-01 9.76390068e-01 -6.79539246e-03 5.40389579e+01] [ 5.17435069e-02 -4.49166349e-03 9.98650306e-01 2.79964476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.26, Y:54.04, Z:28.00 [[ 9.75912202e-01 -2.12094294e-01 -5.11017086e-02 5.91262580e+02] [ 2.12029652e-01 9.77239954e-01 -6.74523793e-03 5.40420061e+01] [ 5.13692579e-02 -4.25231750e-03 9.98670675e-01 2.79983614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.29, Y:54.05, Z:28.00 [[ 9.75853397e-01 -2.12364772e-01 -5.11013776e-02 5.91289992e+02] [ 2.12300368e-01 9.77181161e-01 -6.74774400e-03 5.40456827e+01] [ 5.13682866e-02 -4.26403239e-03 9.98670675e-01 2.79996767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.32, Y:54.05, Z:28.00 [[ 9.77433344e-01 -2.04998870e-01 -5.09854960e-02 5.91318532e+02] [ 2.04924100e-01 9.78754620e-01 -6.74588709e-03 5.40494894e+01] [ 5.12851890e-02 -3.85450192e-03 9.98676610e-01 2.80020338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.35, Y:54.05, Z:28.00 [[ 9.78126293e-01 -2.01697552e-01 -5.08630675e-02 5.91348382e+02] [ 2.01618585e-01 9.79440977e-01 -6.73195844e-03 5.40541679e+01] [ 5.11751921e-02 -3.67023416e-03 9.98682947e-01 2.80034095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.845099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.38, Y:54.05, Z:28.00 [[ 9.78646823e-01 -1.99173657e-01 -5.07961666e-02 5.91378116e+02] [ 1.99091456e-01 9.79957844e-01 -6.72427540e-03 5.40520150e+01] [ 5.11174004e-02 -3.53239198e-03 9.98686404e-01 2.80047093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.875099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.41, Y:54.06, Z:28.01 [[ 9.78904442e-01 -1.97935152e-01 -5.06731508e-02 5.91406183e+02] [ 1.97851573e-01 9.80209021e-01 -6.71042723e-03 5.40632025e+01] [ 5.09985090e-02 -3.45689555e-03 9.98692747e-01 2.80057749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.43, Y:54.06, Z:28.01 [[ 9.78715198e-01 -1.98950189e-01 -5.03525918e-02 5.91433880e+02] [ 1.98868441e-01 9.80003436e-01 -6.67895015e-03 5.40631756e+01] [ 5.06744914e-02 -3.47675143e-03 9.98709171e-01 2.80058638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.46, Y:54.07, Z:28.01 [[ 9.78030511e-01 -2.02214440e-01 -5.06521520e-02 5.91463759e+02] [ 2.02135812e-01 9.79334420e-01 -6.72369856e-03 5.40653570e+01] [ 5.09650248e-02 -3.66263156e-03 9.98693723e-01 2.80063248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.49, Y:54.08, Z:28.01 [[ 9.76581666e-01 -2.09579415e-01 -4.86283626e-02 5.91492196e+02] [ 2.09515945e-01 9.77783916e-01 -6.45612567e-03 5.40753815e+01] [ 4.89011019e-02 -3.88348338e-03 9.98796076e-01 2.80088314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.52, Y:54.07, Z:28.01 [[ 9.75876873e-01 -2.13043037e-01 -4.77178504e-02 5.91521850e+02] [ 2.12985974e-01 9.77034711e-01 -6.33632226e-03 5.40708164e+01] [ 4.79719055e-02 -3.97976247e-03 9.98840757e-01 2.80108104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.55, Y:54.08, Z:28.01 [[ 9.75080296e-01 -2.16880765e-01 -4.67027891e-02 5.91551151e+02] [ 2.16830376e-01 9.76189585e-01 -6.20341450e-03 5.40783978e+01] [ 4.69361776e-02 -4.07775607e-03 9.98889567e-01 2.80125897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.58, Y:54.08, Z:28.01 [[ 9.74442747e-01 -2.19755715e-01 -4.65699393e-02 5.91580209e+02] [ 2.19708811e-01 9.75545878e-01 -6.18691912e-03 5.40845769e+01] [ 4.67907231e-02 -4.20302753e-03 9.98895872e-01 2.80144724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.61, Y:54.09, Z:28.01 [[ 9.73312458e-01 -2.24266390e-01 -4.86564017e-02 5.91609179e+02] [ 2.24220714e-01 9.74516942e-01 -6.46538943e-03 5.40852681e+01] [ 4.88664574e-02 -4.61692905e-03 9.98794650e-01 2.80145298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.64, Y:54.09, Z:28.01 [[ 9.73028474e-01 -2.25197019e-01 -5.00189188e-02 5.91638307e+02] [ 2.25149865e-01 9.74301460e-01 -6.64858704e-03 5.40907318e+01] [ 5.02307476e-02 -4.79248832e-03 9.98726141e-01 2.80149693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.67, Y:54.10, Z:28.01 [[ 9.73022342e-01 -2.25017035e-01 -5.09397319e-02 5.91666544e+02] [ 2.24967753e-01 9.74342665e-01 -6.77363804e-03 5.40979419e+01] [ 5.11569380e-02 -4.86889588e-03 9.98678758e-01 2.80143249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.69, Y:54.10, Z:28.01 [[ 9.72867574e-01 -2.25273357e-01 -5.27313719e-02 5.91694709e+02] [ 2.25220261e-01 9.74282552e-01 -7.02451580e-03 5.41013625e+01] [ 5.29576918e-02 -5.04224969e-03 9.98584027e-01 2.80138678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.72, Y:54.10, Z:28.01 [[ 9.72757495e-01 -2.25360313e-01 -5.43652978e-02 5.91722281e+02] [ 2.25303752e-01 9.74261617e-01 -7.24709323e-03 5.41031625e+01] [ 5.45992302e-02 -5.19904130e-03 9.98494814e-01 2.80139907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.235099893 meters Centerline goodness [0,1] 0.9999781401652603 Centerline is valid? [True, True] Translation: X:591.75, Y:54.11, Z:28.01 [[ 9.72858697e-01 -2.24914698e-01 -5.43997645e-02 5.91751318e+02] [ 2.24857059e-01 9.74364733e-01 -7.25746043e-03 5.41082580e+01] [ 5.46375215e-02 -5.17168757e-03 9.98492862e-01 2.80147789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.265099893 meters Centerline goodness [0,1] 0.9999561691869384 Centerline is valid? [True, True] Translation: X:591.78, Y:54.11, Z:28.02 [[ 9.72657906e-01 -2.25570207e-01 -5.52691593e-02 5.91779586e+02] [ 2.25511053e-01 9.74212609e-01 -7.38625332e-03 5.41121608e+01] [ 5.55100306e-02 -5.27950860e-03 9.98444171e-01 2.80169043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2950998929999 meters Centerline goodness [0,1] 0.9999562717274854 Centerline is valid? [True, True] Translation: X:591.81, Y:54.11, Z:28.02 [[ 9.72451125e-01 -2.26465769e-01 -5.52454998e-02 5.91807466e+02] [ 2.26407385e-01 9.74004619e-01 -7.39586154e-03 5.41107750e+01] [ 5.54842814e-02 -5.31587528e-03 9.98445410e-01 2.80187820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.83, Y:54.12, Z:28.02 [[ 9.72422312e-01 -2.26762932e-01 -5.45290702e-02 5.91833867e+02] [ 2.26706006e-01 9.73935811e-01 -7.30915546e-03 5.41211401e+01] [ 5.47652597e-02 -5.25448184e-03 9.98485431e-01 2.80217276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.86, Y:54.13, Z:28.02 [[ 9.72746712e-01 -2.25901702e-01 -5.22709826e-02 5.91862636e+02] [ 2.25847407e-01 9.74137393e-01 -7.02057829e-03 5.41252222e+01] [ 5.25050793e-02 -4.97602145e-03 9.98608259e-01 2.80248355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.89, Y:54.12, Z:28.03 [[ 9.73201644e-01 -2.24126760e-01 -5.14369042e-02 5.91891656e+02] [ 2.24071157e-01 9.74548222e-01 -6.91948801e-03 5.41226283e+01] [ 5.16785859e-02 -4.79146954e-03 9.98652275e-01 2.80262724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.92, Y:54.13, Z:28.03 [[ 9.73637292e-01 -2.22323279e-01 -5.10174731e-02 5.91920403e+02] [ 2.22266006e-01 9.74961891e-01 -6.86532464e-03 5.41342985e+01] [ 5.12664135e-02 -4.65511390e-03 9.98674163e-01 2.80280453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.95, Y:54.14, Z:28.03 [[ 9.74157711e-01 -2.19902595e-01 -5.15713417e-02 5.91950071e+02] [ 2.19840585e-01 9.75511108e-01 -6.94227819e-03 5.41388270e+01] [ 5.18350416e-02 -4.57460011e-03 9.98645183e-01 2.80293883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:591.98, Y:54.14, Z:28.03 [[ 9.75531289e-01 -2.13468953e-01 -5.26280304e-02 5.91978485e+02] [ 2.13395022e-01 9.76940304e-01 -7.08563389e-03 5.41412504e+01] [ 5.29270069e-02 -4.31830214e-03 9.98589047e-01 2.80293200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.01, Y:54.15, Z:28.03 [[ 9.76312791e-01 -2.09793018e-01 -5.29171415e-02 5.92007615e+02] [ 2.09712790e-01 9.77737058e-01 -7.12679427e-03 5.41469063e+01] [ 5.32342019e-02 -4.13942096e-03 9.98573475e-01 2.80299224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.04, Y:54.15, Z:28.03 [[ 9.77139760e-01 -2.05756158e-01 -5.35004009e-02 5.92036310e+02] [ 2.05668050e-01 9.78595275e-01 -7.20694570e-03 5.41485855e+01] [ 5.38381130e-02 -3.96112994e-03 9.98541820e-01 2.80307922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.07, Y:54.16, Z:28.03 [[ 9.77885614e-01 -2.02152326e-01 -5.36112202e-02 5.92065173e+02] [ 2.02058341e-01 9.79346843e-01 -7.22418221e-03 5.41593617e+01] [ 5.39643644e-02 -3.76817032e-03 9.98535752e-01 2.80323438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.09, Y:54.16, Z:28.03 [[ 9.79283816e-01 -1.95324685e-01 -5.33992132e-02 5.92094561e+02] [ 1.95221256e-01 9.80732820e-01 -7.19697179e-03 5.41647133e+01] [ 5.37761072e-02 -3.37678346e-03 9.98547309e-01 2.80336341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.12, Y:54.17, Z:28.03 [[ 9.79881975e-01 -1.92311986e-01 -5.33611682e-02 5.92123858e+02] [ 1.92204143e-01 9.81328597e-01 -7.19391503e-03 5.41659986e+01] [ 5.37483164e-02 -3.20704996e-03 9.98549364e-01 2.80349272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.15, Y:54.17, Z:28.04 [[ 9.80950494e-01 -1.86718217e-01 -5.35951094e-02 5.92152505e+02] [ 1.86601001e-01 9.82409198e-01 -7.22731910e-03 5.41744335e+01] [ 5.40018005e-02 -2.91125884e-03 9.98536594e-01 2.80369247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.18, Y:54.18, Z:28.04 [[ 9.81417088e-01 -1.84074067e-01 -5.41962904e-02 5.92180902e+02] [ 1.83950095e-01 9.82908401e-01 -7.31010771e-03 5.41779411e+01] [ 5.46155904e-02 -2.79514813e-03 9.98503543e-01 2.80378113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.21, Y:54.18, Z:28.04 [[ 9.81779954e-01 -1.82031498e-01 -5.45220690e-02 5.92209935e+02] [ 1.81902659e-01 9.83289011e-01 -7.35826771e-03 5.41825078e+01] [ 5.49503877e-02 -2.69350958e-03 9.98485453e-01 2.80391929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.24, Y:54.19, Z:28.04 [[ 9.82154811e-01 -1.80067950e-01 -5.42905243e-02 5.92239143e+02] [ 1.79936577e-01 9.83650839e-01 -7.33857640e-03 5.41863794e+01] [ 5.47243622e-02 -2.56123297e-03 9.98498214e-01 2.80406759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.27, Y:54.19, Z:28.04 [[ 9.82408936e-01 -1.78750356e-01 -5.40462056e-02 5.92267978e+02] [ 1.78617793e-01 9.83891361e-01 -7.31254683e-03 5.41920725e+01] [ 5.44827152e-02 -2.46970260e-03 9.98511660e-01 2.80426341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.30, Y:54.20, Z:28.04 [[ 9.82766004e-01 -1.76935871e-01 -5.35226902e-02 5.92295268e+02] [ 1.76802564e-01 9.84219613e-01 -7.25310172e-03 5.41958142e+01] [ 5.39614153e-02 -2.33484705e-03 9.98540292e-01 2.80441620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.32, Y:54.20, Z:28.05 [[ 9.83094278e-01 -1.75238512e-01 -5.30764119e-02 5.92323493e+02] [ 1.75104706e-01 9.84523510e-01 -7.19718444e-03 5.41998438e+01] [ 5.35161993e-02 -2.21841865e-03 9.98564517e-01 2.80461552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.865099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.35, Y:54.20, Z:28.05 [[ 9.83269754e-01 -1.74219555e-01 -5.31802352e-02 5.92352231e+02] [ 1.74083474e-01 9.84704459e-01 -7.21616978e-03 5.42044500e+01] [ 5.36240126e-02 -2.16235860e-03 9.98558856e-01 2.80482961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.895099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.38, Y:54.21, Z:28.05 [[ 9.83424013e-01 -1.73447899e-01 -5.28492003e-02 5.92381391e+02] [ 1.73311693e-01 9.84840820e-01 -7.18440002e-03 5.42076282e+01] [ 5.32941688e-02 -2.09407290e-03 9.98576660e-01 2.80497916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.41, Y:54.21, Z:28.05 [[ 9.83884762e-01 -1.70826509e-01 -5.28117237e-02 5.92409951e+02] [ 1.70686121e-01 9.85299215e-01 -7.19065648e-03 5.42118325e+01] [ 5.32637047e-02 -1.93945094e-03 9.98578598e-01 2.80517685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.44, Y:54.22, Z:28.05 [[ 9.84273675e-01 -1.68414039e-01 -5.33108290e-02 5.92437550e+02] [ 1.68267229e-01 9.85714661e-01 -7.26275704e-03 5.42153629e+01] [ 5.37724159e-02 -1.82192491e-03 9.98551555e-01 2.80529299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.985099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.47, Y:54.22, Z:28.05 [[ 9.85182410e-01 -1.62464500e-01 -5.49627530e-02 5.92466525e+02] [ 1.62298849e-01 9.86713192e-01 -7.49406880e-03 5.42232215e+01] [ 5.54499936e-02 -1.53736678e-03 9.98460282e-01 2.80532028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.015099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.49, Y:54.23, Z:28.05 [[ 9.85583464e-01 -1.59724026e-01 -5.57984850e-02 5.92494323e+02] [ 1.59548692e-01 9.87160714e-01 -7.61187538e-03 5.42287375e+01] [ 5.62978716e-02 -1.40043679e-03 9.98413035e-01 2.80534983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.52, Y:54.23, Z:28.05 [[ 9.85857795e-01 -1.57607161e-01 -5.69595575e-02 5.92522876e+02] [ 1.57420099e-01 9.87501045e-01 -7.78455897e-03 5.42337309e+01] [ 5.74745248e-02 -1.29211104e-03 9.98346137e-01 2.80531915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.55, Y:54.24, Z:28.05 [[ 9.86729921e-01 -1.52074981e-01 -5.68969445e-02 5.92551043e+02] [ 1.51878430e-01 9.88368497e-01 -7.78827655e-03 5.42417455e+01] [ 5.74195495e-02 -9.56493102e-04 9.98349678e-01 2.80540741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.105099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.58, Y:54.24, Z:28.06 [[ 9.86886566e-01 -1.50855092e-01 -5.74251345e-02 5.92578667e+02] [ 1.50652559e-01 9.88555487e-01 -7.86488733e-03 5.42440995e+01] [ 5.79543901e-02 -8.89491831e-04 9.98318836e-01 2.80551083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.135099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.61, Y:54.25, Z:28.06 [[ 9.87296176e-01 -1.48504182e-01 -5.65045982e-02 5.92607039e+02] [ 1.48303878e-01 9.88911508e-01 -7.74525078e-03 5.42499952e+01] [ 5.70282496e-02 -7.32994581e-04 9.98372296e-01 2.80570472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.64, Y:54.25, Z:28.06 [[ 9.87744357e-01 -1.45732770e-01 -5.58842161e-02 5.92635276e+02] [ 1.45531639e-01 9.89323837e-01 -7.67386967e-03 5.42529221e+01] [ 5.64059214e-02 -5.53100116e-04 9.98407765e-01 2.80592837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.66, Y:54.26, Z:28.06 [[ 9.87918748e-01 -1.44501719e-01 -5.59982238e-02 5.92664280e+02] [ 1.44297012e-01 9.89504438e-01 -7.70326492e-03 5.42568264e+01] [ 5.65236259e-02 -4.70176517e-04 9.98401151e-01 2.80609602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.69, Y:54.26, Z:28.06 [[ 9.88182895e-01 -1.42616659e-01 -5.61698736e-02 5.92692403e+02] [ 1.42406865e-01 9.89777938e-01 -7.74070175e-03 5.42620614e+01] [ 5.66996547e-02 -3.49746544e-04 9.98391219e-01 2.80631520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.255099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.72, Y:54.27, Z:28.06 [[ 9.88505933e-01 -1.40388769e-01 -5.60982466e-02 5.92719814e+02] [ 1.40175207e-01 9.90096435e-01 -7.74347977e-03 5.42668065e+01] [ 5.66297716e-02 -2.09107645e-04 9.98395225e-01 2.80643035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.75, Y:54.27, Z:28.07 [[ 9.89011769e-01 -1.36553309e-01 -5.66472780e-02 5.92747566e+02] [ 1.36328855e-01 9.90632724e-01 -7.82622188e-03 5.42725757e+01] [ 5.71853438e-02 1.75670120e-05 9.98363579e-01 2.80654103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.78, Y:54.28, Z:28.07 [[ 9.89157168e-01 -1.35448880e-01 -5.67599976e-02 5.92775403e+02] [ 1.35220785e-01 9.90784331e-01 -7.85798021e-03 5.42772340e+01] [ 5.73012709e-02 9.76460018e-05 9.98356928e-01 2.80669447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.345099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.80, Y:54.28, Z:28.07 [[ 9.89392674e-01 -1.33789440e-01 -5.65908288e-02 5.92802611e+02] [ 1.33559061e-01 9.91009759e-01 -7.85080572e-03 5.42828366e+01] [ 5.71324185e-02 2.09311700e-04 9.98366587e-01 2.80680604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.375099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.83, Y:54.29, Z:28.07 [[ 9.89402478e-01 -1.33449156e-01 -5.72193944e-02 5.92831268e+02] [ 1.33212117e-01 9.91055630e-01 -7.95428125e-03 5.42863852e+01] [ 5.77690951e-02 2.47668925e-04 9.98329941e-01 2.80693266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.86, Y:54.29, Z:28.07 [[ 9.89646973e-01 -1.31660005e-01 -5.71359076e-02 5.92858572e+02] [ 1.31419929e-01 9.91294865e-01 -7.95562665e-03 5.42917599e+01] [ 5.76859697e-02 3.64464890e-04 9.98334711e-01 2.80699884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.89, Y:54.30, Z:28.07 [[ 9.89663330e-01 -1.31396226e-01 -5.74588922e-02 5.92885914e+02] [ 1.31152559e-01 9.91329854e-01 -8.00786598e-03 5.42954774e+01] [ 5.80129186e-02 3.89210577e-04 9.98315757e-01 2.80714694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.91, Y:54.30, Z:28.07 [[ 9.89745372e-01 -1.30722891e-01 -5.75814521e-02 5.92914334e+02] [ 1.30476099e-01 9.91418846e-01 -8.04116891e-03 5.42999259e+01] [ 5.81385016e-02 4.45706479e-04 9.98308427e-01 2.80735731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.495099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.94, Y:54.30, Z:28.07 [[ 9.89803621e-01 -1.30398127e-01 -5.73159657e-02 5.92941169e+02] [ 1.30152288e-01 9.91461599e-01 -8.01747771e-03 5.43044822e+01] [ 5.78720430e-02 4.75924401e-04 9.98323895e-01 2.80746131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.525099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:592.97, Y:54.31, Z:28.08 [[ 9.89788975e-01 -1.30518397e-01 -5.72951451e-02 5.92969132e+02] [ 1.30272416e-01 9.91445773e-01 -8.02356965e-03 5.43076562e+01] [ 5.78522529e-02 4.77663799e-04 9.98325042e-01 2.80763766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.00, Y:54.31, Z:28.08 [[ 9.89882127e-01 -1.29839151e-01 -5.72290899e-02 5.92996755e+02] [ 1.29591754e-01 9.91534928e-01 -8.02898884e-03 5.43130787e+01] [ 5.77871186e-02 5.31334390e-04 9.98328787e-01 2.80772911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.02, Y:54.32, Z:28.08 [[ 9.89872733e-01 -1.29753661e-01 -5.75843667e-02 5.93024492e+02] [ 1.29502610e-01 9.91546110e-01 -8.08613242e-03 5.43164853e+01] [ 5.81467601e-02 5.46916202e-04 9.98307896e-01 2.80791297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.615099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.05, Y:54.32, Z:28.08 [[ 9.89890682e-01 -1.29528657e-01 -5.77820462e-02 5.93052643e+02] [ 1.29274524e-01 9.91575510e-01 -8.13051564e-03 5.43198328e+01] [ 5.83483967e-02 5.78575146e-04 9.98296113e-01 2.80811554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.645099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.08, Y:54.32, Z:28.08 [[ 9.89934474e-01 -1.29119969e-01 -5.79462770e-02 5.93080158e+02] [ 1.28862822e-01 9.91628787e-01 -8.16839088e-03 5.43240754e+01] [ 5.85158988e-02 6.19050935e-04 9.98286285e-01 2.80822952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.11, Y:54.33, Z:28.08 [[ 9.89898108e-01 -1.29398929e-01 -5.79452575e-02 5.93107438e+02] [ 1.29141837e-01 9.91592429e-01 -8.17561669e-03 5.43279941e+01] [ 5.85159947e-02 6.09870492e-04 9.98286285e-01 2.80836048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.14, Y:54.33, Z:28.08 [[ 9.89963012e-01 -1.28847162e-01 -5.80658653e-02 5.93135650e+02] [ 1.28587090e-01 9.91664244e-01 -8.20896289e-03 5.43324164e+01] [ 5.86395440e-02 6.60048990e-04 9.98279003e-01 2.80848841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.735099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.16, Y:54.34, Z:28.09 [[ 9.90011129e-01 -1.28506075e-01 -5.80013227e-02 5.93163406e+02] [ 1.28245117e-01 9.91708479e-01 -8.21483604e-03 5.43370504e+01] [ 5.85760598e-02 6.94392677e-04 9.98282707e-01 2.80860265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.765099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.19, Y:54.34, Z:28.09 [[ 9.89972581e-01 -1.28492544e-01 -5.86852172e-02 5.93191050e+02] [ 1.28224494e-01 9.91710215e-01 -8.32636754e-03 5.43404865e+01] [ 5.92686056e-02 7.17993281e-04 9.98241813e-01 2.80870024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.22, Y:54.34, Z:28.09 [[ 9.90185289e-01 -1.26490489e-01 -5.94411438e-02 5.93219094e+02] [ 1.26211554e-01 9.91967453e-01 -8.43898983e-03 5.43440080e+01] [ 6.00311319e-02 8.54004433e-04 9.98196140e-01 2.80892869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.25, Y:54.35, Z:28.09 [[ 9.90163142e-01 -1.26251966e-01 -6.03108067e-02 5.93247535e+02] [ 1.25963880e-01 9.91997808e-01 -8.57030921e-03 5.43477863e+01] [ 6.09102064e-02 8.89021075e-04 9.98142854e-01 2.80904516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.855099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.28, Y:54.35, Z:28.09 [[ 9.90228685e-01 -1.25284123e-01 -6.12457349e-02 5.93275555e+02] [ 1.24984288e-01 9.92120423e-01 -8.71749755e-03 5.43518932e+01] [ 6.18553084e-02 9.77561571e-04 9.98084648e-01 2.80916484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.885099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.30, Y:54.36, Z:28.09 [[ 9.90330154e-01 -1.24313759e-01 -6.15814574e-02 5.93302823e+02] [ 1.24008263e-01 9.92242402e-01 -8.77310215e-03 5.43583621e+01] [ 6.21943505e-02 1.05165801e-03 9.98063503e-01 2.80912146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.33, Y:54.36, Z:28.09 [[ 9.90368494e-01 -1.23636960e-01 -6.23229385e-02 5.93331841e+02] [ 1.23322198e-01 9.92326891e-01 -8.88694570e-03 5.43608618e+01] [ 6.29434827e-02 1.11554927e-03 9.98016470e-01 2.80944968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.36, Y:54.37, Z:28.10 [[ 9.90439055e-01 -1.23344032e-01 -6.17796744e-02 5.93359077e+02] [ 1.23033168e-01 9.92363315e-01 -8.82553570e-03 5.43650319e+01] [ 6.23964597e-02 1.14020620e-03 9.98050791e-01 2.80961256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.975099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.39, Y:54.37, Z:28.10 [[ 9.90463227e-01 -1.23354448e-01 -6.13699920e-02 5.93385775e+02] [ 1.23046765e-01 9.92362013e-01 -8.78235175e-03 5.43691900e+01] [ 6.19845910e-02 1.14721750e-03 9.98076447e-01 2.80979537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.005099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.41, Y:54.37, Z:28.10 [[ 9.90431130e-01 -1.24011380e-01 -6.05586877e-02 5.93414236e+02] [ 1.23712448e-01 9.92280185e-01 -8.67548394e-03 5.43724109e+01] [ 6.11670446e-02 1.10060585e-03 9.98126936e-01 2.81000700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.44, Y:54.37, Z:28.10 [[ 9.90402828e-01 -1.24864674e-01 -5.92541289e-02 5.93443129e+02] [ 1.24579136e-01 9.92173237e-01 -8.50334887e-03 5.43747303e+01] [ 5.98521288e-02 1.03991256e-03 9.98206713e-01 2.81039175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.47, Y:54.38, Z:28.11 [[ 9.90401959e-01 -1.25145006e-01 -5.86744180e-02 5.93470768e+02] [ 1.24864753e-01 9.92137931e-01 -8.43317501e-03 5.43792870e+01] [ 5.92684854e-02 1.02586633e-03 9.98241551e-01 2.81056708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.095099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.50, Y:54.38, Z:28.11 [[ 9.90351849e-01 -1.25406413e-01 -5.89613959e-02 5.93498714e+02] [ 1.25123411e-01 9.92104927e-01 -8.48214277e-03 5.43828864e+01] [ 5.95596065e-02 1.02285481e-03 9.98224227e-01 2.81078095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.125099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.53, Y:54.39, Z:28.11 [[ 9.90294967e-01 -1.25761067e-01 -5.91610673e-02 5.93526755e+02] [ 1.25475748e-01 9.92060033e-01 -8.52801893e-03 5.43866891e+01] [ 5.97638231e-02 1.02197504e-03 9.98212022e-01 2.81093900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.56, Y:54.39, Z:28.11 [[ 9.90246138e-01 -1.25884726e-01 -5.97128261e-02 5.93555064e+02] [ 1.25593234e-01 9.92044330e-01 -8.62484509e-03 5.43917661e+01] [ 6.03235068e-02 1.04119262e-03 9.98178336e-01 2.81105393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.58, Y:54.40, Z:28.11 [[ 9.90208836e-01 -1.25784574e-01 -6.05367807e-02 5.93581948e+02] [ 1.25483938e-01 9.92056996e-01 -8.75768144e-03 5.43973099e+01] [ 6.11575180e-02 1.07553989e-03 9.98127548e-01 2.81106088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.61, Y:54.40, Z:28.11 [[ 9.90118799e-01 -1.25950116e-01 -6.16549400e-02 5.93610675e+02] [ 1.25638019e-01 9.92035973e-01 -8.92840775e-03 5.44011797e+01] [ 6.22884523e-02 1.09397981e-03 9.98057589e-01 2.81113985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.245099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.64, Y:54.41, Z:28.11 [[ 9.90118279e-01 -1.24962651e-01 -6.36406207e-02 5.93638774e+02] [ 1.24626997e-01 9.92160709e-01 -9.23253307e-03 5.44060270e+01] [ 6.42954451e-02 1.20996030e-03 9.97930174e-01 2.81128029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.275099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.67, Y:54.41, Z:28.11 [[ 9.90189726e-01 -1.23991349e-01 -6.44239946e-02 5.93666875e+02] [ 1.23644224e-01 9.92282440e-01 -9.36293004e-03 5.44115804e+01] [ 6.50877209e-02 1.30542230e-03 9.97878692e-01 2.81134761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.69, Y:54.42, Z:28.11 [[ 9.90295486e-01 -1.22635662e-01 -6.53861246e-02 5.93694770e+02] [ 1.22274147e-01 9.92450729e-01 -9.51755795e-03 5.44164055e+01] [ 6.60596991e-02 1.43016203e-03 9.97814648e-01 2.81146653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.72, Y:54.42, Z:28.12 [[ 9.90374045e-01 -1.21628761e-01 -6.60734047e-02 5.93723169e+02] [ 1.21256594e-01 9.92574491e-01 -9.62901593e-03 5.44213927e+01] [ 6.67539413e-02 1.52449145e-03 9.97768303e-01 2.81157432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.365099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.75, Y:54.43, Z:28.12 [[ 9.90580819e-01 -1.19370993e-01 -6.70835797e-02 5.93750938e+02] [ 1.18981154e-01 9.92848234e-01 -9.79123834e-03 5.44271496e+01] [ 6.77726035e-02 1.71733118e-03 9.97699316e-01 2.81172651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.395099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.78, Y:54.43, Z:28.12 [[ 9.90649771e-01 -1.18918431e-01 -6.68688060e-02 5.93779229e+02] [ 1.18529274e-01 9.92902477e-01 -9.77147288e-03 5.44324098e+01] [ 6.75562113e-02 1.75419634e-03 9.97713927e-01 2.81187759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.81, Y:54.44, Z:28.12 [[ 9.90742065e-01 -1.18646836e-01 -6.59779500e-02 5.93806607e+02] [ 1.18266230e-01 9.92934947e-01 -9.65870319e-03 5.44368724e+01] [ 6.66577869e-02 1.76632013e-03 9.97774333e-01 2.81204804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4550998929999 meters Centerline goodness [0,1] 0.999978253778406 Centerline is valid? [True, True] Translation: X:593.83, Y:54.44, Z:28.12 [[ 9.90807615e-01 -1.18549767e-01 -6.51630454e-02 5.93834052e+02] [ 1.18177062e-01 9.92946535e-01 -9.55829241e-03 5.44416832e+01] [ 6.58365535e-02 1.76965165e-03 9.97828851e-01 2.81224424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.485099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.86, Y:54.45, Z:28.12 [[ 9.90884107e-01 -1.18386505e-01 -6.42909215e-02 5.93861648e+02] [ 1.18022395e-01 9.92966010e-01 -9.44549758e-03 5.44474574e+01] [ 6.49569192e-02 1.77162490e-03 9.97886497e-01 2.81242889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.515099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.89, Y:54.45, Z:28.13 [[ 9.91122849e-01 -1.17357351e-01 -6.24719973e-02 5.93889222e+02] [ 1.17010995e-01 9.93088127e-01 -9.18685622e-03 5.44522650e+01] [ 6.31183439e-02 1.79539255e-03 9.98004434e-01 2.81279500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.92, Y:54.46, Z:28.13 [[ 9.91218859e-01 -1.17079384e-01 -6.14621151e-02 5.93917168e+02] [ 1.16742523e-01 9.93120926e-01 -9.05592023e-03 5.44563492e+01] [ 6.20995742e-02 1.80115654e-03 9.98068334e-01 2.81306663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.94, Y:54.46, Z:28.13 [[ 9.91293288e-01 -1.16546518e-01 -6.12741900e-02 5.93944213e+02] [ 1.16209770e-01 9.93183523e-01 -9.04322680e-03 5.44611293e+01] [ 6.19104725e-02 1.84383052e-03 9.98080004e-01 2.81321961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.605099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:593.97, Y:54.47, Z:28.13 [[ 9.91370572e-01 -1.15998554e-01 -6.10632856e-02 5.93972474e+02] [ 1.15662605e-01 9.93247604e-01 -9.01986827e-03 5.44662700e+01] [ 6.16972538e-02 1.87929328e-03 9.98093141e-01 2.81332224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.635099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.00, Y:54.47, Z:28.13 [[ 9.91407150e-01 -1.15465995e-01 -6.14773765e-02 5.94000735e+02] [ 1.15123480e-01 9.93309537e-01 -9.09656528e-03 5.44710219e+01] [ 6.21164084e-02 1.94091032e-03 9.98067024e-01 2.81340025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.03, Y:54.48, Z:28.13 [[ 9.91445213e-01 -1.14922608e-01 -6.18804050e-02 5.94029604e+02] [ 1.14573548e-01 9.93372428e-01 -9.17180444e-03 5.44765036e+01] [ 6.25243358e-02 2.00348407e-03 9.98041429e-01 2.81345340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.06, Y:54.48, Z:28.14 [[ 9.91500443e-01 -1.14112972e-01 -6.24908136e-02 5.94058229e+02] [ 1.13754379e-01 9.93465580e-01 -9.27804979e-03 5.44804425e+01] [ 6.31412182e-02 2.09058676e-03 9.98002413e-01 2.81354830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.725099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.09, Y:54.49, Z:28.13 [[ 9.91538668e-01 -1.12383970e-01 -6.49685608e-02 5.94086688e+02] [ 1.11991723e-01 9.93662188e-01 -9.65971240e-03 5.44866872e+01] [ 6.56423991e-02 2.30203729e-03 9.97840556e-01 2.81341082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.755099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.11, Y:54.49, Z:28.13 [[ 9.91526396e-01 -1.11964995e-01 -6.58729464e-02 5.94113721e+02] [ 1.11560457e-01 9.93709331e-01 -9.79950612e-03 5.44924294e+01] [ 6.65557631e-02 2.36765295e-03 9.97779898e-01 2.81340094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.14, Y:54.49, Z:28.14 [[ 9.91470780e-01 -1.12082416e-01 -6.65073250e-02 5.94142362e+02] [ 1.11669679e-01 9.93696036e-01 -9.90310714e-03 5.44942525e+01] [ 6.71980294e-02 2.39178975e-03 9.97736791e-01 2.81358855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8150998929999 meters Centerline goodness [0,1] 0.9999562315351789 Centerline is valid? [True, True] Translation: X:594.17, Y:54.50, Z:28.14 [[ 9.91400431e-01 -1.12601740e-01 -6.66785859e-02 5.94170231e+02] [ 1.12187105e-01 9.93637359e-01 -9.94248895e-03 5.44985750e+01] [ 6.73738755e-02 2.37651032e-03 9.97724969e-01 2.81367330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.845099893 meters Centerline goodness [0,1] 0.9999781210344375 Centerline is valid? [True, True] Translation: X:594.20, Y:54.50, Z:28.14 [[ 9.91396788e-01 -1.13192169e-01 -6.57262626e-02 5.94198751e+02] [ 1.12790012e-01 9.93570425e-01 -9.80941124e-03 5.45029146e+01] [ 6.64140192e-02 2.31175285e-03 9.97789474e-01 2.81385695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.875099893 meters Centerline goodness [0,1] 0.9998470212858953 Centerline is valid? [True, True] Translation: X:594.23, Y:54.51, Z:28.14 [[ 9.91341463e-01 -1.14104969e-01 -6.49781529e-02 5.94227871e+02] [ 1.13712837e-01 9.93466172e-01 -9.71368723e-03 5.45062303e+01] [ 6.56619768e-02 2.24073083e-03 9.97839408e-01 2.81409959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929999 meters Centerline goodness [0,1] 0.9999562305773186 Centerline is valid? [True, True] Translation: X:594.26, Y:54.51, Z:28.14 [[ 9.91335194e-01 -1.14739078e-01 -6.39490226e-02 5.94255078e+02] [ 1.14359800e-01 9.93393280e-01 -9.57221898e-03 5.45119663e+01] [ 6.46248369e-02 2.17608011e-03 9.97907258e-01 2.81423863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9350998929999 meters Centerline goodness [0,1] 0.9999562688590545 Centerline is valid? [True, True] Translation: X:594.28, Y:54.52, Z:28.15 [[ 9.91345071e-01 -1.15429996e-01 -6.25369245e-02 5.94283967e+02] [ 1.15068175e-01 9.93313415e-01 -9.36879048e-03 5.45153355e+01] [ 6.32002055e-02 2.09169450e-03 9.97998677e-01 2.81455463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters Centerline goodness [0,1] 0.9999781176831003 Centerline is valid? [True, True] Translation: X:594.31, Y:54.52, Z:28.15 [[ 9.91428437e-01 -1.15041234e-01 -6.19287322e-02 5.94312061e+02] [ 1.14684717e-01 9.93358474e-01 -9.29285415e-03 5.45193031e+01] [ 6.25864924e-02 2.11092072e-03 9.98037311e-01 2.81477186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.995099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.34, Y:54.53, Z:28.15 [[ 9.91582085e-01 -1.13801084e-01 -6.17598801e-02 5.94339572e+02] [ 1.13443300e-01 9.93501128e-01 -9.28048522e-03 5.45259520e+01] [ 6.24146398e-02 2.19611829e-03 9.98047890e-01 2.81486454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.025099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.37, Y:54.53, Z:28.15 [[ 9.91688280e-01 -1.12525186e-01 -6.23894102e-02 5.94367562e+02] [ 1.12157147e-01 9.93646197e-01 -9.38130968e-03 5.45304158e+01] [ 6.30486338e-02 2.30591657e-03 9.98007792e-01 2.81502572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.40, Y:54.54, Z:28.15 [[ 9.92098663e-01 -1.08460033e-01 -6.30608050e-02 5.94396490e+02] [ 1.08075404e-01 9.94097414e-01 -9.48884688e-03 5.45386135e+01] [ 6.37177438e-02 2.59855033e-03 9.97964577e-01 2.81519478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.42, Y:54.54, Z:28.15 [[ 9.92170801e-01 -1.07231586e-01 -6.40194382e-02 5.94424715e+02] [ 1.06832271e-01 9.94230340e-01 -9.63826518e-03 5.45431099e+01] [ 6.46835943e-02 2.72346333e-03 9.97902107e-01 2.81529892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.115099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.45, Y:54.55, Z:28.15 [[ 9.92257662e-01 -1.06296053e-01 -6.42330216e-02 5.94453237e+02] [ 1.05891050e-01 9.94330555e-01 -9.68671328e-03 5.45481128e+01] [ 6.48985154e-02 2.81001335e-03 9.97887913e-01 2.81545177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.145099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.48, Y:54.55, Z:28.16 [[ 9.92294587e-01 -1.06585312e-01 -6.31745584e-02 5.94481615e+02] [ 1.06193142e-01 9.94299729e-01 -9.54287333e-03 5.45518122e+01] [ 6.38315764e-02 2.76063668e-03 9.97956867e-01 2.81561684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1750998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.51, Y:54.56, Z:28.16 [[ 9.92287146e-01 -1.07193167e-01 -6.22562756e-02 5.94510521e+02] [ 1.06812542e-01 9.94234554e-01 -9.41974819e-03 5.45560970e+01] [ 6.29070730e-02 2.69734399e-03 9.98015744e-01 2.81581189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.54, Y:54.56, Z:28.16 [[ 9.92248640e-01 -1.08041351e-01 -6.13979054e-02 5.94539480e+02] [ 1.07671823e-01 9.94142942e-01 -9.30531073e-03 5.45598147e+01] [ 6.20436526e-02 2.62235752e-03 9.98069992e-01 2.81600665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.235099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.57, Y:54.56, Z:28.16 [[ 9.92150421e-01 -1.09123165e-01 -6.10710898e-02 5.94568204e+02] [ 1.08758649e-01 9.94024949e-01 -9.27130849e-03 5.45633512e+01] [ 6.17179015e-02 2.55652337e-03 9.98090359e-01 2.81616559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.265099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.60, Y:54.57, Z:28.16 [[ 9.92083254e-01 -1.10583334e-01 -5.95159073e-02 5.94597116e+02] [ 1.10238905e-01 9.93863916e-01 -9.04989979e-03 5.45666136e+01] [ 6.01514808e-02 2.41728555e-03 9.98186333e-01 2.81635817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2950998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.63, Y:54.57, Z:28.17 [[ 9.92064445e-01 -1.11163663e-01 -5.87433096e-02 5.94625319e+02] [ 1.10828302e-01 9.93799299e-01 -8.94659832e-03 5.45710109e+01] [ 5.93735965e-02 2.36518085e-03 9.98233030e-01 2.81654654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.65, Y:54.58, Z:28.17 [[ 9.92019159e-01 -1.12038117e-01 -5.78398458e-02 5.94653842e+02] [ 1.11713618e-01 9.93701267e-01 -8.82384292e-03 5.45752604e+01] [ 5.84641347e-02 2.29192282e-03 9.98286879e-01 2.81666007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.355099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.68, Y:54.58, Z:28.17 [[ 9.91826586e-01 -1.14007196e-01 -5.72920776e-02 5.94682931e+02] [ 1.13691319e-01 9.93477557e-01 -8.75369716e-03 5.45779731e+01] [ 5.79163777e-02 2.16853768e-03 9.98319083e-01 2.81671392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.385099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.71, Y:54.58, Z:28.17 [[ 9.91646761e-01 -1.16108108e-01 -5.61748041e-02 5.94711054e+02] [ 1.15807396e-01 9.93234542e-01 -8.59022335e-03 5.45779138e+01] [ 5.67921504e-02 2.01300936e-03 9.98383994e-01 2.81688104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.74, Y:54.58, Z:28.17 [[ 9.91431365e-01 -1.18458378e-01 -5.50587152e-02 5.94740046e+02] [ 1.18172762e-01 9.92957300e-01 -8.42606109e-03 5.45789274e+01] [ 5.56690907e-02 1.84742078e-03 9.98447565e-01 2.81709872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.77, Y:54.58, Z:28.17 [[ 9.91276090e-01 -1.20092137e-01 -5.43101475e-02 5.94767532e+02] [ 1.19816470e-01 9.92761233e-01 -8.31549647e-03 5.45828487e+01] [ 5.49156347e-02 1.73570268e-03 9.98489489e-01 2.81723020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.475099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.80, Y:54.58, Z:28.17 [[ 9.90781093e-01 -1.24582895e-01 -5.32158657e-02 5.94797194e+02] [ 1.24324467e-01 9.92208127e-01 -8.15227286e-03 5.45842797e+01] [ 5.38168482e-02 1.46108369e-03 9.98549754e-01 2.81739014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.505099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.83, Y:54.59, Z:28.18 [[ 9.90504296e-01 -1.26905612e-01 -5.28791622e-02 5.94826119e+02] [ 1.26653584e-01 9.91913907e-01 -8.10381121e-03 5.45863439e+01] [ 5.34799955e-02 1.32952443e-03 9.98568036e-01 2.81753643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5350998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.85, Y:54.59, Z:28.18 [[ 9.90333112e-01 -1.28380483e-01 -5.25240734e-02 5.94853757e+02] [ 1.28133254e-01 9.91724196e-01 -8.06157664e-03 5.45910218e+01] [ 5.31243435e-02 1.25356582e-03 9.98587118e-01 2.81762727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.88, Y:54.60, Z:28.18 [[ 9.90298183e-01 -1.28649992e-01 -5.25232157e-02 5.94880986e+02] [ 1.28402846e-01 9.91689281e-01 -8.06716069e-03 5.45952881e+01] [ 5.31245502e-02 1.24476422e-03 9.98587118e-01 2.81775824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.595099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.91, Y:54.60, Z:28.18 [[ 9.90098134e-01 -1.30119480e-01 -5.26745371e-02 5.94909592e+02] [ 1.29872211e-01 9.91497615e-01 -8.10485872e-03 5.45975433e+01] [ 5.32812779e-02 1.18364688e-03 9.98578842e-01 2.81791064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.625099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.94, Y:54.60, Z:28.18 [[ 9.89919266e-01 -1.31688712e-01 -5.21337674e-02 5.94937834e+02] [ 1.31448030e-01 9.91290509e-01 -8.03381187e-03 5.46009973e+01] [ 5.27376712e-02 1.09994412e-03 9.98607795e-01 2.81806364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6550998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:594.97, Y:54.60, Z:28.18 [[ 9.89487446e-01 -1.35366090e-01 -5.08980945e-02 5.94966625e+02] [ 1.35140899e-01 9.90795247e-01 -7.85600142e-03 5.46034247e+01] [ 5.14930263e-02 8.95000534e-04 9.98672953e-01 2.81823114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters Centerline goodness [0,1] 0.9999781363417727 Centerline is valid? [True, True] Translation: X:594.99, Y:54.61, Z:28.18 [[ 9.89270643e-01 -1.37323810e-01 -4.98574649e-02 5.94994462e+02] [ 1.37109606e-01 9.90525895e-01 -7.70760271e-03 5.46076446e+01] [ 5.04435474e-02 7.88967726e-04 9.98726602e-01 2.81835210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7150998929999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:595.02, Y:54.61, Z:28.18 [[ 9.89143645e-01 -1.38433926e-01 -4.93041419e-02 5.95023023e+02] [ 1.38225488e-01 9.90371402e-01 -7.62894615e-03 5.46117395e+01] [ 4.98855171e-02 7.31034548e-04 9.98754675e-01 2.81849649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.745099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:595.05, Y:54.62, Z:28.19 [[ 9.88939365e-01 -1.39984969e-01 -4.90218510e-02 5.95051914e+02] [ 1.39780199e-01 9.90153408e-01 -7.59768478e-03 5.46161308e+01] [ 4.96027145e-02 6.61365471e-04 9.98768809e-01 2.81860952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.775099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:595.08, Y:54.62, Z:28.19 [[ 9.88904576e-01 -1.40101426e-01 -4.93895724e-02 5.95078809e+02] [ 1.39893094e-01 9.90136929e-01 -7.66710378e-03 5.46211134e+01] [ 4.99766117e-02 6.72773910e-04 9.98750162e-01 2.81865532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters Centerline goodness [0,1] 0.9999346533359472 Centerline is valid? [True, True] Translation: X:595.11, Y:54.63, Z:28.19 [[ 9.88906298e-01 -1.39898279e-01 -4.99280113e-02 5.95105835e+02] [ 1.39684791e-01 9.90165636e-01 -7.75714918e-03 5.46267408e+01] [ 5.05222128e-02 6.96909881e-04 9.98722694e-01 2.81866098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8350998929999 meters Centerline goodness [0,1] 0.9999563499858137 Centerline is valid? [True, True] Translation: X:595.13, Y:54.63, Z:28.19 [[ 9.88955980e-01 -1.39379380e-01 -5.03930436e-02 5.95134205e+02] [ 1.39160849e-01 9.90238782e-01 -7.83666272e-03 5.46318003e+01] [ 5.09934153e-02 7.37375725e-04 9.98698717e-01 2.81878232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.865099893 meters Centerline goodness [0,1] 0.9999781835634968 Centerline is valid? [True, True] Translation: X:595.16, Y:54.64, Z:28.19 [[ 9.88966293e-01 -1.38762954e-01 -5.18701713e-02 5.95162661e+02] [ 1.38529864e-01 9.90325297e-01 -8.07975746e-03 5.46372542e+01] [ 5.24895138e-02 8.05040028e-04 9.98621151e-01 2.81876411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.895099893 meters Centerline goodness [0,1] 0.999912802737994 Centerline is valid? [True, True] Translation: X:595.19, Y:54.64, Z:28.19 [[ 9.88925800e-01 -1.38873596e-01 -5.23439159e-02 5.95190334e+02] [ 1.38635660e-01 9.90309776e-01 -8.16711625e-03 5.46420196e+01] [ 5.29708884e-02 8.19938656e-04 9.98595720e-01 2.81882519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters Centerline goodness [0,1] 0.999912739965096 Centerline is valid? [True, True] Translation: X:595.22, Y:54.65, Z:28.19 [[ 9.88835376e-01 -1.39463251e-01 -5.24842971e-02 5.95217925e+02] [ 1.39224053e-01 9.90226920e-01 -8.20428054e-03 5.46466938e+01] [ 5.31155595e-02 8.05606241e-04 9.98588047e-01 2.81891414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9550998929999 meters Centerline goodness [0,1] 0.9999128540305011 Centerline is valid? [True, True] Translation: X:595.25, Y:54.65, Z:28.19 [[ 9.88821668e-01 -1.39280189e-01 -5.32234793e-02 5.95246917e+02] [ 1.39033108e-01 9.90252655e-01 -8.33516764e-03 5.46515206e+01] [ 5.38656154e-02 8.42168601e-04 9.98547839e-01 2.81898975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.985099893 meters Centerline goodness [0,1] 0.999978204960551 Centerline is valid? [True, True] Translation: X:595.27, Y:54.66, Z:28.19 [[ 9.88619691e-01 -1.40184698e-01 -5.45834944e-02 5.95274471e+02] [ 1.39925386e-01 9.90125025e-01 -8.56276780e-03 5.46566908e+01] [ 5.52448528e-02 8.27704325e-04 9.98472494e-01 2.81893711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.015099893 meters Centerline goodness [0,1] 0.9999564592676449 Centerline is valid? [True, True] Translation: X:595.30, Y:54.66, Z:28.19 [[ 9.88495876e-01 -1.40783976e-01 -5.52790664e-02 5.95301050e+02] [ 1.40518088e-01 9.90039999e-01 -8.68713697e-03 5.46618989e+01] [ 5.59514966e-02 8.19490338e-04 9.98433152e-01 2.81894640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters Centerline goodness [0,1] 0.999978233424753 Centerline is valid? [True, True] Translation: X:595.33, Y:54.67, Z:28.19 [[ 9.88288915e-01 -1.42031480e-01 -5.57860185e-02 5.95329071e+02] [ 1.41762184e-01 9.89861846e-01 -8.77546392e-03 5.46662260e+01] [ 5.64668434e-02 7.64345883e-04 9.98404182e-01 2.81900659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0750998929999 meters Centerline goodness [0,1] 0.9999782646496261 Centerline is valid? [True, True] Translation: X:595.36, Y:54.67, Z:28.19 [[ 9.88049754e-01 -1.43509908e-01 -5.62369030e-02 5.95356919e+02] [ 1.43237798e-01 9.89648633e-01 -8.86096244e-03 5.46706292e+01] [ 5.69264101e-02 6.99821637e-04 9.98378132e-01 2.81908203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.105099893 meters Centerline goodness [0,1] 0.9999564526313498 Centerline is valid? [True, True] Translation: X:595.39, Y:54.67, Z:28.19 [[ 9.87446630e-01 -1.47718568e-01 -5.59319064e-02 5.95385813e+02] [ 1.47455774e-01 9.89029328e-01 -8.81946127e-03 5.46720104e+01] [ 5.66210940e-02 4.61264751e-04 9.98395632e-01 2.81937133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.135099893 meters Centerline goodness [0,1] 0.999978220625068 Centerline is valid? [True, True] Translation: X:595.41, Y:54.68, Z:28.19 [[ 9.87114764e-01 -1.49981033e-01 -5.57685687e-02 5.95413727e+02] [ 1.49722637e-01 9.88688814e-01 -8.80683343e-03 5.46758765e+01] [ 5.64586180e-02 3.43538136e-04 9.98404881e-01 2.81948675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929999 meters Centerline goodness [0,1] 0.9999782509406469 Centerline is valid? [True, True] Translation: X:595.44, Y:54.68, Z:28.20 [[ 9.86867114e-01 -1.51699448e-01 -5.55029526e-02 5.95440995e+02] [ 1.51445936e-01 9.88426636e-01 -8.77001319e-03 5.46797491e+01] [ 5.61910029e-02 2.49141021e-04 9.98420006e-01 2.81959407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1950998929999 meters Centerline goodness [0,1] 0.999934576382074 Centerline is valid? [True, True] Translation: X:595.47, Y:54.68, Z:28.20 [[ 9.86610970e-01 -1.53386340e-01 -5.54204372e-02 5.95468783e+02] [ 1.53135859e-01 9.88166284e-01 -8.76376035e-03 5.46837374e+01] [ 5.61088486e-02 1.59565870e-04 9.98424645e-01 2.81973020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.225099893 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:595.50, Y:54.69, Z:28.20 [[ 9.86383084e-01 -1.54830838e-01 -5.54600963e-02 5.95496377e+02] [ 1.54581355e-01 9.87940992e-01 -8.78646013e-03 5.46880249e+01] [ 5.61517175e-02 9.37187855e-05 9.98422243e-01 2.81984613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.255099893 meters Centerline goodness [0,1] 0.999978225367447 Centerline is valid? [True, True] Translation: X:595.52, Y:54.69, Z:28.20 [[ 9.86368118e-01 -1.54699228e-01 -5.60899610e-02 5.95524018e+02] [ 1.54442967e-01 9.87961606e-01 -8.90140105e-03 5.46935932e+01] [ 5.67917679e-02 1.17358196e-04 9.98386038e-01 2.81981526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929999 meters Centerline goodness [0,1] 0.9999128217422575 Centerline is valid? [True, True] Translation: X:595.55, Y:54.70, Z:28.20 [[ 9.86263542e-01 -1.54847815e-01 -5.75011343e-02 5.95552376e+02] [ 1.54578320e-01 9.87938328e-01 -9.13252874e-03 5.46984556e+01] [ 5.82217266e-02 1.18651420e-04 9.98303669e-01 2.81983016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3150998929999 meters Centerline goodness [0,1] 0.9999781768980643 Centerline is valid? [True, True] Translation: X:595.58, Y:54.70, Z:28.20 [[ 9.86434158e-01 -1.53788469e-01 -5.74174134e-02 5.95579518e+02] [ 1.53517087e-01 9.88103774e-01 -9.13430356e-03 5.47036501e+01] [ 5.81391134e-02 1.95834997e-04 9.98308472e-01 2.82000601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.345099893 meters Centerline goodness [0,1] 0.999956374740975 Centerline is valid? [True, True] Translation: X:595.61, Y:54.71, Z:28.20 [[ 9.86882138e-01 -1.50428227e-01 -5.86088191e-02 5.95606340e+02] [ 1.50138616e-01 9.88620845e-01 -9.33925202e-03 5.47100378e+01] [ 5.93467874e-02 4.17294037e-04 9.98237339e-01 2.81997405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.375099893 meters Centerline goodness [0,1] 0.9999782234707433 Centerline is valid? [True, True] Translation: X:595.63, Y:54.72, Z:28.20 [[ 9.87143133e-01 -1.48472155e-01 -5.91984356e-02 5.95633524e+02] [ 1.48172836e-01 9.88916438e-01 -9.43872294e-03 5.47157825e+01] [ 5.99436936e-02 5.45770480e-04 9.98201611e-01 2.82003245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929999 meters Centerline goodness [0,1] 0.9999563213872328 Centerline is valid? [True, True] Translation: X:595.66, Y:54.72, Z:28.20 [[ 9.87412052e-01 -1.46763061e-01 -5.89749401e-02 5.95661704e+02] [ 1.46462514e-01 9.89171459e-01 -9.41044740e-03 5.47200863e+01] [ 5.97174336e-02 6.54371219e-04 9.98215107e-01 2.82029041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4350998929999 meters Centerline goodness [0,1] 0.9998909439888327 Centerline is valid? [True, True] Translation: X:595.69, Y:54.72, Z:28.21 [[ 9.88003351e-01 -1.42711607e-01 -5.90150450e-02 5.95689559e+02] [ 1.42402631e-01 9.89763893e-01 -9.43012534e-03 5.47249372e+01] [ 5.97567490e-02 9.13097779e-04 9.98212551e-01 2.82056801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters Centerline goodness [0,1] 0.999781826115414 Centerline is valid? [True, True] Translation: X:595.72, Y:54.72, Z:28.21 [[ 9.87807026e-01 -1.46022644e-01 -5.39876609e-02 5.95717405e+02] [ 1.45768799e-01 9.89281030e-01 -8.63137968e-03 5.47249637e+01] [ 5.46693457e-02 6.56421006e-04 9.98504297e-01 2.82118697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 8209.72 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%| | 0/19683 [00:00